PLANE KINEMATICS OF Ricip BopiEs InTRopucTION In Chapter 2 on particle kinematies, wr developed the relationships governing the displacement, velocity, and seeeleration of points us they ‘moved along straight or curved paths In rigid-hody kinematics we ust these same relationships hat must also aecennt for the rotational motion of the body, Thus rigid-body kinematics involves both linear and angular displacements, velocities, and accelerations We naed to deseribe the motion of rigid hodies for ow important reasons, First, we Trequently need to generate, transmit, or control eer tain desired motions by the use of cams, gears, ard linkages of various types. Here wo must analyre the displacement. velocity, and arvelevation of the motion tw determine the design goometry of the mechanical parts, Furthermore, as a result of the motion generated, forces may he devel ‘oped which must be accounted for in the: designs Second, we must often determine the motion of a rigid body caused by the forces applied to it, Calculation of the motion af a rocket under the influence of its thrust and gravitational attraction is an example of such a problem, he parts.322 Chapters Plane Kinematics of Rigid Bodies We need to apply the principles of rigid-body kinematies situations This chapter cavers the kinematics of rigid-b which may he analyzed as occurring in a single plane. In Chap will present an introduction to the kinematics of motion i dimensions. Rigid-Body Assumption In the provious chapter we defined a rigid body as a sysien ticles for which the distances between the particles remain ‘Thus, if each partiele of such 9 body is located by a position reference axes attached to and sotating with the body, there change in any position veetor as meastived from these axes course, an ideal case since all solid materials change shape 10 80 tent when forees are applied to them, Nevertheless, if dae movements assaciated with the changes are very small compared with the movements of the body asa whol the assumption of rigidity is usually acceptable. The displacement to the flutter of an aireraft wing, for mstance, do not affect the tion of the Bight path of the aireraft as a whole, and thus the ri assumption is clearly acceptable. On the ather hand, if the prob fone of deseribing, as a function of timo, tho internal wing site wing flutter, chen the relative motions of portions of the wing & neglseted, and the wing may not be considered a rigid hody. In this the next two chapters, almost all of the material is based on sumption of rigidity Plane Motion [A ngid body exowuites plane motion who all parte of the body in parallel planes, For convenience, we generally consider the p motion to he the pine whieh contains the mass center, and we body as 2 thin slab whose motion is confined to the plane of the This idealization adequately deseribos u very large category of rigid motions encountered in engineering. "The plano motion of a rixid body may be divided into several gories, as represented in Fig. 3/1 ‘Translation i defined as any motion in which every line inf bbody remains parallel to its original postiton at all times. In wand thore is 20 rotation of any line in the body. In rectilinear transla part a of Fig. 5/1, all points in the body move in parallel steaight In curtilincor translation, pact b, all points move on congruent a We note that in eaeh of the two cases of teanslation, the motion off body is completely specifica by the motion of any paint in the body, all points have the same motion, ‘Thus, our earlier study of the mi of « point \particle) in Chapter 2 enables us to describe completely th translation of & rigid body. Rotation about a fixed axis, part ¢ of Fig. 5/1, is the angular m about the axis, It follows Ghat all particles in a rgsel bode move ine cnlar paths about the axis of rotation, sad all lines in the body are perpendicular ts the axis of rotation Gneluding those which dom ppass through the axis) rotate throusgh thee seme angle in the same tngArticle 5/2 Rotation 323 @ | Retina franclation a Gurl Pisnteasis retaien General Bice mei a ky: Connecting eid ina reapracaling engine Figure 5.1 ee ae our diseussion in Chapter 2 on the eircular motion of @ point — Bie us: to: deneibe: tte vation ofa rucuting Vahl Body, whist tk fel in the next article General plane motion of a rigid body, part @ of Fig. 5/1, is a bination of Iranslation and rotation, We will utilize the prineiples of itive motion covered in Art, 2/8 to daceribe general plane motion. Note that in each of the examples cited, the actual paths ofall par- les in thu body are projected unto the single plane of motion ae rep: ted in cach figure, Analysis of the plane motion of rigid bodies is gecomplished wither calculating the sbsolute displacements and their time der: ns fm the geometry involved or by utilizing the principles of rela. motion, Each mechual is important and useful and will be covered Hi turn in the articles whieh follow. [2 Roration The rotation of a rigid body is daseribed by its angular motion, Figg te 5/2 shows a rigid body which is rotating as it undergoes plane mo Hn in the plane of the figure. The angular positions of any’ two lines Gand 2 attached to the body are specified by fy and fy measured from Figuies 2—— ll t— 324 chat 5 Plane Kinematics of Rigid Bodies any éonventent fixed reference direction, Beenuse the ane Bist 2 ation Og = 0, +, upon difeentision with respect wees = iy and d ~ H 98 during a fine interval, 40; wives had on rigid body in is plane of motion ate rhualar daptacement, dhe vara angnlar veo, ana he sae acceleration. reat the angular wotion ofa line depends only on Se 0 position with respect to any arbitrary faxed afore and on the Post ties of the daplacement. Angular motion does 895 Tt fpresenco of fixed ax's, nome to tbe plane ‘of motion, about shicitl Tine and the body rotate. cette, Angular-Motion Relations . eh ‘The angular velocity w and angular acceleration z plane rotation ae, respectively the first and wecope dorwvati t cane gular position coordinate 0 af any Hne in the plane of motion i the bndy. These deBinitions zive ‘Pho thied relation Js Gbiained by aliminating dé from ‘he first sine ar ahese rolation, the positive diestion for a 0nd clock ah or cbckiz, i he same ox that chosen for 0 Equations 5h the recognized as analogous to the defining eqvarjons for the rect oe ae particle, expressed by Bas. 2/1, 2/2, and 2/9 In feet aanirtyas which wore described for rectilinear motion 1 ‘Art. 2/2 aaa tase of rotation ina plane if the linear quantities ®, onde Teplaced by their respoctive equivalent ansuls quantities 6 0 further with rigid-body il Bind thet nalogies between the relationships for bs sale plete throughout kinematics and kinetics. 7h Gportant to recognize, 0s they help te demonstrate the symmetry ‘unity found throughout mechanics y found. tion with constant angular aessleration, the ‘ntegrals of Bd 5/1 become en wy tat a? = ag? + 2al0 ~O) 6 fo + wot + bet? Here dy ond wp re tho values of the angular positon coordinate = wean welodty, respectively, at ¢ = 0, and tle the uration ofn considered, You should be able to carry out these integrations 48 they are completely analogous to the corresponding equaticns rectilinear motion with constant acceleration covered in Art. 2/2. “The graphical relationships described for s, v, a, and ¢ in Figs, 2/3 #1 2/4 may be used for 9, « and a morely by substituting the conve cing symbols. You should sketch these graphical relations for plane on, The mathematical procedures far obtaining rectilinear volocity displacement from rectilinear acveleration may be applied to rota- about a Fixed Axis When a rigid body rotates about a fixed axis, all points other than en the axis move in concentric circles about the fixed axis, Thus, the rigid body in Fig. 5/9 rotating about a fixed axis normal to the of the figure through O, any point such as A moves in a circle of dus r. From the previous diseussion in Art, 2/5, you should already Gmiliar with the relationships beiween the linear motion of A and he angular motion of the line normal to its path, whieh is also the lar motion of the rigid body. With the notation » = @ and « = for the angular velocity and angular acceleration, respectively, of ody we have Eqs. 2/11, rewritten as ‘These quantities may be expressed alternatively using the cross: duct relationship of vector notation. The vector formulation is esp ly important in the analysis of three-dimensional motion. The lar velocity of the rotating body may be expressed by the vector e al to the plane of rotation and having a sense governed by the right. drule, as shown in Fig, 6/4a. From the definition of the vector crass ict, we see that the vector v is obtained by crossing w into r. This Rs produet gives the correct magnitude and direction for v and we order of the vectors to be crossed must be retained. The reverse ‘The acceleration of point A is obtained by differentiating the cross: duct expression for v, which gives, Article 5/2_Rotation 325Plane Kinematics of Rigid Bodies Figure 5/4 Here a = @ stands for the angular acceleration of the body. Thus, ‘vector equivalents to Eqs. 5/2 are and are chown in Fig. 5/46 For three-dimensional motion of a rigid body, the angular-val vector « may change direction as well as magnitude, and in this the angular acceleration, which is the time derivative of angulav ve e ~ will no longer be in the same direction asArticle 5/2 Rotation 327 | A flywheel rotating freely at 1800 rev/min clockwise is subjected to 4 vari- Bs onnterlockwise torque which is frst applied at ane ~ @, The torque ves @ counterclockwise angular acceleration dt rads*, where ¢ is the Gr sesonds diving wbich the torana i appt Dolor () lye time re forthe Fhe to reduce se docenise angular speed to 900 rev/min, the tre required for the Hywel to reverse its direetion of rotation, and zal nimbor ef revotion, slckwine phen ceunterleclavse, sarod by tho ducts the frst ta aces of rau npalation Metptal tints D Wee must be very eet to We con sistent with our eshte agus, The : lower. limit iz tho noite lock vas a Lapa He wine) alte of she niga) angular Iations te radians sins cin radian (Pw itutng the clockwise anasular speod of 00 rev/min or w = —909(2}/80 = oh t= 1 = 6865 Ans Angular ‘let ‘The flywheel changes diecetion when ite sngular velocity is momentarily «0 rade ecw ~bix + 28 80n 1 = 971s Ans 0 0246 fis ttnvsih tverttin thiough which te ysl rma dag’ nds the auntber of eorkwice tums N; during the fist 9.71 seconds, ls Gites exinterlockwan tuone My, iving th tomabnlar ie nerve Bie tae cepeccscn ts als eras rer ex cae tesco ans, Thus, fr the fist interval ot [a= cme aa = 1220 rad ® Aran nexe that the minus sizn si nifies clockwise i this problem, 942 revalutions clockwise (607 + a) de fy = (60m + 89134) = 410-rad @ Weeiauld tuve vyuverwia the origina leceression for us into ¢he units of EN, = 410/27 ~ 68.3 revolutions counterclockwise. Thus, the total number B 4 evict, in which case our integvale Frvdutions tanned during tho 14 seconds is would haye eins out dirertly in Ana, Pevolations N= N+ Ny 1042 + 65.8 = 250 re" We have platted «» versus ¢ abel we see that 4 Is represented by the asgative ‘and 0, by the positive area, Ife had intograted over the entire interval in Bestap, wo would have obtauned |éy\ — [0326_Chapters Plane Kinema: <5 of Rigid Bodies Sample Problem 5/2 ‘The pinion A of the hoist motor drites gear B, which is attached to the fotsting drum. The load Ls lifted fromm ite rent position an acclres entupvard Nelecity of 8 fe/see in a vertiol rise of 4 N with constant acceleration. ‘ae the {cad passes this position, compute (a) the acceleration ef point C'on the cable contact with the drum and (b) the angular velocity and angular actelemation of the pinion a Eg EG Solution. (0) 16 she cate does 1 saceleration of the load 