SOLUTION 11.

142

First note vA  450 km/h vB  540 km/h  150 m/s

(a) We have v B  v A  v B/A

The graphical representation of this equation is then as shown.

We have vB2/A  4502  5402  2(450)(540) cos 60°

vB/A  501.10 km/h

540 501.10
and 
sin  sin 60
  68.9
v B/A  501 km/h 68.9 

(b) First note a A  8 m/s2 (a B )t  3 m/s2 60

v 2B (150 m/s)2
Now ( aB ) n  
B 300 m

(a B )n  75 m/s2 30 

 Then a B  (a B )t + (a B )n
 3( cos 60 i  sin 60 j) + 75(cos 30 i  sin 30 j)
= (66.452 m/s2 )i  (34.902 m/s2 ) j

Finally aB  a A  aB/A

a B/A  (66.452i  34.902 j)  (8i)

 (74.452 m/s2 )i  (34.902 m/s2 ) j

a B/A  82.2 m/s2 25.1 

 SOLUTION 11.165

2b
r   kt
1  cos kt
2bk sin kt
r  k  0
(1  cos kt )2
2bk
r [(1  cos kt )2 k cos kt  (sin kt )2(1  cos kt )(k sin kt )]
(1  cos kt )4

(a) When   kt  0:
2bk 1
r b r 0 r 4
[(2)2 k (1)  0]  bk 2
(2) 2
 0  k  0

vr  r  0 v  r  bk v  bk e 

1 2 1 
ar  r  r 2  bk  bk 2   bk 2  1
2 2  a   bk 2er 
a  r  2r  b(0)  2(0)  0  2

(b) When   kt  90°:
2bk
r  2b r  2bk r [0  2k ]  4bk 2
19
  90  k  0

vr  r  2bk v  r  2bk v  2bk er  2bk e 

ar  r  r 2  4bk 2  2bk 2  2bk 2

a  r  2r  2b(0)  2(2bk )k  4bk 2 a  2bk 2er  4bk 2e 

SOLUTION 11.192

Radial motion. r0  5 m, r0  0, r  1.0 m/s2

 1 2
r  r0  r0t  rt  5  0  0.5t 2
2
r  r0  rt  0  1.0t

At t  2 s, r  5  (0.5)(2)2  3 m
r  (1.0)(2)  2 m/s


Angular motion. 0  60  rad, 0  0,   0.5 rad/s 2
3
1 
  0  0   t 2   0  0.25t 2
2 3
  0   t  0  0.5t

At t  2 s,   0  (0.25)(2)2  0.047198 rad  2.70
3
  (0.5)(2)  1.0 rad/s

Unit vectors er and e .

(a) Velocity of Point B at t  2 s.

v B  rer  r e

 (2 m/s)er  (3 m)(1.0 rad/s)e

  v B  (2.00 m/s)er  (3.00 m/s)e 

v 3.0
tan     1.5   56.31
vr 2.0 
v vr2  v  (2)  (3)  3.6055 m/s
2 2 2

Direction of velocity.
v 2er  3e
et    0.55470er  0.83205e
v 3.6055
    2.70  56.31  59.01
  v B  3.61 m/s 59.0° 

(b) Acceleration of Point B at t  2 s.

a B  (r  r 2 )er  (r  2r )e

 [1.0  (3)(1)2 ]er  [(3)(0.5)  (2)(1.0)(0.5)]e

aB  (4.00 m/s2 )er  (2.50 m/s2 )e 

 a 2.50
tan     0.625   32.00
ar 4.00
a  ar2  a2  (4)2  (2.5)2  4.7170 m/s 2
    2.70  32.00  29.30

a B  4.72 m/s2 29.3° 

Tangential component: at  (a  et )et

at  (4er  2.5e )  (0.55470er  0.83205e )et

 [(4)(0.55470)  (2.5)(0.83205)]et

 (0.138675 m/s2 )et  0.1389 m/s 2 59.0°

Normal component: an  a  at

an  4er  2.5e  (0.138675)(0.55470er  0.83205e )

 (3.9231 m/s2 )er  (2.6154 m/s 2 )e

an  (3.9231)2  (2.6154)2  4.7149 m/s2

(c) Radius of curvature of the path.

