‫ابمسه تعایل‬

)2 ‫دینامیک (گروه‬
02-03 ‫نیمسال اول‬ ‫ سری اول‬،‫ سینماتیک جسم صلب‬-‫تمرین دینامیک سری سوم‬
Problems number 3, 4, 6, 9, and 10 must be delivered to the teacher assistant.
1- A trunk is carrying a cockpit for a worker who repairs
overhead road fixtures. At the instant shown in the
diagram, the base D is rotating with constant speed
𝜔2 = 1 𝑟𝑎𝑑/𝑠 relative to the truck. Arm AB is
rotating at constant angular speed 𝜔1 = 2 𝑟𝑎𝑑/𝑠
relative to DA. Cockpit C is rotating relative to AB
so as to always keep the man upright. What are
𝜔, 𝜔̇ , 𝜔̈ pf arm AB relative to the ground at the
instant of interest? The truck is stationary.

4- A cone is rolling without slipping such that its

centerline rotates at the rate of 𝜔1 = 5 𝑟𝑒𝑣/𝑠 about
the Z axis. what is the angular velocity of the body
relative to the ground? What is the angular
acceleration vector of the body?
Ans: 𝜔 = −121.6𝑗 𝑟𝑎𝑑/𝑠
2- The telephone cable reel rolls without slipping on the
𝜔̇ = 3823𝑖 𝑟𝑎𝑑/𝑠 2
horizontal surface. if point A on the cable has a
velocity 0.8 m/s to the right, compute the velocity of
the center O and angular velocity of the reel. (Be
careful not to mistake of assuming that the reel rolls
to the left!)
Ans: 𝜔 = 1.33 𝑟𝑎𝑑/𝑠

5- Slider A moves in the horizontal slot with a constant

speed v for a short interval of motion. Determine the
angular velocity 𝜔 of bar AB in terms of the
displacement 𝑥𝐴 .
√3𝑣
Ans: 2
3- Ring B has an inside radius r2 and hangs from the 3𝑥
2𝐿 √1− 𝐴 2
horizontal shaft A as shown. Shaft A rotates with a 4𝐿
constant angular velocity of 25 rad/s and no slipping
occurs. Knowing that r1 12 mm, r2 30 mm, and r3
40 mm, determine (a) the angular velocity of ring
B, (b) the accelerations of the points of shaft A and
ring B which are in contact, (c) the magnitude of the
acceleration of a point on the outside surface of ring
B.
6- A plate 𝐴𝐵𝐶𝐷 moves on a horizontal surface. At
time 𝑡 corners 𝐴 and 𝐵 have the velocities 𝑉𝐴 =
3𝑖 + 2𝑗 𝑚/𝑠 and 𝑉𝐵 = (𝑉𝐵 )𝑥 𝑖 + 5𝑗 𝑚/𝑠. Find the
location of the instantaneous axis or rotation.
7- A mechanism with two sliders is shown. Slider 𝐴 at
the instant of interest has a speed of 3𝑚/𝑠 and is
accelerating at the rate of 1.7𝑚/𝑠 2 . If member
𝐴𝐵 = 2.5𝑚 , what are the angular velocity and
acceleration of it?
Ans: 𝜔𝐴𝐵 = −0.609𝑟𝑎𝑑/𝑠
𝛼𝐴𝐵 = 14.71𝑟𝑎𝑑/𝑠 2
8- A disk of 0.15-m radius rotates at the constant rate
2 with respect to plate BC, which itself rotates at the
constant rate 1 about the y axis. Knowing that
1  2  3rad / s , determine, for the position
shown, the velocity and acceleration (a) of Point D,
(b) of Point F.
Ans: 𝑉𝐷 = 0.45𝑘 𝑚/𝑠
𝑎𝐷 = 4.05𝑖 𝑚/𝑠 2
9- A disk of radius 120 mm rotates at the constant rate
𝜔2 5 rad/s with respect to the arm AB, which itself
rotates at the constant rate 𝜔 1 =3 rad/s. For the
position shown, determine the velocity and
acceleration of Points C and D.
Ans: 𝑉𝐶 = 0.600𝑖 − 0.585𝑘 𝑚/𝑠
𝑎𝐶 = −4.760𝑖 𝑚/𝑠 2
𝑉𝐷 = 0.600𝑖 − 0.225𝑘 𝑚/𝑠
𝑎𝐷 = −0.675𝑖 + 3.000𝑗 − 3.600𝑘 𝑚/𝑠 2
10-The robot shown has five degrees of
rotational freedom. The x-y-z axes are attached
to the base ring, which rotates about the z-axis at
the rate 𝜔1. The arm 𝑂1𝑂2 rotates about the x-
axis at the rate 𝜔2 = 𝜃̇. The control arm 𝑂2𝐴
rotates about axis 𝑂1𝑂2 at the rate 𝜔3 and about
a perpendicular axis through 𝑂2 which is
momentarily parallel to the axis at the rate 𝜔4 =
𝛽̇. Finally, the jaws rotate about axis 𝑂2𝐴at the
rate 𝜔5. The magnitudes of all angular rates are
constant. For the configuration shown, determine
the magnitude 𝜔 of the total angular velocity of
the jaws for 𝜃 = 600 and 𝛽 = 450 if 𝜔1 = 2 𝑟𝑎𝑑𝑠;
𝜃̇ = 1.5 𝑟𝑎𝑑/𝑠 and 𝜔3 = 𝜔4 = 𝜔5 =0. Also,
express the angular acceleration 𝛼 of arm 𝑂1𝑂2
as a vector.