1 are, and tangential arcoleration oy ! constant aseeleratinn, ot skp on the drum, the vertical velocity and of necessity, the same os the tangential velocity of point C. For the reetilineer mation of L with the n= and t-components of the acceleration of C become: let = 205] ta, = o/s = 3/124)] = 1.195 R/eco® © by Oa - 288 m/e? tsA torque appliol to a fywheel causes it to eevelerate aniformly trom a speed of 200 rev/min to a saeed of {00 rev/min in 4 seconds, Determine tho number of revolutions N through which che wheel turns duritig this interval. (Suggestion: Use revelutions and mine ates for units in youresleakaons Ans 53.8 rev ‘The rsctangulur plate is rotating abeut its corner asin though O with @ constant angular velecity w = 10 rad/s. Determine the magnitudes of the volaity wand scesleretion a of the corner A by ia) using the sealar ‘lations anu (b) using the vector relations. ech tin 40 mm Problem 5/2 ‘The Tshaped body rotates bust « horizontal axis through poine . Ac the instant represented, sts an ilar velocity is w — 5 raé/s and its angular ueceler= ation is = 14 rai/s® in the digestions indicated Determine the velocity and uvsloration of point A and (point B. Express your resus i term of come os ponents along the n= and taxes shown, 1.20, me Ay = bbe, 8.60, m/s? diva = 1e, + Ole, m/s oy ~ Be, + 2, m/e? ‘Ans Ia! Va = aor Problem 5/3 5/4 ‘The small cart is released from rest in pasition 1 and requires 0.638 asurds to reach position 2 ot the bot tom of che path, where its eunter has 2 velocity of 14.20 fh/eee, Determine the angular veleeiiy of line “AR in position 2 and the average angular velocity ey, ‘OC AB during che inverval Problem 5/4 Article 5/2 Problems 329——————--—tltt—“is—O | 3530 chapters Plane Kinematics of Rigid Bodies 5 The Mhywhedl has a diameter of GVO min end rotates vwiuh nmeteasing speed about it zxkz shalt, Wht fuint Poon the vim eresees the yasia with @ = 0 Paina aexeleravion given by a= ~L8l — 48) m/e For this inscant, determine the angular velocity 4 ond the angular aceuleration «of Uve dhywheet fins. = 6 rad’ a raal/s the tywheat 5.6 if the aoevleration of point P’on the rim trirah, 3/p isa ~ 208i — 16245 a's? when #= 60 eenmrane the augolar veluity ur and angular act ve Go-mnmediameter flywheel for this tration «of the tae postion of a radial line in @ rotating disk ig aiven by the clockwise angle: = 2° — 3! 4 here Bis in radians and C15 in seeonds, Calewlats the Grater displocement 40 ofthe dik during the bxler arin which its angular aceolerasion increases from 42 ra/e to 66 rads 3.7 Theaneal ‘Aus 20 = 244 rad ts curter O in the d= fe point B ot the sin — ai — ays’. For ye ana 15.8 ‘The circular disk rotates about i rectin shown, Aba cera insta yas tv agveloration given by & = {his instant determine the angela veioeit ular seceloration a af the disk 8 4 ¢ < oy Probiens 0 5:9 IF the rectangular plate of Prob 5/2 starta fom feed point R bas an inal acceleration of 64 SJetenine ube distance 6 if the plate reaches quar spel of 300 ree/ain im 2 emma. With Bent angalar acceleration Any, = 1808) a 5/10 ‘The rightangle ber eetaces aout the sass tt a ‘O writ an ungular acceleration 2 8 rad/s? if ’ Gueetion shown. Determine the velocity end 3 ceision of point P whee the nnglar velocity t the value w ~ 2 rad/s . y a3 © Problem 3:10 representative Problems data for rotating contro! clement 5.11 Bxperimental tween, angular ve weal the plotted relation woud the angular coordinate #1 shown. ABO! fhe angalar seceleration ox of the elettent a- eee Aus o = 3950fo: Prapee Article 5, of the ear has ws velocity of 40 perp al postion Aand 150. sec Iaber at B has » re of 50 mf. The radive of exrvarure of Re ved at B ie 160 fi. Caleulate the angulae select! abe ear ar B and the average anlar sel005 te OF the ear botween 3 and O 5/14 The minse center @ ae rablem 5.11 maaan - | and attachéd disk are rotating crud tine on a RHINE g gg The helt asieen pallet ing angular velo at the helt fs 13 m5. ty, Ata certain Josten 4 ya The angular position ob and the total ae Fuhig get iy 8 ~ (+ Vane 7, were 0 a aoe Pot the angler position, ee the spre! si raians and fs in sev0rds ond rover veleity. and angular erceleation werss® 1S sae sel a, go mene of outon, Determine sae earn of paint A ia 75 m/s Forth isanant fe 4 tie fr chee acebration 22. erga (a) the angular sewutration ot Ofte BSL a on " eee ig) the total acceleration of point Fond meee agcetoration of point € pn the bell Fis the reétamgular plate cota clockwise about ela) a= B00 rad/s (Bl ap, = SFDC BC has « constant angi febag = 225 ms! fixe hearing at O. Tse TF vad, daverraine Ue vectur expressions at vlectty of Tacceleration of point A using 1 fr tho velosity ae Ane Ws = 168i = LS) mis Be To.sk — 10.08) mis 150 am problem 515, 1 slement re= — lar elo robiem 513, 2 ‘Approximale A lement when” : 3.95 rad/s332 Chapters Plane Kinematics of Rigid Bodies 5/16 Mayausic tape is being fed over and around the light pulleys mounted in a computer. Ifthe speed v of the tape is constant and if the magnitude of the aocel- eration of point A an the tape is 4/9 times that of point 8, caleulate the racius r of the smaller pulley. Probiem 5.15 S/17 The circular disk rotates about iis censor O. For the instant represented, the velocity of A is v4 = £4) in./see nd the tangentinl aeooleration of Bis {apy ~ Gi in.jsec®, Write the vector expressions for the angular velocity ev and angular acceleration « of the disk, Use there rovults to write the veetor a pression for Lhe acceleration of point C. Ans, co ~ 2k rad'sec, @ = —3k rad/sec? 11 + 5p) ipsa? Problem 5/17 5/18 The solid ylindee sotates about ites, At the in- sant represented, point Pon the rim has a velocity ‘whose s-component is ~4.2 ft/sec. and # = 20". De formine the angular velooy a of line AB on the face of the cylinder, Does the element line BC have en angular velicity? Problem 5.18 5/19 A gear rotating at a clockwise speed of 20019 is subjected to « torque which gives it ae angular auceleration « which varies with shawn, Find the speed N of the gear when t Ans N = 27m rat? 45/20 The rotating sm starts froma rest and acquires tational speed NV = 600 rovymin in 2 seconds feonstant angular aeseleration, Rind the time di Sarting before the sevcleration vector of eal rakes an angle of 45° with the arm OP. | cow Problem 5/20Article 5/2 333 Problems N The two Vibelt pulleys form an integral unit and ro fate ubout te fixed aais at Q. Av a ceetain instant, point A on thebeltof thesmalier pulley has a velocity ty = 15 m/e, and point B on the belt of the larger pulley has an aoceleration ay = 45 m/s* as shown, For this instant determine the magnitude of the ae cecleration ae of point C and aleetch the vector int your slution. Ans. ae = 1498 a/st $22 A clockwise variable tories appliod to 9 flywheel at time ¢ = 0) causing its clockwise angular ageeler ation to decrease linearly wath engular displacement 9 daring 20 revolutions of the wheel as shown. I the dloclovise speed uf the Aywheel was J00 rev/min at o 1 = 0, determine its speod .V afler turning the 20) revolutions. (Srygestion: Use units of revahutions ia: ead of radians.) tov? sequines a. seconds wit 1 e time ¢ or of end oe Problem 5/22 3/23 The deslgn chanteristies of a gearredaction unit are under review. Gear 3 is retating clockwise with 8 spocd of 800 rev/min when a toque ie epplied ty ear A at timer = 2's to give gear A a eounterclosk- ‘wise scceleration a which varies with time for a due tration of 4 seconds ae shown, Determine the speed Np of gear B when t Problem 3,25 5,26 A V-belt speed.reduetion drive is shosen where pulley A drivos the two integral pulleys B which ia turn drive pulley C. If A staris from rest at ume ¢— 0 and is given a constant angular aecwleration ay dy rive expressions for the angular vluelty af C and e magnitude of theatceleration ot point P on the belt och at time t ~534 Chapters Plane Kinematics of Rigid Rodies 5/3 ABsoLUTE Motion We now develop the approach of absolute-smotion analysts (0 de scribe the platie kinematics of rigid bodies. In this approach, we use of the geometric relations which define the configuration of the! invelved and then proceed to take the time derivatives of the defi geometric relations to obtain velocities and accelerations. In Ait, 2/9 of Chapter 2 on particle kinomaties, we introduced th application of absolute-motion analysis for Lhe constrained motion connected purticles. For the pulley configurations treated, the releval velocities and accelerations were determined by successive differenti tion of the lengths of the connecting cables. In this earlier treatment the geometrie relations were quite simple, and no angular quantities to be considered. Now that we will be dealing with rigid-body moti however, we find that our defining geometric relations include both car and angular variables ond, therefore, the time derivatives of thé quantities will involve both linear and angular velocities and Tinear at aingular accelerations In absolute-motion analysis, it is essential that we be consistent tho mathematies of the description, For example, if the angular post of « moving line In the plane of motion is specified by ite countere'o wise angle # measured from some convenient fixed reference als, tht the positive sense for both angular velocity # and anjgular accolerstiny Jiwill also be counterclockwise. A negative sign for either quantity of course, indicate clockwise angular motion. The defining relati for linear motion, Bas. 2/1, ind 2/3, and the relations involving: angular motion, Eqs. 8/1 and 5/2 or 5/3, will find repeated use int motion analysis and should be mastered, ‘Phe absolutermotion approach to rigid-body kinematics is quit striightforward, provided she configuration lends itself to & geometel Gescription which is not overly complex. If the geometrir configuratat is awkward or complex, analysis by the prineiples of relative mation he preferable. Relative-notion analysi ed in this chapter begine ning with Art, 5/4. The choige between absolute- and relative-motion| analyses is best made after experience has heen gained with bath) upproaches. The noxt three sainple problems illustrate the application of abso: lute-motion analysis to three commonly esicountered situations. Theks nematies of a rolling wheel, treated in Sample Problem 5/4, is esped important and will be aseful in much of the problem work because the rolling wheel in various forms is such @ common element in mechanical systems335 Article 5/5, Absolute Motion “Arwhee! of radius r rolls on a flat surface without slipping. Determine the far motion of the wheol in terms of the linear motion of ils center 0, Also Tae the acodleration of 6 point on the rim of the wheel asthe point comes is epntact with the surface on which the whee! rele | The figure shaws the wheel rolling to the right from the dashed 1 Full postion without slipping. The linear displacement of the center 0 iss. ni also the are length C'A along tho sim on which the wheal rolls, The iii line CO rotates to the new postion C°O' through the angle ® whore ie sa from the vertical éirestion. Ifthe wheel daes not slip, the are C'A must aor co = 1 Ans. Tielpful Hints eo = re G) These three relations. are fot ek foo = Go = 8.0 = Dendia = O = A The angle cfm, yur application wo He tolling veel rato The acceloration eg willbe directed in the sense opposite t© sald be mastered thnuih inthis event, Use angular acceleration of tp if the wheel is slowing down, I Hurl hove the gente opprsite to that of « "The origin of xed coordinates is taken erbitrarily but conveniently ab the sint af contact between C on the rim of zhe wheel and the ground, When point EE fas moved slong ite eyeloidel path to C’, iis new coordinates and thelr time: atives become née = nil ~ eae = rein d= 6 — sin) rit — 08 6) = voll ~ cat) F - rosin @~ eg sind bg sin U + vol