v2
an 


v 2 (3.6055 m/s)2
    2.76 m 
an 4.7149 m/s

SOLUTION 15.224
Geometry. rB/ A  (0.6 m)i  (0.25 m)j rC /A  (0.3 m)i
0.5
rD/ A  rB/ A
0.6
rD/C  rD/ A  rC/ A
 (0.2 m)i  (0.20833 m) j
l AB  0.62  0.252
 0.65 m

rB/ A
Unit vector along AB: λ AB 
l AB
12 5
 i j
13 12
Let Oxyz be a frame of reference currently coinciding with OXYZ, but rotating with angular velocity
Ω  1 j  (6 rad/s) j

(a) Velocity of D. v D  v D  v D/ AB
v D  Ω  rD/C
 6 j  (0.2i  0.20833j)
 (1.2 m/s)k

v D/ AB  uλ AB
 12 5 
 1.3  i  j 
 13 13 
 (1.2 m/s)i  (0.5 m/s) j

v D  (1.2 m/s)i  (0.5 m/s) j  (1.2 m/s)k 

(b) Acceleration of D. a D  a D  a D/ AB  2Ω  v D/ AB
a D  ω1  (ω1  rD/C )
 6 j  (6 j  (0.2i  0.20833j))
 (7.2 m/s 2 )i
a D/ AB  0
2Ω  v D/F  (2)(6 j)  ((1.2)i  (0.5) j)
 (14.4 m/s )k
2
aD  (7.2 m/s2 )i  (14.4 m/s2 )k 
 SOLUTION 15.226

With the origin at Point A, rD  (200 mm)i  (300 mm) j  (150 mm)k

rC/B  (200 mm)i  (150 mm)k,

lBC  2002  1502  250 mm

Let the frame Axyz rotate with angular velocity    1i  (10 rad/s)i

(a) Velocity of D. v D     rD
 10i  (200i  300 j  150k )
 (1500 mm/s) j  (3000 mm/s)k
u  0.6 m/s  600 mm/s,
600
v D/F  (200i  150k )
250
 (480 mm/s)i  (360 mm/s)k

v D  v D  v D/F
 (480 mm/s)i  (1500 mm/s) j  (2640 mm/s)k

v D  (0.480 m/s)i  (1.50 m/s)j  (2.64 m/s)k

(b) Acceleration of D.

aD    v D  10i  (1500j  3000k )  (30000 mm/s2 )j  (15000 mm/s2 )k

a D/F  0

2   v D/F  (2)(10i)  (480i  3600k)  (7200 mm/s2 ) j

a D  a D  a D/F  2   v D/F  (22800 mm/s2 ) j  (15000 mm/s2 )k
aD  (22.8 m/s2 ) j  (15 m/s2 )k 
 SOLUTION 15.238

  1
 (0.6 rad/s) j
 D/F  2
 (0.45 rad/s)k
  1  2
 (0.6 rad/s) j  (0.45 rad/s)k
(a) Angular acceleration of CD.
  
 (0.6 rad/s) j  [(0.6 rad/s) j  (0.45 rad/s)k ]

α  (0.27 rad/s2 )i 

For   120: rD /C  (400 mm)sin 30i  (400 mm) cos30 j

 (200 mm)i  (346.41 mm) j
rD /B  (500 mm)i  rD /C
 (700 mm)i  (346.41 mm) j

(b) Velocity of D. v D  v D  v D/F

 v D    rD /B
 (0.6 rad/s) j  [(700 mm)i  (346.41 mm) j]
  (420 mm/s)k
v D /F   D /F  rD /C
 (0.45 rad/s)k  [(200 mm)i  (346.41 mm) j]
 (90 mm/s) j  (155.88 mm/s)i
v D  v D  v D /F : v D  (156 mm/s)i  (90 mm/s) j  (420 mm/s)k 
(c) Acceleration of D. aD  aD  aD/F  ac
a D  Ω  (Ω  rD /B )
 Ω  v D
 (0.6 rad/s) j  (420 mm/s)k
 (252 mm/s 2 )i
a D /F  ω D /F  (ω D /F  rD /C )
 ω D / F  v D /F
 (0.45 rad/s)k  [(90) j  (155.88)i]
 (40.5 mm/s 2 )i  (70.148 mm/s 2 ) j
ac  2Ω  v D /F
 2(0.6 rad/s) j  [(90) j  (155.88)i]
 (187.06 mm/s2 )k

