Capitulo 15 by Govata

COSMOS: Complete Online Solutions Manual Organization System
Chapter 15, Solution 1.
Angular coordinate: Angular velocity:
= 8t 3 6 ( t 2 ) radians
= =
d = 24t 2 12 ( t 2 ) rad/s dt d = 48t 12 rad/s 2 dt
Angular acceleration: (a) When the angular acceleration is zero.
48 t 12 = 0
(b) Angular coordinate and angular velocity at t = 0.250 s.
t = 0.250 s
= ( 8 )( 0.250 ) ( 6 )( 0.250 2 )
2
= 18.25 radians
= 22.5 rad/s
= ( 24 )( 0.250 ) (12 )( 0.250 2 )
Vector Mechanics for Engineers: Statics and Dynamics, 8/e, Ferdinand P. Beer, E. Russell Johnston, Jr., Elliot R. Eisenberg, William E. Clausen, David Mazurek, Phillip J. Cornwell 2007 The McGraw-Hill Companies.
= 0.5 e3 t cos 4 t =
=
d = 0.5 3 e 3 t cos 4 t 4 e3 t sin 4 t dt
d = 0.5 9 2e3 t cos 4 t + 12 2e3 t sin 4 t + 12 2e3 t sin 4 t 16 2e 3 t cos 4 t dt
( = 0.5 ( 24 e
2 3 t
sin 4 t 7 2e 3 t cos 4 t
(a)
t = 0,
= ( 0.5 ) = ( 0.5 )( 3 ) = 4.71

= ( 0.5 ) 7 2 = 34.5
= 0.500 rad = 4.71 rad/s

= 34.5 rad/s 2
(b) t = 0.125 s,
cos 4 t = cos
= 0,
sin 4 t = sin
=1
e3 t = 0.30786
= ( 0.5 )( 0.30786 )( 0 ) = 0 = ( 0.5 )( 0.30786 )( 4 ) = 1.93437 = ( 0.5 )( 0.30786 ) 24 2 = 36.461
=0 = 1.934 rad/s = 36.5 rad/s 2
= 0e7 t/6 sin 4 t
d 7 7 t/6 = 0 e sin 4 t + 4 e7 t/6 cos 4 t dt 6

49 2 7 t/6 d 28 2 7 t/6 28 2 7 t/6 = 0 e sin 4 t e cos 4 t e cos 4 t 16 2e7 t/6 sin 4 t 36 dt 6 6 49 2 28 2 cos 4 t = 0e 7 t/6 16 sin 4 t + 36 3
(a) 0 = 0.4 rad,
t = 0.125 s
e7 (0.125)/6 = 0.63245, 4 t =
, sin
= 1, cos
=0
= ( 0.4 )( 0.63245 )(1) = 0.25298 radians = ( 0.4 )( 0.63245)

7 (1) = 0.92722 rad/s 6
= 0.253 rad = 0.927 rad/s
= ( 0.4 )( 0.63245 ) 16
(b) t = ,
e7 t/6 = 0
49 2 2 (1) = 36.551 rad/s 36
= 36.6 rad/s 2 =0 =0 =0
Angular coordinate: Initial angular velocity: Angular acceleration:
= 1800 rev = 3600 radians 0 = 6000 rpm = 200 rad/s =

d d = = constant dt d
d = d
0 d = d 0
2 = 0
1 2
( 200 ) = 17.4533 rad/s2 2 = 0 = 2 ( 2 )( 3600 )

(a) Time required to coast to rest.
= 0 + t
t=
0 0 200 = 17.4533
t = 36.0 s
(b) Time to execute the first 900 revolutions.
= 900 rev = 1800 radians = 0t + t 2

1800 = 200 t 1 (17.4533) t 2 2 1 2
t 2 72t + 648 = 0
t= 72
( 72 )2 ( 4 )( 648)
2
t = 10.54 s
1 = 2400 rpm =
(a )
( 2400 )( 2 )
60
= 80 rad/s,
0 = 0, t1 = 4 s
80 = 20 rad/s 2 4
1 = 0 + t = t , 1 = 0t +
1
t
1 2 1 160 t = 0 + ( 20 ) 42 = 160 rad = = 80 rev 2 2 2
( )
1 = 80 rev
(b)
1 = 80 rad/s,
2 = 0,
=
1 2
t2 t1 = 40 s
2 = 1 + ( t2 t1 ) ,
2 1
t2 t1
2
0 80 = 2 rad/s 2 40
2 1 = 1 ( t2 t1 ) + ( t2 t1 ) = ( 80 )( 40 ) +
= 1600 radians =
1600 = 800 rev 2
1 ( 2 )( 40 )2 2
2 1 = 800 rev
Angular acceleration: Angular velocity:
= 30 e 0.2t =
t
d dt
= 0 + 0 dt
= 0 + 30 0 e0.2t dt =
30 0.2t t e 0 0.2
t
= 150 1 e 0.2t =
When t = 0.5 s,
d dt
= 150 1 e( 0.2 )( 0.5)
)
= 14.27 rad/s
Angular coordinate:
= 0 + 0 dt
= 0 + 150 0 1 e0.2t dt = 150t
150 0.2t t e 0 0.2
t
= 150t 750 1 e 0.2t

When t = 0.5 s,
= (150 )( 0.5 ) 750 1 e ( 0.2 )( 0.5)
)
= 3.63 radians
(a )
= 0.5 ,
Integrating,
0 30 d = 0.5 0 d
d = 0.5 d
d = 0.5d
30 = 0.5
60 = 9.55 rev 2
= 60 radians =
(b)
Integrating,
= 9.55 rev
d = 0.5 dt
t 0 0 dt = 2 30
dt = 2
d 0 = 30
t = 2 ln
t =
(c)
= ( 0.02 )( 30 ) = 0.6 rad/s

t 0.6 0 dt = 2 30
t = 2 ln
0.6 = 2 ln 50 30
t = 7.82 s
= k
Integrating,
d = k d
d = k d
0 6 12 d = k 0 d
62 122 = k 2 0 2
(a )
k =
122 = 9 s 2 62
k = 9.00 s 2
3 12 d = k 0 d
2
2
32 122 = 9 0 2 2
2
(b)
2 = 122 ( 9 )( 3) = 63 rad 2/s 2
= 7.94 rad/s
rA/O = ( 5 in.) i + ( 31.2 in.) j + (12 in.) k rB/O = ( 5 in.) i + (15.6 in.) j
lOA =
Angular velocity.
( 5)2 + ( 31.2 )2 + (12 )2
lOA rA/O =
= 33.8 in.
6.76 ( 5i + 31.2 j + 12k ) 33.8
= (1.0 rad/s ) i + ( 6.24 rad/s ) j + ( 2.4 rad/s ) k

Velocity of point B.
v B = rB/O
i j k v B = 1.0 6.24 2.4 = 37.44i + 12 j 15.6k 5 15.6 0
v B = ( 37.4 in./s ) i + (12.00 in./s ) j (15.60 in./s ) k

Acceleration of point B.
aB = vB
i j k 2.4 = 126.1i 74.26 j + 245.6k a B = 1.0 6.24 37.4 12 15.60
a B = 126.1 in./s 2 i 74.3 in./s 2 j + 246 in./s 2 k
) (
) (
rA/O = ( 5 in.) i + ( 31.2 in.) j + (12 in.) k rB/O = ( 5 in.) i + (15.6 in.) j
lOA =
( 5)2 + ( 31.2 )2 + (12 )2
lOA rA/O =
= 33.8 in.
Angular velocity.
3.38 ( 5i + 31.2j + 12k ) 33.8
= ( 0.5 rad/s ) i + ( 3.12 rad/s ) j + (1.2 rad/s ) k

v B = rB/O
i j k v B = 0.5 3.12 1.2 = 18.72i + 6 j 7.80k 5 15.6 0
v B = (18.72 in./s ) i + ( 6.00 in./s ) j ( 7.80 in./s ) k

Angular Acceleration.
lOA
rA/O =
5.07 ( 5i + 31.2 j + 12k ) 33.8
= 0.75 rad/s 2 i 4.68 rad/s 2 j 1.8 rad/s 2 k

) (
) (
a B = rB/O + v B
j k i a B = 0.75 4.68 1.8 5 15.6 0 + i j k 0.5 3.12 1.2 18.72 6 7.8
= 28.08i 9 j + 11.7k 31.536i 18.564 j + 61.406k
a B = 3.46 in./s 2 i 27.6 in./s 2 j + 73.1 in./s 2 k
) (
) (
rB/ A = ( 500 mm ) i ( 225 mm ) j + ( 300 mm ) k = ( 0.5 m ) i ( 0.225 m ) j + ( 0.3 m ) k
l AB =
Angular velocity vector.
0.52 + 0.2252 + 0.32 = 0.625 m
l AB
rB/ A =
10 ( 0.5i 0.225j + 0.3k ) 0.625
= ( 8 rad/s ) i ( 3.6 rad/s ) j + ( 4.8 rad/s ) k

rE/B = ( 300 mm ) k = ( 0.3 m ) k
Velocity of E.
v E = rE/B
i j k = 8 3.6 4.8 = 1.08i + 2.4 j 0 0 0.3
v E = (1.080 m/s ) i + ( 2.40 m/s ) j

Acceleration of E.
aE = vE =
i j k 8 3.6 4.8 = 11.52i + 5.184 j + 23.088k 1.08 2.4 0
a E = 11.52 m/s 2 i + 5.18 m/s 2 j + 23.1 m/s 2 k
) (
) (
rB/ A = ( 500 mm ) i ( 225 mm ) j + ( 300 mm ) k = ( 0.5 m ) i ( 0.225 m ) j + ( 0.3 m ) k
l AB =
Angular velocity vector.
=
0.52 + 0.2252 + 0.32 = 0.625 m

10 ( 0.5i 0.225j + 0.3k ) 0.625
l AB
rB/ A =
= ( 8 rad/s ) i ( 3.6 rad/s ) j + ( 4.8 rad/s ) k

Angular acceleration vector.
l AB
rB/ A =
20 ( 0.5i 0.225j + 0.3k ) 0.625
= 16 rad/s 2 i + 7.2 rad/s 2 j 9.6 rad/s 2 k
) (
) (
Velocity of C.
vC = rC/B
rC/B = ( 500 mm ) i = ( 0.5 m ) i
i j k vC = 8 3.6 4.8 = 2.4 j 1.8k 0.5 0 0
vC = ( 2.40 m/s ) j (1.800 m/s ) k Acceleration of C. aC = rC/B + vC

j k i = 16 7.2 9.6 0.5 0 0 = 18i + 19.2 j 15.6k + i j k 8 3.6 4.8 0 2.4 1.8
= 4.8j + 3.6k + 18i + 14.4 j 19.2k
aC = 18.00 m/s 2 i + 19.20 m/s 2 j 15.60 m/s 2 k
) (
) (
rA/D = ( 200 mm ) i + (120 mm ) j + ( 90 mm ) k
d DA =
DA =
( 200 )2 + (120 )2 + ( 90 )2
= 250 mm
rA/D = 0.8 i + 0.48j + 0.36k d DA
= DA = ( 75 )( 0.8i + 0.48 j + 0.36k ) = ( 60 rad/s ) i + ( 36 rad/s ) j + ( 27 rad/s ) k =
d DA = 0 dt
rB/A = ( 200 mm ) i = ( 0.2 m ) i

Velocity of corner B.
v B = rB/ A
i j k = 60 36 27 = 5.4 j 7.2k 0.2 0 0
v B = ( 5.40 m/s ) j ( 7.20 m/s ) k Acceleration of corner B. a B = rB/ A + v B

i j k = 0 + 60 36 27 = 405i 432 j + 324k 0 5.4 7.2
a B = 405 m/s 2 i 432 m/s 2 j + 324 m/s 2 k
) (
) (
rA/D = ( 200 mm ) i + (120 mm ) j + ( 90 mm ) k
d AD =
DA =
( 200 )2 + (120 )2 + ( 90 )2
= 250 mm
rA/D = 0.8 i + 0.48j + 0.36k d AD
= DA = ( 75 )( 0.8i + 0.48 j + 0.36k ) = ( 60 rad/s ) i + ( 36 rad/s ) j + ( 27 rad/s ) k =
d DA = ( 600 )( 0.8i + 0.48j + 0.36k ) dt

= 480 rad/s 2 i 288 rad/s 2 j 216 rad/s 2 k
) (
) (
rB/A = ( 200 mm ) i = ( 0.2 m ) i

Velocity of corner B.
v B = rB/ A
i j k = 60 36 27 = 5.4 j 7.2k 0.2 0 0
v B = ( 5.40 m/s ) j ( 7.20 m/s ) k Acceleration of corner B. a B = rB/ A + v B

j k i j k i = 480 288 216 + 60 36 27 0.2 0 0 0 5.4 7.2 = 43.2 j 57.6k 405i 432 j 324k
a B = 405 m/s 2 i 389 m/s 2 j 266 m/s 2 k
) (
) (
93,000,000 mi = 491.04 109 ft 365.24 days = 31.557 106 s, 1 rev = 2 rad

Angular velocity.
=
Velocity of the earth.
2 = 199.11 109 rad/s 31.557 106
v = r = 491.04 109 199.11 109 = 97.77 103 ft/s
)(
v = 66.7 103 mi/h

Acceleration of the earth.
a = r 2 = 97.77 103 199.11 109
)(
= 19.47 103 ft/s 2
a = 19.47 103 ft/s 2
23 h 56 min = 23.933 h = 86.16 103 s,
1 rev = 2 rad
2 = 72.925 106 rad/s 86.16 103
R = 6370 km = 6.37 106 m

= j,
r = R cos i + R sin j
v = r = R cos k
= 72.925 106 6.37 106 cos k = ( 464.53cos m/s ) k
)(
a = v p = j ( R cos ) i = 2 R cos i = 33.876 103 cos m/s 2 i
(a) Equator.
= 0 )
cos = 1.000
v = 465 m/s
v = ( 465 m/s ) k
a = 33.9 103 m/s 2 i
a = 0.0339 m/s 2 cos = 0.76604

v = 356 m/s
(b) Philadelphia.
= 40 )
v = ( 464.52 )( 0.76604 ) k = ( 356 m/s ) k

a = 33.876 103 ( 0.76604 ) i
3 2
( ) = ( 0.273 10 m/s ) i
(
a = 0.0259 m/s 2 cos = 0

v=0
a=0
(c) North Pole.
= 90 )
vB = v A = 300 mm/s
rB = 120 mm
( aB )t
(a )
vB = rB ,
= a A = 180 mm/s
vB 300 = = 2.5 rad/s rB 120 =
= 2.50 rad/s
( aB )t
(b)
= rB ,
( aB )t
rB
180 = 1.5 rad/s 2 120

2
= 1.500 rad/s 2
( aB ) n
= rB 2 = (120 )( 2.5 ) = 750 mm/s 2

2 ( aB )t2 + ( aB )n
aB =
(180 )2 + ( 750 )2
= 771 mm/s 2
tan =
750 , 180
= 76.5
a B = 771 mm/s 2
76.5
B = 4 rad/s ,
rB = 120 mm
2
( aB ) n
2 = rB B = (120 )( 4 ) = 1920 mm/s 2
aB = 2400 mm/s 2
( aB )t
2 aB ( aB ) n =
24002 19202 = 1440 mm/s 2
( aB )t
= rB ,
( aB )t
rB
1440 = 12 rad/s 2 120
12.00 rad/s 2
or
Let vB and aB be the belt speed and acceleration. These are given as vB = 12 ft/s (a) Angular velocity and angular acceleration of each pulley. Pulley A.
and
aB = 96 ft/s 2.
These are also the speed and tangential acceleration of periphery of each pulley provided no slipping occurs.
rA = 8 in. = 0.6667 ft
A = A =
Pulley C.
v A vB 12 = = = 18 rad/s rA rA 0.6667 a A aB 96 = = = 144 rad/s 2 0.6667 rA rA

rC = 5 in. = 0.41667 ft
A = 18 rad/s A = 144 rad/s 2
C = C =
vC vB 12 = = = 28.8 rad/s rC rC 0.41667 aC aB 96 = = = 230.4 rad/s 2 rC rC 0.41667
C = 28.8 rad/s C = 230 rad/s 2
(b) Acceleration of point P on pulley C.
C = 5 in. = 0.41667 ft
( aP )t
( aP ) n =
aP =
= aB = 96 ft/s 2
=
2 vP
2 vB
(12 )2
0.41667
=
= 345.6 ft/s 2
= 358.7 ft/s 2
2 ( aP )t2 + ( aP )n
(96)2 + ( 345.6)2
tan =
96 345.6
= 15.52
a P = 359 ft/s 2
15.52

1 rev = radians, 2
rA = 8 in. = 0.6667 ft, d , d
rC = 5 in. = 0.41667 ft
=
= 120 0.002 2 =
d
120 0.002
500 d = d 60000 2
Integrating and applying initial condition = 0 at = 0 and noting that = radians at the final state,
2 0 60000 2 = 250 ln ( 60000 ) 0 = 0 d =
500 d
60000 250 ln 60000 2 ln 60000 = 250 ln 60000
60000 2 = e /250 60000
2 = 60000 1 e /250 = 749.26 rad 2 /s 2 = 27.373 rad/s = 120 0.002 2 = 120 ( 0.002 )( 749.26 ) = 118.50 rad/s
(a) Tangential velocity and acceleration of point B on the belt.
vB = v A = rA = ( 0.6667 )( 27.373) = 18.249 ft/s

aB = a A = rA = ( 0.6667 )(118.50 ) = 79.0 ft/s 2
aB = 79.0 ft/s 2
(b) Acceleration of point P on pulley C.
C = 5 in. = 0.41667 ft
vP = vB = 18.249 ft/s
( a P )n
2 vB
18.2492 = 799.3 ft/s 2 0.41667
( a P )t
aP =
= aB = 79.0 ft/s 2 = 803.2 ft/s 2
( 799.3)2 + ( 79.0 )2
79 , 799.3
tan =
= 5.64
a P = 803 ft/s 2
5.64
Left pulley. Inner radius Outer radius r1 = 50 mm r2 = 100 mm
v A = 0.6 m/s = 600 mm/s
1 =
v A 600 = = 6 rad/s r2 100
Speed of intermediate belt.
v1 = r11 = ( 50 )( 6 ) = 300 mm/s

Right pulley.
Inner radius Outer radius
r3 = 50 mm r4 = 100 mm
2 =
v1 300 = = 3 rad/s r4 100
(a) Velocity of C.
vC = r3 2 = ( 50 )( 3) = 150 mm/s
vC = 0.1500 m/s
(b) Acceleration of point B.
2 aB = r4 2 = (100 )( 3) = 900 mm/s 2 2
a B = 0.900 m/s 2
Left pulley. Inner radius Outer radius r1 = 50 mm r2 = 100 mm
v A = 0.6 m/s = 600 mm/s
( a A )t
= 1.8 m/s = 1800 mm/s

v A 600 = = 6 rad/s r2 100
1 = 1 =
Intermediate belt.
( a A )t
r2
1800 = 18 rad/s 2 100
v1 = r11 = ( 50 )( 6 ) = 300 mm/s
( a1 )t
Right pulley.
= r11 = ( 50 )(18 ) = 900 mm/s 2
Inner radius Outer radius
r3 = 50 mm r4 = 100 mm
2 =
v1 300 = = 3 rad/s r4 100
2 =
(a) Velocity and acceleration of point C.
( a1 )t
r4
900 = 9 rad/s 2 100
vC = r3 2 = ( 50 )( 3) = 150 mm/s
vC = 0.150 m/s
( aC )t
= r3 2 = ( 50 )( 9 ) = 450 mm/s
aC = 0.450 m/s

2 ( aB )n = r4 2 = (100 )( 3)2 = 900 mm/s2
( a B )n = 0.900 m/s2 ( aB )t
= r4 2 = (100 )( 9 ) = 900 mm/s 2
( a B )t
= 0.900 m/s 2
a B = 1.273 m/s 2
45
(a) Let point C be the point of contact between the shaft and the ring.
vC = r1 A
B =
vC r = 1 A r2 r2
B =
(b) On shaft A:
2 a A = r1 A
r1 A r2
2 a A = r1 A
On ring B :
aB =
2 r2 B
r = r2 1 A r2
aB =
2 r12 A r2
(a) Let point C be the point of contact between the shaft and the ring.
vC = r1 A = ( 0.5 )( 25 ) = 12.5 in./s
B =
(b) On shaft A:
vC 12.5 = = 5.0 rad/s 2.5 r2

2
B = 5.00 rad/s
2 a A = r1 A = ( 0.5 )( 25 )
= 312.5 in./s 2 ,
a A = 26.0 ft/s 2
2
On ring B :
2 aB = r2 B = ( 2.5 )( 5.0 )
= 62.5 in./s 2 ,
a B = 5.21 ft/s 2
r = r3 = 3.5 in.
(c) At a point on the outside of the ring,

2 a = r B = ( 3.5 )( 5.0 ) = 87.5 in./s 2 2
a = 7.29 ft/s 2
(a )
A = 600 rpm =
( 600 )( 2 )
60
= 20 rad/s.
Let points A, B, and C lie at the axles of gears A, B, and C, respectively. Let D be the contact point between gears A and B.
vD = rD/ A A = ( 2 )( 20 ) = 40 in./s
B =
vD 40 60 = = 10 rad/s = 10 = 300 rpm rD/B 4 2
B = 300 rpm
Let E be the contact point between gears B and C.
vE = rE/B B = ( 2 )(10 ) = 20 in./s
C =
vE 20 60 = = 3.333 rad/s = ( 3.333 ) = 100 rpm rE/C 6 2
C = 100 rpm
(b) Accelerations at point E.
2 ( 20 ) = 1973.9 in./s2 vE = 2 rE/B 2
On gear B :
aB =
a B = 1974 in./s 2
On gear C :
( 20 ) = 658 in./s 2 v2 aC = E = 6 rE/C

aC = 658 in./s 2
(a) At time t = 2 s,
A = 600 rpm =
( 600 )( 2 )
60
= 20 rad/s
A = At ,
A =
A
t
= 10 rad/s 2
Let D be the contact point between gears A and B.
( aD )t
B =
= rD/ A A = ( 2 )(10 ) = 20 in./s 2

=
( aD )t
rD/B
20 = 5 rad/s 2 4
B = 15.71 rad/s 2
Let E be the contact point between gears B and C.
( aE )t
C =
(b) At t = 0.5 s.
= rE/B B = ( 2 )( 5 ) = 10 in./s 2
10 = 1.6667 rad/s 2 6
( aE )t
rE/C
C = 5.24 rad/s 2
For gear B, B = Bt = ( 5 )( 0.5 ) = 2.5 rad/s
( a E )n
2 = rE/B B = ( 2 )( 2.5 ) = 123.37 in./s 2
( a E )t
= 10 in./s 2
= 31.416 in./s 2
=
aE =
( aE )2 + ( aE )t2 n
31.416 , 123.37
(123.37)2 + ( 31.416)2
= 127.3 in./s 2
tan =
= 14.29
a E = 127.3 in./s 2
14.29
For gear C,
C = C t = (1.6667 )( 0.5 ) = 0.83333 rad/s
( aE ) n
2 = rE/CC = ( 6 )( 0.83333 ) = 41.123 in./s 2
( aE )t
= 31.416 in./s 2
aE =
( aE )2 + ( aE )t2 n
( 41.123)2 + (31.416)2
= 51.75 in./s 2
tan =
31.416 = 37.4, 41.123
a E = 51.8 in./s 2
37.4
(a) For the pulley,
r =
1 d, 2
rA =
1 ( 0.3) = 0.15 m 2
rB =
1 ( 0.2 ) = 0.1 m 2
v A = rA ,
vB = rB
v A/B = v A vB = ( rA rB ) v A/B rA rB
0.8 = 16 rad/s 0.15 0.1 0.4 = 8 rad/s 0.15 0.1
=
At t = 0, At t = 0.25 s,
0 = 1 = = 1 2
t
8 16 = 32 rad/s 2 0.25
= 32 rad/s 2
a A = rA a B = rB
= ( 0.15 )( 32 ) = 4.80 m/s 2 = ( 0.1)( 32 ) = 3.2 m/s 2
a A/B = a A a B = 1.6 m/s 2
a A/B = 1.600 m/s 2
(b)
x A/B = v A/B
)0 t + 1 (a A/B ) t 2 2
1 (1.6 )( 0.25)2 = 0.15 m 2
= ( 0.8 )( 0.25 ) +
x A/B = 150.0 mm
For the pulley,
r =
1 d, 2
rA = rB =
1 ( 0.3) = 0.15 m 2 1 ( 0.2 ) = 0.1 m 2

vB = rB v A/B = ( rA rB )
v A = rA ,
=
At = 0,
v A/B rA rB
0 = = =
d d = dt d
0.9 = 18 rad/s 0.15 0.1 0.45 = 9 rad/s 0.15 0.1
At =
1 rev = radians, 2
d = d
= 38.675 rad/s 2
9 d 18
= 0 d
92 182 = ( )( ) 2 2
= 38.7 rad/s 2
a A = rA = 0.15 ( 38.675 ) = 5.8012 m/s 2 a B = rB = 0.1( 38.675 ) = 3.8675 m/s 2 or or 5.8012 m/s 2 3.8675 m/s 2
(a )
a A/B = a A a B = 1.9337 m/s 2
or
1.9337 m/s 2
a A/B = 1.934 m/s 2
(b)
x A/B = v A/B
)0 t + 1 (a A/B ) t 2 2
1 ( 1.9337 )( 0.3)2 = 0.1830 m 2
= ( 0.9 )( 0.3) +
x A/B = 183.0 mm
(a) Motion of pulley.
( v E )0 = ( v A )0 = 8 in./s
Fixed axis rotation.
( a E )t
= a A = 10 in./s 2
( vE )0 = rA0
( aE )t
Since is constant,
0 = =
( vE )0
rA
= =
8 in./s = 2 rad/s 4 in.
= rA
( a E )t
rA
10 in./s 2 = 2.5 rad/s 2 4 in.
= 0 + t = 2 + 2.5t = 0 + 0t + t 2 = 0 + 2t + 1.25t 2
For t = 3s,
1 2
= 2 + ( 2.5 )( 3) = 9.5 rad/s = 0 + ( 2 )( 3) + (1.25 )( 3) = 17.25 rad

2
In revolutions, (b) Motion of load B.
17.25 2
= 2.75 rev
t = 3s
vB = rB = ( 6 )( 9.5 )
yB = rB = ( 6 )(17.25 )
(c) Acceleration of point D. t=0
v B = 57.0 in./s
yB = 103.5 in. = 2.5 rad/s 2
= 0 = 2 rad/s
( a D )t
= rD = ( 6 )( 2.5 ) = 15 in./s 2
( a D )n = rD 2 = ( 6 )( 2 )2 = 24 in./s2
a D = 28.3 in./s 2
32.0
= 2.4 rad/s 2
Use equations for constant angular acceleration.
0 = 0
= 0 + t = 2.4t = 0 + 0t + t 2 = 1.2t 2
At t = 4s,
1 2
= ( 2.4 )( 4 ) = 9.6 rad/s = 1.2 ( 4 ) = 19.2 rad

(a) Load A. at t = 4s,
2
rA = 4 in.
v A = rA = ( 4 in.)( 9.6 rad/s ) y A = rA = ( 4 in.)(19.2 rad )

(b) Load B. at t = 4s,
rB = 6 in.
v A = 38.4 in./s
y A = 76.8 in.
vB = rB = ( 6 in.)( 9.6 rad/s ) yB = rB = ( 6 in.)(19.2 rad )
v B = 57.6 in./s y B = 115.2 in.
When contact is made,
A = 240 rpm = 8 rad/s
Let C be the contact point between the two gears.
vC = rA A = ( 0.15 )( 8 ) = 1.2 m/s 2
B =
vC 1.2 = = 6 rad/s 0.2 rB
A = 8 = t rad/s
B = 6 = ( t 2 ) rad/s
Subtracting,
2 = ( )( 2 )
= rad/s 2 = 3.14 rad/s 2
(a ) (b)
t = 8
= 8s
t = 8.00 s
( A )0
= 240 rpm = 8 rad/s

3
( A )1 = 8
A t1
3 1 1r 1 0.15 2 B = 4 = B t12 = A A t12 = A t1 2 2 rB 2 0.2
A t12 = ( 8 )
0.2 = 59.574 radians 0.15
( B )1 = B t1 =
Let vC be the velocity at the contact point.
0.15 A t1 = 0.421875 A t1 0.2
vC = rA A = ( 0.15 )( 8 A t1 ) = 1.2 0.15 A t1

and
vC = rB B = ( 0.2 )( 0.421875 A t1 ) = 0.084375 A t1
Equating the two expressions for vC ,
1.2 0.15 A t1 = 0.084375 A t1

Then,
or
A t1 = 16.0850 rad/s
t1 =
A t12 59.574 = = 3.7037 s A t1 16.0850 A = 4.34 rad/s 2 B = 1.832 rad/s 2

t1 = 3.70 s
(a )
A =
16.0850 = 4.3429 rad/s 2 3.7037

3
0.15 2 B = ( 4.3429 ) = 1.83218 rad/s 0.2
(b) From above,
Motion of disk B.
( B )0 = 500 rpm = 52.360 rad/s

B = ( B )0 + B t
Assume that the angular acceleration of disk B is constant.
At
t = 60 s,
B = 0
B = B ( B ) 0
t = 0 52.360 = 0.87266 rad/s 2 60
vB = rB B = ( 3)( 52.360 0.87266 t ) = 157.08 2.618 t in./s

Motion of disk A.
( A )0 = 0,
A = 3 rad/s 2
A = ( A )0 + At = 3 t
v A = rA A = ( 2.5 )( 3 t ) = 7.5 t in./s
If disks are not to slip,
v A = vB
7.5 t = 157.08 2.618 t

(a) (b)
t = 15.52 s
A = ( 3)(15.52 ) = 46.6 rad/s B = 52.360 ( 0.87266 )(15.52 ) = 38.8 rad/s

A = 445 rpm
,
B = 371 rpm
Wheel B. At Angular acceleration.
( B )0 = 300 rpm = 31.416 rad/s

t = 12s, B = 75 rpm = 7.854 rad/s
=
7.854 31.416 = 1.9635 rad/s 12 t Velocity at contact point with disk A at t = 12 s:
B =
B ( B ) 0
vB = rB B = ( 3)( 7.854 ) = 23.562 in./s
( A )0 = 300 rpm = 31.416 rad/s Wheel A. Assume that slipping ends when t = 12 s.
Then,
v A = 23.562 in./s
v A 23.562 = = 9.4248 rad/s rA 2.5 A = 9.4248 rad/s = 9.4248 rad/s
A =
A =
(a)
A ( A ) 0
t
9.4248 31.416 = 3.4034 rad/s 2 12 A = 3.40 rad/s 2 B = 1.963 rad/s 2
(b)
Time when A is zero.
A = ( A ) 0 + A t = 0
t=
A ( A )0 0 31.416 = A 3.4034
t = 9.23 s
Let one layer of tape be wound and let v be the tape speed.
vt = 2 r
and
r = b
r bv b = = t 2 r 2
For the reel:
d d v 1 dv d 1 = = +v dt dt r r dt dt r
=
a v dr a v b 2 = 2 r r dt r r 2
b 2 1 a =0 r 2
a=
2 b 0 2
Let one layer of paper be unrolled.
vt = 2 r
and
r = b
dr r bv = = t 2 r dt
d d v 1 dv d 1 v dr = = +v =0 2 dt dt r r dt dt r r dt
=
bv 2 2 r 3
bv 2 v bv = 2 = 3 r 2 r 2 r
Velocity analysis.
v B = 150 mm/s vA = vA
15
v B/ A = 500
50
Plane motion = Translation with B + Rotation about B. v A = v B + v A/B

Draw velocity vector diagram.
= 180 50 75 = 55
Law of sines.
v A/B sin 75
vA vB = sin sin 50
(a )
v A/B =
vB sin 75 150 sin 75 = = 189.14 mm/s sin 50 sin 50

v A/B l AB
189.14 = 0.378 rad/s 500
= 0.378 rad/s
(b)
vA =
vB sin 150 sin 55 = = 160.4 mm/s sin 50 sin 50

v A = 160.4 mm/s
Velocity analysis.
v A = 225 mm/s
v B = vB
15 30
v B/ A = vB/ A
Plane motion = Translation with A + Rotation about A. v B = v A + v B/ A

= 180 60 75 = 45
Law of sines.
vB/ A sin 75
vB v = A sin 60 sin
(a )
vB/ A =
v A sin 75 225sin 75 = = 307.36 mm/s sin sin 45

vB/ A l AB
307.36 = 0.615 rad/s 500
= 0.615 rad/s
(b)
vB =
v A sin 60 225sin 60 = = 276 mm/s sin sin 45

v B = 276 mm/s 15
Geometry.
sin =
tan =
Velocity analysis.
12 , 20
12 , 5
= 36.87 = 67.38
v A = 4.2 ft/s
v B/ A = r AB =
v B = vB
20 AB 12
Plane motion = Translation with A + Rotation about A.
v B = v A + v B/ A
= 180 ( 90 ) = 59.49
Law of sines.
vB/ A sin = vB v = A sin ( 90 ) sin
vB/ A =
v A sin 4.2sin 67.38 = = 4.5 ft/s sin sin 59.49
(a )
AB =
4.5 = 2.7 rad/s 20 /12
AB = 2.70 rad/s
(b)
vB = v A cos 4.2cos 36.87 = = 3.90 ft/s sin sin 59.49
v B = 3.90 ft/s 67.4
Geometry.
sin =
tan =
Velocity analysis.
12 , 20
12 , 5
= 36.87 = 67.38
AB = 4.2 rad/s
20 v B/ A = rB/ A AB = ( 4.2 ) = 7.0 ft/s 12
v B = vB v A = vA
v B = v A + v B/ A
= 180 ( 90 ) = 59.49
Law of sines.
vB/ A vA vB = = sin sin ( 90 ) sin
(a )
vA =
vB/ A sin sin
7sin 59.49 = 6.53 ft/s sin 67.38
v A = 6.53 ft/s
(b)
vB =
vB/ A cos sin
7 cos 36.87 = 6.07 ft/s sin 67.38

v B = 6.07 ft/s 67.4
In units of m/s,
v B/ A = k rB/ A = k ( 0.6i + 0.6 j) = 0.6 i + 0.6 j
vC/ A = k rC/ A = k 1.2i = 1.2 j v B = v A + v B/ A

7.4i + ( vB ) y j = ( v A ) x i 7 j 0.6 i + 0.6 j Components.
i : 7.4 = ( v A ) x 0.6
j:
(1) (2)
( vB ) y
= 7 + 0.6
v C = v A + v C/ A
1.4i + ( vC ) y j = ( v A ) x i 7 j + 1.2 j
Components.
i : 1.4 = ( v A ) x
j:
(3) (4)
( vC ) y
( vA )x
= 7 + 1.2 = 1.4 m/s = 10 rad/s, = 10.00 rad/s
From (3), (a) From (1), From (2), (b)
7.4 ( 1.4 ) 0.6
( vB ) y
= 7 + ( 0.6 )(10 ) = 1 m/s
v B = ( 7.40 m/s ) i (1.000 m/s ) j
In units of m/s,
v B/ A = k rB/ A = k ( 0.6i + 0.6 j) = 0.6 i + 0.6 j
vC/ A = k rC/ A = k 1.2i = 1.2 j v B = v A + v B/ A

7.4i + ( vB ) y j = ( v A ) x i 7 j 0.6 i + 0.6 j Components.
i : 7.4 = ( v A ) x 0.6
j:
(1) (2)
( vB ) y
= 7 + 0.6
v C = v A + v C/ A
1.4i + ( vC ) y = ( v A ) x i 7 j + 1.2 j Components.
i : 1.4 = ( v A ) x
j:
(3) (4)
( vC ) y
= 7 + 1.2
From (3), From (1),

(a)
( vA )x
=
= 1.4 m/s,
v A = 1.4i 7 j
= (10.00 rad/s ) k
7.4 ( 1.4 ) 0.6
= 10 rad/s,
vO = v A + vO/ A = v A + rO/ A = v A + 10k ( 0.6i )

= 1.4i 7 j + 6 j = 1.4i 1j
vO = (1.400 m/s ) i (1.000 m/s ) j

(b)
0 = vO + ( xi + yj) 0 = 1.4i 1j + 10k ( xi + yj) = 1.4i 1j + 10 xj 10 yj
Components.
i : 0 = 1.4 10 y, j : 0 = 1 + 10 x,
y = 0.14 m x = 0.1 m
y = 140.0 mm x = 100.0 mm
In units of mm/s,
v B/ A = k rB/ A = k (125i + 75j) = 75 i + 125 j vC/ A = k rC/ A = k ( 50i + 150 j) = 150 i + 50 j
v B = v A + v B/ A
( vB ) x i 75j = 100i + ( vA ) y j 75 i + 125 j