sos 8 ipll — cs ® + Voi sin'g sino = ay sin + rat 008 joll — os) Fr notion ortho desired instant of contact, @ = @ and th both e=0 md Fret Ane af-the point © on the vient the instant of contact with @) Cleaviy, when (0. the nowy, of ireciod toward the eouter of the contucl fis zero velocity = 6, ‘The aeealueation of the eo » be of abso~ ‘The kie specially suse the chanical “Thus; the aoceleration the groand depends only on ¢ endo» and ts ntea. If desived, the velocity and acceleration of C st any position may be “Thained by writing the expressions v = 32 + 3] and a = B= eat pola oi ihwetaedt ala Pee tenieston of the kinemalic relationships fora wheel which rolls withoul —_otsined ty tle intolesol relative Sipping should be secognized for various confignrations of rolling wheels such ua Ane fe those illustrated on the right. If'a wheel lips es rolls, the foregoing etations fre no longer vali336 Chapter Plane Kinematics of Rigid Bodies Sample Problem 5/5 "Tho load Lis being hoisted by the pulley and crble arrangement shown. [Each cable is wrapped securely around its respective pulley so It does not slip. ‘The two pulleys to which L is attached are fastened together to form a single ‘Sg body. Caleulato tho velocity and acceleration of the load I. and the corre. sponding angular velocity and angular acceleration «ofthe double pulley undet the follawing conditions: Case (a) Pulley 1 oy = sy = 0 pulley at rest) Pulley 2: up = 2 104/se¢, ng = by = ~3 ro/sec* Case (o) Pulley 1: oy = 1 104/set, ay = iy — 4 rad/see® Pulley 2: up = 2 md/s0e, og = sip = ~2 rad/s? Solution. “The tangential displaosment, velocity, and acceleration of a point on he rita of pulley 1 or 2 equal the corresponding vertical motions of peint A or B since the cables are assumed to be inextensible Case (o). With A saomentarily at rest, ine AP rotates to AB’ through the angle ‘du during time dt. From the diagram we see that the displacernents and theit time derivatives cive aig =FBa0 ty dig= 80d) y= HOw tg = Oe With 09 = muup = 42) = 8in-/oue and ap = rang = 4(-3) = -12in sec? vwe have for the engular motion ofthe doubie pulley = tp/AB = up/AB = 8/12 = 2/3 ma/see (COW) Ans. a = (Gq),(AB = ap/AB = ~12)12 = ~1 ad/see® (CW) ‘The corresponding motion of @ and the load & is iy = AOa = 412/3) = 8/8 in. isce Ans. 09 = HO = 4-1) = ~tin/sec* Ans Case (6). With point C, and herce point A, in motion, line AB moves to A'B ‘luring time dt. Prom the diagram for tis case, we see that the displacements and their time derivatives give sy — dsg=ABd8 vp ~ ug=ABo (ap); ~ (a4), so ~ deg =AOdO vo ~ug2AOw a0 — (aah With oe = rian = 411) = 4 im/see op = rye = 442) do = ra, = 414) = 1B inJsec? on = ray = 4-2) = “8 m/sec? wwe have for the angular motion of the double pulley (ap), — (oa) a he corresponding mation of O and the load Li 09 = 14 + Ow = ve + Ow = 4 + 42/8) = 16/8 in /see Du = ag + ADu = 16 + 4-2) ~ 8 in fone ‘Helpful Hints © Reoosmiza that the inne pl the left-hnwd cable. Thus. the sions of Sarepla Problem 5 @ Sides moves along curved pa iddtion 1 ite tangential. comp ff quocleration (oy i wil lea ‘2 norinal eomperent of acceler Losvanl O shi hosion of O-sind Bae AB through. the angle 0 whould’ thennalysis, ‘| ‘ea Adin as tn ea Ja, the cinerea figure eeinblishos tho, elniion bl ‘ween the angular velocity of the pl ley and the lineur velocities of pein A, Oy snd 3. The negative sian fi lide = @o protuces thw awceleratog dliageam shown but does not desta th liacavity of the relationships,Article 5/3 Absolute Motion 337 ‘Motion of the equilateral triangular plate ABC in its plane is controlled by byxlraulic eylinder 2, Ifthe piston rod in the cylinder is moving upward at sconsiant rato of 0.9 m/s during un interval ofits motion, ealeilate for the st when 0 = 30° the velocity and acceleration af the venter of the roller B fe horizontal guide and the angular velocity and angular acselevation of edge tion. With the s-y wordinate chosen as shown, the given motion of A is =} = 0..m/s and.ug = ¥ = 0, The accompanying motion of B is given by Bands time derivatives, which may bo obtained from x! + 9! = 22 Dif Hate gives Helpful Hint ie ©Odseree thie itt simpler vw dito ea eps eeF tate progast they a quetien ete Fa s Thus, differentiate xe > y a ‘| 8 sin 0.x = 0 con 8 nd = 0, to expressions become selerihen. A= 2 ap = —h ceed @ @ sttuting the numerical values v4 = 0.8 m/s and @ ~ 30% gives Un = ~01789 m/s Ans ap = ~ =0.898 mis? Ane. he negative signs indicate that the velocity and avcelerétion of B arw both to “the right since x and its derivatives are positive to the le. ‘Tho aogular motion of CB is the samw as that of every line on the plate, luding AB, Ditterentiatingy = 6 sn 0 gives Beco Pr bbes8 “A angular aecolerasien ig 2 ipswe wean 0 = "AC sec gtan Gf bse tan = "2 ne? wean Ave, Ans. -Foih.w and ar are countersleekwise since theit signs are poativo the positive moasurement off in the wense of338 Chapters Plane Kinematics of Rigid Bodies PROBLEMS Introductory Problems 5°25 Point A is given a constan! acceleration ato the Fight starting from rest with x essentially zero. Determine che aagular velocity « of link AF ia terms of x and a x Ans Problem 5.25 5.26 ‘The whoel of radius r rolls without slipping, and center 0 has & sonstant velocity vp to the Fight, De- ernie expressions far the mutitudes of the veloc ity v and deceleration a of point 4 on the rim by differsntisting ite ¢- and y-coordinates, Represent yur rosults yeuphically as weiors on your sketeh fond shows thet v ie the vector sur of Iwo weetors, ‘ch of which bas a miagituds ¥, ‘The slotted arm OA rotates with w vonstant angular velocity «dyeing a Limieed interval ofits metion and moves the pivoted slicer block along the herizon- tal slot. Write the expressions for the veleity np ard acceleration oy, of the pin B In the slider block. in terms of ¥ Ans. ip = bu See = Dh sot tan Problem 5.27 5.20 "Tho telophone-cable reel rolls withot slinping on horizontal surface, If point A on the cable has 8 y= Lacity yg = O8 mite thu right, compute the seo of the genter O and the sngular velocity w ofthe ich Be careful not to make the mistake of assuming tat tly red eos to ele lft | 5/29 ‘Tho tolophono-eale roo is volled down the incline by tie cable leading fom the upper dear and weapped around the inner hub of the rec. Ifthe upper drum jis turned ot the constant mite any — 2 rad es ol culate the time required Jor the center of che ted t ‘mnie 100 fale the incline. No sping oneurs Problem 5/29The tables at A and Bare wrapped sevurely around the rims and the hub of tho integral pulley an shown, H the cables at A and B are given upward velocities 3 feisee and 4 fi/sec, respectively, exleulato the velocity of the center O and the angular vebeity vf the pales. slipping on| ey) ceable has ay te the vel ly wot the assuming: ablom 5s 30 St The linear aetuator is designed for rapid horivental velocity of jaw € for a slow change in the distance otwoen A ond 2. che hydraulic eytinder deceeases this distance at the rate u, determine the horizontal selovity of jor C in tori of thw ari Ane and wra > upper drut rad/see, cae of the reel fo ng occurs, = 00.7 see ei Problem 5 3) Representative Problems 5/32 Asend A of the slolor bar is pulled to the right with the volodey the bar slides on the svrfaer of the fixed aleeyhnder. Determine: the anyrilar velocity 1 = Wot the bar in torms uf Ie 5/3 Problems 339 5/35 Caleulate the angler velocity «sof the slender bar ‘AB asa function of tho distange.x and the constant Angular velocity 1p of the drum, Ans a= Problem 5 33 3/34 The hydraulic cylinder 1 is casing the distance OA to increase at the rate of 60 mm/s, Caleulate the ve Tooley of the yin at C in ius horermtal guide for the Instant winen = 50°340 Chapters Plane Kinematics of Ri 5/35 Rotation of the lever OA 1s contuolled by the motion fof the contacting eireular disk whase conter is given ‘a horizontal velocity ». Determine the expression far the angular velocity « of the lever OA in terms of 3, Problem 5/35 '5.36 "The circular cana is mounted socentrically about its fixed hearing at O and turns counterclockwise wt che constant angular wwlacty w. The eam causes te fare A and sttuched comtral red to oscillate im the hor ‘onal «direction, Write the expressions for velocity by, and aeceleratian @, of tae control red in terms of the angie mossured From the surtieal. Thu cumtact surfaoes of the fark are verte Problem 5:36 |5/37 The tolescaping link is hinged at O, and its ond A oven a constant upward velocity 97 200 eary/s by he piston rod ofthe fixed hycranie eylinder B. Celeate ‘the angulay volocity & and the angular acceleration Sof ink OA for Uke instante when y Ans. 8 = 0.1689 reds, & 500 se, = 0.0645 rads Problem 5/37 15/38 Motion of the sliders B and Csi the horizontal is controlled ty the vertical motion ut de sar Ais given an upward velocity ts, determineasal tion of # tho magnitude v of the equal and wolveicies which 8 and © have as they move fone another. Problem 5 5/39 Derive un expression for the upward veledty v ofthe ‘ear hoiet in terme of "The piston rod of the aya lie evlnder is extending at the rate «Article 5/3 Problems 341 5/42 Determine the eoeleration of the shatt B for 0 = 60° if the ecank OA has an angalar acceleration @) = & rad/s? and an angular velocity ~ 4 rad/s at this position, he spring maintains contaes betyiven the roller and the surface of the phinger 4/40 The cable from drum A turns the double wheel B, which rots on its hubs without sipping, Dstermine gui the angular solocity wand anguter acceleration oof A drum C for the instunt when the angular velocity and fue angular, acceleration of A are 4 md/soe and 3 posite raé/s0c®, respoctivaly, both in th counterclockwise Problem 5 a2 oward: dincion 3/43 Film passes through the guide rollers shown ane! je being wound onto the reel, which is twened at con stant angular velocity: Determine the accelerstion 6 — of the film as i enters the rollers, ‘The thick ress ofthe film ist, and s is suffeinntly aig eo chat the change in the angle made by the film with tne Lorizontal s negligible Problem 5/40 { 3/41 Link OA has an angulur velocity ogy — 8 rad/s as ; it passes the position shown, Determine the corre. sponding angular relocity weg of tho slotted link CB, Solve by considering the relation tetween the infine itesimal displacements involved. Ana. ty ~ 6D rad/sPlane Kinematics of Rigid Bedies 342_ Chapters 15/48 ‘The rod OM slides through the collar pivoted to the 5/46 Link OA revolyes counterclockwise with an ang “Astivation rotating link wt A. IP CA has an anlar velocity woloeity of m/sec. Link AB slides thecugh the elongate fy = il'S for en interval of motion, calculate the ‘ted coller at C; Detezenine the angular volodty a the noe angular wolueity of OB when # = 43° AB when 8 — 40° CA 200 wes a 108 mm +o Problem 5/46 Problem 5 44 15/47 A vatiable-spocd belt drive consists of che two pula teach of which 15 enas.ructed uf wo comes which tant Unit but are capable of being drawn together ce 5/45 ‘The hydvonlie evlindy C gives end A of tink AB a separated 90 as to change the efective rodias of tha ‘constant veleeity etm the negative a-direetion. De fulley. Ifthe angular xelocty-», af pabey Ls termine exoressians for the angular velocity «» ~ 0 stunt, determine the expression for the angular (5/48 The p sie nsseleraton ce ~ @ of the nin terms ee loans doch gulies’ naan! Ona ep tue ofckange i and y of the effective rd ee Fos ne ay = hE re 5/50 The pul the wri Problem 5 45Acivation of the hydraulic evlinder causes OB to lengate at the constant rate of 0.260 ms, Calculate the normal cecloeation of poiat Ain ita eieular path round € for Lhe instant when 9 Problem 5 38 189 The piston mad of the hydraulic evlinder gives point Ba volocity ty a shown, Dotormina the mayoitnd reat the velooty af end of ink ABC in cerms of Ans. Problem 