a D  a D  a D /F  ac
 (252 mm/s 2 )i  (40.5 mm/s 2 )i
(70.148 mm/s2 ) j  (187.06 mm/s 2 )k

aD  (293 mm/s2 )i  (70.1 mm/s2 ) j  (187 mm/s2 )k 

SOLUTION 15.243
Geometry. rB/D  (0.15 m)i  (0.18 m) j  (0.36 m)k
rB/C  (0.18 m) 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   1 j  (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.
vB    rB/D
 8 j  (0.15i  0.18 j  0.36k )
 (2.88 m/s)i  (1.2 m/s)k
a B    v B
 8 j  (2.88i  1.2k )
 (9.6 m/s 2 )i  (23.04 m/s 2 )k
Motion of Point B relative to the frame.
vB/F  2  rB/D
 12k  (0.18 j)
 (2.16 m/s)i
a B/F  2  vB/F
 12k  2.16i
 (25.92 m/s 2 ) j

Velocity of Point B. vB  vB  vB/F

vB  2.88i  1.2k  2.16i

vB  (0.720 m/s)i  (1.200 m/s)k 

Coriolis acceleration. 2  v B/F

2  v B/F  (2)(8 j)  (2.16i)
 (34.56)k

Acceleration of Point B. a B  a B  a B/F  2  vB/F

a B  9.6i  23.04k  25.92 j  34.56k

aB  (9.60 m/s2 )i  (25.9 m/s2 ) j  (11.52 m/s2 )k 

 SOLUTION 15.244

A square plate of side 2r is welded to a vertical shaft which

rotates with a constant angular velocity ω 1. At the same time,
rod AB of length r rotates about the center of the plate with a
constant angular velocity ω 2 with respect to the plate. For the
position of the plate shown, determine the acceleration of end B
of the rod if (a)   0, (b)   90, (c)   180.

Use a frame of reference moving with the plate.

Its angular velocity is Ω  1 j (Ω  0)

Geometry : rA/O  r (sin 30 j  cos30k )

rB/O  rA/O  rB/A
Acceleration of coinciding Point B′ in the frame.
a B  Ω  (Ω  rB/O )
Motion relative to the frame. (Rotation about A with angular velocity ω 2 ).
ω2  2 (cos30 j  sin 30k ) ( 2  0)
v B/F  ω2  rB/A
a B/F  ω2  v B/F  22rB/A

Coriolis acceleration: 2Ω  v B/F

Acceleration of B. aB  aB  aB /F  2Ω  v B /F

(a)  0 rB /A  r ( sin 30j  cos30k )

rB /O  0
a B  0
v B /F  r 2 i
a B /F   22rB /A  r22 (sin 30 j  cos30k )
2Ω  v B /F  2( 1 j)  (r 2 i)  2r 1 2 k

a B  a B  a B /F  aC
 0  r 22 (sin 30 j  cos30k )  2r1 2k

aB  r 22sin 30 j  (r 22 cos30  2r1 2 )k 

(b)   90
 rB/ A  r i
rB/O  r i  r sin 30 j  r cos30k
aB    (Ω  rB/O )
 1 j  [1 j  (r i  r sin 30 j  r cos30k )]
 r 12 i  r 12 cos30k
v B /F  r 2 (sin 30 j  cos30k )
a B /F  r 22 i

2Ω  v B /F  2(1 j)  (r 2 )(sin 30 j  cos30k )

 2r1 2 cos30i

a B  a B  a B/F  aC
 [r12 i  r12 cos30k ]  r 22 i  2r1 2 cos30i

aB  r (12   22  21 2 cos30)i  r12 cos30k 

(c)   180
rB/ A  r (sin 30 j  cos30k )
rB/O  2r (sin 30 j  cos30k )

a B  (2r cos30) 12k  2r 12 cos30k

v B/F  r2 i
a B/F  r 22 ( sin 30 j  cos30k )
2Ω  v B/F  2( 1 j)  (r2 i )  2r 1 2k
a B  a B  a B/F  2Ω  v B/F
 2r 12 cos30k  r 22 ( sin 30 j  cos30k )  2r 1 2k