Components.
i:
( vB ) x
= 100 75
(1) (2)
j : 75 = ( v A ) y + 125
v C = v A + v C/ A
400i + ( vC ) y j = 100i + ( v A ) y j 150 i + 50 j Components. j: (a) (b)
i : 400 = 100 150
(3) (4) = ( 2 rad/s ) k
( vC ) y
= ( v A ) y + 125
From (3), From (2),
= 2 rad/s
( vA ) y
= 75 125 = 75 125 ( 2 ) = 175 mm/s
v A = (100.0 mm/s ) i + (175.0 mm/s ) j
In units of mm/s,
v B/ A = k rB/ A = k (125i + 75j) = 75 i + 125 j
vC/ A = k rC/ A = k ( 50i + 150 j) = 150 i + 50 j
v B = v A + v B/ A
( vB ) x i 75j = 100i + ( vA ) y j 75 i + 125 j

Components.
i:
( vB ) x
= 100 75
(1) (2)
j : 75 = ( v A ) y + 125
v C = v A + v C/ A
400i + ( vC ) y j = 100i + ( v A ) y j 150 i + 50 j Components.
i : 400 = 100 150

j:
(3) (4)
( vC ) y
= ( v A ) y + 125
From (3), From (2),
= ( 2 rad/s ) k
( vA ) y
= 75 125 = 75 125 ( 2 ) = 175 mm/s
v A = (100 mm/s ) i + (175 mm/s ) j

Find the point with zero velocity. Call it D.
vD = 0
v D = v A + v D/ A
or
0 = 100i + 175 j + ( 2k ) ( xi + yj)
0 = 100i + 175j + 2 xj 2 yi = 0
Components.
i : 0 = 100 2 y, y = 50 mm j : 0 = 175 + 2 x, x = 87 mm
v 200 = 100 mm 2
Radius of locus.
r =
Circle of 100.0 mm radius centered at x = 87.5 mm, y = 50.0 mm
Slope angle of rod. AC =
tan =
7 = 0.7, 10
= 35
10 = 12.2066 in. cos Velocity analysis.

v A = 25 in./s ,
CB = 20 AC = 7.7934 in.
vC = vC
vC/ A = AC AB
v C = v A + v C/ A
Draw corresponding vector diagram.
vC/ A = v A sin = 25sin 35 = 14.34 in./s (a )
AB =
vC/ A AC
14.34 = 1.175 rad/s 12.2066
AB = 1.175 rad/s
vC = v A cos = 25cos = 20.479 in./s
vB/C = CB AB = ( 7.7934 )(1.175 ) = 9.1551 in./s
v B/C has same direction as vC/ A. v B = vC + v B/C

Draw corresponding vector diagram.
tan = vB/C vC = 9.1551 , 20.479
= 24.09
(b)
vB =
vC 20.479 = = 22.4 in./s = 1.869 ft/s cos cos 24.09
+ = 59.1
v B = 1.869 ft/s 59.1
Instantaneous geometry. Law of sines:
sin sin120 = 10 15 sin = 10 sin120 = 0.57735 15
= 35.264
Velocity analysis.
v A = 1.2 ft/s
= 14.4 in./s
60
v B/ A = 10 AB
v B = vB
vB = v B/ A + v A
Use the triangle construction to perform the vector addition.
= 60 = 24.736 = 90 + = 125.264
vB/ A vB vA Law of sines. sin = sin 30 = sin
vB/ A =
v A sin 14.4 sin125.264 = = 28.10 in./s sin sin 24.736
(a) AB = (b) vB =
28.10 10
AB = 2.81 rad/s
v A sin 30 14.4 sin 30 = = 17.21 in./s sin sin 24.736

v B = 1.434 ft/s
35.3
Label the contact point between gears A and B as 1, the center of gear B as 2, and the contact point between gears B and C as 3. Gear A: Arm AB: Gear B:
v1 = 80 A v2 = 120 AB v1 = v2 40 B v3 = v2 + 80 B
(1) (2) (3) (4) (5)
Gear C: Data: From (1), From (5), From (3), From (4),
v3 = 200 C
A = 0, C = 5 rad/s
v1 = 0,
v3 = ( 200 )( 5 ) = 1000 mm/s

v2 40 B = 0
v2 + 80 B = 1000
(6) (7)
Solving (6) and (7) simultaneously, (a)
B =
1000 = 8.333 rad/s 120
B = 8.33 rad/s
v2 = (40)(8.333) = 333.33 mm/s

(b) From (2),
AB =
333.33 = 2.78 rad/s 120
AB = 2.78 rad/s
Label the contact point between gears A and B as 1, the center of gear B as 2, and the contact point between gears B and C as 3. Gear A: Arm AB: Gear B:
v1 = 80 A v2 = 120 AB v1 = v2 40 B
v3 = v2 + 80 B
(1) (2) (3) (4) (5)
Gear C: Data: From (5), From (4), From (3), From (1), (a) From (2), (b)
v3 = 200 C
B = 20 rad/s, C = 0
v3 = 0.
v2 = 80 B = ( 80 )( 20 ) = 1600 mm/s v1 = 1600 ( 40 )( 20 ) = 2400 = 2400 mm/s
A = v1 / 80 = 30 rad/s
A = 30.0 rad/s
1600 = 120 AB
AB =
1600 = 13.33 rad/s 120

AB = 13.33 rad/s
Data: A = 3600 rpm = 376.99 rad/s,
B = 0
rA =
1 d A = 1.25 in. 2
d = diameter of ball = 0.5 in.

Velocity of point on inner race in contact with a ball.
v A = rA A = (1.25)(376.99) = 471.24 in./s
Consider a ball with its center at point C.
v A = vB + v A/B
v A = 0 + C d
C =
v A 471.24 = d 0.5
= 942.48 rad/s
vC = vB + vC/B
=0+
(a) (b) Angular velocity of ball.
1 d = (0.25)(942.48) = 235.62 in./s 2

vC = 236 in./s
C = 942.48 rad/s
(c) Distance traveled by center of ball in 1 minute.
C = 9000 rpm
lC = vC t = (235.62)(60) = 14137.2 in.

Circumference of circle: 2 r = 2 (1.25 + 0.25)
= 9.4248 in.
Number of circles completed in 1 minute:
n=
l 2 r
14137.2 9.4248
n = 1500
Contact point 1 between gears A and B. Contact point 2 between gears B and C. Gear B:
B = 6 rad/s
v1 = (6 rad/s)(10 in.) = 60 in./s
(1) (2)
v2 = (6 rad/s)(5 in.) = 30 in./s

Arm ABC:
ABC = ABC v A = 15 ABC v C = 15 ABC
Gear A:
A = 3 rad/s
v1 = v A + (5)(3) = 15 ABC + 15
(3)
Matching expressions (1) and (3) for v1, (a) Gear C: :

60 = 15 ABC + 15 ABC = 3.00 rad/s
C = C
v2 = vC + 10 C = 15 + 10 C
(4)
Matching expressions (2) and (4) for v2 , (b) : 30 = 15 + 10 C

C = 1.500 rad/s
Let a be the radius of the central gear A, and let b be the radius of the planetary gears B, C, and D. The radius of the outer gear E is a + 2b. Label the contact point between gears A and B as 1, the center of gear B as 2, and the contact point between gears B and E as 3.
Gear A: v1 = a A
(1) (2) (3) (4) (5) (6) (7)
Spider:
Gear B:
v2 = ( a + b ) S
v2 = v1 + b B v3 = v2 + b B
Gear E: From (4) and (5),

From (1) and (3), Solving for v2 and B ,
v3 = ( a + 2b ) E v2 + b B = ( a + 2b ) E
v2 b B = v1 = a A ( a + 2b ) E + a A v2 = 2 ( a + 2b ) E a A B = 2b
From (2),
S =
v2 a+b
( a + 2b ) E + a A S = 2(a + b)
Data: a = 60 mm, b = 60 mm, a + 2b = 180 mm, a + b = 120 mm (a )
B =
180 E 60 A = 1.5 E 0.5 A ( 2 )( 60 )
= (1.5 )(120 ) ( 0.5 )(150 ) = 105 rpm B = 105.0 rpm
(b)
S =
180 E + 60 A = 0.75 E + 0.25 A ( 2 )(120 )
= ( 0.75 )(120 ) + ( 0.25 )(150 ) = 127.5 rpm S = 127.5 rpm
Let a be the radius of the central gear A, and let b be the radius of the planetary gears B, C, and D. The radius of the outer gear E is a + 2b. Label the contact point between gears A and B as 1, the center of gear B as 2, and the contact point between gears B and E as 3.
Gear A:
v1 = a A
(1) (2) (3) (4) (5) (6) (7)
Spider:
Gear B:
v2 = ( a + b ) S
v2 = v1 + b B
v3 = v2 + b B
Gear E: From (4) and (5),

From (1) and (3), Solving for v2 and B ,
v3 = ( a + 2b ) E v2 + b B = ( a + 2b ) E
v2 b B = v1 = a A ( a + 2b ) E + a A v2 = 2 ( a + 2b ) E a A B = 2b
From (2),
S =
v2 a+b
( a + 2b ) E + a A S = 2(a + b)
Data: E = 0, S =
1 A 5
(a )
S =
( a + 2b )( 0 ) + a A 1 A = 5 2 ( a + b)
a 1 = , 2 ( a + b) 5
1 2 1+
b a
1 5
b 2 1 + = 5 a
b = 1.500 a
(b)
( a + 2b ) E a A = 0 Aa = B = 2b 2b
( 2 )(1.5)
A
3
B =
1 A 3
Label the contact point between gears A and B as 1 and that between gears B and C as 2. Rod ABC:
ABC = 75 rpm = 2.5 rad/s

vA = 0
vB = (12)(2.5 ) = 30 rad/s vC = (12 + 7)(2.5 ) = 47.5 rad/s
Gear A: Gear B:
A = 0,
v A = 0,
v1 = 0
v1 = vB 4 B = 0
30 4 B = 0
B = 7.5 rad/s
v2 = vB + 4 B
= 30 + 30 = 60 in./s
Gear C:
v2 = vC 3C
60 = 47.5 3C
C = 4.1667 rad/s
Summary:
B = 225 rpm
C = 125.0 rpm
Label the contact point between gears A and B as 1 and that between gears B and C as 2. Rod ABC:
vC = 0, ABC = 80 rpm = 8 /3 rad/s vB = 7 ABC = (7)(8 /3) = 56 /3 in./s v A = (7 + 12) ABC = (19)(8 /3) = 152 /3 in./s
Gear C: Gear B:
C = 0,
vC = 0,
v2 = 0
v2 = vB 4 B = 56 /3 4 B = 0
B = 14 /3 rad/s
v1 = vB + 4 B = 56 /3 + 56 /3
= 112 /3 in./s
Gear A:
v1 = v A 8 A
112 /3 = 152 /3 8 A
A = 5 /3 rad/s
Summary:
A = 50.0 rpm
B = 140.0 rpm
Geometry.
( OA) sin
sin =
Shaft and eccentric disk. (Rotation about O),
= ( AB ) sin
10 sin30 , 160
( OA) sin
AB
= 1.79
OA = 900 rpm = 30 rad/s
v A = ( OA) OA = (10)( 30 ) = 300 mm/s

Rod AB. (Plane motion = Translation with A + Rotation about A.)
v B = v A + v B/ A
[ vB
] = [ vA
60] + v A/B
90 = 88.21
= 180 60 88.21 = 31.79

Law of sines.
vB vA = sin sin ( 90 )
vB =
( 300 ) sin 31.79 v A sin = sin ( 90 ) sin 88.21

v B = 497 mm/s
= 497 mm/s
Geometry.
( OA) sin (180 ) = ( AB ) sin

sin =
Shaft and eccentric disk. (Rotation about O)
( OA) sin (180 )

AB
10 sin 60 , 160
= 3.10
OA = 900 rpm = 30 rad/s
v A = ( OA) OA = (10)( 30 ) = 300 mm/s

Rod AB. (Plane motion = Translation with A + Rotation about A.)
v B = v A + v B/ A
[ vB
] = [300
30] + vB/ A
90 + = 93.10
= 180 30 93.10 = 56.90

Law of sines.
vB vA = sin sin ( 90 + )
vB =
( 300 ) sin 56.90 v A sin = sin ( 90 + ) sin 93.10

v B = 791 mm/s
= 791 mm/s
Disk A
A = 15 rad/s ,
Rotation about a fixed axis.
AB = 2.8 in.
vB = ( AB ) A = ( 2.8 )(15 ) = 42 in./s (a) = 0.

v B = 42 in./s
sin =
2.8 , 10
= 16.260
v D = v B + v D/B
Bar BD :
vD = [ 42
] + vD/B
vD/B =
42 = 43.75 in./s cos 43.75 , 10

v B = 42 in./s
DB =
vD/B DB
DB = 4.38 rad/s
v D = 12.25 in./s
vD = vB tan , (b) = 90.

sin =
Bar BD :
5.6 , = 34.06 10
v D = v B + v D/B
vD
= [ 42
] + vD/B
Components:
: vD/B = 0 : vD = v B
DB = 0
v D = 42.0 in./s
(c) = 180.
sin = 2.8 , 10
vB = 42 in./s
= 16.26
Bar BD :
vD = [ 42
v D = v B + v D/B
] + vD/B
42 = 43.75 cos
vD/B =
DB =
vD/B DB
43.75 10
DB = 4.38 rad/s
vD = vB tan v D = 12.25 in./s
rA = 2.8 in., From geometry,
lBD = 10 in.
(1)
lBD sin = rA + rA sin
v B is tangent to the circular path of B,

thus
For rod BD
v B = rA A
v B/D = lBD BD
v B = v D + v B/D = 0 + v B/D v B/D = v B (a) For matching direction =

For = , sin = sin
or
so that
= 180 +
lBD sin = rA + rA sin
sin =
rA 2.8 , = lBD rA 10 2.8
= 22.9,
= 22.9
For = 180 + ,
sin = sin ,
lBD sin = rA rA sin
sin =
rA 2.8 , = lBD + rA 10 + 2.8
= 12.6
= 192.6
(b) For matching magnitudes vD/B = vB

lBD BD = rA A ,
For = 22.9, For = 192.6,
BD =
( 2.8)( 20 ) = 5.6 rad/s rA A = lBD 10

BD = 5.60 rad/s BD = 5.60 rad/s
Rod BE:
vE = 0
v B = rB/E BE = (192)(4) = 768 mm/s

Rod ABD:
v D = vD
v D = v B + v D/B
vD = 768
+ 360 AD
60
Draw diagram for vector addition. (a) 768 = 360 AD sin 30
AD = 4.2667 rad/s
AD = 4.27 rad/s
(b) 768 = vD tan 30
vD = 1330 mm/s v D = 1.330 m/s
(c) v A/B = 240 AD
60 = 1024 mm/s
60
v A = v B + v A/B = 768
+ 1024
60 = 1557 mm/s
34.7
v A = 1.557 m/s
34.7
Rod BE: Rod ABD:
vE = 0
v B = vB
v D = 1.6 m/s
AD = AD
v B = v D + v B/D
vB
= 1.6 + 0.360 AD
60
Draw diagram for vector addition. (a) 0.360 AD =
1.6 sin 60
AD = 5.13 rad/s
(b) vB = 1.6 tan 30 = 0.92376

v B = 0.924 m/s
(c) v A/B = 0.240 AD
60 = 1.2317 m/s
60
60
v A = v B + v B/ A = 0.92376
+ 1.2317
= [1.5396
] + [1.0667 ] = 1.873
34.7
v A = 1.873 m/s
34.7
AB = 1000 rpm
(1000)( 2)
60
= 104.72 rad/s
(a) = 0. Crank AB. (Rotation about A) rB/ A = 3 in.

v B = vB/ A AB = ( 3)(104.72) = 314.16 in./s
Rod BD.
(Plane motion = Translation with B + Rotation about B) v D = v B + vD/B

vD = [ 314.16
] + vD/B
]
vP = 0
vD = 0,
vD/B = 314.16 in./s
vP = vD
BD =
vB 314.16 = l 8
BD = 39.3 rad/s
(b) = 90. Crank AB. (Rotation about A)
rB/ A = 3 in.
v B = rB/ A AB = ( 3)(104.72) = 314.16 in./s

Rod BD.
(Plane motion = Translation with B + Rotation about B.) v D = v B + v D/B

vD = 314.16 + vD/B
vD/B = 0,
vD = 314.16 in./s
vD/B l ,
BD = 0
BD =
v P = v D = 314.16 in./s
v P = 26.2 ft/s
AB = 1000 rpm =
(1000)( 2)
60
= 104.72 rad/s
30 60
= 60, Crank AB. (Rotation about A) rB/ A = 3 in.

v B = rB/ A AB = ( 3)(104.72) = 314.16 in./s
Rod BD. Geometry.
(Plane motion = Translation with B + Rotation about B.) l sin = r sin

sin = r 3 sin = sin 60 l 8 = 18.95
v D = v B + v D/B
[ vD ] = [314.16
Law of sines.
60] + vD/B
] Draw velocity vector diagram.
= 180 30 ( 90 ) = 78.95
vD/B vD vB = = sin sin 30 sin ( 90 )
vD = vB sin 314.16 sin 78.95 = = 326 in./s cos cos18.95
vP = vD
v P = 27.2 ft/s
vD/B =
vB sin 30 314.16sin 30 = = 166.08 in./s cos cos18.95 vD/B l
BD =
166.08 8
BD = 20.8 rad/s
Bar AB. (Rotation about A)
v B = AB rB/ A = ( 4k ) ( 0.25j) = (1.00 m/s ) i

Bar ED. (Rotation about E)
v D = DE k rD/E = DE k ( 0.075i 0.15j) = 0.15 DE i 0.075 DE j

Bar BD. (Translation with B + Rotation about B.)
v D/B = BDk rD/B = BDk 0.2i = 0.2 BD j v D = v B + v D/B

0.15 DE i 0.075 DE j = 1.00i + 0.2 BD j
Components:
i : 0.15 DE = 1.00, j: 0.075 DE = 0.2 BD
DE = 6.6667 rad/s
DE = 6.67 rad/s
BD =
( 0.075 )( 6.6667 )
0.2
BD = 2.50 rad/s
Bar AB. Bar DE.
(Rotation about A.) (Rotation about E.)
v B = ( AB ) AB = 0.18 AB v D = ( DE ) DE = 0.18 DE
30
Bar BGD. (Plane motion = Translation with B + Rotation about B. )
v D = v B + v D/B
[ v D ] = [ vB
30] + vD/B
30 ]
Draw the velocity vector diagram.
Equilateral triangle.
vD/B = vB = 0.18 AB
BD =
vD/B lBD
0.18 AB = AB 0.18
vG/B = lGB BD =
1 vD/B = 0.09 AB 2
vG = v B + vG/B Draw vector diagram.
Law of cosines
2 vG = ( 0.18 AB ) + ( 0.09 AB ) 2 ( 0.18 AB )( 0.09 AB ) cos 60 2 2
2 vG = 0.0243AB2
AB = 6.415 vG = ( 6.416 )( 2.5 )

AB = 16.04 rad/s BD = 16.04 rad/s
vD = vB = 0.18 AB
DE =
vD 0.18 AB = = AB lDE 0.18
DE = 16.04 rad/s
Bar AB.
(Rotation about A.)
AB = 25 rad/s
v B = rB/ A AB = ( 8 )( 25 ) = 200 in./s
Bar ED.
(Rotation about E.)

v D = vD vD = 8 DE
Plate BDHF.
(Translation with B + Rotation about B. )
v D = v B + v D/B
[ vD
] = [vB ] + vD/B
30 ]

vD/B = vB 200 = = 230.94 in./s cos 30 cos 30
vB/D lBD
BDHF =
(a)
230.94 = 14.4338 rad/s 16

BDHF = 14.43 rad/s
vF /B = BF BDHF = ( 8 )(14.4338 ) = 115.47 in./s

v F /B = 115.47 m/s
v F = v B + v F /B = [ 200 in./s
30
] + [115.47 in./s
30]
54.9
(b) v F = [142.265 in./s
] + [100 in./s
v F = 173.9 in./s
Rod DE. (Rotation about E.)
DE = 35 rad/s
v D = rD/E DE = ( 8 )( 35 ) = 280 in./s
Rod AB. (Rotation about A.)

v B = vB vB = 8 AB
Plate BDHF.
(Translation with D + Rotation about D. )
v B = v D + v B/D
[ v B ] = [ vD
vD/B =
] + vB/D
30]

vD 280 = = 560 in./s sin 30 sin 30 vD/B 560 = = = 35 rad/s lDB 16 BDHF = 35.0 rad/s
Point of zero velocity lies above point D.
yC/D = vD 280 = 8 in. 35
BDHF
(a)
BDHF
(b)
8 in. above point D.
AB = (15 rad/s) k
BD = BD k
DE = DE k
rB/A = ( 0.2 m ) j
rD/B = ( 0.6 m ) i ( 0.25 m ) j
rD/E = ( 0.2 m ) i
v B = v A + AB rB/A = 0 + ( 15 k ) ( 0.25 j) = ( 3 m/s ) i v D/B = BD rD/B = ( BD k ) ( 6 i 0.2 j) = 0.25 BD i 0.6 BD j

v D = v B + v D/B = 3 i + 0.25 BD i 0.6 BD j
(1) (2)
v D = v E + v D/E = 0 + DE rD/E = ( DE k ) ( 0.2 i ) = 0.2 DE j

Equate the expressions (1) and (2) for vD and resolve into components.
i : 3 + 0.25 BD = 0 j: 0.6 BD = 0.2 DE
BD = 12 rad/s DE = 36 rad/s
BD = 12 rad/s
(a) Angular velocity of rod BD.

(b) Velocity of the midpoint M of rod BD.
rM/B =
1 rD/B = ( 0.3 m ) i ( 0.125 m ) j 2
v M = v B + v M/B = v B + BD rM/B = 3 i + 12 k ( 0.3 i 0.125 j)

= (1.5 m/s ) i ( 3.6 m/s ) j
v M = 3.90 m/s
67.4
Bar AB.
rB/ A = ( 0.300 m ) i + ( 0.125 m ) j,

vA = 0
AB = ( 3 rad/s ) k
v B = v A + v B/ A = 0 + AB rB/ A
= 3k ( 0.3i + 0.125 j) = 0.375i + 0.9 j
Bar BD.
rD/B = ( 0.325 m ) j
BD = BDk
v D = v B + v D/B = 0.375i + 0.9 j + BDk ( 0.325 ) j

= 0.375i + 0.9 j + 0.325 BD i
Bar DE.
rE/D = ( 0.150 m ) i + ( 0.200 m ) j,
DE = DE k
v E = v D + v E/D = v D + DE rE/D
= v D + DE k ( 0.150i + 0.200 j) = 0 0.375i + 0.9 j + 0.325 BDi 0.15 DE j 0.2 DE i = 0
Components: j: i:
0.9 0.15 DE = 0
DE = 6 rad/s
0.375 + 0.325 BD 0.2 DE = 0
0.325 BD = 0.375 + ( 0.2 )( 6 )
BD = 4.85 rad/s
BD = 4.85 rad/s DE = 6.00 rad/s
v A = 80 km/h = 22.222 m/s
vC = 0
d = 560 mm
r =
d = 280 mm = 0.28 m 2
vA 22.222 = = 79.364 rad/s r 0.28
vB/ A = vD/ A = vE/ A = r

= ( 0.28 )( 79.364 ) = 22.222 m/s
v B = v A + v B/ A = [ 22.222 m/s
] + [ 22.222 m/s ] + [ 22.222 m/s
]
30 ]
15.0
v B = 44.4 m/s
v D = v A + v D/ A = [ 22.222 m/s
v D = 42.9 m/s
v E = v A + v E/ A = [ 22.222 m/s
] + [ 22.222 m/s ]
v E = 31.4 m/s
45.0
(a) = 0
Wheel AD.
vC = 0,
v D = 45 in./s
AD =
vD 45 = = 11.25 rad/s CD 4
CA = ( CD ) ( DA) = 4 2.5 = 1.5 in. v A = ( CA) AD = (1.5 )(11.25 ) = 16.875 in./s

Rod AB.
v B = v A + v B/ A
[ vB
] = [16.875
] + vB/ A
v B = 16.88 in./s
vB/ A = 0
(b) = 90
Wheel AD.
v C = 0,
AB = 0 AD = 11.25 rad/s
tan =
DA 2.5 = , DC 4
= 32.005
CA =
DC = 4.7170 in. cos
v A = ( CA ) AD = ( 4.7170 )(11.25 ) = 53.066 in./s v A = [53.066 in./s

Rod AB.
32.005]
v B = vB
sin =
4 , = 18.663 12.5
v B = v A + v B/ A
[ vB
] = [ vA
r ] + [ vB/A
= 180 ( 90 + )
= 90 32.005 18.663 = 39.332
Law of sines.
vB/ A vB vA = = sin sin sin ( 90 + ) vB =
( 53.066 ) sin 39.332 v A sin = sin ( 90 + ) sin 108.663

v B = 35.5 in./s
= 35.5 in./s
vB/ A =
v A sin (53.066)sin 32.005 = sin ( 90 + ) sin108.663
= 29.686 in./s
AB =
vB/ A AB
29.686 = 2.37 rad/s 12.5
AB = 2.37 rad/s
v 0 = 180 km/h = 50 m/s (180 )( 2 ) = 18.85 rad/s = 180 rpm = 60 Top View v0 = z
z=
v0
50 = 2.65 m 18.85
x=0
Instantaneous axis is parallel to the y axis and passes through the point
z = 2.65 m
vE vD 1.5 1.0 1 = = rad/s lED 1.5 3

lCE = vD
1.0
1 3
= 3m
(a) (b)
l AC = 1.5 + 2 3 = 0.5 m
C lies 0.500 m to the right of A

v A = 0.1667 m/s
1 v A = l AC = ( 0.5 ) = 0.1667 m/s 3
Contact points: 1 2 Arm ABC: between gears A and B. between gears B and C.
ABC = 4 rad/s
v A = (15 )( 4 ) = 60 in./s vC = (15 )( 4 ) = 60 in./s

Gear B:
B = 8 rad/s
v1 = (10 )( 8 ) = 80 in./s v2 = ( 5 )( 8 ) = 40 in./s
Gear A:
A =
v1 v A 80 60 = 5 5
A = 4 rad/s
lA =
vA
60 = 15 in. 4
Gear C:
C =
vC v2 60 40 = 10 10
C = 2 rad/s
lC =
vC
60 = 30 in. 2
(a) Instantaneous centers. Gear A: 15 in. left of A Gear C: 30 in. left of C (b) Angular velocities.
A = 4.00 rad/s C = 2.00 rad/s
Since the drum rolls without sliding, the point of contact C with the fixed surface is the instantaneous center. Let point A be the center of the cylinder and point B the point where the cord breaks contact with the cylinder.
vC = 0
vB = vD = 6 in./s
(a) Angular velocity of cylinder
vB = rB/C
vB 6 = = 6 rad/s rB/C 1
= 6.00 rad/s
(b) Velocity of point A.
v A = rA/C
= ( 5 )( 6 ) = 30
v A = 30.0 in./s
(c) Rate of winding of cord. Since v A > vB , the cord is wound up at rate of
v A vB = 30 6 = 24 in./s.
Winding rate = 24.0 in./s.
vO v A 12 1.5 = = 35 rad/s l AO 0.3

vA
(a)
lCA =
1.5 = 42.86 103 m 35
= 42.86 mm
C lies 42.9 mm below A.
(b)
lCB = 0.6 + 0.04286 = 0.64286 m
vB = lCB = ( 0.64286)( 35) = 22.5 m/s

v B = 22.5 m/s
(c)
lOD = 0.3 m,
lCO = 0.3 + 0.04286 = 0.34286 m
lCD =
( 0.3)2 + ( 0.34286)2
= 0.45558 m
vD = lCD = ( 0.45558 )( 35 ) = 15.95 m/s
tan =
lOD 0.3 = , lCO 0.34286
= 41.2
v D = 15.95 m/s
41.2
=
l AC =
vO v A 12 + 1.5 = = 45 rad/s l AO 0.3

vA
(a)
1.5 = 33.33 103 m 45

= 33.33 mm
C lies 33.3 mm above A.
(b)
lCB = 0.3 + ( 0.3 0.0333) = 0.56667 m vB = lCB = ( 0.56667 )( 45) = 25.5 m/s
v B = 25.5 m/s
(c)
lOE = 0.3 m,
lOC = 0.3 0.03333 = 0.26667 m
lCE =
( 0.3)2 + ( 0.26667)2
= 0.4014 m
vE = lCE = ( 0.4014)( 45) = 18.06 m/s

tan = lOE 0.3 , = lOC 0.26667
= 48.4
v E = 18.06 m/s
48.4
(a) Location of instantaneous axis.
v E = v D = 8 in./s
v A = 3 in./s
v E = v A + rE/A vE = v A + rE/A
8 = 3 + 3
= 1.6667 rad/s
vC = v A + rC/A
0 = 3 1.6667 y
(b) Velocity of point B.
y = 1.800 in. above point A.
v B = v A + rB/A
vB = 3 3 = 3 ( 3)(1.6667 ) = 2
v B = 2.00 in./s
(c) Since vD = vE > v A , the paper unwinds. Rate of unwinding:
vE v A = 8 3 = 5 in./s
v D = 10 in./s ,
v B = 8 in./s
=
CD =
vD + vB 10 + 8 = = 4 rad/s BD 4.5 vD
10 = 2.5 in. 4
CA = 3.0 2.5 = 0.5 in.
(a) (b)
C lies 0.500 in. to the right of A.
v A = 0.5 = ( 0.5 )( 4 ) = 2 in./s

v A = 2.00 in./s
(c)
v D v A = 12 in./s
Cord DE is unwrapped at 12.00 in./s.
v B v A = 6 in./s
Cord BF is unwrapped at 6.00 in./s.
Rod AD.
v B = rB/E BE = ( 0.192)( 4) = 0.768 m/s
(a) Instantaneous center C is located by noting that CD is perpendicular to vD and CB is perpendicular to vB

rB/C = 0.360 sin 30 = 0.180 m
AD =
vB 0.768 = = 4.2667 0.180 rB/C AD = 4.27 rad/s
"
(b) Velocity of D.
rD / C = 0.360 cos30 = 0.31177 m vD = rD/C = ( 0.31177 )( 4.2667 ) v D = 1.330 m/s "
(c) Velocity of A.
l AE = 0.240cos 30 = 0.20785 m lCE = 0.600sin 30 = 0.300 m
tan =
0.20785 0.300
= 34.7
= 0.36497 m
lCA =
( 0.20785)2 + ( 0.300)2
v A = lCA AD = ( 0.36497 )( 4.2667 ) = 1.557 m/s

v A = 1.557 m/s
34.7 "
AB = 15 rad/s
vB = ( AB ) AB = ( 0.200 )(15 ) = 3 m/s
v B = vB v D = vD
Locate the instantaneous center (point C) of bar BD by noting that velocity directions at points B and D are known. Draw BC perendicular to v B and DC perpendicular to v D .
(a )
BD =
vB 3 = = 12 rad/s BC 0.25
BD = 12.00 rad/s
(b) Locate point M, the midpoint of rod BD. Draw CM.
BD =
( 0.6 )2 + ( 0.25)2
= 22.62
= 0.65 m
tan =
0.25 0.6
90 = 67.38
CM = DM = MB =
1 ( BD ) = 0.325 m 2
v M = 3.90 m/s
vM = ( CM ) = ( 0.325 )(12 ) = 3.9 m/s
67.4
Bar DC. (rotation about D)
vC = CD (CD) = (18)(10)
= 180 in./s
vC = 180 in./s
Bar AB. (rotation about A)
30
v B = vB
30
Locate the instantaneous center (point I) of bar BC by noting that velocity directions at two points are known. Extend lines AB and CD to intersect at I. For the given configuration, point I coincides with D.
IC = 10 in., IB = 10 3 in.
BC =
vC 180 = = 18 rad/s IC 10
vB = ( IB ) BC = 10 3 (18 ) = 311.77 in./s

(a) (b) (c) Locate point M, the midpoint of bar BC. Triangle ICM is an equilateral triangle.
IM = 10 in.
AB =
vB 311.77 = = 31.177 rad/s AB 10
AB = 31.2 rad/s
BC = 18.00 rad/s
vM = ( IM ) BC = (10 )(18 ) = 180 in./s
v M = 15.00 ft/s
30
Bar AB. (rotation about A)

v B = vB
60
Bar CD. (rotation about D)
vC = vC
Bar BC. Locate its instantaneous center (point I) by noting that velocity directions at two points are known. Extend lines AB and CD to intersect at I. For the given configuration, point I coincides with D. Locate point M, the midpoint of bar BC. From geometry, triangle ICM is an equilateral triangle.
IM = AB = CD = 10 in.,
IB = 10 3 in.
BC =
(a)
vM ( 7.8)(12) = 9.36 rad/s = 10 IM
vB = ( IB ) BC = 10 3 ( 9.36 ) = 162.12 in./s
AB =
(b) (c)
vB 162.12 = = 16.21 rad/s AB 10
AB = 16.21 rad/s BC = 9.36 rad/s
vC = ( IC ) BC = (10 )( 9.36 ) = 93.6 in./s
CD =
vC 93.6 = = 9.36 rad/s DC 10
CD = 9.36 rad/s
v B = 800 mm/s
v A = vA
Locate the instantaneous center of rod ABD by noting that velocity directions at points A and B are known. Draw AC perpendicular to v A and BC perpendicular to v B . (a)
ABD =
vB 800 = = 3.0792 rad/s 300 cos 30 BC
ABD = 3.08 rad/s

lCD =
( 600 cos 30 )2 + ( 300sin 30 )2

300sin 30 600 cos 30
= 540.83 mm
90 = 73.9
tan =
(b)
= 16.10
vD = lCD ABD = ( 540.83)( 3.0792 ) = 1.665 103mm/s

v D = 1.665 m/s
73.9
= 40,
v B = 0.6 m/s ,
v A = vA
Locate the instantaneous center (point C) by noting that velocity directions at points A and B are known. Draw AC perpendicular to v A and BC perpendicular to vB .
BC = ( AB ) sin = 2 sin 40 = 1.28557 m

(a)
ABD =
vB 0.6 = = 0.46672 rad/s BC 1.28557

ABD = 0.467 rad/s
rD/C = rB/C + rD/B

= [1.28557 m
= 2.9930 m
] + [2 m
30.79
40]
= 30.79
(b)
vD = rD/C ABD = ( 2.9930 )( 0.46672 )
= 1.397 m/s
v D = 1.397
90 = 59.2
v D = 1.397 m/s
59.2
DE =
3202 + 2402 = 400 mm
tan =
240 = 0.75 320
= 36.87
vD = ( DE )( DE ) = ( 400 )(15 ) = 6000 mm/s = 6 m/s

v D = 6 m/s
v B = vB
Locate point C, the instantaneous of bar DBF, by drawing BC perpendicular to vB and DC perpendicular to vD.
From the figure:
AC =
540 = 720 mm tan
BC = AC AB = 720 ( 320 + 100 ) = 300 mm

Since triangles FCB and BDK are similar,
b DK 300 = = BC BK 100
b=
( 300 )( 300 )
100
= 900 mm.
b = 0.900 m
(a) Distance b.
CD = 3002 + 4002 = 500 mm = 0.5 m
vD 6 = = 1.2 rad/s CD 5
BDF =
vF = b BDF = ( 0.900 )(1.2 ) = 10.8 m/s (b) Velocity of point F.

v F = 10.80 m/s
Locate the instantaneous center I of rotation of bar ABD as the intersection of line AI perpendicular to v A and line BI perpendicular to v B Triangle IAB is equilateral.
lIA = lIB = 300 mm

