Dynamics Total 20100610

2103213 1
(Engineering Mechanics 1)
2 DYNAMICS
..
3
(Engineering Mechanics I) (Statics) (Dynamics)

2

1
2

Engineering Mechanics STATICS Engineering Mechanics DYNAMICS
Meriam Kraige

Engineering Mechanics STATICS DYNAMICS Meriam Kraige
Engineering Mechanics STATICS DYNAMICS
R.C.Hibbeler

Chanat.r@chula.ac.th
Dynamics
2 ........................................................................2-1
2/1 ................................................................................................................ 2-1
2/2 ................................................................................ 2-1
2/3 .......................................................................... 2-11
2/4 x-y .......................................................................................... 2-13
2/5 n-t........................................................................................... 2-19
2/6 r- .......................................................................................... 2-28
2/8 ......................................................................................... 2-36
3 ..........................................................................3-1
3/1 .................................................................................. 3-1
3/2 ....................................................... 3-1
3/3 .............................................................. 3-2
3/4 .............................................. 3-2
5 ...............................................................5-1
5/1 ................................................................................................................ 5-1
5/2 ............................................................................................................ 5-3
5/3 Absolute Motion ............................................................................................. 5-10
5/4 .............................................................................................. 5-18
5/5 Instantaneous Center of Zero Velocity.......................................................... 5-29
5/6 .............................................................................................. 5-37
5/7 Motion Relative to Rotating Axes.................................................................. 5-49
2103213 1
(Engineering Mechanics 1)
2 DYNAMICS
..
Dynamics
2 ........................................................................2-1
2/1 ................................................................................................................ 2-1
2/2 ................................................................................ 2-1
2/3 .......................................................................... 2-11
2/4 x-y .......................................................................................... 2-13
2/5 n-t........................................................................................... 2-19
2/6 r- .......................................................................................... 2-28
2/8 ......................................................................................... 2-36
3 ..........................................................................3-1
3/1 .................................................................................. 3-1
3/2 ....................................................... 3-1
3/3 .............................................................. 3-2
3/4 .............................................. 3-2
5 ...............................................................5-1
5/1 ................................................................................................................ 5-1
5/2 ............................................................................................................ 5-3
5/3 Absolute Motion ............................................................................................. 5-10
5/4 .............................................................................................. 5-18
5/5 Instantaneous Center of Zero Velocity.......................................................... 5-29
5/6 .............................................................................................. 5-37
5/7 Motion Relative to Rotating Axes.................................................................. 5-49
Dynamics/ Chapter 2 Kinematics of Particles
2-1
(Dynamics)
2 ( 1)
2/1

2
1. Kinematics
2. Kinetics
Kinematics of particles

2/2
1
O () t P s
t P s+s
t s

t=0
t+t
1 [1]
2-2
(Velocity)
t s t
t v = s/ t

v = lim
t 0
s ds
=
= s&
t dt
(1)

(
) ()
(Acceleration)
t v t
a = v/ t

v dv
d 2s
a = lim
=
= v& = 2 = &s&
t 0 t
dt
dt
(2)

(Deceleration)
(1) (2)
v=
ds ds dv
ds
=
=a
dt dv dt
dv
vdv = ads
(3)

(1) (3)
( ) (
)
2-3
1.
2 [1]
s-t
s-t (1) - (3) (1)
s-t (1)
v=
ds
dt
ds
dt
2.
3 [1]
v-t
v-t v-t
(1)
v=
ds
dt
(2)
a=
dv
dt
2-4
(1) ds = vdt v dt
ds
t1 t2
t1 t2
t2
displacement s = vdt = Area under v t curve
(4)
t1
v-t
(2)
a=
dv
dt
s-t

3.
4 [1]
a-t
a-t
(2) a-t
a=
dv
dt
dv = adt
a dt
dv
t1 t2 1 2
t2
v 2 v1 = adt = Area under a t curve
(5)
t1
t1-t2
t1-t2
2-5
4.
5 [1]
a-s
a-s (3) a-s vdv = ads
(3) 5
v2
s1 s2 vdv v
v1
(6)
v2
vdv =
v1
2
1 2
v 2 v12 = ads = area under a s curve
2
s1
5.
6 [1]
(6)
2-6
v-s
v-s (3) v-s vdv = ads
dv a CB
= =
ds v
v
dv
ds
(7)
v-s AB
A ABC
AC v CB
a v-s CB 6

m, m/s m/s2
[1] J.L.Meriam and L.G.Kraige, Engineering mechanics DYNAMICS fifth edition SI

Version, John Wiley & Sons, Inc., 2003.
2-7
2/1 The car traveling at a constant speed v0 = 100 km/h on the level position
of the road. When the 6-percent (tan = 6/100) incline is encountered, the
driver does not change the throttle setting and consequently the car
decelerates at the constant rate gsin. Determine the speed of the car (a) 10
seconds after passing point A and (b) when s = 100 m. [Engineering Mechanics
Dynamics 5th edition, Meriam & Kraige, prob.2/25]
6
= arctan(
)
100
v0 = 100 km/h
a = g sin = 0.5875 m/s 2
(a)
a = dv
dt
t1
10
v0
t0
[dv = adt ]
dv = adt = 0.5875dt
100 103
= 0.5875(10)
3600
Ans
v = 21.9 m/s
(b)
vdv = ads
[vdv = ads]
s1
100
v0
s0
vdv = ads = 0.5875ds
1 2 100 103 2
(v (
) ) = 0.5875(100)
2
3600
v = 25.57 m/s
Ans
2-8
2/2 When the effect of aerodynamic drag is included, the y-acceleration of a

baseball moving vertically upward is au = -g - kv2, while the acceleration
when the ball is moving downward is ad = -g + kv2, where k is a positive
constant and v is the speed in meters per second. If the ball is thrown upward
at 30 m/s from essentially ground level, compute its maximum height h and
its speed vf upon impact with the ground. Take k to be 0.006 m-1 and assume
that g is constant. [Engineering Mechanics Dynamics 5th edition, Meriam & Kraige, prob.2/51]

30 m/s 0 m/s
h
vdv = ads
[vdv = ads]
vdv = ( g kv 2 )ds
v
dv = ds
g kv 2
v
g kv
dv = ds
1
ln(c ( g + kv 2 )) = s
2k
S = 0, v = 30:
1
ln(c (9.81 + 0.006 30 2 )) = 0
2(0.006)
c = 0.0657
(1)
1
ln(0.0657 (9.81 + 0.006v 2 )) = s
2(0.006)
(1)
2-9
v = 0, s = h
1
ln(0.0657 (9.81 + 0.006 0 2 )) = h
2(0.006)
Ans
h = 36.54 m

0 m/s h
vdv = ads
[vdv = ads ]
vdv = ( g + kv 2 )ds
v
dv = ds
g + kv 2
g + kv
dv = ds
1
ln(c ( g + kv 2 )) = s
2k
S = 36.54, v = 0:
(2)
1
ln(c (9.81 + 0.006 0 2 )) = 36.54
2(0.006)
c = 0.158
(2)
1
ln(0.158 (9.81 + 0.006v 2 )) = s
2(0.006)
v s = 0
1
ln(0.158 (9.81 + 0.006v 2 )) = 0
2(0.006)
v = 24.091 m/s
Ans
2-10
2/1
1. A ball is thrown vertically upward with an initial speed of 25 m/s from the base A of
a 15-m cliff. Determine the distance h by which the ball clears the top of the cliff
and the time t after release for the ball to land at B. Also, calculate the impact
velocity vB. Neglect air resistance and the small horizontal motion of the ball.
[Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans h = 16.86 m, t = 4.40 s

vB = 18.19 m/s downward)
2. A motorcycle patrolman starts from rest at A two seconds after a car, speeding at
the constant rate of 120 km/h, passes point A. If the patrolman accelerates at the
rate of 6 m/s2 until he reaches his maximum permissible speed of 150 km/h, which
he maintains, calculate the distance s from point A to the point at which he
overtakes the car. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans s = 912 m)
3. A particle starts from rest at x = -2 m and moves along the x-axis with the velocity
history shown. Plot the corresponding acceleration and the displacement histories
for the 2 seconds. Find the time t when the particle crosses the origin. [Engineering
Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans t = 0.917 s)
2-11
(Dynamics)
2 ( 2)
2/3
(Plane Curvilinear Motion)

2
1 [1]
1 t A
A rv
() t+t
A rv + rv (
) rv
() s ()

(1)
v
r dr v&
v
=
=r
v = lim
t 0 t
dt
(1)
t
rv rv
2-12

v
v dr ds
v= v =
=
= s&
dt
dt
(2)

(3)
v
v
v dv v& d 2 r &v&
a=
=v = 2 =r
dt
dt
(3)

(4)-(7)
v
dP & & &
= Px i + Py j + Pz k
dt
v
v
dPu v
= Pu& + P& u
dt
v v
d ( P Q) v v& v& v
= P Q + P Q
dt
v v
d ( P Q) v v& v& r
= PQ + PQ
dt
(4)
(5)
(6)
(7)

3 1) x-y, 2)
n-t, 3) r-
2-13
2/4 x-y
2 x-y [1]
x-y x y

( y) ( x)
2 x-y
A rv vv

x y
x-y
x-y
v
(8)
r = xi + yj
v v&
(9)
v = r = x&i + y&j = v x i + v y j
v v& &v&
(10)
a = v = r = &x&i + &y&j = a x i + a y j
(9) (10) x y
(
) (11) (13)
2
2
v 2 = vx + v y
(11)
2
2
a 2 = ax + a y
(12)
tan =
vy
vx
(13)
2-14

x-y 3
3 [1]

g
g

a y = g
a x = 0
(14)
(
)

v x = (v x ) 0
x = x0 + (vx ) 0 t
(15)
x
(16)
y
v y = (v y ) 0 gt
1 2
gt
2
2
= (v y ) 0 2 g ( y y0 )
y = y0 + (v y ) 0 t
(17)
(18)
x y
x y
vy
(15) (17)
2-15
2/3 A rocket is released at point A from a jet aircraft flying horizontally at

