bee29400_ch15_0914-1023.

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l = 8 in.
SAMPLE PROBLEM 15.3
r = 3 in. B
G In the engine system shown, the crank AB has a constant clockwise angular
40° b velocity of 2000 rpm. For the crank position indicated, determine (a) the
A P
angular velocity of the connecting rod BD, (b) the velocity of the piston P.
D

SOLUTION
Motion of Crank AB. The crank AB rotates about point A. Expressing vAB
3 in. B in rad/s and writing vB 5 rvAB, we obtain
wAB 50°
40° rev 1 min 2p rad
A vB v AB 5 a2000 ba ba b 5 209.4 rad/s
min 60 s 1 rev
vB 5 (AB)vAB 5 (3 in.)(209.4 rad/s) 5 628.3 in./s
vB 5 628.3 in./s c 50°

Motion of Connecting Rod BD. We consider this motion as a general plane

motion. Using the law of sines, we compute the angle b between the con-
necting rod and the horizontal:
sin b
sin 40°
8 in.
5
3 in.
    b 5 13.95°
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The velocity the point D where the rod is attached to the piston must
D
be horizontal, while the velocity of point B is equal to the velocity v B
obtained above. Resolving the motion of BD into a translation with B and
a rotation about B, we obtain

wBD vD/B
B B B b = 13.95°
(fixed)

vB
50°
D
vD
= vB
50°
D
+ l D
76.05°

50°
b
vB
Plane motion = Translation + Rotation

Expressing the relation between the velocities vD, vB, and vD/B, we write
vD 5 vB 1 vD/B
We draw the vector diagram corresponding to this equation. Recalling that
b 5 13.95°, we determine the angles of the triangle and write
vD vD vD/B 628.3 in./s
5 5
50° 76.05° sin 53.95° sin 50° sin 76.05°
b = 13.95°
vD/B 5 495.9 in./s vD/B 5 495.9 in./s a 76.05°
vD 5 523.4 in./s 5 43.6 ft/s vD 5 43.6 ft/s y
vB = 628.3 in./s vD/B vP 5 vD 5 43.6 ft/s y ◀
53.95°
Since vD/B 5 lvBD, we have
495.9 in./s 5 (8 in.)vBD VBD 5 62.0 rad/s l ◀

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SAMPLE PROBLEM 15.7

l = 8 in.
r = 3 in. B
G Crank AB of the engine system of Sample Prob. 15.3 has a constant clock-
40° b wise angular velocity of 2000 rpm. For the crank position shown, determine
A P
the angular acceleration of the connecting rod BD and the acceleration of
point D.
D

SOLUTION
Motion of Crank AB. Since the crank rotates about A with constant
r = 3 in. B vAB 5 2000 rpm 5 209.4 rad/s, we have aAB 5 0. The acceleration of B
aB
40° is therefore directed toward A and has a magnitude
A
aB 5 rv2AB 5 ( 123 ft) (209.4 rad/s) 2 5 10,962 ft/s2
aB 5 10,962 ft/s2 d 40°
Motion of the Connecting Rod BD. The angular velocity VBD and the value
of b were obtained in Sample Prob. 15.3:
VBD 5 62.0 rad/s l b 5 13.95°
The motion of BD is resolved into a translation with B and a rotation about
B. The relative acceleration aD/B is resolved into normal and tangential
components:
(aD/B ) n 5 (BD)v 2BD 5 ( 128 ft) (62.0 rad/s) 2 5 2563 ft/s2
(aD/B)n 5 2563 ft/s2 b 13.95°
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(aD/B ) t 5 (BD)a BD 5 ( 12 )a BD 5 0.6667a BD
(aD/B)t 5 0.6667aBD za 76.05°
While (aD/B)t must be perpendicular to BD, its sense is not known.
aBD (a D/B)n
B B B wBD

= +
aB G
13.95° D D
aB G D
aD
aB
aB
(a D/B)t

Plane motion = Translation + Rotation

Noting that the acceleration aD must be horizontal, we write

aD aD 5 aB 1 aD/B 5 aB 1 (aD/B)n 1 (aD/B)t
40° [aD a 76.05°]
] 5 [10,962 d 40°] 1 [2563 b 13.95°] 1 [0.6667aBD z
G
13.95° (a D/B)t Equating x and y components, we obtain the following scalar equations:
1
a D/B y x components:
aB
2aD 5 210,962 cos 40° 2 2563 cos 13.95° 1 0.6667aBD sin 13.95°
1xy components:
0 5 210,962 sin 40° 1 2563 sin 13.95° 1 0.6667aBD cos 13.95°
Solving the equations simultaneously, we obtain aBD 5 19940 rad/s2
13.95° and aD 5 19290 ft/s2. The positive signs indicate that the senses shown on
(a D/B)n the vector polygon are correct; we write
aBD 5 9940 rad/s2 l ◀
aD 5 9290 ft/s2 z ◀

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3 in. SAMPLE PROBLEM 15.8

D
B
The linkage ABDE moves in the vertical plane. Knowing that in the position
17 in.
14 in. shown crank AB has a constant angular velocity V1 of 20 rad/s counterclock-
wise, determine the angular velocities and angular accelerations of the con-
A w1 E necting rod BD and of the crank DE.

8 in. 12 in. 17 in.

SOLUTION
y This problem could be solved by the method used in Sample Prob. 15.7. In
D
B this case, however, the vector approach will be used. The position vectors
rD/B
rD rB, rD, and rD/B are chosen as shown in the sketch.
rB Velocities. Since the motion of each element of the linkage is contained
A E in the plane of the figure, we have
x
rB = 8i + 14j VAB 5 vABk 5 (20 rad/s)k VBD 5 vBDk VDE 5 vDEk
rD = –17i + 17j
rD/B = 12i + 3j
where k is a unit vector pointing out of the paper. We now write
vD 5 vB 1 vD/B
vDEk 3 rD 5 vABk 3 rB 1 vBDk 3 rD/B
vDEk 3 (217i 1 17j) 5 20k 3 (8i 1 14j) 1 vBDk 3 (12i 1 3j)
217vDE j 2 17vDEi 5 160j 2 280i 1 12vBD j 2 3vBDi
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Equating the coefficients of the unit vectors i and j, we obtain the following
two scalar equations:
217vDE 5 2280 2 3vBD
217vDE 5 1160 1 12vBD
VBD 5 2(29.33 rad/s)k VDE 5 (11.29 rad/s)k ◀
Accelerations. Noting that at the instant considered crank AB has a con-
stant angular velocity, we write
AAB 5 0 ABD 5 aBDk ADE 5 aDEk
aD 5 aB 1 aD/B (1)
Each term of Eq. (1) is evaluated separately:
2
aD 5 aDEk 3 rD 2 vDE rD
5 aDEk 3 (217i 1 17j) 2 (11.29)2(217i 1 17j)
5 217aDE j 2 17aDEi 1 2170i 2 2170j
aB 5 aABk 3 rB 2 v2ABrB 5 0 2 (20)2(8i 1 14j)
5 23200i 2 5600j
aD/B 5 aBDk 3 rD/B 2 v2BDrD/B
5 aBDk 3 (12i 1 3j) 2 (29.33)2(12i 1 3j)
5 12aBDj 2 3aBDi 2 10,320i 2 2580j
Substituting into Eq. (1) and equating the coefficients of i and j, we obtain
217aDE 1 3aBD 5 215,690
217aDE 2 12aBD 5 26010
ABD 5 2(645 rad/s2)k ADE 5 (809 rad/s2)k ◀

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