(a) ABD =
vA 900 mm/s = = 3 rad/s lIA 300 mm
ABD = 3.00 rad/s

(b) By the law of cosines, lID = ( 600cos 30) mm
vD = lID ABD = ( 600cos 30 )( 3) = 1559 mm/s

v D = 1.559 m/s
v A = vA
45,
v B = 7.5 ft/s
Locate the instantaneous center (point C) of rod AB by noting that velocity directions at points A and B are known. Draw AC perpendicular to v A and BC perpendicular to v B . Let
l = AB = 24 in. = 2 ft
Law of sines for triangle ABC.
b a l = = = 2.8284 ft sin 75 sin 60 sin 45

a = 2.4495 ft, b = 2.73205 ft
=
(a)
vB 7.5 = = 2.7452 rad/s b 2.73205
v A = a = ( 2.4495)( 2.7452) = 6.724 ft/s

v A = 6.72 ft/s
45.0
(b) (c) Let M be the midpoint of AB. Law of cosines for triangle CMB.
2
= 2.75 rad/s
l l m 2 = b 2 + 2b cos 60 2 2 = ( 2.73205) + (1) ( 2)( 2.73205)(1) cos 60

2 2
m = 2.3942 ft
Law of sines.
sin
l 2
sin 60 , m
sin =
1sin 60 , 2.3942
= 21.2
vM = m = ( 2.3942)( 2.7452) = 6.573 ft/s,

v M = 6.57 ft/s
21.2
Bar DE.
vD = e ED = ( 24 )( 8 ) = 192 in./s
v D = 192 in./s
Bar AB.
vB = a AB = 8 AB
v B = 8 AB
30
Locate the instantaneous center (point C) of bar BD by noting that velocity directions at points B and D are known. Draw BC perpendicular to v B and DC perpendicular to v D . Let
l = BD = 24 in.
Law of sines for triangle CBD.
b d l 24 = = = = 48 in. sin120 sin 30 sin 30 sin 30

b = 41.569 in., d = 24 in.
(a) (b)
BD =
vD 192 = = 8 rad/s d 24
BD = 8.00 rad/s
vB = b BD = ( 41.569 )( 8 ) = 332.55 in./s
AB =
vB 332.55 = = 41.6 rad/s a 8

2
AB = 41.6 rad/s
(c) Law of cosines for triangle CMD.
l l m 2 = d 2 + 2d cos120 2 2 = 242 + (12) ( 2)( 24)(12) cos120

2
m = 31.749 in.
Law of sines.
sin
l 2
sin120 , m
sin =
(12) sin120 ,
31.749
= 19.1
Velocity of M.
vM = m BD = ( 31.749 )( 8 ) = 253.99 in./s

v M = 21.2 ft/s
19.1
vB = ( AB ) ABF ,
v D = 200 mm/s
v B = vB
75
Locate the instantaneous center (point C) of bar DBE by noting that the velocity directions at points B and D are known. Draw BC perpendicular to v B and DC perpendicular to v D .
Law of sines for triangle BCD.
CD BC BD = = sin150 sin15 sin15 CD = 180sin150 = 347.73 mm sin15
BC = BD = 180 mm
DBE =
vD 200 = = 0.57515 rad/s CD 347.73
vB = ( BC ) DBE = (180 )( 0.57515 ) = 103.528 mm/s
ABF =
vB 103.528 = = 0.57515 rad/s AB 180
vF = ( AF ) ABF = ( 300 )( 0.57515 ) = 172.546 mm/s

Law of cosines for triangle DCE.
( CE )2
= ( CD ) + ( DE ) 2 ( CD )( DE ) cos15
( CE )2
= 347.732 + 3002 ( 2 )( 347.73)( 300 ) cos15,
CE = 96.889 mm
EH = DE sin15 = 300 sin15
cos =
(a)
EH 300 sin15 = CE 96.889
= 36.7
vE = ( CE ) BCD = ( 96.889 )( 0.57515 ) = 55.7 mm/s,

v E = 55.7 mm/s
36.7 75.0
(b)
v F = 172.5 mm/s
DE = 3 rad/s
vD = ( DE ) DE = (160 )( 3) = 480 mm/s
v D is perpendicular to DE.
v B = vB
Locate the instantaneous center (point C) of bar ABD by noting that velocity directions at points B and D are known. Draw BC perpendicular to v B and DC perpendicular to v D .
BD = 120 mm, DK = ( BD ) cos 30 = 120cos 30

cos = DK 120 cos30 = , = 49.495, ED 160
= 180 30 = 100.505
Law of sines for triangle BCD.
CD BC BD = = sin 30 sin sin
CD = BC =
( BD ) sin 30
sin
120sin 30 = 78.911 mm sin
( BD ) sin
sin
120sin = 155.177 mm sin
Law of cosines for triangle ABC.
( AC )2
= ( BC ) + ( AB ) 2 ( AB )( BC ) cos150
( AC )2
Law of sines.
= 155.177 2 + 2002 ( 2 )(155.177 )( 200 ) cos150,

sin sin150 = AB AC sin =
AC = 343.27 mm
200 sin150 , 343.27
= 16.9
(a)
ABD =
vD 480 = = 6.0828 rad/s CD 78.911
ABD = 6.08 rad/s

(b)
v A = ( AC ) ABD = ( 343.27 )( 6.0828 ) = 2088 mm/s

v A = 2.09 m/s
73.1
AB = 20 in. Instantaneous centers: at I for BC. at J for BD. Geometry
12 IC = (11) = 8.25 in. 16 12 JD = ( 21) = 15.75 in. 16 11 AI = ( 20) = 13.75 in. 16

BI = AB AI = 20 in. 13.75 in. = 6.25 in. BJ = BI = 6.25 in.
Member BC.
vC = 33 in./s
BC =
vC 33 = = 4 rad/s IC 8.25
vB = ( BI ) BC = ( 6.25 in.)( 4 rad/s ) = 25 in./s

Member BD. (a) Member AB. (b)
BD =
vB 25 in./s = = 4 rad/s BJ 6.25 in.

v D = 63.0 in./s
v D = ( JD ) BD = (15.75 in.)( 4 rad/s )
AB =
vB 25 in./s = AB 20 in.
AB = 1.250 rad/s
v A = 6 in./s ,
v B = vB
30
Locate the instantaneous center (point C) of rod AB by noting that velocity directions at points A and B are known. Draw AC perpendicular to v A and BC perpendicular to v B . Triangle ACB. Law of sines.
AC CB AB = = sin 30 sin 30 sin120 AC = CB = 10 sin 30 = 5.7735 in. sin120
(a)
AB =
vA 6 = = 1.03923 rad/s AC 5.7735 AB = 1.039 rad/s
v B = ( CB ) AB = ( 5.7735 )(1.03923) = 6 in./s

v D = vD
30
Locate the instantaneous center (point I) of rod BD by noting that velocity directions at points B and D are known. Draw BI perpendicular to v B and DI perpendicular to v D . Triangle BID. Law of sines.
BI DI BD = = sin120 sin 30 sin 30 10 sin120 = 17.3205 in. , sin 30

DI = 10 in.
BI =
BD =
vB 6 = = 0.34641 rad/s BI 17.3205
BD = 0.346 rad/s
(b)
vD = ( DI ) BD = (10 )( 0.34641) = 3.46 in./s

v D = 3.46 in./s
Method 1 Assume v D has the direction indicated by the angle as shown. Draw CDI perpendicular to v D . Then, point C is the instantaneous center of rod AD and point I is the instantaneous center of rod BD.
Geometry.
BD =
AD =
( 0.27 )2 + ( 0.36 )2
= 0.45 m
( 0.18)2 + ( 0.135)2
= 0.225 m
sin =
0.27 = 0.6, 0.45
sin =
0.18 = 0.8 0.225
c 0.45 0.45 = = sin sin ( 90 + ) cos

c= 0.45sin cos
d 0.225 0.225 = = sin sin ( 90 ) cos

d = 0.225sin cos
a = 0.36 0.27 tan

Kinematics.
b = 0.135 + 0.18 tan
v A = 0.4 m/s, vB = 1 m/s
vA v v v = D, BD = B = D b d a c cv A dvB = vD = a b cv 0.45sin cos 0.4 a = Ab = b = 0.6b dvB cos 0.225sin 1
AD =
0.36 0.27 tan = 0.6 ( 0.135 + 0.18 tan ) 0.279 = 0.378 tan , tan = 0.73809,
= 36.43
a = 0.36 ( 0.27 )( 0.73809 ) = 0.1607 m b = 0.135 + ( 0.18 )( 0.73809 ) = 0.2679 m

c=
( 0.45)( 0.6 )
cos
= 0.3356 m
d =
( 0.225 )( 0.8 )
cos
= 0.2237 m
(a ) (b)
AD = BD =
vA 0.4 = = 2.4891 rad/s a 0.1607 vB 1 = = 3.733 rad/s 0.2679 b
AD = 2.49 rad/s BD = 3.73 rad/s

53.6
(c) vD = c AD = ( 0.3356 )( 2.4891) = 0.835 m/s, v D = 0.835 m/s Method 2
Consider the motion using a frame of reference that is translating with collar A. For motion relative to this frame.
v A = 0.4 m/s v B = 1 m/s
v A/ A = 0,
v B/ A = 1.4 m/s
tan =
0.27 , = 36.87 0.36 0.36 = 0.45 m AD = cos v D/ A = 0.45 AD
Locate the instantaneous center (point C) for the relative motion of bar BD by noting that the relative velocity directions at points B and D are known. Draw BC perpendicular to v B/A and DC perpendicular to v D/A.
CD =
0.18 = 0.3 m sin BC = ( CD ) cos + 0.135 = 0.375 m

vB/ A CB = 1.4 = 3.73 rad/s 0.375
BD =
vD/ A = ( CD ) BD = ( 0.3)( 3.73) = 1.120 m/s
(a ) (b) (c)
AD =
vD/ A AD
1.120 0.45
AD = 2.49 rad/s BD = 3.73 rad/s
v D = v A + v D/ A = [ 0.4 m/s
= 0.835 m/s
+ [1.120
]
53.6
53.6
v D = 0.835 m/s
v B = 0.2 AB = ( 0.2 )( 4.5 ) = 0.9 m/s

Let point C be the instantaneous center of bar BD. Define angle and lengths a and b as shown.
BD =
vB 0.9 = b b 0.9a b
v D = a BD =
v E = 0.7 m/s
Let point I be the instantaneous center of bar DE. Define lengths c and d as shown.
DE =
vD 0.9a = c bc
0.9a ( 0.2 d ) bc
= 0.7
(1)
vE = ( 0.2 d ) DE = a=
Substituting into (1)
0.25 , cos
c=
0.15 cos
a 0.25 , = c 0.15
b = 0.25 tan ,
d = 0.15 tan
( 0.9 )
tan =
0.25 0.2 0.15 tan = 0.7 0.15 0.25 tan

1.2 = 0.75 1.6
or
1.2 0.9 tan = 0.7 tan
= 36.87
cos = 0.8 d = 0.1125 m

BD = 4.80 rad/s
a=
0.25 = 0.3125 m, 0.8
b = 0.1875 m,
c = 0.1875 m,
(a ) (b) (c)
BD =
DE =
0.9 = 4.8 rad/s 0.1875
( 0.9 )( 0.3125) ( 0.1875)( 0.1875)
= 8 rad/s
DE = 8.00 rad/s
v D = 1.5 m/s
vD = ( 0.3125 )( 4.8 ) = 1.5 m/s
53.1
ABC = 5 rad/s
v B = vB ,
vA = vA
v E = vE
Locate point I, the instantaneous center of rod ABD by drawing IA perpendicular to vA and IB perpendicular to vB.
tan =
lID =
9 18
= 26.565
18 = 20.125 in. cos
vD = ABD lID = ( 5 )( 20.125 )

v D = 100.6 in./s
Locate point J, the instantaneous center of rod DE by drawing JD perpendicular to vD and JE perpendicular to vE.
l JD = 18 = 20.125 in. cos
DE =
(a)
vD 100.6 = = 5 rad/s lJD 20.125

DE = 5.00 rad/s
l JE = 9 + l JD cos = 27 in.
vE = lJE DE = ( 27 )( 5 )
(b)
v E = 135 in./s
v A = 12 in./s v B = vB
Point C is the instantaneous center of bar AB.
AB =
vB 12 = AC 20cos 30
= 0.69282 rad/s
CD = 10 in.
vD = ( CD ) AB = (10 )( 0.69282 ) = 6.9282 in./s

v D = 6.9282 in./s
30 30
v E = vE
Point I is the instantaneous center of bar DE.
DI = 20cos 30
(a ) (b)
DE =
vD 6.9282 = = 0.4 rad/s DI 20 cos 30
DE = 0.400 rad/s
v E = 0.333 ft/s
30
vE = ( EI ) DE = ( 20sin 30 )( 0.4 ) = 4 in./s
Let points A, B, and C move to A, B, and C as shown. Since the instantaneous center always lies on the fixed lower rack, the space centrode is the lower rack.
space centrode : lower rack

Since the point of contact of the gear with the lower rack is always a point on the circumference of the gear, the body centrode is the circumference of the gear.
body centrode : circumference of gear A
Draw x and y axes as shown with origin at the intersection of the two slots. These axes are fixed in space.
v A = vA
v B = vB
Locate the space centrode (point C) by noting that velocity directions at points A and B are known. Draw AC perpendicular to v A and BC perpendicular to v B . The coordinates of point C are xC = l sin and yC = l cos
2 2 xC + yC = l 2 = ( 300 mm ) 2
The space centrode is a quarter circle of 300 mm radius centered at O. Redraw the figure, but use axes x and y that move with the body. Place origin at A.
xC = ( AC ) cos = l cos 2 = yC = ( AC ) sin l (1 + cos 2 ) 2 l sin 2 2
= l cos sin =
2 2
l 2 l 2 2 2 xC + yC = = ( xC 150 ) + yC = 150 2 2
The body centrode is a semi circle of 150 mm radius centered midway between A and B.
v A = 80 km/h = 22.222 m/s

vC = 0
d = 560 mm, r =
1 d = 0.280 mm = 0.28 m 2
Point C is the instantaneous center.
vA 22.222 = = 79.364 rad/s r 0.28

CB = 2r = 0.56 m
vB = ( CB ) = ( 0.56 )( 79.364 ) = 44.4 m/s

v B = 44.4 m/s
1 ( 30 ) = 15 2
CD = 2r cos15 = ( 2 )( 0.28 ) cos15 = 0.54092 m vD = ( CD ) = ( 0.54092 )( 79.364 ) = 42.9 m/s,

v D = 42.9 m/s CE = r 2 = 0.28 2 = 0.39598 m
15.0
vE = ( CE ) = ( 0.39598 )( 79.364 ) = 31.4 m/s,

v E = 31.4 m/s
45.0
OA = 900 rpm = 30 rad/s

v A = ( OA) OA = (10 )( 30 ) = 300 mm/s
v A = vA
60,
v B = vA
Locate the instantaneous center (point C of bar BD by noting that velocity directions at point B and A are known. Draw BC perpendicular to v B and AC perpendicular to v A.
sin =
( OA) sin 30
AB
10sin 30 , 160
= 1.79
OB = ( OA) cos 30 + ( AB ) cos = 10cos 30 + 160 cos

= 168.582 mm
AC =
168.582 OB OA = 10 = 184.662 mm cos 30 cos 30
BC = ( OB ) tan 30 = 97.377 mm
AB =
vA v = B AC BC
( 97.377 )( 300 ) = 497 mm/s, BC vB = vA = 184.662 AC

v B = 497 mm/s
Bar AB.
AB = 4 rad/s
vB = l AB AB = ( 0.25 )( 4 )
v B = 1 m/s
Bar DE.
tan =
lED =
75 150
= 26.565
0.15 = 0.167705 m cos
vD = lED ED = 0.167705 ED v D = 0.167705 ED
Bar BD. Locate point I, the instantaneous center of bar BD by drawing IB perpendicular to vB and ID perpendicular to vD.
lIB = lID =
0.2 = 0.4 m tan 0.4 = 0.44721 m cos vB 1 = = 2.5 rad/s lIB 0.4
BD =
BD = 2.50 rad/s
vD = lID BD = 1.11803 m/s
ED =
vD = 6.67 rad/s lED
ED = 6.67 rad/s
(a) = 0
Wheel AD.
v C = 0,
v D = 45 in./s
AD =
vD 45 = = 11.25 rad/s CD 4
CA = ( CD ) ( DA) = 4 2.5 = 1.5 in. v A = ( CA) AD = (1.5 )(11.25 ) = 16.875 in./s

Rod AB.
v B = vB
Since vA and vB are parallel, the instantaneous center of rod AB lies at infinity.
vB = vA
vB = 16.88 in./s
AB = 0
(b) = 90
Wheel AD.
v C = 0,
AD = 11.25 rad/s
tan =
DA 2.5 = , DC 4
= 32.005
CA =
DC = 4.7170 in. cos
v A = ( CA ) AD = ( 4.7170 )(11.25 ) = 53.066 in./s v A = [53.066 in./s

Rod AB.
32.005]
v B = vB
sin =
4 , = 18.663 12.5
Locate point I, the instantaneous center of bar AB, by drawing IA perpendicular to vA and IB perpendicular to vB. For triangle ABI,
= 180 ( + 90 ) = 39.332
12.5 IA IB = = sin sin ( + 90 ) sin
IA = IB = 12.5sin108.663 = 22.345 in. sin 32.005 12.5sin 39.332 = 14.9486 in. sin 32.005
AB =
v A 53.066 = = 2.3748 rad/s IA 22.345
vB = ( IB ) AB = (14.9486 )( 2.3748 ) = 35.5 in./s

v B = 35.5 in./s
= 2.37 rad/s
Velocity analysis.
AB = 3 rad/s
CD = CD
BDE = BD
v B = ( AB ) AB = (12 )( 3) = 36 in./s , v D = v B + v D/B

9CD
Components:
:
v D = [9CD
= [36
] + [7.5 BD
BD = 0
7.5 BD = 0
: 9 CD = 36
Acceleration analysis.
CD = 4 rad/s
CD = CD
,
AB = 0,
2 + ( AB ) AB
BCD = BD
= 108 in./s 2

a B = ( AB ) AB
a D = ( CD ) CD
= (12 )( 0 )
2 + (12 )( 3)
2 + ( CD ) CD
= [9CD
2 + ( 9 )( 4 )
= [9 CD
+ 144 in./s 2
a D = a B + a D/B
)t + (a B/D )n
= 7.5 BD
=0
( aD/B )t = ( BD ) BD
2 ( aD/B )n = ( BD ) BD
= ( 7.5 )( 0 )2
a D = a B + a D/B
)t + (a D/B )n
] + [7.5 BD
BD = 4.8 rad/s 2
a D = 12.00 ft/s 2
= 36 in./s 2
=0
[9CD ] + [144
Components:
: 9 CD = 0
] = [108
CD = 0
] + [ 0]
: 144 = 108 + 7.5 BD (a ) (b)

a D = ( 9 )( 0 )
] + [144
] = 144 in./s2
= ( 7.5 )( 4.8 )
= ( 0.75 )( 0 )2
( aE/D )t = ( DE ) AD
2 ( aE/D )n = ( DE ) AD
a E = a D + a E/ D
)t + (a D/E )n
= [144
] + [36
] + [0 ] = 180 in./s2
a E = 15.00 ft/s 2
Velocity analysis.
AB = 3 rad/s
CD = CD
BDE = BD
v B = ( AB ) AB = (12 )( 3) = 36 in./s , v D = v B + v D/B

9CD
v D = [9CD
= [36
] + [7.5 BD
BD = 0
Components:
7.5 BD = 0
: 9 CD = 36
CD = 4 rad/s
CD = CD
(12 )( 0 )
AB = 0,
2 + ( AB ) AB
BCD = BD = 108 in./s 2
a B = ( AB ) AB
a D = ( CD ) CD
2 + (12 )( 3)
2 + ( CD ) CD
[9CD ] + ( 9 )( 4 )2
= [9 CD
+ 144 in./s 2
a D = a B + a D/B
)t + (a B/D )n
= 7.5 BD
=0
( aD/B )t = ( BD ) BD
2 ( aD/B )n = ( BD ) BD
= ( 7.5 )( 0 )2
a D = a B + a D/B
)t + (a D/B )n
] + [ 0]
[9CD ] + [144
Components:
: 9 CD = 0
] = [108
CD = 0
] + [7.5 BD
: 144 = 108 + 7.5 BD
BD = 33.6 rad/s 2
(a ) (b)
a D = ( 9 )( 0 )
+ [144
] = 144 in./s2
= ( 7.5 )( 33.6 )
a D = 12.00 ft/s 2
( aE/D )t = ( DE ) AD
a E = a D + a E/D
= 252 in./s 2
2 ( aE/D )n = ( DE ) AD
= ( 7.5 )( 0 )2 = 0
)t + (a E/D )n
] + 0 = 396 in./s2
a E = 33.0 ft/s 2
= [144
] + [ 252
= ABC = 0,
ABC =
a B = aB
60,
a D = 7.2 m/s 2
30
rB/D = 0.45 m
30, rA/D = 0.9 m
a B = a D + a B/D
)t + ( a D/B )n
60] + ( 0.45 ) 02
[ aB
Components.
60] = [ 7.2
] + [0.45
( )
30
: aB cos 60 = 7.2 ( 0.45cos 60 ) + 0 : aB sin 60 = ( 0.45sin 60 )

Substituting into (1),
(1)
aB = 0.45
( 0.45cos 60 )
=
= 7.2 ( 0.45cos 60 ) ABC = 16.00 rad/s 2

a B = 7.20 m/s 2
60
(a ) (b) From (2), (c)
7.2 = 16 rad/s 2 0.9cos 60
aB = ( 0.45 )(16 ) = 7.2 m/s 2
a A = a D + a A/D
)t + (a A/D )n
60] + ( 3) 02
= [ 7.2 = [ 7.2
] + [0.9 ] + [14.4
( )
30
60] + [ 0]
a A = 12.47 m/s 2
= ABC = 0,
Collar B slides along a straight rod. Collar D slides along a straight rod.
ABC = 12 rad/s 2
( a B ) = aB
a D = aD
60
rB/D = 0.45 m
30
rA/D = 0.9 m
30
a B = a D + a B/D
)t + (a B/D )n
2 60] + (1.5 )( 0 )
[ aB
Components.
60] = [ aD
] + ( 0.45)(12 )
30
: aB cos 60 = aD + 5.4cos 60 + 0
(1)
: aB sin 60 = 5.4sin 60, (a) From (1),
aB = 5.4 m/s 2 ,
aD = aB cos 60 5.4cos 60 = 10.8cos 60 = 5.4 m/s 2 a D = 5.40 m/s 2
(b) (c)
a A = a D + a A/D
a B = 5.40 m/s 2
60
)t + (a A/D )n
2 60 + ( 3)( 0 )
= [5.4 = [5.4
] + ( 0.9 )(12 )
30
] + [10.8
60] + [ 0]
a A = 9.35 m/s 2
=0 = 0.8 rad/s 2
aC = 0.9 ft/s 2
Acceleration of A.
a A = aC + a A / C
= 0.9ft/s 2
] + [( AC ) ]
= 0.9 ft/s 2 + (10.8 ft ) 0.8 rad/s 2
= 7.74 ft/s 2
a A = 7.74 ft/s 2
Acceleration of B.
a B = aC + a B / C
= 0.9 ft/s 2 = 0.9 ft/s 2
] + [(BC ) ] ] + [(1.8) (0.8) ] = 0.54 ft/s2

a B = 0.54 ft/s 2
Geometry.
Velocity analysis.
Let be the angle between rod ADE and the vertical. 4 = 28.072 tan = 7.5 10.5 ( AD) = (7.5)2 + (4)2 = 8.5 in. (AB) = (8.5) = 11.9 in. 7.5 v A = vA v D = vD Locate point I, the instantaneous center of rod ADB, by drawing IA perpendicular to vA and ID perpendicular to vD.
AB =
vA =0 IA
vD =0 ED
vD = ( ID ) AB = 0
DE =
a A = 0.8 ft/s 2 = 9.6 in./s 2
AB = 0,
Rod DE. (Rotation about E)
DE = DE
2 ] + 6 DE
DE = 0
] = [ 6 DE
a D = (a D )t + (a D )n = [ 6 DE
Rod ADB.
(1)
a A = 9.6 in./s 2
a D = a A + ( a D/A )t + a D/ A
AB = AB
(Plane motion = Translation with A + Rotation about A)
)n
2 ] + 8.5 AB
= [9.6 = [9.6
] + [8.5 AB ] + [8.5 AB
]
(2)
] + 0
Match expressions (1) and (2) for a D and resolve into components.
0 = 9.6 + ( 8.5 cos ) AB
AB = 1.2799 rad/s 2
(a) (b)
Angular acceleration of rod ADB. Acceleration of point B.

a B = [9.6
AB = 1.280 rad/s 2
a B = a A + aB/ A + a B/ A
)t (
)n
] + [11.9 AB ] + [15.2319 ] + [7.1678 ]

61.8
2 ] + [11.9 AB
= [9.6 = [3.84
] + 0
= 8.1316 in./s 2
a A = 0.678 ft/s 2
61.8
Geometry.
Let point C be the center of the center cylinder, B its contact point with the crate, and D its contact point with the ground. Let r be the radius of the cylinder. r = 100 mm.
Velocity analysis.
Since the contacts at B and D are rolling contacts without slipping, vB = 200 mm/s and v D = 0. Point D is the instantaneous center of rotation.
vB 200 mm/s = = 1 rad/s 2r 200 mm
Point C moves on a horizontal line.
aC = [aC
] ] + [r ] + [r 2 ]
(1)
a D = aC + (a D/C )t + (a D/C )n = [aC

Component :
0 = aC r
a B = aC + (a B/C )t + (a B/C )n = [aC

Component :
] + [r
] + [r 2 ]
(2)
400 mm/s 2 = aC + r aC = 200 mm/s 2 r = 200 mm/s 2

200 mm/s 2 100 mm
Solving (1) and (2) simultaneously,
(a)
= 2.00 rad/s 2
] + [r ] + [r 2 ] ]
a A = aC + (a A/C )t + (a A/C )n = [aC

= [200 mm/s 2 = [100 mm/s 2
(b)
] + [200 mm/s 2 ] + [(100 mm) (1 rad/s) 2 ] + [200 mm/s 2 ]
a A = 223.6 mm/s
a A = 0.224 m/s 2
63.4
Let point C be the contact point.
vC = 0,
( aC )t
= 0,
vO = vC + vO/C = 0 + b
Point O moves parallel to x-axis.
= b
aC = aO + aC/O
( aC ) t + ( aC ) n 0 + ( aC ) n
= [ aO
)t + (aC/O )n
] + [b
] + [b ] + b 2 ] + b 2

= [ aO
aO = b , aO = b From x-component, Acceleration of the point with coordinates ( x, y )
a = aO + [ x
= [b
] + [ y
] + x 2
2 + y
] + [ x ] + [ y
:
] + x 2
=0
+ y 2
Set a = 0 and resolve into components.
( b + y ) + x 2
(1) (2)
y 4
: x y 2 = 0
From (2), x = y 2
,
b 1+
From (1),
,
( b + y ) +
b 2 / 1+
4 2
y 2
=0
y =
4 2
x=
Data:
b = 12 in., = 2 rad/s 2
, = 3 rad/s 2
1+
2 4 = , 3
y =
4 16 = 9 2
4 25 = 9 2
9 (12 ) = 4.32 in., 25
x = 5.76 in., y = 4.32 in.
Velocity analysis.
Point C is the instantaneous center of the wheel.
r = 1.5 in.
= 10 rad/s
v A = r = (1.5 )(10 ) = 15 in./s Acceleration analysis. Point A moves on a circle of radius . Since the wheel does not slip,
aC = a A + aC/ A
[ aC ] = ( a A )t = ( a A ) t
= 30 rad/s 2 = R + r = 6 + 1.5 = 7.5 in.

aC = aC
)t + ( aC/A )n
+ [ r
v2 + A
] + r 2

2 + (1.5 )(10 )
(15 )2 ] + 7.5
+ (1.5 )( 30 )
= ( a A )t
+ [30
] + [ 45
] + [150 ]
( a A )t
= 45 in./s
Components.
: ( a A )t + 45 = 0
: aC = 30 + 150
aC = 120 in./s
(a) Acceleration of point A.
a A = 45 in./s 2
2 + 30 in./s
a A = 54.1 in./s 2
33.7
(b) Acceleration of point B. a B = [ 45

= [ 45
a B = a A + a B/ A
)t + ( aB/A )n

] + [30 ] + [ r ] + r 2 ] + [30 ] + (1.5)( 30 )

+ 75 in./s 2
aC = aC
2 + (1.5 )(10 )
= 105 in./s 2
a B = 129.0 in./s 2
35.5
(c) Acceleration of point C.
aC = 120 in./s 2
Velocity analysis. Let point G be the center of the shaft and point C be the point of contact with the rails. Point C is the instantaneous center of the wheel and shaft since that point does not slip on the rails.
vG = r ,
vG 24 = = 0.8 rad/s r 30
aC = aC
20
Since the shaft does not slip on the rails,
Also,
aG = 10 mm/s 2 aC = aG + aC/G
20
)t + ( aC/G )n
20 ] + 30 2
[ aC
Components 20:
20] = 10 mm/s 2
20 + [30
20
10 = 30
= 0.33333 rad/s 2
(a) Acceleration of point A.
a A = aG + a A/G
)t + ( a A/G )n
] + 360 2

= [10 = [9.3969
20 ] + [360
] + [3.4202 ] + [120 ] + [ 233.4202 ]
] + [ 230.4 ]
a A = 267 mm/s 2
61.0
= [129.3969
a B = aG + a B/G
)t + ( a B/G )n
] + 360 2

= [10 = [9.3969
20 ] + [360
] + [3.4202 ] + [120 ] + [ 226.9798 ]
] + [ 230.4 ]
a B = 252 mm/s 2
64.0
= [110.6031
Velocity analysis. Instantaneous center is at point B.
v D = v A = 160 mm/s
v A = ( AB ) ,
160 = (100 60 )
= 4 rad/s
Acceleration analysis. a B = [ aB
] for no slipping
a A = 600 mm/s 2
+ ( a A ) n
aG = [ aG
a B = a A + a B/ A
)t + ( aB/A )n
2 + (100 60 )
[ aB ] = [600
Components
:
] + ( a A ) n
+ (100 60 )
0 = 600 + 40
= 15 rad/s 2
a B = aG + a B/G
)t + ( a B/G )n
] + 100 2

[ aB ] = [ aG
Components : 0 = aG + 100
2
] + [100
aG = 100 = 1500 mm/s 2 a B = 1600 mm/s 2
aB = (100 )( 4 ) = 1600 mm/s 2
a A = aG + a A/G
)t + ( a A/G )n
] + [60
] + [900 ] + 60 2 ] + [960 ]
a A = 1132 mm/s 2
58.0
= [1500 = [1500
= 600 mm/s 2
+ 960 mm/s 2
aC = aG + aC/G
)t + ( aC/G )n
] + [100 ] + 100 2 ] + [1500 ] + [1600
+ 1500 mm/s 2

= [1500 = [1500
]
aC = 3440 mm/s 2
25.8
= 3100 mm/s 2
Velocity analysis. Instantaneous center is at point A.
v D = v B = 160 mm/s
vB = ( AB ) , 160 = (100 60 )
= 4 rad/s
Acceleration analysis. a A = [ aA
] for no slipping.
a B = 600 mm/s 2
+ ( aB ) n
aG = [ aG
a A = a B + a A/B
)t + ( a A/B )n
2 + (100 60 )
[ a A ] = [600
Components
:
] + ( aB ) n
+ (100 60 )
0 = 600 + 40
= 15 rad/s 2
a A = aG + a A/G
a A = [ aG
)t + ( a A/G )n
] + 60 2

] + [60
Components
0 = aG 60
aG = 60 = 900 mm/s 2
2
a A = 60 2 = ( 60 )( 4 ) = 960 mm/s 2
a A = 960 mm/s 2
a B = aG + a B/G
)t + ( a B/G )n
] + 100 2 ] + [1600 ]
a B = 1709 mm/s 2
69.4
= [900 = [900
] + [100 ] + [1500
= 600 mm/s 2
+ 1600 mm/s 2
aC = aG + aC/G
)t + ( aC/G )n

= [900 = [900
] + [100 ] + 100 2 ] + [1500 ] + [1600

+ 1500 mm/s 2
]

aC = 1655 mm/s 2
65.0
= 700 mm/s 2
Velocity analysis.
Point A is the instantaneous center of rotation of the cylinder.
vC = vE = 12 in./s.
vC = 2r
vC 12 = = 2 rad/s 2r ( 2 )( 3)
Acceleration analysis. a A = [ aA
r 2 = ( 3)( 2 ) = 12 in./s 2
aC = ( aC )t
+ ( aC )n
= [ aE
+ ( aC )n
aC = a A aC/ A
)t
+ aC/ A
)t
[ aE ] + ( aC )n [19.2 ] + ( aC )n
= [aA = [aA
] + [ 2r ] + 2r 2 ] + [6 ] + [ 24 ]

(1)
From (1), Components
: 19.2 = 6 ,
= 3.2 rad/s 2
aG = a A + aG/ A
)t + ( aG/A )n

aG = 9.6 in./s 2
+ 12 in./s 2
[ aG ] = [ a A [ aG ] = [ a A
From which
] + [ r ] + r 2
] + 9.6 in./s2
aG = 9.6 in./s 2
:
and
a A = 12 in./s 2
From (1), Components

Then
( aC )n
= a A + 24 = 12 + 24 = 12 in./s 2
aC = 19.2 in./s 2 a D = aG + a D/G
+ 12 in./s 2
aC = 22.6 in./s 2
58.0
)t + (a D/G )n
] + r 2

= [9.6 = [9.6
] + [ r
] + [9.6
] + [12 ]

= [ 21.6 in./s 2
] + 9.6 in./s2
a D = 23.6 in./s 2
66.0
Velocity analysis.
v A = v B + v A/B
[9 in./s
] = [6 in./s
9 = 6 + 5
] + [(5 in.)
Components
= 3 rad/s
Point A moves on a path parallel to the belt. The path is assumed to be straight.
a A = 36 in./s 2
30
Since the drum rolls without slipping on the belt, the component of acceleration of point B on the drum parallel to the belt is the same as the belt acceleration. Since the belt moves at constant velocity, this component of acceleration is zero. Thus
a B = aB
Let the angular acceleration of the drum be .
60
a B = a A + (a B/ A )t + (a B/ A )n
[ aB
Components
:
] = [36
0 = 36 5
] + [ r
] + [r 2
= 7.2 rad/s
Acceleration of point D. a D = a A + (a D/ A )t + (a D/ A ) n
= [a A = [36
30] + [r
60] + [r 2
30 ] 30]
30] + [(5) (7.2)
60] + [(5) (3) 2
Components: Components:
30: 60:
36 + 45 = 9 in./s 2
36 in./s 2
aD =
92 + 362 = 37.1 in./s 2
tan =
36 9
= 76.0
30 = 46.0
a D = 37.1 in./s 2
46.0
Geometry.
Define angles and as shown. 0.25cos = 0.4 0.25cos 0.25sin = x + 0.25sin = 0.2 + 0.25 sin (1) (2) (3)
Dividing (1) by (2) gives
tan =
0.2 + 0.25 sin 0.4 0.25 cos
Squaring (1) and (2), adding, and rearranging gives 0.2 cos 0.1 sin = 0.2
Let
(4)
u = sin .
cos = 1 u 2 0.2 1 u 2 = 0.2 + 0.1 u
Squaring both sides,

0.04 1 u 2 = 0.04 + 0.04 u + 0.01 u 2
0.05 u 2 + 0.04 u = 0 u = 0 or u = 0.8 Reject the negative root. From (3), Velocity analysis.
tan =
sin = 0 = 0
0.2 0.4 0.25
= 53.13
v D = 1.2 m/s =
v B = 0.25 AB
v D = v B + v D/B
[1.2
Components:
] = [0.25 AB
: :
] + [0.25 BD
] BD = 0
0.25 BD sin = 0, 1.2 = 0.25 AB
AB = 4.8 rad/s
, BD = BD
Acceleration analysis. a A = 0, a D = 0, AB = AB
a B = a A + a B/ A
)t + ( aB/A )n
2 ] + 0.25 AB
= 0 + [ 0.25 AB
a D = a B + a D/B
+ [ 0.25 AB
] + [5.76 ]
)t + (a D/B )n
] + [5.76 ] + [0.25 BD
] + [5.76 ] + [0.25 BD
2 + 0.25 BD
0 = [ 0.25 AB
= [ 0.25 AB
] + 0
(a )
0 = 0 + 5.76 + 0.25 BD sin ,
BD = 28.800 rad/s 2
BD = 28.8 rad/s 2
(b)
0 = 0.25 AB + ( 0.25 )( 28.800 ) cos ,