1000 km/h at an altitude of 800 m. If the rocket thrust remains horizontal and
gives the rocket a horizontal acceleration of 0.5g, determine the angle from
the horizontal to the line of sight to the target. [Engineering Mechanics Dynamics 5th
edition, Meriam & Kraige, prob.2/77]
y

v x 0 = v0 = 1000
103 1000
=
m/s
3600 3.6
v y 0 = 0 m/s
a y = g m/s 2
a x = 0.5 g m/s 2
x y
x
dvx
dt = a x
dv x
= 0.5 g
dt
v x = 0.5 gt + C1
t = 0, v x =
1000
m/s
3.6
1000
= 0 + C1
3.6
v x = 0.5 gt +
ds x
dt = v x
1000
3 .6
1000
3 .6
ds x
1000
= 0.5 gt +
dt
3 .6
sx =
t = 0, s x = 0 m
C1 =
0.5 g 2 1000
t +
t + C2
2
3 .6
0 = 0 + 0 + C2
sx =
0.5 g 2 1000
t +
t
2
3.6
C2 = 0
2-16
y
dv y
= ay
dt
dv y
dt
=g
vx = gt + C3
t = 0, v y = 0 m/s
0 = 0 + C3
C3 = 0
v y = 5 gt
ds y
= vy
dt
ds y
dt
sy =
= gt
g 2
t + C4
2
0 = 0 + C4
t = 0, s y = 0 m
sy =
g 2
t
2
s y = 800 m
800 =
sx
sx =
C4 = 0
g 2
t
2
t=
800 2
= 12.771 s
9.81
0 .5 g
(12.771)2 + 1000 (12.771) = 3947.5 m
3 .6
2
sy
800
o
= arctan = arctan
= 11.46
3947.5
sx
Ans
2-17

2/4
1. A football player attempts a 30-m field goal. If he is able to impart a velocity u of 30
m/s to the ball, compute the minimum angle for which the ball will clear the
crossbar of the goal. (Hint: Let m = tan .) [Engineering Mechanics DYNAMICS 5th edition,
Meriam & Kraige]
(Ans
= 15.43)
1
2. If the tennis player serves the ball horizontally ( = 0), calculate its velocity v if the
center of the ball clears the 0.9-m net by 150 mm. Also find the distance s from the
net to the point where the ball hits the court surface. Neglect air resistance and the
effect of ball spin. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans v = 21.2 m/s, s = 3.55 m)
2
3. A projectile is ejected into an experimental fluid at time t = 0. The initial speed is v0
and the angle to the horizontal is . The drag on the projectile results in an
acceleration term aD = -kv, where k is a constant and v is the velocity of the
projectile. Determine the x- and y-components of both the velocity and displacement
2-18
as functions of time. What is the terminal velocity? Include the effects of

gravitational acceleration. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
v0 cos
(1 e kt )
k
g
g
v y = (v0 sin + )e kt
k
k
g
1
g
g
y = (v0 sin + )(1 e kt ) t , v x 0, v y )
k
k
k
k
(Ans
v x = (v0 cos )e kt , x =
2-19
(Dynamics)
2 ( 3)
2/5 n-t
n-t (Normal and Tangential coordinate)
1
1. t
2. n
3. n-t
1 A, B C n-t
1 n-t [1]
x-y
n-t
x-y x y

x y

n-t
2-20
n-t
2 n-t [1]
2 n-t
A n t 2 C
en et
n t A

d
ds = d
ds
d
=
dt
dt

et vv
v
v = vet = & et
(1)
n-t
(1)
v d (vet )
a=
= ve&t + v&et
dt
(2)
(2) et
et 3
2-21
et
[1]
3 et et 2
et det en
det 3 det = et d = d
det = (d)en
e&t = & en
(3)
(3) (2)
v v2
a = en + v&et
an =
(4)
v2
= & 2 = v&
at = v& = &s&
a = a n2 + at2
3 vv vv
d av
dvv dvv
dvvt ( t) dvvn
( n) d
dvvt
dvvn
avt
2-22
avn
t v&
(4)
( )
v2
(4) 0
4 [1]
n-t
4(a)
t
n

4(b)
2-23
5 [1]

n-t
1. = r
2. =
2
v = r&
(5)
v2
= r& 2 = v&
r
at = v& = r&&
(6)
an =

(7)
2-24
2/4 Magnetic tape is being transferred from reel A to reel B and passes around
idler pulleys C and D. At a certain instant, point P1 on the tape is in contact
with pulley C and point P2 is in contact with pulley D. If the normal
component of acceleration of P1 is 40 m/s2 and the tangential component of
acceleration of P2 is 30 m/s2 at this instant, compute the corresponding speed
v of the tape, the magnitude of the total acceleration of P1, and the magnitude
of the total acceleration of P2. [Engineering Mechanics Dynamics 5th edition, Meriam &
Kraige, prob.2/113]

P1
an = 40 m/s 2
P2
at = 30 m/s 2
v, a1, a2
P1
v2
a
=
n
40 =
v2
0.1
v = 2 m/s
Ans
v at

P1
at = 30 m/s 2
P2
v = 2 m/s
a1 = an2 + at2 = 40 2 + 30 2 = 50 m/s 2
Ans
P2
v2
a
=
n
an =
22
= 80 m/s 2
0.05
a2 = an2 + at2 = 80 2 + 30 2 = 85.44 m/s 2
Ans
2-25
2/5 A particle moving in the x-y plane has a position vector given by
v
2
v 3
r = t 2i + t 3 j , where r is in meters and t is in seconds. Calculate the
2
3
radius of curvature of the part for the position of the particle when t = 2 s.
Sketch the velocity v and the curvature of the path for this particular instant.
[Engineering Mechanics Dynamics 5th edition, Meriam & Kraige, prob.2/119]
t = 2 s
an an
2
v 3
r = t 2i + t 3 j
2
3
v v
v = r& = 3ti + 2t 2 j
v v
a = v& = 3i + 4tj
v
v = 6 2 + 82 = 10 m/s
v
a = 32 + 82 = 73 m/s 2
v
v = 6i + 8 j
t = 2 s
v
a = 3i + 8 j
n
t n-t
n-t
()
v
v
et = v
v
)(
v
6i + 8 j (3)(6) + (8)(8)
v
v v
=
= 8.2 m/s 2
at = a et = a v = 3i + 8 j
v
10
10
v2
an =
2.4 =
10 2
= 41.67 m
&y&
n
an = a 2 + at2 = 73 8.2 2 = 2.4 m/s 2
y&
x&
&x&
Ans
2-26
2/5
1. A baseball player releases a ball with the initial conditions shown in the figure.
Determine the radius of curvature r of the path and the time rate of change of the
speed at times t = 1 s and t = 2.5 s, where t = 0 is the time of release from the
players hand. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans t = 1 s, at = -1.922 m/s2, = 73 m
t = 2.5 s, at = 3.38 m/s2, = 83.1 m)
2. At the instant represented, A has a velocity to the right of 0.2 m/s which is
decreasing at the rate of 0.75 m/s each second. At the same time, B is moving
down with a velocity of 0.15 m/s which is decreasing at the rate of 0.5 m/s each
second. For this instant determine the radius of curvature r of the path followed by
P. Is it possible to determine also the time rate of change of r ? [Engineering Mechanics
DYNAMICS 5th edition, Meriam & Kraige]
(Ans = 1.25 m)
3. When the skier reaches point A along the parabolic path, he has a speed of 6 m/s
which is increasing at 2 m/s2. Determine the direction of his velocity and the
direction and magnitude of his acceleration at this instant. Neglect the size of the
skier in the calculation. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans = 45
a = 2.37 m/s2)
2-27
2-28
(Dynamics)
2 ( 4)
2/6 r-

n-t

r-

r- (Polar coordinate) A
1
1. A O A O r
O A
2. r- A
3. r O A
O ( r )
r er
4. r
e
1 r- [1]
2-29
1 A
v
r = rer
(1)
r-
(1)
n-t (1)
er
e er e
r-
2 r- [1]
er e 2
A A er e er
e d
er der +
er
der = der e
(2)
er der
der = er d = d
(3)
(3) (2)
der = de
e& = & e
r
de = e d = d
r
(4)
2-30
de = der
e& = & e
(5)
(4) (5) r-
(1)
v
r = rer
v
v dr
v=
= r&er + re&r
dt
v
v = r&er + r& e
v
r
(6)
v = r& re&r
rv
v = vr2 + v2
v r = r&
(6)
v
v dv
a=
= (&r&er + r&e&r ) + (r&& e + r&&e + r& e& )
dt
v
a = (&r&er + r&& e ) + (r&& e + r&&e + r& (& er ))
v
a = (&r& r& 2 )e + (r&& + 2r&& )e
r
(7)
a r = &r& r& 2
a = r&& + 2r&&
a = a r2 + a 2

r-
r& = &r& = 0
v = v = r&
(8)
a r = r& 2
(9)
(10)
a = r&&
n-t a r = a n
n-t r- n n-t
2-31
r r-

2-32
2/6 The slotted arm OA forces the small pin

to move in the fixed spiral guide defined by
r = K. Arm OA starts from rest at = /4
and has a constant counterclockwise angular
acceleration && = . Determine the magnitude
of the acceleration of the pin P when =
3/4. [Engineering Mechanics Dynamics 5th edition,
Meriam & Kraige, prob.2/149]
r = K
vr = r& = 0
v = r& = 0; & = 0
t = 0, = /4, v = 0
&& =
r = K
r& = K&
&& =
& = t + C1
&r& = K&& = K
t = 0,
& = 0
C1 = 0
t = 0,
= /4
& = t
& = t
= 3/4,
t 2
+ C2
2
t 2
=
+
2
4
3 t 2
=
+
4
2
4
t=
C2 = /4
=
& =
r& = K& = K
3
3
ar = &r& r& 2 = K ( K )( )() = K(1 2 ) = 6.402 K
4
4
3
a = r&& + 2r&& = ( K )( )() + 2( K )( )
4
3
11
a = K( + 2) = K
4
4
2
11
2
a = a + a = K (0.642) +
= 10.753K
4
2
r
Ans
2-33
2/7 For a limited range of motion, crank CP

causes the slotted link OA to rotate. If is
increasing at the constant rate of 4 rad/s when
= /4, determine the r- and -components of the
acceleration of pin P for this position and
specify the corresponding values of r& and &r&.
[Engineering Mechanics Dynamics 5th edition, Meriam &
Kraige, prob.2/165]
& = 4 rad/s constant

ar , a , r&, &r& = /4
P PC C
P
v = 0.12& = (0.12)(4) = 0.48 m/s
a = (0.12)(& ) 2 = (0.12)(4) 2 = 1.92 m/s 2
r-
vr, v, ar, a
/8
vr
/4
/8
/8
ar
= 0.48 sin = 0.1837 m/s

