PROBLEM 15.1 ‘The motion of a cam is defined by the relation @=/? ~9/? +151, where @ is expressed in radians and 1 in seconds, Determine the angular coordinate, the angular velocity, and the angular acceleration of the cam when (a) £20, (B) 135. SOLUTION oF 4150 do geet a =38 = 18415 30° ~6r +5) =3~5\-1) do, dt = 61-18 @ on04 = 15.00 rads = “18.00 rads? ) 9=¥ ~93)° +15) 0=-9.00 rad @=38) -18) +15 =12.00 ras = 6(3)-18 ano PROPRIETARY MATERIAL, 2 2009 Tus McGraw Hill Companics, Inc. All cigs reserved. No part of his Mlaneal may be dsployer, reproduced or dnibuted i any form or by any means, withow the prior written permission af the publisher, oF sad beyond the lined distribute to teachers and edecaiorspermited by McGraw-Hill for thew individual conve preparation. yon area student wing ths Manat, {your are using withers permission, 61PROBLEM 15.2 For the cam of Problem 15.1, determine the time, angular coordinate, and angular acceleration when the angular velocity is zero, PROBLEM 15.1 The motion of 2 cam is defined by the relation 94 +151, where @ is expressed in radians and 1 in seconds. Determine the angular coordinate, the angular velocity, and the angular acceleration of the cam when (2) £=0, (6) 1=3. SOLUTION O=0 -9F +15 auth dt 237-1815 =3(P -61+5) = 3-5-1) do de =6r-18, o=0 wher =1,000s and 1=5.005 -<¢ 8=7.00 rad 12.00 radis? * —9(5)? +1505) 0=-25.0 tad € @=6(5)~18 @=12.00 radis? PROPRIETARY MATERIAL. © 2009 The MeG-Hll Companis, Ine. Al rights ered. No part ofthis Manual may be displaye Sepredaced or dosiribted mn ey frm ov by con moans, stun the prot written permission of the publisher, or ase beyond the Tnited ‘lavibutin to eochors ans ecatos permite by Metros. for eine course preparation. fou are astedent using ths Manual Son are sn lthout permiston 902PROBLEM 15.3 ‘The motion of an oscillating erank is d expressed in radians and 1 in seconds. Knowing that =6 rad and T'= the angular velocity, and the angular acceleration of the erank when (a) 1=0, (b) ¢= 2, wed by the relation @ = 8, sin(1/T)~(0.54,)sin (Qze/T), where 8 is , determine the angular coordinate, SOLUTION (a) 1=0 (122s: 0 6sin( 2) -o.4esn( 0 4 4 ota x 2a =67@)~ 7 FO- 080) 056) on“) on 4 eho = (2) wn) o 3 ie o-04 a=04 = 6.00 ad = 42 rads 3.70 radis? PROPRIETARY MATERIAL. © 2000 The McGill Companies, In ‘reproduced or dita in any form oF by any moans, witht the prior writen pe ihc reserved. No part of his Momual may be displayed nssion ofthe publisher wae bey the lied ‘Astiuaion to eater ant excatrs permite by AMeGrc- Hil or deena couse pronation, Ifyou evcu welt wi tis Mana [oH are using thon pornsionPROBLEM 15.4 Solve Problem 15.3 when #=1s, PROBLEM 15.3 The motion of an oscillating crank is defined by the relation @=@sin(ad/7) = (0.50) sin 2ar/T), where is expressed in radians and in seconds. Knowing that 8, =6 rad and T'=4 s, determine the angular coordinate, the angular velocity, and the angular aceeleration of the crank when (a) 1=0, (b) t= SOLUTION a at Qn 2at Zeas(Z)-058 2 on{ 22) a= te--0(2) sin} 050 (72) sn(24) ae Oe) UG 7) rels =1.243 nud 2 x Ua an an o=6{)on{ £)-0510(2E]oo(®] #\N2 a ie ~o 2) 2 -as0{ Zo o=3B nds € ols) nse) = 4.79 vals? PROPRIETARY MATERIAL, % 2009 The MeGra-Ui! Companies, ne All vights reserved. No port of this Maal may be displayed eprodiced or dsibnted in any form or by any means, tho the prior writen permission ofthe publisher, oF used beyond the lnited tdstabuton to teachers and educators permite by MeGrav Hil fer ther tvdoal course preparation. f you area stent using this Mama ‘ym are ing iho pormiston 964PROBLEM 15.5 ‘The motion of disk rotating in an oil bath is defined by the relation @= @(1~e), seconds. Knowing that @ =0.40 rad, determine the angular coordinate, velocity, and radians. and acceleration of the disk when (a) 1=0, (6) 1=3 s, (c) t= where is expressed in SOLUTION 0=0.40(1-e") _d0 ae ante at 1108" (@) 4=0.40(0~e") @=0.10e" a= 0.025" @) a= 0.400~e") = 0.40(1 ~0.4724) @=0,106™* = 0.10(0.4724) a@=~0.0256"4 = -0.025(0.4724) 9=0.40(1-e~) =0.40(1~ 0) = 0.106 0.025 -0.025e"** as04 = 0.1000 rad/s € 0.0250 radls? @=021N rad = 0.0872 adie 0.01181 rads? = 0.400 rad o=04 PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. All sights reserve. No part of tis Manual may Be dispfaye ‘reproduced or dosrited in ay fr or by any means, without the prior writin permision of the publshe,or ac Besond the nated situation to teachers and eacator permated by Mero. for thir individual course preparation Ifyou areastulen ting ht Mama, Doane sing wien permission 965PROBLEM 15.6 ‘The angular acceleration of an oscillating disk is defined by the relation a rad when @=0, (6) the angular velocity ofthe disk when @ = 3 rad. which 8. Determine (a) the value of & for SOLUTION w@ w k=4.008 (4)? -0) 36; @? =64-36=28 o=5D als PROPRIETARY MATERIAL. 2009 The MeCi Companies, Ie. A ghts reserved. No pare of his Manta! may be diplaved eprdced ov dsributed dn any form or by any mens, with the prior writen permssion ofthe prbicer, or wsed beyond the tinted Udsteaion eter and ecas perme by MeGre- Hil for heir india course preparation. fyouarea stent using this Mona pow ar ning whet permission. 96PROBLEM 15.7 ‘When the power to an electric motor is tumed on the motor reaches ils rated speed ‘of 3300 rpm in 6 s, and when the power is turned off the motor coasts to rest in 80 8. Assuming uniformly accelerated motion, determine the number of revolutions that the motor executes (a) in reaching its rated speed, (b) in coasting to rest SOLUTION @, = 3300 rpm = 1107 rad/s Uniformly accelerated motion: 0, =0, 1268 110 ak? @ nay tat, Wr = Vea), a= eas 1/10 O=ayt 1M) avr 0 (Py) rey @= (3302 rad) @=165 rev C308 Fad } @ =110r rads, @) =0 when @, =a;tar, 0=l0r+a(805), 0 = «1 +Lar® =(L10ay80) (ee sos 2 2\ x0 = 8800.2 44002 = 44000 rad = (44000) 1 = 2200 ev € 2 rod PROPRIETARY MATERIAL, © 2009 Te McGraw-Hill Companies, Ine AM rights reserved. No prt of this Manual may be displayed produced or disband in any form or by any means, without the prior writen permission ofthe publishes ov ws bese the lite) dstibtion to ewer and edacoiars permite by McGrail for tetsu conse peal, fou ea sition using hs Montel Yow are sing i lout permission. 967PROBLEM 15.8 ‘The rotor of a gas turbine is rotating at a speed of 6900 rpm when the turbine is shut down. It is observed that 4 min is required for the rotor to coast to rest. Assuming uniformly accelerated motion, determine (a) the angular acceleration, (b) the number of revolutions that the rotor executes before coming to rest SOLUTION on = 6900 spm| 2 0, = 6900 1p (4) = 722.57 als 124 min=240s @ = ty tat, 0= 722.57 +a(240) @=-30107 rads 3.01 rads? o O91 Lar =(125TI240) +63. 01079040 9 =173,416~ 86,708 =86, 708 rad Irev_ } ind) ° 3,800 rev 96,708 PROPRIETARY MATERIAL. © 2009 The McCaw-Hill Companies, fn. All sights reserve, No por af this Mana may be displayed. reproduced or rbd tn any form or by any means, without the prior written permission of the publisher, ov sed bevond the lined ‘dstibuton to teacher cand ecetorspevmited by MeGrave Hl for tir ndiviual course preparation Ifyou areasten ws hs Mant on are sing witht permision 968PROBLEM 15.9 ‘The angular acceleration of a shaft is defined by the relation @=--0.25e, where @ is expressed in rad/s? and @ in rad/s. Knowing that a¢ /=0 the angular velocity of the shaft is 20 rad/s, determine (a) the number of revolutions the shaft well exceute before coming (0 rest, (b) the time required for the shaft come to res, (6) the time required for the angular velocity of the shaft to be reduced to 1 percent of its initial value SOLUTION @=-0280 820.250 do dap=~0.25d0 @ 0.258; 8=80rad dva-028 40; (0-20 ra 9 = (80 rad) O=12.T ev 2arrad do, (by @ SS =~0.25dI o For @=0 14nd In © For = 0.010%, =0.01(20) =0.2 rad Use Ea, (1): rman 22) 4 n100 = 44.605) 118.025 4 PROPRIETARY MATERIAL. © 2009 The MeGrav-Nll Companies, ne. All ights reserve, No par af this Mammal moy be displayed reproduced or distributed in any form or by any means. wihou the prior writen peraiscin of the publisher, oF wed Beyond the line dsnibrion to teachers and educators permite ty Mere for their inividval cone prsparaton. yon arc ster wy his Manta, Yo are using witha pormisionPROBLEM 15.10 “The assembly shown consists of the straight rod ABC, which passes through and is welded to the rectangular plate DEFT, ‘The assembly rotates about the axis AC with a constant {angular velocity of 9 rad/s. Knowing that the motion when viewed from C is counterclockwise, determine the velocity sand acceleration of eomer F. SOLUTION (200 mm)j-+ (200 mm)k AC =450 mm. Aye = AG, 350120012008 Lay gy any aC 450 9 0= aye = (dls); 45-4) = (7 radis)i—(4 rads) 4(4 tadis)k =O Comer F: yap = C1TS mi + (100 mk (0.175 mpi + (0.100 my Vp = Ort eg ae te =| 7-4 4 |-0.175 0 0.109 0.41 +(-0.7-0.7))-' Vp =-(04 mis)i-(1.4 m/s}j—(0.7 mish Xtppq + OX (WX pp) +0xvp ap = OXY> te =s|7 4 4 04 -14 -07 = 2845.61 + (-1.644.)j + (-9.8-LOK ay = (8.4 m/s? )1 43.3 mis*)j~(1).4 mis?) PROPRIETARY MATERIAL. © 2008 The MeCraw-Hill Companies, Inc. AI tights rseeved. No part of dis Manual may be ciplayed, reproduced or dtributed in tay form or hy any meas, without the prion wien peronasion of the pubier, or aed bond the Tne Udsribuion to teachers end edcutrsparnied by eGraw Hil for hor inaviua course preparation yon area student using this Maul on are wing i weiou permission, omPROBLEM 15.14 y ls bof In Problem 15.10, defermine the acceleration of comer H, assuming that the angular velocity is 9 rad/s and decreases aoa ata rate of 18 rads”. om J PROBLEM 15.10 The assembly shown consists of the ae It rod ABC, which passes through and is welded to re the rectangular plate DEFH. The assembly rotates about 10am the axis AC with a constant angular velocity of 9 rad/s Knowing that the motion when viewed from C is counterclockwise, determine the velocity and acceleration ofcomer F. opie att SOLUTION AC = (350 mm)i (200 mm)j-+ (200 mm)k_-AC = 450 mm 2005+ 200K _ 1 rh 4}+ 4k 450 9 O= aay =O ras) ¢ —4)+4k) (4 ndis)i+(4mdigk — a=0 =-18 radi; = AR ye =(-18 rads”) 471-4) + 4k) = ~(14 rads? i+ (8 rad/s?)j (8 rad/s? )k Comer gu = (075 mami + (100 many = (0.175 mi + (0.100 mk Vy =OXt yp eee eee =| 7 -4 4 0.175 0 0.100 HD+ (O.T-O.T)}40T Vy =OA miS)i+(0.7 righ Ay) =OXt py + OX(OXE yp) SOXt yy FOX, ijk 1 oy ok ay=[ 14 8-8 fe] 7-4 0.175 0 0.100| |-04 0 07 = O.8i + (-1.40-41.40)j 140k 2.814 (-1.6-4.9)j— 1.6 (6.5 mis? )j-G mis? )k PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, ne. AIL ighlsteserved, No part of this Mana may be displayed ‘reprntced or distributed tn any form or by any means, without the prior srton permision of the publisher, or used beyond the loner ‘dsrtbation to teachers and educators permite by McGraw-Hill or ther individ cours reparation If yon arc studert win ths Mane You are sing withontpermision on4 PROBLEM 15.12 ‘The bent rod ABCDE rotates about a line joining Points A and E with a constant angular velocity of 9 rad/s. Knowing that the rotation is clockwise as viewed from B, determine the velocity and acceleration of corner C 200 SOLUTION A +04 +0.2° EA=06m (04 mie O.1S mj (04 mi+(O4 m)j+(02 mk Fi_ 1 FA = 1 (041+ 0.45 +0.2k) = 2-2 +2} ppg Oat OAH 028) = 5214 25 +k) eu +2)+k) 1 = = (9 rads) e = Ophes (9 radls) 5 (6 radis)i + (6 radis))+ G3 rad)k gee tee Yes exrye=| 6 6 3 |=-0451-1.2)+(-09+2.4)k 04 015 0 Ve =(0.45 mis)i-(1.2 m/s)i+ (1.5 m/s) se Xte 4 0% (Wty) = Oye Foe FOXY Ree eke 6 6 3 04S 1.2 15 = (943.0 (1.394 H(7.242.7)K 2.60 mis" i +(7.65 m/s")j+ (9.90 mis’ )k Highs reserved. No part of this Manual may be displeyed, PROPRIETARY MATERIAL, © 2009 ‘The MeGre-tlill Companies, Inc. ‘produces or disrbuted in any form oF by any mens, wid te rior writes perms ofthe publishes, or ase beyond the fined ‘dsb leaker and ecatrs ported y Mean Hil or ther bndvkalcorse preparation fy area sudert using this Maal, om are asin i ethou persion on4 PROBLEM 15.13 In Problem 15.12, determine the yelocity and acceleration of comer B, assuming that the angular velocity is 9 radis | and increases at the rate of 45 rad/s" 2m mi PROBLEM 15.12 The bent rod ABCDE rotates about a line joining Points 4 and with a constant angular velocity of 9 rad/s, Knowing that the rotation is clockwise as viewed from £, determine the velocity and acceleration of comer C. pe moO S > 150 mm 400 nny Z SOLUTION ER =04 40.47 40.2 FA=06m Foy = (0.25 mj EA=-(04 mi + (0.4 m)j+(0.2 mk HA ~(-tatensieene). Lote 2448) 06 3 O=Oghy = sad) 24+ 2) +k) = ~(6 radls)1+(6 radis)| + radis)k Vp = OXHyg = (61+ 6)+ 3k) (0.25) = 1 5k 40.754 V9 =(0.75 mis)i+ (15 ms\k = Ogg heny =(45 reals 28 +25+k) = ~(30 rad/s" )i + (30 rad/s”) j + (15 rad/s )k Xi yy FOXV By SOX gg FOX(OXE yi Poof kit t yk a,=[-30 30 15|+) -6 6 3 0 025 0] jo75 0 15 = 3.7514 7.5k +914 (2.254 9))~ 4.5K. (11.25 mis) + mvs?) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. All tights reserved. No part of this Manual may be dpa ‘reproduced or dsributed in any form o by any means, without the rior vsten permission af the publcher, or ted beyond the lined ddiribtion ta teachers ad educators pevmited by McGrail for their individual course preparetion. fou area stden using is Marna, {ou are ring witout pormision’ PROBLEM 15.14 ae A triangular plate and ¢wo rectangular plates are welded t0 each ‘other and to the straight rod 4B. The entire welded unit rotates about axis AB with a constant angular velocity of 5 rad/s. Knowing that at the instant considered the velocity of comer E a is directed downward, determine the velocity and acceleration ‘of comer D. 100 an SOLUTION Since vp is downward dy is when viewed ftom 04° 40.9; AB=0.5m (0.35 m)i~(.3 m)k (4 mj~ (0.3 mk PALA Ras 2 95 OAT 23K) = 0.8)-0.6k = Ogyheyy =(5 radis)(0.8§ ~0.6k) = (4 radls)j—G radis)k ijk Vp =OXMy =| 0 4 3 |=-12%-1.05j-14k 035 0-03 Yp (1.2 m/s)i~(1.05 mis)i~ (1.4 mils} Ay = OXY yy FOX(OXE yy eee ap=04] 0 4 3 “12-108 1.4 OX FOXY) -5.6-3.15) 43.65 + 4.8k “(8.75 mis" i+ 3.6 mis? )j+ (4.8 mais) PROPRIETARY MATERIAL. © 2009 ‘The MeGray-Hill Companies, he. All sights reserved. Mo port of this Manual may be displaved Ieproduced or dsrbited in ony form oF by any means, walkout the prior writen permission of the pubher, oF wed beyond the Tied dribution to teachers and edacotrs permite hy MeGra- Hl for ther individual course preparatien. Ifyou recs stuen wring thie Mama, pom ace wang ir without permission ouPROBLEM 15.15 In Problem 15.14, determine the acceleration of comer D, assuming thal the angular velocity is 5 rad/s and decreases at the rate of 20 radis?. PROBLEM 15.14 A triangular plate and two rectangular plates are welded to each other and to the straight rod AB. The entire welded unit rotates about axis AB with a constant angular velocity of 5 rad/s, Knowing that at the instant considered the velocity of comer £ is directed downward, determine the velocity and acceleration of comer D. SOLUTION Since vg is downward ay is when viewed from A ABP =04 403"; AB=05m Syn = O35 m)i—(O.3 mk BA=(04 m)j-(0.3 mk Reng # Gali 0.9K) =0.8)- 0.6K = yphyg = (5 10dls)(0.8)—0.6k) = (4 radi/s)j~ (3 rads) Og Xing = (-20 rad/s? (0.85 ~ 0.6) (-16 radis?)j-+ (12 radi) ijk <1.21~1.05j-1.4k (1.2 misyi~(1,05 misyj~(14 miyk By = OXF yy }OX(W% yp) = Ot yy FOXY, ij ok soy x aye} o 6 20 4 3 035 0 03] |-12 -105 ~14 S481 ADj+S.0K + (-5.6-3.15)i 43.65 4.8K 8.95 mls*}4-+ (7.8 mis?) (10.40 mis") PROPRIETARY MATDRIAL, © 2009 The MoCraw-Hill Compania, Ine. All ighit reserved. No part uf the Monwal maybe deployed. ‘reproduced or distributed in any form oF by any means, without the prior vuten persion of the publisher, or used bevond the lined ddsibto t teaches and educcions permite by MeGrol for thet indivial cane preparation. fu ara stent wn his Man Yow are wing witht permission orsPROBLEM 15.16 ‘The earth makes one complete revolution on its axis in 23h 56 min, Knowing that the mean radius of the earth is 3960 mi, determine the linear velocity and acceleration of @ point on the surface of the earth (@) at the equator, (b) at Philadelphia, latitude 40° north, (c) at the North Pole. SOLUTION 24h $6 m=23.933h 2nrad (23.933 (25) = 72.925x10 rad/s, R=(3960 mal S808 ) 10.91 10°F radius of path Roose (@ Equator: Latitude =9=0 vero = Ricos0)eo = (20.91% 10" AY(1(72.925% 10 rad/s) 525 tus a=ro = R(cos0)e? = (20.9110 FY(1}(72.925x10-“rad/s) a= 0.1112 fis? =40" (© Philadelphia: Latitude = 9 vera = R(cosd0}a = (20.9110 AY( cos 40")(72.925x10"radls) 168 fis azre = R(cos40°)a? = (20.91x10"f)(cos 40°)(72.925x10 rad/s a= 0.0852 fs? (©) North Pole: Latitude =: b= Reos0=0 PROPRIETARY MATERIAL. © 2009 The MeCrav-Hill Companic, Ine. All igh eeseryed. No part ofthis Manual may be displayed, ‘reproduced or dtrbuaed tn any form or by any means, without the prior writen permission ofthe publisher, or used beyond the limited ‘dstibution to teacher and edwcotorspormnited by Bras Hil for her ttl coure preparation fy ares we his Mare, “yo are ing t without pormision 76PROBLEM 15.17 The earth makes one complete revolution around the sun in 365.24 days. Assuming that the orbit of the earth is circular and has a radius of 93,000,000 mi, determine the velocity and acceleration of the earth, SOLUTION rad (665.24 days) (34)(2) =199.11x107 rad/s vero ~onactaa[ 280 "Javea? ry mi v=01,770 fs 66,700 mish a=rar (9310° (5280)(199.11 x10" radis)® a= 1947x107 Bs? PROPRIETARY MATERIAL. © 2009 The McGaw Hill Companies, ls. All sights reserved, No part of dis Mana may be cpaved, ‘reproduced or distbated in any form or hy any means, wit the prior writen permission ofthe publisher ov used beyond the lied isin to teaehers and educators permite by MeGraw- Hil for ther individ cone preparation Ifyou rsa student wing tis Mea, Som ave nai withowpormssion omPROBLEM 15.18 ‘The circular plate shown is initially at rest. Knowing that r= 200 mm and that the plate has a constant angular acceleration of 0.3rad/s*, determine the magnitude of the total acceleration of Point B when (a) t (b) 1=28, © 1=48. SOLUTION Uniformly accelerated motion. w= a tar=O4Fat w= a rt a,=ret =r Gg =Pa trait =e (leat) ay = reals cet)! 