AB = 17.28 rad/s 2
Geometry.
Define angles and as shown. 0.25cos = 0.4 0.25cos 0.25sin = x + 0.25sin (1) (2)
With x = 0, From (1),
equation (2) gives
= .
0.25 cos = 0.4 0.25 cos

cos = 0.4 0.5
= 36.87 = 36.87
Velocity analysis.
v D = 0.6 m/s =
v B = [ 0.25 AB v D = v B + v D/B
[0.6
Components:
: :
] = [0.25 AB
] + [ 0.25 BD
0.6 = 0.25 AB cos + 0.25 BD cos 0 = 0.25 AB sin 0.25 BD sin
AB = 1.5 rad/s
, BD = 1.5 rad/s
Acceleration analysis. a A = 0, a D = 0, AB = AB
a B = a A + a B/ A
, BD = BD
)t + ( aB/A )n
2 ] + 0.25 AB
= 0 + [ 0.25 AB = [ 0.25 AB
a D = a B + a D/B
] + [ 0.5625
)t + (a D/B )n
2 ] + 0.25 BD
0 = [ 0.25 AB
= [ 0.25 AB
: :
] + [ 0.5625 ] + [ 0.25 BD ] + [ 0.5625 ] + [ 0.25 BD
] ]
] + [ 0.5625
0.25 AB cos + 0.5625sin + 0.25 BD cos 0.5625sin = 0 0.25 AB sin 0.5625cos 0.25 BD sin 0.5625cos = 0
Solving simultaneously, (a ) (b)
AB = 3 rad/s 2 , BD = 3 rad/s 2
BD = 3.00 rad/s 2 AB = 3.00 rad/s 2
Law of sines.
sin sin 60 = , = 16.779 2 6
Velocity analysis.
AB = 900 rpm = 30 rad/s

v B = 2 AB = 60 in./s v D = vD
60
BD = BD
v D/B = 6 BD
v D = v B + v D/B
[vD ] = [60
Components
:
60] + [ 6 BD
0 = 60 cos 60 6 BD cos
BD =
60 cos 60 = 16.4065 rad/s 6cos
AB = 0
2
2 a B = 2 AB = ( 2 )( 30 ) = 17765.3 in./s 2
30
a D = aD
BD = BD
2 ] + 6 BD
a D/B = [ 6 AB
= [ 6 BD
a D = a B + a D/B
] + [1615.04
Resolve into components.
: 0 = 17765.3cos 30 + 6 BD cos + 1615.04sin
BD = 2597.0 rad/s 2
: aD = 17765.3sin 30 ( 6 )( 2597.0 ) sin + 1615.04 cos
= 5931 in./s 2
aP = aD
a P = 494 ft/s 2
Law of sines.
sin sin120 = , = 16.779 2 6
Velocity analysis.
v D = vD
AB = 900 rpm = 30 rad/s

v B = 2 AB = 60 in./s
60
BD = BD
v D/B = 6 BD v D = v B + v D/B
[vD ] = [60
Components
:
60] + [ 6 BD
0 = 60 cos 60 + 6 B cos
BD =
60 cos 60 = 16.4065 rad/s 6cos
AB = 0
2
2 a B = 2 AB = ( 2 )( 30 ) = 17765.3 in./s 2
30
a D = aD
BD = BD
2 ] + 6 BD
a D/B = [ 6 BD
= [ 6 BD
] + [1615.04
a D = a B + a D/B
: 0 = 17765.3cos 30 + 6 BD cos + 1615.04 cos
BD = 2597.0 rad/s 2
: aD = 17765.3sin 30 + ( 6 )( 2597.0 ) sin 1615.04 cos
= 11835 in./s 2
aP = aD
a P = 986 ft/s 2
Geometry and velocity analysis.
=0
vB = ( AB ) = ( 60 )(16 ) = 960 mm/s
v B = 960 mm/s , vD = v
Instantaneous center of bar BD lies at C.
sin =
120 = 0.6, 200
cos = 0.8
= 36.9, BD =
Acceleration analysis. a B = [ 60 AB Point D moves on a straight line.
2 ] + 60 AB
CB = 200cos = 160 mm
vB 960 = = 6 rad/s CB 160
AB = 0
= 0 + ( 60 )(16 )2
a D = aD
= 15360 mm/s 2
( aD/B )t = [120 BD
2 2 ( aD/B )n = 160 BD + 120 BD a D = a B + ( a D/B ) + ( a D/B ) . t n
] + [160 BD ]
= [5760
] + [ 4320 ]
: (a )
:
0 = 0 + 160 BD 4320
BD = 27 rad/s 2
a D = 24.4 m/s 2
aD = 15360 (120 )( 27 ) 5760 = 24360 mm/s 2
(b)
( aG/B )t = [60 BD 2 ( aG/B )n = 80 BD aG = a B + ( aG/B ) + ( aG/B ) t n

= [15360
] + [80 BD ] = [1620
2 + 60 BD
] + [ 2160 ] ] + [ 2160 ]
= [ 2880
] + [1620
] + [ 2160 ] [ 2880
] + [ 2160 ]
aG = 19.86 m/s 2
= 19860 mm/s 2
Geometry and velocity analysis.

sin =
= 90
60 = 0.3, 200
= 17.458
v D and v B are parallel, thus the instantaneous center lies at .
BD = 0
Acceleration analysis. a B = [ 60 AB Point D moves on a straight line.
AB = 0,
2 ] + 60 AB
AB = 16 rad/s,
= 0 + ( 60 )(16 )2
BD = 0
2 = 15360 mm/s
a D = aD
( aD/B )t = [60 BD
2 ( aD/B )n = 60 BD
] + [ 200cos BD
2 + 200cos BD

=0
a D = a B + a D/B
)t + ( a D/B )n .
: 0 = 15360 + 200cos BD ,
BD =
15360 = 80.508 rad/s 2 200 cos
(a)
: aD = 0 60 BD + 0 = ( 60 )( 80.508 ) = 4831 mm/s 2
a D = 4.83 m/s 2
( aG/B )t = [30 BD
2 ( aG/B )n = 30 BD
] + [100 cos BD ] = [ 2415

2 + 100cos BD
] + [7680 ]
=0
(b)
aG = a B + a B/G
= [15360
)t + ( a B/G )n
] + [7680 ] + 0

2 + 7680 mm/s
] + [ 2415
= 2415 mm/s 2
aG = 8.05 m/s 2
72.5
Disk A.
A = 15 rad/s
, A = 0, AB = 2.8 in.
vB = ( AB ) A = ( 2.8 )(15 ) = 42.0 in./s

2 aB = ( AB ) A = ( 2.8 )(15 ) = 630 in./s 2 2
(a) = 0.
v B = 42 in./s , v D = vD
sin =
2.8 10
= 16.26
Instantaneous center of bar BD lies at point C.
BD =
vB 42 = = 4.375 rad/s BC 10cos
a B = 630 in./s 2 , aD = aD , BD = BD
a D/B = ( DB ) BD = [10 BD
2 + ( DB ) BD
] + [191.406
a D = a B + a D/B
: 0 = 0 (10cos ) BD + 53.594, BD = 5.5826 rad/s 2 : aD = 630 (10sin )( 5.5826 ) 183.75 = 430.62 in./s 2
BD = 5.58 rad/s 2
, a D = 431 in./s 2
(b) = 90.
v B = 42 in./s , v D = v D
sin =
5.6 10
= 34.056
Instantaneous center of bar BD lies at .
BD = 0
a B = 630 in./s 2
a D/B = ( DB ) BD
, a D = aD
2 + ( DB ) BD
= 10 BD
a D = a B + a D/B
: 0 = 630 (10cos ) BD
BD = 76.042 rad/s 2
aD = 425.8 in./s 2
, a D = 426 in./s 2
: aD = 0 + 0 (10 )( 76.042 ) sin
BD = 76.0 rad/s 2
(c) = 180.
v B = 42 in./s v D = vD
sin =
2.8 10
= 16.26
Instantaneous center of bar BD lies at point C.
BD =
vB 42 = = 4.375 rad/s BD cos 10cos
a B = 630 in/s 2
a D/B = ( BD ) BD = [10 BD
a D = aD
2 + ( BD ) BD
] + [191.406
a D = a B + a D/B
: 0 = 10 BD cos + 53.594
BD = 5.5826 rad/s 2
: aD = 630 + (10 )( 5.5826 ) sin + 183.75 = 829.4 in./s 2
BD = 5.58 rad/s 2
, a D = 829 in./s 2
Crank AB.
v A = 0, a A = 0, AB = 1500 rpm = 157.08 rad/s , AB = 0
v B = v A + v B/ A = 0 + [2 AB
a B = a A + a B/ A + a B/ A
= 0 + [2 AB
45] = 314.16 in./s
45
)t (
)n
45]
45
2 45] + [2 AB
= [(2)(157.08) 2
Rod BD.
45] = 49348 in./s 2

BD = BD
45] + [7.5 BD
v D = vD
45
v D = v B + v B/D
vD
Components
45 = [314.16
45
45]
45: 0 = 314.16 7.5 BD a D = aD

a D = a B + a D/B + a D/B
[ aD
BD = 41.888 rad/s
)t (
)n
45] + [7.5 BD
2 45] + [7.5 BD
45] = [49348
45]
Components
45: aD = 49348 + (7.5)(41.888) 2 = 62507 in./s 2 a D = 5210 ft/s 2

45
Rod BE.
sin =
v E = vE
2 , 7.5
= 15.466, = 45 = 29.534
45
Since v E is parallel to v B ,
BE = 0
a E = aE
45
2 ( aB/E )n = 7.5 BE = 0
( a E/B )t = ( aE/B )t
a E = a B + a B/E
)t
Draw vector addition diagram.
= 45 = 15.466
aE = aB tan
= 49348 tan15.466 = 13654 in./s 2
a E = 1138 ft/s 2
45
Geometry.
Triangle ABD is equilateral.
( AD ) = 180 mm
30, v D = vD
Velocity analysis.
AB = 5 rad/s ,
v B = vB
Locate point I, the instantaneous center of bar BD, by drawing IB perpendicular to v B and ID perpendicular to v D . Point I coincides with A.
vB = (0.18)(5) = 0.9 m/s
BD =
vB = 5 rad/s 0.18 vD = 5 rad/s 0.18
vD = 0.18 BD = 0.9 m/s
DE =
AB = 0
Bar AB. (Rotation about A)

2 a B = ( a B )t + ( a B )n = 0 + ( 0.18 ) AB
60 = 4.5 m/s 2
60
Bar BD.
BD
( Plane motion = Translation with B + Rotation about B )
a D = a B + a D/B + a D/B
)t (
)n
2 30] + [0.18 BD
= [4.5 = [4.5
60] + [0.18 BD
60] + [0.18 BD
60]
(1)
30] + [4.5
60]
Bar DE. (Rotation about E)
DE
]
(2)
2 a D = ( a D )t + ( a D )n = [0.18 DE ] + [0.18 DE
= [0.18 DE ] + [4.5
Match the expressions (1) and (2) for a D and resolve into components. :
4.5 = 2.25 + 0.18 BD cos 30 2.25
BD =
:
9 = 57.735 rad/s 2 0.18cos 30
0.18 DE = 3.8971 ( 0.18 )( 57.735 ) sin 30 3.8971
DE = 57.735sin 30 = 28.868 rad/s 2

(a) Angular acceleration of bar BD. (b) Angular acceleration of bar DE.
BD = 57.7 rad/s 2 DE = 28.9 rad/s 2
tan =
60 , 120
= 26.565,
DE =
120 = 134.164 mm cos
Velocity analysis.
AB = 4 rad/s
vB = ( AB ) AB = ( 200 )( 4 ) = 800 mm/s

v B = vB , v D = vD
Point C is the instantaneous center of bar BD.
BC =
BD 160 = = 320 mm tan tan BC = 357.77 mm cos
CD =
BD =
vB 800 = = 2.5 rad/s BC 320
vD = ( CD ) BD = ( 357.77 )( 2.5 ) = 894.425 mm/s
DE =
vD 894.425 = = 6.6667 rad/s DE 134.164
AB = 0,
AB = 4 rad/s

a B = ( AB ) AB
2 = 0 + ( 200 )( 4 )
2 + ( AB ) AB
2 = 3200 mm/s
a D/B = ( BD ) BD = [160 BD = [160 BD a D = ( DE ) DE = [134.164 DE
2 + ( BD ) BD
] + (160 )( 2.5)2
] + 1000 mm/s2
2 + ( DE ) DE
] + [5961.5
a D = a B + a D/B
: 134.164 DE cos + 5961.5sin = 0 1000
DE = 30.55 rad/s 2
: (134.164 )( 30.55 ) sin + 5961.5cos = 3200 + 160 BD (a ) (b)
BD = 24.8 rad/s 2 DE = 30.6 rad/s 2
Velocity analysis.
AB = 19 rad/s
vB = ( AB ) AB = ( 8 )(19 ) = 152 in./s
v B = vB , v D = vD
Instantaneous center of bar BD lies at C.
BD =
vB 152 = = 19 rad/s BC 8
vD = ( CD ) BD = (19.2 )(19 ) = 364.8 in./s
DE =
vD 364.8 = = 24 rad/s 2 DE 15.2
AB = 0.
2 = ( 8 )(19 )
2 a B = ( AB ) AB
= 2888 in./s

a D = ( DE ) DE = [15.2 DE
2 + ( DE ) DE
] + 8755.2 in./s2
( aD/B )t = [19.2 BD ] + [8 DB
2 ( aD/B )n = 19.2 BD
] ]

+ 8 2 BD
= 6931.2 in./s 2 a D = a B + a D/B

:
+ 2888 in./s 2
)t + ( aD/B )n
8755.2 = 0 + 8 BD + 6931.2
(a ) : (b)
BD = 228 rad/s 2
15.2 DE = 2888 + (19.2 )( 228 ) 2888
DE = 92 rad/s
DE = 92.0 rad/s 2
Velocity analysis.
DE = 18 rad/s
v D = ( DE ) DE = (15.2 )(18 ) = 273.6 in./s

v D = vD , v B = vB
BD =
vD 273.6 = = 14.25 rad/s 19.2 CD
vB = ( CB ) BD = ( 8 )(14.25 ) = 114 in./s
AB =
2 a D = ( DE ) DE
vB 114 = = 14.25 rad/s AB 8
DE = 0
2 = (15.2 )(18 )
= 4924.8 in./s 2

a B = ( AB ) AB = [8 AB
2 + ( AB ) AB
] + 1624.5 in./s2
+ [8 BD
( aD/B )t = [19.2 BD
2 ( aD/B )n = 19.2 BD
2 + 8 BD
= 3898.8 in./s 2 a D = a B + a D/B
2 + 1624.5 in./s
)t + ( aD/B )n
: 0 = 1624.5 19.2 BD + 1624.5,
BD = 169.21875 rad/s 2
: 4924.8 = 8 AB + ( 8 )(169.21875 ) + 3898.8
AB = 40.96875 rad/s 2
(a )
a B = ( 8 )( 40.96875 )
= 327.75 in./s 2
2 + 1624.5 in./s
+ 1624.5 in./s 2
a B = 138.1 ft/s 2 (b)

aG = a B + aG/B = a B +
= aB +
78.6
1 a D/B 2
1 1 (aD aB ) = (aB + aD ) 2 2
1624.5 + 2

327.75 + 4924.8 = 2
= 2298.5 in./s 2
+ 812.25 in./s 2
aG = 203 ft/s 2
19.5
Geometry.
Lengths are expressed in meters.
rB/ A = 0.150 i 0.200 j, rD/B = 0.300 i, rE/D = 0.150i + 0.200 j rH /B = 0.150i 0.200 j
Velocity analysis. Link AB.
AB = 4 rad/s
= 4 rad/s k
vA = 0
v B = v A + v B/ A = 0 + AB rB/ A
= ( 4k ) ( 0.150i 0.200 j) = ( 0.8 m/s ) i ( 0.6 m/s ) j
Cross BD.
BD = BDk
v D/B = BD rD/B = BDk ( 0.300i ) = 0.3 BD j
v D = v B + v D/B = 0.8i 0.6 j + 0.3 BD j

Link DE.
DE = DE k
v E/D = DE rE/D = DE k ( 0.150i + 0.200 j) = 0.2 DE i + 0.15 DE j
v E = v D + v E/D = 0.8i 0.6 j + 0.3 BD j 0.2 DE i + 0.15 DE j

Since point E is fixed, Components. i :
vE = 0
0 = 0.8 0.2 DE
DE = 4 rad/s
j:
(a)
0 = 0.6 + 0.3 BD + ( 0.15 )( 4 )
BD = 4
Acceleration analysis. Link AB.
AB = 0,
BD = 4 rad/s
AB = 4 rad/s
2 )n = 0 + 0 AB rB/A
aA = 0
a B = a A + a B/ A + aB/ A
)t (
= (16 )( 0.150i 0.200 j) = 2.4 m/s 2 i + 3.2 m/s 2 j
) (
Cross BD.
BD = BDk ,
BD = 4 rad/s
2 )n = BD rD/B BD rD/B
a D/B = a D/B + a D/B
)t (
= BDk ( 0.300i ) ( 4 ) ( 0.300i ) = 0.3 BD j 4.8 i
a D = a B + a D/B
= 7.2 i + 3.2 j + 0.3 BD j
Link DE.
DE = DE k
DE = 4 rad/s
2 )n = DE rE/D DErE/D
a E/ D = a E/ D + a E/ D
)t (
= DE k ( 0.150i + 0.200 j) ( 4 ) ( 0.150i + 0.200 j) = 0.15 DE j 0.2 DE i 2.4i 3.2 j
a E = a D + a E/D
= 0.3 BD j + 0.15 DE j 0.2 DE i 9.6i
Since point E is fixed, a E = 0 Components.
i: j:
0 = 0.2 DE 9.6 0 = 0.3 BD + ( 0.15 )( 48 )
DE = 48 rad/s 2
(b) (c)
BD = 24 rad/s 2
Acceleration of point H.
BD = 24.0 rad/s 2
a H = a B + a H /B + a H /B
)t (
)n
2
2 = a B + BD rH /B BD rH /B
= 2.4i + 3.2 j + 24k ( 0.150i 0.200 j) ( 4 ) ( 0.150i 0.200 j) = 10 j
a H = 10.00 m/s 2
Velocity analysis.
DE = 4 rad/s
vD = ( DE ) DE = ( 8 )( 4 ) = 32 in./s
v D = vD , vB = vD
45
Instantaneous center of bar BD lies at point B.
vB = 0
BD =
vD 32 = = 4 rad/s BD 8
AB =
vB =0 AB
DE = 10 rad/s 2
2 DE = 16 ( rad/s )
a D = ( DE ) DE = ( 8 )(10 )
= 80 in./s 2
2 + ( DE ) DE
+ ( 8 )(16 )
2 + 128 in./s
a B/D = ( DB ) BD
2 + ( DB ) BD
= [8 BD = [8 BD
] + (8)( 4 )2
] + 128 in./s2

45
a B = ( AB ) AB = [8 AB
2 45 + ( AB ) AB
45] + 0 Resolve into components.
a B = a D + a D/B
: 8cos 45 AB = 128 + 128, : (a )

aG/D = ( DG ) BD
AB = 45.255 rad/s 2
(8sin 45)( 45.255) = 80 8 BD

BD = 22.0 rad/s 2
2 + ( DG ) BD
2 + ( 4 )( 4 )
= ( 4 )( 22 )
= 88 in./s 2
2 + 64 in./s
(b)
aG = a D + aG/D = 168 in./s 2
2 + 192 in./s
= 255.1 in./s 2
41.2
aG = 21.3 ft/s 2
41.2
From the solution to Problem 15.68 the angular velocities are:

AB = 3 rad/s , BD = 4.85 rad/s , DE = 6 rad/s .
Bar AB.
rB/ A = ( 0.300 m ) i + ( 0.125 m ) j,

aA = 0
AB = 0
a B = a A + a B/ A + a B/ A
2
)t (
2 )n = 0 + AB rB/A AB rB/A
= 0 + 0 ( 3) ( 0.3i + 0.125j) = 2.7i 1.125j

Bar BD.
rD/B = ( 0.325 m ) j, BD = BDk
a D/B = a D/B + a D/B
)t (
)n = BDk ( 0.325j) ( 4.85)2 ( 0.325j)
= 0.325 BD i + 7.6448j
a D = a B + a D/B = 2.7i + 6.5198 j + 0.325 BDi
Bar DE.
rE/D = ( 0.150 m ) i + ( 0.200 m ) j,
DE = DE k
a E/ D = a E/ D + a E / D
)t (
2 )n = DEk rE/D DErE/D
= DE k ( 0.15i + 0.2 j) ( 6 ) ( 0.15i + 0.2 j) = 0.15 DE j 0.2 DE i + 5.4i 7.2 j

a E = a D + a E/ D
= 2.7i + 0.4448j + 0.325 BDi 0.15 DE j 0.2 DE i

Since point E is fixed, Components.
aE = 0
j: 0 = 0.6802 0.15 DE
DE = 4.5347
BD = 11.10 rad/s 2 DE = 4.53 rad/s 2
i : 0 = 2.7 + 0.325 BD ( 0.2 )( 4.534 )

(a) (b)
BD = 11.10
tan =
AB =
3 , = 36.87 4
4 = 5 in. cos 4 = 5 in. cos
DE =
vB = ( AB ) AB = ( 5 )(15 ) = 75 in./s
v B = vB
v D = vD
CB =
5 = 6.25 in. cos
BD =
vB 75 = = 12 rad/s CB 6.25
CD =
5 = 6.25 in. cos
vD = ( CD ) BD = ( 6.25 )(12 ) = 75 in./s
DE =
vD 75 = = 15 rad/s DE 5
AB = 0
2 + ( AB ) AB
a B = ( AB ) AB
2 = 0 + ( 5 )(15 )
= 1125 in./s 2
2 + ( BD ) BD
a D/B = ( BD ) BD
= [10 BD = [10 BD
+ (10 )(12 )2
+ 1440 in./s 2
a D = ( DE ) DE
2 + ( DE ) DE
= [5 DE = [5 DE
a D = a B + a D/B (a )
2 ] + ( 5 )(15 )
] + 1125 in./s 2
: 5 DE sin + 1125cos = 1125cos 1440
DE = 1080 rad/s 2
(b)
DE = 1080 rad/s 2
a D = ( 5 )( 1080 )
= 5400 in./s 2
+ 1125 in./s 2
+ 1125 in./s 2
tan =
1125 5400
= 11.77
aD =
54002 + 11252 = 5516 in./s 2

= 460 ft/s 2
90 + = 64.9 a D = 460 ft/s 2
64.9
Relative position vectors.
rB/ A = ( 200 mm ) j, rD/E = ( 60 mm ) i (120 mm ) j
rD/B = (160 mm ) i
Velocity analysis.
AB = ( 4 rad/s ) k
v B = AB rB/ A = ( 4k ) ( 200 j) = ( 800 mm/s ) i
v D/B = BD rD/B = BDk 160i = 160 BD j

v D = DE + rD/E = DE k ( 60i 120 j) = 120 DE i 60 DE j
v D = v B + v D/B i:
120 DE = 800 + 0
DE = 6.6667 rad/s BD = 2.5 rad/s
j: 60 DE = 160 BD + 0 Acceleration analysis.
AB = 0, AB = ( 4 rad/s ) k
2 a B = AB rB/ A ABrB/ A = 0 ( 4 ) ( 200 j) = 3200 mm/s 2 j
2 a D/B = BD rD/B BDrB/D = BDk (160i ) ( 2.5 ) (160i ) 2
= 160 BD j 1000 mm/s 2 i

2 a D = DE rD/E DE rD/E = DE k ( 60i 120 j) ( 6.6667 ) ( 60i 120 j) 2
= 120 DE i 60 DE j + 2666.7 mm/s 2 i + 5333.3 mm/s 2 j

a D = a B + a D/B i: j: (a ) (b) Resolve into components.
) (
120 DE + 2666.7 = 0 1000
DE = 30.556 rad/s 2 BD = 24.792 rad/s 2

BD = 24.8 rad/s 2 DE = 30.6 rad/s 2
60 DE + 5333.3 = 160 BD + 3200
Relative position vectors.
rB/ A = ( 4 in.) i ( 3 in.) j rD/B = (10 in.) i rD/E = ( 4 in.) i ( 3 in.) j
Velocity analysis.
AB = (15 rad/s ) k
v B = AB rB/ A = (15 k ) ( 4 i 3 j) = ( 45 in./s ) i + ( 60 in./s ) j
v D/B = BD rD/B = BDk 10 i = 10 BD j

v D = DE k rD/E = DE k ( 4 i 3 j) = 3 DE i 4 DE j
v D = v B + v B/D i: j:
3 DE = 45 + 0
DE = 15 rad/s BD = 12 rad/s
AB = (15 rad/s ) k
2
4 DE = 60 + 10 AB
AB = 0,
2 a B = AB rB/ A ABrB/ A = 0 (15 ) ( 4 i 3 j) = 900 in./s 2 i + 675 in./s 2 j

2 a D/B = BD rD/B BDrD/B = BDk (10 i ) (12 ) (10 i ) 2
) (
= 10 BD j 1440 in./s 2 i
2 a D = DE rD/E DE rD/E = DE k ( 4 i 3 j) (15 ) ( 4 i 3 j) 2
= 3 DE i 4 DE j + 900 in./s 2 i + 675 in./s 2 j

a D = a B + a D/B i:
(a) (b) Resolve into components.
) (
3 DE + 900 = 900 1440
DE = 1080 rad/s 2
DE = 1080 rad/s 2
a D = ( 3)( 1080 ) i ( 4 )( 1080 ) j + 900 i + 675 j = 2340 in./s 2 i + 4995 in./s 2 j
) (
a D = 5516 in./s 2
64.9
a D = 460 ft/s 2
64.9
(a) At the instantaneous center C,
vC = 0
v A = vC + rA/C = rA/C
v A = rA/C = 2rA/C
rA/C =
vA
= rC/ A vA
2
or
rC/ A =
vA
rC rA =
rC = rA +
vA
(b)
a A = aC + rA/C + v A/C
= aC k = aC vA
k (k v A ) + v A 2 = aC + v A + v A
Set aC = 0.
+ ( v A vC )
aA =
vA + vA
Geometry.
Let be the angle ADB as shown. By the law of cosines for triangle ABD
c 2 = ( 4b ) + b 2 ( 2)( 4b )( b ) cos (180 )

2
c 2 = b 2 (17 + 8cos )
(1)
c = b 17 + 8cos
Law of sines: c sin = b sin Also, c cos = 4b + b cos Velocity analysis. (2)
& Angular velocity of crank AB: = & Angular velocity of rod DE: DE = 2 4b & & & & 2c c = 8b 2 sin c= sin c & & & c cos + c sin = b cos
Differentiating (1), Differentiating (2),
( 4b + b cos )& +
4b 2 & b & sin sin = b cos c c
( 4b + b cos )& =
=
= =
b 2c 2 cos + 4b3 sin 2 & c2 (17 + 8cos ) cos + 4sin 2
17 + 8cos
& b
17 + 8cos & 1 + 4cos & = 17 + 8cos
( 4 + cos )(1 + 4cos ) b&
4 + 17 cos + 4cos 2 & b 17 + 8cos
DE =
1 + 4cos 17 + 8cos
From horizontal distances,
l sin = b (1 + sin ) & & l cos = b cos & =

From vertical distances,
b cos & l cos
y = l cos b cos
& & & y = l sin + b sin
= ( l sin )
b cos & + b sin & l cos

(1)
& = b [sin tan cos ]

Now, From geometry,
& y = vD ,
sin =
& =
b (1 + sin ) l
1/2
b2 2 cos = 1 2 (1 + sin ) l tan =
b (1 + sin ) sin = 1/2 cos l 2 b 2 (1 + sin )2
Substituting into (1),
b (1 + sin ) cos vD = b sin 1/2 2 l 2 b 2 (1 + sin )
From horizontal distances,
l sin = b (1 + sin )
& & l cos = b cos & = b cos & l cos
Set
& = = constant.
& = && = = = b cos l cos & & b cos sin cos sin l cos 2 b l b l & cos sin & sin 2 cos cos
cos sin b cos sin 2 l cos cos cos b 2 b cos 2 sin sin = l l cos3 cos
Now, From geometry,
(1)
&& = BD
sin =
1/2
b (1 + sin ) l
cos = 1 sin 2
1/2 1 2 2 l b 2 (1 + sin ) l
Substituting into (1), 2 b 2 b cos b (1 + sin ) l l sin BD = 3/2 1/2 2 l 2 l 2 b 2 (1 + sin )2 l b 2 (1 + sin )
BD =
b3 cos 2 (1 + sin )
l 2 b 2 (1 + sin )2
3/2
1/2 l 2 b 2 (1 + sin )2 b sin
x A = r ,
yA = r
xP = x A r sin
= r r sin
yP = y A r cos
= r r cos
=
& x A = v, x A = vt ,
xA r
& y A = 0,
& =
v r
vt r
vt v & & & xP = vx = r r cos = r 1 cos r r
vt vx = v 1 cos r vt v & & yP = v y = r sin = r sin r r

v y = v sin vt r
tan =
b xA
cot =
xA =u b
= cot 1 u
& =
&& =
& u 1 + u2
& & ( 2uu ) u
2 2
(1 + u )
&& u 1 + u2
But,
= &
u =
and
&& =
& & xA x v v & && , u = A = A, u = A = 0 b b b b
Then,
1+
( )
xA b
vA b
bv A , 2 b + xA
2
bv A b + x A2
2
( )( ) = 1 + ( )
2
xA b vA b xA b 2
2 2
0=
(b
2bx Av A2
2
2 xA
(b
2bx Av A2
2
+ x A2
sin =
(b
b
2 2 + xA
1/2
cos =
(b
xA
2 2 + xA
1/2
xB = l cos x A
lx A
2 b2 + xA
1/2
xA
lb
yB = l sin =
(b
3/2
2 + xA
1/2
& xB =
(b
& lx A
2
2 xA
1/2
(b
& lx A x A x A
2
2 xA
& xA =
(b
& lb 2 x A
2
2 xA
3/2
& xA
& yB =
(b
& lbx A x A
2 2 + xA
3/2
But,
& x A = v A ,
& xB = ( vB ) x ,
& y B = ( vB ) y = vA
( vB ) x
(b
=
lb 2v A
2 2 + xA
3/2
( vB ) y
(b
lbx Av A
2 2 + xA
3/2
yC =
vC =
b b cos = tan sin
( sin )( sin ) ( cos )( cos ) d = b d dyC =b dt dt sin 2 sin 2 dt
d v sin 2 v sin 2 = C = 0 = dt b b
Angular acceleration.
d d d 2v0 sin cos v0 sin 2 = = dt d dt b b
v = 2 0 sin 3 cos b
From geometry, y =
r sin
dy r cos d = dt sin 2 dt But, dy d = v0 and = dt dt v0 = r cos sin 2

v0 sin 2 r cos
=
d d d d = = dt d dt d
2 3 v0 2cos sin + sin = r cos 2
)v
2 3 2 v0 1 + cos sin = cos3 r
sin 2 r cos
0
v = 0 1 + cos 2 tan 3 r
Law of cosines for triangle ABE.
u 2 = l 2 + b 2 2bl cos (180 )
= l 2 + b 2 + 2bl cos
cos = tan =
l + b cos u b sin l + b cos
( l + b cos )( b cos )& + ( b sin )( b cos )& d ( tan ) = sec2 & = dt ( l + b cos )2
& =
( cos ) bl cos + b ( cos + sin )&

2 2 2 2
( l + b cos )2
=
But, Hence,
b ( b + l cos ) & bl cos + b 2 & = 2 2 u l + b 2 + 2bl cos
& = ,
& = BD ,
and
& vE = u
l + b 2 + 2bl cos
2
BD =
b ( b + l cos )
Differentiate the expression for u 2.
& & 2uu = 2bl sin

& vE = u =
bl sin l + b + 2bl cos

2 2
1/2
vE =
(l
bl sin
2
+ b + 2bl cos
1/2
b sin tan 1 l + b cos
Law of cosines for triangle ABE.
u 2 = l 2 + b 2 2bl cos (180 )
= l 2 + b 2 + 2bl cos
cos = tan = l + b cos u b sin l + b cos
( l + b cos )( b cos )& + ( b sin )( b cos )& d ( tan ) = sec2 & = dt ( l + b cos )2
& =
( cos ) bl cos + b ( cos + sin )&

2 2 2 2
( l + b cos )2
=
&& =
b ( b + l cos ) & bl cos + b 2 & = 2 2 u l + b 2 + 2bl cos
l + b + 2bl cos
b ( b + l cos )
2
&&
2
(l
l2
) ( bl sin ) b (b + l cos )( 2bl sin ) & ( l + b + 2bl cos ) bl ( l b ) sin b ( b + l cos ) && & + b + 2bl cos (l + b + 2bl cos )
2
+ b 2 + 2bl cos
But,
& = ,
&& & = = 0,
&& = BD bl l 2 b 2 sin l + b + 2bl cos

2 2
BD =
Define angles and as shown.
& = ,
= t
Since the wheel rolls without slipping, the arc OC is equal to arc PC.
r ( + ) = R
=
& =
r Rr
& r r = Rr Rr
r t Rr
xP = ( R r ) sin r sin
( vP ) x
& & & = xP = ( R r ) cos r cos
r t r = ( R r ) cos r ( cos t )( ) R r R r
( vP ) x
( vP ) y
r t = r cos cos t Rr
yP = R ( R r ) cos r cos
& & & = yP = ( R r ) sin + r sin
r t r = ( R r ) sin + r ( sin t )( ) R r R r
( vP ) y
r t = r sin + sin t Rr
Define angles and as shown.
& = ,
= t,
&& =0
Since the wheel rolls without slipping, the arc OC is equal to arc PC.
r ( + ) = R = 2r
=0
& = & = && && = = 0
xP = ( R r ) sin r sin = r sin r sin = 0

The path is the y-axis.
yP = R ( R r ) cos r cos = R r cos r cos
= R (1 cos )
& & v = yP = R sin
v = ( R sin t ) j
& && & a = v = R cos 2 sin = R 2 cos
a = R 2 cos t j
Geometry.
APB = 180 120 20 = 40

Law of sines.
b AP PB = = sin 40 sin 20 sin120
AP = 0.5321 b = 0.15963 m BP = 1.3473 b = 0.40419 m

Let P be the point on rod AD that coincides with P at the instant shown. Let u = u 60 be the velocity of P relative to rod AD.
v P = v P + v P/D = ( AP ) A
30 ] + [ u 60 ]
60]
= [1.5963 m/s
But collar P is attached to rod BP.
30 ] + [ u
= B
vP = ( BP ) B = 0.40419 B
v P = 0.40419 B
70
Equating the two vectors for vP gives the vector diagram shown. From the vector diagram,
0.40419 B =
(a)
1.5968 cos 40
B = 5.16 rad/s
u = 1.5968 tan 40 = 1.340 m/s
(b)
v P/AD = 1.340 m/s
60
Geometry.
= 30
AP = 250 = 288.68 mm cos 30
BP = 250 tan 30 = 144.34 mm

Velocity analysis. Rod AE.
A = 4 rad/s
B = 5 rad/s
Let P be the point on rod AE coinciding with the pin P.
vP = ( AP ) A = ( 288.68)( 4) = 1154.70 mm/s

v P = 1154.70 mm/s
v P/AE = vP/ AE
v P = v P + v P/AE
= [1154.70 mm/s
Rod BD. Let P be the point on rod BD coinciding with the pin P.
] + vP/ AE
vP = ( BP ) B = (144.34)( 5) = 721.69 mm/s

vP = 721.69 mm/s
vP/BD = vP/BD
vP = v P + v P/BD
= [ 721.69 mm/s
] + vP/BD ]
Equate the two expressions for vP and resolve into components. ( = 30) : 1154.70 sin 30 + vP/ AE cos 30 = 721.69 + 0
vP/ AE = 166.67 mm/s
v P/ AE = 166.67 mm/s
30
: 1154.70 + 0 = 721.69 sin 30 + vP/BD cos 30

vP/BD = 916.67 mm/s v P = [1154.70 30 ] + [166.67 30] v P/BD = 916.67 mm/s
= [ 721.69 mm/s
] + [916.67 mm/s ]
v P = 1167 mm/s
51.8
Coordinates.
x A = ( x A )0 + r , y A = r xB = 0, yB = r xC = x A , yC = 0 xP = x A + e sin yP = r + e cos
Data:
( xA )0
= 24 in.
r = 10 in. e = 7 in.
Velocity analysis.
AC = AC
, BD = BD ,
v P = v A + v P/ A = [ r AC
] + [e AC ]
v P = [ xP BD v P/F = [ u cos
] + ( e cos ) BD
] + [ u sin ]
Use v P = v P + v P/F and resolve into components.
: :
( r + e cos ) AC ( e sin ) AC
= ( e cos ) BD + ( cos ) u = xP BD ( sin ) u
(1) (2)
(a) = 0.
x A = 24 in.
xP = 24 in.
AC = 20 rad/s
tan =
e cos 7 = , xP 24
= 16.26
Substituting into Eqs. (1) and (2),
(10 + 7)( 20) = 7 BD + ( cos16.26) u

0 = 24 BD ( sin16.26) u Solving simultaneously,
(1) (2)
BD = 3.81 rad/s,
u = 326.4 in./s,
BD = 3.81 rad/s
v P/F = 27.2 ft/s
16.26
(b) = 90.
xP = 24 + (10) + 7 = 46.708 in. 2
=0
Substituting into Eqs. (1) and (2),
(10)( 20) = u
u = 200 in./s = 16.67 ft/s
(1)
( 7)( 20) = 46.708 BD

BD = 2.9973 rad/s,
BD = 3.00 rad/s
(2)
v P/F = 16.67 ft/s
Coordinates.
x A = ( x A )0 + r , y A = r xB = 0, yB = r xC = x A , yC = 0 xP = x A + e sin yP = r + e cos
Data:
( x A )0 = 24 in.
r = 10 in. e = 7 in.
Velocity analysis.
AC = AC
v P = v A + v P/ A = [ r AC
, BD = BD
] + [e AC ]
v P = [ xP BD v P/F = [ u cos ]
] + ( e cos ) BD
+ [ u sin ]
:
:
( r + e cos ) AC = ( e cos ) BD + ( cos ) u ( e sin ) AC = xP BD ( sin ) u
(1) (2)
= 30,
xP = 24 + (10 ) + 7sin30 = 32.736 in. 6

tan = 7 cos 30 32.736
= 10.491
Substituting into Eqs. (1) and (2)
(10 + 7 cos 30 )( 20 ) = ( 7 cos 30) BD + ( cos10.491) u ( 7 sin 30 )( 20 ) = 32.736 BD ( sin10.491) u

Solving simultaneously, u = 303.13 in./s
(1) (2)
BD = 3.82 rad/s
v P/F = 25.3 ft/s
10.49
EF = 10 rad/s
v E = rE/F EF
] = ( 0.375)(10 ) = 3.75 m/s. ] + [0.5 DE ]
v B = v E + v B/E = [3.75 m/s.
v B/ED = u
v B = v B + v B/ED = [3.75 m/s.
] + [0.5 DE ] + [u
] ] + [5.625 m/s. ]
v B = ( AB ) AB
0.375 45 = (15 ) cos 45
45 = [5.625 m/s
Equate the two expressions for v B and resolve into components.
:
:
3.75 + u = 5.625,
0.5 DE = 5.625,
u = 1.875 m/s.
DE = 11.25 rad/s
(a) (b)
DE = 11.25 rad/s
v B/DE = 1.875 m/s.
EF = 15 rad/s
v E = rE/F EF
= ( 0.375 )(15 ) = 5.625 m/s
v B = v E + v B/ED = [5.625 m/s
] + [0.5 DE ] = [5.625 m/s

v B/ED = u
] + [5 m/s ]
v B = v B + v B/ED = [ 5.625 m/s

v B = ( AB ) AB
] + [5 m/s ] + [u
] ] + [0.375 AB ]
0.375 AB 45 = cos 45
45 = [ 0.375 AB
Equate the two expressions for v B and resolve into components.