5/49 ‘The rota:ion of Ink AO is eanzrolled bythe piston, rod of iydraulic cylinder BC. which is elongating at the constant vate & ~ flor an interval of mosen. Write the vwetur expression for thy sesulenation of fend A for a jven value oF Wtsinge nit vactors a, and e, with «1 coordinat 343 Article 5/3 Problems Problem 5 30 5/51 For th instant when y ~ 200 men, the hydraulic evlinder € imparts 2 vertical motion the pin A of § — 400 nive/s-and @ — — 100 man/ roll e49 ~ 0200) ~ 2mv/s in Sample Prob fc normal to AO as shown, ‘The vector sum vq is shown on the diagram imay be caleulated from the law of eosines, Thus, Helpful Hines wy? = 9 + 2% + 2H)D)e08 GO = 10 (m/sl® vy = 498 m/e Ana TD) Nhe wre ty visolye ry vey wile appears The contact point C momentarily has zero velocity and ean be used alter joyuy optus wii wey as the reference point, in which ease, the relative-velosity equation be- ried out by sea ped Ane My = Ho Ya = Sycwhere it wey Eh bn shoul a va eee es ved. From this Fig = ACo = AS og = 28 @) = Ey = Uaie = 486 m/s are dabeatan'a nq ened Al esting the ves ge gem Tage Sl SSE = ese PR mane volving stall Beare ! ia’ 10'~ ae im LO aay, Wh ova Insel. Alera AC sere remertriyrting about pint C BT way an i on alar equations thu contaet point (15 the reference Pe thes aad (vector. We wl now use Ea 8/6 and write Mss dios rt vepieeel wi speciale ee Se con the eka Uo abi atieal expres thse cornet = 10k reds i a oS tl Tt nn vee una Fue, here tion. Finally, ry = O2(- ene 9 + jin 07) = 0.17281 + Oj m Fa een aes a ere ne vo = Sim/s Tae, ts mnie vular problem: e and experi sbloms whiel Wenow solve the vector equation b 3 i va=ai+] 0 0-10] = abs 1.799 + nF Peni 0.1732 01 0 0 two sealar je : srmined. The Weems ik ae ctor and the ‘The magnitude vy = VF + (L732 = /19 = 436 m/s and direction agree tification of "with the previous solution.350 Chapters Plane Kinematics of Rigi oblem 5/8 Crank CR oscillates about C thronith a limited ars, causing-crank OA to csuillate bout Q. When the linge passes tho position shown with CB horizontal ‘ind OA vertical, uhe angular velocity of CB is 2 rai/s counterslockwico, For this instant, detormine the angular velocities of OA and AB. Sample Solution 1 (vector). ‘The velativo-velocity ection va = Vp} Warm 8 rewrit ten 8 biog Xa = cn Te + One X FAR where ak rad/s -15i mae ok 100 mm m= t= tas i + 50j mm. Subetitution gives jg LOO} = BO 100eigq4 = — 1505 waak (118i + BOD 1T5agai ~ 50vaat Matching eoetiients of the respective F and j-teom ives 100g, + Bayz = 0 286 * Fagg) = the solutions of which are iT rdis and fox = ~8/T rads ‘Solution it (sealar-geometric). Solution by the cealar geometry of the vector inmate is particularly simple here singe Ny and vp are at right angles for this aposial pesition of the linkages. First, we compute Up, which is fe = ro} yy ~ 0.07512) = 0.150 m/s ‘and represent it in its correct direetion as shown. The veotor vay must be per pundichlar to AB and the angle # between v.yq and Xp is wiso the angle made by AB with the horizontal dioetion: This angle is given by a0 ‘Tho horizontal wuetor vq eampltes the triangle for which we hove .180/e00 4 o.np012/7) = ta = upleos by = eg tan 0.90/7 m/s ‘The angular velocities become viel ae = 6/7 md/s CW 1 Tia 7/7 maisew Helpful Hints QD) We aoe using hore the fist B78 and Ba 9:6: (Phe amine Syne im tbe an ‘leat Lat the weetors jy and fare in tht) negative: Kel Tene, the angular select clockwise @Alwage wake ceva shae REF quence of eta in the vector gg seas specified byle Problem 5/9 fe common configuration of a reciprocating engine fs that of the slidee- ii mechanism shown, If the crank OF has # clockwise rotational speed of min, dotormine forthe pestion where = 6 the velocity ofthe piston {relocity of point @ on the connecting rod, and the angular velocity of the Article 5/4 Relative Velocity 351 ‘The velocity of the crank pin 2 us a point on AB is easly found, so :B will be usod as the reference point for determining the velocity of A, The fve-wlocity equation may now be written a7 YH > au rank-pin velocity is 8 150007) _ ge ao ta pe ~ St Race: Ig normal 10 OB The direction of vy is; of course, along the herizontal tls. The direction of vp must be perpendiculer to the line AD as din the present article and as indicated in the lover diegram, where the 5 14 aap aon Poa ~ 1802" tow somplete the akoich of the velecty triangle, whore the ung between a vis 90° — 1802" = 72.0" and the third angle is 180° ~ 30° — 72.0 j Neetorsv, and. ite shown with their proper soase such thatthe hese seal sum oF vy and vu eavals vq ‘The magnitudes of the unknowns axe now edisec om the tngonometry af the vector triangle or are sealed fom the if graphical solution is used, Solving for e4 and ug by the law of es by = BRA Nyse aa 780° “tym, _ 654 Sin 30° Sia Ta bun = SHA fy/see ‘The angular velosity of AB is counterslockwise, aé revealed by the sense of xy and is 4 ane vatt = OHA) = 880 see se from the diagram, vj Jas the same direetion as vig, The vestor sum show on the last diagram, We can ealeulate ey, with some geometric labor or aply-moasuve its magnitude and directcm fram the velvety diagram drawn to eile For simplicity we adopt the latter procedure here and obtain tg = 644 R/see Ans, sen, the diagram may be superposed directly on the first velocity diagram. Helpful Hints @ Remember alwews to convert Faadlans per unit Une when Using A ppraplical solution co this problenn i the quickest to vehieve, although its -acoursey is lnsted, Salutian by veetor algebra can, of curse, he ws Inst wold involve somewhat mare labor in this preblern352 Chapter § Plane Kinematics of Rigid Bodies Sample Problem 5/10 "The power screw turns at a speed which gives the threaded collar C s ve~ lecity of ©. fi/see vertically down. Determine the angular velocity ofthe slotted 30 erm when @ Solution. ‘The angular velocity of the arm can be found ifthe velocty ofa point fon the arm is known, We choose a point A on the arm coincient with the pin B Of the collar for this purpose. If we use B as our reference point and write V4 = Vo + Vaia. we soe from the dingram, which shows the arm and points A and B fan instant before and an instant after coineidonce, that vig has a dizection along the slot away from 0, ‘The magnitudes of v, and vay are the only unknowns in the vector equa- ion, so that it may now be wolved, Wo draw the keown veetar vp and thon obtain the intersection P of the known directions of vaip and vy. The sclution gives 0.8 cos 30° = 0.695 fi/ser 0598 ~ WBi/e0s 80° ~ 0.400 rad/aoe COW yen We note the difference between this problem of constrained sliding contact be- tween two links and the threo preceding sample problems of relative velocity, ‘where no sliding contact oncarred ard where the points A and B were lovated on the sume rigid body in each case, “net exis, but we con img ppolee in the middle of the 6 ‘tad to the arm, a RS ! TIS SES aos 50 Th sur @ Alwavs identify the knowns and vel Inowns before atteinptiag the in aC vector equalon, for A a ne fe ry 08 ther ok |BY Tho cart has a velecty of 4 ft/sec the right, De lemmine the anguler speed NV of the wheel so that Point A on the top ofthe rim has « eelnety (a) oqual ot Aysee tn che eit, () equal w 2ee0, and \e) equal 408 t/See ta the right, Ans. (e) N = 91.7 rev/min COW (ON = 408 re min COW (N= 458 rev/min CW Problem 5/57 4/50 The speed of the center of the earth ns it orbits the san is v = 107 257 kh, and the absohts angular velocity of the varth abrat ie north-south spin axis fsw= 729210 *) rads, Use the valuoR — 6971 4m for the radius of the earth and determina the veloc. itor of points A, B, C, and D, all of which aee on the equator. ‘The inelivation of the axis of the varth is neyocted Problem 5:36 5/59 A control clemont in « special parpoce mechanisi Article 5/4 Problems 353 unilergoes motion in the plane of the figure. If the velocity of B with respect to A has a magnitade of 0.926 mis wt @ cortain inctant, what i the core sponding magnitude ofthe velocity of € with respect wD Ans. Peon 0578 m8 70mm Problem 9:39 5/60 The magnitude of tho absolute velocity of point A en te sattomobite tire is 12 mss when A is i the post tion shown, What are tke corresponding vslsety 1, of the cnr ond the aniglar velocity oof Ue ahve! (Phe wheel rolls without slippiag.) Problem 5/60 5/61 For tho instant represented che eurved link hus & counterclockwise angulur velocity uf 4 rads, ab the roller ut B has-a velvcity ¢€ 40 men/s along thu eon stewining surface us showo. Determine the magni hue uy af the velocity of. Aus. vy — 68.8-men's354 Chapters Plane Kinematics of Rigid Bodies 5/62 Petorminn the angular velocity of the telescoping ak AB for the position shown whore tho driving Luaks have the angular velneties indicated, Dimensions naallimeters| 5/63 The uniform square plave moves in the.xy plane and has a clockwise anguilar velocity, At the instant rep oyented, point A hun 9 velocity of 2 mato the right. find the repeily of C relative to a nonratiting ob sorvar at ff hus the magmitade of 1.2 m/s, Determine the wsctor exprossiens for the angular velocity of the plate and the velocity of iis center G. Anse Ak rad/s, vq ~ 261 + O65} m Problem 5 63 5/64 The righi-engle link AM han a clockwie angler ve Incay of 3 rad/seo-at the instant when 06)", Ex prose the velocity of A with rspert 9 B in veetor oltion fs this instant or the instant represented point B exosis the ontal axis thzough poiat Q with u downwar ity) = OB més, Determine the correspunding of the angular velacty og of Link OA. ‘Ass. 04 — 180mm Problem 5.55 5°66 The circular sk rolls without wise angular velocity ~ 4 red, 2, For tho in represented, write the restor expresses for the locity of A with respect. to B ane! far the velocity of, Age tras Problem 5.66Tho vightangle link has « counterelaceise angular reboty of 3 rats at the instant represented, and point B has 2 volocity vy - 21 — 0.45 ms Detor- nine the velocity of A using veetor notation, Sketch the vector palyggin which corresponds to the terms in the rlstive-velocity equation and estimator mew fure the magnitude of vq “ns. v4 fo __bam a 0.1 + 6.9) mis, ose B Problem 5:67 tive Problems At the instant repeosented, the volnity of point A af the 121m bar is anja to Ube Hight. Determine the speed vy of print fared the angular veloeity w of the far The diameter af the small end whedls my be seglected. Problem 5 For an interval af its motion the piston tod of the Iydrautie gytinder has a yebaty vy — 4 tysee 4s shown, At a certain instant =" = 60", For this taszant dotorinine tho angulor velocity oye of link Ane, ne ~ 217 rod see COW Article 5/4_ Problems Problem 5 69 5/70 "The pin in the rovating arm GA engages the slolted Tink and causes 1s to rotate, Show that the angular velocity of CR is ne-hill that of OA ragardlessof the sngle 0 Problar 5/70 5/TT At the anstant represented the basa clockwise angular vility of 8 rad/see: For this Instant deiermine the anguler velocity ego. of ae 3 rad'see OW ‘angular plate ABD Ans tne Pratl $71356 Chapters Plane Kinematics of Rigid Bodies 15/72 The rotation of the gear is controled by the hortaon- tal motion of end A of the rack AB. IF the piston rod tw w constant velocity § ~ 900 mm/sduring a choot 1nterval pf motion, deermine the angulur yelocty oy of the gear und the angulor velovity ayy a AB at the instant when © — 600 re 5/74 Determine the angular velocity of link BC fr ‘sant indicated. In case (o), the ventor O of fs-a fixed pivot, while n case (6), the disk rolls ft clipping on the herizontal surface. In bitk she disk lias clockwise angular velit en Nogk smal distanes of pin A from the edge of the Prablem 5:72 5/73 I link OA has a clockwise angular velocity of 2 rad/s Problem 5:74 in the position for which x = 75 mm, determine the selocigy ofthe shider at 5/75 Bind A of the link has a downwand velo 22 an/s during an interval of its motion, Fort sition where # ~ a” determine Ue angular of AB and the velvety rf the midpnint Tink Solew th rolativo-voloeey equations, fst, as the geometry of the veewoe palygun and, seed sector algcdra, Anes a = 11.88 rade CW, yg = 1188 Problem 5/73 Problem 5,751 For the instant represented, crank OL has a docle ise angular velocity « ~ 0.8 zad,/see and ss passing thehoricontal position Determine the evrresponding selecty of the guide voller A in the 20° slot and the splecy of point C midway between A and 8. 