202m, @=0.3 radis? (0.240.314 (0.3) 14)" 0,06(5 + 0.0984)" @ 10: ay = 0.060140) ay = 0.0600 mis () 122s: .06(1+0.09% 24)" ay = 0.0937 mis? © 14s: 6(1+0,09%44"” ay =0.294 is? PROPRIETARY MATERIAL, © 2009 The MeGr-Nll Companies, Ine All ights reserved, No part of dis Manual may be splayed. reproduced or distributed in ey foro by any mexns, witha the prio writen persian ofthe publisher, or wsed beyond the nite Uisvibuton teachers ans edo permed by MeGrawlil forthe indviualcnnse preparation. Ifyou are student asin hs Mera, Sen are wig eto pormsionPROBLEM 15.19 ‘The angular acceleration of the 600-mm-radius circular plate shown is defined by the relation a= dye’. Knowing that the plate is at rest when ¢=0 and that gj =10 rad/s?, determine the magnitude of the total acceleration of Point B when (a) = 0, (b) 1=0.5 s, (¢) 1= 0 SOLUTION [iuo- fleve dt =a (Ie) (0.6 m)(10 rad/s? )e" =re = req (l-e = (06X10) (1 ef)? = 6001)? (@) = 6c" =6 ms? dedta=e ay, = 6.00 wis? @ 105s 4, =e"? = 6(0.6065) ~ 3.639 mvs? 4, = 61-8? = 601 -0.6065)° = 9.280 ms? dh =a? +a? =(3.639)? + (0.2897 4, =9.98 mis? ah maf +a =0+60" PROPRIETARY MAERIAL, © 2009 The McGraw-Hill Companies ne. All sights reserved. No urd of this Mamal may be dave ‘reproduced or distribute in any form by any means. without the prior writen permision of the publisher, ov asd beyond the limited stsibuton to teachers an edcators permite by Metra HU for Ir indicat courte reparation Ifyou areca studen ws thi Mena, (ou ave ws withont permision oyPROBLEM 15.20 ‘The 250-mm-radius circular plate shown is initially at rest and has an angular acceleration defined by the relation a= c cos (41/7). Knowing that T=1.5 8 and @% =10 rad/s", determine the magnitude of the total acceleration of Point B when (a) 7=0, (b) 0.755. Ss, (¢) SOLUTION ry on} 25 m\X10 sion 2) (@) ¢ a, =2.50 mis? @) + a, =5:10sin?( 258) 5.70sin? 2 = 4.275 mvs? T 3 aad ead 12844278 ay =445 mils? (ec) f= 0.758: 70 mis? =s.10mi? PROPRIETARY MATERIAL, 1) 2009 The McGraw Companies, Ine, AW sigs veserved. No part of dis Manual may be displayed teprodnced or stebmted in any form av by any means, wilh he rion waitenpanmssion ofthe pulicher, or axed beyond the Ginited (dsrabton to teaher and ecto porte by bdcGncw- Hl for ther tidal corse preparation Ifyou area stunt sg is Mana, pow are ising i when permission 980SOLUTION ES weaing® @ Be 247 Pm/s* 1 bak Be= Fonds? One FAL Ins — Na, PROBLEM 15.21 ‘A series of sinall machine components being moved by a conveyor belt pass over « 6-in-tadius idler pulley. At the instant shown, the velocity of Point is 15 inJs to the left and its acceleration is 9 in/s* to the right, Determine (@) the angular velocity and angular acceleration of the idler pulley, (0) the total acceleration of the machine component at B a ay =38.6 ins?” S 765° PROPRIETARY MATERLAL, 5 2009 "he McGaw il Companies, ne. AW rights reserved. Mo part af thie Mana aay be cptaved ‘epraced or disiribaeed in any for or by ony nce, witoat the prion writen peransion ofthe publisher or tse beyond te let Wor a (120 inJs?Y = (Gay + (96 indis*)? @ 144, a=ti2 = 12.00 radis? Dd PROPRIETARY MATERIAL. © 2009 The MeGios-Hill Companis, In. Al sights reserved. No put of Ais Manual may be ssplaved reproduced or dotibuted in ey frm or by ety means, witht the prior -witen permission of the pulser, oF ased beyond the tnited ‘dion to teeters nd edcetor perme by Metres HU fr dy avid course prepara Tf you area student using this Marea om are sg thon persion. 992,PROBLEM 15.23 ‘The belt sander shown is initially at test. I'the driving drum B has @ constant angular acceleration of 120 rad/s” counter clockwise, determine the magnitude of the acceleration of the bolt at Point C when (a) 1=0.5 5, (b) 7= 2, SOLUTION 4, = ree =(0.025 m)(120 rads?) gle 120 rode a, =3 m/s? | cfs (@) f=05s: = a = (120 rad/s” (0.5 8) = 60 rad/s Paz Smm 4, = 10 = (0.025 X60 rad/s)? fe ay = 90.05 wis? (b) 1=2s: ay =1440 mis? PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companit, Ine. All ightsteserved. No par of this Manual ne be display replaced or tributed i any fore oF by any moans, witha the prior wvlten permision of the publishes, or ned beyond the Timited sribrion to teachers and edacuior pred hy eG Hl for ther ndial cons preparation. If ou are ast tin his Manoa Dow are sing i won pormssion owsPROBLEM 15.25 (Continued) aru (0) Accelerations: Point on rim of 4: (0.024 m)(31.416 rad/s)” = 23.687 mis? ayeBa ms} Point on rim of B: = 28,798 rads op 0.024 mm) (28.798 rads)? =19.904 mis? a, =19.90 mis? | € PROPRIETARY MATERLAL. © 2009 Twe MeCias-till Companies, Ine, All ighs eserved. ND part of this Manual maybe splayed, on Iepradaced or durduted in any form or by any means, witho! the rior writen permission of the publisher, o”ased beyond the finite in ‘Bstribuaton wo onchors and eds perinteby eG Hl freind course preperation. fou arecastent ws this Manta, bow arent 1 ot pormassion onePROBLEM 15.26 Ring B has an inside radius 1 and hangs from the horizontal shait 4 as shown. Knowing that shaft 4 rotates with a constant angular velocity @ and that no slipping occurs, derive @ relation in terms of ri, ro, 75, and a, for (a) the anguler velocity of ring B, (b) the accelerations of the points of shaft 4 and ring B which are in contact. SOLUTION (a) Let Point C be the point of contact between the shaft and the ring, Me =H (6) Onshaft A: On ving B: PROPRIETARY MATERIAL, © 2009 The MeCews-Hill Companies, ie. All sights reserved. No part of this Manual nay be ciple, ‘roproiced ov distributed in any form or by any means, withont the prior writen permission ofthe publisher, or wsed beso te inte dsributon to teachers and educator permited hy McGrs-14 forthe individual cotrse preparation. fyouara stent ws hs Manna, ow ae ing witlont permission. onPROBLEM 15.27 Ring B has an inside radius r, and hangs from the horizontal shaft A as shown, Shaft A rotates with a constant angular velocity of 25 rad/s and no slipping ocours. Knowing that ry = 12 mm, r= 30.mmn, and = 40 mm, determine (a) the angular velocity of ring B, (6) the accelerations of the points of shaft 4 and ring B which are in contact, (©) the magnitude of the acceleration of a point on the outside ce of ring B. SOLUTION Let Point C be the point of contact between the shaft and the ring, On shaft A: On ring B: Acceleration of Point D on outside of ring, @ 12225 ral Jo radis) PROPRIETARY MATERIAL, © 2009 The MeGras-Hill Companics, ie. All rights reserved. No part of this Mental may be displayed, reprodnced ar dtributed 1 any form or by any means, witht de prior writen permission ofthe publishes, wr used Beyond the lied ‘Reriution to teacher and ehconrs pert by eran Hil for er india course preparation If yon area stent wig tis Maral Sow are using it withond pornision) = (12 mm)(25 rad/s)? =7.5x10" mms? 20) 25 eadiy? GO my OF 8 = 3310? mms? ay = 3.00 mis? | © =(40 rnp ( 22 diy = 4x10? mm/s a, =4.00 mis? | PROPRIETARY MATERLAL, © 2000 The McGraw-Hill Companies, Inv, All rights reserved. lo part of His Manual may be display ‘reproduced or dsributed in any form or by any means, without the prior writen permission of the publisher, or ned beyond delimited ” iformly accelerated motion. — @=0 when 1= 4, =a +04; 0 (12 rad/s) —(3 radis?)y os PROPRIETARY MATERIAL, © 2009 The MoC-Hill Componies, le. AI rights reseeved. No part of this Manual may be ciplayed ‘reproduced or dstrited tv any form oF by any means. wiion the prior svuten permision of te pusher, or used beyond te lined nal[a] (2) Motion of pulley (po =p =240 mens | (ap), = 24 = 300 mov? | (p)o =e, 240 man’s =(120 mm), @, =2 rad/s) (a,),=ra@ 300 mms =(120 mma a=25 rad/s?) For 1=3: =a, tat rads + (2.5 radls?)(3 8) =9.5 radls Om aye har =(2 radi 91505 rads) sy? 9-17.25 rad o=r725( 3.) 8=2.75 rev € ie (8) Load &: 80 mm s My (0.180 m)(9.5 rad/s) = 1.710 m/s vp =1710 mis | Avy = 76 = (0.180 my(17.25 rad) =3.105 m Ay, =3.l1m | PROPRIETARY MATERIAL. © 20 The MeGra-Hill Companies, Ine. AIL ights reserved. No purt ofthis Manual may be diypaved reprocinced or distbuted in any form or by ay means, without the prior ston permission ofthe publisher, or wsed beyond the Limited isc Wo teachor and ecuiers pera by ieCro-Hil for thew nds conrse preparalion. Ifyou area son wing this Mama, oo are ning i sethon permission onPROBLEM 15.30 (Continued) (©) Point D: r=180 180 mm)(2.5 rad/s’) = 450 mm/s? =720mm/s? PD (@0) 3 2200s (ap), =ra (2p a = 70 = (180 mimj(2 ral (ap), =720 mais? —> ay ~ 849 minis? a7 320° TARY MATERIAL, © 2009 The McGraw-Hill Componies, In. All ghtsvserved. No prt of this Manta ay be ciplaye ‘reproduced or dsb in any frm ov by any means, without the prior writon permission of the publisher, or nse hesone ie lintel ) PROPRIETARY MATERIAL. © 2009 The MeGrow-Hill Companies, In. All rights reserved. No part of this Manual may be display ‘produced o” distributed in any form oF by any meas, without te por writen permission ofthe pbisher. or ned beyond the Timed lvoiution to teachers anc euoatrs permined by Meron til or der til cowse preparation Ifyon area student sie this Manuel, [sow ave using i thou permissionPROBLEM 15.33 {A simple fiietion drive consists of two disks 4 and B. Initially, disk has a clockwise angular velocity of 500 rpm and disk B is at rest. It is, known that disk 4 will coast to rest in 60 s. However, rather than ‘waiting until both disks are at rest to bring them together, disk B is given a constant angular acceleration of 2.5 rad/s” counterclockwise. Determine (a) at what time the disks can be brought together if they are not to slip, (6) the angular velocity of each disk as contact is made. (o,)q = 500 pm = 52.36 rad/s) Disk A will coast to rest in 60 s. 0, =(g)y Hf 0~52.36 rad/s €4(60 8) a4, = 0.87266 rads? 0, =()y Heh ay, =52.36- 0.872661 o ay =2.5 adls? (wp) =0 0 =(Oy)y * byl Oy =251 2 Bring disks together when: 14, = M4 When contact is made ( (3 in, (52.36 0.872664) = (Sin 2.51) 157.08~2.618"=12.51 157.08=15.118" 0398 < 0.39) (©, ~52.36~0.87266(10.39) @, = 43.29 rad/s @,=413pm) 4 @, = 2.501039) @, = 25.935 rad/s @, = 248 rpm") PROPRIETARY MATERIAL. © 2009 The McGaw Hill Companies, In. Al sights reserved. No pert of sis Momual may be csplayed produced or dstrbited any form or hy any means, witht the prior writen permission of the pubiher, or ated beyond the lined ttisnibution ta feocher and eco permite by MeGras Hil for ther inva course preparation. fou areca student using this Mena, Jou are sing withou! permission 996ae 80 ni PROBLEM 15.34 A simple fiction drive consists of two disks A snl 8. Initially, disk has a clockwise angular velocity of 500 rpm and disk B is at rest. It is known that disk 4 will coast t0 rest in 60 s, However, rather than waiting until both disks are at rest to bring them together, disk B is given a constant angular acceleration of 2.5 rad/s’ counterclockwise. Determine (a) at what time the disks can be brought together if they are not to slip, (b) the angular velocity of each disk as contact is made. SOLUTION Disk Disk a will coast to rest in 60 s, Attime # Disk B: At time f (@ Bring disks together when: (@,)p =500 rpm=52.36 ads ) y= (Oy +046, 052.364 02, (60 8) 0.87266 rads? a O=(@py +0; 4 =5236-0872661 0 Gy =2.5radis? (ay) =0 0 = (Op y+ gts Wy = 2.54 id Ne = Ty (80 mm)(52.36 — 0.872667) = (60 mm)(2.50) 4188.8 ~ 69.8131 =1500 (©) Contact is made: Eq. (1) £9.) 4188.8 = 219.8137 119.056 8 52.36 ~0.87266(19.056) @, = 35.73 radls 44 cpm) ty, =2.5(19.056) 0, = 47.64 radls y= 455 pm) PROPRIETARY MATERIAL, © 2009 The MeCray-Hill Companies, he. All sights reserve. No port of this Manual vagy be diplayed ‘reproduced or distributed in any form ov by any means, withou the prior rien permission ofthe publishes, or need beyond he ited dsibation to teachers cand edacators permite hy Me Craw HI forthe india eee prparation. fou area steno this Manta, ‘ptr are msg without permission 97PROBLEM 15.35 ‘Two fiction disks 4 and B are both rotating freely at 240 rpm ‘counterclockwise when they are brought into contact, After 8s of slippage, during which cach disk has a constant angular acceleration, disk A reaches a final angular velovity of 60 rpm ‘counferclockwise. Determine (a) the angular acceleration of ‘each disk during the petiod of slippage, (b) the time at which the angular velocity of disk B is equal to zero, SOLUTION (@ disk: (op) =240 9M =25.133 rads) When 1=8, @, = 60 rpm = 6.283 rad/s") (or iy + ey, 6.283 radls= 25.133 radls-+044(8 8) ¢, =-2.356 radis* 1, = 2.36 rad/s?) Disk B: (ey) = 240 rpm = 25.123 rad/s“) When 1=8s:_ (slippage stops) 14g =H (80 mm)(6.283 rad % Fors): 75 rad (60 mney = 8.378 rad/s = (Wg)y Oil 25,133 rad/s +a4y(8 8) oy =8381d) i, = 4.188 rads” 4.19 radis? ) Time when ey For 2) 0, =(@y)y + 6 0 =~25.133 madis + (4.188 rad/s?) = 6.008 00s 4 PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. Al rights reserve. No port of this Manval may be displayed ‘oprstuced or dsrbuted in any form or by any means, widow! the prior writen permission ef the publisher, or used beyond the lite Ustitnaton to teachers and educa pormited by Gril for terval course preparation If youre stcet ws this Manu sow a rng i who permission. omePROBLEM 15.36" In a continuous printing process, paper is drawn into the presses at a constant speed ». Denoting by r the radius of the paper roll at any given time and by b the thickness of the paper, derive an expression for the angular acceleration of the paper roll SOLUTION Let one layer of paper be unrolled. PROPRIETARY MATERIAL. © 2009 The WoCraw-Hill Companies, ne. All ights reserved, No part of tis Mannal may be displayed reproduced or distributed tn any form oF by any means, with! the prior wrilln permission of the publcer, oF nae beyond the lined b lal. ‘%. Ong led iste e ce fixed Vin [uP 116 inds SS 15°] 4 fe yy 40°] Law of sines Mu Mae Gin sin $5” Sin 75° ~ sin 50° o =642 inis | Von = 7.566 nds 40° gn =(AB)Oyy AB =20 in 7.566 inds= (20 in,)ary, (a) yy = 0.3783 rads yp =0.378 rads) PROPRIETARY MATERIAL. © 2009 The MeGrawHill Companies, lo. All rights wesrved. No port ofthis Marat may be displayed, ‘reproduced or disibued in cow frm oF by any means, whan the prior writen permision ofthe publisher, or ured beyond te init PROPRIETARY MATERIAL © 2009 The MeGeas-Hill Companios, ie. All rights reserved, No part of this Manna muy be dsplard reprataced or cstributed in any form or by any means. wath the ior writen persion of the publisher, oF used beyond the Fined inti wo feachers and educaarspernted by Bre Hil for ther indndual core preparation Ifyei area skew dis Mann Yow are sing without permission 100sPROBLEM 15.43 Rod AB moves over a small wheel at C while end A moves to the right with a constant velocity of 500 mm/s. At the instant shown, determine (a) the angular velocity of the rod, (6) the velocity of end B of the rod, Lf NE A wom Right triangle. = (0.5 missin 35.0° 2868 mls AC? = (0.140)? + (0.200) AC =0.2441 m | Von = ACO ep 0.2868 mis = (0.2441 meen (a) Ogey =1.1747 radi gop = 1.175 radls Dd Rod ACB: @ gop = 1-175 rad/s “> Yep hgasd 3th al a PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. All rights resteved. No pat of this Manual may be dplayed ryprodueed or dvbute in any form or hy any mess, ond the prior writen permission of the pubicher. or sed bevond the Tinted ‘tir to teacher and ecors porte hy Men Hl for Bir hnvial cure preparation yon area stadent ating ths Manual, Yow are wsng i without permission. 