: :
5.625 + u = 0.375 AB
5 = 0.375 AB
(1)
AB =
5 = 13.333 rad/s 0.375
(a) From (1), (b)
AB = 13.33 rad/s
u = 5.625 ( 0.375 )(13.333) = 0.625 m/s v B/ED = 0.625 m/s
Bar AB.
(Rotation about A)
AB = 8 rad/s
v B = (12 )( 8 ) = 96 in./s
Rod EF.
(Rotation about E )
EF = 6 rad/s.
v D = (12 )( 6 ) = 72 in./s
Bar BD.
Assume angular velocity is BD . Plane motion = Translation with B + Rotation about B.
v D = v B + v D/B = [96
Collar D.
] + [ 24 BD ] + [12 BD ] + [u ]
(1)
Sliding on rotating rod EF with relative velocity u .
v D = v D + v D/EF = [ 72
Matching the expressions (1) and (2) for vD, Components (a) Components : (b)
24 BD = u
(2)
96 + 12 BD = 72
BD = 14
BD = 14.00 rad/s
u = ( 24 )( 14 ) = 336 in./s u = 28.0 ft/s
Bar AB.
(Rotation about A)
AB = 4 rad/s
v B = (1 ft )( 4 rad/s ) = 4 ft/s
Bar BD.
Angular velocity is BD . Plane motion = Translation with B + Rotation about B.
v D = v B + v D/B = [ 4
] + [ 2 BD ] + [1 BD
2 2
Magnitude of v D : vD = 20 ft/s
vD 2 = ( 4 + BD ) + ( 2 BD ) = ( 20 )
5 BD 2 + 8 BD 384 = 0
BD =
8 88 10
Positive root
BD = 8 rad/s
v D = [4
Rod EF.
] + ( 2 )(8) ] + (1)(8)
] = [12 ]
] + [16 ]
(1)
(Rotation about E)
Angular velocity = EF
v D' = (1) EF
Collar D. Slides on rotating rod EF with relative velocity u .
v D = v D' + v D/EF = [1 EF
Matching the expressions (1) and (2) for v D , (a) Component (b) Component : :
] + [u ]
EF = 12.00 rad/s
u = 16 ft/s
(2)
12 = 1 EF
16 = u
Body ACD rotates about point A with angular velocity
A = 1.6 rad/s
= (1.6 rad/s ) k
If the rod EF were not moving relative to body ACD, the velocity of point H currently at point H, would be
v H = A rH / A = 1.6k 600i = ( 0.96 mm/s ) j

The velocity of point H relative to H is
v H /H = 300 mm/s
(a) Velocity of tip H.
= ( 300 mm/s ) i
v H = v H + v H /H = ( 960 mm/s ) j + ( 300 mm/s ) i

v H = 1006 mm/s
Angular acceleration of body ACD:
72.6
A = 0
2
2 a H = A rH/A ArH / A = 0 (1.6 ) ( 600i )
= 1536 mm/s 2 i
Since the sliding motion of H relative to H occurs at constant velocity,
a H /H = 0
Coriolis acceleration.
ac = 2 A v H/H
ac = ( 2)(1.6k ) ( 300i ) = 960 mm/s 2 j

(b) Acceleration of tip H.
a H = a H + a H /H + a c
= 1536 mm/s 2 i + 0 + 960 mm/s 2 j
a H = 1811 mm/s 2
32.0
Body ACD rotates about point A with angular velocity
A = 1.6 rad/s = (1.6 rad/s ) k

If the rod EF were not moving relative to body ACD, the velocity of point G, currently at point G, would be
v1 = A rG/ A = 1.6k ( 600i + 400 j) G

= ( 640 mm/s ) i + ( 960 mm/s ) j
The velocity of point G relative to G is
vG/G = 300 mm/s

(a) Velocity of tip G.
= ( 300 mm/s ) i
vG = vG + vG/G = 640i + 960 j + 300i

= ( 340 mm/s ) i + ( 960 mm/s ) j
vG = 1018 mm/s
Angular acceleration of body ACD is A = 0.
2 aG = A rG/ A ArG/ A
70.5
= 0 (1.6 ) ( 600i + 400j) = 1536 mm/s 2 i 1024 mm/s 2 j

Since the sliding motion of G relative to G occurs at constant velocity,
) (
aG/G = 0
ac = 2 A vG/G
ac = ( 2)(1.6k ) ( 300i ) = 960 mm/s 2 j

(b) Acceleration of tip G.
aG = aG + aG/G + ac
= 1536i 1024 j + 0 + 960 j
= 1536 mm/s 2 i 64 mm/s 2 j
) (
aG = 1537 mm/s 2
2.4
For each pin: Acceleration of the coinciding point P of the plate. For each pin, a P = r 2 towards the center O.
Acceleration of the pin relative to the plate.
a P = a P + a P/F + ac
For pins P , P2 , and P4 , 1 For pin P3 ,

Coriolis acceleration ac .
a P/F = 0
a P/F = u2 r
For each pin ac = 2u with ac in a direction obtained by rotating u through 90 in the sense of , i.e. .
Then,
a1 = r 2 a 2 = r 2 a3 = r 2
a 4 = r 2
+ [ 2 u + [ 2 u
] ]
+ [ 2 u
a1 = r 2i 2 uj a 2 = 2 ui r 2 j
u2 + r
+ [ 2 u
u2 a3 = r 2 + + 2 u i r
a 4 = r 2 + 2 u j
For each pin:
Acceleration of the coinciding point P of the plate. For each pin a P = r 2 towards the center O.
Acceleration of the pin relative to the plate.
For pins P , P2 , and P4 , 1 For pin P3 ,

a P/F = 0
a P/F = u2 r
For each pin ac = 2u with ac in a direction obtained by rotating u through 90 in the sense of .
Then,
a1 = r 2 a 2 = r 2 a3 = r 2
a 4 = r 2
+ [ 2 u + [ 2 u
] ]
+ [ 2 u
a1 = r 2i + 2 uj a 2 = 2 ui r 2 j
u2 + r
+ [ 2 u
u2 a3 = 2 u r 2 i r
a 4 = r 2 2 u j
AP = 16 in. = 1.3333 ft,

Given: Find: Velocity of coinciding point P on rod AE.
BP = 16 2 in. = 1.3333 2 ft
AE = 6 rad/s
AE = 0, BD
v P/ AE = 8 ft/s , a P/BD.
a P/ AE = 0.
and
v P = ( AP ) AE = (1.3333)( 6 ) = 8 ft/s
Velocity of P relative to rod AE. Velocity of point P. Velocity of coinciding point P on rod BD.
= ( 8 ft/s ) i
v P/ AE = ( 8 ft/s ) j v P = v P + v P/ AE = ( 8 ft/s ) i + ( 8 ft/s ) j
v P = ( BP ) BD
Velocity of P relative to rod BD. Velocity of point P.
45 = 1.3333 2 BD
45 = 1.3333 BD i + 1.3333 BD j
v P/BD = ( cos 45 ) ui + ( sin 45 ) uj
v P = v P + v P/BD v P = 1.3333 BDi + 1.3333 BD j + ( cos 45 ) ui + ( sin 45 ) uj
Equating the two expressions for v P and resolving into components.
i: j:
Solving (1) and (2),
8 = 1.3333 BD + ( cos 45 ) u 8 = 1.3333 BD + ( sin 45 ) u

u = 8 2 ft/s, v P/BD = ( 8 ft/s ) i + ( 8 ft/s ) j
2
(1) (2)
BD = 0,
Acceleration of coinciding point P on rod AE.

2 a P = ( AP ) AE i ( AP ) AE j = 0 (1.3333)( 6 ) j = ( 48 ft/s 2 ) j
Acceleration of P relative to rod AE. Coriolis acceleration. Acceleration of point P.
a P/ AE = 0
2 AE v P/ AE = ( 2 )( 6k ) 8j = ( 96 ft/s 2 ) i
a P = a P + a P/ AE + 2 AE v P/ AE = ( 96 ft/s 2 ) i ( 48 ft/s 2 ) j Acceleration of coinciding point P on rod BD.

2 a P = BDk rP/B BDrP/B = 1.3333 BDi + 1.3333 BD j + 0
Acceleration of P relative to rod BD. Coriolis acceleration. Acceleration of point P.
a P/BD = ( cos 45 ) ar i + ( sin 45 ) ar j
2BD v P/BD = 0
a P = a P + a P/ AE + 2BD v P/BD
= 1.3333 BDi + 1.3333 BD j + ( cos 45 ) ar i + ( sin 45 ) ar j
Equating the two expressions for a P and resolving into components.
i: j:
Solving (3) and (4), (a) (b)
96 = 1.3333 BD + ( cos 45 ) ar
(3) (4)
48 = 1.3333 BD + ( sin 45 ) ar
BD = 54 rad/s 2 ,
ar = 24 2 ft/s
BD = 54 rad/s 2
a P/BD = 33.9 ft/s 2
45
AP = 16 in. = 1.3333 ft,

Given: Find: Velocity of coinciding point P on rod AE.
BP = 16 2 in. = 1.3333 2 ft
BD = 6 rad/s , BD = 0, v P/BD = 10.5 ft/s
45, a P/BD = 0.
AE
and
a P/ AE .
v P = ( AP ) AE = 1.3333 AE
Velocity of P relative to rod AE. Velocity of point P. Velocity of coinciding point P on rod BD.
= 1.3333 AE i
v P/ AE = uj v P = v P + v P/ AE = 1.3333 AE i + uj
v P = ( BP ) BD
Velocity of P relative to rod BD. Velocity of point P.
45 = 1.3333 2 ( 6 )
45 = ( 8 ft/s ) i + ( 8 ft/s ) j
v P/BD = ( 5.25 2 ft/s ) i ( 5.25 2 ft/s ) j
v P = v P + v P/BD = (15.4246 ft/s ) i + ( 0.57538 ft/s ) j
Equating the two expressions for v P and resolving into components.
i:
1.3333 AE = 15.4246
AE = 11.5685 rad/s
j:
u = 0.57538
v P/ AE = 0.57538 ft/s
Acceleration of coinciding point P on rod AE.

2 a P = AE k rP/ A AE rP/ A = 1.3333 AE i (1.3333)(11.5685) j 2
= 1.3333 AE i 178.440 j
Acceleration of P relative to rod AE. Coriolis acceleration. Acceleration of point P.
a P/ AE = ar j
2 AE k v P/ AE = ( 2 )(11.5685 )( 0.57538 ) i = (13.3126 ft/s2 ) i
a P = a P + a P/ AE + 2 AE v P/ AE a P = 1.3333 AE i + ar j + ( 13.3126i ) 178.440 j
Acceleration of coinciding point P on rod BD.

2 a P = BDk rP/B BDrB/D = 0 ( 6 ) (1.3333i + 1.3333j) = ( 48 ft/s 2 ) i ( 48 ft/s2 ) j 2
Acceleration of P relative to rod BD. Coriolis acceleration.
a P/BD = 0
2 BDvP/BD = ( 2 )( 6 )(10.5 ) = 126
45
= (126cos 45 ft/s 2 ) i (126sin 45 ft/s 2 ) j

Acceleration of point P.
a P = a P + a P/ AE + 2 BDvP/BD
a P = 48i 48j + 126cos 45i 126sin 45 j = ( 41.0955 ft/s 2 ) i (137.0955 ft/s 2 ) j

Equating the two expressions a P and resolving into components.
i: j:
(a) (b)
1.3333 AE 13.3126 = 41.0955

ar 178.440 = 137.0955
AE = 40.81 rad/s 2
ar = 41.345 ft/s 2
AE = 40.8 rad/s 2
a P/ AE = 41.3 ft/s 2
Earth makes one revolution ( 2 radians ) in 23.933 h = 86160 s.
=
Speed of sled.
2 = 72.926 106 rad/s j 86160
u = 600 mi/hr = 880 ft/s
Velocity of sled relative to the Earth.
v P/earth = 880 ( sin i + cos j)

ac = 2 v P/earth
ac = ( 2 ) 72.926 106 j 880 ( sin i + cos j) = 0.12835sin k

At latitude , = 40,
ac = 0.12835sin 40k
= 0.0825k ft/s 2
ac = 0.0825 ft/s 2 west
Earth makes one revolution ( 2 radians ) in 23.933 h (86160 s).
2 j = 72.926 106 rad/s j 86160
Velocity relative to the Earth at latitude angle .
v P/earth = 12.2 ( cos i sin j)

ac = 2 v P/earth = ( 2 ) 72.926 106 j 12.2 ( cos i sin j) = 1.7794 103

(a) = 0, cos = 1.000 (b) = 40, cos = 0.76604 (c) = 40, cos = 0.76604
) cos ) k
ac = 1.779 103 m/s 2 west ac = 1.363 103 m/s 2 west ac = 1.363 103 m/s 2 west
Geometry:
rP/ A = 16 3 in. i + (16 in.) j
Motion of coinciding point Pon rod AB.

v P = AB v P/ A = ( 5k ) 16 3i + 16 j = ( 80 in./s ) i + 80 3 in./s j
2 a P = AB rP/ A ABrP/ A = 0 ( 5 ) 16 3i + 16 j 2
= 400 3 in./s 2 i 400 in./s 2 j

Motion of collar P relative to rod AB.
) (
6 ft/s = 72 in./s
v P/ AB = 72cos 30i 72sin 30 j = 36 3 in./s i ( 36 in./s ) j,

a P/ AB = 0
2 AB v P/ AB
( 2 )( 5k ) ( 72cos 30i 72sin 30j) = ( 360 in./s 2 ) i ( 360

(a) Motion of collar P.
3 in./s 2 j
v P = v P + v P/ AB = 80i + 80 3 j 36 3i 36 j
= (142.35 in./s ) i + (102.56 in./s ) j,
v P = 14.62 ft/s
35.8
a P = a P + a P/ AB + 2 AB v P/ AB = 400 3i 400 j + 0 + 360i 360 3 j
= 332.82 in./s 2 i 1023.54 in./s 2 j,

(b) Motion of point D.
) (
a P = 89.7 ft/s 2
72.0
v D = v P + v D/P = 142.35i + 102.56 j + 8 PD j

v D = 16 DE i
Equating the two expressions for v D and resolving into components,
i:
142.35 = 16 DE
DE = 8.897 rad/s
j:
0 = +102.56 + 8 PD
PD = 12.820 rad/s
v D = 11.86 ft/s
v D = (16 )( 8.897 ) i = (142.35 in./s ) i
a D = a P + a P/D = a P + PDk 8i ( PD ) ( 8i )
= 332.82i 1023.54 j + 8 PD j 1314.82i

2 a D = DE k 16 j DE (16 ) j = 16 DE i 1266.5 j
Equating the two expressions for a D and resolving into components, i:
1647.64 = 16 DE ,
DE = 102.98 rad/s 2 PD = 30.375 rad/s 2
j:
1023.54 + 8 PD = 1266.5,
a D = (16 )(102.98 ) i 1266.5 j = 1647.7 in./s 2 i 1266.5 in./s 2 j
) (
a D = 173.2 ft/s 2
37.5
Geometry.
rP/ A = 16 3 in. i + (16 in.) j
Motion of coinciding point P on rod AB.

v P = AB rP/ A = ( 4k ) 16 3i + 16 j = ( 64 in./s ) i 64 3 in./s j
2 a P = AB rP/ A ABrP/ A = 0 ( 4 ) 16 3i + 16 j 2
= 256 3 in./s 2 i 256 in./s 2 j

Motion of collar P relative to rod AB.
) (
9.6 ft/s = 115.2 in./s
v P/ AB = 115.2 cos 30i 115.2sin 30 j = 57.6 3 in./s i ( 57.6 in./s ) j,

a P/ AB = 0
2 AB v P/ AB
3 m/s 2 j
( 2 )( 4k ) ( 115.2cos 30i 115.2sin 30j) = ( 460.8 in./s2 ) i + ( 460.8

Motion of collar P.
v P = v P + v P/ AB = 64i 64 3 j 57.6 3i 57.6 j
= ( 35.7661 in./s ) i (168.451 in./s ) j
a P = a P + a P/ AB + 2 AB v P/ AB = 256 3i 256 j + 0 460.8i + 460.8 3 j

= 904.205 in./s 2 i + 542.129 in./s 2 j
v D = v P + v D/P = 35.7661i 168.451j + 8 PD j
v D = 16 DE i
Equating the two expressions for v D and resolving into components,
) (
i:
j:
35.7661 = 16 DE ,
0 = 168.451 + 8 PD ,
DE = 2.2354 rad/s
PD = 21.0564 rad/s
a D = a P + a P/D = a P + PDk 8i PD
(8i )
= 904.205i + 542.129 j + 8 PD j 3546.98i

2 a D = DE k 16 j DE (16 ) j = 16 DE i 79.952 j
Equating the two expressions for a D and resolving into components,
i:
4451.18 = 16 DE ,
DE = 278.20 rad/s 2 PD = 77.76 rad/s 2

PD = 21.1 rad/s PD = 77.8 rad/s 2
, ,
j: 542.129 + 8 PD = 79.952,
(a) Angular velocities. (b) Angular accelerations.
DE = 2.24 rad/s DE = 278 rad/s 2
For each configuration Acceleration of coinciding point D.

2
rD/ A = ( 275 mm ) i + (100 mm ) j
a D = k rD/ A 2rD/ A
a D = 0 ( 2.4 ) ( 275i + 100 j) = (1584 mm/s 2 ) i ( 576 mm/s 2 ) j
Acceleration of point D relative to arm AB. Length CD.

Velocity of point D relative to the arm AB. Case (a) Case (b) Coriolis acceleration. Case (a) Case (b)
a D/ AB = 0
CD = 752 + 1002 = 125 mm
v D/ AB = ( 250 mm/s ) i
v D/ AB = 250 ( 75i + 100 j) = (150 mm/s ) i + ( 200 mm/s ) j 125
2 k v D/B
( 2 )( 2.4k ) 250i = (1200 mm/s2 ) j
( 2 )( 2.4k ) (150i + 200 j) = ( 960 mm/s 2 ) i + ( 720 mm/s2 ) j

a D = a D + a D/ AB + 2k v D/ AB
a D = 1584i 576 j + 1200 j = (1584 mm/s 2 ) i + ( 624 mm/s 2 ) j
aD =
Acceleration of nozzle D.
(a)
(1584 )2 + ( 624 )2
tan =
= 1702 mm/s 2
624 , 1584
= 21.5
a D = 1.702 m/s 2
21.5
(b)
a D = 1584i 576 j 960i + 720 j = ( 2544 mm/s ) i + (144 mm/s ) j
aD =
( 2544 )2 + (144 )2
tan =
= 2548 mm/s 2
144 , 2544
= 3.24
a D = 2.55 m/s 2
3.24
For each configuration Acceleration of coinciding point D.

2
rD/ A = ( 275 mm ) i + (100 mm ) j
a D = k rD/ A 2rD/ A
a D = 0 ( 2.4 ) ( 275i + 100 j) = 1584 mm/s 2 i 576 mm/s 2 j
) (
Acceleration of point D relative to arm AB. Length CD.

Velocity of point D relative to the arm AB. Case (a) Case (b) Coriolis acceleration. Case (a) Case (b)
a D/ AB = 0
CD = 752 + 1002 = 125 mm
v D/ AB = ( 250 mm/s ) i
v D/ AB =
250 ( 75i + 100 j) = (150 mm/s ) i ( 200 mm/s ) j 125
2 k v D/B
( 2 )( 2.4k ) ( 250i ) = (1200 mm/s 2 ) j

( 2 )( 2.4k ) ( 150i 200 j) = ( 960 mm/s 2 ) i ( 720 mm/s2 ) j
a D = a D + a D/ AB + 2k v D/ AB a D = 1584i 576 j 1200 j = (1584 mm/s ) i (1776 mm/s ) j
aD =
Acceleration of nozzle D.
(a)
(1584 )2 + (1776 )2
1776 , = 48.3, 1584
= 2380 mm/s 2
tan =
(b)
a D = 2.38 m/s 2
48.3
a D = 1584i 576 j + 960i 720 j = 624 mm/s 2 i 1296 mm/s 2 j

aD =
) (
( 624 )2 + (1296 )2
= 1438 mm/s 2
tan =
1296 , = 64.3, 624
a D = 1.438 m/s 2
64.3
Rod AB. (Rotation about A )
AB = 15 rad/s ,
AB = 0
vE = ( 0.4 sin 45 )(15 )
v E = 4.2426 m/s
( aE )t = ( 0.4sin 45)( 0 )
( aE )n = ( 0.4sin 45 )(15)2
Collar E. (Slides on rotating rod AB)
( a E )t = 0
( a E )n = 63.64 m/s2
u = 3 m/s , ] + [3 ]
& u=0
v E = v E + v E/ AB = [4.2426
Coriolis acceleration:
2 ABu = ( 2 )(15 )( 3) = 90 m/s ac = 90 m/s 2
a E = a E + a E/ AB + ac
& = [63.64 ] + [u ] + [90
Rod DE. Angular velocity and acceleration:
v D = vD , a D = aD
] = [63.64 ] + [90
DE , DE
Plane motion = Translation with E + Rotation about E. v D = v E + v D/E

[vD
Components :
] = [4.2426
] + [3 ] + [0.4 DE
45]
0 = 3 + 0.4 DE sin 45
DE = 10.6066
a D = a E + a D/E = a E + a D/E + a D/E

[ aD
)t (
)n
2 45] + [0.4 DE
] = [63.64 ] + [90
] + 0.4 DE
45]
Components : 0 = 63.64 + 0.4 DE sin 45 45sin 45
DE = 112.5 rad/s 2
(a) (b) Angular velocity of rod DE. Angular acceleration of rod DE. DE = 112.5 rad/s 2 DE = 10.61 rad/s
Rod AB.
(Rotation about A )
AB = 10 rad/s ,
AB = 0
vE = ( 0.4 sin 45 )(10 )
v E = 2.8284 m/s
( aE )t = ( 0.4sin 45)( 0 ) ( aE )n = ( 0.4sin 45 )(10 )2

Collar E. (Slides on rotating rod AB)
( a E )t = 0 ( a E )n = 28.284 m/s2
u = 2 m/s , ] + [2 ]
& u=0
v E = v E + v E/ AB = [2.8224
Coriolis acceleration:
2 ABu = ( 2 )(10 )( 2 ) = 40 m/s 2
ac = 40 m/s 2 a E = a E + a E/ AB + ac
& = [28.284 ] + [u ] + [40
Rod DE. Angular velocity and acceleration:
] = [28.284 ] + [40
DE , DE
v D = vD
a D = aD
Plane motion = Translation with E + Rotation about E. v D = v E + v D/E

[vD
] = [2.8284
] + [2 ] + [0.4 DE
45]
Components : Components :
0 = 2 + 0.4 DE sin 45
DE = 7.0711
vD = 4.8284
vD = 2.8284 + ( 0.4 )( 7.07011) cos 45
a D = a E + a D/E = a E + a D/E + a D/E

[ aD
)t (
)n
2 45] + [0.4 DE
] = [28.284 ] + [40
] + [ 0.4 DE
45]
Components : 0 = 28.284 + 0.4 DE sin 45 20sin 45
DE = 50 rad/s
Components :
aD = 40 + ( 0.4 )( 50 ) cos 45 + 20cos 45
D = 40
(a) (b) Velocity of collar D. Acceleration of collar D.
v D = 4.83 m/s
a D = 40.0 m/s 2
= 6 rad/s
= 0,
u2
u = 180 mm/s = 0.18 m/s,
& u =0
= 200 mm,
(180 )2
200
= 162 mm/s 2 = 0.162 m/s 2
2 = 36 rad 2 /s 2 ,
(a) Point A.
2 u = ( 2 )( 6 )(180 ) = 2160 mm/s 2 = 2.16 m/s 2
rA = 0,
a A = 0, a A/F =
v A/F = 0.18 m/s

u2
= 0.162 m/s 2 = 2.16 m/s 2
2 u
a A = a A + a A/F + [ 2 u
(b) Point B.
] = 2.322 m/s2
45, v B/F = 0.18 m/s
45
a A = 2.32 m/s 2
rB = 0.2 2 m
a B = 2rB = ( 36 ) 0.2 2
a B/F =
45 = 7.2 2 m/s 2
u2
= 0.162 m/s 2
2 u = 2.16 m/s 2
a B = a B + a B/F + [ 2 u
] = 9.522 m/s2
2 + 7.2 m/s
a B = 11.94 m/s 2
(c) Point C.
37.1
rC = 0.4 m ,
vC/F = 0.18 m/s
aC = 2rC = ( 36 )( 0.4
aC/F =
) = 14.4 m/s2
u2
= 0.162 m/s 2
2 u = 2.16 m/s 2
aC = aC + aC/F + [ 2 u
] = 16.722 m/s2
aC = 16.72 m/s 2
= 20 rpm =
Uniform rotational motion.
( 20 )( 2 )
60
2 rad/s, 3
= 0,
= 90 =
radians
= 0 + t
t =
0 =
2 2 3
= 0.75 s
r = r0 + ut
Uniform motion along rod .

u = r r0 20 10 40 in./s, = = t 0.75 3
v P/ AB =
40 in./s 3
Acceleration of coinciding point P on the rod.
(r
2
= 20 in.)
a P
80 2 2 = r = ( 20 ) in./s 2 = 9 3
2
= 87.730 in./s 2
a P/ AB = 0
Acceleration of collar P relative to the rod .

2 40 2 2 v P/ AB = 2 u = ( 2 ) = 55.851 in./s 3 3
a P = a P + a P/ AB + 2 v P/ AB
a P = 87.730 in./s 2 + 55.851 in./s 2
57.5
Acceleration of collar P.
a P = 104.0 in./s 2
aP = 104.0 in./s 2
Given:
v B = 75 mm/s aB = 0
b = 150 mm
Definitions:
, =
= 90
AB = 2b cos
Point B is point on rod AD that currently coincides with pin B. Velocity analysis
v B = vB
v B = v B + v B/ AD
v B = ( AB ) = ( 2b cos ) v B/ AD = v B/ AD
[vB
] = [( 2b cos ) ] + [vB/ AD
Components.
: vB cos = ( 2b cos ) sin + 0

=
:
vB 2b sin
(1)
0 = ( 2b cos ) vB/ AD cos
v B/ AD = 2b =
vB sin
(2)
a B = a B + a B/ AD + ac
aB = 0
a B = [( AB) ] + ( AB)[ 2
] = [(2b cos ) ] + [(2b cos ) 2
a B/ AD = [(aB/ AD )t
] + [(aB/ AD )n
] +
2 vB 2 b sin
] = [(aB/ AD )t

] +
2 vB/ AD
= [(aB/ AD )t
ac = [2 vB/ AD
Components.
] =
2 vB 2 b sin
2 2 vB vB + b sin 2 b sin 2
: 0 = (2b cos ) sin (2b cos ) 2 cos + 0

= 2
Data:
cos sin
(3)
vB = 75 mm/s, b = 150 mm, = 110
= 90 55 = 35
(a) From (1),
75 = 0.43586 rad/s ( 2 )(150 ) sin 35
= 0.436 rad/s
(b) From (3),
= ( 0.43586 )
cos 35 = 0.271 rad/s 2 sin 35
= 0.271 rad/s 2
Given:
v B = 75 mm/s
aB = 0
b = 150 mm
Definitions:
, =
= 90
AB = 2b cos
Point B is point on rod AD that currently coincides with pin B. Velocity analysis
v B = v B + v B/ AD
v B = vB
v B = ( AB ) = ( 2b cos ) v B/ AD = v B/ AD
[vB
] = [( 2b cos ) ] + [vB/ AD
Components.
: vB cos = ( 2b cos ) sin + 0

=
:
vB 2b sin
(1)
0 = ( 2b cos ) vB/ AD cos
v B/ AD = 2b =
vB sin
(2)
a B = a B + a B/ AD + ac
aB = 0
a B = [( AB) ] + ( AB)[ 2
] = [(2b cos ) ] + [(2b cos ) 2
a B/ AD = [(aB/ AD )t
] + [(aB/ AD )n
] +
2 vB 2 b sin
] = [(aB/ AD )t

] +
2 vB/ AD
= [(aB/ AD )t
ac = [2 vB/ AD
Components.
] =
2 vB 2 b sin
2 2 vB vB + b sin 2 b sin 2
: 0 = (2b cos ) sin (2b cos ) 2 cos + 0

= 2
Data:
cos sin
(3)
vB = 75 mm/s, b = 150 mm, = 90
= 90 45 = 45
(a) From (1),
75 = 0.35355 rad/s ( 2 )(150 ) sin 45
= 0.354 rad/s
(b) From (3),
= ( 0.35355)
cos 45 = 0.1250 rad/s 2 sin 45
= 0.1250 rad/s 2
Coordinates.
x A = ( x A )0 + r , xB = 0, xC = x A , yB = r yC = 0 yP = r + e cos
= 24 in.
yA = r
xP = x A + e sin ,
Data:
( x A )0
r = 10 in. e = 7 in.
=0
Velocity analysis.
AC = 20 rad/s
,
xP = 24 in. BD = BD
v P = ( r + e ) AC
= (10 + 7 )( 20 ) = 340 in./s
v P = [ xP BD
v P/F = [u cos
] + [e BD
e 7 = xP 24
] + [u sin ]
tan =
= 16.260
: 340 = 7 BD + u cos : 0 = 24 BD u sin
(1) (2)
u = 326.4 in./s
Solving (1) and (2),
BD = 3.8080 rad/s,
AC = 0,
aA = 0
BD = BD
2 a P/ A = r AB = ( 7 )( 20 ) = 2800 in./s 2 2
a P = a A + a P/ A = 2800 in./s 2 a P = xP BD
= 24 BD
+ [ e B
+ [ 7 BD
2 + [ xP BD
2 + e BD
+ ( 24 )( 3.8080 ) + [348.021 in./s 2
+ ( 7 )( 3.8080 )
= 24 BD
& a P/F = [u cos
+ [ 7 BD + [u sin &
+ [101.506 in./s 2
Coriolis acceleration. 2 BDu = ( 2 )( 3.8080 )( 326.4 ) = [ 2485.86 in./s 2 Use a P = a P + a P/F + 2 BD u
] and resolve into components.
& : 0 = 7 BD 348.021 + u cos + 2485.86sin

or
& 7 BD + u cos = 348.02 & : 2800 = 24 BD + 101.506 u sin + 2485.86 cos
(3)
or Solving (3) and (4), (a) (b)
& 24 BD u sin = 312.07
(4)
& u = 421.48 in./s
BD = 8.09 rad/s,
BD = 8.09 rad/s 2
a P/F = 35.1 ft/s 2
16.26 !
Coordinates.
x A = ( x A )0 + r , xB = 0, xC = x A , yB = r yC = 0 yP = r + e cos
= 24 in.
yA = r
xP = x A + e sin ,
Data:
( x A )0
r = 10 in. e = 7 in.
= 90
Velocity analysis.
xP = 24 + (10 ) + ( 7 ) = 46.708 in., 2

AC = 20 rad/s
,
=0
BD = BD
v P = v A + v P/ A
= [ r AC
] + [e AC ]
+ ( 7 )( 20 )

= (10 )( 20 ) = [ 200 in./s

v P = x p BD = 46.708 BD
] + [140 in./s ]
, v P/F = u

: 200 = u
u = 200 in./s.
: 140 = 46.708 BD
BD = 2.9973 rad/s
BD = BD
2
a A = 0,
AC = 0,
2 a P/ A = r AB = ( 7 )( 20 ) = 2800 in./s 2
a P = a A + a P/ A = 2800 in./s 2 a P = xP BD
2 + xP BD
= [ 46.708 BD
+ ( 46.708 )( 2.9973)
= 46.708 BD
+ 419.616 in./s 2
& a P/F = u
Coriolis acceleration Use a P = a P + a P/F + 2 Bu
2 BDu = ( 2 )( 2.9973)( 200 ) = 1198.92 in./s 2 and resolve into components.
& : 2800 = 419.616 + u,

: 0 = 46.708 BD + 1198.92
& u = 2380.4 in./s 2 ,

BD = 25.7 rad/s 2 BD = 25.7 rad/s 2
! !
(a) (b)
a P/F = 2380 in./s 2
a P/F = 198.4 ft/s 2
Geometry.
tan =
l AE =
5 , 10
= 26.565
10 = 11.1803 in. cos

, BD = BD
Velocity analysis.
AB = 12 rad/s
v B = ( AB ) AB = ( 5 )(12 ) = 60 in./s v E = v B + ( BE ) BD
= [ 60
] + [11.1803 BD
],
v E/BD = [u
vE = 0
Use v E = v E + v E/BD and resolve into components.

