654 CHAPTER 7.

RIGID-BODY KINEMATICS

7.42 Chapter 7, Problem 42

Problem: A disk of radius R is mounted on L-shaped Rod OA and rotates with constant angular
velocity ω as shown. The rod rotates with constant angular velocity Ω about the z axis. Determine
the absolute velocity and acceleration of Point B, which is the lowest point on the disk relative to the
xy plane.

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ω = ωi
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Solution: An observer in a coordinate frame rotating with angular velocity Ω = Ω k about Point O sees
the motion of Point B as pure rotation with angular velocity ω = ω i about the center of the disk (Point A).
aC s

Thus, the relative velocity and acceleration vectors are

vi y re

vIB = ω × rB/A = ω i ×(−R k) = ωR j

aIB = ω × vIB = ω i × ωR j = ω 2 R k
ed d

The absolute velocity of Point B is given by

ar stu

vB = vIB + Ω × rB/O

where rB/O is given by

sh is

1
rB/O = −2R i + R j − R k
2
Th

Thus, substituting for vIB and taking the indicated cross product, we find
w W
1 1
vB = ωR j + ΩR −2 j − i = − ΩR i + (ω − 2Ω)R j
2 2

Point B’s absolute acceleration is

aB = aIB + Ω̇ × rB/O + 2 Ω × vIB + Ω × (Ω × rB/O )

where vIB is the collar’s velocity as seen by the rotating observer and rB/O is its position vector relative to
the collar. Now, we know that Ω̇ = 0, while vIB and aIB are as given above. Thus, the absolute acceleration
of Point B is

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 7.42. CHAPTER 7, PROBLEM 42 655

} w W]
1
aB = ω 2 R k + 2 Ω k × ωR j + Ω k × Ω k × −2R i + R j − R k
2
} w W]
1
= ω 2 R k − 2 ΩωR i + Ω k × ΩR −2 j − i
2
} ]
1
= ω 2 R k − 2 ΩωR i + Ω2 R 2 i − j
2
1 2
= 2(Ω − ω)ΩR i − Ω R j + ω 2 R k
2

m
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co
eH w
o.
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aC s
vi y re
ed d
ar stu
sh is
Th

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