1006PROBLEM 15.43 (Continued) AB=04m Vga = (ABO yoy = (0-4 mn) (1.175 rads) Vn, = 04699 mis 55° eM Ye =(0.5 mls —~ }+-[0.4699 mis 55°] Law of cosines, V5 4 vfig 20g 0855 = (0.5) + (0.4699)? ~2(0.5)(0.4699)c08 55° yp =0.449 mis is _ 0.449 mis sings? * Oy Vp =0449 mis (60 mm/s}j = (rp) G00 mmis)j + Oty (eet = 605 = (4) +300] + ok (1804+ 360) (Wo) 605 = (vp) 4 + 300) 418009} 36004 Coefficients off 60 = 300+ 18009 o=-2 nds @=2 midis D4 (0) Velocity of Egg = (180 mm)i-+(0180 mm)j Vas Vat Yun = Ve OX yp 1205-40), 5 (vp) 44300) + (2k) x(-1801 +180) 1201+ 01.) )4= (pol +300} +360}-+ 3601 Coefficients of f (v4), = 300+ 360= 660 mms y= (120 mmis)i+ (660 muvs)j PROPRIETARY MATERIAL. © 2009 ‘he MeGrawHill Compenies, he. AI ghts reserved. No part of shit Manual may be csplayed, reproduced ar dateibuted in any for or by any means, without the pri writen permassion of de publisher, or wed beyod te tinted distribution to teachers anu educators permed by MeGraw-Hi for their indvidalcowse preparation. If ow ara spulen sn is aie Sm ae ning i on permission.In Problem 15.46, determine (a) the velocity of Point B, (b) the point of the plate with zero velocity. 280 90 By OLY Dah 180 0 180 mi SOLUTION Taya = (180 mms) ~ (180 mavis)j From the answer of Problem 15.46, we have w= -( rad/s)k vy = (120 mm/s} + (660 mrs) (a) Velocity of B: Ya = Vat Voy = 1201 + 660) ~2k x (1801-180) = 120% + 660) ~360}—3604 Yq = ~(240 mm/s)i-+ (300 mov/s)j (0) Point with v=0. Let P= xij be an arbitrary point, ‘Thus Fg = 0804 1H Ye AVP = VF ORE is ¥p = 12014660) + 2k) x[(180 +2) Vp = 1201 + 660) ~ (360 + 2x)) +29 vp = (1204 2y)4 (800-229) For vp 12042y=0 and 300-2x=0 50 mm < ve0at: 5-60 mm, PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. AI rights reserved. No port of this Manual may be alsplayed, reproxced or dsaibmed in any form or by any means, witha the pri writen peraassion af Use publisher, or weed eyo’ the intel “Astribution fo teachers ae edacoior perme hy Meir. 1 forthe Indisidualcaue preparation Ifyou area studenaring s Mart bow are nsing i without pormision, wonPROBLEM 15.48 In the planetary gear system shown, the radius of gears 4, B,C, and D is 3 in, and the radius of the outer gear B is 9 in, Knowing that gear E has an angular velocity of 120 1pm clockwise and that the central gear has an angular velocity of 150 rpm clockwise, determine (a) the angular velocity of each planetary gear, (A) the angular velocity of the spider connecting the planetary gears SOLUTION Gear 4 & te Vey, Planetary gear. v= vp +60, Components 2. Dy = 30, + 60 9(120 rpm) = 3(150 tpi) + 6a, @ @y =105 spm 6, =105 pm) 4 Components +>: vp = ¥y +3 ~300, +305 = Ho, +0) Spider Vp = 60H 30, + 04) = 6a (04+) (150 xpm-+105 mpm) ) Gy “127.5 pm fe =127.5 pm] PROPRIETARY MATERIAL, © 2009 The MeGrow-Hill Companies ne. All ights reserved, No port af this Manual ruay be sspared ‘eprodced or derbute mn any form or by any means, without the prior writes permision of the priser, or sed beyond the lint dssibaion to teachers ane edwcaiars permite by MeGaw- 1 for tei indial course prpenatin fou area stem wcing his Mua, [one are sing i wihont permision amsPROBLEM 15.49 In the planetary gear system shown, the radius of the central gear is a, the radius of each of the planetary gears is 6, and the radius ofthe outer gear £ is a+2b, The angular velocity of gear A is @, clockwise, and the outer gear is stationary. If the angular velocity of the spider BCD to be ay/5 clockwise, determine (a) the required value of the ratio bia, (b) the corresponding angular velocity of each planetary gear. SOLUTION Let a be the radius ofthe central gear A, and let 2 be the radius ofthe planetary gears B, C, and D. The radius of the outer gear B is a+ 26. Label the contact point between gears A and B as 1, the center of gear # as 2, and the contact point between sears Band Eas 3 Gear 4 O) Spider: vy =(a+b)0x | Q Gear B: +ba, | @) vy, tbe, | @ Gear v= (a+ 2b)g | o From Bqs. (4) and (5), + Diy = (a+ 2B)0, © From Fqs. (1) and (3), ~biny =¥, = 20, o [a+ 26)ey +0004] Solving for v, and a, M 3 op, = at 2B) — 004) : 2 PROPRIETARY MATERIAL. ©) 2009 The McCaw-Hill Companies, ne. AU rights reserved. No part of this Manual may be displayed reproduced or distributed in ony form 0 bp any means, without the prior writen permssion of the publisher, or used beyond the lined ‘huribution to teacher and edwcetor permite by MoGra Hil for terial conoe preparation. you rec sudet wing this ara, you are wsing wlan permission rosFrom Bq, (2), Data: @ () PROPRIETARY MATERIAL, & PROBLEM 15.49 (Continued) +2b)i%, +404] a+b) a arb) 5° 2(t+8)~ F ( + 2) =5 [la+ 2b), —acy,] 2 =1.500 4 b % oa. os 2b 3 2009 The McGraw-Hill Companies, Ine. All its reserve, No por of this Manual may’ he dsplaye ‘reproduced or doiritued in cow frm oF by any meas, wilhon te prior written persion of th publish, or wsed beyond the linited distribution to teachers and educators permed by McGaw for their divi course preparaion. fou ae stent ws his Manel out are ning without permission maisPROBLEM 15.50 Gear A roiates with an angular velocity of 120 rpm clockwise Knowing that the angular velocity of arm AB is 90 rpm clockwise, determine the corresponding angular velocity of gear B. SOLUTION Arm AB: yy =90 rpm =37 rads ) ee Vp = Panay = USO) = 45.0 nis \ Gear 4: = 120 1pm = 4a radls gf he . \p = (6X4) = 247 ins \ Gear B Vp = Vet Von : 24a =450\+ Vie Viv = 20 ins \ 8 + one 4 =70 1pm) PROPRIETARY MATERIAL. © 2009 The MeCiaw-Hil Companies, Ie All rights reserved. Ne part of ths Mana may Be dsplased, ‘reproduced or dried i any form or by caw mens, witht the prior writen permission of the pabisher, or used beyond the fnated ‘sibtion to feces candsacotors permite hy MeGrass Hil fort inviual course preparction If on area stent using ths Mame, Sem ave use ion permission 106PROBLEM 15.51 Ann 4B rotates with an angular velocity of 42 rpm clockwise. Determine the required angular velocity of gear 4 for which (@) the angular velocity of gear B is 20 rpm counterclockwise, (8) the motion of gear B is a curvilinear translation, SOLUTION 8 Anim AB: yy =42 pm = 1.42 radis Va = Fan @uy =(IS\1 A) = 2 ind Me @ Gear B: 7 0 apm = 2 inss ) A Aire Yon = Fal -0(34)- 6m ins Yo =%s+ Yow %, <_ Tite Gear 4: B nad) y ©, =135.0 spm_) (8) Gear B: Gear A: PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine All sighls reserve, No part of this Manual may be dsployed. reproduced or dhstrituted in any form or by any means, without the prior writen permission of the publisher, or ase beyond the United (hstrintion to teaehers and edueatrsperwited by Wira Hil for ter onda conse preparation Ifyou area sant i tis Mana, ou are sing i widow permission 10817PROBLEM 15.52 Arm AB rotates with an angular velocity of 20 radis counter- clockwise. Knowing that the outer gear C is stationary, detennine {@) the angular velocity of gear B, (6) the velocity of the gear tooth located at Point D. SOLUTION mAB Gear B (2) BE=0.05 m: Vy = Vp t Vpn =O+(BE)0, 2.4 mis{=0+ (0.05 may} ty =48 rads 0, =48 sadly ) 4 () DE= (0.0842): Vp = Ve+ Vo = 0+ (DEYOy yp = 0+ (0.05248) vy =3.39:m/s vp =3.39 mis 27 45° 4 PROPRIETARY MATERIAL. «0 2009 The MeGia9-1ill Companies, me AL Highs sesened, ND port of his Mera! may be daplayed, reproduced or distributed in any form or by any means, without the por writen permission ofthe publisher, or uaed beyond the lined Udisnibuton ta teacher cd eects ried by Mera for ther indo curse repanction. fou areaastdent wring his Bu, “yo are ring witout permission 1018PROBLEM 15.53 Ant ACB rotates about Point C with an angutar velocity of 40 rad/s counterclockwise, Two friction disks 4 and B are pinned at their centers to arm ACB as shown. Knowing that the disks roll without slipping at surfaces of contact, determine the angular velocity of (a) disk 4, (6) disk B. SOLUTION Aum ACB Mr 6 - -(Oyp = (2440) =960 mans | 8 incOnn ~ (18)(40) = 720 mals wy Disk B: Plane motion ~ Translation with B + Rotation about B. 230mm, vp a6 4 fh. 0=720f + 30 ay] mms Ole Oo Ti=24 ds ) og +e 20 | +(30\(24) |= 1440 mmsf bs Disk 4: Plane motion = Translation with 4 + Rotation about A. 2 mM, Ve = Ve Vere 160 | + 12,4 002900 200 ds) (a 0, = 200 rads) 4 ) y =24.0 tals) 4 PROPRIETARY MATERIAL. © 2000 The MeGeww.Nill Companies, ne. Al sights reserved, No part of this Manual maybe dsplayed ‘produced or dsriuted in ory form or by ay seas, thon the prior writen ermision of the publisher, or ned beyond the Limited “dstrbation to teachers ed edcors permitted by McCrary bedi course preparation. Ifyow are astadentasing hs Ma [you are using without permission 1019PROBLEM 15.54 ‘Arm ACB rotates about Point C with an angular velocity of 40 rad/s counterclockwise. Two friction disks and B are pinned at theit centers to arm ACB as shown, Knowing that the disks roll without slipping at surfaces of contact, determine the angular velocity of (a) disk 4, (6) disk B. SOLUTION Ac 3|% My oh om a ww 5A, dl G-q-@ % Cay Arm ACB: Fixed axis rotation, rye =6 mM, Vy =F4c ye) = (6X40) ]=240 mms} ye =36-t, Wy =e yy | = B6Y(40)} =1440 mms} Disk B: Plane motion = Translation with B + Rotation about B. rel2men, ¥, 0=1440 + 120% a= 20 rad’s ) Yet Yon = 1440} + (6)(120)} = 2880 mms va Vase Disk 4: Plane motion = Translation with A + Rotation about A. r= 30M, Vp =V4~ Ven 2880{=240| +300, 28804240 04 ras) = 30 @ ©, = 104.0 rad/s) () 120.0 rads) PROPRIETARY MATERIAL, © 2009 The MeCraw-till Commponics, fe, All reprdtced or cstributed in any form or by any means, ts reserved. No part of this Manus! oxy be ciple, permission of the publisher, ov asad boson the United iho he por writen (darian wo tchers and eters ported by Metron for ther tna cre prepanatan If year student sig this Man. yom are wing i without pormdsion. 1020PROBLEM 15.55 Knowing that crank AB has a constant angular velocity of 160 rpm counterclockwise, determine the angular velocity of rod BD and the velocity of collar D when (a) (b) 8=90" p= (AB) -0'$r}-s0ass ins a0. sin B B=36.87° & oe Yao =[BD) Om A A]=[10e%m NB] vp 50265 fe Vong = = 62.831 ind We cos” cos f ne she py = "HE = O83 - 6.283) aes 7 BD 10 h pp = 60.0 rpm .) 4 [B Vp = Vp tan f= 50.265tan B =37,7 inds a Vp =37.7 inls— 4 (6) @=90", a Bar BD is in translation Wey PROPRIETARY MATERIAL. © 2000 The McGraw-Hill Companies, ne. Al sights reserved. No part of this Mana ovay be disphaved ‘ipradced or distributed in any for or by any means, without the prior writen perinssion ofthe publisher or wsed Beto ie linked ssributon to teacher and educoiors permite by MeCraw-Hillfor tein course preparation. Ifyou a studet wing ths Ma, Som are ning i eat permission moPROBLEM 15.56 Knowing that crank AB has a constant angular velocity of 160 rpm counterclockwise, determine the angular velocity of rod BD and the velocity of collar D when @= 60". SOLUTION Xe Crank AB yy = 160 rpm = 16.255 radls : AB=3in. Vy = (ABO gy = (Bin,}(16.255 rads) vy =50.27 in/s 30° Rod BD: 3,402 #, PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. Argh reserved. No port ofthis Manual may be displayed, proce or distributed in any form or by any means, lou the pela writen permission ofthe publisher, or nse bene the Lied (istibuton to teachers and educators permitted hy MeGrosillfor tei indivi course propartin sf yeaa student wing hs Mara, Dow are wsing it without permision tmLaw of sines. PROBLEM 15.56 (Continued) vy ? sin40,11° ~ sin30° ~ sin109,89° vp =3444 inds Vy =344 ins Yo (10 in.)adpp) = 26.73 ins pgp = 2.67 radls PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. All ighls reserved. No par ofthis Manna may be diopaved ‘priced or dsbated n any form or by amy means, with the prior writen permission of the publher, or nae beso the land sribation t teachers and educators pevmited by McGrail for ter inividualconrse neparaton Ifyou area ston wring this Man, Sou are using i without pormision, 02sPROBLEM 15.57 In the engine system shows, /=160 mm and b=60 mm, Knowing that the crank AB rotates with a constant angular velocity of 1000 rpm. clockwise, determine the velocity of the piston P and the angular velocity of the connecting rod when (a) @=0, () 8 =90". SOLUTION (1000)22) £24, = 100m ) = 00K (a) @=0°. CrankeAB, Rotation about A) yy =0.06 mf (0.06)(104.72) = 6.2832 m/s —~ Vise Rod BD. (Plane motion ~ Translation with & + Rotation about B) oye « + he v=o whe bey Yoyn = 6.2832. =p yao vp _ 62832 5 ute: an =39.3 ads) me) O16 fe (0) 0=90°. Crank AB. (Rotation about A) — Fy, =0.06m—~ Hs wt a aay ~(0.06Y{104.72)=6.2832 5 | a " Rod BD. (Plane motion = Translation with B + Rotation about B.) ea ma at t= Yoon % ¥p [= 62832 | [en 7° 3] PROPRIETARY MATERIAL. © 2009 The McGrvw-Hill Companies, In. All ights reserved. No part of this Mannal may be displayed Iepraced or csebuted any form or by any mens, without the prion writen permission ofthe publisher, or ased beyond the limited (isto t tenchers and educators porated by Merial for ter inva course preparation. fy areca student wing this Marna, ‘yo are eng it withon pormizion varsPROBLEM 15.57 (Continued) 12832 mis 2832 m/s PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, in. All rights vssrved. No port of this Maa onay be cplaye ‘eprndced or dstrbuted in any form by any means, without the prior writen permission of the pulser. o” ed beyond the inte sdsiribuion to teacher and educotos permite by MeGran-il for Der indvial course preparation. [fam arcastuden asi thie Mame, ow are sing i sithont permission. 102sPROBLEM 15.58 Tn the engine system shown in Figures P15.57 and P1S.58, 7=160.mm and 1b =60 mm. Knowing that crank AB rotates with a constant angular velocity of 1000 rpm clockwise, determine the velocity of the piston ? and the angular velocity of the connecting rod when 6 = 60° pm = C0012) 104.72 rads) yg = 3 in. 30° fy =(0.06 104.72) = 6.2832 mis ~ 6 Rod BD, (Plane motion = Translation with B+ Rotation about B.) Geomery Isin =rsind 5H, sina! sin = 298 nse W -\ « Tr 016" puig9s aitaNt Y= Yat Vow [eo | J= [314.16 60°}+[ ne 2 A] Draw velocity veotor diagram 9=180°~30°—(90° - f) = 78.95" wo Se ee Ue Sing sin30° sin @0"— A) a \, -uesing pcos 8 @ = 62832 sn 78997 we cos 1895" ee = 6.52 ms ow 52s | PROPRIETARY MATERIAL. © 2009 The MeCiystil Companies, We AIL rights reserved. No part of this Manvel may be displayed Tepradaced or dsvbuted or any form or by any means, withou the rier writen permission ofthe publisher. or used beyond the lred (srinaon teachers end elcaiors permite by MeGnan-Hil for ther indvtdvalconre preparation. Ifyou are stent wing this Manel, pom are using i ition pormasion. 