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    16 views37 pages

    Hibbeler Dynamics ISM ch20 PDF

    Uploaded by

    Gian Remundini

    Copyright:

    © All Rights Reserved
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    of 37
    20-41, The ladder of the fire truck rotates around the z axis with an angular velocity «1 = 0.15 rad) increasing at 0.8 rad/s?. At the same instant itis rotating ‘upward at a constant rate ax = 0.6 rad/s. Determine the velocity and acceleration of point A located at the top of the ladder at this instant, oy + =01K+0M= (044015) nts Agata For 8, = 0) = (0188) ne (ara tO =0+ (015 «(06 = (005) ca? Ree, 20, (6d qr2™ (04), =(08) 40 (084) 2288 ere Oe 208k +005) = (009j+08) ma? = ane = (24644206) a+ 015 x(s464y+200) = (-Sam~1g}920m) 6 Ane seeexrsoxy, = (005}+ 084) x(2464}6 204 + (0+ 0158) (5201-136 208) = (241-1354. 7208) aa? ro "20-2 The ladder of the fire truck rotates around the z axis with an angular velocity of a = 0.15 rad/s, which is increasing at 0.2 rad/s. At the same instant tis rotating ‘upwards at «2 = 0.6 rad/s while increasing at (4 rad/s' Determine the velocity and acceleration of point A located at the top of the ladder at this instant, vo = 40a" + 40am tao = (RGA + my a B= aks a= (06 +015) as a ne + yh + ae at 8 02K + 0M + 015% x04 = (0M + 005) + 024) ae? M4 = Ato = (ON + 015K) x (KY + 208) Me = (S200 ~ 1 + nm) a a B= BxOxtye) + O% 0 24 = (Om + 015%) x((08 + 015%) x¢s4644 + 200) “FOAL + 005} + 028) x (S46) + 200) aoe essay eee 20-3. ‘The motion of the top is such that at the instant shown it is rotating about the z axis at w, = 0.6 rad/s, while itis spinning at op = 8 rad/s. Determine the angular velocity and angular acceleration of the top at this instant. Express the result as a Cartesian vector. = 06k + Seos45"j + Bins" 0 = 15.66) +6.26k) rats Ans Lett y,z anes hive angular velocity of @ = oy, thus 0 = Daye + (os X a) =O + (06K) x Beos4S"j + Bsin4s"h) = (-3399) a? Ans $20-4. AL a given instant the satellite dish has an angular motion wy ~ 6 ra4/s.and «y= 3 ra6/s? about the axis AL this same insant # = 25°, the angular motion about the x ats is wn = 2 rad/s, and oy = 15 rad/s". Determine the velocity and acceleration of the signal horn A at this instant. Anguler Velocity : The coordina ase forthe fied fame (X.Y, 2) and ‘oxaing fre (x 2) athe instant shown are sett be coindnt. Tat. the angus veloc of he sale a his tnt wih eet to X,Y. 2) 8 be exprestedia rms of jk components (21+ ey ee Angular Acceleration : The anlar sceeraton wil be deeemind by investing sepuuly the tine rate of change of each angular veo —— | — -conaanen ith pene faa XYZ frame- or ober hare = ———— ‘consa direction fom the rotting ye fame hs fe is roming at 2 ty = (Sk rails: Appling Eq 20~6 with (errs (181) eal/ swe have @, =(6)),,, 0, x0, hy Sts kx a= (151+ 13) le Since ialways decd along the Z als (220), then 8, (6), 7 +0. 