EME 473: Fundamentals of Kinematics and Dynamics of Machines

Tutorial 6: Rigid Body Motion & Moving Reference Frame Kinematics

Q1) Determine the velocity and acceleration of point P. Use 𝜔 = 2 𝑟𝑎𝑑/𝑠 and 𝛼 = 3 𝑟𝑎𝑑/𝑠 2
Q2) The fire truck moves forward at a constant speed of 50 𝑓𝑡/𝑠. The ladder is being raised at a
constant rate of 𝜃̇ = 0.3 𝑟𝑎𝑑/𝑠. In addition, the ladder is being extended at a constant rate of
𝑏̇ = 2 𝑓𝑡/𝑠.

Find the acceleration of end P of the ladder when 𝑏 = 25 𝑓𝑡 and 𝜃 = 30𝑜.

Q3) Rack A moves to the right with a speed of 𝑣𝐴 and an acceleration of 𝑎𝐴 . Rack B moves to
the left with a constant speed of 𝑣𝐵 . Determine the velocity and acceleration vectors for point P
on the outer rim of the gear. Point P is on the same horizontal line as point O at this instant.

Use the following parameters: 𝑣𝐴 = 0.8 𝑚/𝑠, 𝑎𝐴 = 2 𝑚/𝑠 2 , 𝑣𝐵 = 0.6 𝑚/𝑠, 𝑟 = 0.1 𝑚, and
𝑅 = 0.16 𝑚.