1026PROBLEM 15.58 (Continued) vy sin 30° cos 6.2832sin30° cos 8.95" =33216 ms Yow _ 3.3216 poe ssel6. =A < be yy =208 vals”) np PROPRIETARY MATERIAL. © 2009 ‘The McGraw-Hill Companies, he. AU sights reserved. No prt of dis Mameal may be displayed reproduced or distributed in cay form ox by any esos, withow the prion writen permission ofthe publisher oF ued bepond the Ftd dstributon to teachers necator peril by MeGraw-1l for ter id i corse preparation fou ar student asi hs Mansel ow are wei echt permission toxPROBLEM 15.59 A straight rack rests on a gear of radius r and is attached to a block B as shown, Denoting by @, the clockwise angular | velocity of gear D and by @ the angle formed by the rack and the horizontal, derive expressions for the velocity of block B and the angular velocity of the rack in terms ofr, 8, and ay SOLUTION ie erry Se Rack AB: + Rotation about £, Fired € Ona 78s Draw velocity vector diagram. Ye PO “e cos cos Yup ve tan oy, tan Oy Pay tan and = ap tan? 9 PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, In. AM rights vseeved. No part of this Mamval may be displayed, reproduced or distributed in ey form or by any’ nes, ithout the prior writen permission ofthe publisher, or used beyond the line “isribution to teachers nd edcaions penned by Mire forthe nia course preparation. Tf you are astudent asin this Ma yew are ning i witht permission. 102sPROBLEM 15.60 A straight rack rests on a gear of radius r= 75 mm and is attached to a block B as shown. Knowing that at the instant shown the angular velocity of gear D is 15 spm counterclockwise and @ = 20°, determine (a) the velocity of block 2 (4) the angular velocity of the rack. SOLUTION Gear D: Rotation about D. Tooth £ is in contact with rack AB, pon 22 = 0.50 radls = ray = (0.075)(0.Sn) = 0.11781 m/s Rack AB: ay =e = POTS. 0.20606 m ‘and tan 0° Plane motion = Translation with F + — Rotation about E. me G £ £ Frid wk fae + 2 8 le 8 20 Lue Yet Yar Dee =D 01+ [a AO} Draw velocity vector diggram, vy __ OT @ oka oe 0.12537 mis Wy 0.1254 nls (©) Vag =¥— tan 20° = 0.11781 tan 20° ine (04288 mis 4p = 0.208 radis -) PROPRIETARY MATERIAL. © 2009 The MoGrw-Hill Companies, In. All ihts recived. No pur af ths Manual may be displayed ‘reproduced on dsvbnted in any fora ov by any means witha the prior written permision of the publisher, or used beyond the Fintied ddsibutiont teachers and edwcetors permite hy McG for their indivi course reparcton Ifyou arcastuden ur is Hh, ‘ow are ing wihontpormision 1SOLUTION Gear D: Rack AB: Draw velocity vector diagram, Data: (@) (by PROPRIETARY MATERIAL. ©) 2009 The MoGrw- Rotation about D. Tooth E is in contact with rack AB. =r <8 faec oan ‘Translation with £ + cq 8 a PROBLEM 15.61 A straight rock rests on a gear of radius r= 60 mm and is, attached to a block B as shown. Knowing that at the instant shown the velocity of block B is 200 mm/s to the right and 8 =25°, determine (a) the angular velocity of gear D, (b) the angular velocity of the rack. (yp 1= Pe S14 [oe V8) yy tan? re Vn Vie = Mp tan = re, tam 8 Yair _ rp tan gq =p ta 7 =60 nm, @=25° vy =200 m/s—- @y =3.02 radis ) yy = 0.657 tals) ‘Companies, Ie, Al rights served. No part of this Manna may be diplayed ‘epoainced or dotriuted in any form or by any means without the prior writen permission of the publisher, or ured beyond the lindied “istribution to teachers ara edacoor permite by MCrass. 1 for thew individ course preparation. fy areastaden wing his Mana ow are ing it wihont permission 1030PROBLEM 15.62 In the eccentric shown, a disk of 2-in.-radius revolves about shaft O that is located 0.5 in, from the center 4 of the disk. The distance between the center 4 of the disk and the pin at B is 8 in, Knowing that the angular velocity of the disk is 900 rpm clockwise, determine the velocity of the block when @= 30°, SOLUTION Geomeney, (OA)sin 8 = (4B)sin ° eco win OA8ind sera 0.5 sin 30° - =1.79° 2 A Shaft and eccentrie disk. (Rotation about O) | 4 =900 spm=30r rads) | | Vy =(OA) py = (0.5)30R) =15 mms 7 | Rod AB. (lane motion = Translation with 4-+ Rotation about A.) Se 7 _ wie 4 = oA eo e . “Bea % a a Nag We l= [%4 7 60+ Dan NY AL Draw velocity vector diagram, 90° =88.21° ge @=180°— 60°—88.21° =31.79° A y ¥ | Law of snes a ing sin(00"~ : yp x asin Pe ‘th Sin (90° By __ (USa)sin31.79° 88.21 4.837 ins PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ic, All righ reserve. No part of thie Mamual may be duplayd, ‘reproduced or dsribued in coy frm ov by any moans, without the prior written permision of the publisher, ar wad beyond te finited dsribution to teachers andedvcaiors permitted by McGrew il for sein course preparation If you are student sing hs Maru, you are ashe i ethos permission mosPROBLEM 15.63 In the position shown, bar AB has an angular velocity of 4 rad/s clockwise. Determine the angular velocity of bars BD and DE. SOLUTION Bar AB: (Rotation about 4) = ~(4 rad/s)k 4k) (Ti) (Tin }i Vp = Oy Xing vp = (28 ins) BD: (Plane motion = ‘Translation with B+ Rotati n about 8.) n \ OypK Typ <8 Yat Opn * on 28+ 8a yi 28] + (@ppk)x(-8) Bar DE: (Rotation about EY yp = Mpg typ =U in i+ G inj Vo = Opp XA pve = (Mpg kX Vp = ape j~3a@pe4 Equating components of the two expressions for Vp, i: Hyp hy, = 2.5455 rad/s Ope =2.55 radls) 55 vals) Ow PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine All sights reserved. No part of this Manual may be displayed eprnduced or dbseibuied mn any fra or by any means. withou the prior writen permasion of the prbsher. ar sed beyond the tinted > | Ye Yrya™ (Onion) pp ts Yon Yer Wp ABI=s} 1+ 0-1 przie sf zlak Tigt (o1m) ey PROPRIETARY MATERLAL, © 2009 The M reprodnced or duritnted in any form a by any ‘aiiaion to teachers and educotors permite ow ae sing I wlthou permission (0.1616 map Ypyp = Vp fan B (0.1 m)eyy =(1 rds) tan 21.8° Oy, = 4 radls.) (Lvs) cos 21.8" pp = 6.67 vals) ‘mpanies, Ine. AIL sigs reserved, No pert of his Momual aay be displ thou the por witen permission of the publish, or used beyond the limited Greil fo tetra ome preparation fw area stuck sing dit Mana tanaPROBLEM 15.65 | In the positon shown, bar AB has an angular velocity 200 90 of 4 radis clockwise, Determine the angular velocity | of bars BD and DE. SOLUTION os Bar AB: B = tan! — = 26.56" Bar Botan os a= 9S —o9a4.m cos Vp = AB) ergy = O8944 mV mls) yp = 3578 ms. 26.56" Bar DE: Bar BD: fn = [vp 1+ [Vpn] PROPRIETARY MATERIAL. © 2009 The MeCieaw-till Companies Ie. All righ reserved, No part of this Mana my be displayed Ieprodced or dsrituted mn ony form or by any means, witha the jor wilten pertain of the publisher, ov aed beyond the Fimted Cdstibin ta teachers and elutes pred by McGrail for ther individ cours preparation, fon area stenting the Mone, Youre sing without permission vosPROBLEM 15.65 (Continued) Ly? 3S7EM Z Rb Basle = 6582" sin63.44° sin 65.22 sin 51.34" Y= 4.099 mis (0.6403 mn), = 4.099 mis Oy, =64 tals) 4 Vive = 4.160 mvs 8 tn)yp =4.16 ms gy =5.2 rads) PROPRIETARY MATERIAL, © 2009 Tho McGraw-Hill Companies, le, Al eights reserved. No part of dis Manual may be diplene, reproduced or dhstribwted in any form or by any means, widhnun the prior writen permission ofthe publisher. or nse) beyond te Finite \isribution to teachers and edcefarspennitied by MeGrowlil for tei dividual course prepaaion If youearca siden ting his Man om ae using ttn permission 103sPROBLEM 15.66 In the position shown, bar DE has a constant angutar velocity of 10 rad/s clockwise. Knowing that = 500 mm, determine (a) the angular velocity of bar FBD, (b) the velocity of Point F. SOLUTION Bar DE: (Rotation about £) py =10 rad/s }) = (10 rad/s)k {0.1 m)i+(0.2 mj Vp = Opp Kye = (TOK) X(-0.1 40.23) I mis\j+2 msi Bar BD: (Plane motion = Translation with D+ Rotation about D.) Opp = Ay typ =—O3 i+ (OL mj to WAY Opp Xap = J+ 26+ (@pk)< C0314 0.1) $2 —03epp,§-0.Laypi Bar dB: (Rotation about A) HMyk Fy = O42 mj Vp = yp XE peg = (yg k)*(OA2)) = DAZ gh Equating components of the two expressions for Vy @ + 1-030, #0. yy =3.3333 rads yy = 3.33 als?) 2-01 yy =-O4A2Myy 2~(0.1)3.3333) =A yy 3.9683 rad/s @yp =3.97 rad/s) +03 Bar FED: tp rb as + 214+ C-0.30%_p 5-0. ypH) + 24+ C(-j- 0.333334) 08 03 + 24 ~ 2.6667] ~0.88889 ‘With h=500 mm =0.5m, o ve = (.1LLEL m/s)i = (1.66667 mis} 2.00 mis 563° PROPRIETARY MATERIAL, © 2000 ‘he McGraw-Hill Companies, In. Al sights reserved. No part of this Manual may be displayed, ‘reproduced or dsrbuted in any form or by ey moans, witht the prior writen permission of the publisher, or ased beyond the Tinted ‘sition to teeters and eacaions permed ty Mera Hl far der anivaal eoure preparation (fou area student using ths Mau, bon are aig withent permission 1036PROBLEM 15.67 In the position shown, bar DE has a constant angular velocity of 10 rads clockwise. Determine (a) the distance h for whic the vol velocity of Point F is vertical, (b) the corresponding velocity of Ny Point F. Feil on ion SOLUTION (Rotation about B) pe = 10 rad/s.) =~(10 mdis)k Haye =O. mi + (0.2 mj Wo = Ope *F ne =C-10K) x (-0.1040.3)) =(1 m/s +@ misji Bar DI Bar FBD: (Plane motion = Translation with D+ Rotation about 2.) gp = OypK Epp =O3 mH (O.L Mj Y= Yot On Xt J+ 21+ (pp) (-0.34 + 0.1) = J+ 21 D3aqp§—-OLOypi Bar AB: — (Rotation about A) yy = Oygk ty = (0-42 mj Mp =O yp Xt png = (@ypk) X(OAD}) = -0.420ygh Equating components of the two expressions for Yp, @ i 1-030) =O pp ~3.3333 rals i 2=O.leyy =-O4204y 2~(0.1)3.3333) = 0.4205 = 3.9683 rad/s ayy =3.97 rads) Bar EBD: Tan =Crny where C= 2293 Ws tO Xtra =§4 21+ CH-03a%p)- 0. gp 1) J+21+C(-j-0.33333i) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ie. AI rights reseeved. Mo part of this Manual may be displayed ‘raproduced or dsruted tn any form oF by any means, withaw the prior written permission of the publisher, or wed beyond the lined ‘isibuton to teachers a edvcoiors smite by eCrow: Hil forte indistal conse poopareton. Ifyou ara stden ws ths Mla, Yon ae sing i ith permission. oxPROBLEM 15.67 (Continued) But ¥,=v-, Equating components of the two expressions for Yj, i 0=2-0333330 C=6 (a) h=03C-0.3=(0.3)6)-03 500m CO) i 1-6) 00 mis | PROPRIETARY MATERIAL. © 2009 ‘The MeCia-ill Companies, Ine. Al ghts reserved. No part of this Manual may be displayed, ‘roprouced o» diartbuted br any form ae by any means, wit the prior walten permission ofthe publishes, oF wsed beyond the Lined Cision to teachers ad ears permite by AG for har indvdaal course preparation Ifyonarea student wing tis Manual, “yo are using it whan pormision, 1038PROBLEM 15.68 In the position shown, bar AB has zero angular acceleration and an angular velocity of 20 rad/s counterclockwise, Determine (a) the angular velocity of member BDH, (b) the velocity of Point G. SOLUTION Bar AB: AB=Sin, B=tan 3 3687 vy = in }20 rad/s) =100 ims Naw Yoyo = 00 inp | [x i | [0M 011 10-4 60=120 inds E45 [oo Yb (10 in )e%ppy) =120 ins @ PROPRIETARY MATERIAL. © 2000 Tae McGraw-Hill Companies, le. All sighs reserved. No part of this Manual may be dsplyed, represced or dtribuesd in any form or by any means, without the prior writen permission ofthe publisher, or nae eyes the Finited ‘deriution others nd esconrs permit hy Baral fo ther tadnval come preparation. Ifyouare a sen! sig is Manval, you sing I wind permusson 1039o AI ights served No part of thie Manual may be displayed, PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, I reproduced or dstributed in ny form o by any mers, without the prior writen peroasson ofthe pusher, or wae Beyond the Fined distribution we teachers andedueuiors perma by MeGrow- Till forte dlr course preparation. if ow ae student wsing hs San Seu are wine i sett permission 1040PROBLEM 15.69 In the position shown, bar AB has zero angular acceleration and an gular velocity of 20 rad/s counterclockwise. Determine (a) the ber BDH, (b) the velocity of Poi H, angular velocity of | Bar DE: ' =Sin. = tan”! = | AB=Sin. B= tar we PF ¥4 = (5 20 rads) % fe vn. =100 in/s 3 ? hah, Member BDH + Yon Viyw = (0 i.)pyy we |] | 10020) Yiyn = 0-460 =120 inds (10 in )dyy, =120 ints @ ©ppy =12 rads) PROPRIETARY MATERIAL, © 2909 Tho McGraw-Hill Companies Ine. Al ighls reserved, No part of thie Manual ma be displayed reproduced 0 dsiuted mn ony form or by any means, with the prior written permision of the publisher, or ase beyond the Fimited ‘tstribton to teacher and ecto ernie by McCarter Invacare preparation. fou areca stent wig he Mara, one are asi wlhond permision 10stPROBLEM 15.69 (Continue Cy vgn =BE yp, =0S2(02)= 12042 ins Y= Yat Now ie ian ins | Wer 60 @=tan Wy = 72.1 inds 7563" PROPRIETARY MATERIAL. © 2000 The McGraw-Hill Companies, Ine. Al sights reserved, No pur ofthis Manual may be displayed ‘reproduced or dsrtuted i any form or by ey means, witha th prior verilen permasion of the publisher, or ned beyond te Simited ‘Beribation to teachers and ecco permite by McCaw for their dal course preparation. Ifyou area siadent wing is Monel Yow arousing i wilhend permiacon waPROBLEM 15.70 ‘An automobile travels to the right at 2 constant specd of 48 mifh, I?'the diameter of a wheel is 22 in., determine the velocities of Points 2, C, D, and Bon the rim of the wheel. SOLUTION | d=2in, r=Z=11 in. =0.91667 0 & _ M704 0.91667 = 7628 rad/s.) = (0.91667(.76.8) = 70.4 fs V+ ¥jg =[T0.4 fs —= ]4[704 fs +] z 140.8 fs—+ 704 Rs —r ]+[70.4 fs 2” 30°] YM tou = 36.0 10S 2% 15.0° Ve = Met Vg 21704 fs—e J +(70.4 fs] 9.6 fs 45.0° PROPRIETARY MATERIAL. © 2000 The McGraw-Hill Companies, Is. All sights reserved, No part of tis Manual may he displayed reprodoced or dsributed in any for oF hy any meas, withont the prior writen permission of the publisher, or sed beyond the Und ‘tition to teachers ed eucetors permite by MeGrav-H for der iva cour preparation If yon ave a stunt using ths Manual, em are wing i wuthon pevmasion 1043PROBLEM 15.71 ‘The 80-mm-radius wheel shown rolls to the left with a velocity ‘0f 900 mms. Knowing thet the distance AD is 50 mm, determine the velocity of the collar and the angular velocity of rod AB when (a) B=0, (b) B=90". SOLUTION @ B=0. () B=90" Wheel AD, yap = = 11.25 rads) 8 €A=(CD)~(DA) =80-50=30 mn ¥¢=(CA4p = BOKL1.28) =397.5 mls — Rod AB. MY [ip — J=13375— ] [rn No] vy =338 mis — Yn =9 O40 4 Wheel AD. ve=0, — @yp =11.25 rads”) DA_ 50 tuny= 24 yap. 005° mr pe go” a= PE 94.34 mn eos V4 = (CA)Onyy = (94.34 1.25) = 1061.3 mms ¥., =[1061.3 mmis *. 