3k) ral ‘Ts, the angular aceon ofthe satel is B29, $6 = (154 13} a) nit Velocity and Acceleration : Applying Es. 20—3 snd 20-4 with we st obtained above ane, = {1.608 257+ Ls 257k) me © {1.2684 405917R) rm, weave M456, = (is tk) (12688) 40.5912) ~ - {-7.614~ 1.18} +258k) ee Ans cr, Hax(@%E) 181+ 14 3) (1.2688) 0.59178) + (214 6 (2+) x (12688059179) ¥ = (10.4 S1.6)~0463K) mie? Ans 20-5. Gear A is fixed while gear B is free to rotate on the shaft S. If the shaft is turning about the z axis at @, = S rad/s, while increasing at 2 rad/s, determine the velocity and acceleration of point C at the instant shown, ‘The face of gear B lies in a vertical plane. rom Prob, 20-4, 0 = (54-10) mate Om (30-454 209 at? tes OxK ve Gk 1p C60 + 1609 Ye = 001+ 400} +80) mene = (0.200 + 040) + 08008) me as Be = Axve + Ox re Re = (501 = 45+ 24) (808 + 260 + (10) + 54) x(-800 + 404 + 8008) fe = {103201 ~ 3840) + 3204) mami? fe = (1031 ~ 3.84 + 03206) mi? Ane 20-6, Gear B is connected to the rotating shaft, while the plate gear A is fixed. If the shaft is turning at a constant rate of a, = 10 rad/s about the 2 axis, determine, the magnitudes of the angular velocity and the angular acceleration of gear B. Also, determine the magnitudes of the velocity and acceleration of point P. = {20} 10) als Tae @ a=(a) cox os (OFT eh. 2ctn Ane @.,. r= (0340054) m 0+ (10) > (-40}+ 10) = (4001 rs! 0} + 10k) x(0.2}+0.08%) a= a2dOrdl? ay = ey xp (408) 0.250.058) +0 + 10K) Ans = (605-804) my a9 = VROFS CRF = 100 m/s? ns 20-7, At a given instant, the antenna has an angular | motion a = 3 rad/s and é = 2 rad/s? about the z axis. | At this same instant @ = 30°, the angular motion about the x axis is w = 1.5 rad/s, and dy = 4 rad/s? Determine the velocity and acceleration of the signal horn A at this | instant. The distance from O to A is d= 3ft. a Sema) + SaaS = (2.590) + 1.58) Pere ee ss un roe Gees) x90 415 om + $457k ~ 2281 wen 229¢ 90 oe A anata = oko +e mS Aye edn tony ne =H 5 sy + 2) SHH) + LS) # BEF SDM = 225 + 37H na = (020 = 353) + 700) HP Ane #208. The cone rolls without slipping such that at the instant shown w, = 4rad/s andée; = 3-rad/s*, Determine the velocity and acceleration of point A at this instant. Anguiaveloty The rena sgue vlcty =e + Mealvay dice ‘ong te snes a fe vey 7), saat te, ur 0 = e+ cos20} + a2) (am acy (4e oem Sutin snd component preci = (88) a (Oyo = (abe) em 3k (4204-38) na noe eine 0m Jo )ne0*0] 0, = (04) nate on 98) $2004) rex t09H1¢ 49) ‘Teaamasso00) at y= Dead Bnd (1504+ 1.2850) ‘(1099p xc.ss2y+ 12850) Seana an sneer soxy 7 (99a 1.040 «cst 1.280 + (10999 x¢-1419 (10 ~565)-8794) 0 Ans 205. The cone rolls without slipping such that at the instantshown @, = 4 rad/sand é, = 3 rad/s?. Determine the velocity and acceleration of point B at this instant. ‘Angutc veloc: The mantant guar wacky = 0, + ey isaya ected ‘long the astacneout of owas 9), =, +0, 2h a+ (0, c20%} + are) = (10999) man = 11 eon + (11. 