+ +
: 0 = 60sin + 11.1803 BD , : 0 = 60cos u,

] + (11.1803)( 2.400 )
2
BD = 2.400 rad/s
u = 53.666 m/s
v E = [ 60
= 53.7 in./s
63.4
2 a B = ( AB ) AB = ( 5 )(12 ) = 720 in./s 2
a E = a B + ( BE ) BD
2 + ( BE ) BD
= [ 720
] + [11.1803 BD
& a E/BD = [u
] + [ 64.399
aE = 0
2 BDu = ( 2 )( 2.400 )( 53.666 ) = [ 257.60
Use a E = a E + a E/BD + [ 2 BD u
+
] and resolve into components. : 0 = 720cos + 11.1803 BD + 257.60 BD = 34.56 rad/s 2
& : 0 = 720sin + 64.399 u,
& u = 257.59 in./s 2
a E = [ 720
] + (11.1803)( 34.56 )
] + [ 64.399 ]
= [ 720 = 365 in./s 2

Summary: (a) (b)
] + [386.39
18.4
] + [ 64.399
BD = 2.40 rad/s
v E = 53.7 in./s
, 63.4,
BD = 34.6 rad/s 2
a E = 365 in./s 2
18.4
Geometry. Pin B :
R = 18 in.,
= 30,
v B = vB ,
AB =
18 = 20.7846 in. cos 30
a B = aB
Let rod AC be a rotating frame of reference.
= 6 rad/s, = 4 rad/s 2
30]
30
v B = ( AB ) = [ 20.7846 a B = [ 20.7846
Motion of B relative to the frame.
30] + 20.7847 2
& a B/ AC = [u
v B/ AC = [u
30] ,
30
Velocity Analysis.
vB
v B = v B + v B/ AC ,
= 6 rad/s
30]
[ = 20.7846
30] + [u
: 0 = ( 20.7846 )( 6 ) sin 30 + u cos 30

u = 72.000 in./s,
: vB = ( 20.7846 )( 6 ) cos 30 + 72.000sin 30

vB = 144.000 in./s v B = 144.0 in./s
2 u = ( 2 )( 6 )( 72.000 ) = 864 in./s 2

a B = a B + a B/ AC + [ 2 u 30] ,
30
= 4 rad/s 2
30 + [1728
[ aB
] = [ 20.7846
= [83.1384 = [947.14
30] + 20.7847 2
& 30] + [u & 30 + [u
30]
30] + [ 748.246 30] + [ 748.246
30 + [864 30
30]
& 30] + [u
& : 0 = 947.14sin 30 748.246 cos 30 + u cos 30

& u = 1295.51 in./s 2
: aB = 947.14 cos 30 748.246sin 30 + 1295.51sin 30

= 1094 in./s 2
a B = 1094 in./s 2
Geometry. Law of cosines.
r 2 = 1.252 + 2.502 ( 2 )(1.25 )( 2.50 ) cos 30 r = 1.54914 in.

Law of sines.
sin sin 30 = 1.25 r
= 23.794
Let disk S be a rotating frame of reference. Motion of coinciding point P on the disk.
v P = r S = 1.54914 S
2 a P = S k rP/O S rP/O = [1.54914 S
= S
& = S
2 ] + 1.54914 S
Motion relative to the frame.
v P/S = u
& a P/S = u
2 S u
] + [u
v P = v P + v P/S = [1.54914 S
a P = a P + a P/S + 2 S u
= [1.54914 S
Motion of disk D. (Rotation about B)
2 ] + 1.54914 S
& + [u
+ [ 2 S u
30
v P = ( BP ) D = (1.25 )( 8 ) = 10 in./s
a P = ( BP ) D
= 80 in./s 2
2 60 + ( BP ) S
2 30 = 0 + (1.25 )( 8 )
30
30
Equate the two expressions for v P and resolve into components.
: 1.54914 S = 10 cos ( 30 + ) S =
10cos 53.794 = 3.8130 rad/s 1.54914
S = 3.81 rad/s
: u = 10sin ( 30 + ) = 10sin 53.794 = 8.0690 in./s

Equate the two expressions for a P and resolve into components.
: 1.54914 S 2 S u = 80sin ( 30 + ) S =
80sin 53.794 + ( 2 )( 3.8130 )( 8.0690 ) 1.54914
= 81.4 rad/s 2 S = 81.4 rad/s 2
Geometry. Law of cosines.
r 2 = 1.252 + 2.502 ( 2 )(1.25 )( 2.50 ) cos 45 r = 1.84203 in.

Law of sines.
sin sin 45 = 1.25 r
= 28.675
Let disk S be a rotating frame of reference. Motion of coinciding point P on the disk.
= S
& = S
v P = r S = 1.84203 S
2 a P = S k rP/O S rP/O = [1.84203 S
2 ] + 1.84203 S
v P/S = u
& a P/S = u
2 S u
]
+ [ 2 S u
30
] + [u
v P = v P + v P/S = [1.84203 S
a P = a P + a P/S + 2 S u
= [1.84203 S
Motion of disk D. (Rotation about B)
2 ] + 1.84203 S
& + [u
v P = ( BP ) D = (1.25 )( 8 ) = 10 in./s
a P = ( BP ) D
= 80 in./s 2
2 45 + ( BP ) S
2 45] = 0 + (1.25 )( 8 )
45
45
: 1.84203 S = 10cos ( 45 + ) S =
10cos 73.675 = 1.52595 rad/s 1.84203
S = 1.526 rad/s
: u = 10sin ( 45 + ) = 10sin 73.675 = 9.5968 in./s

: 1.84203 S 2 S u = 80sin ( 45 + ) S =
80sin 73.675 + ( 2 )(1.52595 )( 9.5968 ) 1.84203
= 57.6 rad/s 2 S = 57.6 rad/s 2
Geometry. = 30
AP =
250 = 288.68 mm cos 30
BP = 250 tan 30 = 144.34 mm

Velocity analysis.
A = 4 rad/s , B = 5 rad/s
See Solution of Problem 15.149, which obtains
v P/ AE = 166.67 mm/s v P/BD = 916.67 mm/s
30
Acceleration analysis. A = 0, B = 0 Rod AE. Let P be the point on rod AE coinciding with the pin P.
( aP )t = ( AP ) A = 0
2 ( aP )n = ( AP ) A = ( 288.68)( 4 )2 = 4618.9 mm/s2
a P = 4618.9 mm/s 2 a P/ AE = aP/ AE

30
30
Coriolis acceleration: ( ac ) AE = 2 AvP/ AE
= ( 2 )( 4 )(166.67 ) = 1333.3 mm/s 2
( ac ) AE = 1333.3 mm/s2
= 4618.9 mm/s 2
60
a P = a P + a P/ AE + ( ac ) AE
30] + aP/ AE
30] + 1333.3 mm/s 2
60
Rod BD. Let P be the point on rod BD coinciding with the pin P.
( aP )t = ( BP ) B = 0
2 ( aP )n = ( BP ) B = (144.34 )( 5)2 = 3608.5 mm/s2
( a P ) = 3608.5 mm/s2
a P/BD = aP/BD
Coriolis acceleration. ( ac ) BD = 2 B vP/BD
= ( 2 )( 5 )( 916.67 ) = 9166.7 mm/s 2
( ac )BD = 9166.7 mm/s2

a P = a P + a P/BD + ( ac ) BD
= [3608.5
] + aP/BD ] + 9166.7 mm/s2
: 4618.9cos 30 + aP/ AE cos 30 + 1333.3cos 60

= 0 + 0 9166.7
aP/ AE = 6735.7 mm/s 2
a P/ AE = 6735.7 mm/s 2
30
60: 0 + 0 + 1333.3 = 3608.5sin 60 aP/BD sin 60 9166.7 cos 60 aP/BD = 3223.4 mm/s
Using a P from rod AE.
a P/BD = 3223.4 mm/s
a P = 4618.9
30 + 6735.7
30 + 1333.3
60
= 9166.7 mm/s 2
Check using a P from rod BD.
] + 6832.0 mm/s2 ]
a P = [3608.5
] + [3223.4 ] + [9166.7
36.7
]
a P = 11.43 m/s 2
36.7
= 9166.7 mm/s 2
] + 6831.9 mm/s2 ]
a P = 11430 mm/s 2
Position of A. Velocity of A.
rA = (100 mm ) i + ( 250 mm ) j ( 300 mm ) k

v A = (10 mm/s ) i + ( v A ) y j + (80 mm/s ) k
v A = rA
Since vA is perpendicular to rA, the scalar product
rA v A = 0
rA vA = (100)(10) + ( 250) ( v A ) y ( 300)(80) = 0
( vA ) y = 100 mm/s
Radius of ball: 4.3 in. = 0.35833 ft At the given instant, the origin is not moving.
i v A = rA : 14.4i 14.4 j + 10.8k =
z
0
0.35833 0.35833
14.4i 14.4 j + 10.8k = 0.35833 z i + 0.35833 z j + 0.35833 x y k
i : 0.35833 z = 14.4 j: 0.35833 z = 14.4
z = 40.186 rad/s z = 40.186 rad/s x y = 30.140 rad/s

i j k
k : 0.35833 x y = 10.8
v D = rD : 28.8i + 21.6k = x 0
y
0.71667
z
0
28.8i + 21.6k = 0.71667 z i + 0.71667 xk
i : 0.71667 z = 28.8 k: 0.71667 x = 21.6
z = 40.186 rad/s x = 30.140 rad/s

= ( 30.1 rad/s ) i ( 40.2 rad/s ) k
y = x 30.140 = 0
(a) Angular velocity. (b) Velocity of point C.
vC = rC = ( 30.140i 40.186k ) 0.35833j
= 14.4i + 10.8k
vC = (14.4 ft/s ) i + (10.8 ft/s ) k
At the given instant, the origin is not moving.
v B = rB : 10.8i 14.4 j + 14.4k = x y z 0 0.35833 0.35833

10.8i 14.4 j + 14.4k = 0.35833 y z i 0.35833 x j + 0.35833 xk
i : 0.35833 y z = 10.8 j: 0.35833 x = 14.4 k : 0.35833 x = 14.4
y z = 30.140 rad/s x = 40.186 rad/s
x = 40.186 rad/s
i j k
v D = rD : 21.6i + 28.8k = x 0
y
0.71667
z
0
21.6i + 28.8k = 0.71667 z i + 0.71667 xk

i : 0.71667 z = 21.6 k: 0.71667 x = 28.8
z = 30.140 rad/s x = 40.186 rad/s
y = 30.140 + z = 0
(a) Angular velocity. (b) Velocity of point C.
vC = rC = ( 40.186i 30.140k ) ( 0.35833j)
= ( 40.2 rad/s ) i ( 30.1 rad/s ) k
= 10.8i + 14.4k
vC = (10.8 ft/s ) i + (14.4 ft/s ) k
Total angular velocity.
= 2 j + 1k = ( 4 rad/s ) j + ( 5 rad/s ) k
Frame Oxyz is rotating with angular velocity = 1k.
& & = = Oxyz +
= 0 + 1k ( 2 j + 1k ) = 1 2i = ( 5 )( 4 ) i = 20i = 20.0 rad/s 2 i
1 = ( 450 rpm ) i = (15 rad/s ) i 2 = ( 3 rpm ) j = ( 0.100 rad/s ) j
Let the frame Oxyz rotate with the motor housing. Rate of rotation of frame Oxyz : Angular acceleration.
& & & & = 1 + 2 = ( 1 + 2 )Oxyz + ( 1 + 2 )
= 2 = ( 0.100 rad/s ) j
= ( 0 + 0 ) + ( 0.100 j) ( 15 i 0.100 j)
= 1.500 2k
= 14.80 rad/s 2 k
Let s be the spin of gear A about the axle AD.
= 1j + s ( sin i + cos j)
(1)
rC = ( L sin r cos ) i ( L cos + r sin ) j Since gear B is fixed, vC = 0.

vC = rC = i s sin
( L sin
r cos )
(1 + s cos ) 0 = 0 ( L cos + r sin ) 0
s sin ( L cos + r sin ) s cos ( L sin r cos ) k 1 ( L sin r cos ) k = 0
s r sin 2 + cos 2 = s r = 1 ( L sin r cos )
s = 1 sin cos
(a) Angular velocity.
L = 1j + 1 sin cos ( sin i + cos j) r
L L = 1 sin cos sin i + sin + cos j r r
L r
(b) Angular acceleration.

Frame Oxyz is rotating with angular velocity = 1j.
& & = = Oxyz +

L L = 0 + 1j 1 sin cos sin i + cos + sin j r r
L 2 = 1 sin sin cos k r
Let s be the spin of gear A about the axle AD.
= 1j + s ( sin i + cos j)
rC = ( L sin r cos ) i ( L cos + r sin ) j

Since gear B is rotating with angular velocity 2 j, on gear B,
vC = 2 j rC/B = 2 ( L sin r cos ) k
On gear A
vC = rC =
( L sin
i s sin
(1 + s cos ) r cos ) ( L cos + r sin )
k 0 0
vC = s sin ( L cos + r sin ) s cos ( L sin r cos ) k 1 ( L sin r cos ) k

Equating the two expressions for vC and solving for s ,
s = (1 2 ) sin cos
L = 1j + (1 2 ) sin cos ( sin i + cos j) r
L r
L L L = 1 sin cos sin i + sin + cos j + 2 cos sin ( sin i + cos j) r r r

Frame Oxyz is rotating with angular velocity = 1j.
& & = = Oxyz +

L = 0 + 1j = 1 (1 2 ) sin cos k r L = 1 (1 2 ) sin cos k r
Angular velocity.
= 1i + 2k = ( 5 rad/s ) i + ( 4 rad/s ) k
(a) Angular acceleration.

Frame Oxyz is rotating with angular velocity = 1i .
& & = = Oxyz +

= 0 + 1i (1i + 2k ) = 1 2 j = ( 4 )( 5 ) j = 20 j = 20.0 rad/s 2 j
(b) = 0. Acceleration of point P.

rP = ( 60 mm ) i = ( 0.06 m ) i v P = rP = ( 5i + 4k ) 0.06i = 0.24 j a P = rP + v P = 20 j 0.06i + ( 5i + 4k ) 0.24 j = 1.2k + 1.2k 0.96i = 0.96i + 2.4k
a P = 0.960 m/s 2 i + 2.40 m/s 2 k
) (
(c) = 90. Acceleration of point P.

rP = ( 0.06 m ) j v P = rP = ( 5i + 4k ) 0.06 j = 0.24i + 0.3k a P = rP + v P
= 20 j 0.06 j + ( 5i + 4k ) ( 0.24i + 0.3k ) = 0 + 0 1.5j 0.96 j + 0 = 2.46 j

a P = 2.46 m/s 2 j
Angular velocity.
= 1i + 2k = ( 5 rad/s ) i + ( 4 rad/s ) k
Frame Oxyz is rotating with angular velocity = 1i.
& & = = Oxyz +

= 0 + 1i (1i + 2k ) = 1 2 j = ( 4 )( 5 ) j = 20 j = 20.0 rad/s 2 j
= 30, rP = ( 60 mm )( cos30i + sin 30j)

= ( 0.06 m )( cos 30i + sin 30 j)
i v P = rP = j k 5 0 4 0.06 cos 30 0.06sin 30 0
= ( 0.12 m/s ) i + ( 0.20785 m/s ) j + ( 0.15 m/s ) k
Acceleration of point P.
a P = rP + v P i j k = 20 0 0 0.06 cos 30 0.06sin 30 0 + i j k 5 0 4 0.12 0.20785 0.15
= 1.03923k 0.8314i 1.23j + 1.03925k
a P = 0.831 m/s 2 i 1.230 m/s 2 j + 2.08 m/s 2 k
) (
) (
Let
1 = 2 =
d 30 rad/s j = rad/s j j = dt 180 6 d 10 i = rad/s i = rad/s i dt 180 18

= 1 + 2
= ( 0.1745 rad/s ) i ( 0.524 rad/s ) j

Frame Oxyz is rotating with angular velocity = 1
& & = = Oxyz + 1 = 0 + 1 ( 1 + 2 ) = 1 2

= 6
2 j i = k 108 18
rP = (12 ft )( sin 30 j + cos 30k )
i j k
= 0.0914 rad/s 2 k
(c) Velocity and acceleration of point P.

For = 90 and = 30,
v P = rC = 0 18 6 0 12sin 30 12cos 30 = 5.4414i + 1.81380 j 1.04720k
v P = ( 5.44 ft/s ) i + (1.814 ft/s ) j (1.047 ft/s ) k

a P = rP + v P i = j k
108
k ( 6 j + 10.3923k ) + 0 18 6 5.4414 1.81380 1.04720
= 0.54831i + 0 j + 0.54831i 0.18277 j 3.1657k

a P = 1.097 ft/s 2 i 0.1828 ft/s 2 j 3.17 ft/s 2 k
) (
) (
Contact points. Gear C.
r1 = ( 6 in.) i + ( 9 in.) j
C = (15 rad/s, ) i
r2 = ( 4 in.) i + ( 3 in.) j
v1 = C r1 = 15i ( 6i + 9 j) = (135 in./s ) k

Gear D.
D = ( 30 rad/s ) i
v 2 = D r2 = 30i ( 4i + 3j) = ( 90 in./s ) k

Gears A and B.
= xi + y j + zk
i j k v1 = r1 = x y z = 9 z i + 6 z j + 9 x + 6 y k 6 9 0
Matching expressions for v1,
i : 9 z = 0,
j: 6 z = 0
(1)
k : 9 x + 6 y = 135
i j k v 2 = r2 = x y z = 3 z i + 4 z j + 3 x 4 y k 4 3 0
Matching expressions for v 2.
i : 3 z = 0,
j: 4 z = 0
(2)
k : 3 x 4 y = 90
Solving (1) and (2) simultaneously, (a) Angular velocity. Shaft HFG and thus the frame Fxyz rotates with angular velocity
x = 20 rad/s,
y = 7.5 rad/s
= ( 20.0 rad/s ) i ( 7.50 rad/s ) j
= xi = ( 20 rad/s ) i.
& & = = Fxyz + = 0 + 20i ( 20i 7.5j)
(b) Angular acceleration. (c) Acceleration of tooth of gear B at point 2.
= 150.0 rad/s 2 k
a 2 = r2 + v 2 i j k = 0 0 150 4 3 0
i j k 20 7.5 0 0 0 90
= 450i 600 j + 0k 675i 1800 j + 0k = 225 in./s 2 i 2400 in./s 2 j
) (
a 2 = 18.75 ft/s 2 i 200 ft/s 2 j
) (
Results from the solution to Prob. 15.186. Position vector of contact point C: Velocity of contact point C on gear A: Angular velocity of gear A:

vC = 0
Angular acceleration of gear A: Acceleration of point C on gear A.
= 12 sin sin cos k
L r
aC = rC + vC = rC
L 2 aC = 1 sin sin cos k ( L sin r cos ) i ( L cos + r sin ) j r

L L L 2 aC = r1 sin sin cos cos + sin i + sin cos j r r r
Since the cone rolls on the xz plane, The instantaneous axis of rotation lies along the x-axis. Total angular velocity. (a) Rate of spin.
v 0 = vA = 0
= i s = s ( cos i + sin j) = 1j + spin
i = ( s cos ) i + ( s sin ) j + 1j
Components.
j: i:
1 sin cos = 1 = s cos = 1 sin tan

0 = s sin + 1
s =
s =
(b) Angular velocity. (c) Angular acceleration. The vector rotates about the y-axis at a rate 1.
1 sin
1 i tan
= 1j
= = 1j 1 tan i
12 k tan
Geometry.
yz plane. Law of cosines.

11.22 = 82 + d 2 2 ( 8 ) d cos120
By solving the quadratic equation d = 4.8 in.
Let point H be the midpoint of rod AB.

rB/D = ( 4 in.) i + ( 4.8 in.) sin 60 j (10.4 in.) k ,
rH /D = ( 4.8 in.) sin 60 j (10.4 in.) k rA/D = ( 4 in.) i + ( 4.8 in.) sin 60 j (10.4 in.) k
Let be a unit vector normal to plane ABD.

The projection of v H onto the normal is zero.
= sin 30 j + cos 30k
sin 30
cos 30
v H = rH /D = x y 0 4.8sin 60
z
10.4
= 8.8 x = 0,
x = 0
Also, the projection of v B/ A onto the normal is zero.

0 sin 30 cos 30 v B/ A = rB/ A = 0 8
=0
Then, = y j + 3 yk
y
0
z
0
= 8 sin 30 z cos 30 y
z = 3 y
v B = rB/D = 0 y 3 y 4 4.8sin 60 10.4 = 17.6 y i + 6.9282 y j 4 y k

2 2 vB = ( vB ) x + ( vB ) y + ( vB ) z = 17.62 + 6.92822 + 42 y = 42
2 373.76 y = 16
) (
2
) (
y = 0.20690 rad/s
z = 3 ( 0.20690 ) = 0.35836 rad/s
= 0.20690 j 0.35836k = ( 0.207 rad/s ) j ( 0.358 rad/s ) k
(b) Velocity of point A.
v A = rA/D
i j k v A = 0 0.20690 0.35836 4 4.8sin 60 10.4
v A = ( 3.64 in./s ) i + (1.433 in./s ) j ( 0.828 in./s ) k
From the solution to Problem 15.194,
= ( 0.20690 rad/s ) j ( 0.35836 rad/s ) k

rB/D = ( 4 in.) i + ( 4.8 in.) sin 60 j (10.4 in.) k
vB = 4 in./s
rH /D = ( 4.8 in.) sin 60 j (10.4 in.) k,
= sin 30 j + cos 30k,

Note that is parallel to . The projection of a H onto the direction is zero.
a H = rH /D + v H = rH /D + 0
0 sin 30 cos 30
z
10.8
= 8.8 x = 0
x = 0
0 4.8sin 60
Also, the projection of a B/ A onto the direction is zero.
a B/ A = rB/ A + rB/ A = rB/ A + 0

0 sin 30 cos 30 0 y = 8 sin 30 z cos 30 y = 0 z 8 0 0
z = 3 y
Velocity at B.
v B = rB/D
i j k v B = 0 0.20690 0.35836 = ( 3.6414 in./s ) i (1.4334 in./s ) j + ( 0.8276 in./s ) k 10.4 4 4.8sin 60
Unit vector tangent to the path of point B.
et =
vB vB
et = 0.91036i 0.35836 j + 0.20690k
Component of acceleration tangent to the path
( aB )t
= et a B = et rB/D + et v B = et rB/D + 0 0.91036 0.35836 0.20690 = 0 4
y
4.8sin 60
3 y 10.4
= 19.333 y
But ( aB )t is given as 8 in./s 2 , thus
19.333 y = 8 in./s 2
y = 0.41380 rad/s 2 ,
(a) Angular acceleration. Normal component of acceleration.
z = 3 ( 0.41380 ) = 0.71673 rad/s 2

= 0.414 rad/s 2 j 0.717 rad/s 2 k
) (
( a B )n
= vB
( a B )n
i j k = 0.20690 0.35836 0 3.6414 1.4334 0.8276 = 0.6849 in./s 2 i 1.3049 in./s 2 j + 0.7534 in./s 2 k
) (
) (
( aB ) n
But
= =
( 0.6849 )2 + (1.3049 )2 + ( 0.7534 )2

2 vB 2
= 1.6551in./s 2
( aB ) n
2 ( 4 ) = 9.67 in. vB = ( aB )n 1.6551
(b) Radius of curvature of path.
= 9.67 in.
Geometry.
2 2 2 2 l AB = x A/B + y A/B + z A/B : 3252 = ( 195 ) + c 2 + ( 100 ) ,
c = 240 mm
rA/B = ( 195 mm ) i + ( 240 mm ) j (100 mm ) k

Velocity of collar B. Velocity of collar A.
v B = (1 m/s ) k = (1000 mm/s ) k

v A = vA j
v A = v B + v A/B ,
where
v A/B = AB rA/B
Noting that v A/B is perpendicular to rA/B , we get rA/B v A/B = 0. Forming rA/B v A , we get or From (1), rA/B v A = rA/B v B + v A/B = rA/B v B + rA/B v A/B
rA/B v A = rA/B v B
(1)
( 195i + 240 j 100k ) ( vA j) = ( 195i + 240 j 100k ) ( 1000k )

240v A = 100000 or v A = 416.67 mm/s
v A = ( 0.417 m/s ) j
Geometry.
2 2 2 l AB = x A/B + y 2/B + z A/B : 3252 = ( 195 ) + c 2 + ( 156 ) , A
c = 208 mm
rA/B = ( 195 mm ) i + ( 208 mm ) j (156 mm ) k

v B = (1.6 m/s ) k = (1600 mm/s ) k

v A = vA j
v A = v B + v A/B ,
where
v A/B = AB rA/B
rA/B v A = rA/B v B
(1)
( 195i + 208j 156k ) ( vA j) = ( 195i + 208j 156k ) (1600k )

208v A = 249600 or v A = 1200 mm/s
v A = ( 1.200 m/s ) j
Geometry.
rB/A = ( 2 in.) k
rC / B = (16 in.) i + ( 8 in.) j + ( 2 in.) k

lCD = 122 + 82 = 208 in.
rC/D = (12 in.) i + ( 8 in.) j

Velocity at B. Velocity of collar C.
v B = 0 j rB/A = 24 j ( 2k ) = ( 48 in./s ) i
CD = rD/C lCD = 12i + 8 j 208
vC = vC CD = vC ( 0.83205i + 0.55470 j) v C = v B + v C/B where vC/B = BC rC/B
Noting that vC/B is perpendicular to rC/B , we get rC/B vC/B = 0. Forming rC/B vC , we get or From (1), rC/B vC = rC/B v B + vC/B = rC/B v B + rC/B vC/B
rC/B vC = rC/B v B
(1)
(16i + 8j + 2k ) ( 0.83205i + 0.55470 j) vC = (16i + 8j + 2k ) ( 48i )

17.7504 vC = 768 vC = 43.267 in./s
vC = ( 43.267 )( 0.83205 i + 0.55470 j) vC = ( 36.0 in./s ) i ( 24.0 in./s ) j
Geometry.
rB/A = ( 2 in.) k
rC/B = (16 in.) i + ( 8 in.) j + ( 2 in.) k

lCD = 122 + 82 = 208 in.
rC/D = (12 in.) i + ( 8 in.) j

v B = 0i rB/A = 24i ( 2k ) = ( 48 in./s ) j

CD = rD/C lCD = 12i + 8j 208
rC/B vC = rC/B v B
(1) 48 j)
(16i + 8j + 2k ) ( 0.83205i + 0.55470 j) vE = (16i + 8j + 2k ) (

17.7504 vC = 384 vC = 21.633 in./s
vC = ( 21.633)( 0.83205i + 0.55470 j) vC = (18.00 in./s ) i + (12.00 in./s ) j
Geometry.
rA = yj,
rD = ( 4.5 in.) i
lCD =
rC = ( 9 in.) k
rD/C = rD rC = ( 4.5 in.) i ( 9 in.) k
( 4.5)2 + ( 9 )2
= 10.0623 in.
rB/C =
c rD/C 9
) = 4 ( 4.5i 9k ) = ( 2 in.) i ( 4 in.) k

9
rB = rC + rB/C = 9k + 2i 4k = ( 2 in.) i + ( 5 in.) k rA/B = rA rB = ( 2 in.) i + ( y in.) j ( 5 in.) k

2 2 l AB = x A/B + y 2 + z 2/B : 152 = ( 2 ) + y 2 + ( 5 ) A 2 2
y = 14 in.,
Velocity of collar B.
rA/B = ( 2 in.) i + (14 in.) j ( 5 in.) k
v B = vB
vB =
rD/C lCD
( 2.5)( 4.5i 9k )
10.0623
= (1.11803 in./s ) i ( 2.23607 in./s ) k

v A = vA j
Velocity of collar A.
v A = v B + v A/B ,
where
v A/B = AB rA/B
rA/B v A = rA/B v B
(1)
14v A
( 2i + 14 j 5k ) ( vA j) = ( 2i + 14 j 5k ) (1.11803i 2.23607k ) = ( 2 )(1.11803) + ( 5 )( 2.23607 ) or v A = 0.63888 in./s

v A = ( 0.639 in./s ) j
Geometry.
rA = yj,
rD = ( 4.5 in.) i
lCD =
rC = ( 9 in.) k
rD/C = rD rC = ( 4.5 in.) i ( 9 in.) k
( 4.5)2 + ( 9 )2
= 10.0623 in.
rB/C =
c rD/C 9
) = 6 ( 4.5i 9k ) = ( 3 in.) i ( 6 in.) k

9
rB = rC + rB/C = 9k + 3i 6k = ( 3 in.) i + ( 3 in.) k
rA/B = rA rB = 3i + yj 3k
2 2 2 l AB = x A/B + y 2 + z A/B : 152 = 32 + y 2 + 32
y = 14.3875 in.,
Velocity of Collar B.
rA/B = ( 3 in.) i + (14.3875 in.) j ( 3 in.) k
v B = vB
vB =
rD/C lCD
( 2.5)( 4.5i 9k )
10.0623
= (1.11803 in./s ) i ( 2.23607 in./s ) k

v A = vA j
Velocity of Collar A.
v A = v B + v A/B ,
where
v A/B = AB rA/B
rA/B v A = rA/B v B
(1)
( 3i + 14.3875j 3k ) ( vA j) = ( 3i + 14.3875j 3k ) (1.11803i 2.23607 k )

14.3875v A = ( 3)(1.11803) + ( 3)( 2.23607 ) or v A = 0.23313 in./s v A = ( 0.233 in./s ) j
Geometry.
2 2 2 2 l AB = x A/B + y 2/B + z A/B : 0.52 = ( 0.24 ) + y A/B + ( 0.4 ) A
y A/B = 0.18 m,
rA/B = ( 0.24 m ) i + ( 0.18 m ) j ( 0.4 m ) k

lCD =
rD/C = ( 0.24 m ) i ( 0.18 m ) j,

( 0.24 )2 + ( 0.18)2
= 0.3 m
v B = vB
v B = ( 0.200 )
rD/C lCD
( 0.24i 0.18j)
0.3
= ( 0.16 m/s ) i ( 0.12 m/s ) j
v A = vA j
v A = v B + v A/B ,
where
v A/B = AB rA/B
rA/B v A = rA/B v B
(1)
( 0.24i + 0.18j 0.4k ) ( vA j) = ( 0.24i + 0.18j 0.4k ) ( 0.16i 0.12 j)

0.18v A = ( 0.24 )( 0.16 ) + ( 0.18 )( 0.12 ) or v A = 0.333 m/s v A = ( 0.333 m/s ) j
Geometry.
2 2 2 2 l AB = x A/B + y 2/B + z A/B : 0.52 = 0 + y A/B + ( 0.4 ) A
y A/B = 0.3 m,
rD/C = ( 0.24 m ) i ( 0.18 m ) j,
rA/B = ( 0.3 m ) j ( 0.4 m ) k

lCD =
( 0.24 )2 + ( 0.18)2
= 0.3 m
v B = vB
v B = ( 0.200 )
rD/C lCD
( 0.24i 0.18j)
0.3
= ( 0.16 m/s ) i ( 0.12 m/s ) j
v A = vA j
v A = v B + v A/B ,
where
v A/B = AB rA/B
rA/B v A = rA/B v B
(1)
( 0.3j 0.4k ) ( vA j) = ( 0.3j 0.4k ) ( 0.16i 0.12 j)

0.3v A = ( 0.3)( 0.12 ) v A = 0.12 m/s v A = ( 0.1200 m/s ) j
Angular velocity of shaft AC.
AC = 1k
Let 3 j be the angular velocity of body D relative to shaft AD. Angular velocity of body D. Angular velocity of shaft EG.
D = 1k + 3 j
EG = 2 ( cos 20k sin 20 j)
Let 4i be the angular velocity of body D relative to shaft EG. Angular velocity of body D.
D = 2 ( cos 20k sin 20 j) + 4i
Equate the two expressions for D and resolve into components.
i : 0 = 4 j: 3 = 2 sin 20
k : 1 = 2 cos 20
(1) (2) (3)
From (3),
2 =
cos 20
Angular velocity of shaft AC.
AC = 1k
Let 3i be the angular velocity of body D relative to shaft AD. Angular velocity of body D. Angular velocity of shaft EG.
D = 1k + 3i
EG = 2 ( cos 20k sin 20 j)
Let 4 be the angular velocity of body D relative to shaft EG. Where is a unit vector along the axis the clevis axle attached to shaft EG.
= cos 20 j + sin 20k
4 = 4 cos 20 j + 4 sin 20k

Angular velocity of body D.
D = EG + 4
D = ( 4 cos 20 2 sin 20 ) j + ( 4 sin 20 + 2 cos 20 ) k

Equate the two expressions for D and resolve into components.
i : 3 = 0
j: 0 = 4 cos 20 2 sin 20
(1) (2) (3)
k : 1 = 4 sin 20 + 2 cos 20
From (2) and (3),
2 = 1cos20
Geometry.
rC = xC i + ( 640 mm ) j, rB = ( 24 in.) j + (10 in.) k

l AB = 242 + 102 = 26 in.
rC/B = xC i + ( 8 in.) j (10 in.) k
Length of rod BC. Solving for xC ,
2 2 lBC = 422 = xC + 82 + 102
xC = 40 in.
rC/B = ( 40 in.) i + ( 8 in.) j (10 in.) k

Velocity.
vB =
19.5 ( 24 j 10k ) = ( 18 in./s ) j ( 7.5 in./s ) k 26
vC = vC i
Angular velocity of collar C. A vector along this axle is
C = C i
The axle of the clevis at C is perpendicular to the x-axis and to the rod BC.
p = i rC/B
p = i ( 40i + 8j 10k ) = (10 in.) j + ( 8 in.) k p = 102 + 82 = 12.806 in.
p = 0.78087 j + 0.62470k p
Let be a unit vector along the axle.
Let s = s be the angular velocity of rod BC relative to collar C.
s = 0.78087 s j + 0.62470 sk
Angular velocity of rod BC.
BC = C + s
BC = C i + 0.78087 s j + 0.62470 sk
vC = v B + BC rC/B
j k vC i = 18j 7.5k + C 0.78087 s 0.62470 s 40 8 10 i
Resolving into components,
i: vC = 12.806 s j: 0 = 18 + 10C + 24.988 s k: 0 = 7.5 + 8C 31.235 s

Solving the simultaneous equations (1), (2), and (3),
(1) (2) (3)
C = 1.4634 rad/s, s = 0.13470 rad/s, vC = 1.725 in./s

(a) Angular velocity of rod BC.
BC = 1.4634i + ( 0.78087 )( 0.13470 ) j + ( 0.62470 )( 0.13470 ) k BC = (1.463 rad/s ) i + ( 0.1052 rad/s ) j + ( 0.0841 rad/s ) k
(b) Velocity of collar C.
vC = (1.725 in./s ) i
Geometry. Determine the position of collar A.
rA = z Ak , rB = xB i + yB j = ( 6 in.) i + ( 2 in.) j rA/B = z Ak 6i 2 j

Length of rod AB: Solving for z A ,
2 2 l AB = 112 = z A 62 22
z A = 9 in.
rA/B = ( 6 in.) i ( 2 in.) j + ( 9 in.) k

Velocity. Angular velocity of collar B.
v B = ( 4.5 ft/s ) j = ( 54 in./s ) j,

B = B j
v A = v Ak
The axle of the clevis at B is perpendicular to both the y-axis and the rod AB. A vector along this axle is
p = j rA/B
p = j rA/B = j ( 6i 2 j + 9k ) = ( 9 in.) i + ( 6 in.) k p= 92 + 62 = 10.8167 in.
= p = 0.83205i + 0.55470k p
Let be a unit vector along the axle.
Let s = s be the angular velocity of rod AB relative to collar B.
s = 0.83205 s i + 0.55470 sk
Angular velocity of rod AB.
AB = B + s
AB = 0.83205 s i + B j + 0.55470 sk
v A = v B + AB rA/B
i j k v Ak = 54 j + 0.83205 s B 0.55470 s 6 2 9
Resolving into components,

i: 0 = 0 + 9 B + 1.1094 s
(1) (2) (3)
j:
0 = 54 10.8167 s
k : v A = 0 + 6 B 1.6641 s
From (2), From (1), (a) Angular velocity of rod AB.
s = 4.9923 rad/s
B = 0.61539 rad/s
AB = ( 0.83205 )( 4.9923) i + 0.61539 j + ( 0.55470 )( 4.9923 ) k AB = ( 4.15 rad/s ) i + ( 0.615 rad/s ) j ( 2.77 rad/s ) k
(b) Velocity of collar A. From (3),
vA = ( 6 )( 0.61539 ) (1.6641)( 4.9923) = 12.00 in./s v A = (1.000 ft/s ) k
Geometry.
2 2 2 2 l AB = x A/B + y A/B + z A/B : 3252 = ( 195 ) + c 2 + ( 100 ) ,
c = 240 mm.
rA/B = ( 195 mm ) i + ( 240 mm ) j (100 mm ) k

v B = (1 m/s ) k = (1000 mm/s ) k

v A = vA j
v A = v B + v A/B ,
Noting that v A/B is perpendicular to rA/B , we get Forming rA/B v A , we get or From (1),
where
v A/B = AB rA/B rA/B v A/B = 0.
rA/B v A = rA/B v B + v A/B = rA/B v B + rA/B v A/B
rA/B v A = rA/B v B
(1)
( 195i + 240 j 100k ) ( vA j) = ( 195i + 240 j 100k ) ( 1000k )

