PROBLEMS Introductory Problems 471 The stem ofthe patie haste ate past clea, et and extra fee Determine fff, Hoyand Hy frie gem Ana t= Ah 0,e Bn lal ~ 2) + 6k) not 2k + 6) + 2k) = im? Hy Fay Problem 4/1 4/2 For the particle system of Prob, 4/1, determine Hy and Hy, 4/3 "The two 2-kg balls ae initially at reat on the horizon- tal surface when a vertiealforee F = 60 N is applied to the junction of the attached wires as shown. Com- pte the vertical component a, ofthe initial accelera- tion of each ball by considering the system as a whole, ‘Ans. = 5.19 mi Problem 4/3 4/4 ‘Three monkeys A, B, and C weighing 20, 25, and 15 1b, respectively, are climbing up and down the rope imcopeseled en D-AR Gis taut repent, A Se descending the rope with an acceleration of 5 fsee, and C is pulling himsolf up with an acceleration of 3 ft/sec, Monkey B is climbing up with a constant speed of 2 Race. Treat the rope and monkeys as a rope at D, 4/5 The three small spheres are connected by the cords and spring and are supported by a smooth horizontal surface. If «force F = 64 N is applied to one of the cords, find the seceleration a ofthe mass center of the spheres for the instant depicted. Ans. a= 4 mist oske oakg o5kg Problem 4) 4/6 ‘The two spheres, each of mass m, are connected by the spring and hinged bars of negligible mass. The spheres are free to slide in the emooth guides up the incline &, Determine the acceleration ac af the center of the spring,ms_287 Article 4/3 Pr 44/9 "The total linear momentum of a aystem of five parti cles at time ¢ = 2.28 is given by Gay = Si ~ 2.6) + 46k gms. At time ¢ = 244s, the linear momentum thas changed to Gy4 = 8.71 ~ 2.2) + 4.9k kg-mis. Cale culate the magnitude F of the time avorage of the re fultant of the external forces acting on the system during the interval Ans, F=2.92N Problem 4/6 {4/10 ‘The three identical steel balls are welded to the two connecting rods of negligible mass to form a rigid 4/7 Calealate the acceleration ofthe conter of mass of the unt, The assembly i released from rest in the posi- system of the four 104kg eylinders. Neglect ftietion tion shown and slides in the vertical plane. In the and the mass of the pulleys and eables. hsence of friction determine the eommon velocity © ‘Ans. = 15.19 m6? of the balls when they have reached the horizontal surface Problem 4/10 4/11 The two small spheres, each of mass m, ate rigidly connected by a rod of negligible mass. The center C of the rod has « velocity v in the x-direction, and the a ‘rod is rotating counterclockwise at the constant rate eet eye ‘74 Mh rotons ona emt orn uies hin nena a che ‘mass in the two pairs are identical. What can be said Eee canes Sat meres eS Si about the acceleration of the mass center foreach sys tom? Explain any difforonee in the accolerations of ‘he members, > SYA F F F _d\ Problem 4/8 ‘Ans. (a) Gy = mo + 66 sin Wi ~ (64 eos Oj) Gz mltu— b0 sin wit + (bt eos oi)268 ch 4/12 Each of the five connected particles has a mass of 0.6 keg, with G as the center of mass ofthe system, At a certain instant the angular momentum of the system about G is 120K kg-m#ls, and the x~ and y-components of the velocity of G are $ m/s and 44 mia, respectively. Caleulate the angular momen- ‘tum Ho of the system about O for this instant, 03m Problem 4/12 Representative Problems 4/18 The theve identical bars, each weighing 1b, are ¢on- nected by the two freely pinned links of negligible ‘weight and are resting on a smooth horizontal sur- face. Caleulate the initial acceleration ofthe center of the middle bar when the 10-b foree is applied to the connecting link as shown. Ans, a = 19.42 tise? 1018 Problem 4/13 A/V6 A contvtuge consists of four cylindrical containers, tion axis, Determine the time required to bring the centrifuge to an angular velocity w from rest under a constant torque M applied to the shaft. The diame- ter of each container is mall compared with r, and ‘the mass of the shaft and supporting arms is small ‘compared with m. Problem 4/14 4/15 The three small spheres are welded to the light rigid fame which is rotating in a horizontal plane about a vertical axis through O with an angular ve- locity 6 = 20 rad’s, Tra couple Mo = 80.N-m is ap- plied to the frame for 5 seconds, compute the new angular volocity 6 Ans. = 80.7 rade Problem 4/15 ‘The four 3-kg balls are rigidly mounted to the rotat« ing frame and shaft, which are initially rotating freely about the vertical -axia atthe angular rate of 20 radis clockwise when viewed from above. Ifa cone uk uoeque BF — 20 -au kage we ih le culate the time r to reverse the diretion of rotation fand reach an angular velocity di = 20 rad/s in the same conse as M.Problem 4/16 4/17 Two projectiles, each weighing 20 Ib, ae fired simulta ncously from the vehiele shown, which weighs 2000 Ib and is moving with an initial velocity vy = 4 fee in the direction opposite tothe firing. Each projectile has a muzzle velocity 0, = SIA tse relative to the barrel Caleulate the velocity vs ofthe vehicle ater the projec- tiles have been fired. Ana. ts 9.69 fsee Problem 4/17 4/18 The 300-kg and 400-kg mine ears are rlling in oppo- ite directions along the horizontal track with the respective speeds of 0.6 ms and 0.3 m/s. Upon im- pact the cars become eoupled together. Just prior to impact, a 100-kg boulder leaves the dtivery chute With a velocity of 1.2 ms in the direction shown and lands in the 800-kg car. Caleulate the velocity v of the system alter the boulder has come to rest relax tive to the car. Would the final velocity be the same ifthe eats were coupled before the boulder dropped? Gms am Problem 4/18, ‘The three freight cars are rolling along the horizon- tal track with the velocities shown, After the impacts ‘eur, the three car become coupled together and ‘move with a common velocity v. The weights of the loaded curs A, B, and C are 130,000, 100,000, and 150,000 Ib, respectively. Determine v and ealeulate ‘the percentage loss n of energy of the system due to empting ‘Ans. 0 = 0.358 mith, n = 95.0% 2mifor 1nhe smh 4 B © Problem 4/19) 4/20 "The man of mass m, and the woman of mass my are standing on opposite ends ofthe platform of mass my ‘which moves with negligible fiction and is initially at rest with # = 0. The man and woman begin to ap- [proach each other. Derive an expression for the di placement sof the platform when the two meet in terms of the displacement s, of the man relative to the platform. t | — Problem 4/204/21 The woman A, the captain B, and the sailor C weigh 120, 180, and 160 Ib, respectively, and are siting in the 200-15 skiff which is gliding through the water with a speed of 1 knot. Ifthe three people change their positions as shown in the second figure, find the distance + fom the skiff to the postion where it would have been if the people had not moved. Ne- loct any resistance to motion afforded by the water. Does the sequence or timing of the change in posi- tions affect the final result? Ans. = 0.816%, No =a Problem 4/21 4/22 The te aplieres ure eghdly cunuested Us Ue sal uf negligible mass and are initially at rest on the smooth horizontal surface, A fore F is suddenly ap- plied to one sphere in the y-direction and imparts an {impulse of 10 Na during a negligibly short period of time, As the spheres pass the dashed position, caleue late the velocity of each one. Problem 4/22 4/23 The three small spheres, each of mass m, are se- ccured to the light rods to form a rigid unit supported in the vertical plane