7 Tae dywhee! turns clockwise with a constant speed of 600 rev/min, and the connecting rod AB tides through the pivoted collar at C. For the position @ = 45° dewrmnine the angular velociy ay Of AE by using the relative-velocity relations. (Suggestion Choose a point D on AB evincident with Cas » ret ference point whase direction of velocity is known.) ‘Ans. oy ~ 1938 rad sce CW Problem 5:77 Article5/4 Problems 357 5/78 ‘The elements ofa switching device are shown. Ifthe vertical control rod has 2 downward velocity of B f/seewhen 0 = 60° and if roller A isin eomtinuoMe ‘eontact with rhe horizontal susTaee, deteumine the magnitude of the velocity of C for this instant. Problem 5.78 5/79 Horizontal motion of the piston sod of the hydraulic cglindor controls tho etetion of link OB about O. Bue te instant represental, v4, = 2/6 and QB is bor izgetal. Determine the sngular velocity « of OB for shaadi Ans.) = 8.89 reds COW mle 360mm358 Chapters Plane Kinomatics of Rigid Bodies 5/80 Determine the velocity of point 2 which will produce fa counierlockseisy angular velosty of 40 rad's for link AB in the position shown far the four-ber Tinkase 150 mm 200 ny 1001 Peablem 5/20 5/81 ‘The elements of the mechanism for deployment of a epocecrait magnetometer boom ary shown, Deter rine the angular velocity of the boom when te dey ing link OB emsses the y-axis with an angalar relocity oy ~ O5 edie if tan @ = 4/8 ot this ‘stan Ane, agg = 8.408 rade 120 am 120 min Probiem5 81 5/82 Motion ofthe rectargulor plate P is controls ‘two links which eross without touching, Fer tant raprotonted where the Tinks a0 parp to each ocher, the plate bus a counierelochwi ilar velocity’ wp = 2 u/s. Dotermine thea the ewo Hinks 5O~06m FD=050, Problem 5:52 5/03 In the four-bar Kinkayw shows, control fink OAl counterccckwisesungalar velocity oy — 10 al/6 1a shore interval ef motion, Wren link C2 the certical position showin, point A has eso = 60 min and y — 80 min. By means of algebra desrmine the angular velocities of AB a ANS. eagy = 2.5K ra oy“The mechaniom is part of a latehing device where Tetation of link AGB 1s eantralied by the reeation of “abitted link D about C.f member D has a clockwise angular velocity of 1.5 ral/s when the slot is parallel to OC, determine tae comesponding angular velosty of ADB, Selvo graphieally ur geometrically 0 mer Problem 5.3 The Geneva mechautisn of Prok. 5/52) isstown gain here Uy relaive-motion principles determine the an: ular velocity og whee! Cur 9 ~ 20°, Whee! A has constant elpeswise angular velocity io, = 2 rads Aas. oy = 1928 rads 200i £200 mt Problem 5/85 Article 5/4 Problems 359 5/86 The mechanisin is designed 10 convert fora ane oo lation to another, Rotation of link BC is enntralled by the rotation ef the eurved slotted arm OA, whieh fetueyes pin P. For the instant represented "30" and the angle 8 between the tangent to the eurve ut and tho horizontal is 1°. I the angular welowty of OA is rads for this positinn, devermine the velocity of point C 40) mm Problem 5 a6 Pin Pon the end of the horizontal rid sles freely inthe slotted year, The wear engaes the moving rack Avand tho figed mele B (ath not shown) so it rill Without sipping. IFA has a veloeliy of 0.4 se 40 the left for the instant shown, determin the velacts sp ofthe rad for thie pei a oo page360 Chapters Plane Kinematics of 588 AL the instant represented ¢ = 150 mm and b 125 mm, and the distance a + b between A and Cis decreasing atthe rate of 0.2 n/s, Determine the sm: ‘non velccity v of points B and D for this instant. ‘Ans. v = 040536 m/s 1» 5 89 ‘The wheel molls without slipping. For the instant por raged, when 0 is dinectly under point Clink A bas fa velovity © — 1G m/s to the right and @ = 30 Hetermine the angular veloety w of the slatted Tink Ans. 5/90 Ends A atid C of the comncetod links are coat hy the vertical motion of the pision sods off raulie eylinders For a short interval of has an upward velocity of 8 an/s, and C basa ward velonty of 2 m/s, Deterrmine the veouly for the instant when y = 150 mmaArticle 5/5 5 In the previous article, we determined the velocity of a point on a ig bndy in plane motion by arlding the relative velocity dute to rotation ut a convenient reference point to the velocity of the reference point. fe now salve the problem by choosing » unique reference point whieh Tiamentarily has zero velocity, As far as velocities are concerned, the may’ be considered to be in pure rotation about an axis, normal ta ¢ plane of motion, passing through this point, This axis is ealled the Insantaneous cuxis of zero velocity, and the intersection of this axis with, “the plane of motion is known as the instantaneous center af ery velocity: ‘This agproach provides us with a valuable means for visualizing and Inalyzing velocities in plene motion, ks are controlled n rode of the bys val of motion, A 1d C has a downe tho velocity of B INSTANTANEOUS CENTER oF ZERO VELociTY ‘= 3.97 m/e. 50 mm locating the Instantaneous Center ‘The existence of the instantaneous center is easily shown, For the “tody in Fig. 5/7, assume that the directions of the absolute velocities of ‘ny lwo points A and 2 on the body are known and are not parallel, If there is a point about which A has absolute cireular motion at the in- ‘tant considered, this point must lis on the normal ta va through A, Sinilar reasoning applias to B, and the intersection of the two perpen- diculars Julfills the requirement for an absolute center of rotation at thy instant considered. Point C is the instantaneous center of zero velocity tnd may lie on or off the body, [fit lies off the hody, it may be visualized: ts lving on en imaginary extension of the body, ‘The instantancous een- ter need not be a fixed point in the body ov a fixed point in the plane. Ive also know the magnitude of the velocity of one of tke points, ‘ay, tg, we may oasily obtain the angular velowity w of the body and the linear velocity of every point in the body. ‘Thus, the angalar velocity of the body, Fig. 5/71, is which, of course, is also the angular velocity of every line in tha body. Therefore, che velocity of B is vy = rau = trp/railg. Once the instan- taneous center is located, the divection of the instuntancosts valocity of Figure 5:7 Instantaneous Center of Zere Velocity362_chapters Plane Kinematics of Rigid Bodies every point in the body is readily found sinee it mast be perpen to the radial line joining the point in question with C If the velocities of two points in a body having plano moti parallel, Fig. 5/76 or 5/'7e, and the line joining the pomts is perpel ular to the direction of the velocities, the instantaneous conterisloal by divect proportion as shown, We can readily see trom Fig. 5/7618 as the parallel velocities becorse equal in mayitude. the instante tenter moves farther away from the body and approaches infiity i limit as the body stope rotating and translates only Motion of the Instantaneous Center [As the body changes its position, the instantaneous center Cl changes its position both in spaee and on the body. ‘The locus oft instantaneous ceaters in space is known as the space centrede, and locus of the positions of the instantaneous centers on the body is tas the body centruce, At the instant considervd, the two eurves are ent at the position of point C. IL ean he shown that the body-cer curve rolls on the space -centrode enrve during the motion of the boll as indicated schematically in Fig. 5/8. ‘Although the instantaneous eenter of zero velocity ix momonk Ait rest, its acceleration generally is not zero. Thus, this point: may ni bbe used as an instantancous center of zero aecoloration in sma analogous to its use for finding velocity. An i neecleration does exist for bodies in goneral plane motion, but its log ion and use represent a specialized topic in mechanism kinemeties ay will not be Lrested hove Boty contrede Spacecentande Figures @Article 3/5_Instantaneous Center of Zero Velocity 363 wheel of Sample Problem 5/7, shown ayain here, rolls to the right with- ing, with ite canter O having a velocity eg ~ 3 12/2, Locate the instan- ‘center of zero velocity und use i 10 nd the velocity of point A for the indicated, jn. ‘The point on the rim of the wheel in contact with the ground has no ty if the wheel is not slipping; it is therefore, the instantaneous center C ovelovity. The angular velocity of the wheel becom of OC 1/0300 = 10 reds AC = 0.300 + (0.2007 = 2(0.200)(0.200) eas 120° = 0.436 m rebeity of A becomes a Helpful Hints ra) vg = Aa = 0.436010) = 436 m/s Ans, © Be sure to recognize that the cosine irootion of wa ie perpendicular to AC ac chown. of 120! ie steel negative, © From the results of this problem, you should be ablecta visualize and sketch the velocities of all points on le Problem 5/12 __Arm OB of the linkage has a clockwise angular velocity of 10 red/see in the ian shown whore 0 = 45° Determine the velocity of A, the velocity of D, the angular veleety of link AB for the position showa, on, ‘The directions of the volocities of A and B are tangent to their cir- W perpencicalars to the velovities fcom A and B locates the instantaneous cen- Cor the link AB. The distances AC, BC, and DC shown on the diagram are _ 6/900) We ' a .29 rad/sec CCW Ans. ot eg 5 the velocities of And D are “4 Tesprut Hac ia Ca gee) 500 Sis APE yor vie fiat Aeplcil, e stould = vivuslize link AB and es body ex vy ~ 1338 4.20) » sat 8/00 da |< Mei fs Ne soling ae ways nk about point © the diretione shown.364_Chapter5 Plane Kinematics of Rigid Bodies PROBLEMS Iniroductary Problems 5,91 ‘The vonstrained link of Prob. 8/75 is repeated here End a of the link has « downward vslecity ey of 2 s/s durlag aa interval ofits motion. For the position whens 9 = 80°, determnine by the method of this ar- ticle the angular velowity «of AM’ and the velocty eg of the midpoint G of the ink. ‘Ang. nj = 11.65 rad/s CW, ve = 1.168 m/s 5.92 The figure for Prob, 5/79 is repeuted here, Salve for the angular veiosity of OB in that problom by the methon! of this article 160 me B 1mm 0 Problem 5:92 5-99 For she instant represented, when crank OA pass ‘the horizontal position, determine the velocity of the center G of link AB hy tho mothed of this artiele Ans. vg = 277 mm/s 5,94 For the instant represented, the instentanemsd ter of zero velocity for the rectangular pate in motion is located at C. I the plate his a cunt ‘wise angular velocity of 4 rad/s at this insta termina the magnitude of the vendity vp a center O of the plate 5.95 Motion of the bar is controlled by the constrain paths of A and B. Ifthe angular velocity of the bat 1s 2 rad/s counterclockwise as the position 0 is passed. determine the speeds of points A and ? ‘As. vg = 0.707 m/s, tp ~ 15813Article 3/3__Problems 365 ‘The bar AB has a closkwise angular velocity of 5 | 5/98 Theshall of cho whol unit volls without slipping on sau /sec; Construct and determine the vector veluity the fixed horizontal surface, and point @ has 1 veloe ofeach end if the instantanaous center of zera velec- aty of 8 ft/sec to the right, By the method of this ‘ee ity ic a at Cand (h) at Cy antidlo, detormine the velectice of points A, B, C. . and 2. Problem /96 7 The linleyae of Pro, 5/76 38 rqwated here, At the instant represented, crank OB hus a clockwise an ular velocity » — 1.8 rad/see aad is passing