16–58.

If the block at C is moving downward at 4 ft/s, determine

the angular velocity of bar AB at the instant shown.
C

3 ft vC = 4 ft/s

A 30°

ω AB B
SOLUTION 2 ft

Kinematic Diagram: Since link AB is rotating about fixed point A, then vB is always
directed perpendicular to link AB and its magnitude is vB = vAB rAB = 2vAB. At
the instant shown, vB is directed towards the negative y axis. Also, block C is moving
downward vertically due to the constraint of the guide. Then vc is directed toward
negative y axis.

Velocity Equation: Here, rC>A = {3 cos 30°i + 3 sin 30°j} ft = {2.598i + 1.50j} ft.
Applying Eq. 16–16, we have

vC = vB + vBC * rC>B

- 4j = - 2vAB j + (vBCk) * (2.598i + 1.50j)

no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
-4j = - 1.50vBCi + (2.598vBC - 2vAB)j

t p d W in hi

. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
Equating i and j components gives or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te

0 = - 1.50vBC vBC = 0
of inc de e o Sta
ity ( tu s d

- 4 = 2.598(0) - 2vAB vAB = 2.00 rad s

gr rk s u te

Ans.
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w

in
ro rt
th an Th

ill

© 2013 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by
Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
or transmission in any form or by any means, electronic, mechanical,
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16–62.

If the flywheel is rotating with an angular velocity of

1.5 m
vA = 6 rad>s, determine the angular velocity of rod BC at
the instant shown. A

0.3 m vA ⫽ 6 rad/s
O

C
B

SOLUTION 60⬚ 0.6 m

D
Rotation About a Fixed Axis: Flywheel A and rod CD rotate about fixed axes,
Figs. a and b. Thus, the velocity of points B and C can be determined from

vB = vA * rB = (- 6k) * (- 0.3j) = [-1.8i] m>s

vC = vCD * rC = (vCDk) * (0.6 cos 60° i + 0.6 sin 60° j)

= - 0.5196vCD i + 0.3vCD j

General Plane Motion: By referring to the kinematic diagram of link BC shown in

Fig. c and applying the relative velocity equation, we have

no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
vB = vC + vBC * rB>C

. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
- 1.8i = - 0.5196vCD i + 0.3vCD j + (vBC k) * (- 1.5i) or o ni c p
w g r tru o
e in lea s s c

-1.8i = - 0.5196vCD i + (0.3vCD - 1.5vBC)j

th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te

Equating the i and j components

is
te wo ing the Uni
e his s fo by

- 1.8 = - 0.5196vCD
y of as lel ted
s r
o c

0 = 0.3vCD - 1.5vBC
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is

Solving,
le co s p or
sa eir d i is w

in

vCD = 3.46 rad>s

ro rt
th an Th

vBC = 0.693 rad>s Ans.

ill

© 2013 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by
Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
or transmission in any form or by any means, electronic, mechanical,
photocopying, recording, or likewise. For information regarding permission(s), write to:
Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
16–111.
Crank AB rotates with the angular velocity and angular
acceleration shown. Determine the acceleration of the
0.4 m
slider block C at the instant shown. B
vAB ⫽ 4 rad/s
aAB ⫽ 2 rad/s2

30⬚ 30⬚
A
0.4 m
C

SOLUTION
Angular Velocity: Since crank AB rotates about a fixed axis, Fig. a,

vB = vAB rB = 4(0.4) = 1.6 m>s

The location of the IC for link BC is indicated in Fig. b. From the geometry of this
figure,

rB>IC = 0.4 m

Then

vB 1.6
vBC = = = 4 rad>s

no orl sem eac ws

er id ati ng
rB>IC 0.4

ed e r
itt W o
t a
t p d W in hi

. b)
m e on
d e W Dis in t l
an th . rs gh
Acceleration and Angular Acceleration: Since crank AB rotates about a fixed axis,
k n ng to yri
Fig. a or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te

aB = aAB * rB - vAB2rB
of inc de e o Sta

= (- 2k) * (0.4 cos 30°i + 0.4 sin 30°j) - 4 2(0.4 cos 30°i + 0.4 sin 30°j)
ity ( tu s d
gr rk s u te

is
te wo ing the Uni

= [ -5.143i - 3.893j] m>s2

e his s fo by
y of as lel ted
s r

Using this result and applying the relative acceleration equation by referring to Fig. c,
o c
st pa nd s te
th t se y
de ny es a ided pro

aC = aB + aBC * rC>B - vBC2 rC>B

w of a urs rov k is
le co s p or

aCi = (-5.143i - 3.893j) + (aBCk) * (0.4 cos 30°i - 0.4 sin 30°j) - 42(0.4 cos 30°i - 0.4 sin 30°j)
sa eir d i is w

in
ro rt
th an Th

aCi = (0.2aBC - 10.69)i + (0.3464aBC - 0.6928)j

Equating the i and j components, yields

ill

aC = 0.2aBC - 10.69 (1)

0 = 0.3464aBC - 0.6928 (2)

Solving Eqs. (1) and (2),

aBC = 2 rad>s2
aC = - 10.29 m>s2 = 10.3 m>s2 ; Ans.

© 2013 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by
Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
or transmission in any form or by any means, electronic, mechanical,
photocopying, recording, or likewise. For information regarding permission(s), write to:
Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
16–119.