hy the smocth eircular srface ‘The foree of constant magnitude P is applied perpen- dicular to one rod at its midpoint, If the unit starts from rest at 6 = 0, dotermino (a) the minimum force Py Which will bring the nit to nest at = 60" and @) the common velocity v of spheres 1 and 2 when 0 80 P= BP Ans. (a) Pris 28, yum igre 4/24 ‘The threo small stool balls, ouch of mass 2.75 ke, are connected by the hinged links of negligible mass and ‘equal longth. They are released from rest in the po tions shown and alide down the quarter-cincalar guide in the vertial plane. When the upper sphere reaches the bottom postion, the spheres have a hori- zontal velocity of 1.560 m/s. Calculate the energy lost A@ due to fretion and the total impulse Z, on ‘the system of three spheres during this intervallems _291 4/25 ‘two stat balls each of masa re welded to ight rod of lngth and nepigile mass and ae tnitially rs: Go-a ine treed icin bitin Tovee of mugnitde Fis suddenly applied tothe rod au shown, Determine () th instantaneous wcelera- fiom a ofthe mass center and (6) the crrempond- ing rote Wat which the angular velocity of the assembly about G is changing with time. F a- Fw i~ Ans, fo Problem 4/25 4/26 The small car, which has a mass of 20 kg, rolls freely fon the horizontal track and carries the S-kg sphere mounted on the light rotating 70d with r= 04m. A geared motor drive maintains a constant angular speod 4 = 4 radis ofthe rod. Ifthe ear has a velocity b= 06 mis when = 0, ealeulate » when # = 60" [Nogleet the mass of the wheels and ny ition Problem 4/26 4/27 Tho cars of a roller-coaster ride have a speed of 30 Jwh as they pass over the top ofthe cielar track. [Noglet any fiction and caleulate their speed o when they reach the horizontal bottom position. At the top position, the radius ofthe circular path oftheir maze ‘centers is 18 m, and all ix cars have the same mass ‘Ane, = 72.7 eh Problem 4/27 44/28 "The two small spheres, each of masa m, are connected bya cord of length 2 (measured to the centers of the spheres) and are initially at rest on a smooth horizon- tal surface. A projectile of mase my with a velocity ¢) perpendicular to the cord hits it im the middle, eans- ing the deflection shown in pat bof the figure, Deter- mine the velocity v of my as the two spheres near contact, with 1 approaching 90° as indicated in part ¢ ofthe figure. Also find 6 for this conltion » % @ © ‘Problem 4/28,4/29 The carriage of mass 2m is free to roll along the hor- scl le oad ceo seo gee ca SS, tad so lng bese mag sun Tho. dia tn ish eso om mee motets be eon tae ertne ee Ginlsacdioh ios miuteiounioss: tee pomwachets f~ 8stcameb Wh, cfthacaraqo sof nore pity 4 thet foe the instant when = 100, Tre! he cage Sita diag e a dn v= Ji 6 = 2% Problem 4/23 (4/30 ‘The 50,000-Ib fatcar supports 15,0004h vehicle on 5° vamp built on the Mlatcar. IF the vehidle is re- leased from rest with the fatear also at rest, deter- imine the velocity © of the Satcar whe the vehicle thas rolled s = 40 f¢ down the ramp just before hit ting the stop at B. Neglect all fretion and treat the vyohiel and the flatcar as particles, ‘Ans. v= 3.92 Reco Problem 4/30 pays pays A flexible nonextensible rope of mass p per unit Jongth and length equal to 1/4 of the ercumforence of the fixed drum of radius r i released from vest in the horizontal dashed postion, with end B seeured to the top of the drum. When the rope finally comes torest with end A at C, determine the loss of energy AQ of the syatem. What hecomes ofthe lost energy? “Ans. AQ = 0.577? Problem 4/31 es te unstretched position the culls uf Ue 8b spring are just touching one another, as shown in part @ of the figure. In the strotched position the force P, proportional to, equals 200 Ih when x = 20, in. Pend A of the spring is suddenly released, deter- ‘mine the yeloety v4 ofthe coll end A, measured posi- tive to the left, as it approaches its unstretched position at x = 0. What happens fo the kinetic en- ray of the spring? Ans. 04 ~ 10886 fuse oO parry 0 a Problem 4/32REVIEW PROBLEMS 4/93 Each of the identical atel balls weighs 4 Ib and is fastened to the other two by connecting bars of neg- ligible weight and unequal length. In the absence of {ietion at the supporting horizontal surface, deter- ‘mine the initial acceleration @ of the mass center of the assembly when itis eubjected to the horizantal force F = 20 lb applied to the supporting ball. The assembly is intially at rest inthe vertical plane, Can you show that a is initially horizontal? ‘Ane. 53.7 flee? Problem 4/93 4/94 A 202 bullet is fired horizontally with a velocity '» = 1000 face into the slender bar of a Slb pendi- ‘him initially at reat. IFthe bullet embeds itsol in the ‘bar, compute the resulting angular velocity of the pene A asm Problem 5/35 a '5/36 The elements ofthe electrie-motor drive fora diesel. clectric locomotive are shown, ‘The quill gear is inte- tral with the 40-in-diameter wheel and ie driven by the pinions of the two electric motors mounted t2 the wheel carviage. (Gear tecth are not shown.) For 4 locomotive speed of 60 mithe, what is the rota: tonal speed N of the motor pinions? Representative Problems 5/37 Calculate the angular velocity @ ofthe sender bar ‘AB as a function of the diatance x and the constant angular velocity of the drum, hy sole Ana. = Problem 5/37 5/38 Boom OA is being elevated by the rope-and-pulley arrangement shown. Ifpoint Bon the rope is given a constant velocity ey = 8.2 mis, determine the angu- lar velocity w and angular acealeration a ofthe boom Tor 0 = 30"ati le 5/3_Pr ems _351 [5/39 Rotation of the lever OA is controlled by the motion of the contacting circular disk whose center is given ‘horizontal voloityv. Determine the expression for the angular velocity o of the lever OA in terms of Problem 5/39 '5/40 Vertical motion ofthe work platform is controlled by the horizontal mation of pin A. IA has a velocity to the left, determine the vertical velocity v of the platform for any value of 8 A roadway speed bump is being installed on a level ‘road to remind motorlats of the existing speed lin If the driver of the car exporiences at G a vertical acceleration of as much as g, up or down, he is ex pected to realize that his speed is bordering on ‘beng exrmonire. For the apeed lump with the cocioe contour shown, derive an expression for the height ‘i of tho bump which will produce a vertical compo- nent of acceleration at Gof gat a car speed v, Come pute kif b= 1m andy = 20 kmih, Neglect the fects of suspension spring flexing and finite wheel Saat 128.8 mam ‘Problem 5/41 ‘The telescoping link is hinged at O, and its end A is given a constant upseand velolty of 200 mm/s by the piston rod of the fixed hydraulic cylinder B, Caleu- late the angular velocity # and the angular aecolera- tion fof lnk OA for the instant when y = 600 mm,1¢ Kinematics of Rigid Bodies 5/43. Motion of the wheel as it rolls up the fixed rack on | its geared hub ie controlled through the peripheral cable by the driving whee! D, which turns counter- clockwise at the constant rate wy = 4 radis for a short interval of motion. By examining the geometry cof a small (differential) rotation of line AOCB as it pivots momentarily ahout the eontact point C, deter- ‘mine the angular velocity w of the wheel and the ve- locities of point A and the center 0, Also find the acceleration of point C. ‘Ans. a = Brads CW, », = 480 mm/s 11g = 180 mms, 4100 mm Problem 5/43, 5/44 Derive an expression for the upward velocity v of the car hoist in terms of #. The piston rod of the by- raul cylinder is extending atthe rate &. 