32.005°] Rod AB. Ya= Ya + P= 18.663" Plane motion = Translation with 4+ Rotation about 4. PROPRIETARY MATERIAL. © 2009 the MoGrow-Hill Companiey, Ine, All rights restved, No part of tis Manval may be displayed. ‘reproduced or datebuted in ey frm or by cay means, without the pir wvtien permission of the publisher, or wed besond the finited dsributon to teachers ane educaiors permite hy Metin or ter ino conrse preparation yon are student ning ths Mana, ou are using withont permievonPROBLEM 15.71 (Continued) 8 = 180° 7-00" +9) ~32.005° -18,663° = 39,332° sind sing sin(90"-+9) __Y4Sind__ (1061.3)sin 39.332° (00+ 9) n 108.663" =710 mms y= 710 mms — vasiny (1061.3) sin32,005° sin(90°+@) sin 108.663" = 593.8 mms ‘nt 3938 237 mds ©4y =2.37 rads) 4 ap 250 Om PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, In. All ights reserved, No pert of this Manual may be diplaye roprodueed or dsebuted in any form or by any means, without the por weten permission of the puiher. oF wsed beyond the Tied Caruso to teachers end exaceors permite by Meta Hl for ther ill coure prepa If yon are aude ng th Mana Yon are using it without pores,PROBLEM 15.72* For the gearing shown, derive an expression for the angular velocity @, of gear C and show that @. is independent of the radius of gear B. Assume that Point 4 is fixed and denote the angular velocities of rod ABC and gear d by yc and @,, respectively. SOLUTION Label the contact point between gears 4 and B as 1 and that between gears B and Cas 2, Rod ABC: O44 Assume, forsketch y=0 Me = Cab )Oune 442g Heme Gear y=0 a Gear B: WE Vy~ Fg Oy =O (ey FO une ~ Fa Oy = 9 a (22 Joe) +1, Oy = 24 + Ye) yae PROPRIETARY MATERIAL. «> 2009 The MeGeav-Hill Companies, Inc.All rights reserved. No part ofthis Maal may Be displayed, ‘apraduced or dete in cy form or by cy means, witht the prior writen permision of the publisher, or aed beyond the lint % 120 mm, unwrapped/s PROPRIETARY MATERIAL. © 2009 The McGraw Hk Companies, ine, AN rights reserved. Mo part of this Manual may be displayed ‘reprtced ov distributed in ny form or by any means, without the prior wren permston ofthe publisher, ar used beyond the lnted ‘tribution to teachers and educators pormited by McCraw for her icine connie preparation. If ow are stadent wig this Mah, ow are using withous perms ssPROBLEM 15.80 A3 inradius drum is rigidly attached to a S-in.radius drum as shown. One of the diums rolls without sliding on the surface shown, and a cord is wound around the other drum. Knowing that end £ of the cord is pulled (0 the left with a velocity of 6 inJ/s, determine (a) the angular velocity of the drums, (b) the velocity of the center of the drums, (c) the length of cord wound or unwound per second. SOLUTION Z Since the drum rolls without sliding, its instantaneous center lies at D. Yee We 6 inds~ Pans Ye Fr? @) on Tb =P a3 mds @=3.00 rad’s) € (©) y= 6)G)=15 ins y= 15.00 ins Since v, is greater than yp, cord is being wound. vp =15-6=9 in Js © Cord wound per second = 9.00 in, PROPRIETARY MATERIAL. © 2009 The MeGrve-Mill Companies, ne. All Fights reserved. No par af this Manual may be spayed Ieproduced or dsb n any form aby asym, chon th prior writen pernaston ofthe publisher, wsed beyond the ited ‘ston to teased eicars permite by Mra. fr ative cours prparation Ifyou are astdent wing this Maa ot are using without permission 105sPROBLEM 15.81 A3 in-radius drum is rigidly attached to a 5-in-radius drum as shown, ‘One of the drums rolls without sliding on the surface shown, and a cord is ‘wound around the other drum, Knowing that end £ of the cord is pulled to the left with a velocity of 6 inJ/s, determine (@) the angular velocity of the drums, (b) the velocity of the center of the drums, (c) the length of cord ‘wound or unwound per second. SOLUTION Since the drum rolls without sliding, its instantaneous center lies at B. =6 inde — @ wo (393.00) =9 inJs % Since vj is to the right and vp is to the left, cord is being unwound. 5 inds © Cord unwound per second = 15.00 in. PROPRIETARY MATERIAL, *) 2009 The McGraw-Hill Companies, ne. AW sights reserved. No part of this Mena! may be displayed, epradhced or dsnted ny form 0” by ey moans, without the por writen permission ofthe pubisher, or ued beyond the lnited ‘sibuion teachers cn edvcotor pemited by MGs. Mill for er inva course preperanion you are astadenwsing ths Marea, Son are using thou! permission. ossPROBLEM 15.82 Knowing that at the instant shown the angular velocity of rod AB is 15 radis clockwise, determine (a) the angular velocity of rod BD, (6) the velocity of the midpoint of rod BD. SOLUTION : typ =15 rads) % CABYO4y ‘ = (0.200)(15) ” =3 mis ee c w= Yn % Locate the instantaneous center (Point C) of bar BD by noting that velocity directions at Points B and D ave known, Draw BC perpendicular to ¥, and DC perpendicular 0 v,. (a) yp) = 12.00 radis > () Locate Point &M, the midpoint of rod BD. Draw CM. BD = (0.6) + (0.25)? = tan p= 925 garner 90 26738" 65m CM = DM = AM = (8D) =0.325 m [CM )o= (0,325)(12)=3.9 mis Vy =3.90 mis > 674° PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine Al eights reserved. No port of this Manual may be cplaye, ‘reproduced or drut n any form by en means, wiihont the prior writon permission of the pablsher, ov use beyond fe finite isbn to teachers cd educators permite by MeGraw Hil for thor inv coure preparation: Ifyou areastudent we ths Manu ‘yom ore oun without permission 10stPROBLEM 15.83 Knowing that at the instant shown the velocity of Point D is, 2.4 mvs upward, determine (a) the angular velocity of rod 4B, (b) the velocity of the midpoint of rod BD. [paneer gg ec SOLUTION at Rod AB om “Yo Vy = (ABO gy oe Ya (02 m0 © @ Rod BD: Draw lines perpendicular to Vp and ¥, to locate instantaneous center of rotation C. @ Y= (CD) ny =24 mis=(0.6 my, vp = (BC) yy = (0.25 m(4 vals) Eq. (1): Vp =0.2 meyy J mls=(0.2 m)eyy Oy =S radlsD 0.125 m 0 Btn! =22.6° ie prt 0am 03 cg =23.™ 20,325 m cos CG) oy = (0.325 mA rads) =1.300 ms 1.300 mvs [7 22.6° Yo =1.300 mis % 674° € PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. AI righ reserved. No part of this Mannal maybe diplaed, Fopradvced ov distributed in cay form or by ny meas, wihont the prior writen permission ofthe publisher, or nse beyond the limited LUeeton touches and ehcatons permite by MeCrow-Fil for her bavi couse preparation ifyou area sient using i Manual, Seat are ning with permission sosPROBLEM 15.84 Rod ABD is guided by wheels at A and B that roll in horizontal and vertical tracks. Knowing that at the instant shown SOLUTION Rod ABD: IGE | 7.5m (2.960 We locate the instantaneous center by drawing lines perpendicular to y, and Yp. (a) Angular velocity, vy =O)W 40 ints = (12.99 inj @=3.019 rads = 3.08 radls.) 4 O) Velocity oD: In ACDE: yotan 25-1615 ep. 2704 in, 25.98 cosy CD) = (27.04 in. 3.079 rad/s) = 83.3 ins yy = 83.3 nds} 16,1° yy 83.3 nds" 73.9" € PROPRIETARY MATERIAL. © 2000 Te MeGcww-Hil Compaics, le. Al rights reserved. No part of this Mena uy be dsplye, ‘preduced or distributed in any form or by any oan, without the prior writen permission ofthe publisher» wed Besone the ined tsribuion to teachers and edacoiors permite by eC forth indvidua conse preparation. If yom anea student wing is Manel _powarewsing it withon permission 1059PROBLEM 15.85 ‘An overhead door is guided by wheels at 4 and B that roll in horizontal and vertical tracks. Knowing that when @= 40° the velocity of whee! B is 1.5 fils upward, determine (a) the angular velocity of the door, (b) the velocity of end D of the door. Locate instantaneous center at intersection of lines drawn perpendicular to yand (@) Angular velosity. vy, =O} 15 Ns=G.214 Ho 0 =0.4667 rails @=0.467 rads) Velocity of D: In ACDE: B= tan! $22. 3.83 6.427 co = 927 7.4892 B (CDy@ = (7.482 £1)(0.4667 rads) 3.49 tus yp =349 tus 2 59.2" PROPRIETARY MATERIAL, © 2009 Vhs McGraw-Hill Companies, be, Al righls reserved. No part of this Manali be dplaet Iepreduced or distributed in cans form or By any means, witout the prior writen permission ofthe publshor or used beyend the limited Chnctnaon to teachers and ecu perd hy McGrail for der india course preparation. ifyow area sent sing his Manuel Sowa ning i thou prison 100PROBLEM 15.86 f Knowing that at the instant shown the angular velocity of rod BE is 4 racl’s counterclockwise, determine (a) the angular velocity of rod AD, (h) the velocity of collar D, (c) the velocity of Point A. ~ SOLUTION 1.768 mils —> ra ny = (O192\4)= (@) _ Instantaneous center C is located by noting that CD is perpendicular to vj and CB is perpendicular to vp Pye = 0.360 sin 30° = 0.180 m Ye _ 0.168 Tac 0.180 2667 gy =4.27 radi) (©) Velocity oD. rye = 0.360 cos30°=0.31177 m iyo (O.31177\4.2667) % 30 mis| » (0 Velovity ofA 14g = 0.24000830° = 0.20785 m Jey = 0.6005in30° = 0.300 m 0.20785 an =r b="V300 Jeg = Y(0.20785)' + 0.3007" 36497 m 19 0.36497 )(4.2667) 557 ws yn 1SS7 os 2034.79 PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, le All rights tested, No prt of this Maal may be doped ‘reproduced or dsrbated in any fora o by any means, without the roe written permis of the publisher, ov used beyond delimited dlitribuion to teachers and educedors permite by MeGrave Hl for ther indvidal course preparation Ifyouarecstuden art hs Maya, Som are using ir withows permisionse Goma i PROBLEM 15.87 Knowing that at the instant shown the velocity of collar D is 1.6 m/s upward, determine (a) the angular velocity of rod AD, (6) the velocity | of Point 8, (c} the velocity of Point 4. Ho nye SOLUTION c, isonet. 20, 27 we | We dranw perpendiculars to y, and y,, to locate stantaneous c Wer C. (a) Angular velocity Y= (CD)e0 1.6 mis =10.31177 my @ = 5.132 radis o=5.13 rads o vp =(BC\O= (180 mmy{5.132 rad/s) vp =923.16 mas yp =0.924 mis 4 ACO 207.85 mm 300 mm AC = (207.85) +300)? AC=364.97 mm v, = (364.97 mm)(5.132 rad/s In triangle ACE: B=34.72 1873.0 mnv's 870 ms 734.7° € PROPRIETARY MATERIAL, © 2009 The MeGraw-Hill Companies, tne. All ighls reserved. No part ofthis Manval may be displayed. reprodiced or disiboted in any form or by any means, without the prior writes permission ofthe publisher or wsed beyond the limited isarvaton to teachers and econ pernite by McGrail for thet indivdal couse preparation. lf you area student wing ths Mana, ‘you are sing it withont permiston. 1062PROBLEM 15.88 Rod AB can slide freely along the floor and the inclined plane. Denoting by v, the velocity of Point A, derive an expression for (a) the angular velocity of the rod, (b) the velocity of end B. SOLUTION Locate the instantaneous center at intersection of lines drawn perpendicular toy, and Vy. Law of sines. —8) os(B-8) sinB (Arley fy on ne (8) Velocity of B: vp =(BC)O= 050 [ sin sin 1 cos(B-8) PROPRIETARY MATERIAL. © 2009 Tho McGraw-Hill Companies, Ie. Al rghtsroserved. No port of this Manual may be displayed reproduced or distributed in any for or by any means, widen the prior writen permission ofthe publisher, or nye Beyond te Limited ‘rribntion to teachers andedcaiors permed y MeCro-Fl for their dividual conrse prepara. fou are aston using his Manu, Doteaye using 1 shout permission 163PROBLEM 15.89 Rod AB ean slide freely along the floor and the inclined plane. Knowing that @= 20°, 6 = 50°, /=0.6 m, and vy, =3 mis, determine (a) the angular velocity of the rod, (B) the velocity of end B. SOLUTION incous center at intersection of fines draw perpendicular t© yy and vy Locate the inst Law of snes. Suiee olucuee core sin(90°—-(B-9)] _sin(90°— 8) Angular velocity: yy (Co =1 B= sin ate snp 1 cosB-8) Velocity of B: oe 020, f=50", 1=0.6m, vy =3mis PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. AW rights reserved No part of this Maal nay be cpa ‘reproduced or dstebted in any form ov by any means, withon the prior writen permission of the publisher, ar wed Devon de lintted ‘isribuion to teachers and edvcotors permite by Meira Hl forte individ ene reparation fou areas asa tis Maa, Dom are sing i tthow permission 164PROBLEM 15.89 (Continued) sin 3mis__sin50° 2 OFT eos(B—0) 056 m coalS0° ~30) = 4.423 tadls @=4.42 radis) € cos 6 Hoy eee 1) 7 cost B~ 8) = mis) — S082" cos(50°— 20) vg =3.2552 ms yp =3.26 mis 26 50° PROPRIETARY MATERIAL. © 2009 The MeGru-Hill Companies, In. All sights reserved, No pu of dis Manual mas be displayed reproduced or dsribated in any form or by ay means, wish the prior ween permission of the pier. or eed beyond the Timed ‘sorbniion to seachors and edaeiors permite by MeCinaw Il fori snvehal corse prepara If yon area stadent wing this Maal ‘on are ang withont permission.PROBLEM 15.90 Amn ABD is connected by pins to a collar at B and to erank DE. Knowing that the velocity of collar B is 400 mmis upward, 0 mun] determine (2) the angular velocity of arm ABD, (b) the velocity { of Point A 160 SOLUTION 5 DF 300 Gin] uny= venir Locate the instantaneous center (Point C) of bar ABD by noting that velocity directions at Points B and D are known. Draw BC perpendicular to yp and DC perpendicular to yp, 1s C = (160)( 125 7m cr=(Dsyuny 028) 66.667 mm CB = JB C1 =320~ 66,667 = 253.33 mm i) yyy = 2 = AO 2157895 ras yyy =1.579 rads) CB 25333 53.334 180 = 433,33 mm B=N7B3, 90° B=78.3° = 442.58 mm 699 minis 2 78.3° 0) 699 mis PROPRIETARY MATERIAL, © 2009 ‘The McGaw Companies, fs. All rights reserved. No part ofthis Maal may be displayed, Depruluced ov dstribuied in cn for or by an ers, withont the prior writen pormsion of the publisher, wed Deyn he ined tssrihntion to teeher ent educators perma by Meron for hls sal conse preparation. Ifyow area stoden sing his Manual, tom ae sing i withont permission,PROBLEM 15.91 ‘Ann ABD is connected by pins to a collar at B and to erank DB, Knowing that the angular velocity of crank DE is 1.2 radis soma] Fe counterclockwise, determine (a) the angular velocity of arm ABD, — nim (B) the velocity of Point A 160m LL L {sao iam S SOLUTION « F tony= SE = 25 mam DF 300 cosy cosy Vp = (ED) yy = B25\(1.2) = 390 mm/s vy =390 mms ty a= Yo] Locate the instantaneous center (Point C) of bar ABD by noting thet velocity direct known, Draw BC perpendicular to ¥p and DC perpendicular to vp. ns at Points B and D are Cy =(DI)\tan y= (160) 5 | =66667 nm, p= PL = 1173.33 mm 300. cosy cosy yy 390, (a) tap = 20 = 302.25 rad san =2.25 radls) a Cae Cy B33 ads ) _ ) CK = KJ ~ CI = 500 - 66.667 = 433.33 mm AK 90, tan Se = een 1.733° 90° ~, 183° 8 CK 443.33 6 8 4 442.58 mm 0) 4 = (AC) Opp = (442.58)(2.25) = 996 mas vy, = 996 minis 5° 78.3° PROPRIETARY MATERIAL. © 2009 The MeGrav-Hill Companies fe: All rights reserved. No part of this Marea! may be diphaed, reproduced or lsrbused in ony form or by any means, wahout the pier writen permission ofthe publisher or wed beyond the led ‘dsibution to teachers and edvcetors permite by McGrail for theirindvidoal cone reparation. Ifpow.arecastient using ris Mh, Yon are rain i woul pormision 1067PROBLEM 15.92 ‘Two slots have been cut in plate FG and the plate has been placed so that the slots fit two fixed pins 4 and B. Knowing that af the instant shown the angular velocity of erank DE is 6 rad/s clockwise, determine (a) the velocity of Point F, (b) the velocity of Point G. Sam SOLUTION i) Crank DE: ¥4 = DE), ~ G.6 nN rads) Fi ope 21.6inds} Rod EF: (py =%¢=21.6inds} ai, 2hbinkg Plate FG “Ol F | vy and vp are velocities of points on the plate next to the pins A and B. We draw lines perpendicular (0 y, | and, t0 locate the instantaneous center C | @ Velocity of Point vp = (CF (py =UCPyole0s B = (CF cos Blo But Op )p= 21.6 inés and (CF)cosB = 24 in, 21.6in/s = 24 ino w= 09 rds @=0.9 rads ) PROPRIETARY MATERIAL. (0 2099 The MeCia- Il Companies, Ins. Al righs exerved, No part ofthis Manna nay be displayed, rypruduced or duce any form or by any means, witht the prior writen persion of the publisher, oF wsed beyond the fied dsibnition to oachors and ehacaor permed by Metis fort ini course preparation If yon area student wtng tis Mama pra ae sing i ind person'F = 24,399 in, f=1037° vp s(CPy@ = (24.399 in,}(0.9 rads) = 21.96inds 22.0inds 10.4" (®) Velocity of Point G CG = 22.839 in, y= 2050" (cao = (22.839 in,)(0.9 rad/s) 20.554 ins PROBLEM 15.92 (Continued) Pin fo & aaUe. e4n—l © Vp =220inIs 19.6 vo. 4744 21.382 im, 20.6 nds “20.5 PROPRIETARY MATERIAL, © 2009 The McGrew.Hil Companies, Ine. All ightsresorved. No par ofthis Manuol ney: bo displayed ‘reproduced or sribute i ay form or by any acans, with the prior writin permission of the publisher, or used beyond the linited ‘Aniston to teacher and ecaiors pert MeCra-l or ther Indvidal couse preparation 1fyouarea student wing this Manel are ing on permis 1069PROBLEM 15.93 ‘Two identical rods ABF and DBE are connected by a pin at B. Knowing that at the instant shown the velocity of Point 2 is 10 inJs upward, determine the velocity of (a) Point E, (b) Point F. SOLUTION Vp (ABO guys Vp =%p LISS vy) = 200 mmés | Locate the instantaneous center (Point C) of bar DBE by noting that the velocity directions at Poi Band D are known, Draw BC perpendicular to yp and DC perpendicular t0 ¥,, Law of sines for triangle sini 50° BC=BD=9in, CD m» 10 one =o eb 17.387 057515 rau) %5 = BO} 56 M% _ 5.1763 AB )M0.57515) = 5.1763 ins #057515 nds) Ope AF )O jue = (15Y(0.57515) = 8.6272 ins PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, ne Al rights reserve. No port of thie Manual may be cspaved ‘praduced or distributed in any form oF by any wees, withow the prior wien permission ofthe pubilher, or waed beyond the lnited isributon to teachers anal edaceors pense by MeGrow If fr ter ivi cows prepaction. if yo areastaden sig ths Manuel on are ning it without permission. 