240v A = 100000 or v A = 416.67 mm/s
Relative velocity.
v A/B = v A v B
vA/B = ( 416.67 mm/s ) j + (1000 mm/s ) k

Acceleration of collar B. Acceleration of collar A.
( vA/B )
= 416.67 2 + 10002 = (1083.33) mm 2 /s 2

aB = 0 a A = aAj
a A = a B + a A/B ,
where
a A/B = AB rA/B + AB v A/B rA/B AB rA/B = 0
Noting that AB rA/B is perpendicular to rA/B , we get We note also that
rA/B AB v A/B = v A/B rA/B A/B

= v A/B v A/B = v A/B
Then, Forming rA/B a A , we get or From (2),
rA/B a A/B = 0 v A/B
= v A/B
rA/B a A = rA/B a A + a A/B = rA/B a B + rA/B a A/B

rA/B a A = rA/B a B v A/B
(2)
( 195i + 240 j 100k ) ( a A j) = 0 (1083.33)2

240 a A = (1083.33)
2
a A = 4890 mm/s 2
a A = 4.89 m/s 2 j
Geometry.
2 2 2 2 l AB = x A/B + y A/B + z A/B : 3252 = ( 195 ) + c 2 + ( 156 ) ,
c = 208 mm
rA/B = ( 195 mm ) i + ( 208 mm ) j (156 mm ) k

v B = (1.6 m/s ) k = (1600 mm/s ) k

v A = vA j
v A = v B + v A/B ,
where
v A/B = AB rA/B rA/B v A/B = 0
rA/B v A = rA/B v B
(1)
( 195i + 208j 156k ) ( vA j) = ( 195i + 208j 156k ) (1600k )

208v A = 249600 or v A = 1200 mm/s
Relative velocity.
v A/B = ( 1.2 m/s ) j (1.6 m/s ) k
v A/B = v A v B
( vA/B )
= 1.22 + 1.62 = 4 m 2 /s 2
aB = 0 a A = aAj
a A = a B + a A/B ,
where

= v A/B

(2)
( 0.195i + 0.208j 0.156k ) ( a A j) = 0 4

0.208a A = 4
a A = 19.23 m/s 2 j
Geometry.
rB/A = ( 2 in.) k
rC/B = (16 in.) i + ( 8 in.) j + ( 2 in.) k

lCD = 122 + 82 = 208 in.
rC/D = (12 in.) i + ( 8 in.) j

v B = 0 j rB/A = 24 j ( 2k ) = ( 48 in./s ) i
CD =
rD/C lCD
12i + 8j 208
rC/B vC = rC/B v B
(1)
(16i + 8j + 2k ) ( 0.83205i + 0.55470 j) vC = (16i + 8j + 2k ) ( 48i )

17.7504 vC = 768 vC = 43.267 in./s
vC = ( 43.267 )( 0.83205i + 0.55470 j)

= (36.0 in./s)i (24.0 in./s) j
Relative velocity.
v C/ B = v C v B vC/B = 36i 24 j (48i) = (12 in./s)i (24 in./s) j

(vC/B )2 = (12)2 + (24)2 = 720 in.2 /s 2
Acceleration at B.
2 a B = AB rB/ A D rB/ A
a B = 0 (24)2 (2k ) = (1152 in./s 2 )k

Acceleration of collar C.
aC = aC CD = aC (0.83205i + 0.55470 j)
aC = a B + aC/B
where
aC/B = BC rC/B + BC vC/B
Noting that BC rC/B is perpendicular to rB/C , we get rC/B ( BC rC/B ) = 0. We also note that
rC/B BC vC/B = vC/B rC/B BC

= v C/B v C/B = ( v C /B ) 2
Then,
rC/B aC/B = 0 (vC/B )2 = (vC/B )2
Forming rC/B aC we get
rC/B aC = rC/B (a B + aC/B ) = rC/B a B + rC/B aC/B

or From (2),
rC/B aC = rC/B a B (vC/B )2

(16i + 8 j + 2k ) (0.83205i + 0.55470 j)aC = (16i + 8j + 2k ) (1152k ) 720
(2)
17.7504 aC = 1584
aC = 89.237 in./s 2
aC = (89.237)(0.83205i + 0.55470 j)
aC = (74.3 in./s 2 )i + (49.5 in./s 2 ) j

rB/ A = ( 2 in.) k rC/B = (16 in.) i + ( 8 in.) j + ( 2 in.) k
Geometry.
rC/D = (12 in.) i + ( 8 in.) j

lCD = 122 + 82 = 208 in.
v B = 0i rB/ A = 24i ( 2k ) = ( 48 in./s ) j
CD =
rD/C lCD
12i + 8j 208
Noting that vC/B is perpendicular to rC/B , we get rC/B vC/B = 0 Forming rC/B vC , we get rC/B vC = rC/B v B + vC/B = rC/B v B = rC/B vC/B or
rC/B vC = rC/B v B
(1)
From (1), (16i + 8j + 2k ) ( 0.83205i + 0.55470 j) vC = (16i + 8 j + 2k ) ( 48 j)

17.7504 vC = 384 vC = 21.633 in./s
vC = ( 21.633)( 0.83205i + 0.55470 j) = (18 in./s ) i + (12 in./s ) j

Relative velocity.
v C/ B = v C v B
vC/B = 18i + 12 j 48j = (18 in./s ) i ( 36 in./s ) j
( vC/B )
Acceleration at B.
= (18 ) + ( 36 ) = 1620 in.2 /s 2

2 a B = AB rB/ A 0 rB/ A
a B = 0 ( 24 ) ( 2k ) = 1152 in./s 2 k
Acceleration of collar C.
aC = aC CD = aC ( 0.83205i + 0.55470 j) where aC/B = BC rC/B + BC v B/C
a C = a C + aC / B
Noting that BC rC/B is perpendicular to rC/B , we get rC/B BC rC/B = 0
We also note that rC/B BC vC/B = vC/B rC/B BC = vC/B vC/B = ( vC/B )
Then, Forming
rC/B aC/B = 0 vC/B
= vC/B
rC/B aC
we get
rC/B aC = rC/B a B + aC/B = rC/B a B + rC/B aC/B or From (2)

rC/B aC = rB/C a B vC/B
(2)
(16i + 8j + 2k ) ( 0.83205i + 0.55470 j) aC

= (16i + 8j + 2k ) (1152k ) 1620
17.7504 aC = 684 aC = ( 38.534 )( 0.83205i + 0.55470 j)
aC = 38.534 in./s 2
aC = 32.1 in./s 2 i + 21.4 in./s 2 j
) (
Geometry.
rA = yj,
rD = ( 4.5 in.) i
lCD =
rC = ( 9 in.) k
rD/C = rD rC = ( 4.5 in.) i ( 9 in.) k
( 4.5)2 + ( 9 )2
= 10.0623 in.
rB/C =
c rD/C 9
) = 4 ( 4.5i 9k ) = ( 2 in.) i ( 4 in.) k

9
2 2 2 l AB = x A/B + y 2 + z A/B : 152 = ( 2 ) + y 2 + ( 5 ) 2 2
y = 14 in.,
rA/B = ( 2 in.) i + (14 in.) j ( 5 in.) k
v B = vB
vB =
rD/C lCD
( 2.5)( 4.5i 9k )
10.0623
= (1.11803 in.) i ( 2.23607 in./s ) k

v A = vA j
v A = v B + v A/B ,
where
rA/B v A = rA/B v B
(1)
( 2i + 14 j 5k ) ( vA j) = ( 2i + 14 j 5k ) (1.11803i 2.23607k )
14v A = ( 2 )(1.11803) + ( 5 )( 2.23607 ) or v A = 0.63888 in./s v A/B = v A v B
v A/B = ( 0.63888 in./s ) j (1.11803 in./s ) i + ( 2.23607 in./s ) k
Relative velocity.
( vA/B )
= ( 0.63888 ) + ( 1.11803) + ( 2.23607 ) = 6.6582 ( in./s )
aB = 0 a A = aAj
a A = a B + a A/B ,
where

= v A/B

(2)
( 2i + 14 j 5k ) ( a A j) = 0 6.6582
14a A = 6.6582
a A = 0.476 in./s 2 j
Geometry.
rA = yj,
rD = ( 4.5 in.) i
lCD =
rC = ( 9 in.) k
rD/C = rD rC = ( 4.5 in.) i ( 9 in.) k
( 4.5)2 + ( 9 )2
= 10.0623 in.
rB/C =
c rD/C 9
) = 6 ( 4.5i 9k ) = ( 3 in.) i ( 6 in.) k

9
2 2 2 l AB = x A/B + y 2 + z A/B : 152 = 32 + y 2 + 32
y = 14.3875 in.
rA/B = ( 3 in.) i + (14.3875 in.) j ( 3 in.) k
v B = vB
vB =
rD/C lCD
( 2.5)( 4.5i 9k )
10.0623
= (1.11803 in./s ) i ( 2.23607 in./s ) k

v A = vA j
v A = v B + v A/B ,
where
rA/B v A = rA/B v B
(1)
( 3i + 14.3875j 3k ) ( vA j) = ( 3i + 14.3875j 3k ) (1.11803i 2.23607k ) 14.3875v A = ( 3)(1.11803) + ( 3)( 2.23607 ) or v A = 0.23313 in./s
v A/B = v A v B
v A/B = ( 0.23313 in./s ) j (1.11803 in./s ) i + ( 2.23607 in./s ) k
Relative velocity.
( vA/B )
= ( 0.23313) + ( 1.11803) + ( 2.23607 ) = 6.30435 ( in./s )

aB = 0 a A = aAj
a A = a B + a A/B ,
where
a A/B = AB rA/B + AB v A/B
rA/B AB rA/B = 0

= v A/B
(2)
( 3i + 14.3875j 3k ) ( a A j) = 0 6.30435
14.3875a A = 6.30435
a A = 0.438 in./s 2 j
Geometry.
rB/ A = (24 in.)i + (10 in.)j

rD/C = rD/ A rC/ A = ( 8 in.) i + ( 8.3333 in.) j
l AB = 242 + 102 = 26 in.
rD/ A =
20 rB/ A 24
Unit vector along AB.
AB =
rB/ A l AB
12 5 i+ j 13 12
Let Oxyz be a frame of reference currently coinciding with OXYZ but rotating with angular velocity
= 1j = ( 6 rad/s ) j
(a) Velocity of D.
v D = v D + v D/ AB
v D = rD/C = 6 j ( 8i + 8.3333j) = ( 48 in./s ) k
5 12 v D/ AB = u AB = 78 i + j = ( 72 in./s ) i + ( 30 in./s ) j 13 13
v D = ( 72.0 in./s ) i + ( 30.0 in./s ) j ( 48 in./s ) k

(b) Acceleration of D.
a D = a D + a D/ AB + 2 v D/ AB
2
2 a D = r1 i = ( 8 )( 6 ) i = 288 in./s 2 i
a D/ AB = 0
2 v D/F = ( 2 )( 6 j) ( 72i + 30 j) = 864 in./s 2 k a D = 288 in./s 2 i 864 in./s 2 k
) (
Geometry.
rD/C = (10 in.)( cos30i sin 30 j)
= 5 3 in. i ( 5 in.) j
Let frame Cxyz, which at the instant shown coincides with CXYZ, rotate with angular velocity = 1j = (10 rad/s ) j. Motion of coinciding point D in the frame.
v D = rD/C = 10 j 5 3i + 5j = 50 3 in./s k a D
2 2 2
) ( = r = 10 (10 cos 30 ) i = ( 500
) 3 in./s ) i
Motion of point D relative to the frame
u = 4.5 ft/s = 54 in./s
v D/F = u ( sin 30i + cos 30 j) = ( 27 in./s ) i + 27 3 in./s j

a D/F = u2
( cos 30i + sin 30 j)
542 ( cos 30i + sin 30j) 10
= 145.8 3 in./s 2 i + 145.8 in./s 2 j

(a) Velocity of point D.
) (
v D = v D + v D/F
v D = ( 27 in./s ) i + 27 3 in./s j 50 3 in./s k
) (
v D = ( 2.25 ft/s ) i + ( 3.90 ft/s ) j ( 7.22 ft/s ) k

2 v D/F
2 v D/F = ( 2 )(10 j) 27i + 27 3 j = 540 in./s 2 k

(b) Acceleration of point D.
) (
a D = a D + a D/F + 2 v D/F
a D = 645.8 3 in./s 2 i + 145.8 in./s 2 j 540 in./s 2 k

a D = 93.2 ft/s 2 i + (12.15 ft/s ) j 45.0 ft/s 2 k
) (
) (
With the origin at point A,
rD = ( 0.2 m ) i + ( 0.3 m ) j ( 0.15 m ) k

lBC = 0.22 + 0.152 = 0.25 m
rC/B = ( 0.2 m ) i ( 0.15 m ) k ,

Let the frame Axyz rotate with angular velocity (a)
= 1i = (10 rad/s ) i
v D = rD = 10i ( 0.2i + 0.3j 0.15k ) = (1.5 m/s ) j + ( 3 m/s ) k

u = 0.6 m/s, v D/F = 0.6 ( 0.2i 0.15k ) = ( 0.48 m/s ) i ( 0.36 m/s ) k 0.25
v D = v D + v D/F = ( 0.48 m/s ) i + (1.5 m/s ) j + ( 2.64 m/s ) k

Velocity of D. (b)
v D = ( 0.480 m/s ) i + (1.500 m/s ) j + ( 2.64 m/s ) k

a D = v D = 10i (1.5j + 3k ) = 30 m/s 2 j + 15 m/s 2 k
) ( )
a D/F = 0
2 v D/F = ( 2 )(10i ) ( 0.48i 0.36k ) = 7.2 m/s 2 j
a D = a D + a D/F + 2 v D/F = 22.8 m/s 2 j + 15 m/s 2 k
) (
Acceleration of D.
a D = 22.8 m/s 2 j + 15.00 m/s 2 k
) (
Geometry.
rB = ( 0.36 m ) j,
rD = ( 0.15 m ) i + ( 0.52 m ) k
lDB = 0.152 + 0.362 + 0.522 = 0.65 m
rB/D = ( 0.15 m ) i + ( 0.36 m ) j ( 0.52 m ) k
rC =
Let frame Axyz rotate with angular velocity Velocity Analysis.
1 ( rB + rD ) = ( 0.075 m ) i + ( 0.18 m ) j + ( 0.26 m ) k 2
= 1k = ( 5 rad/s ) k
u = 975 mm/s = 0.975 m/s
vC = rC = 5k ( 0.075i + 0.18 j + 0.26k ) = ( 0.9 m/s ) i + ( 0.375 m/s ) j

v C/ F = u 0.975 rD/B = ( 0.15i + 0.36 j 0.52k ) = ( 0.225 m/s ) i + ( 0.54 m/s ) j ( 0.78 m/s ) k lDB 0.65
v C = v C + v C/F vC = (1.125 m/s ) i + ( 0.915 m/s ) j ( 0.780 m/s ) k

Acceleration Analysis.
aC/F = 0
aC = vC = 5k ( 0.9i + 0.375j) = 1.875 m/s 2 i 4.5 m/s 2 j 2 vC/F = ( 2 )( 5k ) ( 0.225i + 0.54 j 0.78k ) = 5.4 m/s 2 i 2.25 m/s 2 j
) (
) ( (
aC = aC + aC/F + 2 vC/F
aC = 7.28 m/s 2 i 6.75 m/s 2 j
) (
Geometry. With the origin at A,
rB = ( 6.75 in.) j
Let frame Axyz rotate about the Y axis with constant angular velocity = 1k = ( 9 rad/s ) k. Then, the motion relative to the frame consists of rotation about the x axis with constant angular velocity 2 = 2i = (12 rad/s ) i. Motion of coinciding point B.
v B = rB = 9k 6.75j = ( 60.75 in./s ) i

a B = rB + v B
= 0 + 9k ( 60.75i ) = 546.75 in./s 2 j

v B/F = 2 rB = 12i 6.75 j = ( 81 in./s ) k
a B/F = 2 rB + 2 v B/F = 0 + 12i 81k = 972 in./s 2 j

(a) Velocity of point B.
v B = v B + v B/F v B = ( 60.8 in./s ) i + (81.0 in./s ) k
2 v B/F
2 v B/F = ( 2 )( 9k ) 81k = 0
a B = a B + a B/F + 2 v B/F
a B = 1518.75 in./s 2 j a B = 126.6 ft/s 2 j
rC = ( 6.75 in.) j + ( 4.5 in.) k
Let frame Axyz rotate about the Y axis with constant angular velocity = 1k = ( 9 rad/s ) k. Then, the motion relative to the frame consists of rotation about the x axis with constant angular velocity 2 = 2i = (12 rad/s ) i. Motion of coinciding point C in the frame.
vC = rC = 9k ( 6.75 j + 4.5k ) = ( 60.75 in./s ) i

aC = rC + vC
= 0 + 9k ( 60.75i ) = 546.75 in./s 2 j

vC/F = 2 rC = 12i ( 6.75j + 4.5k ) = ( 54 in./s ) j + ( 81 in./s ) k aC/F = 2 rC + 2 vC/F
= 0 + 12i ( 54 j + 81k ) = 972 in./s 2 j 648 in./s 2 k

(a) Velocity of point C.
) (
v C = v C + v C/ F vC = ( 60.8 in./s ) i ( 54.0 in./s ) j + (81.0 in./s ) k
2 vC/F
2 vC/F = ( 2 )( 9k ) ( 54 j + 81k ) = 972 in./s 2 i
(b) Acceleration of point C.
aC = 972 in./s 2 i 1518.75 in./s 2 j 648 in./s 2 k aC

2
) (
) ( ) = (81.0 ft/s ) i (126.6 ft/s ) j ( 54.0 ft/s ) k

2 2
Geometry.
rC = ( 0.36 m )( cos 20i sin 20 j)
& Let frame Oxyz rotate about the Y axis with angular velocity = 1j and angular acceleration = 0.
Then, the motion relative to the frame consists of rotation with angular velocity 2 = 2k and angular acceleration 2 = 0 about the z axis. (a)
vC = rC = 3j ( 0.36 cos 20i 0.36 sin 20 j) = 1.08 cos 20k

vC/F = 2 rC = 4k ( 0.36 cos 20i 0.36 sin 20 j) = 1.44 sin 20i + 1.44 cos 20 j
vC = vC + vC/F = 1.44 sin 20i + 1.44 cos 20 j 1.08 cos 20k vC = ( 0.493 m/s ) i + (1.353 m/s ) j (1.015 m/s ) k
(b)
aC = vC = 3j ( 1.08 cos 20k ) = 3.24 cos 20i

aC/F = 2 vC/F = 4k (1.44 sin 20i + 1.44 cos 20 j) = 5.76 cos 20i + 5.76 sin 20 j
2 vC/F = ( 2 )( 3j) (1.44 sin 20i + 1.44 cos 20 j) = 8.64 sin 20k
aC = aC + aC/F + 2 vC/F = ( 3.24 + 5.76 ) cos 20i + 5.76 sin 20 j 8.64 sin 20k
aC = 8.46 m/s 2 i + 1.970 m/s 2 j 2.96 m/s 2 k
) (
) (
Geometry.
rD = ( 0.36 m )( cos 20i sin 20 j) + ( 0.180 m ) k
& Let frame Oxyz rotate about the Y axis with angular velocity = 1j and angular acceleration = 0.
Then, the motion relative to the frame consists of rotation with angular velocity 2 = 2k and angular acceleration 2 = 0 about the z axis. (a)
v D = rD = 3j ( 0.36cos 20i 0.36sin 20 j + 0.180k )

= 0.540i 1.08 cos 20k
v D/F = 2 rD = 4k ( 0.36cos 20i 0.36sin 20 j + 0.180k ) = 1.44sin 20i + 1.44 cos 20 j)

v D = v D + v D/F = ( 0.540 + 1.44 sin 20 ) i + 1.44 cos 20 j 1.08 cos 20k
v D = (1.033 m/s ) i + (1.353 m/s ) j (1.015 m/s ) k

(b)
a D = v D = 3j ( 0.540i 1.08cos 20k )

= 3.24 cos 20i 1.62k
a D/F = 2 v D/F = 4k (1.44sin 20i + 1.44cos 20 j)
= 5.76 cos 20i + 5.76 sin 20 j

2 v D/F = ( 2 )( 3j) (1.44 sin 20i + 1.44 cos 20 j) = 8.64 sin 20k
a D = a D + a D/F + 2 vC/F
= ( 3.24 + 5.76 ) cos 20i + 5.76 sin 20 j (1.62 + 8.64 sin 20 ) k

a D = 8.46 m/s 2 i + 1.970 m/s 2 j 4.58 m/s 2 k
) (
) (
With the origin at point A,
rD = ( 0.2 m ) i + ( 0.3 m ) j ( 0.15 m ) k

lBC = 0.22 + 0.152 = 0.25 m
rC/B = ( 0.2 m ) i ( 0.15 m ) k ,
Let the frame Axyz rotate with angular velocity = 1i = (10 rad/s ) i and angular acceleration
& & = 1i = 15 rad/s 2 i.

(a)
v D = rD = 10i ( 0.2i + 0.3j 0.15k ) = (1.5 m/s ) j + ( 3 m/s ) k

u = 0.6 m/s, v D/F = 0.6 ( 0.2i 0.15k ) = ( 0.48 m/s ) i ( 0.36 m/s ) k 0.25
v D = v D + v D/F = ( 0.48 m/s ) i + (1.5 m/s ) j + ( 2.64 m/s ) k

Velocity of D. (b)
v D = ( 0.480 m/s ) i + (1.500 m/s ) j + ( 2.64 m/s ) k
& a D = rD + v D = 15i ( 0.2i + 0.3j 0.15k ) + 10i (1.5 j + 3k ) = 2.25j 4.5k 30 j + 15k = 32.25 m/s 2 j + 10.5 m/s 2 k
) (
arel = 3 m/s 2
a rel =
3 ( 0.2i 0.15k ) = 2.4 m/s2 i 1.8 m/s2 k 0.25
) (
2 v D/F = ( 2 )(10i ) ( 0.48i 0.36k ) = 7.2 m/s 2 j

a D = a D + a rel + 2 v D/F = ( 2.4 m/s ) i ( 25.05 m/s ) j + ( 8.70 m/s ) k
Acceleration of D.
a D = 2.40 m/s 2 i 25.1 m/s 2 j + 8.70 m/s 2 k
) (
) (
Geometry.
rB = ( 0.36 m ) j, rD = ( 0.15 m ) i + ( 0.52 m ) k

rB/D = ( 0.15 m ) i + ( 0.36 m ) j ( 0.52 m ) k lDB = 0.152 + 0.362 + 0.522 = 0.65 m
rC =
1 ( rB + rD ) = ( 0.075 m ) i + ( 0.18 m ) j + ( 0.26 m ) k 2 = 1k = ( 5 rad/s ) k.

u = 975 mm/s 2 = 0.975 m/s 2
Let frame Axyz rotate with angular velocity Velocity analysis.
vC = rC = 5k ( 0.075i + 0.18 j + 0.26k ) = ( 0.9 m/s ) i + ( 0.375 m/s ) j

v C/ F = u lDB rD/B = 0.975 ( 0.15i + 0.36 j 0.52k ) = ( 0.225 m/s ) i + ( 0.54 m/s ) j ( 0.78 m/s ) k 0.65
v C = v C + v C/F vC = (1.125 m/s ) i + ( 0.915 m/s ) j ( 0.780 m/s ) k

& = 10k rad/s, u = 6.5 m/s 2
aC = vC = 5k ( 0.9i + 0.375j) = 1.875 m/s 2 i 4.5 m/s 2 j & aC/F = rC + u = 10k ( 0.075i + 0.18 j + 0.26k ) + 6.5 ( 0.15i + 0.36 j 0.52k ) 0.65
) (
= 1.8 m/s 2 i + ( 0.75 m/s ) j + (1.5 m/s ) i 3.6 m/s 2 j + 5.2 m/s 2 k
) (
2 vC/F = ( 2 )( 5k ) ( 0.225i + 0.54 j 0.78k ) = 5.4 m/s 2 i 2.25 m/s 2 j
) (
aC = 7.58 m/s 2 i 9.60 m/s 2 j + 5.20 m/s 2 k
) (
) (
Chapter 15, Solution 224
rC = ( 6.75 in.) j + ( 4.5 in.) k
Let frame Axyz rotate about the y axis with angular velocity = 1k = ( 9 rad/s ) k and angular acceleration
= 1k = 45 rad/s 2 k. Then, the motion relative to the frame consists of rotation about the x axis with
angular velocity 2 = 2i = (12 rad/s ) i and angular acceleration 2 = 2i = ( 60 rad/s ) i. Motion of coinciding point C in the frame.
vC = rC = 9k ( 6.75 j + 4.5k ) = ( 60.75 in./s ) i aC = rC + vC = ( 45k ) ( 6.75j + 4.5k ) + 9k ( 60.75i ) = 303.75 in./s 2 i 546.75 in./s 2 j
) (
vC/F = 2 rC = 12i ( 6.75j + 4.5k ) = ( 54 in./s ) j + ( 81 in./s ) k aC/F = 2 rC + 2 vC/F = ( 60i ) ( 6.75j + 4.5k ) + 12i ( 54 j + 81k ) = +270 j 405k 972 j 648k = 702 in./s 2 j 1053 in./s 2 k
(a) Velocity of point C.
) (
v C = v C + v C/ F vC = ( 60.8 in./s ) i ( 54.0 in./s ) j + (81.0 in./s ) k
2 vC/F
2 vC/F = ( 2 )( 9k ) ( 54 j + 81k ) = 972 in./s 2 i
(b) Acceleration of point C.
aC = 1275.75 in./s 2 i 1248.75 in./s 2 j 1053 in./s 2 k aC = 106.3 ft/s 2 i 104.1 ft/s 2 j 87.8 ft/s 2 k
) (
) (
) (
) (
Let frame Oxyz rotate with angular velocity = 1j. Let s = s DA be the spin of gear A about the axle AD, where DA = sin i + cos j is a unit vector along the axle.

Due to motion of the frame, Due to spin s , Then, Since gear B is fixed,
vC = rC = 1 ( r cos L sin ) k vC/F = s rC/ A = s rk

vC = vC + vC/F = 1 ( rcos L sin ) + s r k
vC = 0
s = 1 sin cos
L r
= + s
L = 1j + 1 sin cos ( sin i + cos j) r
& & = = Oxyz + L L = 0 + 1j 1 sin cos sin i + cos + sin j r r
L = 12 sin sin cos k r
Let frame Oxyz rotate with angular velocity
= 1j.
Let s = s DA be the spin of gear A about the axle AD, where DA = sin i + cos j is a unit vector along the axle.

Due to motion of the frame, Due to spin s , Then,
vC = rC = 1 ( r cos L sin ) k vC/F = s rC/ A = s rk

vC = vC + vC/F = 1 ( r cos L sin ) + s r k
Since gear B is rotating with angular velocity 2 j, on gear B
vC = 2 j rC/B = 2 ( L sin r cos ) k

Equating the two expressions for vC and solving for s ,
s = ( 1 2 ) sin cos
L r
L = 1j + (1 2 ) sin cos ( sin i + cos j) r

L L = 1 sin cos sin i + cos + sin j r r
L + 2 cos sin ( sin i + cos j) r

(b) Angular acceleration. Frame Oxyz is rotating with angular velocity
= 1j.
& & = = Oxyz + L = 0 + 1j = 1 (1 2 ) sin cos k r
L = 1 (1 2 ) sin cos k r
Let frame Oxyz rotate with angular velocity = 1i = ( 5 rad/s ) i. The motion relative to the frame is the spin
2k = ( 4 rad/s ) k.
(a) Angular acceleration.
& & = = Oxyz + 2k

= 0 + 5i 4k = 20 j
(b) = 0. Acceleration at point P.
= 20.0 rad/s 2 j
rP = ( 60 mm ) i = ( 0.06 m ) i v P = 1i rP = 5i 0.06i = 0 & a P = 1i rP + 1i v P = 0 ac = 2 vP/F = ( 2 )( 5i ) ( 0.24 j) = 2.4 m/s 2 k a P = a P + a P/F + ac = 0.96 m/s 2 i + 2.4 m/s2 k
a P = 0.960 m/s 2 i + 2.40 m/s 2 k
(c) = 90. Acceleration at point P.
v P/F = 2k rP = 4k 0.06i = ( 0.24 m/s ) j & a P/F = 2k rP + 2k v P/F = 0 + 4k ( 0.24 j) = 0.96 m/s 2 i
) (
) (
rP = ( 60 mm ) j = ( 0.06 m ) j v P = 1i rP = 5i 0.06 j = ( 0.3 m/s ) k v P/F = 2k rP = 4k 0.06 j = ( 0.24 m/s ) i & a P = 1i rP + 1i v P = 0 + 5i 0.3k = 1.5 m/s 2 j & a P/F = 2k rp + 2k v P/F a P = a P + a P/F + ac
a P = 2.46 m/s 2 j
ac = 2 v P/F = ( 2 )( 5i ) ( 0.24i ) = 0
) = 0 + 4k ( 0.24i ) = ( 0.96 m/s ) j

2
Let frame Oxyz rotate with angular velocity The motion relative to the frame is the spin
= 1i = ( 5 rad/s ) i
2k = ( 4 rad/s ) k
rP = ( 60 mm )( cos 30i + sin 30 j) rP = ( 0.06 m )( cos 30i + sin 30 j)
= 30,
v P = 1i rP = 5i ( 0.06 cos 30i + 0.06sin 30 j) = ( 0.15 m/s ) k

v P/F = 2k rP = 4k ( 0.06cos 30i + 0.06sin 30 j)
= ( 0.12 m/s ) i + ( 0.20785 m/s ) j

& a P = 1i rP + 1i v P = 0 + 5i 0.15k = 0.75 m/s 2 j
& a P/F = 2k rP = 2k v P/F = 0 + 4k ( 0.12i + 0.20785 j)
ac = 2 v P/F
Acceleration at point P.
) ( ) = ( 2 )( 5i ) ( 0.12i + 0.20785j) = ( 2.0785 m/s ) k

= 0.8314 m/s 2 i 0.48 m/s 2 j
2
a P = 0.831 m/s 2 i 1.230 m/s 2 j + 2.08 m/s 2 k
) (
) (
Geometry. Method 1
rB/ A = rB = ( 6 m )( sin 30 j + cos 30k ) = ( 3 m ) j + 3 3 m k
Let the unextending portion of the boom AB be a rotating frame of reference. Its angular velocity is Its angular acceleration is
= 2i + 1j = ( 0.40 rad/s ) i + ( 0.25 rad/s ) j. = 1j 2i = 1 2k = 0.10 rad/s 2 k.
Motion of the coinciding point B in the frame.
v B = rB = ( 0.40i + 0.25j) 3j + 3 3k = 0.75 3 m/s i 1.2 3 m/s j + (1.2 m/s ) k a B i j k = rB + v B = 0 0 0.10 + 0 3 3 3 i 0.40 j 0.25 k 0
) (
) (
0.75 3 1.2 3 1.2
= 0.30i + 0.30i 0.48j 1.15614k = 0.60 m/s 2 i 0.48 m/s2 j 1.15614 m/s2 k
) (
) (
v B/F = u ( sin 30 j + cos 30k ) = ( 0.45 m/s ) sin 30 j + ( 0.45 m/s ) cos 30k a B/F = 0
v B = v B + v B/F v B = 0.75 3i 1.2 3 j + 1.2k + 0.45sin 30 j + 0.45cos 30k v B = (1.299 m/s ) i (1.853 m/s ) j + (1.590 m/s ) k
2 v B/F
2 v B/F = ( 2 )( 0.40i + 0.25j) ( 0.45sin 30 j + 0.45cos 30k )
= 0.194856 m/s 2 i 0.31177 m/s2 j + 0.18 m/s 2 k
) (
) (
a B = a B + a B/F + 2 v B/F
a B = ( 0.60 + 0.194856 ) i ( 0.48 + 0.31177 j) + ( 1.15614 + 0.18 ) k

a B = 0.795 m/s 2 i 0.792 m/s 2 j 0.976 m/s 2 k
) (
) (
Method 2 Let frame Axyz, which at the instant shown coincides with AXYZ, rotate with an angular velocity 1 = 1j = ( 0.25 rad/s ) j. Then, the motion relative to this frame consists of turning the boom relative to the cab and extending the boom. Motion of the coinciding point B in the frame.
v B = rB = 0.25j 3j + 3 3k = 0.75 3 m/s i a B = v B = 0.25j 0.75

Motion of point B relative to the frame.
) ( ) 3i ) = ( 0.1875 3 m/s ) k
2
Let the unextending portion of the boom be a rotating frame with constant angular velocity 2 = 2i = ( 0.40 rad/s ) i. The motion relative to this frame is the extensional motion with speed u.
v B = 2 rB = 0.40i 3j + 3 3k = 1.2 3 m/s j + (1.2 m/s ) k a B = 2 v B = 0.40i 1.2
( ) 3 j + 1.2k ) = ( 0.48 m/s ) j ( 0.48

2
3 m/s 2 k
v B/boom = u ( sin 30 j + cos 30k ) = ( 0.45 m/s ) sin 30 j + ( 0.45 m/s ) cos 30k a B/boom = 0
2 2 v B/boom = ( 2 )( 0.40i ) ( 0.45sin 30 j + 0.45cos 30k ) = 0.31177 m/s 2 j + 0.18 m/s 2 k
) (
v B/F = v B + v B/boom = 1.2 3 j + 1.2k + 0.45sin 30 j + 0.45cos 30k

= (1.85346 m/s ) j + (1.58971 m/s ) k a B/F = a B + a B/boom + 2 2 v B/boom = 0.48j 0.48 3k + 0 0.31177 j + 0.18k = 0.79177 m/s 2 j 0.65138 m/s 2 k
) (
v B = v B + v B/F v B = 0.75 3i 1.85346 j + 1.58971k v B = (1.299 m/s ) i (1.853 m/s ) j + (1.590 m/s ) k
2 1 v B/F
21 v B/F = ( 2 )( 0.25j) ( 1.85346 j + 1.58971k ) = 0.79486i
a B = a B + a B/F + 21 v B/F a B = 0.1875 3k 0.79177 j 0.65138k + 0.79486i

a B = 0.795 m/s 2 i 0.792 m/s 2 j 0.976 m/s 2 k
) (
) (
Geometry.
rA = (160 mm )( sin 45 j + cos 45k ) = ( 0.16 m )( sin 45 j + cos 45k )
Let frame Oxyz, which coincides with the fixed frame OXYZ at the instant shown, be rotating about the y axis with constant angular velocity = 1j = ( 0.8 rad/s ) j. Then, the motion relative to the frame consists of a rotation about the x axis with constant angular velocity
2 =
d i = ( 300 rpm ) i = (10 rad/s ) i. dt
Motion of the coinciding point A in the frame.
v A = rA = 0.8j ( 0.16 sin 45 j + 0.16 cos 45k ) = ( 0.128 m/s ) cos 45i a A = v A = 0.8j 0.128 cos 45i = 0.1024 m/s 2 cos 45k
v A/F = 2 rA = 10 i ( 0.16sin 45 j + 0.16cos 45k ) = (1.6 m/s ) cos 45 j (1.6 m/s ) sin 45k a A/F = 2 v A/F = 10 i (1.6 cos 45 j 1.6 sin 45k ) = 16 2 m/s 2 sin 45 j 16 2 m/s 2 cos 45k
Velocity of point A.
v A = v A + v A/F v A = ( 0.128 m/s ) cos 45i + (1.6 m/s ) cos 45 j (1.6 m/s ) sin 45k v A = ( 0.0905 m/s ) i + ( 3.55 m/s ) j ( 3.55 m/s ) k
2 v A/F
2 v A/F = ( 2 )( 0.8j) (1.6 cos 45 j 1.6 sin 45k ) = 2.56 m/s 2 sin 45i
Acceleration of point A.
a A = a A + a A/F + 2 v A/F
a A = 2.56 sin 45i 16 2 sin 45 j 16 2 cos 45 + 0.1024 cos 45 k aA