5/48 "The flywheel turns clockwise with a constant speed of 600 rovimin. The connecting link AB slides through the pivoted collar at C. Calculate the angu- lar velocity w oF AB forthe instant when d= 60° “Ans. «= 17.95 radisce CW Problem 5/45, 5/46 Determine the acceleration ofthe shaft B for = 60° if the crank OA has an angular aceleration = 83ads? and an angular velocity) ~ 4 rad/s at this postion. ‘The spring maintains contact between the roller and te surface of the plunger. Problem 5/46Article 5/3 Problems _353 5/47 The slotted arm pivots about O and maintains the relation between the motions of alidera A and B and thelr sonteal ods. Each emall pivoted Dlook 1a pinned to ita respective slider and is constrained to slide in its rotating sot, Show thatthe displacement is proportional to the reciprocal of y. Then estab lish the relation between the velocities vy and vp Als, fv, is constant fora short interval of motion, 200 mm, Problem 5/94 5/98 Tho bar AB has a counterclockwise angular veleeity (f 6 rad/sce. Construct the velocity vectors for points ‘A and G of the bar and specify their magnitudes if the instantaneous center of zer0 velocity forthe bar is a) atC,, (6) at Cy, and (e) at Cy ‘Ans (a) 04 = Bin [se y= Binsaee hen v9 = BD inisee (e)m = 80m eg = 216 nae }-—_—« i x sw, | & Problem 5/95, 5/96 For the instant represented, when crank OA passes ‘the horizontal position, determine the velocity of the center G of link AB by the method ofthis article radeArticle 5/5 Jems 375 5/97 Ata certain instant vertex B of the right-riangular plate has a veloety of 200 mmis in the direction Shown. If the instantaneous center of zero velocity {or the plate is 40 mm from point Band ifthe angue lar velocity of the plate is clockwise, determine the velocity of point D, ‘Ans. tp = 250 mmis Problem 5/97 15/98 A car mechante “walks” two wheelie units aeross a horizontal foor as shown. He walks with constant speed 1 and keeps the tires in the configuration shown with the same position relative to his body. IT ‘there is no slipping at any interface, determine (a) the angular velocity of the lower tie, (8) the angular ve- locity of tho uppor tre, and (e the veloitios of points A,B,C, and D. The radius of both tires is 5/99 ‘The linkage is reproduced here to the scale indicated. For the postion shown, link OyA has a clockwise an- gular velocity of 4 rad/s. By direet: meaaurementa from the figure, determine the corresponding velocity of vertex D as accurately as you can, ‘Ans. vp = 038 mis 1 a0 a0 49 500 708090 TO Je, mm Problem 5/99 5/100 Motion of the bar is controlled by the constrained paths of A and B. If che angular velocity of the bar ig 2 rad|s counterclockwise a the position # = 45° ‘passed, determine the speeds of points A and P. P %, Problem 5/1001¢ Kinematics of Rigid Bodies 45/101 The mechanism of Prob, 5/27 is repeated here. At the instant when x4 O85L, the velocity of the slider at A sv = 2 mis to the right. Determine the comespanding velocity of slider B and the angular velocity w of bar AB If = 0.8m, ‘Ans. vg = 0.884 ris, w = 3.20 radls L t us “ Problem 5/101 5/102 ‘The shaft of the wheel unit role without slipping fo the fixed horizontal surface, and point O has a velocity of 3 tise to the right. By the method of this artite, determine the velocities of points A, B, and D. A © sD Problem 5/102 pon 4 a ‘Representative Problems 5/103 The attached wheels roll without slipping on the tates A and B, which are moving in opposite di- rections as shown. I'v, = 60 mmis to the right and vg = 200 mama tothe lft, determine the velocities of the center Q and the point P for the position shown. Ane. vp = 120 mun/s,up = 216 mis Problem 5/103 5/108 End A of the slender pole is given a velocity v4 to the right along the horizontal surface. Show that the magnitude of the velocity of end B equals v4 ‘when the midpoint Mf of the pole eomes in contact ‘with the semicircular obstruction, » _ 4 Problem 5/108 5/105 Solve for the velocity of point D in Prob. 5162 by ‘the method of Ar. 55, Ans. vp = 0.596 mis 5/106 ‘The blade of a rotary power mower turns counter- clockvise at the angular speed of 1800 vev/min. IF the body centrode is a cirle of radius 0.75 mm, compute the velocity vg of the mower. eArticle 5/5 lems_ 377 5/107 ‘The rectangular body B is pivoted to the crank OA at A and is supported by the whool at D. If 0A bas 4 counterclockwise angular velocity of 2 radis, de termine the velocity of point # and the angular ve- locity of body B when the crunk OA passes the vertical postion shown. ‘Ans. tg = 0.1886 mis, oy ~ 0.289 rads CW 5/108 The switching dovico of Prob. 5/85 is ropeatod here. Ifthe vertieal control rod has a downward velocity of 3 flsce when = 60° and iFroller A is In eon- tinuous contact with the horizontal surface, deter ‘mine by the method of this article the magnitude of the velocity of C for this instant. 5/109 Horizontal oscillation of the spring-loaded plunger 2 is controled by varying the air pressure in the horizontal pmeumatie eylinder F Ifthe phunger haa 4 velocity of 2 mis to the right when 6 = 30% deter- ‘mine the downward velocity vp of roller D in the vertical pride and find the angular velocity «of ABD for this position. “Ans. Up = 231 mis, w= 13.58 ade Problem 5/109 ‘The rear driving wheel of « ear has a diameter of 26 in. and has an angular speed N of 200 revimin fon an icy road. Ifthe instantancous center of zero velocity is din, above the pint of contact of the tire ‘with the road, determine the velocity v of the ear and the slipping velocity v of the tire on the ice. 26" rw Problem 5/110ics of Rigid Bodies ‘The elements of the mechanism for deployment of | $/113 ‘The hycrwulic eylinder produces a limited horizon- spaceeraft magnetometer boom are repeated here tal motion of point A. Ife, = 4 mls whon # = 45°, from Prob, 87. By the method ofthis article, deter. determine the magnitude of the velocity of D and ‘mine the angular velocity ofthe boom when the dr the angular velocity » of ABD for ths position ving link OB erasses the y-axis with an angular ‘Ans. up = 480 ms, w= 7.47 rads COW velocity og = 0.5 rad/s fat this instant tan 8 = 4. Ans weg = 0429 rads ‘Problem 5/113 5/114 ‘The small evlinder rolls on the surfueo of the large cylinder without slipping. By wsing the instanta- ‘neous center of zero velocity ofthe small cylinder, determine the velocity v4 of point A shown where = 80° and is increasing at the rate 6 Problem 5/1 5/112 Link OA has « counterclockwise angular velocity 4G = 4 radizee during an interval of its motion. Determine the angular velocity of link AB and of seetor BD for 0 = 45° at which instant AB is hori ‘ontal and BD is vertical Problem 5/114 5/115 A device which tests the resiatance to wear of to ‘materials A and B is shown. Ifthe link BO has a ve- locity of 4 see to the right when @ = 45%, deter- ‘mine the rubbing velocity v4 Ans.v) 119 fisce Problem 5/115,Article 5/5 ems 379 5/116 The gear D (teeth not shown) rotates clockwise sr about O with a constant angular velocity of 4 rads. "The 90° sector AOE is mounted om an independent shaft at O, and each of the small gears at A and B ‘meshes with gear D. Tf the seetor has a eounter- clockwise angular velocity of 3 rad/s at the instant represented, determine the corresponding angular velocity w ofeach ofthe amall gears Problem 5/116 In the design of the mechanism