1070PROBLEM 15.93 (Continued) Law of cosines for wiangle D (CEY = (CY + (DEY ~ A CPYDE)oos 15° (CE)? =17.387 +15 ~(2)(17.387)(15) cos 15°, vp =2D INA IOP ) Vp = 8.63 in/s ft 75.0° PROPRIETARY MATERIAL © 2009 The McGraw-Hill Companies, tne. Al rights waervd. o part of thie Manual may be deployed, ‘reproduced or dsribted in any form ov by any means, without the prior written permission of the publisher, or aed beyond dhe linited ‘sribution to teachers and eda permite by Meno il fr thet indvial cease prporation. If ow are aston ang tis Mara, on ae sig A without permasion tonPROBLEM 15.94 Rod 4B is attached 10 a collar at A and is fitted with a small wheel at B. Knowing that when @= 60° the velocity of the collar is 250 mm/s upward, determine (a) the angular velocity of rod AB, (b) the velocity of Point B. SOLUTION In ABR: EB-=200sin 60° =173.2 mm. AB =200¢0860° = 100 mm In ABCE: AC=CE~100=144.95 mm Similar triangles: ACAD and ACEB 1 173.200 D_AD_CA CB EB CE cD AD _ 144.95 mm 300mm 173.2mm 244.95 mm, CD=177.583mm_ AD =102.49 mm BD = CB~CD = 300 mm ~177,53 mm = 122.47 mm ‘The inslantancous center is located at Point D, which is the point of intersection of lines drawn perpendicular to y, and ¥p (@) Angular velocity cy: ADJ 049 250 mm/s = (102.49 mm}@,y yy = 2.439 rads yy =2.44 radls ) (6) Velocity of B: Vp =(BD)Oyy 122.47 mm)(2.439 rads) vy =298.7 mavs vp = 299 mmis 7 35.3" PROPRIETARY MATERIAL, ©2009 ‘he McGraw-Hill Companies, Ie. Al rights served. No part of this Manual may Be displayed, epraduced or distributed in ons form or by any meas, without the prior writen permission ofthe pulser, or ased bevond the Timid dena techs and educators permite by MeCran-Hil for ter inva course preparation Ifyan area sndent sng this Maal, ‘on ore wc whens permission sanPROBLEM 15.95 ‘Two collars C_and D move along the vertical rod shown. Knowing. that the velocity of collar C is 660 mm/s downward, determine s20nm — (@) the velocity of collar D, (4) the angular velocity of member AB. J 240 mu: SOLUTION AB= 400 mm Instantaneous centers: at for BC, at for BD. Geometry. 1c-(2)em- 165 mm, 20, 00 209 \(420) =3) a 20) = 315 mm 4-2.) a00)=215 mam 320, BI = AB~ Al =400-275=125 mm BJ = BE =125mm Member BC. 660 mms Ye _ 660 rad/s ome 16165 Yp = (Bg: = (125 my rads) = 500 mms Member BD. (@ Vy =1260 mmis} @) gy =1.250 rads) PROPRIETARY MATERIAL. © 2009 The McGrew Hill Companies, Ine. AU sights reserved, No prt of diy Manual may be displayed, ‘repredced or dobar! m any orm or by any macs, thon the prior ten permision of the publisher, oF asedbeyund the United {sribtion to tence and ehuator erte by tires forth ndvial conse preparation. f you area sbet xing hs Manu [oor ave sing it withond permision rorsPROBLEM 15.96 ‘Two 500-mm rods are pin-connected at D as shown. Knowing that B moves to the left with a constant velocity of 360 mns, determine at the instant shown (a) the angular velocity of each rod, (4) the velocity of F. SOLUTION Rod 4B: Draw lines perpendicular to y, and yp to locate instantaneous center Cp BC }en 400 mim) yp yy =0.9 rails) Velocity of D DC yy = 250 mm DC an \Oay 250 mm)(0.9 radis) 25 minis “$e Rod DE: ie Leto eo |aomm PROPRIBTARY MATERIAL, © 2009 ‘The McGraw-Hill Companies, tc. AM rights reserva. No part of his Manual may be csplayed, ‘epnodiced or dstrbnted tn any fonn or yay means, withont the pri weit prmassion of the publisher or user beyond te Kite ddsoibton to teachers and educators permited by MeGrayedl for ht indica course preparation. Ifyou are astudent sig this Mau, yon are ning it without permission womPROBLEM 15.96 (Continued) Draw lines perpendicular to yp, and yj to locate instantaneous center Cy. DC py = Y(G00F + (533.3) = 666.6 mm Mp = (PC ye oe 3) 225 minis = (666.6 mm}oy:; Aye = 0.3375 radls vp = (BC pp tye = (233.3 mm (0.3375 rads) o 78.15 mms Opp = 0.338 radls.) 8.8mmis— PROPRIETARY MATERIAL, © 2009 The MeGraw-Hil Companies, no. AN fights sore. No part of this Mma may be displayed, reproduced or distributed tm any form ar by any means without the pri writen permission uf the publisher, or used heyond the lated siribmion i ooehers au evcaior permite hy McCraw-1 for ier nda couse preparation. Ifyou area student ws this Bat Sow ae ning eho permassen 075PROBLEM 15.97 ‘Two rods AB and DE are connected as shown. Knowing that Point D moves to the left with a velocity of 40 ins, determine | —f (a) the angular velocity of each rod, (6) the velocity of Point. in bin alin SOLUTION ‘We locate two instantaneous centers at intersections of lines drawn as follows: Ci: Fortod DE, draw lines perpendicular to vo and vp; For rod 4B, draw lines perpendicular to v, and vp. Geometry: BC, = Bin)V3 =8y2 in, DG =16 in. BC, = (9 in.+8 in =17V2 in, AC, = 25in, (@) Rod DE: vp =(DC}eye 40 in/s= (16 inde Sills) € | ye =25 ras vp = EC), = (8V/2 in.j2.5 rads) ve = 2002 ins 7 A5° PROPRIETARY MATERIAL. © 2000 ‘The McGraw-Hill Companies, fe. AM tights vserved. No part of his Manual mney be displayed reproduced or dsributed in ny form or by any meus, wid the prior writen pevmisson ofthe publisher ase beyond the limited ‘durian to teachors ad eacaors permed ly Mera Hil for herbal course preparation Ifyare a sent sing ths Marval, Son are wsing without permission 1076PROBLEM 15.97 (Continued) Rod AB, yp = BC} Og =1.177 rads) € ” SUC = (25 in,X.1765 ras) yy =29A nds v,=294ins— PROPRIETARY MATERIAL. & 2009 The MeGra-Hill Componies, Ine, All sighs reserved. No part of dis Manual may be displayed reproduced or disritnted in any form or by any means wid the prior writen permission ofthe publisher, or used beyond the linted ‘Marsan others and ecalrs ported by Cina Hl fo heidi come preparation {youre a sudent ig this Manuel, Dow are nein i wien persion 107PROBLEM 15.98 ‘Two rods AB and DE are connected as shown. Knowing that Point B moves downward with a velocity of 60 inds, determine (a) the angular velocity of each rod, (6) the velocity of Point £. intersections of lines drawn as follows: We locate two in taneous centers Ci: For rod AB, draw lines perpendicular to vj and Vp Cx: For vod DE, draw lines perpendicular to vp and vp Geometry: DG, = (8 419°! =I Tin, Since AC:DG and ADFC; ate similar, OF Sin. I7in, 1Sin, (@) Rod AB: Oy, = 2rad!s) DG ayn 17 in,)(2 rad/s) = 34 in./s PROPRIETARY MATERIAL. % 2009 The McGraw-Hill Companies, Ie. AN rights served. No part of dis Manual may be displayed, reproduced or distributed in cry for or by any mens, without the prior writen permissen ofthe publisher or used beyond the line ‘isribuon ro teachers an edcaiors peed by MeGrow I fr thet aloud couse preparation. Ifyou ara student axing hs nu, om are nig isto permis, 078PROBLEM 15.98 (Continued) Rod DE: %» (DC) pe 34 inJs = (6.8inja)» Op, = Stadis Op, =Srad’s) o Ye = (LC). vp = (4.8 in.)(5 rad/s) vp = 24inds PROPRIETARY MATERIAL, © 2009 The MG vp=24inls—> Companies, Ine. AIL rights reserved. No part of his Manual muy be duplayed, ‘reproduced o” distributed in any form or by any mons, withou the prior writen permission ofthe publisher, or wsed beyond the lined ‘heribation to teacher and educators permited by BfeGraw- Hil for their individ course preparation Ifyow ance stent wl his Man ow are sing i widow permission, 107PROBLEM 15.99 Describe the space centrode and the body centrode of rod ABD of Problem 15.84. (Hint: The body centrode need not lie on a physical portion of the rod.) Draw x and y axes as shown with origin at the intersection of the two slots. These axes are fixed in space. y w= val Locate the space centrode (Point C) by noting that velocity directions al Points A and B are known. Draw AC perpendicular toy, and BC perpendicular £0 ¥p. “The coordinates of Point Care x; =—Isin f and yp = feos 8 xptyh=P = (Sin? “The space centrode is « quarter circle of 15 in. radius centered at 0. Redraw the figure, but use axes x and y that move with the body. Place origin at 4 AC) eos 6 4a +0082) "The body centrode is a semicirele of 7.5 in, radius centered midway between 4 and 8. < PROPRIETARY MATERIAL. ©2009 The McGraw-Hill Companies, te. All rghts reserved. No part of dis Manual may be displeyeed prone or datributed ony form or by any moans, wilt de prior wren periscon of the publisher, or wed beyond the lied ‘Burin to teachers and ecu porwited by Meas Hil for her ludsidual corse preparation Ifyoncve asta wing ths Maral, pun ane using i without permissionPROBLEM 15.100 Describe the space centrode and the body centrode of the gear of Sample Problem 15.2 as the gear rolls on the stationary horizontal rack, SOLUTION c © Let Points, 4, B, and C move to 4’, B’, and C’ as shown. si ce the instantaneous center always lies on the fixed lower rack, the space centrode is the lower rack space centrode: lower rack ntact ofthe gear with the Tower rack is always a point on the cireumference of the gear, the circumference of the gear. ce the point of the body centrode is body centrode: circumference of year PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, ne. AU rights weseeved. No part of this Maal may be dsplaved ‘eproced or distributed in ony for oF by any means, without the prior writen permission ofthe publisher or usd beyond the nae ‘dstibaion to teachers ond edveators permite by McGraw Hl for cr indvidnal conse preparation. you area student using tis Maw, sow arena ieithou permission 1081PROBLEM 15.101 Using the method of Section 15.7, solve Problem 15.62. PROBLEM 15.62 In the eccentric shown, a disk of 2-in. radius revolves about shaft O that is located 0.5 in. from the center A of the disk. The distance between the center 4 of the disk and the pin at is 8 in, Knowing that the angular velocity of the disk is 900 rpm clockwise, determine the velocity of the block when @= 30°. SOLUTION ° ft 8 (OA)=0.5in. ayy =900 rpm =307 rads) i % yj =OA)04,, = (0.530) =154 in ds Wary FOO, Y Locate the instantaneous center (Point C) of bar BD by noting that velocity directio known. Draw BC perpendicular to vp and AC perpendicular to yy at Point B and A are (OA)sin30° _ 0.5sin30" AB sin » B=L79° (OA)c0s30° + (AB)cos Bb 4291 in 0.5c0s30° + 8cos B OB 9484291 cos" cos" (OB)tan 30° = 4.8665 in, =0.5=9.2331 in, = 24.84 in/s PROPRIETARY MATERIAL. %© 2009 The McGraw Lill Companies, Ie. Al cghts reserve. No part of this Manca may be displayed produced or disebuted in any form oy ay mens, whan the prior wrtonpevinistion af the publisher, ar wed beyond the limited ‘Usribtin to teachore and ecuors permite by MeGrave Hil for ter bndvkal course preparation Ifyou area stant wing this Maral, eave wing i thon permission wos[200 min Fn PROBLEM 15.102 4 toon Using the method of Section 15.7, solve Problem 15.64, PROBLEM 15.64 In the position shown, bar AB has an angular velocity of 4 radis clockwise, Determine the angular velocity of bars BD and DE. SOLUTION Bar AB: 4 A Bar DE | Dewy ydoe ob Bost ( Bar BD: :D B | i ery | ~|lo pre Locate instantaneous center C at intersection of lines drawn perpendicular 10 Vp+ Yo. cw otm __O.lm tanB wan 21.8° j BC =0.25m pew 025m cosh Vp = (BC) Im/s=(0.25 m)app @py =4radis) 4 0.25 m Mp = (DOV = (4 rads) cosh 0.5m. Laws _ 0.15 m Fa. ( yy a2 My, ABS OE MD 6.67 radis) 4 cos cos cosp Poe PROPRIETARY MATERIAL. © 2009 The McGrail Companies, ne. All rights reserved No part ofthis Manta may be displayed reprodace or dsibuted in any form or by any means, wlhout the prior writen permission ofthe publisher or red beso he lint! {Deron ie achers an educators ported by McGrew for ther dividual owns preparation. ifn area ste wing hs Mania, ow are ning i wind permission.| 10 | PROBLEM 15.103 Using the method of Section 15.7, solve Problem 15.65. PROBLEM 15.65 In the position shown, bar 4B has an angular velocity of 4 rad/s elockwise. Determine the angular velocity of bars BD and DE. 00 a fs 4000» —+} SOLUTION a Bar AB: Botan 3% < 96,56° oO 8 08m AB= 18944 m We h vee cos ~ yp ~(AB)oDyy = (0.8944 my(4 rads) Ce ‘ak 578 mis “». 26.56" Bes Bar DE: “so Tose cox = (DBO, ~D, ¥p = (0.6403 m) apy 3 38.66° wD " Bar BD: Locate instantaneous center at intersection of lines drawn ce perpendicular to vz and vo. Bays 6S AF Law of sines, vp = (BO) gp (0.688 my; 7881 m)(5.2 mis) = 4.098 mis 2radis 4 Oy vp =(CD}Oqp Eq. (ly; Op, = 64 radis ) 4.098 mis = (0.688 m)a%p_: PROPRIETARY MATERIAL. & 2009 The McGrail Companies, Ine. All sghtsveserved. No part of this Manual may be clsplayed priced a siebuted any form or by any means, wont the prtor writen pevmston afte publisher wed Dest the tne ‘durian to teaser and ears permite by UieGre Il for her tdi course prsparaion Wfyoucaved aden! wg this Wawel, Yon are asng i withon permissionPROBLEM 15.104 Using the method of Section 15.7, solve Problem 15.70 sm PROBLEM 15.70 An automobile travels t0 the right at @ constant speed of 48 mith. If the diameter of a wheel is 22 in., dotermine the velocities of Points B, C, D, and on the rim of the wheel SOLUTION 4 = 48 mifh = 70.4 fs 16.8 radls rr 9.1667 CB=2r=18333 8 vq = (CB)e0= (1.8333 (76.8) = 140.8 fs Wp = 1408 fis —+ y=hoor=is" CD = 2rcos15° = (2)(0.91667)cos 15° = 1.7709 ft Vp = (CD)co = (1.7709\76.8) =136.0 fs vp “1360 fis 15.0" 7 v2 =0.91667 2 = 1.2964 ft ve =(CE)0= (1.2964)(76.8) =99.56 fs yy = 99.6 tus "45.08 PROPRIETARY MATERIAL. © 2009 The MoGra-Hill Companies, ls. Al sights reserved. No part of this Manna may be displayed, reproduced or dsrbeaed tn any form or by any means, withou the prior writen peraission of the publiher oF ted beyond te lined ‘dtribtion teacher an ecaors parmited hy Mina. Hil for their indvidval cone reparation Ifyou area stdet wrth La, ‘yo are ening without permission rossPROBLEM 15.105 A 900-mm rod rests on a horizontal table. A force P applied as shown produces the following accelerations: a =3.6 m/s? to the right, @'=6 rad/s? counterclockwise as viewed from above, Determine the acceleration (a) of Point G, (6) of Point B. SOLUTION 7 2g Ay Hg Say MAG) taza? 5 =3.6 mis? — +(0, (6 rad/s”) ag Ag ane + AS my rad/s’ =3.6m/s? 42.7 mvs? — Cee ag =0.9 mist S | ge () ay =A, +g, =04—> +(AB)O 2 fly =3.6 m/s? —+ 4(0.9 m)(6 rad/s?) +— Onsen ay =3.6 mis? —~ 45.4 ms? <— & a, =1.8mis?