APL100 - Tutorial 3

Part A
1. Member OA rotates at constant angular velocity of 2 rad/s when in position shown in Figure. Find the
angular velocity and angular acceleration of body 3, velocity of point B and the velocity of body AB
relative to body 3.

2. An aeroplane is at the bottom of a vertical circular loop (see Figure). The point O has speed v which is
increasing at the rate of a. A valve A of mass 0.5 kg is being moved forward w. r. t. the plane, along the
longitudinal direction of the plane, at speed v1 which increases at the rate of a1 . The propeller of radius
R1 spins at the rates ω, ω̇ relative to the plane. Find the force applied to the valve and the acceleration of
point P of the propeller if there is simultaneous rolling, pitching and yawing at the rates r, p, y rad/s and
ṙ, ṗ, ẏ rad/s2 .

3. An arm OA rotates at angular velocity ω1 and angular acceleration ω̇1 at the instant shown in Figure.
Find the velocity and acceleration of point P at the given instant.

1
4. A cycle (shown in Figure) is moving without slip over a cylindrical mound with no rotationof the handle
w. r. t. the main frame. Find the angular velocity of the wheels relative to the ground if the angular
velocity of the axle of the paddles relative to the ground is ω.

Part B
1. Points Ai , Bi are the material points of rigid body i, i = 1, 2, 3, 4. F is the ground reference. ωi| j denotes the
angular velocity of body i relative to the body j and ~v Ai | j denotes the velocity of Ai w. r. t. frame of body j.
~ (t) is an arbitrary vector. Fill up the blanks by appropriate angular velocity / velocity vectors / ~0.
A

2
 ~˙ |4 = A
A ~˙ |2 + (. . .) × A,
~ ~v B2 |6 = . . . + (. . .) × (. . .) + ~v B2 |4 ,

ω~2˙ |4 = ω~2˙ |6 + ω~6˙ |4 + (. . .) × (. . .) , ~v A4 |2 = ~v A3 |2 + (. . .) × A3~A4 + (. . .),

~v A4 |1 = ~v B4 |1 + (. . .) × B4~A4 + (. . .)
2. Members OA and DP rotate at constant rates of 2 rad/s and 3 rad/s (see Figure). The pin at P can
slide in a circular slot of radius 4 m in plate AC. Find the angular acceleration of plate AC in the given
configuration when AP = 1 m . OA = DP = 2 m.

3. Gear A rotates w. r. t. ground at angular velocity ω (see Figure). Gear 3 rotates w. r. t. bent bar 1 at angular
velocity Ω and bent bar 1 rotates w. r. t. ground at angular velocity ω1 . Find the angular acceleration of
gear 3 w. r. t. ground if ω, ω1 increase at the rates ω̇, ω̇1 .

3
Ans: Ω = (ω − ω1 ) R2 /R3 , ω̇1 ~E + (ω̇ − omega
˙ 1 ) R2~e/R3 + ω1 (ω − ω1 ) R2 ~E ×~e/R3
4. The drive wheel of a tape recorder has a constant angular velocity of ω1 . The thickness of the tape is t.
Find the angular acceleration of the driven wheel at the instant shown in Figure

Ans: ω12 (1 + r12 /r22 )t/2πr2

5. A truck is moving at a speed of 2 m/s and an acceleration of 0.5 m/s2 (see Figure). Its loading compartment
has angular motion w. r. t. the truck body as shown. A cylinder of radius 0.4 m rolls without slip w. r. t
the compartment at angular velocity of 0.5 rad/s and angular acceleration of 0.4 rad/s2 . Find the velocity
and acceleration of the center C of the cylinder relative to the ground.

i
j

Ans: 1.292~i + 1.4~j m/s, −1.287~i + 0.566~j m/s2