shown, collar A to slide along the fixed shaft as angle 0 increases, When 0 = 30 the contra link at D is to have a downward component of velocity of 0.60 mis. De- termine the corresponding velocity of collar A by the method ofthis article Ans. v4 = 0.509 mis 5/118 The flexible hand F is attached at F to the rotating sector and leads over the guide pulley. Determine the angular velocities of AD and HD for the posi- ton shown ifthe band has a velocity of 4 mis. 4m Problem 5/118 5/119 Motion ofthe roller A against its restraining spring is controlled by the downward mation of the plunger B. For an interval af motion the velocity of B isv = 02 mis, Determine the velocity of A when @ becomes 90° Anes 278 mis5/120 In the design ofthis mechanism, upward motion of the plunger G controls the motion of a control rod ‘move with the sliding collar on the fixed vertical shaft ZD. If G has a velocity vg ~ 2 mis fora short interval, determine the velocity of A for the posi= tion 0 = 45% Problem 5/121 5/122 The shaft at O drives the arm OA at a clockwise speed of 80 rovinin about the fed bearing at 0. Ups Uogaenl odo hninefontscmmas emer oro ‘locity to deformine the rtatioal peed of gar {Gear teeth not shown) If a ring gear D is fixed tnd @) rng gon D rotates countrcoetrae about lon sis (rwith a oped af 80 rev’min “Ans: (wp = 960 rin 5/121 Detemine the angular vost wf the ram head AE (075 600 revinin of the rock cranher inthe poston for which = 60 “The crank OB hasan angular speed of 6D revinin ‘When B ist the boom of ts cle, D and ure on herantl ne Soh an line BD ed AB re ‘ert The dimensions are OB ~ 4in, BD ~ 90in, ‘Problem 5/1221¢ Kinematics of Rigid Bodies PROBLEMS Introductory Problems 5/123 The two rotor blades of 800-mm radius rotate counterelockwise with a constant angular velocity = 6 = 2 adie about the shaft at © mounted in the sliding block. The acceleration of the block is ao = 3 ms, Determine the magnitude of the ac- celeration ofthe tip A of the blade when (a) # = 0, (b) 0 = 07, and (¢) # = 180°, Does the velocity of 0 or the sense oft enter inta the calculation? Problem 5/123 5/128 Refer to the rotor blades and siding bearing block of Prob. 5/128 where ap ~ 3 m/s. If @ = 5 radi! and f= O when @ = 0, find the acceleration of point A for this instant. 5/125 Determine the acceleration of point B on the equa: tor ofthe earth, repeated here from Prob. 5/64. Use ‘the data given with that problem and assume that Ge mands eliiad yale reales, coud ‘Table D/2 as necessary. Consider the center of the sun fixed and neglect the tilt of the axis of the arth, Ans. ay = 0.02791 mi 5/126 A container for waste materials is dumped by the hydraulically activated linkage chown. Ifthe piston tod starts from rest in the position indicated and hhas an acceleration of 0.8 tw/st in the direction shown, compute the initial angular acceleration of the container. Problem 5/126 5/127 ‘The 9m steel beam is being hoisted from its hori- zontal position by the two eables attached at A and 2B. Af the initial angular acclorationa of the hoict- ing drums are a, = 0.5 rad)s# and ag = 0.2 vads#in the directions shown, determine the corresponding angular aveeleration a of the beam, the aecelera- tion of C, and the distance b from B to a point Pon the beam centerline which has na acceleration. “Ans. = 0.05 rads? CW, ae = 0.05 mys! down. b= 2mright of B Problem 5/127Article 5/6 ems 387 5/128 A cor has a forward acceleration @ = 12 fils ‘without slipping its 24in-diameter tires, Deter ‘mine the velocity v of the ear when a point P on the tre inthe position shown wil have zero horizontal component of acceleration. Problem 5/128 5/129 ‘The center O ofthe disk has the velocity and accel: ration shown in the figute. Ifthe disk role with- ‘out slipping on the horizontal surface, determine the velocity of A and the acceleration of B for the instant represented. Ana. ¥4 = BIR + 2.135 mie Ap = —16.251 + 2.5) mist 5/130 The punch, repeated here from Prob. 557, is oper- s/s ated by a simple harmonic motion of the pivoted sector given by # = Oy sin 2et. By the method of this article, calculate the acceleration of the punch when # = Of the amplitude = #/12 rad, Problem 5/130, Determine the angular acesleration of link AB and the linear asceleration of A for 0 = 90° if @ = @ auch = a rads! at that position. Carry out your solu ton using vector rotation ‘Ans. dy = —AK ral, ay = 1.61 mis?sna srs ‘The load Lis lowered hy the two palleys which are Tastened together and rotate asa single unit, Far the instant represented, drum A has a counterelodkise angular velocity of 4 radse, which is decreasing by 4 radisec each socond, Simultaneously, drum B has a clockwise angular velocity of 6 radlse, whichis in- creasing by 2 rai/see each second. Calculate the ac. celeration of points Cand D and the load L Problem 5/132, ‘The wheel-and-shaft unit of Prob, 5/202 is repeated there with the additional specification that the ac. celeration ofthe center O is 4 Mise to the left as shown. Ifthe shaft roll on the fixed horizontal aur face without slipping, determine the aecolerations of points A and D. “Ans. ay = 244 ~ 2705 Rowe! 2651 ~ 73.6) fsec* Problem 5/133, 5/134 Caleulate the angular acceleration ofthe plate in the position shown, whore control link AO has a con- stant angular velocity win, = 4 radiee and # = 60° or both links. Problem 5/1 5/135 The bar AB from Prob, 5/72 is repented here. If the velocity of point A is 3 mils to the right and is constant for an interval including the position shown, determine the tangential acceleration of point B along its path and the angular aceelera- tion ofthe bar. 20.9 mist, a = 36.2 rad? CW Problem 5/135 5/136 Determine the acceleration of the piston of Sam- pile Problem 5/15 for (a) @ = 0°, (8) 0 = 90°, and (€) # = 180°, Take the positive x-direction to the right.Article 5/6 5/137 Link OA has constant counterclockwise angular velocity « during a short interval ofits motion. For the position shown determine the angular accelera- tons of AB and BC. Ansceray~ tana ~'6 2 Problem 5/137 5/138 The two connected wheels of Prob, 5/62 are shown ‘again here. Determine the magnitude of the aceel- tration of point 2 in the position stiown ifthe cen- ter C of the smaller whee! has an acceleration to the right of 0.8 mis* and has reached a velocity of 0.4 mis at this instant, 5/139 The sliding collar moves up and down the shaft, causing an oscillation of erank OB. I the velocity of As not changing ait passes the null postion where ‘AB is horizontal and OB is vertical, determine the ‘angular acceleration of OB in that position Ana. aon = Problem 5/139 5/140 The configuration shown is designed to produce os- cillation ofthe bin of small parts about C, asa part fof a production process. Obtain an expression for tion where the connecting link AB and the erank (OA are in the yertieal position with BC horizontal, ‘The eran is rotating clockwise with a constant an- ular velocity @ for @ short interval of motion, ‘Problem 5/140‘The mechaniam of Prob. 5/75 in repeated here. Each ofthe sliding bars A and B engages its respec. tive rim of the two riveted whecla without aipping. If, in addition to the information shown, bar A has fan acceleration of 2 mis? to the right and there i ro acceleration of bar B, calculate the magnitude of the acceleration of P for the instant depicted. ‘Ans. ap = 362 mist Problem 5/141 15/142 Av the instant represented 0 ~ 45° and the triangu- Ine plate ABC has » counterclockwise