70un20y em (109954 4} ea ‘Anpaar acceleraion (ye= (58) ae (ge = (abe) 0220-28 (82004) 8) a? on a0, [yt Je), 40%0,] m0, = (Ae) ratte em (946 01+ 1-804 ~ 34 + a8 (-10991¢.4) 1 (ai3s00-6204) mae "= 39594-82404) x(-0.6840M + 14794) + 0642798) “+ (1099p x(-7.06421 ~ 781768) = (7731~20.3-065n) 08 fee 20-10, If the top gear B is rotating at a constant rate of a determine the angular velocity of gear A, which is free toturn about the shaft and rolls on the bottom fixed gear va ekxcrsd = ort nee wea xtnithi= |e, Oy au o -n hk = (45 + er) Cauen dda Germ tayhtmer (0) Ora = Oar a0 ek [0 ay ax lo re hi Gi) From Ea: (8) — oval] we20e = (yh + aueredt a, ae oa) co Co 20-411, Gear Ais fixed to the crankshaft S, while gear C is fixed and B are free to rotate. The crankshaft is turning at 80 rad/s about its axis Determine the magnitudes of the angular velocity of the propeller and the angular acceleration of gear B. Fel? on wee Bt a ed of vp = BOM = 320% “Te Aine ong he pols of oan of Band C ate ae oan) Hue es elton ces = rod + dork tno = 01) + 04% wee ot aan m= [0-2 40 a= bm pt 8, 0+ oX(0, +0) (40) «ct = 409) a (408) ra Ane "20-12. The disk B is fee to rotate on the shaft . Ifthe shaft is wurning about the z axis at a, = 2 rad/s, while increasing at & rad/s*, determine the veloicty and ‘acceleration of point A atthe instant shown. Angular Veloty ‘Tee cordoae fr te fxd re X,Y, 2) ‘aig fmm ry 2) ate aa shown ae et bo cic Th, ‘ub vocy oe dk ae with refeencn X,Y, 2) cme ‘presen temo, Kcompoem. Ths vl of a csi of i 1s = 6\(08) = 2108) =160 m/e. Sneed tl wit png emcle—) Tt, 0, = (-4)) dle m0, 40,= (44428) mle Anat Aceeraton: Tg etn vi emi by ‘mwas spy tsa of geo ach intro ‘Spee ope tn XTZ tno, wokered nme Cen reco ee ag yt fe foe ng o°T can nae Tosengul canoer ae 256,08) = 108) = 40nd re tse. ni ig ens pray == Sweat rcs“ Ta, 0), = 16) ale ere 20-6 vee 8 Aap t XO, 16} x49 = (81-16) re? Sie, kaye dred snag Z ss (0 9), en 8 =O dy to, = (8) le Tha, nul mean of eke 4,2 (an 1eeme) are? Velocity and Acceleration: Apyag Ege. 20-3 10d 20-4 wit be © st obaned abovesnd y= (-Bals 08) 2 were ator am x(-oatengy, = {1601~0.900)-1.608) me a Faxr, s0x(0x4,) = (=I +B)x(-0alsoap (28) xe 20 x(-041408p) (1st 640}~6408) aw 20-13. Shaft BD is connected to a ball-and-socket joint at B, and a beveled gear A is attached to its other end, ‘The gear is in mesh with a fixed gear C. If the shaft and gear A are spinning with a constant angular velocity @; =8 radis, determine the angular velocity and angular acceleration of gear A. ‘The resultant angular velocity = ay + is always directed along the instantaneous axis of zero velit JA. o 8 Sere ~ area =A nas 3.48 sn 18.87°E + 13.44008 18.87") [435i-+ 12.7) als Ans wo 8 ange ~ iaiear 0 mals 6H) ras sin 32.91°1+ 8cos 32.91") = (4.34664 + 6.7162} ras 22 = (6) ras (ardae = lorape + 20 0-4 (a) x (4.3408 + 6.7162 26.08} als? Foro o=0. #202 (Oon2 + Guz + (~26008h ~26.1k) als? Ans Goyura = Gye HD oy = 04 20-14. The truncated cone rotates about the z axis at a Constant rate «. = 0.4 rad/s without slipping on the hori- zontal plane. Determine the velocity and acceleration of point A on the cone. sot (28) aa tt amar = 08 rads 0.80530" = 0.6928 radls (-0.6928)) sais tk On: +20 o = 044 (0.4K) x (0.6028) oe (02771) nas? (104) sus Ans F4 = (3 ~3sin30")j +3c0530"k (1.5) +2.598K) anette x ta (O27) x (1.5) + 2.5984) + (0.6928) x (1.801) (-0:720) — 0.8318) fust Ans (-0.6928)) x (1.5) +2.598h) 20418, At the instant shown, the tower crane is rotating about the z axis with an angular velocity ay = 0.25 rad/s, which i increasing at 06 rad/s?.The boom OA is rotating. downward with an angular velocity a = 0.4 rad/s which is increasing at 0.8 rad/s*. Determine the velocity and acceleration of point 4 located at the top of the booms at this instant re +05 = {-0.4140258) male 00254) eats 0.80 64) + (0.25) (0.460.254) o-(a),, +0 st08-014s008) nat = oe = (04.6308) va = tng = (0.440.254) 4 64 +208) [6661 800)-13.9k) Us Ans (0 BE 0.1) 40.58) (04.640 20K) 0.440298) (-8 4 8 O}~ 13.94) = (24814 8.295-309K) VP Ane "20-16. ‘The construction boom OA is rotating about the zaxiswithra-constant angular velocity of ay = O15 rad/s, while it is rotating downward with a constant angular velocity of w= 02 rad/s Determine the velocity and acceleration of point A located at the tip of the boom at the instant shown, = oy +05 = (0.2) +0.154) mas ete x» zane oat a On ee Oe OTS OTT RE + =[ViTOF =O] se » (7.984 sou) 20-17. The differential of an automobile allows the two rear wheels to rotate at different speeds when the automobile travels along a curve. For operation, the rear axles are attached to the wheels at one end and have beveled gears A and B on their other ends, The differential case D is placed over the left axle but can rotate about C independent of the axle. The case supports 4 pinion gear E on a shaft, which meshes with gears A and B, Finally a ring gear G is fied to the differential cease so that the case rotates with the ring gear when the latter is driven by the drive pinion H. Ths gear, lke the differential cases free to rotate about the left wheel axle. If the drive pinion is turning at «oy = 100 rad/s and the pinion gear E's spinning about its shaft at aye = 30 rad/s, determine the angular velocity, ay and wy of each arte p= ery = 10050) = S000 $2 an 78 ea = 20 62.78 Point Oi Gael point froin for gers AB, and 8. A= 06 + 0 = (27-7854 30K) cals Yo =x tp = (27-785 + 30) 40+ 6) = (2866.71) me is jing arm using 20.18, Rod AB is attached to the rotating arm using pall-and-socket joints. If AC is rotating with constant angular velocity of 8 rad/s about the pin at C, determine the angular velocity of link BD at the instant shown. = 205) = 02D an THe B+ (t+ a+ oN) xe aaa 0» ~60, ~20, Om 2+ 60, +36, +25, =39, aos wre 2 Bde) 3%) atte, waten : ued y= (200) ne as 20-19, Rod AB is attached to the rotating arm using ball-and-socket joints. If ACs rotating about point C with fan angular velocity of Srad/s and has an angular acceleration of 6 rad/s* at the instant shown, determine the angular velocity and angular acceleration of link BD at this instant. . '*20-20. If the rod is attached with ball-and-socket joints to smooth collars A and B at its end points, the speed of B at the instant shown if A is moving downward at a constant speed of v4 = 8fi/s. Also, determine the angular velocity of the rod if itis directed perpendicular to the axis of the rod. o DIDI + pk = -984 95+ See Prob. 20-18, = (2008) te Ma = (14a waa tx ta + OX Oro) 0 = =96+ 