8
8
v = v cos = 0.48 cos = 0.4435 m/s

8
8
ar = a cos = 1.92 cos = 1.7738 m/s 2

8
8
= 1774 mm/s 2
a = a sin = 1.92 sin = 0.7348 m/s 2

8
8
= 734.8 mm/s 2
vr = v sin
Ans
/4
r& = vr = 0.1837 m/s = 183.7 mm/s

/8
r = 2(120) cos
= 221.7311 mm
8
Ans
2-34
v
0.4435
& = =
= 2 rad/s
r 0.2217
ar = &r& r& 2
&r& = ar + r& 2 = 1.7738 + (0.2217)(2 2 )
&r& = 0.887 m/s 2 = 887 mm/s2
Ans
2-35
2/6
1. Link AB rotates through a limited range of angle , and its end A causes the slotted
link AC to rotate also. For the instant represented where = 60 and & = 0.6 rad/s
constant, determine the corresponding value of r& , &r& , & , and && . [Engineering Mechanics
= 77.9 mm/s, &r& = -13.5 mm/s2

& = -0.3 rad/s, && = 0)
2. The slider P can be moved inward by means of the string S, while the slotted arm
(Ans
r&
rotates about point O. The angular position of the arm is given by
t2
= 0.8t
,
20
where is in radians and t is in seconds. The slider is at r = 1.6 m when t = 0 and

thereafter is drawn inward at the constant rate of 0.2 m/s. Determine the magnitude
and direction (expressed by the angle a relative to the x-axis) of the velocity and
acceleration of the slider when t = 4 s. [Engineering Mechanics DYNAMICS 5th edition, Meriam &
Kraige]
(Ans v = 0.377 m/s at = 260

a = 0.272 m/s2 at = 19.44)
2-36
(Dynamics)
2 ( 5)
2/8 (Translating axes)
()

(Absolute motion)

(Relative motion) 1
A

B A
B
A B
Note

1 [1]
2-37
Moving axes
Fixed axes
2 [1]
2
A B
(Translation) (Rotation)
X-Y
x-y B
2 A X-Y
A B
A rvA
B rvB
A B ( B) rvA / B (A/B
)
3
v
v v
rA = rB + rA / B
(1)
(1)
A
v
v v
v
v
v
r&A = r&B + r&A / B
v A = vB + v A / B
(2)
v
v
v
&rv& = &rv& + &rv&
a A = aB + a A / B
(3)
A
B
A / B
A, B
() A/B
A B
B A
v
rA / B A
B
2-38
v
rA / B = xi + yj
(4)
i , j
x y
x , y A x-y
(4)
v
v
v A / B = r&A / B = x&i + y&j
(5)
v
v&&
a A / B = rA / B = &x&i + &y&j
(6)
Note B n-t r-
A (4)-(6)
Moving axes
Fixed axes
3 ( A) [1]
3 2
A x-y A B
v
v v
rB = rA + rB / A
(7)
v
v
v
vB = v A + vB / A
(8)
v
v
v
aB = a A + aB / A
(9)
(1) (3) (7) (9)
v
v
rA / B = rB / A
(10)
v
v
v A / B = v B / A
(11)
v
v
a A / B = a B / A
(12)
2-39

2-40
2/8 Airplane A is flying north with a constant

horizontal velocity of 500 km/h. Airplane B is
flying south-west at the same altitude with a
velocity of 500 km/h. From the frame of
reference of A determine the magnitude vr of the
apparent or relative velocity of B. Also find the
magnitude of the apparent velocity vn with which
B appears to be moving sideways or normal to its
centerline. Would the results be different if the
two airplanes were flying at different but constant
altitudes?
[Engineering Mechanics Dynamics 5th edition,
v A = vB = 500 km/h
1. vr v B A
vA/B
2. vn vA/B vA
A
v
v v
vB = v A +v B / A
22.5o
v A = 500 km/h
cosine
v A2 / B = v A2 + vB2 2v AvB cos135o
45o
22.5o
v A2 / B = 500 2 + 500 2 2(500)(500) cos135o
vB / A
v A / B = 923.88 km/h
Ans
vB = 500 km/h
vn vA/B vA
vn
vn = vB / A sin 22.5o
22.5o
vn = 923.88 sin 22.5o = 353.55 km/h
vB / A
Ans
2-41
2/9 The aircraft A with radar detection equipment is flying horizontally at an

altitude of 12 km and is increasing its speed at the rate of 1.2 m/s each second.
Its radar locks onto an aircraft B flying in the same direction and in the same
vertical plane at an altitude of 18 km. If A has a speed of 1000 km/h at the
instant when = 30, determine the values of &r& and && at this same instant
if B has a constant speed of 1500 km/h.
v A = 1000 km/h,
a A = 1.2 m/s 2
vB = 1500 km/h,
constant
= 30o
r-
ar = &r& r& 2
a = r&& + 2r&&
v
vB
v
v v
vB = v A +v B / A
1500 = 100 + v B / A
v B / A = 500 km/h
&r& && a
r-
ar a
A
v
v v
aB = a A + a B / A
0 = 1.2 + a B / A
a B / A = 1.2 m/s 2
v
vA
v
v B/ A
v
aA
v
aB / A
v B / A = 500 km/h
a B / A = 1.2 m/s 2
r = 12 km
30o
2-42
6 km
vr = 500 cos 30o = 433.0127 km/h

v = 500 sin 30o = 250 km/h
vr = r&
r& = 433.0127 km/h = 120.2813 m/s
v = r&
250 1
& =
= -0.00579 m/s
3.6 12000
ar = 1.2 cos 30o = 1.0392 m/s 2

a = 1.2 sin 30o = 0.6 m/s 2
ar = &r& r& 2
1.0392 = &r& (12 103 )(0.00579) 2
&r& = 0.6369 m/s 2
a = r&& + 2r&&
Ans
0.6 = (12 103 )&& + 2(120.2813)(0.00579)
&& = 1.6607 10 4 rad/s 2
Ans
2-43
2/8
1. A drop of water falls with no initial speed from point A of a highway overpass. After
dropping 6 m, it strikes the windshield at point B of a car which is traveling at a
speed of 100 km/h on the horizontal road. If the windshield is inclined 50 from the
vertical as shown, determine the angle relative to the normal n to the windshield
at which the water drop strikes. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans = 28.7 below normal)
2. After starting from the position marked with the x, a football receiver B runs the
slant-in pattern shown, making a cut at P and thereafter running with a constant
speed vb = 7 m/s in the direction shown. The quarterback releases the ball with a
horizontal velocity of 30 m/s at the instant the receiver passes point P. Determine
the angle a at which the quarterback must throw the ball, and the velocity of the ball
relative to the receiver when the ball is caught. Neglect any vertical motion of the
ball. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans = 32.0, vA/B = 21.9i + 21.9j m/s)
3. A batter hits the ball A with an initial velocity of v0 = 30 m/s directly toward fielder B
at an angle of 30 to the horizontal; the initial position of the ball is 0.9 m above
ground level. Fielder B requires 0.25 s to judge where the ball should be caught and
begins moving to that position with constant speed. Because of great experience,
fielder B chooses his running speed so that he arrives at the catch position
simultaneously with the ball. The catch position is the field location with the ball
altitude 2.1 m. Determine the velocity of the ball relative to the fielder at the instant
the catch is made. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans vA/B = 21.5i 14.19j m/s)
2-44
Dynamics/ Chapter 3 Kinetics of Particles
3-1
(Dynamics)
3
3/1

3 1) - 2) 3)
-- 2
2 (1)
v
v
F = ma
(1)
v
F N, m
kg, av m/s2
2
1.
2.

2

Free body diagram
3/2

(2)
(2)
Fx = ma x ,
Fy = 0 ,
Fz = 0

3 (3)
(3)
Fx = ma x ,
Fy = ma y ,
Fz = ma z
(4) (5)
v
a = a x i + a y j + a z k ,
a = a x2 + a y2 + a z2
(4)
v
F = Fx2 + Fy2 + Fz2
(5)
F = Fx i + Fy j + Fz k ,
3-2
3/3

2
1.
(6)
Fx = ma x ,
Fy = ma y
a x = &x&
a y = &y&
2. n-t
(7)
Fn = ma n ,
Ft = mat
a n = & 2 = v 2 /
at = v&
(8)
3. r-
Fr = ma r ,
F = ma
a r = &r& r& 2 a = r&& + 2r&&
3/4
1. FBD
2. F = ma
3. 2

2
4.
2
2
5.
2
( )
6. 1
1) -
2)

3-3
3/1 From the figure, neglect all friction

and the mass of the pulleys and
determine the accelerations of bodies A
and B upon release from rest .
A B

SA
SB
A B
A B
SA SB

L
2 S A + 3S B + Constant = L
2S& A + 3S& B = 0
2 S&&A + 3S&&B = 0
30 9.81
aA
2a A + 3a B = 0
FBD A
T
T
[ Fy = 0]
20o
N 30(9.81) cos 20o = 0

