Engineering Mechanics

Problem Sheet – 5 Module - 5

Kinematics of Rigid Bodies
Q1. Two wheels are attached to the end of rod ‘AB’
as shown in figure. Find the angular velocity of the
rod in terms of V b, L, α and θ.
V b Sinα
(Dec. ’07)[Ans. : ]
Lcos θ

Q2. A rod AB 26 m long leans against a vertical wall. The end ‘A’ on the floor is drawn away
from the wall at a rate of 24 m/s. When the end ‘A’ of the rod is 10 m from the wall,
determine the velocity of the end ‘B’ sliding down vertically and the angular velocity of rod
AB. (May ’09)[Ans.: VB = 10 m/s, ωAB= 1 r/s]

Q3. Block ‘D’ shown in figure moves with a

speed of 3m/s. Determine the angular
velocities of link BD and AB and the
velocity of point B at the instant shown. Use
method of instantaneous center of zero
velocity.[Ans.:ωBD=5.3r/s , VB=2.12 m/s,
ωAB=5.3 r/s ]

Q4. A wheel of radius 0.75 m rolls without slipping on a horizontal

surface to the right. Determine the velocities of the points P and Q
shown in figure when the velocity of centre of the wheel is 10 m/s
towards right. (Dec. ’09) [Ans.: VP= 14.14 m/s, VQ= 20 m/s]

Q5. In the mechanism shown, find the velocity of point C

and angular velocity of link BC if the angular velocity
of link AB is 4 rad/sec. Solve the problem when link
AB and link BC make an angle of 45° with the
horizontal as shown in figure.

(May ’10) [Ans.: ωBC=5 rad/s , VC=7.07 m/s (→)]

 Engineering Mechanics
Problem Sheet – 5 Module - 5
Kinematics of Rigid Bodies
Q6. Locate the instantaneous centre of rotation for the link ABC
and determine velocity of point B and C. Angular velocity
of rod OA is 15 rad/sec counter clockwise. Length of OA is
200 mm, AB is 400 mm and BC is 150 mm.
(Dec. ’10)[Ans.: VB = 16234 mm/s, VC =21770 mm/s]

Q7. Rod AB of length 3m is kept on

smooth planes as shown in the figure.
The velocity of the end A is 5 m/sec.
along the inclined plane. Locate the
ICR and find the velocity of the end B.
[Ans.: VB = 5.24 m/s (→)]

Q8. In a crank and connecting rod mechanism, the

length of crank and the connecting rod are
300 mm and 1200 mm respectively. The
crank is rotating at 180 rpm. Find the velocity
of piston, when the crank is at an angle of 45°
with the horizontal. [Ans.: VA = 4.71 m/s
(→)]

Q9. At the position shown in figure the crank AB has angular

velocity of 3rad/sec clockwise. Find the velocity of slider
C and the point D at the instant shown.
AB = 100 mm
[Ans.: VC =400mm/s (→), VD = 721.12 mm/s ( )]
 Engineering Mechanics
Problem Sheet – 5 Module - 5
Kinematics of Rigid Bodies
Q10. Collar B moves up with a constant velocity VB = 2 m/s.
Rod AB is pinned at B. Find out angular velocity of AB and
velocity of A.

[Ans.: ω1=1.229 rad/s , VA=1.63 m/s ( )]

Q11. A rod AB 25 m long is placed in a

parabolic drum as shown in the figure. End A
of the rod slides rightwards with 41 m/sec.
Find the velocity of end B and angular velocity
of the rod at the given instant.

[Ans :V B = 25.63 m/s ω AB = 1.6 r/s ]

Q12. A roller of radius 8 cm rides between two

horizontal bars moving in the opposite
direction as shown in the figure. Locate the
instantaneous centre of velocity and give its
distance from B. Assume no slip conditions at
the points A and B. Locate the position of the
instantaneous center where both the bars are
moving in the same direction.

[Ans : Case 1 : IB = 0.6 m, Case 2 : IB = 0.24 m ]

 Engineering Mechanics
Problem Sheet – 5 Module - 5
Kinematics of Rigid Bodies

Q13. Find the instantaneous angular velocity

of bar AB as shown in the figure.

[Ans: ω BC =2 rad / sec]

Q14. If rod AB is rotating with the angular

velocity ω AB= 12 r/s determine the angular
velocity of rods BC and CD at the instant
shown in figure.