— |_£a ra PROPRIETARY MATERIAL. © 2009 Tne McGraw-Hill Companies, Ie. Allright reserved. No part of his Manual maybe displayed produced or dsrbuied in cy form or by any means, witout the prior writen permission ofthe publisher, or ws beyond the Limited ‘isribunon te teachers and educators permed hy Mera for teil cowrse preparaton. fou area siden wing hs Manu Sot are nein it wthont pormisvion 086PROBLEM 15.106 In Problem 15.105, determine the point of the rod that (a) has ‘no acceleration, (5) has an acceleration of 2.4 m/s” to the right. SOLUTION (@ Fora a alla, y=, 48g =a, —> + (AQ T 0=3.6 mis? —» + (96 rads?) =— 4 e 3.6 mis? — cua oo™ I, a=0 at 0.6m from 4 € (0) Foray =24 m/s?» Ay = Ag + Agy =a, —+ + (AQ)a — 2.4 mis? 6 ws? —~ + (XG rads?) -— 1.2 mis? =~ =(yX(6 rad/s?) -— y=0.2m = 24 mis? —» at 0.2 m from A PROPRIETARY MATERIAL. © 2009 The MeGrow-1ill Companies, ne. All rights reserved. No pert of this Manual maybe cisplayed, ‘produced ar dsrbuted in amy form or by any means, withot the prior writen permission of the publisher, or aed beyond the imited dsiibtion to teachers ed ecaiors permite by McGrane Hl for thir individ course preparation yon are astdent sing this Mend ow are using Without permission 1087PROBLEM 15.107 A 10-ft steel beam is lowered by means of two cables unwinding at the ‘same speed from overhead cranes. As the beam approaches the ground, the crane operators apply brakes to slow down the unwinding motion. At the instant considered, the deceleration of the cable attached at 4 is 12 fs, while that of the cable attached at B is 5 f¥/s, Determine (a) the angular acceleration of the beam, (0) the acceleration of Point C. SOLUTION Assume @= 0. (@ Angular acceleration. se12 (®) Acceleration of Point C. = 12) +(-0.778kx101) 2] 7.778) = 4.222) PROPRIETARY MATERIAL, ©2009 The MoGraw-Hill Comganies, ne AU rights reserved. No pur of diy Manual may be displaved Reproduced or dried tn ay form or by ey means, witht the rior writer permission of he publisher, or used beyond the fied ‘thortion to feachers and educators permite by Mera Hil for ter indivi courve preparation Ifyou are astudent wing this Marea, Yon are ming i thou permite, 10sPROBLEM 15.108 ‘The acceleration of Point Cis 1 fs? downward and the angular acceleration of the beam is 0.8 rad/s” clockwise. Knowing that the angular velocity of the beam is ze10 at the instant considered, determine the acceleration of each cable. - ae ke fi Acceleration of FOX + -0.8k (101) i-c7vey t oo wus? t +8 ay = 0.200 fis? PROPRIETARY MATERIAL. © 2009 ‘The MeGesw-ll Companies, te. All sights reserved. No part of this Manual may be csplayed, produced or distributed in ny form or by any mes, haat the pri writen pesmisson of dhe publisher. or use Bend the led [180a%,5 |] + [1 80)(4)? > ]= 180c¢y [+ 2880 mans Ay Ay HA), He) (yp) “IBD )eten ~ 802 (ype =(ED Ip 1]= (15000) | =0 Ay = Ay + Ane), + pan {180 {+[2880 — J+ (1500) 1+ 10) ‘Components: #2 180aq)=0 ey ce 26802-21604 ay = 346 als?) PROPRIETARY MATERIAL. © 2009 ‘he Mono Companies, ne, All ighte reserved, No port of this Manat may be duped Tepe or dstrbnted tn any form er by any mens, wut the prior writen permission ofthe publisher, or used beyond the linia ‘dsorution to teachers and eceonsperoated by ddr Hil or ther idea conse preparation. youre stent wing his Maal. pow ae sing widow poomiesion 092PROBLEM 15.110 (Continued) (a) aly =[(0 80)(0)} ] +2880 —~ ] = 2880 mms? ~ ay =2.88 mis? ® @ pup), = (DE) Oy —* ]=[150)3.6) — ] = 5040 mms? — (ep), = (DE\o@%y|]=1050)(0)"]=0 Bg =p +(Ap), + App)y =[2880 —~]+[5040 + ]+0= 7920 mis? a, =7.92 m/s? — PROPRIETARY MATERIAL. #9 2009 The MeGnv-Hill Companies, Ine. Al ights reserved. No part of dis Manual nar be dsplaved reproduced or dsutbwued in any foro hy any mens, widhont the por writen permis of the pnbiher, oF aed beyond the Timed stitution to teachers and edcians permed by MeGre Hl fort livia course preparton. yw orcastudentasig this Moa Jot are ust if withont permissionPROBLEM 15.111 ‘An automobile travels to the left at a constant speed of 48 mi/h Knowing that the diameter of the wheel is 22 in., determine the acceleration (a) of Point B, (b) of Point C, (c) of Point D. ©=768 rails ) | Acceleration. ithA + Rotation about A Aaa =o ; (é alas 8 rads)? = 5407 108° 2 @ ay =a, Fag, = 045407 fs? | a, =5410 tus? | @ oq = 0+ 5407 fUs?| ag = 5410 tus f ©) = 0+ 5407 f¥s* A 30° ay =5410 Rs K60" PROPRIETARY MATERIAL, © 2009 The McGraw ill Companies, Ie. AU rights reserved. No part of tiv Manual may be displayed, reproduced or déstribuied in cay form or by any nes, without the prior writen permission ofthe publisher, or wsed Beyond the Hnited Lisributon to tewchers ans edaceiors pena hy MeCraw-H forte india corse preparation. Ifyou area student asin hs Mar. Sou are wang if without permission 1094PROBLEM 15.112 A cartiage C is supported by a caster 4 and a cylinder B, each of 50-mm diameter, Knowing that at the instant shown the carriage hhas an acceleration of 2.4 m/s? and a velocity of 1.5 m/s, both directed to the left, determine (a) the angular accelerations of the caster and of the eylinder, (b) the accelerations of the centers of the caster and of the cylinder. SOLUTION Rolling occurs at all surfaces of contact, Instantaneous centers are at points of contaet with floor. Caster: Cylinder 025 m = 24 mis? — Kf Sn (ap), = 0 (rolling with no sliding) 7 Apt Bap =(ap),-— + (ap), | #rdyo— Fra} a, =O04ra, is? +— =(0.025 may a, = 96 radis*”) =0.025 m Apap tpn (ag) (44), | Cay). Hayy | #27 — +200 | Aap), = (4p), +275 2.4 mis? = = 04+ 2(0.025 mary 1, = 48 rads?) Ay), Hay O+ray ag = (0.025 m)(48 rad/s"); ay =1.2 mis* ~ 60 rads?) ay =240 mis tty =48.0 rads?) =1200 mvs? — PROPRIETARY MATERIAL. © 2000 The McGraw-Hill Companies, Ine. All rights tesrved. No par ofthis Manual mes’ be displayed rsproduced or dsrbnted in any frm or by any means, without the prior writes permision of the publi, or aed besond the binited sorbent teachers and edustors permitted by MCros. for their ivi course preparation. fou area student esing ths Mane Yow are asin i shoud permission 095PROBLEM 15.113 ‘The motion of the 75-mm-radius cylinder is controlled by the cord shown. Knowing that end of the cord has a velocity of 300 mms and an acceleration of 480 mm/s’, both directed upward, determine the acceleration (a) of Points 4, (6) of Point B. SOLUTION Velocity analysis. Point 4 is the instantaneous center of rotation of the eylinder. ve = 300 mms 300 =2 rads (ays ) Acceleration analysis. 100 mm/s? = fay tL fae) aystag er} ae = lac), {}4 lac), ag = 8g + ae.) M@oa)y 1 fag} + Uae), 1 fay 71+ rat} + Bra? —] [480f}+(e)q +1 fay] +1150] 41600 —] o 0, or =3.2 rads?) M+ @oude fag |= fa, +] + [rar] = fro? From Eq.(1), components +[: 480 ag = ay + (a 1 fag = fay n+ [240 mas? ] [300 mms? —] from which, yj =240 mm/s? and a, =300 mm/s? ag = 240 mavs"{ @ 4, =300 mmis?—- 10) Ag =8g + AG), + Anan = [240] + [rw + bro =[240f] + (240 4+ 300] = [240 mnu/s? —]+[60 mm/s? |] ay = 247 mms? > 14.0° PROPRIETARY MATERIAT. © 2009 ‘The McGraw-Hill Comganies, I, Al sights reserved. No part of this Manual may be dispaved ‘raprodrced on sted in any forms of by any means, wihont the prior written permission of the publisher, ar used bevond the inte “sribuion to toachors anedwociors permite by McGraw Hill for thei Individual cewse preparation. If you aastuden asin this Manne, Som are wing without yermiionPROBLEM 15.114 The motion of the 75-mm-radius cylinder is controlled by the cord shown, Knowing that end £ of the cord has a velocity of 300 mvs and an acceleration of 480 mm/s’, both directed upward, determine the acceleration of Points C and D of the eylinder. SOLUTION Velocity analysis. Point A is the instantaneous center of rotation of the eylinder. 300 mnvs 2 NT) as) Acceleration analysis. rad? =(95}2)* =300 mms? ayelay 1 ag =[ae) f+), I=lee fH). | valle) 7 ae Lag f+ Uae), 1 lay 14 2raf + Bra? 1480 f] #4), -—}=Lay— 1+ 11500} }+-[600 a From Eq. (1), components 4{: 480= 1500, or=3.2 rad/s?) a Ma + ead + Pavan Lag {]=ta,— 1+ [raf] + [ra —] legs {] Lay 1+ (240 rs?|] [300 me? from whieh 44g, = 240 mms? anda, =300 mms? 240 mons? From Eq.(1), components + : (acJy =a 4 +600 = ~300 +600 = 300 munis? PROPRIETARY MATERIAL. © 2009 ‘The MeCrovill Comyenies, Ine. Al sights reserved. No pare of dis Manual nay be diplayed, reproduced o7 darbuaed bn any form ot by any means, wid! the por writen pevinisow ofthe publisher or used beers the inte! Alisribuion to teachers and educators permite by MeCrew- Hl or ther tdyidal course prepavaton. fvouarea stent wits Mal, ow are eng it without permission 1097PROBLEM 15.114 (Continued) ‘Then ‘a = [480 mmv’s* {]+[300 mm/s? +} 566 mm/s?“ 58.0° 8p = 8g + (Ach + a6 )y =1240{]+ [ra] raf] = [240 }+[240—- }+[300}] [540 muws?{]}+1240 movs?—=] ay = 501 mi? 8 66.0° PROPRIETARY MATERIAL. ©2009 The McGraw-Hill Companies, Ine. Al rights veseeved. No part of his Manual may be displayed, reproduced or erbate any form o by any means, widhnt the prior writen permission of the publisher, or ned beyond the lined ‘Ustibution to lnacher ead eco perder Hil for Beil come preparation Ifyouave aster! wig this Manta, ‘youeare ws i withondpermision 1098PROBLEM 15.115 ‘A 3-in-radius drum is rigidly attached to a S-inradius drum as shown. One of the drums rolls without sliding on the surface shown, and a cord is wound around the other drum. Knowing that at the instant shown end D of the cord has a velocity of 8 ins and an acceleration of 30 inJ/s*, both directed to the left, determine the accelerations of Points 4, 8, and C of the drums, SOLUTION Velocity anatysis. Binds Instantaneous center is at Point B. vy =(ABJo, 8=(5-3)0 o=4 radis ") Acceleration analysis a, =[4yf] for no slipping, a=a) 30 Inds? — J+[(a,)f] =[ag-—1 ap = ay + Gy) + Anan =[30 —}4f(a,), f415-3a— ]+(5~3)0 |} 30428 a=15 nds?) Components +.; 6 +a), +B yie dn lag] ]=Lag 1+ 15> }+150" 1] ‘Components +. : O=-ag+5a ay =Sa=T5inJs® ay = (54)? =80 in Js? ay =80.0 ints?} a + Bach + aan =(5—]+Ba—] +130" f] (5 ]4Us = 41481) 30 ins? —] +48 inis?t) = 56.6 in/s? 58.0" PROPRIETARY MATERIAT. © 2009 The McGraw-Hill Compries, ie. A sights reserved. No part of tix Manual may be dpe reproduced or dtributed in any form or by any means, wiht the prior writen pormisson ofthe publisher or wed Beyond the linked strbution to toachers and educuiorsperoited by MeGrn- Hil forte individel course prepartin. If ones ving this Mant, you a using it without permission, 1099PROBLEM 15.115 (Continued) 8G +@aa + Goan [15 -—]+[Sar}]+[50? -—] =[15-—}+175 1+ [80 — 55 ims? =] 4095 nsf] 172.2 inds*™.25.8° € PROPRIETARY MATERIAL. 2008 The MeCiraw-Hill Companies, Ine. All hts rexerved. No part of sis Manual aye displayed. reprudaced or dsebut i any form aby ay ms, without te pron writen permission ofthe pulser, or vse beyond the United dsiiion to teacters cul educatrspermted by MeGray- Hil or thor indvidnal course preparation Ifyou area stadent ung this Maal, Sot are asin without permission 1100PROBLEM 15.116 A 3ein-radius drum is rigidly attached to a 5-in-radius drum as shown. One of the drums rolls without sliding on the surface shown, and @ cord is wound around the other drum. Knowing that atthe instant shown end D of the cord has a velocity of 8 in./s and an acceleration of 30 ins”, both direcied to the left, determine the accelerations of Points 4, B, and Cof the drums, SOLUTION Velocity analysis. Y= Wy=8 ins Instantaneous centeris at Point 4, yy =(4B)0, 8=(S~3)@ w= 4 radls) Acceleration analysis. a, =[a,!] forno slipping. a=a ) ay =[30 in ds? —]+[(a,),1] ao =lag—*1 Ay =p Hae), Hye (a1}=130 —]+{(a,), 11 416-390 — J+ 15-3)]0°} ‘Components -*.: 0=-30+2a a@=15radis*) 8G + Buc FAH de a4) =ag > }+Ba—} +30 ty ‘Components *.: O24, -30 a, =3a=45 ins” 8.0 inst a, =307 =(34" 8 ins? ay Ay = 85 + (ye): +(e = [45 J+ [Se] [507] =[a5s— }4(75 144801) = (30 ins? —} (80 ins? ag “85.4 nds? 069.4" PROPRIETARY MATERIAL. © 2009 The MeGeaw-Hill Companies, ln. All sights reserved, No port of this Manual may be distaved reproduced or dsibuted in any form or by any means, without ihe pier writen permission of the publisher, er aed beyond the lied arbutan to teachers a edcors permed by MeGrawelfil for their individual course prepaetion. ify areastaden sing hs ona, [ou are ssing it without permission. 01PROBLEM 15.116 (Continued) Ms +g) + OCG) =[45— }+5er)] #50? —} =145—~] +1754] +[80-—] = {35 inds? J} [75 nist] Ag =82.8 ins? 765.09 PROPRIETARY MATERIAL. © 200% The McGraw-Hill Companies, nc. AU tights reserved. Mo part of his Manual may be displayed, reproddced ar distributed in any form or by any mes, without the prior writen permission ofthe publisher or used beyond te Hnited ‘virion to toaelers an educatirs permite by Meira Hil for hr ideal nose preparation Ifyou student ning Is Mea, dow ae ing Ut withow permission noePROBLEM 15.117, ‘The 150-mm-radius drum rolls without sl ping on a belt that J moves fo the left with a constant velocity of 300 mm/s. At an on instant when the velocity and acceleration of the center D of the a drum are as shown, determine the accelerations of Points 4, B, a and C of the drum, SOLUTION Velocity analysis, yp = 750 mm/s —*, 300 mms =, @) Nem Wn ot OO ]=[750— }+{1500—] -300= 750-1500, @=!2=7 ails) Acceleration analysis. ay =900 mms, ag mach a) 8 = 8p + Bon) + ony fa¢!}=1900— ]+11500 +1500") 0=900-150e a=6 radis? ») +t: de = (150)(7)? = 7350 mms” =7.35 mis’ } Ay +A + Ads = [900-—+ ] +[150a —+ ]+[150@ |] =[900 + ]+[900 —+ ]+{7350]] =[1800 mos? — }+ (7350 mavs? |] a,=757 mis S762" By =p + App), + ny = [900 — J+ [1500 |] 441500 —] =[900— ]+[900]] +7350 -—1 = [6450 mm/s? -—]+[900 mm/s? |] ay = 6.51 mis? 7.9° PROPRIETARY MATERIAL, © 2009 The MeCir-Hill Companies, Ine Al rights reserved. No port ofthis Manual may Be diplayed. ‘spruce or dsr tte x any form or by coy means, witho the prior writ permission of the publisher, oF used beyond the Limited Udsibation wo sence and ehucators permite by Meira forthe nda course preparation Ifyow area student wsng ths Mano. ‘poe arensing it withont permission 1103PROBLEM 15.118 The [8-intadius flywheel is rigidly attached to # 1.5-in.-radius shaft that can roll along parallel rails. Knowing that atthe instant shown the center of the shaft has a velocity of 1.2 inJ/s and an acceleration of 0.5 inJ/s*, both directed down to the left, determine the acceleration (a) of Point A, (6) of Point B. SOLUTION Velocity analysis. Let Point G be the center of the shaft and Point C be the point of contact with the rails. Point © is the instantaneous center of the wheel and shaft since that point docs not slip om the rails. 5 ‘Shaft vs=re, Acceleration analysis. Since the shaft does not slip on the rails, c Ae = ae X20" Also, = [0.5 in/s? 20°] o + Bor) + Quad [ae N 20°] = [0.5 ins? 20°] + (1 Sor 20°] +{1.5e0? 20°] ‘Components 7” 20°: 05=-1Sa@ @=0.33333 rad/s?) (a) Acceleration of Point A. ag = ag + (Aus) + uae = [05 7 20°}+ [18a —]+[180" |} = [0.4698 -—]+ [0.1710] ]+[6 -~]+[11.52] = [6.4698 —]+[11.670]) a, =1335 in/s? 761.0" (@) Acceleration of Point B. p= 8, + (Awe) + Anan = [0.5% 20°] +[18a—- ]+ [180 fj = [0.4698 ~~] +[0.1710] }+[6—~ ]+{11.521] 5302 —+ ]+{11.349) Ay =12.62 in ds? 64.0" PROPRIETARY MATERIAL. % 2009 The McGraw-Hill Companies, ne Al sights reserved, No part of tis Manual may be displaye reproduced or datuted in any form or by ary mews, withnd the prior writen permission ofthe publisher. or wsed beyond the Uted isibuion to teachers cand eucatrs perme y MeGraw Hil for ther skal course preparation. fy area student wing ths Blane ow are ung i whom permissionPROBLEM 15.119 In the planetary gear system shown, the radius of gears A, B, C, and D is 3 in. and the radius of the outer gear Z is 9 in. Knowing that geat 4 has a constant angular velocity of 150 rpm clockwise and that the outer gear E is stationary, determine the magnitude of the acceleration of the tooth of gear D that isin contact with (a) gear A, (8) gear E. SOLUTION Velocity. T= Tooth of gear D in contact with gear A Gears vp =r, = ino, Since vy =0, Fis instantaneous center of gear D. vy =2ra, (3 in.Jony =2G in.Jeoy 1 = 5% Yp = rap = (3 in, ne, =(15 inden Spider: > RY’ vy = (6 in.Jer, ba’ {> ar, = (6 in. (0, =150 rpm =15.708 rads» 0, = 7.854 rads ) 3.927 vals ) Acceleration. D> *\ Spider 0, = 3.927 rads bh ay = (AD YOR ay, =92.53 ints? / (6 in. (3.927 rads)? PROPRIETARY MATERIAL, © 2009 ‘ps McGraw-Hill Companies, Ine, All rights reserved. No part of this Manual may be dsplved Ieprodueed or dibted in ay fora: ov by cy mans, witht the prior rion permission of the publisher, or used beyond the Limited Uisteibation to eachors educators permitted by McC. ifr ter dividual couse preparation. fou area sen xing ths Manoa, om are wang isto pormiseton 1105PROBLEM 15.119 (Continued) es. Gear D: motion = Trans.withD + Rotation about D (a) Tooth Tin contact with geur A 8 =p +99 =p + (OT Ah, = 92.53 ind? / +03 in.X7.854 rads)? / = 92.53 ins? / 4185.06 ind? / ay =92.53 ind? / (8) Tooth in coniaet with gear Ag = Ay + App =ay + (ED), =92.53 in/s® / + (3 in)(7.854 mds)? 