N = 276.5515 N
(1)
[ Fx = ma x ]
x
30(9.81) sin 20o 2T = 30a A
(2)
T T T
FBD B
x
aB
3-4
10 9.81
[ Fy = ma y ]
10(9.81) 3T = 10aB
(1)-(3) 3
(1)-(3)
(3)
a A , aB , T
a A = 1.024 m/s 2
aB = 0.6824 m/s 2
aB = 0.6824 m/s 2
Ans
T = 34.97 N
Note x-y + aA aB
SA SB (1)
(2) (3)
3-5
3/2 If the coefficients of static and kinetic friction between the 20-kg block A
and the 100-kg cart B are both essentially the same value of 0.5, determine
the acceleration of each part for (a) P = 60 N and (b) P = 40 N .
[Engineering
Mechanics Dynamics 5th edition, Meriam & Kraige, prob.3/23]
P

1. A B
A B
2. A B A
B
FBD 2
20(9.81)
(a) P = 60 N
P
P
100(9.81)

1 FBD 2
[ F
=0
N 2 20(9.81) 100(9.81) = 0
N 2 = 1177.2 N
N2
[ F
= ma x
FBD
2(60) = (20 + 100)a

a = 1 m/s 2
20(9.81)
F
N1
F
100(9.81)
N2
2 P = ( m A + mB ) a
N1
P
P
[ F
=0
N1 20(9.81) = 0
N1 = 196.2 N
[ F
= ma x
2 P F = mAa
2(60) F = 20(1)
3-6
F = 100 N
Fmax = s N1 = 0.5(196.2) = 98.1 N
60 N
()

F = 100 N > Fmax
F = k N1 = 0.5(196.2) = 98.1 N
FBD
20(9.81)
F
P
P
[ F
= ma x
N1
F
100(9.81)
2(60) 98.1 = 20a A
a A = 1.095 m/s 2
N1
[ F
=0
N 2 N1 100(9.81) = 0
N 2 = 1177.2 N
N2
x
= ma x
F = mB a B
98.1 = 100aB
(a) P = 40 N
a B = 0.981 m/s 2
Ans
FBD
2
FBD 2
[ F
20(9.81)
P
P
100(9.81)
y
N2
x
Ans
B
y
[ F
2P F = mAa A
= ma x
2 P = ( m A + mB ) a
2(40) = (20 + 100)a

a = 0.6667 m/s 2

(

)
3-7
[ F
= ma x
2P F = mAa
2(40) F = 20(0.6667)
F = 66.6667 N < Fmax

B
B
[ F
= ma x
F = mB a B
66.6667 = 100a B
aB = 0.6667m/s 2
A B

a A = aB = 0.6667m/s 2
Ans
3-8
3/3 A flatbed truck going 100 km/h rounds

a horizontal curve of 300-m radius
inwardly banked at 10. The coefficient of
static friction between the truck bed and the
200-kg crate it carries is 0.70. Calculate the
friction force F acting on the crate.
Kraige, prob.3/69]
FBD
= 300 m
mg
an
at
v
an
10
N
n
at = 0
v 2 100 1
m/s 2
an =
=
3.6 300
[ F
[ F
=0
= man
N cos10o + F sin 10o 200(9.81) = 0
100 1
N sin 10 F cos10 = 200
3.6 300
(1) (2)
(1)
(2)
N = 2021.518 N
F = 165.891 N
F = 165.891 N
Note
Ans
Fmax = s N = 0.7(2021.518) = 1415.06 N
3-9
3/4 The 35-kg box has a speed of 2 m/s when it is at A on the smooth ramp. If
the surface is in the shape of a parabola, determine the normal force on the
box at the instant x = 3 m. Also, what is the rate of increase in its speed at this
instant.
[Engineering Mechanics Dynamics 11th edition, R.C.Hibbeler, prob.13-77]
( A)
x = 3
Diff.
Diff.
1
y = 4 x2
9
2
2
y& = xx&
v y = xvx
9
9
2
2
2
&y& = x& 2 x&x& = ( x& 2 + x&x&)
9
9
9
dy
2
= x
dx
9
2 2
a y = (v x + xa x )
9
(1)
x = 3
mg
tan =
N
n
13
2
2
2
dy
= x =
9 x =3
3
dx
[ F = ma ]
t
mg sin = mat
2
at = g sin = 9.81( ) = 5.4416 m/s 2
13
[ F
= man
mg cos N = man
Ans
(2)
3-10
ax ay at an
ay
an
at = 5.4416 m/s 2
ax
x = 3

3
2
ay
= 5.4416 m/s 2
13
13
2
3
ax
ay
= an
13
13
a x cos a y sin = at
ax
a x sin a y cos = an
(3)
(4)
(1) x = 3
ax ay (3) (4) an
2 2
a y = (v x + xa x )
9
(1)
x = 3
E A = E x =3
1 2
1
mv A + mgh = mv 2
2
2
1 2
1
2 + 9.81(4 3) = v 2
2
2
vx
vy
v = 4.86 m/s
v = 4.86 m/s
v x = v cos = 4.86
3
= 4.0438 m/s
13
vx (1) x = 3
(3) (5)
2
a y = (4.04382 + 3a x )
9
a x = 2.8505 m/s 2
a y = 5.5342 m/s 2
(5)
3-11
ax ay (4) an
an = 3.0235 m/s 2
an (2)
35(9.81)
3
N = 35(3.0235)
13
N = 179.86 N
Ans
an
dy 2
1 +
dx
xy =
d2y
dx 2
3/ 2
1
y = 4 x2
9
dy
2
= x
dx
9
x = 3
dy
2
2
= 3 =
dx
9
3
2
d2y
=
2
dx
9
2
d2y
=
2
9
dx
2 2
1 +
3
xy =
2
an
3/ 2
= 7.812
v 2 4.86 2
=
= 3.0235 m/s 2
an =
7.812
an
3-12
3/5 A small 180-g slider A moves without appreciable friction in the hollow
tube, which rotates in a horizontal plane with a constant speed = 7 rad/s.
The slider is launched with an initial speed r&0 = 20 m/s relative to the tube
at the inertial coordinate x = 150 mm and y = 0. Determine the magnitude P
of the horizontal force exerted on the slider by the tube just before the slider
exits the tube.
( x =
0.15, y = 0) A (x = 1)

1
(x = 0.15, y = 0)
r&0
2 (x = 1)
a
F = ma
FBD
mg
3-13
a
r-
ar = &r& r& 2 = &r& r 2
a = r&& + 2r&& = 2r&
(& = = const.)
[ F
= mar
r&
0 = m(&r& r 2 )
(1)
&r& = r 2
&r& =
dr&
dr& dr& dr
= = r&
dt dr dt
dr
(1)
&r& = r&
dr&
= r 2
dr
r&dr& = r 2 dr
r&
r&
r&dr& =
20
r& 2
2
r&
r dr
2
0.15
r2
=
2
20
0.15
12 0.152
r& 2 20 2
= 7 2
2
2
2
2
r& = 21.1636 m/s
[ F
a = 2r& = 2(21.1636)(7)
= ma
P = ma = 0.18(2)(21.1636)(7) = 53.3 N
Ans
1. r ar = 0 &r&
&r&
2. r&dr& = &r&dr vdv = ads
3-14
3-15
3/6 The 5-N (0.5-kg) particle is guided along

the circular path using the slotted arm guide. If
the arm has an angular velocity & = 4 rad/s and
an angular acceleration && = 8 rad/s2 at the instant
= 30, determine the force of the guide on the
particle. Motion occurs in the horizontal plane.
[Engineering Mechanics Dynamics 11th edition, R.C.Hibbeler,
prob.13-90]
& = 4 rad/s
&& = 8 rad/s 2
FBD
= 30o
[ F
r
o
30
0 .5
30o
N
[ F
= mar
N cos 30o =
N sin 30o + F =
= ma
5
(&r& r& 2 )
9.81
(1)
5 &&
(r + 2r&& )
9.81
(2)
0 .5
(1) (2) r&, &r&

N F
0 .5
= 30
r = 2(0.5) cos = cos
r = cos 30o = 0.866
r& = ( sin )&
r& = ( sin 30)4 = 2
&r& = ( cos )& 2 (sin )&&
&r& = ( cos 30)4 2 (sin 30)8 = 17.8564
(1) (2)
N cos 30o =
5
(17.8564 0.866(16))
9.81
(18.6638) sin 30o + F =
N = 18.6638 N
N = 18.6638 N
5
(0.866(8) + 2(2)(4))
9.81
F = 4.708 N
Ans
3-16
1. In a test of resistance to motion in an oil bath, a small steel ball of mass m is

released from rest at the surface (y = 0). If the resistance to motion is given by R =
kv where k is a constant, derive an expression for depth h required for the ball to
reach a velocity v. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans
h=
mv
m2 g
1

ln
)
2
k
1 kv /(mg ) k
2. The sliders A and B are connected by a light rigid bar of length l = 0.5 m and move
with negligible friction in the horizontal slots shown. For the position where xA = 0.4
m, the velocity of A is vA = 0.9 m/s to the right. Determine the acceleration of each
slider and the force in the bar at this instant. [Engineering Mechanics DYNAMICS 5th edition,
Meriam & Kraige]
(Ans aA = 1.364 m/s2 right

aB = 9.32 m/s2 down
T = 46.6 N)
3. The small object of mass m is placed on the rotating conical surface at the radius
shown. If the coefficient of static friction between the object and the rotating surface
is 0.8, calculate the maximum angular velocity of the cone about the vertical axis
for which the object will not slip. Assume very gradual angular velocity changes.
(Ans = 2.73 rad/s)

4. Beginning from rest when = 20, a 35-kg child slides with negligible friction down
the sliding board which is in the shape of a 2.5-m circular arc. Determine the
tangential acceleration and speed of the child, and the normal force exerted on her
(a) when = 30 and (b) when = 90. [Engineering Mechanics DYNAMICS 5th edition, Meriam
& Kraige]
3-17
(Ans (a) at = 8.50 m/s2, v = 2.78 m/s