angular ve- locity of 20 rad’s and a dlockwise “angular acceleration of 100 radis?. Determine the magni- ‘tudes ofthe corresponding velocity v and accelera- tion a of the piston rod af the hydraulic eylinder attached to C. Problem 5/142 5/143 The deployment mechanism for the spacecraft ‘magnetometer boom of Prob. 6/87 is shown again here. The driving link OB has a constant clockrise angular velocity woy of 0.5 rade as it erosses the vertical position. Determine the angular accelera- tion acs of the boom for the position shown where tano = 43. Problem 5/143, 5/144 The triangular plate, repeated here from Prob. 6/76, hhas a clockwise angular velocity of 3 rad/see and (4 has 2010 angular acceleration for the instant represented. Determine the angular accelerations of plate ABD and link BC for this instant.Article 5/6 5/145 The linkage of Prob. 5/88 is shown again here. If | §/147 Plane motion of the triangular plate ABC is eon- (A has a constant counterclockwise angular veloc. tolled by erank QA and link DB. For the instant ity wy = 10 rads, caleulate the angular acceleration represented, when OA and DB are vertical, OA haa of link AB for the position where the coordinates of 4 clockwise angular velocity of 3 radis and a coun ‘Aarex = ~60 mm and y = 80 mm. Link BC is ver- terclockwise angular accoleration of 10 radi. De- tical for this postion. Solve hy veetor algebra. (Use termine the angular acceleration of DB for this tho results of Prob. 5/88 for the angular volocitice instant, of AB and BC, which are ayo ~ 5.83K radia and Ana, ing ~ 1234 radio? COW aye = 25k ras) Ans. a= 10.42K radi © B 20 Problem 5/145, piibliesiicn 5/146 The reohng crank ED and comeing tn CO . toute theo fame ABO to cca aut Oot SE Ter tee Hang en ecosint She abet ceppeneted 20a GP om bei pee ‘an interval which includes the instant repre- pendicular to FO, and the crank ED has an angular bane - i ey ie ea Sieh bing fn een nein 80 10.0 thet enunbarecoe FoBie god te enti pan Hk pene gore Bier cemee teanelieaTindnie ns set topics of Rigid Bodies '5/149 For a short interval of motion, link OA has a con: stant angular velocity w ~ 4 rad/s. Determine the angular acceleration ay of link AB for the in- stant when OA is parallel to the horizontal axis through B. Ans. cg, = 1.688 rad’? COW 20 mm Problem 5/149 5/150 "The elements of a power hacksave are shown in the figure. The saw blade is mounted in a frame which slides along the horizontal guide. Ifthe motor turns the flywheel at a constant counterslockwige speed of 60 revimin, determine the acceleration of the hlade {or the postion whore # ~ 90°, and find the corre. sponding angular acceleration ofthe link AB. Problem 5/150 5/151 Tn the design of this linkage, motion of the square plato is controlled by the two pivoted links. Link (OA has a constant angular velocity = 4 ad's dur- ing a short interval of motion. For the instant rep resented, = tan? 4/8 and AB is parallel to the seaxis, Por this instant, determine the angular ae- cdleration of both the plate and link CB. ‘Ana, acy ~ 16.08 radia? COW ‘ayy © 3.81 ras! COW Problem 5/151 5/152 The mechanism of Prob. 5/118 is repeated here where the fleble band F attached to the sector at E ia given a constant velocity of 4 m/s as shown. For the instant when BD is perpendicular to OA, determine the angular acceleration of BD. Amis Problem 5/152Article 5/6 ems 393 [5/153 If the piston rod of the hydraulic eyinder C has a constant upward velocity of 0.5 mis ealeulat the ac- coleation of point 2 forthe postion where 0845" Ans. ay = 0.7864 mi Problem 5/153 5/154 16 end A of the constrained link han a constant downward velocity v4 of 2 mis asthe bar pastes the position for which 0 = 30°, determine the accelera- tion ofthe mass center G in the middle ofthe link. Compare solution by vector algebra with solution by veetor geometry. Problem 5/154 5/155. Motion of link ABC is controlled by the horizontal ‘movement of the piston rod of the hydraulic eylin- der D and by the vertical guide for the pinned alider fat B. For the instant when # = 45°, the piston rad is retracting at the constant rate ve = 0.6 fisec, De- ‘termine the accoleation of point A for this instant. ‘Ana. ty = 6.14) see? Problem 5/155 Elements ofthe switching deviee of Prob, 685 are shown again here. Ifthe velocity v ofthe contra rod is 9 Musee and is decreasing ut the rate of 20 fsec” ‘when # = 60°, determine the magnitude of the ac- coleration of Problem 5/15615/187 An intermittent-dive mechanism for perforated tape FF consists of the link DAB dive by tho crank OB. ‘Thetrace ofthe motion ofthe finger at Dis own by the dashed line, Determine the magnitude of the ac celeration of at te instant represented when bath OB and CA ae horizontals OB has constant clocks ‘wise rotational velocity of 120 revinin. ‘Ans. op ~ 1977 mst 1¢ Kinematics of Rigid Bodies 5/158 The mechanism of Prob. 5490 for pushing small Doxos from an assembly line onto a conveyor belt is shown with arm OD and crank CB in their vertical positions. For the configuration shown, erank CB thas a constant clockwise angular velocity of radis, Determine the acceleration of Ans. ag = 0.285 mis Problem 5/158Article 5/7 PROBLEMS Introductory Problems 5/159 "The disk rotates about a fixed axis through O with angular velocity « = 5 rad/s and angular aeeelera- tion a = 3 rad/s? at the instant represented, in the directions show. The slider A moves in the straight slot. Determine the absolute velocity and aceelera- ton of A for the same instant, when x = 36 mm, 4% = 100mm, and # = 150 mms! ‘Ana, ¥q = ~2254 + 180) mm/s a= 6754 — 1793) mus? Problem 5/159 5/160 ‘The disk rolls without slipping on the horizontal surface, and at the instant represented, the center has the velocity and acceleration shown in the ‘igure. For this instant, the particle A has the indi- fated speed 1 and time-rate-ofchange of epecd 1, both relative to the disk Determine the absolute velocity and acceleration of particle A, Problem 5/160 ‘An experimental vehicle A travels with constant peed v relative to the earth along a north-south tack Determine the Coriolis acceleration A. a8 a funetion of the latitude #. Asaume an earth-fixed rotating frame Baye and a sphorical earth. If the vohicleapeed is v = 500 kemih, determine the mag- nitude of the Coriolis seceleration at (a) the equa tor and (6) the north poe. Ans.) acy = 0, (0) eye = 010208 ms i i x a 2 Problem 5/161 5/162 ‘The small cylinder A is sliding on the bent bar with, speed relative to the bar as shown, Simultane- ‘ously, the bar is rotating with angular velocity « about the fixed pivot B. Take the xy axes to be fixed to the bar and determine the Coriolis aceeler- ation of the sider for the instant represented. In- texpret your result.406 Chapters _PI 1¢ Kinematics of Rigid Bodies ‘5/163 Consider a straight and level rallroad track with a {50 000-kg railroad ear moving along tat a constant speed of 15 mis. Determine the horizontal force exerted by the rails on the ear if the track were located hypothetically at (a) the north pole and (@) the equator, oriented ina north-south direction ‘Ans. (a) R = 109A N, (6) R= 0 ‘5/168 In negotiating an unbanked curve at a steady speed of 25 kmh, the center C ofthe railroad car follows a circular path ofradius p = 60 m. The longitudinal fis of the ear remains tangent tothe circle. Deter- ‘mine the absolute velocity v of a person P who walks at the eonstant speed of 1.5 mis relative to the car when he is at points A, B, and