A.Y.

2020/21 Applied Mechanics kinematics

1
Slider-crank (1.7 Raparelli Ferraresi)
In the mechanism shown in figure, the crank OB rotates around the
fixed pivot O with constant angular velocity 1.  is the angle
between the crank and the horizontal axis, as indicated in figure.
Data:
l=250 mm; r=100 mm; 1=100 rad/s; =135°/90°/180°
Determine:
the velocity of point B; the velocity of point A; the acceleration of
point B; the acceleration of point A

[=135° vB=10 m/s, vA=9,16 m/s, aB=1000 m/s2, aA=725,1 m/s2

=90° vB=10 m/s, vA=10 m/s, aB=1000 m/s2, aA=436 m/s2
=180°vB=10 m/s, vA=0, aB=1000 m/s2, aA=1400 m/s2]
2
Rigid body (1.6 Raparelli Ferraresi)
The plane rigid body ABCD shown in figure has rectangular shape
and slides along two orthogonal runners. The points A and B are
always in contact with the runners.
Data: =3 rad/s (counter-clockwise); =30°; AB=CD=1m;
AD=CB=0.5m.
Determine:
 velocities of A and C;
 the position of instantaneous center of zero velocity;
 the value of  in which the horizontal velocity component of
D is null.
[VA=1.5 m/s, VC=2.25 m/s, XK=0.87m, YK=0.5m, *=26.57°]
3
Four-bar linkage (1.11 Raparelli Ferraresi)
In the configuration of the figure the crank 1 is horizontal and its
angular velocity 1 is constant and counter-clockwise. The bar 3
is vertical.
Determine the angular velocities and the angular accelerations of
bars 2 and 3 in this configuration.
Data:
1 = 2 rad/s; OA = 100 mm; BD = 75 mm.
[2=0.857 rad/s; 3=0.428 rad/s;
=0.104 rad/s2, =4.23 rad/s2]
4
Piston rod-crank
The crank 1, of length R, rotates around at the fixed pivot O with
angular velocity n1 and angular acceleration . The connecting
rod 2, of length L, is hinged at body 1 in pivot A and at slider 3 in
pivot B. The body 3 slides along the horizontal groove.
Data:
R=0.21m; L=0.61m; 1=45°; 2=30°; n1=1500 rpm;
=1000rad/s2.
Determine:
 The velocity and the acceleration of point B;
 The angular velocity and the angular acceleration of body 2.
[VB=9.86 m/s, aB=4466m/s2, 2=44.17rad/s, =5526 rad/s2]
5
Wheels with connecting rod (1.17 Raparelli Ferraresi)
The two wheels 1 and 2 are connected by the bar AC and roll
without sliding on the floor.
The velocity of the centre A of the wheel 1 is 5 m/s constant in the
right direction.
Data:
AC=800 mm; r= 250 mm; BC= 200mm
In case of =0, determine:
the angular velocity of AC; the velocity of C; the velocity of B
[AC=0; vC= 5 m/s; vB= 2,78 m/s]
 A.Y. 2020/21 Applied Mechanics kinematics

6
Cart in curve
A cart describes a curve of radius R=100 m with angular velocity
=0.2 rad/s and angular acceleration =0.1rad/s2.
On the cart, the sphere P runs inside a groove in radial direction.
In the configuration shown in figure PG = 50 cm, the relative
velocity of P with respect to G is Vr= 2 m/s and the relative
acceleration is ar=0,3 m/s2, with the same direction.
Determine the absolute velocity and acceleration of P.
[VP= 20.2 m/s; aP= 11.5 m/s2]
7
Quick return mechanism
Crank OP rotates with constant angular velocity  = 157 rad/s.
Pivot P of the crank moves inside the groove of guide O1A.
With the assigned geometry shown in figure, determine angular
velocity 2 and acceleration of the oscillating guide, velocity
VA and acceleration aA.
Data:
OP = 0.305 m; O1A = 0.86 m; O1P = 0.61 m; O1O = 0.4 m.
[2= 62.3 rad/s; =1147.54 rad/s2; VA= 55 m/s; aA= 3400 m/s2]

8
Sliding vane compressor
The rotor rotates around its fixed centre O’ at the constant angular
velocity n = 2000 rpm. The vane can slide inside the radial groove
in the rotor. During rotation the vane remains in contact with the
fixed circular wall of the carter, of centre O. At the configuration
of the figure, determine the Coriolis acceleration of A.
Data: R=50 mm, OO’=10 mm, =45°
2
[aC= 707,7 m/s ]

9
Piston rod-crank (type 2)
The crank 1 rotates in clockwise direction with constant angular
velocity 1=5 rad/s. The bar 2 slides inside the body 3 which can
rotate around the fixed pivot C. A reference system ,  is fixed to
the rod 2.
Data: OB=250 mm; OC=600 mm.
When =90° find:
 the velocity of B;
 the relative and the dragging velocities of C with respect to ,
;
 the angular velocity and the angular acceleration of bar2.
[VB=1.25 m/s; VrC=1.154 m/s; VtC/B=0.481 m/s;
2=0.74 rad/s; =6.25 rad/s2]
10
Truck
The truck of figure is running at 70 km/h with a deceleration of 4
m/s2; in the same time the ladder is lifted and extended. The angle
 is 30° and its time derivative is constant and equal to 8°/s, while
the ladder extension b is 1,5 m (d=6m), variable with velocity
=0,5 m/s and acceleration =-0,3 m/s2.
Find velocity and acceleration of the ladder end A with respect to
the truck and with respect to the ground.
[vAR= 1,16 m/s; vA= 19,4 m/s ; aAR= 0,47 m/s2; aA= 4,46 m/s2]