N = 280 N
2
(b) at = 0 m/s , v = 5.68 m/s
N = 795 N)
5. The spring-mounted 0.8-kg collar A oscillates along the horizontal rod, which is
rotating at the constant angular rate & = 6 rad/s. At a certain instant, r is increasing
at the rate of 800 mm/s. If the coefficient of kinetic friction between the collar and
the rod is 0.40, calculate the friction force F exerted by the rod on the collar at this
instant. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans F = 4.39 N)
6. The small pendulum of mass m is suspended from a trolley which runs on a
horizontal rail. The trolley and pendulum are initially at rest with = 0. If the trolley
is given a constant acceleration a = g, determine the maximum angle max through
which the pendulum swings. Also find the tension T in the cord in terms of .
(Ans
max = / 2, T = mg (3 sin + 3 cos 2) )
3-18
Dynamics/ Chapter 5 Kinematics of Rigid bodies
5-1
(Dynamics)
5
5/1
2

2

3 1
1. (Translation)

(Rectilinear translation)
1(a) (Curvilinear translation) 1(b)
1(b)
2
()
5-2

2. (Fixed-axis rotation)
1(c)

1 [1]
Translation
Rotation
General plane motion
+
2 [1]
5-3
Reference
3 [1]
3. (General plane motion)

1(d) 2
1(d)
5/2
3 1 2
1 2
1 2
2 = 1 +
(1)
(1)
&& = &&
2 = 1 ,
& 2 = & 1 ,
(2)
2
1

d &
=
dt
d
d 2
& = 2 = &&
=
=
dt
dt

vdv = ads
d = d & d& = &&d
(3)
(4)
(5)
(3) (4) (5)

x , v a
5-4
4 n-t
n t
n-t 2

4 [1]
A
(6)
v = r
a n = r 2 =
a t = r
v
= v
r
(7)
(8)
5 [1]
v
4 v
5()
vv A
5-5
v
v v v v
v = r& = r
(9)
(9)
v v
v v d ( r ) v v& v& v
= r + r
a = v& =
dt
v v v v v& v
a = ( r ) + r
v v v v v
a = v + r
(10)
5()
v v v v v
v
a n = v = ( r )
v v
v
at = r

(11)
(12)
5-6
5/1 The belt-driven pulley and attached disk are rotating with increasing
angular velocity. At a certain instant the speed v of the belt is 1.5 m/s, and the
total acceleration of point A is 75 m/s2. For this instant determine (a) the
angular acceleration of the pulley and disk, (b) the total acceleration of
point B, and (c) the acceleration of point C on the belt.
[Engineering Mechanics
Dynamics 5th edition, Meriam & Kraige, prob.5/15]

vC = 1.5 m/s
a A = 75 m/s 2
vC C

[v = r ]
1.5 = (0.15 / 2)
= 20 rad/s

20 rad/s
A
[a
= 2 r
[a =
an2 + at2
[at = r ]
an = 2 rA = 20 2 (0.15) = 60 m/s 2
at = a 2 an2 = 752 60 2 = 45 m/s 2
=
at
45
=
= 300 rad/s 2
r 0.15
Ans

300 rad/s2
5-7
[at = r ]
[a
= 2 r
[a =
at = 300(0.15 / 2) = 22.5 m/s 2
an2 + at2
an = 20 2 (0.15 / 2) = 60 m/s 2
a B = 22.52 + 30 2 = 37.5 m/s 2
Ans
C
C
at
B 2
2
aC = (at ) B = 22.5 m/s 2

Ans
5-8
5/2 The design characteristics of a gear-reduction unit are under review. Gear
B is rotating clockwise with a speed of 300 rev/min when a torque is applied
to gear A at time t = 2 s to give gear A a counterclockwise acceleration
which varies with the time for a duration of 4 seconds as shown. Determine
the speed NB of gear B when t = 6 s.
A B
A B
v A vB
v A = vB
A rA = B rB
Ab = B (2b)
A = 2 B
B 300 rev/min A
600 rev/min = 600( 2 ) = 20 rad/s
60
A
d
= dt
20
d = dt
A 20 =
= a-t 2-6
1
(4)(4 + 8)
2
A = 20 + 24
B =
A
= 10 + 12 = 43.4159 rad/s
2
B = 414.59 rev/min
Ans
5-9
5/2
1. The two V-belt pulleys form an integral unit and rotate about the fixed axis at O. At
a certain instant, point A on the belt of the smaller pulley has a velocity vA = 1.5 m/s,
and point B on the belt of the larger pulley has an acceleration aB = 45 m/s2 as
shown. For this instant determine the magnitude of the acceleration aC of point C
and sketch the vector in your solution. [Engineering Mechanics DYNAMICS 5th edition, Meriam &
Kraige]
(Ans aC = 149.6 m/s2)

2. A clockwise variable torque is applied to a flywheel at time t = 0 causing its
clockwise angular acceleration to decrease linearly with angular displacement
during 20 revolutions of the wheel as shown. If the clockwise speed of the flywheel
was 300 rev/min at t = 0, determine its speed N after turning the 20 revolutions.
(Suggestion: Use units of revolution instead of radians.) [Engineering Mechanics DYNAMICS
5th edition, Meriam & Kraige]
(Ans
= 512.64 rev/min)
5-10
5/3 Absolute Motion

Absolute Motion

Absolute Motion
OA 6
B
x
6 B [1]
B
OA x
x = b tan
v B = x& = b& sec 2 = b sec 2
a = &x& = b&& sec 2 + 2b& 2 sec 2 tan
Ans
a B = 2b& 2 sec 2 tan = 2b 2 sec 2 tan
Ans
&& = 0

5-11
5/3 A wheel of radius r rolls on a flat surface without slipping. Determine the
angular motion of the wheel in terms of the linear motion of its center O. Also
determine the acceleration of a point on the rim of the wheel as the point
come into contact with the surface on which the wheel rolls.
[Engineering
th
Mechanics Dynamics 5 edition, Meriam & Kraige, sample prob.5/4]
O
C
A C
C

s C A
C A C A

Ans
s = arc(C A) = r
vO = s& = r& = r
aO = &s& = r&& = r
Ans

C
x-y C C
x y C
5-12
x = s r sin = r ( sin )
y = r r cos = r (1 cos )
x& = r& (1 cos ) = vO (1 cos )
y& = r& sin = vO sin
&x& = v&O (1 cos ) + vO & sin
&y& = v&O sin + vO & cos
= aO (1 cos ) + r2 sin
= aO sin + r2 cos
= 0
x& = 0
y& = 0
&x& = 0
&y& = r
Ans
2
Note
1.
2.
3.
C
()
5-13
5/4 The cable from drum A turns the double wheel B, which rolls on its hubs
without slipping. Determine the angular velocity and angular acceleration
of drum C for the instant when the angular velocity and angular acceleration of
A are 4 rad/s and 3 rad/s2, respectively, both in the counterclockwise direction.
A A (
) A
v A = A rA = 4(0.2) = 0.8 m/s
(a A )t = A rA = 3(0.2) = 0.6 m/s 2

() A
() B ( C)
v = 0.8 m/s
at = 0.6 m/s2
C
D
E
D B
()
EDOC D
D E
dsC = DC d
vC = DC B
(aC ) t = DC B
ds E = DE d
vE = DE B
(aE ) t = DE B
5-14
B B B
vC = DC B
0.8 = 0.6 B
B = 4 / 3 rad/s
(aC ) t = DC B
0 .6 = 0 .6 B
B = 1 rad/s 2
vE aE E
vE = DE B
vE = (0.5 0.3) 4 / 3
vE = 0.2667 m/s
(a E )t = DE B
(aE )t = (0.5 0.3) 1
(a E )t = 0.2 m/s 2
vE aE E C
C
vE = C rC
0.2667 = C (0.2)
C = 1.333 rad/s
(a E ) t = C rC
0.2 = C (0.2)
C = 1 rad/s
Ans
5-15
5/5 The Geneva wheel is a mechanism for producing intermittent rotation. Pin
P in the integral unit of wheel A and locking plate B engages the radial slots
in wheel C thus turning wheel C one-fourth of a revolution for each
revolution of the pin. At the engagement position shown, = 45. For a
constant clockwise angular velocity 1 = 2 rad/s of wheel A, determine the
corresponding counterclockwise angular velocity 2 of wheel C for = 20.
(Note that the motion during engagement is governed by the geometry of
triangle O1O2P with changing .)
Kraige, prob.5/53]
O1O2P
sine
1
200
( + )
200
O1
O2
200
200
=
2 sin sin( ( + ))
sin( ( + )) = 2 sin
sin( + ) = 2 sin
(& + & ) cos( + ) = 2& cos
& cos( + ) = & ( 2 cos cos( + ))
= 20
cosine
2
200
200
(O2 P) =
+ 200 2 2
(200) cos 20o
2
2
2
(1)
5-16
O2 P = 82.7222
sine
200
82.7222
=
o
2 sin sin 20
sin = 0.5847
, ,
&
= 35.7829o
(1)
(2) cos(20o +35.7829o ) = & 2 cos 35.7829o cos(20o + 35.7829o )
& = 2 = 1.9227 rad/s
]
Ans
5-17
5/3
1. Link OA has an angular velocity OA = 8 rad/s as it passes the position shown.
Determine the corresponding angular velocity CB of the slotted link CB. Solve by
considering the relation between the infinitesimal displacements involved. [Engineering
(Ans CB = 6.30 rad/s)

2. For the instant when y = 200 mm, the piston rod of the hydraulic cylinder C imparts
a vertical motion to the pin A of y& = 400 mm/s and &y& = -100 mm/s2. For this
instant determine the angular velocity and the angular acceleration of link AB.
(Ans
= 1.155 rad/s CCW

= 0.481 rad/s
CCW)
5-18
(Dynamics)
5 ( 2)
5/4
5/1 (General
plane motion)

1(a) (X-Y)
BA

BA B A
2 B A B A B
B BA B A B
A B B
A B A BA B
A B
1 [1]
5-19
A B
r- 1(a) AB
r A B r
r& A B
B A
( vr = 0; v = 0 ) B ( vr = 0; v 0 )
1(a) B A
1(b)
A B
1(c) B A B
A B A B
1(a)
v
rA / B
v
v
v
rA = rB + rA / B
A B
v
rA / B = r
(1)
v
vA/ B
v
v
v
v A = vB + v A / B
A B
v
v A / B = r
(2)
v v
v
vA/ B = r
(1)
(2)
(3)
(4)
(5)
2 [1]
5-20
2
B A
B vvA / B BA B
A
1.
2. B A
3. vvA / B = r BA
1. vvA = vvB + vvA / B