0-9 -20, - 9736 na 94 65, $30, ~ 6508 ie + 4D ~ 59 + 19.592 (= 9008 e eon = 28 ses it 28 ae yp = (34:51) radia? Aes v4 = a ae au L4G Te ods s+ a nae ri weal da ‘epg tod ean components yl: Aim (os 04+ a0:s =m) =0 29, + 60, ~ 39, = 0 o Sevag Ea. (1) -() ede ©, = ammenue 6 10st ad = -1460 mae = (0900 tog tame ene vy = 120) We ds —— 20-21. If the collar at A is moving downward with an acceleration a4 = {5k} fUS, at the instant its speed is v4 = 8 fus, determine the acceleration of the collar at B at this instant Sagi ay = 5k From Prob, 20:20, gn = 097964 ~ 1.06125 ~ 1.4698 ap=ant ays ayy = an x Yaa Han x a4 Yaya = Ve ~ Va 14 SK ya = 1097968 ~ 1.06125 ~ 1.4694) x (12-4 88) + (a+ a4 stak) x 2+ 65— 39) (agh = ~Sk + (097964 ~ 1.0612) ~ 1.4694K) « (125+ 80) (Bay — 6a) Cas 3a + es ~ 2a) 4.4897 +a, a8 3a, — ay 25.4696 6a + Day = 7.738 Solving these equations a5 = 968 ap = [-96.5i) fs? Ans 20-22. The rod AB is attached to collars at its ends by ball-and-socket joints. If collar A has a speed vs = 3 m/s, determine the speed of collar B at the instant shown. Velocity Equation: Here, aja = (2 — OY + (= Dk} m (2K ms» = -0.6141-+ 08va) and wo nt end + 02k Applying Eg, 20-7, we have + 0.809) = 3K + (oh + a4) + 02K) x QI ~ Ik) 0804) = (-3 ~ a, ~ 20h + and + Qo, —3)k and k components, we have nm a 8 1 0 4 speiied acting perpendicular tothe axis of the rod AB. then erty =O (oi Foy) back) -Qj~ I) =0 Day = a, 4 Solving Bas. (1. [2 (3) and (4 yields = 150 nls sy = 0.225 ras 0.450 ras vp = 1875 mvs Ans 20-23. If the collar at A in Prob 20-22 has an accel- ration of a4 =[—2k] mvs? at the instant its speed is vq = 3 vs, determine the magnitude of the acceleration Of the collar at B at this instant. Nelocity Equation: Here, raja = 120+ (0~ Yk) m= (25 [-3k] mis, 0.609} + 0.8055 and @ = ead +4) + 02K. Applying Eq, 20-7, we have ve amt ex rais 0.60 +0, Bk + (wed ban) tack) x 25-1) ~0.60gi + 0.8vq) = (-3~ @, ~ 20.) + Den = 9k Equatng I. and k components. we have 0609 = -0, ~20, m 08s =e ay Day - a 1f wis specitiod acting perpendicular to the axis ofthe rod AB, then tan =0 (ote) +@:k)-Q)— 1k) =0 2a, ~ oO @ Solving Eqs. (1, (2), [3] and 4] yields 81S ms a, = 1.50 dls oy = 0225 rad a = 0450 ras ‘Acceleration Equation: With = ah-+a,)-+a.k and the result ‘biainad above, applying Ea, 20-8, we have ap aay ta xray tox oxy) = 0.6agh + 0.849) = ~2k + (ah +a) + 4K) QJ) + (1.501 +0.225j + 0.450k) x ((1.SO1 + 0.225) + 0.450K) x (2) — 18] — O.6aph + 0.805) = (met, ~ 2a.) + (a, ~ 5.00625)j + ay + 0.503125) Bgvatng i,j and k components, we have 069 = —a, ~ 20, 151 O8ce = a, ~ 5.00625 61 0 = 2a, +0.508125 m Solving Bas. (6] und (7) yields a, = ~02515 rads? op = 657 mis? Ans Negative sign indicates that ag is directed in the opposite direction 19 that of the above assumed direction, [Note: In order fo determine a, and a. one should obtain another ‘equation by specifying the dirceion of which acts perpendivalar to the exis of rod AB, 20-24, ‘The rod AB is attached to collars at its ends by ball-and-socket joints. If collar A has a velocity of ‘v4 = 5 fi/s, determine the angular velocity