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1. A bar AB which is 3m long, it slides down the plane as shown in the fig. The velocity of end

A is 3.6m/s to the right. Determine the angular velocity of AB and velocity of end B at the

instant shown.

Ans. : ω AB= 0.936rad/s , VB= 3.73m/s . B

1350 VA=3.6m/s

200

constrained to more along the wall and the horizontal

ground is as shown in figure. If the end A on the B

ground is pulled towards right with a constant speed

of VA= 10m/s find the angular velocity ω AB of the rod

AB and the velocity Vb at the end B for the instant

0

when the rod makes an angle of 30 with the ground.

Ans. : ω AB=20/L r/s anticlockwise , VB= 17.32m/s ↓ 300 VA=10m/s

A

3. Figure shows a ladder AB = 6m resting y

against a vertical wall at A and horizontal

ground at B. If the end B of the ladder is A

pulled towards right with a constant velocity

vB = 4m/s. Find :

(i) Instantaneous centre of rotation of ladder.

(ii) Angular velocity of the ladder at the instant.

(iii) Velocity of point A.

4 m/s

Ans. : (i) (5.196, 3) m (ii) 1.333 rad/sec ( ), 300

B x

(iii) vA = 6.926 m/s (↓ ).

O

x y

4. A straight rod AB, 50 cm long, has one end B moving A

with a velocity of 4 m/s and the other end A moving

along a vertical line YO. Find the velocity of the end

0

A when it is inclined at 60 with the horizontal.

Ans. : vA = 2.309 m/s (↓ ).

600 4 m/s

5. A prismatic bar AB with its ends A and B B

O x

B being constrained to move along the

planes on which it rests as shown in the x

figure. If the end A moves with constant

velocity VA= 10 m/s, find the angular

velocity ω AB of the bar AB and velocity

VB of the end B of the bar at the instant 450 VA=10m/s

0

when the bar makes an angle of 30 with 300

the horizontal as shown.

0 A

Ans. : VB=8.966m/s at an angle of 45 ↓ with

horizontal, ω AB=7.32 Lr/s

2

6. The crank CB of a slider crank mechanism is B

rotating at a constant speed of 30 rpm 400mm

clockwise. Determine the velocity of the

cross head A at the given instant. AB = 100mm

400mm & BC is 100 mm. Ans. : va = 26.5 A 600

cm/s → .

C

B

7. Arm AB rotates anti clockwise with uniform

angular velocity 10 rad/s. Point C is

constrained to move along the x axis.

Calculate the angular velocity and 450

acceleration of bar BC. Also determine

velocity of C. A C

Ans. : 3.78 c/s clockwise, 2.43 m/s ←

velocity of the piston ‘P’ and the angular velocity of A

the connecting rod AP. OA is 0.1 m , AP is 0.4m and

angular velocity of OA is 90 rpm.

Ans. : vp= 5.737m/s ↑ and ω AP= 2.057c/s

clockwise .

3m/s. Determine angular velocities of links BD

and AB and velocity of point B at the instant

shown. Take lengths of links AB and BD as

0.4m.

Ans. : ω BD=5.304c/s anticlockwise, ω AB= 3m/s

2.057c/sclockwise, VB= 2.122m/s at an angle A 0

0 45 D

of 45 with horizontal. 45

0

of link AB. Find also the angular velocity of

link OA. Take velocity of slider at B= 2.5 m/s. B 30

0

in the figure.

Ans. : C is at 30.94mm on right of O on line

AO. ω OA= 6.25rad/sec clockwise.

400mm

3

A O

11. At the position shown in figure, the crank AB D

has Angular velocity of 3rad/sec clockwise. 125 mm

Find the velocity of slider C and the point D at

the instant shown.

A

B 125 mm

100 mm

C C

12 cm

12. A Bar AB 24m long is hinged to a wall at A. A

Another bar CD 32cm long is connected to

it by a pin at B such that CD= 12cm and B

BD = 20cm. At the instant shown, ( AB ⊥ 24 cm

CD ) the angular velocities of the bars are

WAB= 4 rad/sec and WCD = 6rad/sec. 20 cm

Determine the linear velocities of C and D.

with a constant velocity of 1.5 m/s. At the instant

0

when θ = 50 determine (i) the angular velocity of

B VB = 1.5

rod AB which is pinned at B and freely resting at A m/s

0

against 25 slope and (ii) the velocity of end A of 1.2 θ = 500

the rod. θ

m

Ans. : (i) w = 1.173 rad/s ( ), (ii) vA = 0.998 m/s.

A

0

25

Connecing

the length of crank and the connecting rod rod

are 300mm and 1200mm respectively. The

crank is rotating at 180 rpm. Find the

velocity of piston, when the crank is at an

0

angle of 45 with the horizontal.

piston

4

200 mm

15. Rod BDE is partially guided by a roller at D,

which moves in a vertical track. Knowing E

that at the instant shown the angular velocity

0

of AB is 5 rad/s clockwise and β = 25 . D

Determine (1) angular velocity of rod BE (2) 500 mm

velocity of point E .

Ans. : ω BE = 2.84 rad/s anticlockwise, VE =

1.817 m/s.

B

120 mm

5 rad/s

A

that its centre has a velocity of 4m/s towards

P

right horizontally. The angular velocity of

the wheel is 4rad/sec clockwise. Determine ω

the velocities of the points P, Q, R shown on 200 Q

the wheel.

Ans. : VR= 0 , VQ= 5.6m/s ↓ at an angle of

0

45 with horizontal, VP= 5.32m/s↑ at an angle

0

of 20 with horizontal.

horizontal bars moving in the opposite

direction as shown in the figure. (1) Locate

the instantaneous centre of velocity and give

its distance from A. Assume no slip

conditions at the points A and B. (2) Locate

16cm C

the position of the instantaneous centre

when both the bars are moving in the same

direction. 3m/s

B

Ans :{ (1) 0.06m, (2) 0.24m }

ball is given a speed of v and w as shown in

figure. The maximum and minimum speeds

of points on the surface.

Ans: 50.11,49.89m/s V=50 m/s

5

B

19. A uniform cylinder C of diameter 0.6m is

pinned to a rod AB at A with other end B is

moving along vertical wall, as shown in fig. If 1.3m

the end B of the rod is moving upward along

the vertical wall at a speed of 3.3m/s Find the

angular velocity of the cylinder assuming the

cylinder is rolling without slipping.

A 300

Ans: ω C= 3.175rad/sec

C

Ri =300

mm

Ro=500 mm

20. A compound wheel as shown in figure rolls

without slipping on a guide PQ. At the given C vc ac

instant if VC=3m/s and aC= 6m/s both

2

A

rightwards, determine acceleration of points

A and B.

P B Q

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