(2 )
2 x y
2
2.
(Magnitude) (Direction)
2
2
1
v
v v
v A = vB + v A / B
Mag.
Dir.
v
v v
v A = vB + v A / B
Mag.
AB
Dir.
AB
1 vvB vvA / B vvA

2 vvA / B vvA
3.
4. vvA = vvB + vvA / B

v
vB
v
vA/ B
( AB )
v
vA
5-21
5.
sine cosine
vvA

5-22
5/6 The elements of a switching device are

shown. If the vertical control rod has a
downward velocity v of 0.9 m/s when =
60 and if roller A is in continuous contact
with the horizontal surface, determine the
magnitude of the velocity of C for this
instant.
B ()
A () C
AB
A B
v
v v
v A = vB + v A / B
vA
0 .9
X
AB
= 60o
vB
v
v
v A / B 60
vA
v
v v
v A = vB + v A / B
o
60
v
vA/ B
v
vB
v A / B sin 60o = vB = 0.9
v A / B = 1.0392 m/s
[v
A/ B
= AB AB
1.0392 = AB 0.075
AB = 13.856 rad/s
CCW
ABC
AB
5-23
BC C
v
v v
vC = vB + vC / B

v
vC / B
AB
0.9 AB CB
AB
vC / B = AB CB = 13.856 0.075 = 1.0392 m/s

= 60
v
vC
cosine
v
vB
150
vC2 = vB2 + vC2 / B 2vB vC / B cos150o

vC2 = 0.9 2 + 1.0392 2 2(0.9)(1.0392) cos150o
Ans
vC = 1.8735 m/s
v
vC / B
v
vC
sine
vC / B
vC
=
sin sin 150o
1.0392 1.8735
=
sin
sin 150o
= 16.1016 o
5-24
5/7 The elements of the mechanism for

deployment of a spacecraft
magnetometer boom are shown.
Determine the angular velocity of the
boom when the driving link OB
crosses the y-axis with an angular
velocity OB = 0.5 rad/s if tan = 4/3 at
this instant.
[Engineering Mechanics Dynamics
5th edition, Meriam & Kraige, prob.5/81]
OB B BO
A A
C
A B
v
vA
v
v v
v A = vB + v A / B
v
vB
AC
AB
[v
= OB OB
vB = 0.5(0.12) = 0.06 m/s

tan = 4 / 3
= 53.1301o
0.2 sin 0.12 0.2 sin 53.1301o 0.12

tan =
=
0.2 cos + 0.12 0.2 cos 53.1301o + 0.12
= 9.4623o
5-25
sine
vA/ B
vA
90
vB = 0.06 m/s
90 +
vA
vB
=
sin(90 + ) sin( )
vA
0.06
=
o
o
sin(90 + 9.4623 ) sin(53.13o 9.4623o )
v A = 0.0857 m/s
CA
CA
= v A / CA
CA = 0.0857 / 0.2 = 0.429 rad/s
CW
Ans
5-26
5/8 The flywheel turns clockwise with a constant speed of 600 rev/min, and
the connecting rod AB slides through the pivoted collar at C. For the position
= 45, determine the angular velocity AB of AB by using the relativevelocity relation.
AB 2 AB A
flywheel
OA AB
D AB C
v
v v
vD = v A + vD / A
vA
= 45
vD / A
135o
X
OA AD
45o
3
C D
v
v v
vD = vC + vD / C
v
vC = 0
v
v
vD = vD / C
C D
C D ( C D
)
C Slot D AB Slot
C D Slot

v
v
vD = vD / C
5-27
Slot
v
v v
vD = v A + vD / A
vA
= 45
vD / A
135o
// AD OA AD
vD
45o
vA
AD 2 = 200 2 + 400 2 2(200)(400) cos135o
vD / A
AD = 559.5865 mm
vD
sine
AD
OD
=
o
sin 135 sin
559.5865 400
=
sin 135o
sin
= 30.3612o
= 90o = 90o 30.3612o = 59.6388o
vA
v A = OA = 600
2
0.2 = 4 m/s
60
vD / A = 10.843 m/s
vD / A = v A sin = 4 sin 59.6388o

D / A = AB = vD / A / AD
AB =
10.843 1000
= 19.38 rad/s
559.5865
CW
Ans
5-28
5/4
1. Pin P on the end of the horizontal rod slides freely in the slotted gear. The gear
engages the moving rack A and the fixed rack B (teeth not shown) so it rolls without
slipping. If A has a velocity of 120 mm/s to the left for the instant shown, determine
the velocity vP of the rod for this position. [Engineering Mechanics DYNAMICS 5th edition, Meriam
& Kraige]
(Ans vP = 60 mm/s)
1
2. The wheel rolls without slipping. For the instant portrayed, when O is directly under
point C, link OA has a velocity v = 1.5 m/s to the right and = 30. Determine the
angular velocity of the slotted link. [Engineering Mechanics DYNAMICS 5th edition, Meriam &
Kraige]
(Ans
= 18.22 rad/s CCW)
5-29
5/5 Instantaneous Center of Zero Velocity

5/4
(3) (5)
v v
v
v
v A = vB + r
(6)
(6)
(6) (7)
v v
v
vA = r
(7)
v A = rA
(8)

()

Instantaneous Center of Zero Velocity: I.C.Z.V. I.C.Z.V
(8)
I.C.Z.V
3 I.C.Z.V. (7)
vv rv I.C.Z.V.
A B 3(a)
I.C.Z.V. 2
I.C.Z.V.
3 I.C.Z.V [1]
5-30
A B 3(b) 3(c)
I.C.Z.V. A B
(8) 3(b) 3(c) I.C.Z.V.

C AB C
A B
I.C.Z.V
AB 4(a) OB O
D
1. I.C.Z.V. 2
2. B A
O O
OB OA
3. I.C.Z.V. B A
4(b) C C I.C.Z.V
AB
4. I.C.Z.V.
5. AB
AB =
vB
CB
vA
( v A )
CA
v D = AB (CD )
AB =
6. AB D
D CD 4(b)
(a)
(b)
4 I.C.Z.V. [1]
5-31
I.C.Z.V
I.C.Z.V.
5

I.C.Z.V. ( I.C.Z.V.)
I.C.Z.V. (
) (
) I.C.Z.V. Body centrode
I.C.Z.V. (
) i.C.Z.V. (
) I.C.Z.V. Space
centrode
t1
I.C.Z.V
t2
I.C.Z.V
5 I.C.Z.V. [1]
I.C.Z.V.
I.C.Z.V.
J.L.Meriam and L.G.Kraige, Engineering mechanics DYNAMICS fifth edition SI Version,

John Wiley & Sons, Inc., 2003.
5-32
5/9 The flywheel turns clockwise with a constant speed of 600 rev/min, and
the connecting rod AB slides through the pivoted collar at C. For the position
= 45, determine the angular velocity AB of AB by using I.C.Z.V..

I.C.Z.V. 2
( AB)
1. A OA
2. D AB C

AB AB
vA
(5/77)
= 45o 135
O
vD
AD = 559.5865 mm
= 30.3612o
v A = 4 m/s
ACD
C
AB =
559.5865
AD
=
cos cos 30.3612o
= 648.5281 mm
AC =
4
vA
=
= 19.377 rad/s CW
AC 648.528110 3
Ans
5-33
5/10 The shaft at O drives the arm OA at a

clockwise speed of 90 rev/min about the fixed
bearing at O. Use the method of the
instantaneous center of zero velocity to
determine the rotational speed of gear B (gear
teeth not shown) if (a) ring gear D is fixed and
(b) ring gear D rotates counterclockwise about
O with a speed of 80 rev/min.
[Engineering
Mechanics Dynamics 5th edition, Meriam & Kraige, prob.5/117]
5
D
A
O
O
O
(a) ring gear D is fixed
OA : O I.C.Z.V.
O
A
vA
A
A
vAB
vA
vA = OA (a ) = (90
2
)(a ) = 3a m/s
60
A A OA
A D
D I.C.Z.V.
A =
5-34
v A 3a
=
= 6 rad/s
a/ 2 a/ 2
v AB = A (a ) = 6a m/s
B A
vAB
O
I.C.Z.V.
B
B
O
vAB
B =
v AB 6a
=
= 12 rad/s
a/2 a/2
B = 12
60
= 360 rev/min
2
Ans
(b) D = 80 rev/min CCW
OA : O I.C.Z.V.
O
vA = OA (a ) = (90
vA
2
)(a ) = 3a m/s
60
D O O
I.C.Z.V.
D
v AD
3
2 3
v AD = D ( a ) = (80 )( a ) = 4a m/s
2
60 2
A
v AD
A
C
vAB
vA
A A OA
A D
vAD
A =
v AD + v A 3a + 4a
=
= 14 rad/s
a/2
a/2
5-35
C
v AD
A
C
vAB
vA
v A 3a
AC
=
=
v AD 4a a / 2 AC
AC =
3a
14
v AB = A (
B
B
O
vAB
3a a
10a
+ ) = 14(
) = 10a m/s
14 2
14
B A
vAB
O
I.C.Z.V.
B =
v AB 10a
=
= 20 rad/s
a/2 a/2
B = 20
60
= 600 rev/min
2
Ans
5-36
5/5
1. Vertical oscillation of the spring-loaded plunger F is controlled by a periodic change
in pressure in the vertical hydraulic cylinder E. For the position = 60, determine
the angular velocity of AD and the velocity of the roller A in its horizontal guide if the
plunger F has a downward velocity of 2 m/s. [Engineering Mechanics DYNAMICS 5th edition,
Meriam & Kraige]
(Ans AD = 13.33 rad/s CW, vA = 2.31 m/s)

2. The three gears 1, 2, and 3 of equal radii are mounted on the rotating arm as
shown. (Gear teeth are omitted from the drawing.) Arm OA rotates clockwise about
O at the angular rate of 4 rad/s, while gear 1 rotates independently at the
counterclockwise rate of 8 rad/s. Determine the angular velocity of gear 3. [Engineering
(Ans
3 = 8 rad/s CCW)
5-37
(Dynamics)
5 ( 3)
5/6
5/4