2 2
) = ( 5.68 m/s ) i (111.7 m/s ) j (111.7 m/s ) k

2
Geometry.
= 60,
rA = ( 8 in.)( cos 60i + sin 60 j) = ( 4 in.) i + 4 3 in. j
Let the frame Oxyz rotate about the Y axis with constant angular velocity = 1j = (12 rad/s ) j. Then, the motion relative to the frame consists of rotation about the z axis with constant angular velocity 2 = 2k = ( 8 rad/s ) k. Motion of the coinciding point A in the frame.
v A = 1j rA = 12 j 4i + 4 3 j = ( 48 in./s ) k d a A = 1 j rA + 1j v A dt
= 0 + 12 j ( 48k ) = 576 in./s 2 i

v A/F = 2k rA = 8k 4i + 4 3 j = 32 3 m/s i + ( 32 m/s ) j d a A/F = 2 k rA + 2k v A/F dt
= 0 + 8k 32 3i + 32 j = 256 in./s 2 i 256 3 in./s 2 j

) (
v A = v A + v A/F
v A = 32 3 in./s i + ( 32 in./s ) j ( 48 in./s ) k
v A = ( 4.62 ft/s ) i + ( 2.67 ft/s ) j ( 4.00 ft/s ) k

2 v A/F = ( 2 )(12 j) 32 3i + 32 j = 768 3 in./s 2 k

) (
a A = a A + a A/F + 2 v A/F
a A = 832 in./s 2 i 256 3 in./s 2 j + 768 3 in./s 2 k
a A = 69.3 ft/s 2 i 37.0 ft/s 2 j + 110.9 ft/s 2 k
) (
) (
) (
) (
Geometry.
= 60,
rA = ( 8 in.)( cos 60i + sin 60 j) = ( 4 in.) i + 4 3 in. j
Let the frame Oxyz rotate about the Y axis with angular velocity = 1j = (12 rad/s ) j and angular d acceleration = 1 j = 16 rad/s 2 j. Then, the motion relative to the frame consists of rotation about dt the z axis with constant angular velocity 2 = 2k = ( 8 rad/s ) k and angular acceleration d 2 = 2 k = 10 rad/s 2 k. dt Motion of the coinciding point A in the frame.
v A = 1j rA = 12 j 4i + 4 3 j = ( 48 in./s ) k d a A = 1 j rA + 1j v A dt
= ( 16 j) 4i + 4 3 j + 12 j ( 48 ) k = 64 in./s 2 k 576 in./s 2 i

v A/F = 2k rA = 8k 4i + 4 3 j = 32 3 in./s i + ( 32 in./s ) j d a A/F = 2 k rA + 2k v A/F dt = 10k 4i + 4 3 j + 8k 32 3i + 32 j
= 40 3i + 40 j 256i 256 3 j = 256 + 40 3 i 256 3 40 j

) (
v A = v A + v A/F
v A = 32 3 in./s i + ( 32 in./s ) j ( 48 in./s ) k

v A = ( 4.62 ft/s ) i + ( 2.67 ft/s ) j ( 4.00 ft/s ) k
2 v A/F = ( 2 )(12 j) 32 3i + 32 j = 768 3 in./s 2 k

) (
a A = a A + a A/F + 2 v A/F
a A = 832 + 40 3 i 256 3 40 j + 768 3 + 64 k

a A = 75.1 ft/s 2 i 33.6 ft/s 2 j + 116.2 ft/s 2 k
) (
) (
) (
) (
Frame of reference. Let moving frame Axyz rotate about the Y axis with angular velocity
= 1j = ( 0.15 rad/s ) j.
rB/ A = 5cos 20i + 5sin 20 j = ( 4.6985 m ) i + (1.7101 m ) j rB/O = rB/ A + rA/O = rB/ A + ( 0.8 m ) i = ( 3.8985 m ) i + (1.7101 m ) j
Motion of corresponding point B in the frame.
Geometry.
Place point O on Y axis at same level as point A.
v B = rB/O = ( 0.15j) ( 3.8985i + 1.7101j) = ( 0.58477 m/s ) k
a B = v B = ( 0.15j) ( 0.58477k ) = 0.087715 m/s 2 i
2 =
d k = ( 0.25 rad/s ) k dt
v B/F = 2 rB/ A = ( 0.25 ) k ( 4.6985i + 1.7101j)
= ( 0.42753 m/s ) i + (1.17462 m/s ) j

a B/F = 2 v B/F = ( 0.25k ) ( 0.42753i + 1.17462 j)
= 0.29365 m/s 2 i + 0.106881 m/s 2 j

Velocity of point B. v B = v B + v B/F v B = ( 0.428 m/s ) i + (1.175 m/s ) j + ( 0.585 m/s ) k
) (
2 v B/F = ( 2 )( 0.15j) ( 0.42753i + 1.17462 j)
= 0.128259 m/s 2 k
Acceleration of point B. a B = a B + a B/F + 2 v B/F
a B = 0.381 m/s 2 i + 0.1069 m/s 2 j 0.1283 m/s 2 k
) (
) (
Geometry.
Dimensions in meters.
rC/B = 0.1k rD/B = 0.070711j + 0.170711k

Method 1 Let the rigid body ABC be a rotating frame of reference. Its angular velocity and angular acceleration are
rD/C = 0.070711j + 0.070711k
= 1j = ( 8 rad/s ) j,
Motion of the coinciding point D in the frame.
& =0
v D = rD/B = 8j ( 0.070711j + 0.170711k ) = 1.36569i & a D = rD/B + v D = 0 + 8j 0.136569i = 10.9255k

Motion of point D relative to the frame.
v D/ ABC = 2i rD/C = 4i ( 0.070711j + 0.070711k )
= 0.28284 j 0.28284k
& a D/ ABC = 2i rD/C + 2i v D/ ABC
= 5i ( 0.070711j + 0.070711k )
+ 4i ( 0.28284 j 0.28284k )
= 0.77781j 1.48492k
Velocity of point D.
v D = v D + v D/ ABC v D = (1.366 m/s ) i ( 0.283 m/s ) j ( 0.283 m/s ) k
2 v D/ ABC
2 v D/ ABC = ( 2 )( 8j) ( 0.28284 j 0.28284k ) = 4.5255i
Acceleration of point D.
a D = a D + a D/ ABC + 2 v D/ ABC
a D = 4.53 m/s 2 i + 0.778 m/s 2 j 12.41 m/s 2 k
) (
) (
Method 2 Bent rod ABC. (Rotation about the fixed y-axis)

ABC = 1j = 8 j
& ABC = 1j = 0
vC = ABC rC/B = 8j 0.1k = 0.8i aC = ABC rC/B + ABC vC = 0 + 8j 0.8i = 6.4k

Rod CD.
CD = 1j + 2i = 8j + 4i
& & CD = 1j + 2i + 1j 2i = 0 + 5i + 8 j 4i = 5i 32k
v D/C = CD rD/C
i j k = 4 8 0 0 0.070711 0.070711
= 0.56569i 0.28284 j 0.28284k
a D/C = CD rD/C + CD vC/D i j k i j k 0 4 8 0 = 5 32 + 0 0.070711 0.070711 0.56569 0.28284 0.28284 = 2.26276i 0.35356 j 0.35356k 2.26272i + 1.13136 j 5.65688k
Velocity of point D.
v D = vC + v D/C v D = (1.366 m/s ) i ( 0.283 m/s ) j ( 0.283 m/s ) k
Acceleration of point D.
a D = aC + a D/C a D = ( 4.53 m/s ) i + ( 0.778 m/s ) j (12.41 m/s ) k
Geometry.
rA/D = ( 7.5 in.) i + ( 9 in.) j (18 in.) k ,
rA/C = ( 9 in.) j
Let frame Dxyz, which coincides with the fixed frame DXYZ at the instant shown, be rotating about the Y axis with constant angular velocity = 1j = ( 8rad/s ) j. Then, the motion relative to the frame consists of a rotation of the disk AB about the bent axle CD with constant angular velocity 2 = 2k = (12 rad/s ) k. Motion of the coinciding point A in the frame.
v A = rA/D = 8j ( 7.5i + 9 j 18k ) = (144 in./s ) i ( 60 in./s ) k
a A = v A = 8j ( 144i 60k ) = 480 in./s 2 i + 1152 in./s 2 k
) (
Motion of point A relative to the frame.
v A/F = 2 rA/D = 12k 9 j = (108 in./s ) i
a A/F = 2 v A/F = 12k ( 108i ) = 1296 in./s 2 j

v A = v A + v A/F v A = 144i 60k 108i = ( 252 in./s ) i ( 60 in./s ) k v A = ( 21.0 ft/s ) i ( 5.00 ft/s ) k
2 v A/F
2 v A/F = ( 2 )( 8j) ( 108i ) = (1728 in./s ) k
a A = a A + a A/F + 2 v A/F
a A = 480i + 1152k 1296 j + 1728k = 480 in./s 2 i 1296 in./s 2 j + 2880 in./s 2 k a A = 40.0 ft/s 2 i 108.0 ft/s 2 j + 240 ft/s 2 k
) (
) (
) (
) (
Geometry.
rB/D = ( 7.5 in.) i ( 9 in.) j (18 in.) k ,
rB/C = ( 9 in.) j
Let frame Dxyz, which coincides with the fixed frame DXYZ at the instant shown, be rotating about the Y axis with constant angular velocity = 1j = ( 8 rad/s ) j. Then, the motion relative to the frame consists of a rotation of the disk AB about the bent axle CD with constant angular velocity 2 = 2k = (12 rad/s ) k. Motion of the coinciding point B in the frame.
v B = rB/D = 8j ( 7.5i 9 j 18k ) = (144 in./s ) i ( 60 in./s ) k a B = v B = 8j ( 144i 60k ) = 480 in./s 2 i + 1152 in./s 2 k
) (
v B/F = 2 rB/D = 12k ( 9 j) = (108 in./s ) i
a B/F = 2 v B/F = 12k 108i = 1296 in./s 2 j

v B = v B + v B/F v B = 144i 60k + 108i = ( 36 in./s ) i ( 60 in./s ) k v B = ( 3.00 ft/s ) i ( 5.00 ft/s ) k
2 v B/F
2 v B/F = ( 2 )( 8j) (108i ) = 1728 in./s 2 k
a B = a B + a B/F + 2 v B/F
a B = 480i + 1152k + 1296 j 1728k = 480 in./s 2 i + 1296 in./s 2 j 576 in./s 2 k aB
2 2
) ( ) ( ) = ( 40.0 ft/s ) i + (108.0 ft/s ) j ( 48.0 ft/s ) k

2

rA = (120 mm ) i + (180 mm ) k
Geometry. Method 1
Let the rigid body DCB be a rotating frame of reference. Its angular velocity is Its angular acceleration is Motion of the coinciding point A in the frame.
= 1i + 2k = (1.2 rad/s ) i + (1.5 rad/s ) k. = 1i 2k = 1 2 j = 1.8 rad/s 2 j.
v A = rA = (1.2i + 1.5k ) (120i + 180k )

= 216 j + 180 j = ( 36 mm/s ) j
a A = rA + v A
= ( 1.8j) (120i + 180k ) + (1.2i + 1.5k ) ( 36 j)
= 216k 324i 43.2k + 54i = 270 mm/s 2 i + 172.8 mm/s 2 k

) (
v A/F = ui = ( 60 mm/s ) i,
a A/F = 0
v A = v A + v A/F v A = ( 60.0 mm/s ) i ( 36.0 mm/s ) j
2 v A/F
2 v A/F = ( 2 )(1.2i + 1.5k ) 60i = 180 mm/s 2 j
a A = a A + a A/F + 2 v A/F
a A = 270 mm/s 2 i + 180.0 mm/s 2 j + 172.8 mm/s 2 k
) (
) (
Method 2 Let frame Dxyz, which at instant shown coincides with DXYZ, rotate with an angular velocity = 1i = 1.2i rad/s. Then the motion relative to the frame consists of the rotation of body DCB about the z
axis with angular velocity 2k = (1.5 rad/s ) k plus the sliding motion u = ui = ( 60 mm ) i of the rod AB relative to the body DCB. Motion of the coinciding point A in the frame.
v A = rA = 1.2i (120i + 180k ) = ( 216 mm/s ) j a A = v A = 1.2i ( 216 j) = 259.2 mm/s 2 k
v A/F = 2k rA + ui = 1.5k (120i + 180k ) + 60i = (180 mm/s ) j + ( 60 mm/s ) i & a A/F = 2k rA + 2k ( 2k rA ) + ui + 2 2 j ( ui )
= 0 + 1.5k 180 j + 0 + ( 2 )(1.5k ) ( 60i ) = 180 mm/s 2 j 270 mm/s 2 i

) (
v A = v A + v A/F
v A = 216 j + 180 j + 60i
v A = ( 60 mm/s ) i ( 36 mm/s ) j
2 v A/F
2 v A/F = ( 2 )(1.2i ) (180 j + 60i ) = 432 mm/s 2 k
a A = a A + a A/F + 2 v A/F
a A = 259.2k + 180 j 270i + 432k
a A = 270 mm/s 2 i + 180.0 mm/s 2 j + 172.8 mm/s 2 k
) (
) (
Geometry. Method 1
rA = (120 mm ) j + (180 mm ) k
Let the rigid body DCB be a rotating frame of reference. Its angular velocity is Its angular acceleration is Motion of the coinciding point A in the frame.
= 1i + 2k = (1.2 rad/s ) i (1.5 rad/s ) k. = 1i 2k = 1 2 j = 1.8 rad/s 2 j.
v A = rA = (1.2i 1.5k ) (120 j + 180k )

= 144k 216 j + 180i = (180 mm/s ) i ( 216 mm/s ) j + (144 mm/s ) k
a A = rA + v A i j k i j k = 0 1.8 0 + 1.2 1.5 0 0 120 180 180 216 +144 = 324i 324i + 442.8j 259.2k = 442.8 mm/s 2 j 259.2 mm/s 2 k
v A/F = uj = ( 60 mm/s ) j, a A/F = 0
) (
v A = v A + v A/F
v A = 180i 216 j + 144k + 60 j
v A = (180.0 mm/s ) i (156.0 mm/s ) j + (144.0 mm/s ) k

2 v A/F
2 v A/F = ( 2 )(1.2i 1.5k ) 60 j = 180 mm/s 2 i + 144 mm/s 2 k

) (
a A = a A + a A/F + 2 v A/F
a A = 442.8 j 259.2k + 180i + 144k
a A = 180 mm/s 2 i 443 mm/s 2 j 115.2 mm/s 2 k
) (
) (
Method 2 Let frame Dxyz, which at instant shown coincides with DXYZ, rotate with an angular velocity = 1i = 1.2i rad/s. Then the motion relative to the frame consists of the rotation of body DCB
about the z axis with angular velocity 2k = (1.5 rad/s ) k plus the sliding motion u = ui = ( 60 mm ) j of the rod AB relative to the body DCB. Motion of the coinciding point A in the frame.
v A = rA = 1.2i (120 j + 180k ) = ( 216 mm/s ) j + (144 mm/s ) k a A = v A = 1.2i ( 216 j + 144k ) = 172.8 mm/s 2 j 259.2 mm/s 2 k
) (
v A/F = 2k rA + uj = ( 1.5k ) (120 j + 180k ) + 60 j = (180 mm/s ) i + ( 60 mm/s ) j & a A/F = 2k rA + 2k ( 2k rA ) + uj + 2 2k ( uj)
= 0 + ( 1.5k ) (180i ) + 0 + ( 2 )( 1.5k ) ( 60 j) = 270 j + 180i = 180 mm/s 2 i 270 mm/s 2 j

) (
v A = v A + v A/F
v A = 216 j + 144k 180i + 60 j
v A = (180.0 mm/s ) i (156.0 mm/s ) j + (144.0 mm/s ) k

2 v A/F
2 v A/F = ( 2 )(1.2i ) (180i + 60 j) = 144 mm/s 2 k
a A = a A + a A/F + 2 v A/F
a A = 172.8j 259.2k + 180i 270 j + 144k
a A = 180.0 mm/s 2 i 443 mm/s 2 j 115.2 mm/s 2 k
) (
) (
Geometry.
rA = ( 6 in.) i ( 9 in.) j
Let frame Dxyz, which coincides with the fixed frame DXYZ at the instant shown, be rotating about the x axis with constant angular velocity = 1i = ( 6 rad/s ) i. Then, the motion relative to the frame is a spin about the axle CD of angular velocity 2 j = ( 8 rad/s ) j. Motion of the coinciding point A in the frame.
v A = rA = 6i ( 6i 9 j) = ( 54 in./s ) k a A = v A = 6i ( 54k ) = 324 in./s 2 j

v A/F = 2 j rA = 8j ( 6i 9 j) = ( 48 in./s ) k a A/F = 2 j v A/F = 8j 48k = ( 384 in./s ) i
v A = v A + v A/F v A = 54k + 48k = ( 6 in./s ) k v A = ( 0.500 ft/s ) k

2 v A/F
2 v A/F = ( 2 )( 6i ) 48k = 576 in./s 2 j
a A = a A + a A/F + 2 v A/F
a A = 324 j 384i 576 j = 384 in./s 2 i 252 in./s 2 j a A = 32.0 ft/s 2 i 21.0 ft/s 2 j
) (
) (
Geometry.
rB = ( 6 in.) i (14 in.) j
Let frame Dxyz, which coincides with the fixed frame DXYZ at the instant shown, be rotating about the x axis with constant angular velocity = 1i = ( 6 rad/s ) i. Then, the motion relative to the frame is a spin about the axle CD of angular velocity 2 j = ( 8 rad/s ) j. Motion of the coinciding point B in the frame.
v B = rB = 6i ( 6i 14 j) = ( 84 in./s ) k a B = v B = 6i ( 84k ) = 504 in./s 2 j

v B/F = 2 j rB = 8 j ( 6i 14 j) = ( 48 in./s ) k a B/F = 2 j v B/F = 8j 48k = ( 384 in./s ) i
v B = v B + v B/F v B = ( 84 in./s ) k + ( 48 in./s ) k = ( 36 in./s ) k v B = ( 3.00 ft/s ) k

2 v B/F
2 v B/F = ( 2 )( 6i ) 48k = 576 in./s 2 j
a B = a B + a B/F + 2 v B/F
a B = 504 j 384i 576 j = 384 in./s 2 i 72 in./s 2 j a B = 32.0 ft/s 2 i 6.00 ft/s 2 j
) (
) (
Let the moving frame of reference be the unit less the pulleys and belt. It rotates about the Y axis with constant angular velocity = 1 j = (1.6 rad/s ) j. The relative motion is that of the pulleys and belt with speed
u = 90 mm/s.
(a) Acceleration at point A.
rA = (100 mm ) i + ( 380 mm ) j v A = rA = 1.6 j ( 100i + 380 j) = (160 mm/s ) k

a A = v A = 1.6 j 160k = 256 mm/s 2 i
v A/F = uk = ( 90 mm/s ) k
u2 902 2 a A/F = j = 60 j = 135 mm/s j
2 v A/F = ( 2 )(1.6 j) ( 90k ) = 288 mm/s 2 i
a A = a A + a A/F + 2 v A/F = 256i 135 j + 288i

a A = 544 mm/s 2 i 135.0 mm/s 2 j
) (
rB = (100 mm ) i + ( 200 mm ) j + ( 60 mm ) k v B = rB = 1.6 j ( 100i + 200 j + 60k ) = ( 96 mm/s ) i + (160 mm/s ) k

a B = v B = 1.6 j ( 96i + 160k ) = 256 mm/s 2 i 153.6 mm/s 2 k
v B/F = uj = ( 90 mm/s ) j
) (
a B/F = 0
2 v B/F = ( 2 )(1.6 j) ( 90 j) = 0
a B = a B + a B/F + 2 v B/F = 256i 153.6k + 0 + 0

a B = 256 mm/s 2 i 153.6 mm/s 2 k
) (
Let the moving frame of reference be the unit less the pulleys and belt. It rotates about the Y axis with constant angular velocity = 1j = (1.6 rad/s ) j. The relative motion is that of the pulleys and belt with speed
u = 90 mm/s.
(a) Acceleration at point C.
rC = (100 mm ) i + ( 80 mm ) j vC = rA = 1.6 j ( 100i + 80 j) = (160 mm/s ) k

aC = v A = 1.6 j 160k = 256 mm/s 2 i
vC/F = uk = ( 90 mm/s ) k
u2 902 2 aC /F = j = 60 j = 135 mm/s j
2 vC/F = ( 2 )(1.6 j) ( 90k ) = 288 mm/s 2 i
aC = aC + aC/F + 2 vC/F = 256i + 135 j 288i

aC = 32.0 mm/s 2 i + 135.0 mm/s 2 j
(b) Acceleration at point D.
) (
rD = (100 mm ) i + ( 200 mm ) j ( 60 mm ) k v D = rB = 1.6 j ( 100i + 200 j 60k ) = ( 96 mm/s ) i + (160 mm/s ) k

a D = v B = 1.6 j ( 96i + 160k ) = 256 mm/s 2 i + 153.6 mm/s 2 k
v D/F = uj = ( 90 mm/s ) j
) (
a D/F = 0
2 v D/F = ( 2 )(1.6 j) ( 90 j) = 0
a D = a D + a D/F + 2 v D/F = 256i + 153.6k + 0 + 0

a D = 256 mm/s 2 i + 153.6 mm/s 2 k
) (
rA/E = (16 in.) i + (16 in.) j + ( 8 in.) k

Angular velocity.
l AE = 162 + 162 + 82 = 24 in.
l AE
rA/E =
12 ( 16i + 16 j + 8k ) 24
= ( 8 rad/s ) i + ( 8 rad/s ) j + ( 4 rad/s ) k

rC/E = (16 in.) i + ( 6 in.) j
Velocity of C.
vC = rC/E i j k = 8 8 4 = 24i 64 j + 80k 16 6 0
vC = ( 24.0 in./s ) i ( 64.0 in./s ) j + (80.0 in./s ) k

Angular Acceleration. Acceleration of C.
=0
aC = rC/E
j k i + vC = 0 + 8 8 4 24 64 80
= 896i + 544 j + 704k
aC = 896 in./s 2 i + 544 in./s 2 j + 704 in./s 2 k
) (
) (
0 = 2400 rpm =
( 2400 )( 2 )
60
= 80 rad/s,
r = 1.00 in.
1 = 0,
(a) Before power is turned off, = 0
t1 = 10 s
vC = r 0 = (1.00 )( 80 ) = 251.33 in./s,

an =
2 vC 251.332 = = 63165 in./s 2 1.00 r
vC = 20.9 ft/s
at = r = 0,
(b) Uniformly decelerated motion.
aC = 63165 in./s 2 ,
aC = 5260 ft/s 2
1 = 0 + t1 = 1 0
t1
=
0 80 = 8 rad/s 2 10
At 9 s,
= 0 + t = 80 ( 8 )( 9 ) = 8 rad/s
vC = r = (1.00 )( 8 ) = 25.133 in./s,
vC = 2.09 ft/s
( aC )n
2 vC 25.1332 = = 631.65 in./s 2 rC 1.00
( aC )t
= rC = (1.00 )( 8 ) = 25.133 in./s 2

2 an + at2 =
aC =
631.652 + ( 25.133) = 632.15 in./s 2
aC = 52.7 ft/s 2
Arm ACB. Fixed axis rotation.
rA/C = 6 mm, v A = rA/C AB = ( 6)( 40) = 240 mm/s rB/C = 36 mm, v B = rB/C AB = ( 36)( 40) = 1440 mm/s
Disk B: Plane motion = Translation with B + Rotation about B.
rB = 12 mm, v D = v B v B/ A
0 = 1440 + 12 B
B =
1440 = 120 rad/s 12
v E = v B + v E/B
= 1440 + ( 6)(120) = 2880 mm/s
Disk A: Plane motion = Translation with A + Rotation about A.
rA = 30 mm, v E = v A v E/ A
2880 = 240 + 30 A
A =
Answers. (a) (b)
2880 + 240 = 104 rad/s 30 A = 104.0 rad/s B = 120.0 rad/s
Rod AB. (Rotation about A) Rod DE. (Rotation about E) Rod BGD.
v B = ( AB ) AB = 0.12 AB v D = ( ED ) DE = 0.15 DE
45 45
Plane motion = Translation with B + Rotation about B.
v D = v B + v D/B
[ vD
vD/B =
45 ] = [ vB
45] + [ vD/B

2vB = 0.12 2 AB vD/B lBD = 0.12 2 AB 1 2 AB = 0.24 2 1 vD/B = 0.06 2 AB 2 Draw vector diagram.
BD =
vG/B = lBG BD = vG = v B + vG/B
vG = vB sin 45 = .12 AB sin 45
AB =
vG 3.6 = , 0.12sin 45 0.12sin 45
AB = 42.4 rad/s
2 ( 42.4 ) , BD = 2
vD = vB = 0.12 AB = 5.0912 m/s
BD = 30.0 rad/s
DE =
vD 5.0912 = 0.15 lED
DE = 33.9 rad/s
Since the drum rolls without sliding, its instantaneous center lies at B.
v E = v D = 120 mm/s
v A = rA/B , vD = rD/B
(a)
vD 120 = = 3 rad/s rD/B 100 60
= 3.00 rad/s
(b)
v A = ( 60)( 3.00) = 180 mm/s

vA = 180 mm/s
Since v A is to the right and vD is to the left, cord is being unwound.
v A vE = 180 + 120 = 300 mm/s

(c) Cord unwound per second = 300 mm
v B = 16 in./s
tan =
EF 5 = DF 12
v D = vD
Locate the instantaneous center (point C) of bar ABD by noting that velocity directions at points B and D are known. Draw BC perpendicular to v B and DC perpendicular to v D .
5 CJ = ( DJ ) tan = ( 6.4 ) = 2.6667 in., 12

CB = JB CJ = 12.8 2.6667 = 10.1333 in.
(a)
ABD =
vB 16 = = 1.57895 rad/s CB 10.1333

CK = CB + BK = 10.1333 + 7.2 = 17.3333 in.
ABD = 1.579 rad/s
tan =
KA 3.6 = , = 11.733, CK 17.3333

AC =
90 = 78.3
CK 17.3333 = = 17.7032 in. cos cos 11.733
(b)
v A = ( AC ) ABD = (17.7032 )(1.57895 ) = 28.0 in./s,
v A = 28.0 in./s
78.3
Velocity analysis.
v C = v D + v C /D
v D = 30 in./s
v C = 12 in./s
or
[12
=
,
] = [30
] + [6
12 = 30 6 ,
42 = 7 rad/s 6
aC = aC ,
a D = 36 in./s 2
a C = a D + a C/ D
)t + (aC/D )n
] + 6 2

[ aC ] = [36
Components:
: 0 = 36 6
] + [6
2
= 6 rad/s 2
aC = 24.5 ft/s 2
:
a A = a D + a A/D
aC = ( 6 )( 7 ) = 294 in./s 2
)t + (a A/D )n
] + 6 2
= [36
= [36
] + [6
] + [36
] + 294

76.2
= 72 in./s 2 a B = a D + a B/D
2 + 294 in./s
a A = 25.2 ft/s 2
)t + (a B/D )n

= [36 = [36
] + [6 ] + 6 2 ] + [36 ] + [ 294
+ 36 in./s 2
= 258 in./s 2
a B = 21.7 ft/s 2
7.9
Velocity analysis.
AB = 8 rad/s
vB = ( AB ) AB = (12 )( 8 ) = 96 in./s
v B = vB , v D = vD
Instantaneous center of bar BD lies at .
BD = 0, DE =
v D = v B = 96 in./s
vD 96 = = 8 rad/s DE 12
AB = 0,
2 AB = 64 ( rad/s )
a B = ( AB ) AB
2 ] + ( AB ) AB 2 = 768 in./s
= 0 + (12 )( 64 )
a D/B = [ 2l BD
] + [l BD ] + [12 BD
2 ] + 2l BD
2 + l BD
= [ 24 BD
] + 0 = [ 24 BD ] + [12 BD

a D = ( DE ) DE
2 + ( DE ) DE
= [12 DE = [12 DE
] + (12 )( 64 )
] + 768 rad/s2
a D = a B + a D/B
: 768 = 768 + 24 BD
aC/B = 1 a D/B = [12 BD 2
BD = 64 rad/s 2
] + [6 BD

] ]
= 768 in./s 2
aC = a B + aC/B = [ 768
+ 384 in./s 2
] + [768 ] + [384
aC = 384 in./s 2
AB = 500 mm = 0.5 m, AP = 0.5 tan 30, BP =
0.5 cos 30
AE = 8 rad/s ,
BD = 3 rad/s
Let P be the coinciding point on AE and u1 be the outward velocity of the collar along the rod AE.
v P = v P + v P/ AE = ( AP ) AE
] + [u1
]
60]
Let P be the coinciding point on BD and u2 be the outward speed along the slot in rod BD.
v P = v P + v P/BD = ( BP ) BD
30] + [u2

:
0.5 u1 = ( 3)( cos 30 ) + u2 cos 60 cos 30

u1 = 1.5 + 0.5u2
(1)
or
:
0.5 ( 0.5 tan 30 )( 8 ) = ( 3) sin 30 + u2 sin 60 cos 30
u2 =
From (1),
1 [1.5 tan 30 4 tan 30] = 1.66667 m/s sin 60
u1 = 1.5 + ( 0.5 )( 1.66667 ) = 0.66667 m/s

v P = ( 0.5 tan 30 )( 8 )
+ [0.66667
] = 2.3094 m/s
+ [0.66667 m/s
vP = 2.30942 + 0.66667 2 = 2.4037 m/s

tan = 2.3094 0.66667
= 73.9
v P = 2.40 m/s
73.9
Let the arm AB be a rotating frame of reference. Link 1:
= 0.75 rad/s
= ( 0.75 rad/s ) k
r1 = ( 2 in.) i,
v1/ AB = u
2
= ( 4 in./s ) j
a1 = 2r1 = ( 0.75 ) ( 2i ) = (1.125 in./s ) i

a1/ AB = u2
42 = 8 in./s 2 2
= 8 in./s 2 i
2 v P/ AB = ( 2 )( 0.75k ) ( 4 j) = ( 6 in./s ) i
a1 = a1 + a1/ AB + 2 v1/ AB = 15.125 in./s 2 i
a1 = 15.13 in./s 2
Link 2:
r2 = ( 8 in.) i + ( 2 in.) j
2
v 2/ AB = u
= ( 4 in./s ) i
a2 = 2r2 = ( 0.75 ) ( 8i + 2 j) = 4.5 in./s 2 i 1.125 in./s 2 j
) (
a 2/ AB = 0
2 v 2/ AB = ( 2 )( 0.75k ) ( 4i ) = 6 in./s 2 j
a 2 = a2 + a 2/ AB + 2 v 2/ AB = 4.5i 1.125j 6 j = 4.5 in./s 2 i 7.125 in./s 2 j
a2 =
) (
( 4.5)2 + ( 7.125)2
7.125 , 4.5
= 8.43 in./s 2
tan =
= 57.7
a 2 = 8.43 in./s 2
57.7
Geometry. Velocity at B. Velocity of collar A.
rB/C = ( 0.16 m ) k ,
rA/B = ( 0.5 m ) i + ( 0.4 m ) j ( 0.16 m ) k
v B = 0 j rB/C = 3j ( 0.16k ) = ( 0.48 m/s ) i

v A = vA j
v A = v B + v A/B ,
where
v A/B = AB rA/B
rA/B v A = rA/B v B
(1)
( 0.5i + 0.4 j 0.16k ) ( vA j) = ( 0.5i + 0.4 j 0.16k ) ( 48i )

0.4v A = 0.24 or v A = 0.6 m/s
v A = ( 0.600 m/s ) j
Let frame Oxyz rotate with angular velocity Note that point B does not move. Geometry.
= 1i = ( 8 rad/s ) i.
rA/B = sin i + (1 cos ) j,
= 120 mm,
= 60
rA/B = (103.923 mm ) i + ( 60 mm ) j
Motion of coinciding point A

v A = rA/B = 8i (103.923i + 60 j) = ( 480 mm/s ) k
a A = rA/B + v A = 0 + 8i 480k = 3840 mm/s 2 j

v P/F = u ( cos i + sin j) , u = 600 mm/s
v P/F = ( 300 mm/s ) i + ( 519.62 mm/s ) j
a A/F =
u2
( sin i + cos j)
a A/F = 2598.1 mm/s 2 i + 1500 mm/s 2 j
) ( )
ac = 2 v P/F
ac = ( 2 )( 8i ) ( 300i + 519.62 j) = 8313.9 mm/s 2 k
(a) Velocity of A.
v A = v A + v A/F v A = ( 300 mm/s ) i + ( 519.62 mm/s ) j + ( 480 mm/s ) k v A = ( 0.300 m/s ) i + ( 0.520 m/s ) j + ( 0.480 m/s ) k
(b) Acceleration of A.
a A = a A + a A/F + ac
a A = 2598.1 mm/s 2 i 2340 mm/s 2 j + 8313.9 mm/s 2 k aA
2 2
) ( ) ( ) = ( 2.60 m/s ) i ( 2.34 m/s ) j + (8.31 m/s ) k

2

Capitulo 15 by Govata

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Capitulo 15 by Govata

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COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 1.

Angular coordinate: Angular velocity:

Angular acceleration: (a) When the angular acceleration is zero.

= ( 24 )( 0.250 ) (12 )( 0.250 2 )

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 2.

d = 0.5 9 2e3 t cos 4 t + 12 2e3 t sin 4 t + 12 2e3 t sin 4 t 16 2e 3 t cos 4 t dt

= ( 0.5 ) = ( 0.5 )( 3 ) = 4.71

= 0.500 rad = 4.71 rad/s

= ( 0.5 )( 0.30786 )( 0 ) = 0 = ( 0.5 )( 0.30786 )( 4 ) = 1.93437 = ( 0.5 )( 0.30786 ) 24 2 = 36.461

=0 = 1.934 rad/s = 36.5 rad/s 2

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 3.

= 0e7 t/6 sin 4 t

d 7 7 t/6 = 0 e sin 4 t + 4 e7 t/6 cos 4 t dt 6

(a) 0 = 0.4 rad,

= ( 0.4 )( 0.63245 )(1) = 0.25298 radians = ( 0.4 )( 0.63245)

= 0.253 rad = 0.927 rad/s

49 2 2 (1) = 36.551 rad/s 36

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 4.

Angular coordinate: Initial angular velocity: Angular acceleration:

= 1800 rev = 3600 radians 0 = 6000 rpm = 200 rad/s =

( 200 ) = 17.4533 rad/s2 2 = 0 = 2 ( 2 )( 3600 )

(b) Time to execute the first 900 revolutions.

= 900 rev = 1800 radians = 0t + t 2

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 5.

1 2 1 160 t = 0 + ( 20 ) 42 = 160 rad = = 80 rev 2 2 2

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 6.

Angular acceleration: Angular velocity:

= 150 1 e( 0.2 )( 0.5)

= 150t 750 1 e 0.2t

= (150 )( 0.5 ) 750 1 e ( 0.2 )( 0.5)

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 7.

= ( 0.02 )( 30 ) = 0.6 rad/s

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 8.

2 = 122 ( 9 )( 3) = 63 rad 2/s 2

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 9.

( 5)2 + ( 31.2 )2 + (12 )2

6.76 ( 5i + 31.2 j + 12k ) 33.8

= (1.0 rad/s ) i + ( 6.24 rad/s ) j + ( 2.4 rad/s ) k

v B = ( 37.4 in./s ) i + (12.00 in./s ) j (15.60 in./s ) k

i j k 2.4 = 126.1i 74.26 j + 245.6k a B = 1.0 6.24 37.4 12 15.60

a B = 126.1 in./s 2 i 74.3 in./s 2 j + 246 in./s 2 k

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 10.

( 5)2 + ( 31.2 )2 + (12 )2

3.38 ( 5i + 31.2j + 12k ) 33.8

= ( 0.5 rad/s ) i + ( 3.12 rad/s ) j + (1.2 rad/s ) k

v B = (18.72 in./s ) i + ( 6.00 in./s ) j ( 7.80 in./s ) k

5.07 ( 5i + 31.2 j + 12k ) 33.8

= 0.75 rad/s 2 i 4.68 rad/s 2 j 1.8 rad/s 2 k

= 28.08i 9 j + 11.7k 31.536i 18.564 j + 61.406k

a B = 3.46 in./s 2 i 27.6 in./s 2 j + 73.1 in./s 2 k

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 11.

rB/ A = ( 500 mm ) i ( 225 mm ) j + ( 300 mm ) k = ( 0.5 m ) i ( 0.225 m ) j + ( 0.3 m ) k

0.52 + 0.2252 + 0.32 = 0.625 m