aB  r22 sin 30 j  r (212 cos30  22 cos30  212 )k 

SOLUTION 15.245
Let the frame of reference BXYZ be rotating about the Y axis with angular velocity Ω  2 j  (4 rad/s) j .
The motion relative to this frame is a rotation about the X axis with angular velocity x i  (3 rad/s)i.
(a) Point E. rE/B  (0.25 m)i  (0.13 m) j
rE/D  (0.13 m) j
Motion of Point E in the frame.
vE   Ω  rE/B
 4 j  (0.25i  0.13j)
 (1 m/s)k
a E   Ω  vE 
 4 j  (k )
 (4 m/s 2 )i
Motion of Point E relative to the frame.
vE/F   x i  rE/D
 3i  0.13j
 (0.39 m/s)k
a E/F   x i  vE/F
 3i  (0.39k )
 (1.17 m/s 2 ) j

Coriolis acceleration. ac  2Ω  vE /F
ac  (2)(4 j)  (0.39k )  (3.12 m/s 2 )i
Velocity of Point E. vE  vE  vE/F

vE  k  0.39k  0.61k vE  (0.610 m/s)k 

Acceleration of Point E. aE  aE  aE/F  ac

aE  4i  1.17 j  3.12i aE  (0.880 m/s2 )i  (1.170 m/s2 ) j 

(b) Point F. rF/B  (0.25 m)i  (0.13 m)k
rF/D  (0.13 m)k
Motion of Point F in the frame.
vF   Ω  rF/B
 4 j  (0.25i  0.13k )
 (0.52 m/s)i  (1 m/s)k
aF   Ω  vF 
 (4 j)  (0.52i  k )
 (4 m/s 2 )i  (2.08 m/s 2 )k
Motion of Point F relative to the frame.
 vF/F   x i  rF/D
 3i  (0.13k )
 (0.39 m/s) j
aF/F   x i  vF/F
 3i  (0.39 j)
 (1.17 m/s 2 )k
Coriolis acceleration. ac  2Ω  vF/ F
ac  (2)(4 j)  (0.39 j)  0
Velocity of Point F. vF  vF   vF/F
vF  0.52i  k  0.39 j

vF  (0.520 m/s)i  (0.390 m/s) j  (1.000 m/s)k 

Acceleration of Point F. a F  a F   a F/F  ac
a F  4i  2.08k  1.17k  0

aF  (4.00 m/s2 )i  (3.25 m/s2 )k 

SOLUTION15.254

Geometry. We note that Point B moves on a circle of radius R = 300 mm

centered at C. It is useful to use the angle , angle ACB of the
triangle ABC, which indicates the motion of B along this curve.
Applying the law of sines to the triangle ABC,

AB BC
 (  60)
sin(   ) sin 

AB 200 mm
or sin   sin   sin 60
BC 300 mm
  35.264
With meters as the length unit and the unit vectors defined as
i 1 , j 1 , and k  1
The relative position vectors are
rB /A  (0.2 m)(sin 60i  cos 60 j)
rB / C  (0.3 m)(sin  i  cos  j)
Let Point P be the contact point where the wheel rolls on the fixed surface.
rP /B  (0.015 m)(sin  i  cos  j)
Velocity analysis. v A  0.250 m/s vP  0
v B  vB  ω AB  AB k ωBP  BP k

v B  v A  v B /A  v A  ω AB  rB /A
 0.250 j  ( AB )k  (0.2sin 60i  0.2cos 60 j)
vB (cos  i  sin  j)  0.25 j  0.1 AB i  0.173205 AB j

Resolve into components:

i: vB cos   0.1AB (1)
j: vB sin   0.25  0.173205AB (2)
Solving the simultaneous Equations (1) and (2),
vB  0.29873 m/s AB  2.43913
v B  0.29873 m/s  ω AB  2.43913 rad/s
Since the wheel rolls without slipping, Point P is its instantaneous center.
0.29873
  | vB |  rBP PB  ωBP  1.992 rad/s
0.15