1
vvA / B BA
B A
1 [1]

2
A B av A av B
2 B A
B

v
v
v
a A = aB + a A / B
(1)
B A
av A / B
n-t av A / B
(av A / B ) n n (av A / B ) t t (1)
v
v
v
v
a A = a B + (a A / B ) n + (a A / B ) t
(2)
5-38
2 [1]
(a A / B ) t = v& A / B = r AB
(3)
(4)
v v v
v
( a A / B ) n = ( r )
v v
v
(a A / B ) t = r
(5)
(6)
(a A / B ) n = v A2 / B / r = r 2A / B
1.
2. B A
3. n-t
1.
I.C.Z.V.
2. av A = av B + (av A / B ) n + (av A / B ) t
(2 ) 2 x y
2
3.
(Magnitude) (Direction)
2
5-39
v
v
v
v
a A = a B + (a A / B ) n + (a A / B ) t
Mag.
Dir.
v
v
v
v
a A = a B + (a A / B ) n + (a A / B ) t
2r
Mag.
AB
AB
Dir.
2r
AB
AB
1 av B , (av A / B ) n (av A / B ) t
av A
2 (av A / B ) t av A
4.
6.
av A
CB
A AO
A
B
const.
1.
v
v v
v A = vB + v A / B
Mag.
Dir.
AB
5-40
B vvA A
O A OA
2
v A
v
B
const.
v
a B C BC
2
a B = v B2 / BC = BC CB
B C

v
(a A / B ) n B AB (
A B)
v
(a A / B ) t ( AB )
AB ( AB )
v
a A
3 (av A / B ) t
av A
av A n-t
v
v
v
v
a A = a B + (a A / B ) n + (a A / B ) t
v
v
v
v
v
(a A ) n + (a A ) t = a B + (a A / B ) n + (a A / B ) t
av A
v
(a A ) n O OA
2
(a A ) n = v A2 / OA = OA OA
v
(a A ) t ( OA )
OA ( OA )
5-41
av A n-t av A
(av A ) t 2

v
v
v
v
a A = aB + (a A / B ) n + (a A / B )t
v
v
v
v
v
(a A ) n + (a A )t = aB + (a A / B ) n + (a A / B )t
Mag.
A2 rA
2
AB
AB
AB
AB
Dir.
(aA/B)t
(aA)t
A
(aA)n
(aA/B)n
aB
const.
3.

5-42
5/11 If the velocity v of the control rod is 0.9

m/s and is decreasing at the rate of 6 m/s2
when = 60, determine the magnitude of
the acceleration of C.
[Engineering Mechanics
th
Dynamics 5 edition, Meriam & Kraige, prob.5/147]

AB = BC = 13.856 rad/s CCW
ABC
C C B
A (
)
A B
v
v
v
v
a A = aB + (a A / B ) n + (a A / B )t
aB
(a A / B )t
(a A / B ) n
aA
2AB AB
// AB
AB
= 60o
= 60o
(a A / B ) n = (13.856 2 )(0.075) = 14.3992 m/s 2
v
(a A / B ) n
= 60o
v
(a A / B )t
= 60
v
aA
v
aB
5-43
a B + (a A / B ) n cos 60o (a A / B ) t sin 60o = 0
6 + (14.3992) cos 60o (a A / B ) t sin 60o = 0

(a A / B ) t = 15.2416 m/s 2
a A = (a A / B ) n sin 60o + (a A / B ) t cos 60o
a A = (14.3992) sin 60o + (15.2416) cos 60o

a A = 20.0909 m/s 2
(a A / B ) t = AB AB
AB = 15.2416 / 0.075 = 203.2213 rad/s 2

BC = AB = 203.2213 rad/s 2
CW
B C
v
v
v
v
aC = aB + (aC / B ) n + (aC / B ) t
2AB BC AB BC
// BC
BC
= 60o
= 60o
(aC / B ) n = (13.856 2 )(0.075) = 14.3992 m/s 2
(aC / B ) t = (203.2213)(0.075) = 15.2416 m/s 2
CW
v
aC
v
aB
v
(aC / B )t
= 60o
= 60o
v
(aC / B ) n
5-44
(a A / B ) n cos 60o + (a A / B ) t sin 60o + a B = aC sin
14.3992 cos 60o + 15.2416 sin 60o + 6 = aC sin

aC sin = 12
(1)
(aC / B ) n sin 60o + (aC / B ) t cos 60o = aC cos
14.3992 sin 60o + 15.2416 cos 60o = aC cos

aC cos = 20.0909
(2)
(1) (2)
aC = (aC sin ) 2 + (aC cos ) 2 = 12 2 + 20.0909 2 = 23.4 m/s 2
Ans
5-45
5/12 If the wheel in each case rolls on the circular surface without slipping,
determine the acceleration of point C on the wheel momentarily in contact
with the circular surface. The wheel has an angular velocity and an angular
acceleration .
(a)
C
r
O
C
O
C
O
C
CC
CC = R = r ( + )
( R r ) = r
( R r )& = vO = r& = r
&& = r
( R r )&& = (aO )x = r
(1)
(2)
(1) (2)
x (

(2) O)
(b)
5-46
(a) OA
A
R
R
r
O A OA
O
v
(aO ) x = r
v2
( r ) 2
v
(aO ) y = O =
Rr Rr
(aO )y
(aO )x
O C
v
v
v
v
v
aC = (aO )x + (aO )y + (aC / O ) n + (aC / O ) t
( r ) 2
Rr
2 r
v
(aC / O ) t
v
aC
(avO )x
v
(aC / O ) n
aC = (aO ) y + (aC / O ) n
(avO )y
( r ) 2
R
aC =
+ 2 r = 2 r
Rr
Rr
Ans
5-47
(b) (a)
r
R
A
A
O A OA
O
v
(aO ) x = r
(aO )x
O
v2
(r ) 2
v
(aO ) y = O =
R+r R+r
(aO )y
O C
v
v
v
v
v
aC = (aO )x + (aO )y + (aC / O ) n + (aC / O ) t
( r ) 2
R+r
2 r
v
(aC / O ) t
v
aC
v
(aC / O ) n
(avO )x
aC = (aC / O ) n (aO ) y
aC = 2 r
( r ) 2
R
= 2 r
R+r
R+r
Ans
(avO )y
v
(aC / O ) n
(avO )y
v
aC
5-48
5/6
1. Crank OA oscillates between the dashed positions shown and causes small angular
motion of crank BC through the connecting link AB. When OA crosses the horizontal
position with AB horizontal and BC vertical, it has an angular velocity and zero
angular acceleration. Determine the angular acceleration of BC for this position.
(Ans = 2l2/r CW)

2. If OA has a constant CCW angular velocity O = 10 rad/s, calculate the angular
acceleration of link AB for the position where the coordinates of A are x = -60 mm
and y = 80 mm. Link BC is vertical for this position. [Engineering Mechanics DYNAMICS 5th
edition, Meriam & Kraige]
(Ans
= 10.24k rad/s
5-49
(Dynamics)
5 ( 4)
5/7 Motion Relative to Rotating Axes

1
Y
D
1
1 () a
B A, C D
X-Y x-y
5-50
a A
X-Y x-y
a A
vvrel (
vvrel = vvB / A )
1. a A B
a B
v
v v
v B = v a + v B / a a B a B
vvB / a
a B ( vvB / a = vvrel = 0 )
A B
v
v
v
v B = v A + v B / A A A
vv A = 0 B vvB = 0 vvB / A = 0
A A B vvrel
vvB / A vvrel
2. a A C
a C
v
v v
vC = v a + vC / a a C a C
a vva = 0 vvC = vvC / a = vvrel
A C
vvC = vvA + vvC / A vv A = 0 vvC = vvC / A
A C A
C vvrel = 0 vvC / A vvrel
3. a A D
vvD = vva + vvD / a vva = 0 D
a a D

A D A
D A D A
vvD = vvA + vvD / A = vvD / A vvD / A vvrel
a (
) ( vvxx / a = vvrel )
( vvxx / A vvrel )
( 1.2)
5-51
2 [1]
2 OD 2 rad/s
CA

P OD A CA
v
vA
Amp.
v
v
= vP + v A / P
(OP)
AC OD
Dir.
// OD
v
(a A ) n
v
vA/ P
v
v
v
a A = aP + a A / P
v
v
v
v
+ (a A ) t = (a P ) n + (aP ) t + (a A / P )
Amp. 2AC ( AC )
Dir.
v
vA
2 (OP)
// OD
OD
av A / P OD AC

5-52
A
Y
B
()
()
3 [1]
3() A B
3()
3()
x-y
X-Y
3()
v
v v v
rA = rB + r = rB + ( xi + yj )
(1)
x, y x-y i j
x y
A (1)
v
v d ( xi + yj )
r&A = r&B +
dt
(2)
d ( xi + yj )
= x&i + y&j
dt
x-y
i j
()
()
4 i
5-53
[1]
4 i j
di = dj
dj = di
&
&
i = j
j = i
&
& v
i = i
j = j
(4) (2)
(3)
(4)
v
v d ( xi + yj )
r&A = r&B +
dt
v&
v&
& &
rA = rB + ( xi + yj ) + ( x&i + y&j )
(5)
xi& + y&j = v xi + v yj = v ( xi + yj ) = v rv
x&i + y&j x-y
vvrel = x&i + y&j
(5)
v v v
v
v
v A = v B + r + v rel
(7)

v v
r

Y
5-54
Y
t=0
y
= &
v
rXY
v v
rXY , rxy
Y
v v
, rxy
rXY
= &
v
rxy
+ d
t = t1
v v
, rxy
rXY
= &
v
v rXY
rxy
v
rxy
v
rXY
()
()
v
rxy
x X
t = t1
v
rXY
()
t = t1
v v
, rxy
rXY
()
5
5 5()
t=0 X-Y x-y
rvXY rvxy
t=t1 5()
rvXY rvxy
rvXY
5()
rvxy t=t1 rvxy
rvxy
v
rXY 5()
5() rvXY rvxy
v
v
rXY = rxy + r
r
( v rv )
5-55
Using non-rotating axes

v A
Using rotating axes

y
v
B
v
v v
v A = vB + v A / B
v
v
AB r
An observer at B sees A
moving in a circle around him
v v v
v
v
v A = vB + r + vrel
v
v
rotating frame r
v
v
AB r
=0
A fixed with rot. frame, therefore