the hor- Problem 5:98 baemtal position, By the methed of this stficle, Awerteine the corresponding velociey of Ue guide roller A in the 20° siot and the velocity of point C5199 The blade of a rotary power mower turns counter: midivay hotween Aine Bh cluckavine at the angular speud of 1800 ee/min, Th dus, vy = 9.04 in,/see, ye = 6.99 in feo the body censrode is «circle of radius 0.78 mm, com pute the velecity vp of the a Problem 3/97 Problem 5:99 fee366 Chapter Plane Kinematics of Rigid Bodies 5/190 ‘The mochantser uf Prob. 5/82 i reposted herw. Mo tion of the rectangular plate P is controlled by ihe two links which cross wikout touching. For the in tant represented whore the inks avo peependiculae to cach other, the plate has @ counterclockwise an- ular velvety ays 2 rads. By the method of this trlicle, determine the corresponding angular veloc 5/102 Tho roar driving wheal of « oan has 1 di 26 in. and has wn angular speed NV of 200 re fon aa ie rou. IF the instantaneous conter velocity 4 in. above the point of suntae of with the ruad. determine the velocity ¢ oft and the slipping vulocity o, of the tire on the ines of the two links op = Bats Problem 5102 5/103 ‘iw elements ofthe mechanism for deployment a epoceerat mazttomneter oom are cepeted five Bro. 6/81 By tho mtr of bis atl ime he angular vl of che boom wher driving ink OB eres the yaaa with an an veloity opp ~ Orne ifat thie ionant an tA Ans w= OAK Problem 5,100 Representative Problems 5 101 The switching deviee of Prob. 0/78 is repeated here, W sho vertical cotool oe! has 1 downward velocty bof B fkyave when BY" and H roller A ke bn eontinuous contact with the Rorivomtal surface, de- terri hy the mothe af this artcle the mvagniinde sf the ewocity of € For this fstant ANS. Ge = 2A Tse Problem 5,103 3/408 The hydeautic evindee protuyes leaited hovtzans tal motion of point A Ife, 4 tm’'s when # = 45% etormsine the magnitude of the veloeity of D-ané the angular velocity w of ABD lie this posivionArticle 5/5 Problems 361 15/107 ‘The sliding nilis A snd B engage the rims of the double wheel without slipping. For the specified ve- 1 Iocitica of A and 2 decarnine the angular velocity ‘oof the wheel and Ue magnitude of the velocity of point Pans. au 1S rad/s cm ~ 1607 me "The mechunista of Prob, 9:68 is repeated here. Por ax intorval of te medion the piston tod of the by uulic rylinder hie a selodity rq Mee 1s shown. Ata certain instant 0B = 69% By the rothod ofthis article, determine the utigular veloc ity wigs of Link BC Ans. sige ~ 277 rad/soe OCW ‘problem 5/107 i a 15/108 ‘The goar D (teeth not shown! rotites elockwise about O with a constant angular velocity of 4 rad! "The 8° sector AOR is mounted on an indeponttert shh at O, and onc of thy stsall wean st A and B meshes with gear 2, Ifthe sectur Tiss cowoter lockwise anguior velocity uf $ rad/s at the instant represented, determine the enrcespunding anjiar velvety w of each of the smal gears, S)106 4 device which twats che Fosistance to wear of co materials A and EP is shosen- If tho tink BO. bas a Nobaly of & feisve to the might when 9 = 40", de termine the rubbing velocity ty, = 45% D and Prablem 5:10 Problem > 106368 Chapters Plane Kinematics of Rigid Bodies 5/109 The mochanism of Prob. 5/77 ie repeated here. Phe Aywheel tums elorkwise with a constant speed of 800 rev/min, and the connecting rod AB slides Unraugh the pivoted collar at C: Por the position of ” determine the angulir velocity ey, of AUS by the miethad of this article Ans: aap ~ 19:38 cod jace CW Problem 5/111 5/112 The flexible band F i attached at w the seotor and leeds over the guido pulley. Dot Problem 5/109 the angular velocities of AD and BD for the yos shown i the band has a velosty nf 4-m/s 5/110. Rotation of the lover OA is contrelled by the motion ifthe contacting exreular disk whose center is given 1 horizontal velocity. Determine the expressinn for the anigler relncty a af lever AQ in tarms uf Aloo detersnine the angular yelocity «of Ue whe dove pot slip on the lever. 20 Prablean 5/112 Problem 5/110 15/113 Vorseal oseiletion of the spring-lnieed plangee ie tomirelled by » peviodic change in pressure in 5/11 The mechanism of Prob. 5/73 is repeated here. Lf vertieal hydraulic cylinder £. For the postion @ Tink OA has x clockwise angulir veloeity of 2 rads QF, dotermine the anlar sulocity of AD and tl in the position for which x — 79 ma, deterinine the vyelocisy of the roller A i fis horizoncal guide if he velocigy of the slider at B by the method of this plunger F has a downward yeleety of 2 m/s article An. Anis ry = 269 mas tay ~ VEEP rad OW, uy ~ 2281 flArticle 5/5 Problems 5115 The three gea mounted on the rotating arm as shown. (Gear to are omitted from the druwing.) Arma OA ma clockwise about O at the angular rate of # rad ‘while gear I rotates indepandenily st the counts clockwise rate of 8 rad/s. Detwemine the angular v locity of gear 3 Ans. oy = 8 rad/s OC Problem 5.115 dt B to the rotat de pulley, Determi 1d BD for the posit i > 5/116 Determine thw angular velocity «of the eam hee iy afaife AB uf the rock crusher in the position lor whic eabhein’s/ 195° #9 = 60. ‘The erank OB has an aagular speed off vs rev/min. Whon B 2 at the bottom of its circle, | 7 land # are on a horizontal line throngh F, and line 3 (3/114 Motion of the roles A syginst its restraining soring BD and AB ave vertical. The dimensions ara OF e is controlled by the downward motion of the Vin, BD 80 in. und AB ED — DP ~ 15 i i plunger £. For an intecval of mation the velodty of Carefully consiract the conigaration graphical E's) = 0.2 m/s, Determine ths velocity af A when and use the method of this artile S bocomes 40” Ans. ~ 1A ral/see C1 E -oaied planger Mis sin pressure in the oF the position # = vety of AD and the: rzantal guid if the cy of 2 m/s, Wi, = 231 m/e Probiom 5.116 Problees 5 114370 Chapters Plane Kinematics of Rigid Bodies > 5/117 ‘Tho shaft ct © drives the arm OA nt 6 clockwise spovd of 80 rev/min abput the Axed bearing at 0. ‘Use the method af the instantancrais wonter of era velocity vo determine the rotational speed of gear B ‘ear teeth not shown) if\@) ring gear D i hed and (ring gear D notates counterelockesiae aboot O swith « epeed of 80 rev/ aia, Ans. (a) ay, = 380 rev/min 8) of, ~ 600 eejinin Problem 5117 > 5/118 ‘The lane roller bearing rolls to che lef en ta ruc wilh a velocity of is enter 0 af 09 mis Ak the same tine the central slafl und inner ram Late eounterelodwise with ym angular speed ef rev/min. Deteratiow the angular velocity « of ei the rales oe Ans: 30Article 5/6 Relative Acceleration 371 /6 RELATIVE ACCELERATION tion Vy = vp ~ Vaips whith daseribos the rolative ties of {wo points A and B in plane motion in terms of nonrotating elerance axos, Ry difforontintinyy the equation with respect to time, may obtain the relative-aeceleration equation, which is ¥4 ~ Vy ~ or Es lor sum of the acceleration of point B and the aeceleration whick A sppears to have toa nonyotating observer moving with 5, Relative Acceleration due to Rotation TF points A and Bare Toroted on the same rigid body and in the lane of motion, the distunee r between them remains constant so that, ‘he observer moving with B perceives A to have eirealar motion about |8,as we saw in Art. 5/4 with the relative-velocity relationship, Beeaise the relative motion is circular, it follows that the relative-neceleration ferm will have both a normal éompoaent directed from A toward B due fo the change of direction of Virp and a taaential component perpen ile a AD dus tothe changes mogul There celeron | mmponents for cireular motion, cited in Kas. 542 we fn Art. 2/6 und should bo thoroughly familiar by now. "Ss “Thus, we may write * oe ‘where the maynitudes of the relative-acceleration components re (9/9) ‘Tn yootor notation the accoloration components ate (5/9a) In these relationships, w is the angular velocity and a is the angular acceleration of the body. The vector locatiay A from B is x. Te is impor tant to observe that the relative acceleration terms depend on the re spective absotute angular velocity and absolute angular acceleration,372 Chapters Plane Kinematics of Rigid Bodies Interpretation of the Relative-Acceleration Equation ‘The meaning of Eqs 5/8 and 5/9 is illustrated in Fig. 5/9, shows a rigid body in plane motion with points A and B moving along separate curved paths with absolute secelerations a, and ay. Coniraqy to the case with velocities, the accelerations ay and ag are, in geueml not tangent to the paths described by A and B when these paths curvilinear. The figure shows the acceleration of A to be composed two parts: the acceleration of B and the acceleration of A with resp to B. A sketch showing the reference point as fixed is useful in dives the rorrect- sense of each of the two components of the relative-acrele ation term, Alternatively, we may express the acceleration of # in terms oft acceleration of A, which pute the nonrotating reference axos on A rath than B. This omer aves Hore aj.q snd its n- and -eompanents are the negatives of a. andile he and !omponents. To understand this anelysis better, you should make a sketch corresponding to Fig, 5/9 for this choice of terms. Solution of the Relative-Acceleration Equation As in the eaco of the ralative-velocity equation, we can handle the solution to Bq. 5/8 in three different ways, mumely, by scaler algéne and geomotry, by vaetor algebra, or by graphics! construction. [tisha ful to be familiar with all three weehniques, You should make sketdh of the vector palygon representing the vector equation and pay cia attention te the head-to-tail combination uf vectors so that it agrees vi the equation. Known vectors should be added first, and the uaknows veotors will become the closing legs of the vector polygon. [tis vital tha con visualize the vectors in their geometrical sense. as only’ then cat ‘you understand the full significance of the aeceleration equation Before attempting a solution, identify the knowns and unknowns, keeping in mind that @ solution to a vector equation in two dimensions can be cayried out when the unknowns have been reduerd to two sear quantities. These quantitive may be the magnitude or direction of any of the terms of the equation, When both poists move on curved paths, there will, in general, be six scalar quantitice to account for in Bq. 5/8 Because the normal aceeleration components depend on veleettes, it is gencrally necessary to solve for the veloeitins bofore tho acccleratian caleulations ean be made, Choose the reference point in the relative acceleration equation ae some point on the body in question whose a celeration is either known or can be easily found. Be careful rot to we the instantaneous center of zero velecity as the reference point unless its acceleration is known and accounted for An instantaneous center of zera acceleration exists for a rigid boky in general plane motion, but will not be discussed here since its use is somewhat specializedArticle 5/6 Relative Acceleration 373 ‘wheel of radius r rolls to the left without slipping and, at the instant the centor 0 has a velocity vz, and an acesleration ac to the left, we the acroleration of points A and C on the wheel for the insiant From our previous analysis of Sample Problem 5/4, we know that lar velocity and angular aceelacation of the whee! ave @ volt and a= coir n term of the given acceleration of O. Thus, A= A + BL = a + (ayo), + Mroh felotiveacceleration terms are viewed as though O were fixed, and for this ive cular motion they have the magnitudes (stake ~ roo? — ro (@): ) _Aadling the vectors heal-to-tail gives a, as shown. In a numerical problem, fe may obiain the combination algekraically ov graphically. ‘Tho algebraic ex: for the magnitude of a, is found from the square rovt of the sum of the: res of is components. If we use n- and (directions, we