The wheel rolls without slipping such that at the instant

shown it has an angular velocity V and angular acceleration
A. Determine the velocity and acceleration of point B on A O
the rod at this instant. V, A
2a
a
B

SOLUTION
vB = vA + vB/A (Pin)

+ v = 1 1
; B Qv 22aR + 2av¿ a b
22 2

1 23
+c O = - Qv22aR + 2av¿ a b
22 2

v
v¿ =
23
vB = 1.58 va Ans.

no orl sem eac ws

er id ati ng
ed e r
itt W o
a A = aO + aA/O (Pin)

t a
t p d W in hi

. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
(a A)x + (aA)y = aa + a(a) + v2a or o ni c p
w g r tru o
e in lea s s c

; T ; T :
th lud nt f in te
of inc de e o Sta

(a A)x = aa - v2a
ity ( tu s d
gr rk s u te

is
te wo ing the Uni

(a A)y = aa
e his s fo by
y of as lel ted

a B = aA + aB/A (Pin)
s r
o c
st pa nd s te
th t se y
de ny es a ided pro

1 v 2 23
a B = aa - v2a + 2a(a¿) a b - 2a a b
w of a urs rov k is

2 23 2
le co s p or
sa eir d i is w

in

2 v 2
1
ro rt

O = -aa + 2aa¿ a b + 2a a b a b
th an Th

23 23 2

a¿ = 0.577a - 0.1925v2
ill

a B = 1.58aa - 1.77v2a Ans.

© 2013 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by
Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
or transmission in any form or by any means, electronic, mechanical,
photocopying, recording, or likewise. For information regarding permission(s), write to:
Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
17–34.

The trailer with its load has a mass of 150 kg and a center of
mass at G. If it is subjected to a horizontal force of
P = 600 N, determine the trailer’s acceleration and the
normal force on the pair of wheels at A and at B. The
wheels are free to roll and have negligible mass. G

1.25 m P 600 N
0.25 m 0.25 m 0.5 m
B A
SOLUTION
1.25 m
0.75 m
Equations of Motion: Writing the force equation of motion along the x axis,
+ ©F = m(a ) ;
: 600 = 150a a = 4 m>s2 : Ans.
x G x

Using this result to write the moment equation about point A,

a + ©MA = (Mk)A ; 150(9.81)(1.25) - 600(0.5) - NB(2) = -150(4)(1.25)

NB = 1144.69 N = 1.14 kN Ans.

Using this result to write the force equation of motion along the y axis,

+ c ©Fy = m(a G)y ; NA + 1144.69 - 150(9.81) = 150(0)

no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi

. b)
m e on
d e W Dis in t l
NA = 326.81 N = 327 N

an th . rs gh
Ans.

k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te

is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w

in
ro rt
th an Th

ill

© 2013 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by
Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
or transmission in any form or by any means, electronic, mechanical,
photocopying, recording, or likewise. For information regarding permission(s), write to:
Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
17–39.
a
The uniform bar of mass m is pin connected to the collar, A
which slides along the smooth horizontal rod. If the collar is
given a constant acceleration of a, determine the bar’s
inclination angle u. Neglect the collar’s mass.

u
L

SOLUTION
Equations of Motion: Writing the moment equation of motion about point A,

mg sin u a b = ma cos u a b
L L
+ ©MA = (Mk)A;
2 2

u = tan-1 a b
a
Ans.
g

no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi

. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te

is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w

in
ro rt
th an Th

ill

© 2013 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by
Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
or transmission in any form or by any means, electronic, mechanical,
photocopying, recording, or likewise. For information regarding permission(s), write to:
Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
17–43.
1 ft 1 ft
Determine the acceleration of the 150-lb cabinet and the
normal reaction under the legs A and B if P = 35 lb. The
coefficients of static and kinetic friction between the
cabinet and the plane are ms = 0.2 and mk = 0.15,
respectively. The cabinet’s center of gravity is located at G.
P
G
4 ft
SOLUTION 3.5 ft

Equations of Equilibrium: The free-body diagram of the cabinet under the static
condition is shown in Fig. a, where P is the unknown minimum force needed to move A B
the cabinet. We will assume that the cabinet slides before it tips. Then,
FA = msNA = 0.2NA and FB = msNB = 0.2NB.
+ ©F = 0;
: P - 0.2NA - 0.2NB = 0 (1)
x

+ c ©Fy = 0; NA + NB - 150 = 0 (2)

+ ©MA = 0; NB(2) - 150(1) - P(4) = 0 (3)

Solving Eqs. (1), (2), and (3) yields

P = 30 lb NA = 15 lb NB = 135 lb

no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi

. b)
m e on
d e W Dis in t l
an th . rs gh
Since P 6 35 lb and NA is positive, the cabinet will slide.

k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
Equations of Motion: Since the cabinet is in motion, FA = mkNA = 0.15NA and
th lud nt f in te

FB = mkNB = 0.15NB. Referring to the free-body diagram of the cabinet shown in

of inc de e o Sta

Fig. b,
ity ( tu s d
gr rk s u te

is
te wo ing the Uni

35 - 0.15NA - 0.15NB = a ba
+ ©F = m(a ) ; 150
: (4)
e his s fo by

x G x
32.2
y of as lel ted
s r
o c

+ ©F = m(a ) ;
: NA + NB - 150 = 0 (5)
st pa nd s te

x G x
th t se y
de ny es a ided pro

+ ©MG = 0; NB(1) - 0.15NB(3.5) - 0.15NA(3.5) - NA(1) - 35(0.5) = 0 (6)

w of a urs rov k is
le co s p or
sa eir d i is w

Solving Eqs. (4), (5), and (6) yields

in
ro rt
th an Th

a = 2.68 ft>s2 Ans.

NA = 26.9 lb NB = 123 lb Ans.

ill

© 2013 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by
Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
or transmission in any form or by any means, electronic, mechanical,
photocopying, recording, or likewise. For information regarding permission(s), write to:
Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.