of the rod and the velocity of collar B at the instant shown, Assume the angular velocity of the rod is directed perpendicular to the rod, va = (0) Be ead Fn = (t+ 58) ts cniesele 3, 0 are 5-50-40, 0 $0, - 20, = -% 4a, +38, = 0 one - 0 a0, + 40, - 50,0 = (0578+ 051 + 0628) mae Ane (379) ame 20.28, Solve Prob. 20-24 ifthe connection at B consists . ‘of a pin as shown in the igure below, rather than a ball. and-socket joint. Hint: The constraint allows rotation of » the rod both along bar DE (J direction) and along the a axis of the pin (a direction). Since there is no rotational ‘component in the w direction, ie, perpendicular tom and (0.The vector nisin the same | ve={tihms e=—mj acem@ivamjemk TT RT rucXene =|-0.2 06 03} =(0.18+0.124) at lo2 0 a3 = (0240.5 +0.38) m nw 2B =08s21+ 0586 foe we srerane xeric hak waists}, oo so Jxm=5x(0.8921140.55¢74)=0.55471-08321K oa os oa yes w= (ql oys+ ah): (0.55471~0,8321) uating and componenis 055470, 0.83210 50 o 14034 -06q=0 Solving Ea.1) 1 (8) yes 030, +0.20,= a 207d Ga-2S rs HOSISradls vy #0333 m5 Tew - 0.60, +0.29, =0 o = 7691~-2.314+ 0.512) Ans i 2222s 7691-2:3460,519K) mals y= (0.303) ms Ane (4.21+0.6)+0.38) wo ove = (4.25+0.987 8 20.26, The rod assembly is supported at B by a ball-and- | socket joint and at A by a clevis If the collar at B moves in the xz plane with a speed vp = 5 ft/s, determine the Velocity of points A and C on the rod assembly at the instant shown. Hint: See Prob. 20-25. (Scos104 Sun) hs Fun (A-SI Fey = =H tye ctcsenrcsuoneles Al oI ‘ang, jd components Som20"=39,-40,-0 fi tao a t g fo, —Sans0" =~, 8 ‘Ao, nce ee eno reaon sou y i me 4 (010,560) =0 ano ‘Setving 1 et: a g20 oetotmtle 79 25aKh a = —- van (2500) hee hye = seaser-sunsorne lo > 108] bo 'S 4433+ 217)-2508) ane 29-27, Rod AB is attached ta collars at its ends by ball and-socket joints Lf collar A moves upward with a velocity ‘of ft/s determine the angular velocity ofthe rod and the speed of collar B at the instant shown. Assume that the rod's angular velocity is directed perpendicular tothe rod. vee (6) oy Jaiefan aseaivaivan vee taunt Bnet oe Juitfanemela a al nS 2 using and & ~a +24 = o @ 8-20-15 =f fe Since aqa is perpendicular he axis of he a, ea tan = (aula 04k): (1,51-2)-18) 0 1.5, -2a -@, =0 « Solving 961) 4) yee N6bArade oy = 1.2687 mate oy = 0.7789 ra mt Am Then ae = (11M 1214 0.779) aden "20-28, Rod ABis attached to collar at its ends by ball- and-socket joints. If collar A moves upward with an acceleration of a4 =4 ft/s’, determine the angular acceleration of rod AB and the magnitude of acceleration of collar B. Assume that the rod's angular acceleration is irected perpendicular to the rod. From Prob. 20-27 agg (1, 16886+ 1 2657)-.77894) als a = (LSM 3-1 + aj a ee fae) st ota rai, + aa Cee E00) (oui oy} a4) (151-2) te) “+. 168ahs 1.26575-0.77998) 168A 1.2681) -0, 77894) (1 c 2-109) uatingh jan corapnents a, #20, $3607 = Bay ® at hSa,47I479=0 ® 1.579724 1.50, o See ay is perpendicular t te aif he Ga tan =(@ch6 0} +): (1.51-2]~ thy = 0 1505-20, ~

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