have (0x0), = raat = 19 ( eae Fae = Wle5 608 OF Gohl + lag n> age oe = occas 0+ ry + (asin + Fa ‘Ars. Telpfal Tints ireetion of a can be computed if desired. ©The counterelockwiee annguler accel- pont secleration ofthe instantaneous venter C of zero velocity, considered “78002 4-08 OA determines the jos Pont on che wheel, 8 obtsined from the expression itive ditection of(a4 91. Tho normal component (eqioly ia, of sours, de ag = hag rected toward the tolorenrecenter then theaenen tomar se in dale mC to O and (oc-ol, ~ ra dizected to the right because of the counterdlock- Hat Ga eULRUER ES eae Ice Sore fr femieation af lite CO about O: he terns ve ed (githar p= 12 OT tesla ap 10 he le te lower diagram, and it is seen that a onhgh 4: ag = ra Ans. ~ 3) Wo note that the-acceleration of the tive i caer ce oe he374 chapters Plane Kinematics of Rigid Bodies Sample Problem 5/14 the linkage of Sample Problem 5j8.is repeated hore. Crank CB has a con tant counterclockwise angular velnets of 2 rad/s in the position shown during fb short interval of its motion: Determine the angular acceleration of links AB ‘and OA for bhis position. Solve by’ using, vector algebra first seve for the voectes which were ubiained i Sample Prob Jem 6/8, They are exp ~ 6/7 e0d/e and gy = B07 rad's whore the coimterdloskiise direction (+Tedirodtion) ie taken as postive, The dccoleration equation is ay = ay + (ype ~ (Ons where, from Bg. 5/3 and 6/, wo may write ag = aon 4 * san % (eva ¥ tA) egate x 1005 + (Pl (Hk « 100) =100,4 ~ 10003) mmn/s* fcg % tq + Wey % leon XTi) 0+ 2k x (2k x [73m 004 mia ap maa * E—) agp ® ( — 50h — VIB) mine We now substitute these results into the rulative-acsleratien ojuation ard ‘hunts soparatay tho coefficients o the itermsand the eefiients ofthe Jecms to gre. 100194 = 429 ~ Slax =18a7 = -90.7 ~ Way ‘The colutions are exp ~ 01080 radia? nd tos Since the unit vector k points out from the paper in the positive zizection, we cee that the angular acselerations of AB und OA are both clockwise (oxi). It is recormmonded that the student sketch each of the eeceleration veetors in its proper geometric relationship according to the relative-scenleration equa: tion to holp clarify the meaning of the solution. som B 2500 Helpful Hints @ Remember co preserve the ort the fuetore in the erase prod @ tn espressing te term a4 oN tain fst» ie written as te fom B to A and gt the *9omle Problem 5/15 he sidorcrank mecharism of Sample Prubler 5/9 is rypeuted here. The a OB has a conscant clockrvse angular speed of 1600 rev/min, For the in bat hen the crank angle 0s 60, determine the acelaration of the piston A Biltbe angular ueeleation of the connecting rod AB. “The acceleration of A may be expressed in terms of the aeveleration the erank pin B. Thus, an = Ay + lage + an bint B moves in a circle of Bin, madiuawith a constant qed vo that it hascaly rma component of aocelerstion directed from B to 0. 5 (1600'2n1\* 2 oa 5 (UME = nan ‘Tho selutiveceslerstion terms axe visualized with A rotating in a circ ive 10 B, which is considered fixed, as shown. From Sample Problom 3/9, fhe angular velocity of AB for these same conditions is wp = 29.5 radl/ane 80 eam, ~ th onet Sine 2 ried from A to B, The tangential component (aq) is known in dirsction lx krow the diveetion of ay sinev the piston is confined to move along the ental axis of the evlinder. Thore are now only two sealar unknowns left in the equation, namely, the magnitudes of a, and \ayp). 50 the solution can be a4 ut. If we adopt an algebraic volulion using the geometry of the acceleration “pilszon, we first compate the angle between AB and the horizontal, With the lsines, this angle becomes 18.02. Eguating separately the horizontal cam- ‘pencnts wed the vertical components of the terms ia the acceleration equation, een from the acceleration polygon, gives ‘04 ~ 10.280 608 GOP + 1035 cos 1802 ~ (al, sin 18.02" 0 = 10,280 sin 6" — 1015 sin 18.02 ~ (ayy) cos 18.02" ‘Thessolution to these equations ssves the magnitudes (oxnie = 9080 Me/sec® and ay = 3910 fh/soo* Ans | Wich the sonse of ltyp)- also determined from the diagram, the angular accel- © ration of AB ie soon from the figure reproconting rotation relative to B to bo fo = irl tag = 9080 /(14/12) ~ 770 rad /sec clockwise An Ie we adopt a graphical solution, we begin with the known veetors ay and Playa}, and add thein head-to-tail using a convenient scale. Next we construct | the direction of tug, through the hevd of the lant vector, ‘The solution of the equation is tained by the intersection P of this last line with a horizontal line | through the staring point representing the mown direetion of the vector sum sling the magnitudes from the diagrann gives values which gree with the calculsted results ay = BRO Mise" — and —(aayyh ~ 9030 st/20e Ans. Article 5/6 Relative Acceleration 375 Helpful Hints DIF the eran OF had an anlar xe telepation, ayy would also havea tan genial compenent of aeseleration, @ Alternatively, the Felavion'a, tna be Uséd Tor eaeulsting (2, irovidal the ruatien elonty ng y toed for. The equivalee eon when i615 recalled that C4 tally eave \ te Jaya = WO tse @ Fexvept where extromeavounicy ik re quived, do nor healiate to uses sropphieal solution, aa it is quich and neweuls the physieal reutonshipe fnmong the vectors. ‘Tle known vee tors. of cours, may fe added in uy ser 4 loa as Uwe xoversing eqs thon is sisted376 Chapters Plane Kinomatics of 2 PROBLEMS Introductory Problems 5/119 For the inatane vepracantod, carrer © of the reetan gular plate has un acceleration of 5 m/s in the neg ative y-direction, and the plate has a clockwise langglar velocity of 4 rad/s which is decreasing by 12 rad/s each second. Determine the acceleration of Alat thie instant, Solve hy svalarspermoteie amd hy vector-algebraie methods 300 mm Problem 5/119 5/120 “The bvo motor blades of $00-mn radius wotate coun {erdockwise with w eunstant angular velocity » 2 rad/s about the shatt at O mount in the sliding block. The acceleration of the block is ag 3 m/s". Determine the anignicude of the acceler ton of the tip € of the blade when 0, 1b 0 90", and (e) € ~ 180" Dees the volbuty of O or he seitse of u entur into the ealeulation? 5/121 The center 0 of the whee! is mounted on thes block which hasan aeceloration Go ght. At the instant sehen ~ 45°, — Seals 4— —Brad/st, For this matant determine the nitudes of the atceleration of points A and 8 ‘Anna, ~ 9.58 m/s! ay — 909 A Sa Problem 5/121 aetermine thi aecularition of point on tho sq or of che eet, eepewied here fron Preb.5/68. Us the data given with that problem and assume tho orth's orbital path iy sirular, consulting Tall D/Z- a9 necessiry, Consider tho center of the a fixed and neglect the tilt of the axes of the oath Problem 5/122The #-m steel beer is heing hosted from its hor zontal position by the two cables ttached at A and 2, Ihe inti angular accelerations of the hosting drums are ay = 0.5 rad/s and ag = 0-2 eai/s in the dinvetions shown, determine the enreapomding angular wceleration «ofthe bea, dhe acceleration 6 C, aud the distance b from 8 to a point Pon the barn eontertine which has no aecaration ‘Ans. © = 008 rd/5? Cac = 0.05 m/s? down b= 2mright of Problem 5.125 5/124 The conter 0 pf the disk has the veloeity and aso eration shown in the figure. Ifthe disk rlls witheut stipping on the horizontal surface, desermine the ve. locity oa the aceeleration of B for the motont represented. 5/125 ‘The whee! of radius A rolls without slipping, and its Article 5/6 Problems 377 conter 0 has an acceleration ap. A point P on the athee! is @ distance r from O, For gen values of a, A, and r, determine the angle # and the velocity oq ‘of the whool for whieh P has no aceeloration in this positon Ans = sin Zag Problem 5 125 5.126 ‘The ciroular disk rolls to Ube Jet. without shpoing. Tage ~ 279 mist, determine the velocity and acetleration of the center O of the disk, Problem 5.126 5/127 A ea with tires of BO0-mm diameter acoslorares at ss eonslant rate from rest to-a velocity of 60 lem/h sna distance of 40 m Determine the maymitueie of the arceleration af 2 point A on the top ef the wheel torte cas reaches a speed of 10 kon! Ans. 64 = 266 mist376 Chapters Plane Kinematics of Rig 5/128 Determine the angular aovwlénition cay oF AB for the position show if link OB has a constant an- gular velocity Problem 5/125 3/129 Detcrnine the angular atecleration of link AB and the Finenr agcoleration of A for @— 90°40 F = 0 fund & ~ 9 rad/e¥ ae that postion Carry out your solution uaing year avtation, Ans, jy = AK rad/s, aq = L6L myst Problem 5.129 Ropresentetive Problems 5/130 Determine the angular aecolerstie of AB andl hr Finear acceleration wf A for the linkage of Prob. 13/123 foe the position ¥ = 90° If = 4 rel/s and 4 Oat that position, Carry out your solution us ing vector netation. 5/131 The wheel-and-shaft unit of Prob, 5/9818 here with the additions! specification thi th celecation of the eencer is4P/sec! to thele sskown, Ifthe shalt rolls on the fixed hori face without slipping, determine the oder Points A and Dg aaa — 2) say) > 2651 > 730 quires velocity of 14 m/s ap the incline witha stant aeceleration in # distance s of 24 rm under faction of a steady pull P applied to point A uf ‘able. The eable i wrapped socuroly around ith ‘and the wheel rolls without sipping, For the 24a Fosition shown, caloulnte the acceleration ofp Aon the cube and point fon the spook 5 Problem 3/132The bar AH trom Prob. 6/6818 repeated here, I'the wlocty of point A is 3 19/8 to the right and is con- saat for au interval ineloding the position shown, srizontal su Getermine the tangential acceleration of paint B celeron along its path and the angular aceeleration of the 3 lax, 70 f/s compli 2 raat GW Tai Ants. (ay), ~ 289 m/e, «= 962 cade? CW 05m yy 0 Problem 51138 5/154 The sliding vollar moves up and down che shaft, causing an oseillation of erank OB. ICthe velocity of A ie not changing #3 it psseos the nell position where AM is horizontal snd OF is vertical, deter a mine the angular acceleration of OB in that ne with, position Problem 5/154 5/135 Crsnk OA pstillaies between tne dase’ positiins Article 5/6 Problems 379 shown and causes small anygular motion of erenk BC thmugh the connseeing link AR. When DA erossos the horizontal position with AB hor zonu und BC vertical it hus un angular velocity » and zero an gular acceleration, Determine the angular eeceler ation of BC for chis position, Ans. o¢ = lair CW Problem 5 135 hydric eylindsr imparts motion te polit J ‘biel causes jink OA to rotate, For the instant chown where OA ig vartival and AB ig how2unta the velocity eg: of pit B is 4 m9 nnd is isereasing at the rate of 20 m/s, For this postion celermin: the angular secolsmtion af OA, 240 man Problem 3/136the bar AB trom Prob, 5/68 is repeated bere, LFthe mecity af point A is 3 m/s to uhe right and is On ant for an interval inchuding the position sews, Mermine the tangential acceleration of paint alone its tar ‘Ans ty) ps4 The siding atin and the angular 962 romeo problem 5133 collar moves up and dewwr the: shalt, causing an osallation of erark OB: IPthe velocity of Sis not changing ws it passes the mull position ‘phere AB is horieontal and OB vertical, deter wine tue angular aceeleration of OB in that postion Proplem 5/134 Article 5/6 Problems 379 5/135 Crank OA oscillates between the dashed! positions Shown and causes small sngular motion of tank BC thresh the connecting link AB. When OA erosses the heroatal position with Ait horizontal ane PC Menten, t bas an angular velosty « and 7er0 a Talay acceleration, Determine the anger avecler: fian of JC for this position. ‘Aas. o = dlotir OW 45/156 ‘The hydraulic exinder imparis mation to pomnt H rhieh savas link OA to rotate, For the mstint Shown where GA Js vertical and AB is herieontal The welosty 4, of pin B is 4 mje and