Acceleration analysis a A  150 mm/s2

(a P )t  0

a B  a A  a B/A  a A  α AB k  rB /A   AB
2
rB /A
 0.150 j   AB k  (0.2sin 60i  0.2cos 60 j)
 (2.43913)2 (0.2sin 60i  0.2cos 60 j)
 0.150 j  (0.2sin 60) AB j  (0.2cos 60) AB i
 1.03046i  0.59494 j
 (0.2cos 60) AB i  (0.2sin 60) AB j  1.03046i  0.44494 j
Consider the motion of B along its circular path.
 vB2 
a B  [(aB )t ]  
 R 
 vB2
 (aB )t (cos  i  sin  j)  ( sin  i  cos  j)
R
(0.29873)2
 (aB )t cos  i  (aB )t sin  j  ( sin  i  cos  j)
0.3
 (aB )t cos  i  (aB )t sin  j  0.17174i  0.24288 j
Equate the two expression for aB and resolve into components.
i: (aB )t cos   0.17174  (0.2cos60) AB  1.03046 (3)
j: (aB )t sin   0.24288  0.2sin 60 AB  0.44494 (4)
Solving Eqs. (3) and (4) simultaneously,

(aB )t  2.0187 m/s2  AB  7.8956 rad/s2

(a) Angular acceleration of AB.  AB  7.90 rad/s2 

(b) Angular acceleration of the wheel.
(aP )t  (aB )t  r BP  0
( a B )t (2.0187)
 BP    134.6 rad/s2
r 0.015

α BP  134.6 rad/s2 

SOLUTION 15.257

Geometry: When   90, Point H is located as shown in the sketch. Apply the law of sines to the triangle
ABH.
100 mm r1 r2
 
sin 60 sin 30 sin 90
r1  57.735 mm
r2  115.470 mm
 The angle at H remains at 60° so that rods AE and BD have a common angular velocity ω   and a
common angular acceleration α   , where
  20 rad/s
and   4 rad/s
Consider the double slider H as a particle sliding along the rotating rod AH with relative velocity u 1 and
relative acceleration u 1 .
Let H  be the point on rod AE that coincides with H.
v H   [r1 ]  [(57.735 mm)(20 rad/s) ]  [1154.7 mm/s ]
a H   [r1 ]  [r1 2 ]
 [(57.735 mm)(4 rad/s2 ) ]  [(57.735 mm)(20 rad/s)2 ]
 [230.9 mm/s ]  [23094 mm/s
2 2
]

The corresponding Coriolis acceleration is

a1  [2 u1 ]  [(2)(20)u1 ]  40u1

v H  v H   u1  [1154.7 mm ]+[u1 ] (1)

a H  aH   [u1 ]  [40u1 ]
 [230.9 mm/s ]  [23094 mm/s2 ]  [u 1 ]  [40u1 ] (2)

Now consider the double slider H as a particle sliding along the rotating rod BD with relative velocity u 2 60°
and relative acceleration u 2 60°.

Let H  be the point on rod BD that coincides with H.

v H   r2 30  (115.47 mm)(20 rad/s) 30  2309.4 mm/s 30°

a H   r2 30  r2 2 60°

 (115.47 mm)(4 rad/s2 ) 30  (115.47 mm)(20 rad/s)2 60°
 461.9 mm/s 2
30  46188 mm/s 2
60°

The corresponding Coriolis acceleration is

a2  2 u 2 30  (2)(20 rad/s)u 2 60  40u2 30°

v H  v H   u2 60  2309.4 mm/s 30  u2 60° (3)

a H  a H   u2 60  40u2 30°

 [(461.9 mm/s2 ) 30]  [(46188 mm/s2 ) 60]  [u2 60]  [40u2 30° ] (4)

Equate expression (1) and (3) for vH and resolve into components.
 : 1154.7 mm/s  (2309.4 mm/s)sin 30  u2 sin 60
2309.4sin 30  1154.7
u2  u2  0
sin 60

: u1  2309.4cos30  0 u1  2000 mm/s

Substitute the values for u1 and u2 into the Coriolis acceleration terms, and equate expressions (2) and (4)
for aH, and resolve into components.

: 230.9 mm/s2  (40 rad/s)(2000 mm/s)

 (461.9 mm/s2 )sin 30  (46188 mm/s2 )sin 60
 u2 sin 60  (40)(0)sin 30

230.9  80000  230.9  40000

u2  u2  46188 mm/s2
sin 60

: u1  23094 mm/s2  (461.4 mm/s 2 ) cos30  (46188 mm/s 2 ) cos 60

(46188 mm/s 2 ) cos 60  0

u1  23494 mm/s2

(a) Relative velocities: AE: u1  2.00 m/s 

BD: u2 60  0 

(b) Relative accelerations: AE: u1  23.5 m/s2 

BD: u2 60  46.2 m/s2 60° 