[Ans: ω BC =1.33 r /s Clockwise,

ω CD =9.972 rad /sec Anticlockwise]

Q15. In the mechanism shown in fig. angular velocity

of rod DC is 30Oper second. Determine angular velocity
of CB and AB.

[Ans : ω BC =0.194 rad/sec (Anticlockwise), ω AB=0.582 rad

/sec (Anticlockwise). ]

Q16. In the position shown in Fig. rod AB is

horizontal and has angular velocity 1.8 rad/sec in
clockwise sense. Determine angular velocities of
BC and DC.

[Ans : ω BC =0.72 rad /sec (Anticlockwise), ω CD =1.8 rad

/sec (Anticlockwise). ]
 Engineering Mechanics
Problem Sheet – 5 Module - 5
Kinematics of Rigid Bodies

Q17. A bar BC slides at C in a collar by 4 m/sec

velocity as shown in fig. The other end B is
pinned on a roller. Find angular velocity of bar
BC and the roller.
[Ans : ω BC =0.386 rad /sec (Clockwise),
ω Roller =1.891 rad /sec (Clockwise). ]

Q18. In the mechanism shown in the fig.

Collars A and C slide on horizontal rods.
While B on a velocity rod. Link AB and BC
each 300 mm long, are hinged to the
collars. At the instant shown VA = 100
mm/sec to the left and Ɵ = 70o. Find (i) the
velocity of collar B and C and (ii) the
angular velocity of AB and BC.
[Ans : V B =274.74 mm /s ( ), V C =240mm / s
( ), ω AB=0.9745 rad /sec (Anticlockwise), ω BC =1.216 rad /sec
(Anticlockwise). ]

Q19. In the given figure, C is constrained to move

in the vertical slot. A and B move on horizontal
floor. Rod CA and CB are connected with smooth
hinges. If VA = 0.45m/sec to the right. Find velocity
of C and B. Also find the angular velocity of the two
rods.
[Ans: V C =0.1875 m/ s ( ),V B =0.25 m/ s ( ),
ω AC =1.5 rad /sec (Anticlockwise), ω BC =1.25 rad /sec
(Clockwise). ]
 Engineering Mechanics
Problem Sheet – 5 Module - 5
Kinematics of Rigid Bodies

Q20. Knowing that at the instant shown in fig. The

angular velocity of rod BE is 4 rad/sec counter-
clockwise, determine (i) the angular velocity of
rod AD and (ii) the velocity of collar D.

[Ans:ω AD=4.267 rad /sec (Clockwise),

V D=1.3867 m/ s ( )]

Q21. In the device shown in fig. Find

the velocity of point B and angular
velocity of both the rods. The wheel is
rotating at 2 rad/sec Anticlockwise.
[Ans:V B =1.8 m/s ( ), ω AB=2 rad
/sec (Antilockwise), ω BC =6 rad /sec
(Antilockwise) ]

Q22. A bar AB, 24 cm long, is hinged to a

wall at A as shown in fig. Another bar CD 32
cm long is connected to it by a pin at B such
that CB =12cm and BD = 20 cm. At the instant
shown, (AB is perpendicular to CD) the
angular velocities of the bars are ω AB=4 rad
/sec. and ω CD =6 rad /sec. Determine the liner
velocity of C and D. (Hint Bar CD is in plane
motion).
[Ans:V C =120 cm/ sec ( ),
V D=153.67 cm/ sec ( )]
 Engineering Mechanics
Problem Sheet – 5 Module - 5
Kinematics of Rigid Bodies

Q23. At the position shown in fig. the crank

AB has angular velocity of 3 rad/sec
clockwise. Find the angular velocity of CD
and the velocity of point D at the instant
shown.
[Ans:ω CD =4 rad /sec (Antilockwise)
V D=720 mm /s ( )]

Q24. In the mechanism shown in Fig.

rod AB is horizontal, CD is vertical.
End A is guided in an inclined slot
having slope 3 in 4. If velocity of A is
1.2 m/sec up the slot. Determine (i)
angular velocity of AB & CD and (ii)
liner velocity of B.
Given AD =450mm, BD=300mm, CD=
360mm, VA= 1.2 m/sec.
[Ans: ω AB=1.6 rad /sec (Clockwise), ω CD =2.67 rad /sec (Clockwise), V B =1.073 m/s ]

Q25. The crank BC of a slider crank

mechanism is rotating at a
constant speed of 30 rpm
clockwise as shown in the figure.
Determine the velocity of the cross
head A at the given instant.
[Ans: V A =237.12 mm/ s ]