rs increasing pe che rave of 20 m/e2. For this postion determine the angular acveloration of OA. 124 mm: “2, Problem 5!156Chapter5 Plane Kinematics of ‘he finkage of Prob. 5/69 is shown agaln her, For the instant when 9 = B = 60°, the hydraulic esl andor gives A n velocity ¢q = 4Rjeee whieh ie in crewing by 3 f/sec exch sesone, For this instant determine the angular acceleration of link BC- ‘Ane. ge ~ 208 rade? COW Problem 5:187 Bach of the sliding bars A and B engages es re spective vim of te two riveted wheels without slin= ping: If, in audition to thi information shown, bar A Tuas an acceleration of 2 an/s" 10 the right and ‘hove ne aecoleration of bar B. ealeulate the rag aigude of the aecoloration af P for the instant Sepucted Problem 3.138 45/139 The deployment medhanis fo Ue spacer aetameter boom of Prob. 5/81 is shown aga ‘Tho driving link OB has a constant cock gular veloety wo of 8 rads asi crsses tical postion. Determine th angular a daca of the boom for the postion shown W cane = 4/8 wiee Ans aie = Problem 5 159 5.180 Ifthe wheel in each ease rollson the érealarsu without alipping, determine the acesleration point Can the wheel momentarily in contact the cireular sures, The wheel his an angaler Toctty « and an angular acceleration Problem § 140B81 The linksge of Prob, 5/88 8 shown agale here: 17 OA has a ennstant counterclockwise angular veloe ity ay — WW rad/s, ealealage the angular acceler tion af link AB for the position where the coordinates of A are x = 60 mm andy ~ 80 mm Link BC is vertical for this postion. Bulve by veetor algebra, Use the results of Prob. 8/88 for the an- fgolar woluctiog of AR and BC, which are eye Eth rad/s and eagn = 2.5K ras, Ans; ayy = 042K reds Problem 5 141 s/42 The figure fr Prob, §/80 i4 repeated here with tof erence axes added, If link AB has a constant. cour. twroleckscisn angular velosity of 40 rad/s during an Jverva) whiels includes the instant represented, de termine the angular acceleration of AD and the ae colerution af point D, Express your resales in weet = 100 mae =~ 100 mie ~ Problem 5.142 Article 5/6 Problems 381 5/193 The elements of 4 power hacksaw are shown in the figure: The saw blade is mounted in a frame whieh Hides along the harivental guide, Wee rantecturas the flywheel at a constant ccunterclockwise speed of 60 rev/min, determin the acceleration of the blade far the position sehere # ~ 90", and Bind tho eoree sponding angular acceleration ofthe tink Af Ans-ag = 489 m/s way = 0487 rad’ COW Jo om Problom 5 143 5/144 The olements of a simplified cam-chell bucket fora Arvege ar shown, With tha block at O-ganeidered fixed and with Ue constant velocity v of theconsrol table ot C equal to 05 mis, determine the angular sceclorntion oof the night hue bucket aw when = 45" as the bucket as ace closing. Problem 5/1545746 If esd) A of the consneained 282_ Chapters 5/145 The mechanism of Prob. 5/112 is repeated here Where the flexible hand F attached to the esetor at 8 is given a constant velocity of 4 m/s-as shown. For the instant when BD is perpendicular to OA, determine the angular acceleration of BD. Ans. gy us Problem 5,185 ine determine the ovcsler ‘it ofthe mus comter Cin he rt of che Bk ‘Ghmyaresoluten by soetor algebra with solution by Problem 5148 Plane Kinematics of Rigid Bodies 5/147 Elements ot the witching device of Prob shown ayain here, If the velocity o of the sn rod is 3 fl/sne andl is deoveasing at the rate ol it/aec® when — 60°, determine the magni the acteration a go ag Problem 5.147 [A eochaniam for posing small boos from ik Configuration starn. crank Cit has 0 6 Slodive nisi welts of = a DermArticle s/6 Problems 383 Problem 5/148, re on burp rar is how in the gure The exe 3/350 An intermittert-drve mechanison for purtoatnd ible punsp rod D is fastened to the sector at B and {inpe consists of the link DAB driven by the ersnis Js always vorcieal us it enters the Fitting helow 0) 01. The trace of the motion of the finger at D is The fink AM cnusos the beak BCE ta oslllate as shown by the dashed lf. Deturminc the range . the weighted crank OA revalves, [E OA has 4 cum sf the acceleration of D at the instant repeesunted er Sant elockwise speed of 1 rev every 8 5, determing when both OB and CA sre horizcntal if OB his » z the acceleration of the pump vex 2 when the beam eonstant clockwise retstional velocity nf 20 td the wath OA are tat 4 te Hriantl po Pieri Ans iy = 1907 wei 2 ANS oy) = 0.568 ms! dovwn Problem 149 Problem 5.1503/151 The disk rotates about a fixed axis through O with enpular velocity « ~ & rad/sce and angular cevel ration « = 3 rad/see* at the instant represented, 1 the divections shown. Tho slider A moves in the sirxight slot. Determine the absolute velocity and sceeleration of A for the same instant, when y Bin 9 = ~24 in,/see, and 3 — 30 in/sce? Aus. vq = ~B334 — 4.55 R/see ay = BLGL— 12.07) see? Problem 5 151 182 An experimental vehicle A travely with constant speed v relative to the earth along a north-south track, Deermine the Coriolis acceleration aig. a fanetion of the latitude @ Assume an earth: fed to tating feamo Baye ond a spherical earch, If the ve hricle sperd is © = 400 kmyh, determine the Imagnitade of the Coriolis sescloration at la) the ‘equator and (b) the north pole Article 5/7__Problems 393 Problem 5.152 5 153 The disk colls without slipping on the hietzontal surfer, and at the instant represented, the center © has the velocity and acceleration shown in tho figure. For thie instant, the particle A has the in dicated speed u end time vate-of-change of speed i, Hoth relative to the disk Determine the absolute ‘elocity and acseloration of partie A. Ans. v4 = —S.b ni/s, ay594 chapter5 Plane Kinematics of Rigid Bodies 15/154 A stationary pole A fs viewed by an observer P who Jecitting on a stnall merry-go-round which cotates hour Ded vertical ave at 2 with a constant 3 lar veloeity 82s shown, Determine the apparent Felowity at A as seon by the observer P, Does this Jelecity dependl-on the laeation of the observer on the merey-uo-round? Problem 5/154 Consitow a straight and tevel raitrond track with & Ibo vop-hig railroad eur moving along it sta canseaat Speed of 16 m/s. Determine the horizontal foree 10 uorted by the rails on the car if the track were Tocated: byyetheticalls at (a) the north pote and {ao the eqiaater, oriented in a rorehsouth direction, ‘Aus. (a) R > AOA, R= 0 ae B is rounding the eurve with a constont epecd ott kins, and ear A is approaching eur B in the intersection with a constant apeod of 72 krn/h. De tormeine rhe Feloeity which car A appear to hevs © fen ehsenver riding in ond turning with ear B TBE ror axes are attached to coe B. Te this apparent ve Tosity chu nagative of the velocty which 1 appears tenave fo a nunrotating observer in our A? The dis- fhunee separating the two cars at the instant de picts 40 m0 = ae , Sey “oS Problem 5156 Foe the tars of Prob, 9/156 Lmaveling with con peed, decermino the-arcsteretion which carl sears to have to an observes riding in and Seth ear Ais iy) = 1881 - O Ship A is procooding north at a constant spel 12 knnts, and ship B's moving at 10 knots turning to port (ef) at the constant rate ef og’min. When the ships are senarated br 6 tence of 2 nautical miles in the relative Shown, with #2 momentarily heading west ani f Grossing ks bow, the navigator of B measures i Gpnazent velacity of A, Find the magnitude seivcity ond specify the clockwise angle which makes with Che north: direction, Problem 5/158article 5/7 Problems 395 Alrcrait B hs a constant speed of $40 ken/ nt the bottom: of a stoular loop of 400-m retin. Aircraft A fying torizontally iv Lie plane ofthe loop passe 1€0 m directly under ff at a constant sped of 86) nya, With coordinate axes attacked to I asshown, determine the aczeleration which & appears ce have to the pilot of H for thie instn Ans hy — ASO S Problem 5 160 cling with eons 5/161 Twa his A ane Bare sitting on opposite sides n'a pn whieh car A i horicontal tirtable which eveaces at a comatant fing in and turnin rounterclockwase engulae velocty oy as seen am shove. Bay 4 throws a ball toward 22 hy ving it horizontal velocity w relative 20 the turntable tw ward B, Assume that the ball has no horizontal ae coldention onee rolensed and write an expression far the acceleration ag; whlch B ywould observe tbe ball to have in the phine of the turntable just after its thrown, Sketch the path of tho hall an the tuemtabl SF EN Easing =a GE aa 1000 Problem 5,138) A-vohisle A travela woot high speed ow o perfectly straight road B which is tangent Wo the surface of the earth ot the equator, The road has no curwatere whatsvever in the vertical plane, Determine the ne necessary speed va 0 the Nehiele relative to the road which will give rise to rero acceleration af the veliele sn the vertical direstion. Assume that the cuter of Uke earth bas nu ac ——___— 7 Ang «acne | PDP JABOM Anan, UNIVERSITYPlane Kinematics of chapters 162 ‘The fe true is moving forward at'a speed of 33 5/168 For the conditions nd oncusion of Prob. $f taibr grid is decelerating atthe rato wf 10 ft/sec? show that the accelerabon which ear A apps sho ‘Smmultancuasly, the ladder is beng raised and ex have to an oheorvorin-and turning with ea. lan turvled. At che inst considered the ange #8 30° equal to 0/8 in the diction normel 1 the aot ! Janis increasing at ee eonstant rato of W dey se woody of 4 pre ‘Aso at this Instant the extension 6 ofthe Laer itu Shiwithé = 2 8/see uni A ~ —1 f/Sec* For this exe Iain doceriine tie accekivanibn st asian A of | “S/NGS/ Th aie Satish BB fying with @ crmsints ft/s the ladder ith respect tthe truck znd with of 480 mifhr im a horizontal are of Sul ve faa @ Gare ‘When B renches tho position shown, sreraft A sng southwest a a sonsant speed of 300 frosss the radial Tne rem Bo the center af ature C of its path, Wnte the vector sxpnei | sing the 7 aes ataaied to 8 fr she veloc ‘Aes measured by an observer in and it Ans, vu = ~STSE ~ 686 8 ts N af i * 7 é } } Problem 5:162 a o 5163 Car 8 turnsonte the deca Fram with napeed \ om | {Car 8, traveling withthe same spend v continues Fh oy the araighe lire. Prore thatthe velocity which A i aapimars to fave ton obeerver riding and warning i ‘with ear Bs 2ero-when car A pastes the position \ Shown regadles of the onde 0 s/t6e | Problem 5.165 5/166 For the coraitions of Prot. 5/160, vbtain the vie expression forthe aecleraion whch aire Aap fears to have to am bseever in apd turning wi fircraft B, to whieh exes x-y are attached, Use the onal eitad in Peobs, 5/185 for Ye Problem 5/163,conclusion of Prob, 6/1 lon which car A app. and turning with ear: rection normal to the | ying with 6 constant ontal are of Semi tion shown, aircraft A, tant speed of $60 mh mf to the center of ear ite the eoctor expres 4 te D, fur the velocity 4/168 For tho instant. represented, tink € counterciockiwise ata eonstant rate N and its pin A causes a clockwise rotation of the slot, fod member ODE. Determine the angular velocity and angular acwoleraLion «of ODE for this instant A smooth bowling alley is oriented north-south as shown. A ball A is released with speed w along the lane as showts, Because of the Coriolis efert, it wil Ueflet a distance 4 as shown. Develop a gorsral ex: pression for 5, The bowling alley Is located at a lat ftude w in the northern kemisphere: Evaluate your expmssion far the conditions L = 60 e 19 Ai/see, and ¢ = 40°. Should bowlers preter east west alleys? State any assumptions a6 = saa Problem 5/167 is rotating Article 5/7 Problems 220 Problen 3/168 5/169 Fach of the wy care A aid 9 is teveling with ‘constant speed of 72 km. Determine the veloc and acceleration if ear Aas soon by an obiery moving and rotating with ear 2 when the care a in the positions shawn, The my axes are sttached car B. Sketch both relativsemetion veetors Ans. ¥yq) = “ATR + 10} a/ ry