C. Use the £9 axos attached to the car as shown. Problem 5/164 5/165 Car B is rounding the eurve with a constant speed of 54 kh, and car A is approaching ear B in the intersection with a eonstant speed of 72 km/h. De- termine the velocity which car A appears to have to fan observer riding in and turning with car #. The ‘cy ates are attached to ear B. Is this apparent ve- locity the negative of the velocity which B appears ‘to have to a monrotating obsorver in ear A? The dis- tance separating the two ears at the instant de picted is 40m, Ans You = 204 ~ 9 mis, No Problem 5/165, 5/166 For the ears of Prob, 6/165 traveling with constant speed, determine the acceleration which car A ap- pears to have to an observer riding in and turning with ear B. Representative Problems 5/167 ‘The slider A oscillates in the slot about the neutral position O with a frequency of 2 cycles per second and an amplitude sina Of 2 In, #0 that its displace: ‘ment in inches may be writen. nt where tho timo in seconds, The disk, in turn, is sot into angular oscillation about O with a frequency fof 4 cycles per second and an amplitude @ux = 0.20 rad. The angular displacement is thus given by # = 0.20 sin St. Calculate the accoleration of A for the positions (a} x = 0 with & positive and Ws = in Ans. (a) ay * 253) ince” (B) ay = ~8661 i sec ee Problem 5/167 5/168 A vehicle A travels west at high speed om a per- fectly straight road B which is tangent to the sur- face of the earth at the equator. The road has no curvature whatsoever in the vertial plane. Deter- ‘mine the necessary speed vi ofthe vehicle relative to the road which will give rise to zevo acceleration ‘of the vehicle in the vertical diction, Agsume that the center ofthe earth has no acceleration.yy ters Problem 5/168 5/169 Ifthe road of Prob. 5/168, instoad of being straight with no curvature, followed the curvature of the carth’s surface, determine the nevessary speed Una of the vehicle to the west relative to the road that will give rise to zero vertical acceleration of the ve- hnile. Assume that the center of the earth has no Aaceeleration. Ans, = 1674 kh 5/170 "The fire truck is moving forward at a speed of 35, air and is decelerating at the rate of 10 Risec ‘Simultaneously, the ladder is being raised and ex: tended. At the instant considered the angle Wis 30" and is incrousing at the constant rate of 10 dog/ee. Also at thi instant the extension b ofthe ladder is 5, with & = 2 fseeand 5 = 1 fave’, For this instant determine the acceleration of the end A of tho ladder (a) with respoet tothe truck and () with respect tothe ground, 5/171 Cars A and B are rounding the eurvos with equal speeds of 72 km/h. Determine the velocity which A ‘appears to have to an abserver riding in and turn- ing with ear B for the instant reprosonted. Does the curvature of the road for car A affect the result? Axes. ate attached tocar D. Ane Wg = ~461 18 ‘Problem 5/171 5/172 Ifthe cars of Prob. 5/171 both havea constant speed ‘of 72 kam as they round the curves, determine the acceleration which A appears to have to an observer viding in and turning with car B forthe instant rep- resented. Anos ary are attached to car B. 5/173 ‘The air transport B is flying with « constant speed of 480 mihr in a horizontal are of mi radius. When B reaches the postion shown, sitcraft A, fying south ‘west ata constant speed of 360 mith, crosses the ra- dial line from B to the center of curvature C of its path. Write the veetor expression, using the x axes attached to B, for the velocity of A as measured by ‘an observer in and turning with B. Ans. Nou = ~BTB1 ~ 686) fsce ‘Problem 5/1731¢ Kinematics of Rigid Bodies 5/178 For the conditions of Prob. 5/173, obtain the vector expression for the accoloration which aircraft A ap- pears to have to an observer in and turning with aireraft , to which axes s-y ae attached. Use the results cited in Prob, 5/178 for Vy. 5/175 A tall building is situated on the equator. The north face of the building houses a standard 12-he lock whose eenter is a distance above the ground (which is essentially at sea leve). Develop expres- sions for the velocity and acceleration of the tip A of the hour hand at 12 o'clock as measured from an earth-centered nonrotating coordinate system. ‘Take the positive direction of the x-axis toe from. tho center ofthe earth radially outward toward the building ond that of the z-axis toward the north "The hour hand has a length I and makes two eom= plete rotations relative tothe clock during one com= plete rotation of the earth. The rudius and angular velocity ofthe earth are and a Ans. tg = (R= Daj ay = UR + Dah 5/176 4 smooth bowling alley is oriented north-south as Shuwit A ta A is relent with speedo aor de lane as shown, Because of the Coriolis effec, it will deflect distance 8 us shown. Develop « general x: pression for 3. The bowling alley is loested ata lati- tude @ in the northern hemisphere, Evaluate your ‘expression forthe conditions L = 60, v = 15 sec, and @ ~ 40°. Should bowlrs prefer east-west alloys? State any aseamptions eke 5/177 The spring-mounted colar osellates on the shaft ac- cording tox = 0.04 sin nt, where. is in meters and 1 is in seconds, Simultaneously the frame rotates about the bearing at O with an angular velocity ‘= 2ein (212) mis, Determine the aeeleration of the center C of the collar (a) when ¢ = 3 s and @)whent = 12. Ans (a) ag = —0:297j mist 09191 0811) mé® ‘Problem 5/177 5/178 For the instant represented, link CB is rotating, counterclockwise at @ constant rate N = 4 radis, and its pin A eauses a clockwise rotation ofthe alot- ted member ODE, Determine the angular velocity «» fan angular acceleration «of ODE for this instant.Article 5/7 5/179 The figure shows the vanes of a eentrifugal-pump impeller which turns with a constant clockwise speed of 200 rev/min. The fluid particles are ob served to have an absolute velocity whose eompo- nent in the r-direction is 10 faec at discharge from. the vane. Furthermore, the magnitude af the veloc. ity ofthe particles measured relative tothe vane is inereasing at the rato of 80 see" just before they leave the vane. Determine the magnitude of the ‘otal acceleration of a fluld particle an instant be: fore sleeves the epee. The radius of curvature ofthe vane at its end is8 in “Ans. a = 156.5 ft/sec? Problem 5/179 5/180 Bach of the two ears A and B is traveling with a ‘constant speed of 72 kam, Determine the velocity land seceleration of car Aas seen by an observer ‘moving and rotating with ear B when the ears are in the positions shown. The xy axes are attached to car B, Sketch both relative motion vectors. Problem 5/180 Att chamber i used to ty motion skies. Sicspae Se catoe oes Meee thrwugh © eccordng t= 6a Sof nd tte eg fain eater inl ata Sos Zeft saute to the tame” For a cera Tose ttt amplitude ae tt at y= a ‘ans et = Cf tle Coenen Gonoclo are, =f ejlasc and f, =} labo Determine tht yecr exestion fr th sels ti ot point inthe cher at the instant hon t= Boece Ans = 2 Ful shyt Problem 5/1 ‘Two satellites are in cireular equatorial orbits of di ferent altitudes. Satelite A is in a goosynchronaus orbit (one with the same period as the earth's rota- ton so that it “hovers” over the same spot an the equator). Satelite B has an orbit of radius ry = 80 000 kin, Caleulate the velocity which A appears to Ihave to an observer fixed in H when the elevation nie @ i a) O° and (6) WP. The xy axes are attached 0B, whose antenna always points toward the center