91962_06_s16_p0513-0640 6/8/09 3:25 PM Page 624

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16–143. At a given instant, rod AB has the angular

A
motions shown. Determine the angular velocity and angular
acceleration of rod CD at this instant. There is a collar at C.
2 ft
vAB ⫽ 5 rad/s
aAB ⫽ 12 rad/s2

vA = 0 2 ft
C
aA = 0 B

Æ = { - 5k} rad>s 2 ft
#
Æ = {- 12k} rad>s2 VCD
D ACD
rC>A = {2i} ft

(vC>A)xyz = (yC>A)xyz i

(aC>A)xyz = (aC>A)xyz i

vC = vA + Æ * rC>A + (vC>A)xyz

vC = 0 + ( - 5k) * (2i) + (yC>A)xyzi

= (yC>A)xyz i - 10j

vC = vCD * rCD

(yC>A)xyz i - 10j = ( - vCD k) * (2cos 60°i + 2 sin 60°j)

(yC>A)xyz i - 10j = 1.732vCD i - vCDj

Solving:

vCD = 10 rad>s b Ans.

(yC>A)xyz = 1.732(10) = 17.32 ft>s

#
aC = aA + Æ * rC>A + Æ * (Æ * rC>A) + 2Æ * (vC>A)xyz + (aC>A)xyz

aC = 0 + ( - 12k) * (2i) + ( -5k) * [( - 5k) * (2i) D + 2( -5k) * [(yC>A)xyzi] + (aC>A)xyz i

= [(aC>A)xyz - 50 D i - C 10(yC>A)xyz + 24 D j

aC = aCD * rC>D - v2CD rCD

C (aC>A)xyz - 50 D i - C 10(17.32) + 24 D j = ( -aCD k) * (2 cos 60°i + 2 sin 60°j) - (10)2(2 cos 60°i + 2 sin 60°j)
C (aC>A)xyz - 50 D i - A 10(17.32) + 24 D j = (1.732 aCD - 100)i - (aCD + 173.2)j

Solving:

- C 10(17.32) + 24 D = - (aCD + 173.2) aCD = 24 rad>s2 b Ans.

(aC>A)xyz - 50 = 1.732(24) - 100 (aC>A)xyz = - 8.43 ft>s2

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