B sees A having no motion
6
6
AB
()
B B A
B vvA / B = v AB rv
A B x-y
B A ( x-y ) vvrel = 0
v rotating frame rv = v AB rv
5-56
( (7))
v
v v v v
v A = vB + r + vrel
v& v v v& v&

v
v
(8)
a A = aB +
r + r + vrel
v v&
r
v
a rel
v
v& rel
v d
& &
r& = ( xi + yj ) = ( xi + yj ) + ( x&i + y&j )
dt
v v
= r + vrel
v v v v v
v v v v v
r& = ( r + v rel ) = ( r ) + v rel
(9)
d
v
& &
v&rel = ( x&i + y&j ) = ( x&i + y&j ) + ( &x&i + &y&j )
dt
v
= ( x&i + y&j ) + ( &x&i + &y&j )
v v
v
= vrel + arel
(10)

(9) (10) (8)
v& v v v v
v v
v
v
v
(11)
a A = aB +
r + ( r ) + 2 vrel + arel
(11) 7
B x-y
A P x-y
A
7 [1]
5-57
B av B P A
P ()
P v& rv () v (v rv ) (
)
A A P
2v vvrel + avrel av rel
2v vvrel
v v
2 v rel Coriolis Coriolis
1.
(1)
(2)

2. vvA = vvB + v rv + vvrel

3. av A = avB + v& rv + v (v rv ) + 2v vvrel + avrel


5-58
5/13 Car B is rounding the curve with a constant speed of 54 km/h, and car A
is approaching car B in the intersection with a constant speed of 72 km/h.
Determine the velocity which car A appears to have to an observer riding in
and turning with car B. The x-y axes are attached to car B. Is this apparent
velocity the negative of the velocity which B appears to have to a nonrotating
observer in car A? The distance separating the two cars at the instant depicted
is 40 m.
1000
v
v A = 72(
)i = 20i m/s
3600
1000
v
vB = 54(
) j = 15 j m/s
3600
vB 15
=
= 0.15 rad/s
100
v
= 0.15k rad/s
v
r = 40i
v v
r = 0.15k (40i) = (0.15)(40)( j ) = 6 j
v
v v v v
v A = vB + r + vrel
20
15
X
X

2 vvrel
5-59

v
v v v v
v A = vB + r + vrel
v
20i = 15 j 6 j + vrel
v
vrel = 20i 9 j m/s
Ans
A B
A
2
v
v v
vB = v A + vB / A
v
15 j = 20i + vB / A
v
vB / A = 20i + 15 j
vB / A vrel A B
B A
v v
r = 6 j
Ans
5/14 For the cars of Prob.5/156 traveling with constant speed, determine the
acceleration which car A appears to have to an observer riding in and turning
with car B.
5/156
v
v A = 20i m/s
v
vB = 15 j m/s
v
r = 40i
v v
r = 6 j
v
= 0.15k rad/s
v
vrel = 20i 9 j m/s
v v
v
v v& v v v v
v
a A = aB +
v
aA = 0
v2
152
v
v
v
a B = (a B ) n + (aB ) t = B (i) + 0 =
i = 2.25i m/s 2
100
v
(a B ) t = 0 B
v& v
r = 0
B
v& = 0
v v v
( r ) = 0.15k (0.15k 40i) = 0.9i m/s 2
v (v rv ) 2 r
v v
2 vrel = 2(0.15k (20i 9 j )) = 6 j + 2.7i
v
arel
v
arel
5-60
5-61
v v
v
v v& v v v v
v
a A = aB +
v
0 = 2.25i + 0 + 0.9i + (6 j + 2.7i) + arel
v
arel = 1.35i 6 j m/s 2
Ans
5-62
5/15 For the instant represented, link CB is

rotating counterclockwise at a constant
rate N = 4 rad/s, and its pin A causes a
clockwise rotation of the slotted member
ODE. Determine the angular velocity
and angular acceleration of ODE for this
instant.
[Engineering Mechanics Dynamics 5th
edition, Meriam & Kraige, prob.5/168]
x-y
O
A
v
r

ODE
v
v v
v v
v A = vO + ODE r + vrel
CB CA
X
// DE
2

v
vA
v
v
ODE r
v A = CB CA = 4(0.12) = 0.48 m/s
v
vrel
45o
v
v
ODE r = ODE r = ODE 0.12 = v A = 0.48
ODE = 4 rad/s
vrel = v A 2 = 0.48 2 m/s
Ans
5-63
=0
v&
v
v
v
v
v v
v
v
v
a A = aO +
ODE r + ODE (ODE r ) + 2ODE vrel + arel
v&
v
v
v
v
v v
v
v
v
(a A ) n + (a A )t =
ODE r + ODE (ODE r ) + 2ODE vrel + arel
2
CB
CA
2
ODE
r
2ODE vrel
45o
X
// DE
45o
2

2
(a A ) n = CB
CA = 4 2 (0.12) = 1.92 m/s 2
v
v
v
2
ODE (ODE r ) = ODE
r = 4 2 (0.12) = 1.92 m/s 2
v
v
2ODE vrel = 2ODE vrel = 2(4)0.48 2 = 3.84 2 m/s 2
v
arel
v&
v
ODE r
2
ODE
r + 2ODE vrel cos 45o
v
(a A ) n
arel cos 45o = 0

1.92 + 3.84 2 cos 45o
v
v
v
ODE (ODE r )
arel cos 45o = 0

arel = 1.92 2 m/s 2
& ODE r
(a A ) n = 2ODE vrel cos 45o +
v
v
2ODE vrel
arel cos 45o
& ODE r 1.92 2 cos 45o

1.92 = 3.84 2 cos 45o +
& ODE r = 7.68 m/s 2
& ODE =
ODE =
7.68
= 64 rad/s 2
0.12
CCW
Ans
5-64
5/7
1. The disk rolls without slipping on the horizontal surface, and at the instant
represented, the center O has the velocity and acceleration shown in the figure. For
this instant, the particle A has the indicated speed u and time-rate-of-change of
speed u& , both relative to the disk. Determine the absolute velocity and acceleration
of particle A. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans vA = -3.4i m/s, aA = 2i 0.667j m/s2)
2. Aircraft B has a constant speed of 540 km/h at the bottom of a circular loop of 400m radius. Aircraft A flying horizontally in the plane of the loop passes 100 m directly
under B at a constant speed of 360 km/h. With coordinate axes attached to B as
shown, determine the acceleration which A appears to have to the pilot of B for this
instant. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans arel = -4.69k m/s2)
3. Link OA has a constant CW angular velocity of 3 rad/s for a brief interval of its
rotation. Determine the angular acceleration BC of BC for the instant when = 60.
First use a rotating-frame analysis, and then verify your result with an absolutemotion approach. [Engineering Mechanics DYNAMICS 5th edition, Meriam & Kraige]
(Ans BC = 0)
5-65
4. Determine the angular acceleration 2 of wheel C for the instant when = 20.
Wheel A has a constant clockwise angular velocity of 2 rad/s. [Engineering Mechanics
(Ans
2 = 16.53 rad/s
CCW)

Dynamics Total 20100610

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Dynamics Total 20100610

Uploaded by

Copyright:

Available Formats

2103213 1

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

displacement s = vdt = Area under v t curve

v 2 v1 = adt = Area under a t curve

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

[1] J.L.Meriam and L.G.Kraige, Engineering mechanics DYNAMICS fifth edition SI

Dynamics/ Chapter 2 Kinematics of Particles

a = g sin = 0.5875 m/s 2

vdv = ads = 0.5875ds

Dynamics/ Chapter 2 Kinematics of Particles

2/2 When the effect of aerodynamic drag is included, the y-acceleration of a

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

(Ans h = 16.86 m, t = 4.40 s

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

2/3 A rocket is released at point A from a jet aircraft flying horizontally at

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

[1] J.L.Meriam and L.G.Kraige, Engineering mechanics DYNAMICS fifth edition SI

Dynamics/ Chapter 2 Kinematics of Particles

as functions of time. What is the terminal velocity? Include the effects of

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

[1] J.L.Meriam and L.G.Kraige, Engineering mechanics DYNAMICS fifth edition SI

Dynamics/ Chapter 2 Kinematics of Particles

a1 = an2 + at2 = 40 2 + 30 2 = 50 m/s 2

a2 = an2 + at2 = 80 2 + 30 2 = 85.44 m/s 2

Dynamics/ Chapter 2 Kinematics of Particles

an = a 2 + at2 = 73 8.2 2 = 2.4 m/s 2

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

Dynamics/ Chapter 2 Kinematics of Particles

[1] J.L.Meriam and L.G.Kraige, Engineering mechanics DYNAMICS fifth edition SI

Dynamics/ Chapter 2 Kinematics of Particles

2/6 The slotted arm OA forces the small pin

Dynamics/ Chapter 2 Kinematics of Particles

2/7 For a limited range of motion, crank CP

& = 4 rad/s constant

a = (0.12)(& ) 2 = (0.12)(4) 2 = 1.92 m/s 2

= 0.48 sin = 0.1837 m/s

v = v cos = 0.48 cos = 0.4435 m/s

ar = a cos = 1.92 cos = 1.7738 m/s 2

a = a sin = 1.92 sin = 0.7348 m/s 2

r& = vr = 0.1837 m/s = 183.7 mm/s

Dynamics/ Chapter 2 Kinematics of Particles

&r& = ar + r& 2 = 1.7738 + (0.2217)(2 2 )

&r& = 0.887 m/s 2 = 887 mm/s2

Dynamics/ Chapter 2 Kinematics of Particles

= 77.9 mm/s, &r& = -13.5 mm/s2

rotates about point O. The angular position of the arm is given by