ofthe earth (—-direction, Consult Art. 18 and Ap- pendix D for the necessary orbital information1¢ Kinematics of Rigid Bodies s/s ps/iee ‘The crank OA revolves clockwise with a eonstant angular velocity of 10 rad/s within a limited are of ‘ta motion. For the postion # = 30° determine the Angular velocity ofthe slotted ink CB and the aceel> eration of as mensured relative to the slot in CB. ‘Ans. «= Brad's CW, a = ~B660% mms Problem 5/183, [Near the end ots takeoff ol the airplane is “rotat- ng” (nose pitehing up ust prior to itt The veloc: ity and. scceleration of the aireraft, expressed in terms ofthe motion ofthe wheel assembly C, ae ve fan ac, both divected horizontally forward, The piteh Angle is 0, and the pitch rate w = 6 is increasing at the rate a ~ a. Ifa pereon A fe walling forward in the center aisle with velocity Land acceleration £, both measired forward relative to the cabin, derive ‘expressions forthe velocity and acecleration of A as observed bya ground-ixed observer. ‘Ans. ¥4= (te e089 oh + ENL+ (ob ~ ve sin 0 ay = (cen 8 ~ ah — La? + Bt 4 (ac in 0 = hu + La + 2e fej Problem 5/184 185 Determine the angular acceleration of link BC in the position shown, whore w = = 2 rad/sce and 5 = Gradisec! when 0 = = 60°. Pin Ais fixed to link ZC. The circular slot in link DO has a radius of curvature of 6 in. In the position shown, the tangent to the slot atthe point of contact is paral- lelto.ao, Ane. igo = 12 rad/soe? COW oF Problem 5/185, 5/186 ‘The space shuttle Ais in an equatorial circular anit (of 240-km altitude and is moving from west to east. Determine the velocity and acceleration which it ap- ests Uo Tsave U erve nel o nd votaing with the earth at the equator as the shuttle passes ‘overhead, Use R = GH78 lem for the radius of the arth. Also use Fig 1/1 for the appropeiate value of ‘and carry out your ealeulations to igure aeeuray. ‘Ans. Vj = ~26 2208 kam ay = — 8018} mist (osingg = 9814 mis?)REVIEW PROBLEMS 15/187 "The civeular disk rotates about its2-avi with an an- ular velocity @ = 2 rad/s. A point P loeated on the rim has a velocity given by ¥ = —0.81 ~ 04) mis Determine the coordinated of P and the radius r of the disk. Ans. 08 m,y = 04m, "= 05m Problem 5/187 5/188 "The rectangular plate rotates about its fixed z-axis Ac the instant considered ite angular velocity is = 3 rad’s and is decreasing at the rate of 6 rads per second. For this instant write the vector ex: pressions for the velocity of P and ite normal and {tangential components of uveleration 13/109 Yor tho mstant represented, the mnstantancous con- ter of 200 velocity for the rectangular plate in plane motion is located at C. If the plate has a counterclockwise angular velocity of 4 rads at this instant, determine the magnitude ofthe velocity Vo of the center O of the plat, Ans. tg ovr mia Problem 5/189 5/190 The oscillating produce tray of Prob. 5/86 is shown ‘again here, Ifthe erank OB has a constant counter- clockwise angular velocity of 0.944 radia, determine ‘the angular velocity of AB when = 20° Problem 5/190 5/191 ‘The whoo slipe as it rolls I'vp ~ 4 fUboe and ifthe velocity of with respect ta is V2 flac, Ineate the instantaneous center C of zero velocity and find ‘the velocity of point P. Ans. op = 4.27 fiseeArticle 5/8 Review Problems 413 [5/192 "The large power-cable reli rolled up the incline by the vehicle as shown, The vehicle starts from rest stant rate of 2 Risee, For the instant when x = 6 ft, faleulate the acceleration of point P on the reel im the position shown. Problem 5/192 5/198 The two pulleys are fastened together to form a single rigid unit, and each of the two cables is ‘wrapped securely around its respective pulley. IF pit A us the beating cabde has an upward accel ration of 2 fisec, determine the magnitudes of the velocity and accoleration of pointe O and 3° polnt A has an upward velocity ofS f¥see at the in- stant depicted. ‘Ans. vg = 2 fisce, vp ~ 2.88 Asoc 49 = 1833 flee, oy = 298 Mec h A Problem 5/193 5/194 ‘The isosceles triangular plate is guided by the two vertex rollers A and £ which are confined to move I te peipoudiculas slots, The coutsul ll yes A ‘a constant velocity ¢4 to the left for an interval of ‘motion, Determine the value of# for which the hor- ‘nontal eomponent of the velocity of C ie ern, oe Problem 5/194 5/195 At the instant represented x = 50 mm and 16 mis. Determine the corresponding velocity of point B. Ans.t5 029 mis5/196 The pin A in the boll crank AOD is guided by the ‘anges of the collar, which slides with a constant velocity up of 3 fUisec along the fied shaft for an n= terval of motion. For the position 9 = 30° deter. ‘mine the acceleration of tho plunger CB, whose "upper end is paitioned hy the radial alot in the bell, crank. Problem 5/196 5/197 In the position shown the bar DC is rotating coun- terclockwise at the constant rate N = 2 radisee. De- termine the angular velocity # and the angular Aceeleration of BBO at this instant. 2 radisce CCW 8 radicoct CW Problem 5/197 5/198 ‘Tape is being transferred from reol A to reel B. If reel B rotates with a constant angular velocity oy, etermine an expression for the angular accelera- Liou ot dru ceed A at any insta hear be tape radii of A and B are r and rp, respectively. The thickness of the tape is b. Neglect the very small angular motion of the tape between the reels, X a Problem 5/198 5/199 ‘The wheel rolls without slipping, and its position is controlled by the mation of the dider BIB hae a constant velocity of 10 in,/see to the lft, determine the angular velocity of AB and the velocity of the center O ofthe wheel when # = 0. “Ans ony = 0.354 rade CW 9 = 7.88 in sce Problem 5/199 5/200 If the center O of the wheel of Prob, 5/199 has a ‘nintant vehity uf One Wy he Jey eabate Ce facecleration ofthe slider B forthe position 0) = 0, 5/201 The figure illustrates a commonly used quick return mechanism which produces a slow cutting stroke of the tool (attached to D) and a rapid return stroke. If the driving erank OA ia turning at the constant rate = 3 rad{s, determine the magnic tude ofthe velocity of point B forthe instant when 4-30. Ans.vg = 288 mmaArticle 5/8 R w Problems 415 5/202 The throo gears 1, 2, and 2 of equal radii are ‘mounted on the rotating arm as shown. (Gear teeth are omitted from the drawing.) Arm OA rotates clockorise about O at the angular rate of 4 rads, ‘hile goar 1 rotates independently at the counter- clockwise rate of #radis, Determine the angular ve- locity of gear 8, 1 2 3 Problem 5/202 5/203 For the position shown where # = 90%, point on the sliding collar has a constant velocity v = 0.9 mis ‘with corresponding tengunening of the nytraulle cylinder AC. For this same position BD is horizontal ‘and DE ia vertical. Determine the angular accelera- ton ape of DE at this instant. Ans. ce > 245 rads? COW 5/204 A radar station H situated at the equator observes ‘satellite A in a circular equatorial orbit of 200-km altitude and moving from west to east. For the in- stant when the satellite is 30° above the horizon, determine the difference between the velocity of the satellite relative to the radar station, as mea sured from a nonrotating frame of reference, and the velocity as measured relative to the reference frame of the radar system.1¢ Kinematics of Rigid Bodies {5/205 ‘The wheel rolls on the circular surface without slip- ping. In the bottom position, it has an angular ve- locity w and an angular acceleration , both clockwise. For this position, obtain