12.53 in.ts* / + 185.06 ins? / / diy = 278 ins? PROPRIETARY MATERIAL. © 2009 Toe McGraw il Companies, ne. All rights reserved. No part ofthis Manta may be doployed, reproduced or distributed in any form or by any means, wthont Ihe prior writen permission ofthe publisher, or nse beyond the limited ‘tsribuion to iachers and eduenors permite by Mera lil for he ndvidual course preparation fou area stale wing this Man, ow ave ning i with permission. 11066 a PROBLEM 15.120 he Fd Ho The disk shown has a constant angular velocity of 500 rpm counter clockwise. Knowing that rod BD is 250 mm long, determine the acceleration of collar D when (a) @=90°, (b} @=180". > 150 nm — SOLUTION Disk 4. ©, =500 rpm) = 52.36 rad/s *) 44 =0, (AB)=50 mm = 0.05 m Vp = (ABYoo, = (0.05)(52.36) = 2.618 rs 6 Qe (a) = 90". 6I8mis|, vp =vpl ng p00. eae sin IRM 04 f= 23.58 Yo) and yp are parallel. > Om cS ay =137.08 mis, ay =ayl Opp =O» ) Ayn “UPD Mtg S BI (BD) aip lf BI = [0.25 tty ) Anyp = UBD) ogy % f+ (BD) 0p ¥ 8 = [0.25¢tgy) & A1+ 42.83/4 Ay =AyFAyy Resolve in components. 4.02 0+(0.25 0s A)4yy +42.837 sind gy = 128.51 rad/s? “+ fay =137.08 ~ (0.25 sin (128.51) + 42.837 0058 = 190.63 mis? ay =190.6 vs? PROPRIETARY MATERIAL. © 2009 ‘tho MeGcaw-Hill Coupes, We, Al sights reserved. No part of this Manual may be displayed ‘reproduced or dsrbuted in any form or by any means, widow the prior writen permission ofthe publisher, or used beyond the United dtsributon tele and ecatrs per nied by Mera Hl for ther tna course preparation fyoweaaseden! wr this Ma, you are using widow permisionPROBLEM 15.121 In the two-eylinder air compressor shown, the connecting rods BD and BE are each 190 mm long and erank AB rotates about the fixed Point 4 with a constant angular velocity of 1500 rpm clockwise. Determine the acceleration of each piston when 8 = 0. SOLUTION Out m 0.05 4 24-0 yg =1500qm=15708:0085 ), ayy =0 $V gg =O-+[0.05 yy AS?) =7.854 mis A 45° ay = (Ana) + Onan + [0.05ciyp 3° 45°] + [0.05c03p 45°] = [(0.05)(157.08)? “S 45°]= 1233.7 mvs? 45° Rod BD. Vo= TAS? Wap = Men) Vp =VetVep Vg SAS? = [7.854 45°] + 0.1909 37 45°] Components 45° 854-0.190y) yy =41.337 rads was? Ap =p +n), +(An dn [diy KA5"] =[1233.7 45°] 410.19 yy 37 45° 410.19 0 S45") PROPRIETARY MATERIAL. © 2009 The MoGrow-Hill Companies, Ine. All ights reserved. No part ofthis Manual me bo dpployed trepruduced or dwibuted tn any form or by coy means, wa he prior vttn permission of the publisher, o° ase beyond the fiifed ‘dsibution to encers and elas pereied by erase forte neta course preparation. fou area se wsing hs Mane, ‘yorrarewsing it lthout permission 1109PROBLEM 15.121 (Continued) Components “545°: dy =1233.7 + (0.19)(41 337)? = 1558.4 mis? ay =1558 mis 45° Rod BE, sing 28S, patsasi, paase—ya20200 Vp =p 45° Since v, is parallel to Vy, @ge = ag =p 245° (ayy )y=O.19 Ge =0 (@e0),=CupN Bmp =A Hye), Draw vector addition diagram, 7-45) =15.258° ag aytany =1233.7 tan = 336.52 mis? a, =337 mis? a 45° 4 PROPRIETARY MATERIAL. © 2009 The MeCeav-Hill Companies, Inc, AI igh reserved. No pat ofthis Manual ey be dsplaes repowduced or dsitnted in any form or by any means, witha the prior writen permission of the publishes, or wed beyond the tinted sition to teachers and ears perio by rae Hil or heal course preparation if ye areas wing Os Manel [on ane using ithe permission 110PROBLEM 15.122 ‘Arm AB has a constant angular velocity of 16 rad/s counter- clockwise. At the instant when @=0, determine the acceleration (a) of collar D, (8) of the midpoint G of bar BD. SOLUTION Velocity. Vy = (ABO yy = (Bin.)(16 rad/s) vp =48in/s} AC\Ogy = (8 inom Acceleration. Rod AB: @ Ay =p + Ay = My +6), +0 e Ay Cay + 4 (BD) ™e 4 (BD 0 4p £9 = T6Binds? — + (UOinJor e+ (105 6 rads)? a ay = TRINA? = + 10:n)er Ny +360 ind? PROPRIETARY MATERIAL. © 2009 The MoGraw-ill Companies, le, All rghs reserved. No part of this Mandal may be displayed, reproduced or distributed im any form ory any mens, wit the prtar writen permiston af the publisher or nae eyo the ite! stribution to oachers and adecuiers povited by McCrae for ter ndividual conse proportion. f oar a shade wing ie Manel, poware using Uthout permission muWoinja=216inus!; a=27 ads?) ay = 168-4 288 +2005 ye = 768 + 288. + 20,27) =768-+288--162-= 1218s? 218 ind? — @) 8G = My + Ae = Ay + Bern), +o), Ay = ay 4 (BCA Sy + (BG)? eB ay = TOB in Js? «+ (5 in.}(27 radis) Ne + (Sin }{6 rads?) +180 ins? 46 768 ins? 4135 in 2) af — .,-rs(4) (2) = 108 in Js? -108 ins? (ag) =O esd? coeprn: ty), =140s14(2}4n(4) = 7684814144 = 993 nds? ag = 993i PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, ne, All sights reserved. No part of tis Manual may he displayed ryproduced or dsybuted 0 ay form oF by any cans, without the pine writen permission ofthe publisher, or used bend the linked latribuion to teachers and edwcetrs permite by eG Hil for ther tava course preparation. If vou areca stent wring this br, You ave wsing A thon pormision unPROBLEM 15.123, Arm AB has a constant angular velocity of 16 rad/s counterclockwise. At the instant when = 90°, determine the acceleration (a) of collar D, (6) of the midpoint G of bar BD. SOLUTION Rod AB: ay =(AB)O2 Bin JU6 rad/s)? 168 in.s*| Rod BD: instantaneous center is at OD; Oy, sin B= (Bin {40 in) =O; B=1746" Acceleration, @ 8p =85 +4949 + (oe) +(e de =a, | +(BD)a NB +(BD)ay 6B = T68ins? L+ (in) oN B+ (0 in Oy <6 a, = 768i +(W0inja NB en Csaba ‘Vector diagram: : 768 in./s? Jean 17.46" onde \d~ pernvst = 241.62 ins? Wrinist— << | ap (10 in.)er= (768 ins? eos 17.46" | (10 in.Jor= 805,08 ins” a=80.5 rads? ) PROPRIETARY MATERIAL. © 2009 The MeGinstill Companies, le. AIL vghis reserved, No part ofthis Moral may be daplayed, reproduced or dlsibuted bn any form or hy any means, withont the prior write permission ofthe publisher, or wed Beyona te nted “Bstibation to teachers and edacaors pried by ese Hl for their dda course preparation Wfyouareca sunt wg this Mera, Yow a ing wien pormazsionPROBLEM 15.123 (Continued) ® ae n+ Mey = Ap + Gy) + Born dy =a, | +(BG)a \B+(BG)ahy 8 = 768 ins? | +(5 in)(B0.5 rads?) YB +(BG\a}? 6RinJs? | +-402.5 ins? N17.46° + components: (ag) = (402.5 ins? )sin 17.46" “ fg), = 120.77 ins? > (a), a, Att components: (ag )y = 768 inJs? ~ (402.5 in.Js? eos 17.46° gop eds = 768 in/s? ~ 384 ins? waa 19 inl (ag), =384 inds? | Ag = 403 inds? > 72.5° PROPRIETARY MATERIAL. © 2009 The MeCaw-ill Companies, Ine. AI sights reserved. No part of this Mansa nay be esac repre or dswted in oy form or by any means, withou the prioy writen permission ofthe publi, or ned beyond the Fed ‘dspribution to teahors and elaine ernie by blcGren-Hl for terial course preparation. fy anes wing this anal ‘yor are ving it withoud permission 14PROBLEM 15.124 Arm AB has a constant angular velocity of 16 tadis counterclockwise. At the instant when @ = 60°, determine the acceleration of collar D. Veta Peas oe aenij canes Rod BD: aS oe oe 3 on 8 Fire Vat (BDO \ 6 vp toe MUNA 30 +(10inQOggh, 19.89 +| components: (48 in/s)sin 30° - (10 in,)@,,, cos19.89° (48 inJs)sin30°__ 5 Pao (10 in.)cos 14,890° cut AB)00}y 7 60° = (3 in.){16 rad/s)’ > 60° 768 ins? = 60? Rod BD: sos oe ae Plane moti PROPRIETARY MATERIAL. 2009 The MeCrw-Hill Companies, Inc, All rights reserved. No part ofthis Monual wey’ bo splayed ‘reproduced or distributed in any form or by any means, widho! the prior writen permission ofthe publisher, or use beyond the Limited (sition to teachers and edcairs permuted by 4eGraw- Bl for her individual couse preparation. Ifyou rade! wi tis Manual Yo are axing i withond permision msPROBLEM 15.124 (Continued) Ap = Ay + Ag = Ay + (pn), + Born )y Ay = Oy FO” H( BD) oq \| B+ (BD) Oy B = 768 inds? 7 60° +(10 in orgy) \J + (10 in,J(2.532 rads?) > B Ay = TOR inds? HV in Jetyy \f19.89° + 65.14 inds? 3 19.89" y components: + 768sin 60° + 65.14sin 19,89° ~ 1 Defy, c0819.89° =0 | My = 73.09 rads »: components: ay, = T6808 60" + 65.14 e0s 19.89° + (10)(73.09)sin 19.89" ay = 693.9 inds* Aly = 694 inds PROPRIETARY MATERIAL. © 2009 Tho MeGow-till Companies, Inc.All rights resrved. No prt of this Manual may be dinplaecd ‘reprodeed or dite in any form of by any means, widhou the prion writen permission of the pubis. or nse beyond the fined ‘station to fears and esos permite by Ace for her taal corse proparaion if yow anes sing this Manna, om are ning i without permission 1116PROBLEM 15.125. Knowing that crank AB rotates about Point A with a constant angular velocity of 900 rpm clockwise, determine the acceleration of the piston P when @= 60". 154m SOLUTION aan sin60? g_ Law of sines, is) Bat 7 Velocity analysis. qq =900 spn =30 rads.) Vy = 0.050yq = 1.52 mils 60° vo=%» | %0 = 4» °) a.m Voy 20.1505 5% B Yo =e + Yon fp | [=x 60°] +[0.1505, 28] ® ° ine %-05 rm Components +,: 0=1.52760860°-0.15¢_p cos 8 4 Opp = 16.4065 rad’s ) 0.15 cos. Acceleration analysis. ay, =0 aly = 0.0503, = (0.05)(30)* = 444.13 m/s? p> 30" ‘ao .) yg =[0.15c4,p <2 6] +[ 0.153 NB] = [ean <8] +[40.376 NA] 8) =p +(@pp) Resolve into components. ppeaiiiitiage PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Compnies, In. All sights reserved. No part of this Manual may be displayed, reproduced or distributed in any form or by any means, without the prior writen permission of the publisher, or used bey the tinted ‘Astiaion to teachers and educators permite by McGrail for ther idisdual course preparation Ifpovarec stent using ts Manta. ‘ou aren without permission nyPROBLEM 15.125 (Continued) 444.13 c08 30° + 0.15eiq, 608 +40.376 sin B hy = 2597.0 vals? +f: ay =444.13 sin 30° (0.15)(2597.0)sin B + 40.376 cos B ay =148.3 mvs? = 148.27 is? PROPRIETARY MATERIAL. 2009 The MeGeaw- Hil Companies, Ic. AI ight ener. No par of thie Manual may he diphayed, withou the pier writen permission of the publisher, ar waed beyond the lined Deproduced er distributed in ony for oF by any meds disribaion to teachers an educenes permite by MeGraw-Hl for herded coure preparation {youre stent ug tis Ucn, [ou ate ming thon permisionPROBLEM 15,126 Knowing that crank AB rotates about Point A with @ constant angular velocity of ‘900 rpm clockwise, determine the acceleration of the piston P when @ =120®. SOLUTION i Laval Soh NO" parame Velocity analysis. @jy = 900 rpm = 307 rad/s) a Vp =0.050yy =1.51 wis 3 60° vo="»} n= ny") Voip = O.1SOgn B 0.15 Y= Yet Von ® [vp | |=[1s2 = 00°]+[0.150, > A] a Components: 0=-1.52€08 60° 0.154 608 8 LS 0s 60° : 0° = 16.4065 ras Om O 1S cos 8 2 Acceleration analysis. ay =0 0.05004. = (0.05)(30)" = 444.13 m/s® 2. 30° 8) =p] Gy =A» ) Any = [0.15449 2 B}+[ 0.1503, NA] =[6a,, -< f]+[40.376 \ Bl Ay =Ay +(@yy) Resolve into components. PROPRIETARY MATERIAL, © 2009 The MeCr-Hill Companies, ne. AU Fights reserved. No part of this Manel may be displayed. reproduced ur distributed in any form or by any meds, without the pier writen permasson ofthe publisher or wsed beyond te lied Bi] =O [S)USY Sx AJ=1125 ins? Sf Ann = [(BD)etyy 1) + [D0 y —] = [1am t ]+100,02)° = [10a T] + 11440 inis? Ap = [DEA py NBI+DE)O}y eB) = [Sapp NAT+ISV0SY' < B) = [Ape A I+[1125 ins? B] Ay = Ay +4,yq Resolve into components. PROPRIETARY MATERIAL. © 2009 The MeCraw-Hill Compaies, ie. All sights reserved. No part of this Manual may be ciple ‘reproduced on distributed in any form or by any means, without the prior ritten permission of the pudlsher, or sed beyond the lined = Me The instantaneous center of bar BDE lies at =. Then gy =0 and vy = Vp = 540 mms wy 27 p = Tom Ah a3 ral 2 Bp gm) Acceleration analysis. y=0 Ay = (AB) =[(90)(6) |] = 3240 mans? | ay =[(CD) ay =} + (CD) 8p |1= [180% ~~] + 118013 |] = [180% y =~] +[1620 mois" |} By =(900gy J+ [22504 |] + 225 hp ~—]+ [90 0p |] = [900% 1+ [225¢%ypf ] a) =A, +A Resolve into components, +f: 1620-32404 225 eq), Og = 7.20 rads?) yyy =L1 800859 ~—}+[450 pp |] 4145009 —}+ [18005 |] = [(180(7.2) -—} + [(450\7.2) f] +10 -—1+10| } = [1296 mm/s? +—]+[3240 mas? |} (a) (O) fag = Ay + yy =[3240 wads? |} + (1296 mms? -—]+[3240 mms’ = 1296 mm/s* — 296 mis" ~— PROPRIETARY MATERIAL. © 2009 The MeGrase-Hill Companies, Ine. All sights reserved. No part of this Mannal may he displayed reproduced or dsributed in any form or by any means, withow the prior writen permission ofthe publisher, or used beyond the Tinted Cdsriurion to teachers and educators permited by MeGres Hil for ther indvtal couse preparation. fyouareastudew ws dhs Mana You are ning it withon permision 126PROBLEM 15.131 Knowing that at the instant shown rod AB has zero angular acceleration and en angular velocity @, clockwise, determine (@) the angular acceleration of arm DE, (6) the acceleration of Point D, SOLUTION Velocity analysis. Instantaneous center of bar BD lies at =, Acceleration analysis. (a) ) +f =a) Sy =A ag = lo Ye=Y 1 YD =%% — Oy =0, Vp =V¥g = ley — 9g = Poa B= ay) y= 0, Op = 8g (AB) yy —J+(ABYO%n |] =04| (tag)o4 | |=rag | Any =[2letgp [}+Uletap —- 1+ [2ezin — ]+[ler | | 5 [2latgy []+[letgy > 1+ 0 = (2letyp |] + [ety] 8p = [DEM —]+[(DE)epe 1) = Uleye > 1+{(1a8 64) f ] Ay =ay tapy Resolve into components. 10 =—lab + 2g) egy = 08?) Hetpy. = lOtgy ~ Lei, = oR, 0 Fea foe = ab) 4 ap = lag + 1a Dak af 45° PROPRIETARY MATERIAL. © 2000 The MeGeaw-Hill Companies, ne. All sights reserved. No port of dis Mennal may be played, reproduced or distributed in any form or by any means, without he prior writen permission ofthe publher, or sel Devon the Lindied Atsributon wo teachers ant educators permite by McGraw or ter inven course preparation Ifyou area student wsing ths Mam Dow are wing i ithou pevmissen. tayPROBLEM 15.132 At the instant shown, rod Ai has zero angular acceleration and an angular velocity of 8 rad/s clockwise. Knowing that 7 = 0.3 m, determine the acceleration of the midpoint C of member BD. SOLUTION Velocity analysis. yy =8 rads ) (BY ayy = (O3Y8) = 24 nls Acceleration analysis. 4, = 0, @ yy, = 64 rad/s" [(AB}et yy —]+UAB)ey |) =0-+{(0.39(64) |] =19:2 mus" | Aiyg =2letyy {1+ [ety —}+[ ein — |+[tozo |] [0.60% [}+[0.304y)—-]+0 =[0.60%yp1 1+ (0.30% —~] 4p =[(DB py — ]+((DB5e 1 =10.3e%o¢ + 1+ (03X64) f] = 10.3e¢pye =) 119.2 mis? f] p= tp+tyg Resolve into components, th 1022-19.240.60%q) gy =64 radi? on =p “(0300 | 0.1599 —-} =po.2ms? | |+19.6m5? —] ge ey Hayy “1192 [141192 14196 4] PROPRIETARY MATERIAL. © 2009 The MeCca-Hill Compose. All sighls reserved. No part of thir Mena may be displayed ‘reproduced or dtributed in any form or by any means, wiht the prior writen pernisvom ofthe publisher, or wsed beyond the fied ‘dsb to techor and educators pevnied by McGrail or ther individual course reparation Ifyou area stant wing Hs Marval Yow aren withon pormision 1128PROBLEM 15.133 Knowing that at the instant shown bar AB has a constant 300mm angular velocity of 4 rad/s clockwise, determine the angular acceleration (a) of bar BD, (6) of bar DE. 50 SOLUTION (0.4 mi ~O.8 mj (0.8 m)i Kg = 0.4 mjL=(OS mI} Relative position vectors. Felocity analysis. See solution to Problem 15.65. yy =4 rads) yy =6Arad/s.) yy =S.2 108s) Acceleration analysis. =O. yp =Cyyk, yy = ype Gone ~ Cink =0-(4)'-0.4i-0.8)) = (6.4 mis" )i+(12.8 mvs") a Bar AB (Rotation about A): a, Bar BD (Translation with B + Rotation about B): Lp Fan Xn ~ Oy Naya AE + 12.8) + gn k X(0.81) ~(5.2)°(O.8)E = 641 +12.8) + 0.801, j 21.6324 15.2321 (128+ 0.8¢%qy)i Bar DE (Rotation about 8): Gye Xt ne Obetive Ging (0.41 -0.5j)— (6.4) (0.4i-0.5)) Adin | + 0.5epet 16.3841 + 20.48) Setyy ~16 384i + Ody +20.48)) 2 PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, he. AU sights reserved. No part of thir Manual may be displayed reproduced or distributed in any for or by any mens. without the prior writen permission ofthe publisher ar wel Bend the ned

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