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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.

= 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

Motion of point A relative to the frame.

v A/F = uj = ( 60 mm/s ) j, a A/F = 0

) (

Velocity of point A.

v A = v A + v A/F

v A = 180i 216 j + 144k + 60 j

Coriolis acceleration.

2 v A/F

Acceleration of point A.

) (

a A = a A + a A/F + 2 v A/F

a A = 442.8 j 259.2k + 180i + 144k

) (

) (

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.

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/s2 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 &j + 2 2k ( uj) a A/F = 2k rA + 2k ( 2k rA ) + u

Velocity of point A.

) (

v A = v A + v A/F

v A = 216 j + 144k 180i + 60 j

Coriolis acceleration.

2 v A/F

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

Acceleration of point A.

a A = a A + a A/F + 2 v A/F

a A = 172.8j 259.2k + 180i 270 j + 144k

) (

) (

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.

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