expressions for the acceleration of point C on the wheel in contact with the path and forthe accoloration of point A. ral is ret OR =1 [igh a = trai + nat RD Ans. ap = *5/207 For the Geneva wheel of Prob. 5/56, shown again here, write the expression for the angular velocity Pape se oy of the slotted wheel C during engagement of pin P and plot wy for the range —45° = 0 = 45" The driving wheel A has a constant angular veloc BD eens iguana *5/200 switedurm Of oscintes aout the verti bythe Anaiog= 8208010) ‘ction of the rotating erank CA of Sin. lent Ben pom 0+ 8 Jihies (in pa A igege fi Seton peed N= 120 rein of crake CA, determine A A {and ph the angular veloty of arm OB as a soon oop function of # through 360°, whore f ie the angle ‘between OC and OB. Find # for zero angular ve- locity of OB.95/208 4 constant torque M exceeds the moment shout © due to the fore F on the plunger, and an ane gular aceleration 6 = 1001 ~ cos 6) rads re Fults, If the crank OA ix released from rest at B, where 0 = 30°, and strikes the aop at C, where 0 ~ 150%, plot the angular vehnity 6 99 a Pann tion of # nd find the time £ for the erank to ro- tate from ? = 90° to # = 150° \r Problem 5/208 5/209 For the slder-erank configuration shown, devive the expression forthe veloelty ty of the piston (taken positive to the right) as a function of #. Sub- ste the numrical dats of Sample Problem 5715 Pht og vroue 0 and find ia maximum magnitude and the corresponding value of 8. By symmetry Antipas the reste or 180 = 0 = 360") (ae = 686 fae at 8 = 723° ancoy= ruin Problem 5/209 file 5/8 _Review Pr ems 417 *5/210 For the slider-rank of Prob. 5,208, derive the ex- “san pression for the acceleration ay of the piston (Caken postive to the right) aa a funetion of @ for = 6 = constant. Substitute the numerical data of Sample Problem 5/15 and ealeulate ay as a Fuh uf 0 fn = 6 = 100°, Phudceg vevou 0 aul find the value of for which oq = 0. (By symmetry anticipate the results for 180° = @ = 2607.) ‘The eronk rotates clockwise at the constant rate 4 = 8 rails The connecting link AB passes through ‘the pivoted colar at C. Determine the maximum velocity v at which AB passes through the collar and the corresponding value of 6 Plot f vs. @ for (0 = 0 180", where /is the distance AC, Ana.» = 240 mms at 05° 5/12 k 240mm | Problem 5/211 Bar OA rotates about the fixed pivot O with eon- stant angular velocity = 0.8 rad/s. Pin A is fixed to bar OA and is engaged In the slot of member BD, which rotates about a fixed axis through point 1D, Detevmsine au yl vver Me range 0 = = 200° the angular velocity and angular acceleration of ‘BD and the velocity and acceleration of pin A rela ‘ive to member HD.PROBLEMS Introductory Problems 6/1 ‘Tho uniform 20-kg bar OB is secured in tho vertial position to the accelerating frame by the hinge at O and the roller at A. Ifthe horizontal acceleration of the frame is @ = 20 mis‘, compute the force Fy on the roller and the horizontal component of the force sup- ported by the pin at 0. Ane. Fy = 1200.8, 0, = 600.N Problem 6/1 6/2 A pascongor ear of an overhead monorail system ie Griven hy one ofits two small wheels A or B. Select ‘the one for which the car cam be given the greater ac. celeration without slipping the driving whee! and ‘compute the maximum acceleration ifthe effective eo ficient of frietene is tte tr 025 lnecweet the ‘wheels and the rail, Neglect the small mass of the wheel {6/3 What acceleration « ofthe eallar along the horizontal seu wil result in a steudy-state 19° deflection of the pendulum fom the vertical? The slender rod of length J and the particle each have mass m, Friction at the pivot P is negligible. Ans. 0 = 0.268¢ Problem 6/3 {6/4 "The uniform pole AB secigha 100 Ib and is auspended {n the horizontal position by the three wines shown. IE ‘wire CB breaks, caleulate the tension in wire BD i= ‘modiatoly after the break. (Suggestion: By a thought- fal choice of moment center, solve hy using only one ‘equation of mation.)Article 6/3 ems 433 66/5 Determine the minimum speed v and the eorrespond+ ing angle 0 in order that the motoreycle may ride on the vertical wall ofa eylindriel track. The effective coefficient of fiction between the tires and the wall is (0.70, (Note that the forees and acceleration Tie in the plane of the figure, o the problem may be treated as fone of translatory plane motion) Ans.v = 42.6 emih, 9 = 55.0" Problem 6/5 6/6 The arm OA of the classifying accclerometer has a mass of 0.25 kg with center of mass at G. The adjust- {ng sorew and spring are preset to a force of 12 Nat 2 At what acceleration a would the electrical contacts at ‘Abe on the verge of opening? Motion is in the vertical plane of the figure, {6/7 A uniform slender rod rests on w ear seat as shown. Determine the develeration a for which the rod vill begin to tip forward. Aasumne that friction at is suffi- cient to prevent slipping Ane. 0 = 5.66 mist (6/8 ‘The uniform 5-kg bar AB is suspended in a vertical position from an aecelerating vehicle and restrained hoy the wire BC. If the acceleration is « = 0.6g, deter- tmine the tension T in the wire and the magnitude of the total free supported by the pin at A Problem 6/8of Rigi {6/9 The rear-wheel-drive lawn mower, when placed into oar while at rest, i observed to momentarily spin its ear tires as it aecelerates. I'the coefficients of fiction Detvecen the rear tires and the ground are yi, = 0.70, fad yp ~ 0.50, deverine tbe Gr wand auveleration Of the mower, The mass of the mower and attached bag is 50 leg with contor of mass at @. Assume that the ‘operator docs not push on the handle, so that P = 0. ‘Ans. a= 4.14 rls? Problem 6/9) 6/10 The 600-bg crate is supported by rollers at A and B and is boing moved along the floor by the horizantal cable. Ifthe initial cable tension is 2000 N a8 the Winch takes hold, determine the corresponding orees under the rollers. The center of mass of the crate is located at its geometric center. {6/11 Determine the value of the force P which would cequso the cabinet to bogin to tip. What coefficient, of static friction is necessary to ensure that tipping ‘ceurs without slipping? Ano. B= 992.8, p> ‘Problem 6/11ati le 6/3_r ems 435, {6/12 ‘The bicyclist appli the brakes as he descends the 10° incline. What deecleration a would cause the Gangerou condition of tipping about the frat wheel A? The combined eenter of mass of the rider and bi: exe isat @ yh a Problem 6/12 {6/15 The uniform 80-1 plank is supported in the pickup truck at its end A and at Bt where it rests on the month top of the eab. Caleulate the contact force at B ifthe truck starts forward with an acceleration a= 12 see’. Ans, B= 48.715 ‘The device shown consists of a vertical frame A to which are freely pivoted a geared sector at O and a Dolanced gear and attached pointer at C. Under a steady horizontal aeeleration a tothe right, the see- tor undergoes clockwise angular displacement, thus eausing the pointer to register steady counter” clockwise angie from the zero-acceleration postion at @ = 0, Determine the acceleration corresponding toan angle 0. Problem 6/14 6/15 The 1650:kg ear has its mass center at @. Calculate the normal forces 4 und Ns between the road and the ffont and rear pairs of wheels under conditions of maximum acceleration. The mass of the wheels is stiall compared with the total mass of the eat. The coefficient of static fiction between the ruad and the rear driving wheels i 08, ‘Ans, Ny = 6.85 KN, Ny = 9.34 EN