COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 223.

rB = ( 0.36 m ) j, rD = ( 0.15 m ) i + ( 0.52 m ) k

Geometry.

rB/D = ( 0.15 m ) i + ( 0.36 m ) j ( 0.52 m ) k

rC =

lDB =

0.152 + 0.362 + 0.522 = 0.65 m

1
( rB + rD ) = ( 0.075 m ) i + ( 0.18 m ) j + ( 0.26 m ) k
2
= 1k = ( 5 rad/s ) k.

Let frame Axyz rotate with angular velocity

u = 975 mm/s 2 = 0.975 m/s 2

Velocity analysis.

vC = rC = 5k ( 0.075i + 0.18 j + 0.26k ) = ( 0.9 m/s ) i + ( 0.375 m/s ) j

v C/ F =

u
lDB

rD/B =

0.975
( 0.15i + 0.36 j 0.52k ) = ( 0.225 m/s ) i + ( 0.54 m/s ) j ( 0.78 m/s ) k
0.65

v C = v C + v C/F
vC = (1.125 m/s ) i + ( 0.915 m/s ) j ( 0.780 m/s ) k

= 10k rad/s, u& = 6.5 m/s 2

Acceleration analysis.

) (

aC = vC = 5k ( 0.9i + 0.375j) = 1.875 m/s 2 i 4.5 m/s 2 j

aC/F = rC + u&
= 10k ( 0.075i + 0.18 j + 0.26k ) +

6.5
( 0.15i + 0.36 j 0.52k )
0.65

) (

= 1.8 m/s 2 i + ( 0.75 m/s ) j + (1.5 m/s ) i 3.6 m/s 2 j + 5.2 m/s 2 k

) (

2 vC/F = ( 2 )( 5k ) ( 0.225i + 0.54 j 0.78k ) = 5.4 m/s 2 i 2.25 m/s 2 j

aC = aC + aC/F + 2 vC/F

) (

) (

aC = 7.58 m/s 2 i 9.60 m/s 2 j + 5.20 m/s 2 k

Vector Mechanics for Engineers: Statics and Dynamics, 8/e, Ferdinand P. Beer, E. Russell Johnston, Jr.,
Elliot R. Eisenberg, William E. Clausen, David Mazurek, Phillip J. Cornwell
2007 The McGraw-Hill Companies.