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SOLUTION 8
MP2002 Kinematics and Dynamics of Machinery

8.1 (Homework)
A uniform slender rod, of length L = 750 mm and mass m = 2 kg and
2
12
1
mL I
G
= , hangs freely from a hinge at A. If a force P of magnitude
12 N is applied at B horizontally to the left (h = L), determine
(a) the angular acceleration of the rod,
(b) the components of the constraint force at A.

Solution
Kinematic Analysis:
i j k r a
GA G
ˆ
375 . 0 )
ˆ
375 . 0 (
ˆ
α α α − = − × − = × =
  

Rod AB rotates about a fixed point A, so we have
2
2
2 2
3
1
2 12
1
mL
L
m mL mr I I
GA
G A
=
|
.
|

\
|
+ = + = = 0.375 (kg m
2
)
Dynamic Analysis:
• For Rod A
α


A A
I M =
k r i
GA
ˆ
375 . 0 )
ˆ
12 ( α − = × −


⇒ α 375 . 0 ) 75 . 0 )( 12 ( − = −
⇒ 24 = α (rad/s)
⇒ i a
G
ˆ
9 − =

(rad/s)

G
a m F


=
⇒ )
ˆ
9 ( 2
ˆ ˆ ˆ
12
ˆ
2 i j F i F i j g
y
A
x
A
− = + + − −

62 . 19
6
¦
¹
¦
´
¦
=
− =
y
A
x
A
F
F
(N)
A
B
I
A
α
G
a
G
=
y
A
F
A
L
12N
B
mg
G
i
ˆ

j
ˆ

x
A
F
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8.2 (Homework)
The 2-kg collar C is free to slide in the vertical plane along the smooth
rod AB, which is welded onto collar A as shown. The collar A is sliding
along the vertical shaft with acceleration 4 m/s
2
upward.
Determine:
(a) the acceleration of collar C
(b) the force acting on collar C by rod AB

Solution
Kinematics Analysis:
Acceleration of collar C
we can find
t
A C A C
a a a
/
  
+ =
t A C
e a j ˆ
ˆ
4
/
+ =

Dynamic Analysis:
• For collar C:
C n
a m e N j mg

= + − ˆ
ˆ
= ( )
t A C
e a j m ˆ
ˆ
4
/
+
Changing the coordinates by
j i e
t
ˆ
45 sin
ˆ
45 cos ˆ
 
+ = , j i e
n
ˆ
45 sin
ˆ
45 cos ˆ
 
+ − =
Then
i
ˆ
:
 
45 cos 45 cos
/ A C
ma N = − (1)
j
ˆ
: ) 45 sin 4 ( 45 sin
/
 
A C
a m N mg + = + − (2)
Solving (1) and (2)
⇒ 765 . 9
/
=
A C
a (m/s
2
), 53 . 19 = N (N),
Therefore,
49 . 7
/
= + =
t
A C A C
a a a
  
(m/s
2
) ∠-157.2
o
.

C
45°
A
B
n

t

N
mg
i
ˆ

j
ˆ

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8.3 (Wilson & Sadler, Q10.8, p.759) (Tutorial)
The crank of the slider-crank mechanism of the figure has an
instantaneous angular velocity of 10 rad/s clockwise and an angular
acceleration of 200 rad/s
2
clockwise. Acceleration information is given
in the figure.
The connecting rod has a mass of 15 kg and a mass moment of inertia
of 7500 kg-mm
2
about its mass center G
2
. The slider has a mass of 8
kg. The crank has a moment of inertia of 4000 kg-mm
2
about its
stationary center of mass G
1
.
Determine all bearing forces and the input torque T
1
for the position
shown.

82

36


44 . 186

90

OB =30 mm
BC =90 mm
a
G2
= 3810 ∠325
o
mm/s
2
α
2
= 66.3 rad/s
2
(ccw)
a
G3
= 5800 mm/s
2

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Additional Questions

8.4 A pipe (thin ring) with mass 500 kg and radius of 0.5 m rolls down
a ramp without slipping as shown. If the ramp is fixed horizontally,
determine the angular acceleration of the pipe and forces between the
pipe and ramp.

Solution:
Kinematic Analysis:
t n p
e r e r k r a ˆ ) ˆ (
ˆ
α α α − = − × = × =
  

125
2
= = mr I
p
(kg m
2
)

Dynamic Analysis:
• For pipe:
α


P P
I M =
⇒ )
ˆ
( ˆ ˆ
2
k mr e F e r
t n
α = × −
⇒ α 125 = Fr (1)

p
a m F


=
⇒ ) ˆ (
ˆ
ˆ ˆ
t t n
e r m j mg e F e N α − = − +
Changing the coordinates by
n t
e e i ˆ 30 sin ˆ 30 cos
ˆ
 
− = ,
n t
e e j ˆ 30 cos ˆ 30 sin
ˆ
 
+ =
Then
n
eˆ : 0 ) 30 (cos = −

mg N (2)
t
eˆ : r m mg F α − = − ) 30 (sin

(3)
Solving (1), (2) and (3)
⇒ 9 . 4 = α (rad/s)

¦
¹
¦
´
¦
= − =
= =
1225 ) 30 (sin
5 . 4243 ) 30 (cos
r m mg F
mg N
α


(N)

P
a
P
A
30°
B
t

n

Ι
p
α
=
P
N
30°
B
t

n

mg
F
i
ˆ

j
ˆ

N = 19.765 (m/s2).2o.49 (m/s2) ∠-157.53 (N). e n = − cos 45  i + sin 45  ˆ j ˆ j Then ˆ cos 45  i : − N cos 45  = ma C N ˆ j ˆ i ( ) C/A (1) (2)  ˆ : − mg + N sin 45  = m (4 + a j C / A sin 45 ) Solving (1) and (2) ⇒ aC / A = 9. which is welded onto collar A as shown.    a C = a A + a C / A t = 7. 2/4 . Determine: ˆ et (a) the acceleration of collar C (b) the force acting on collar C by rod AB ˆ en B Solution Kinematics Analysis: Acceleration of collar C    ˆ we can find aC = a A + aC / A t = 4 ˆ + a C / A e t j 45° A mg Dynamic Analysis: • For collar C:  ˆ ˆ − mgˆ + Ne n = m a C = m 4 ˆ + a C / A e t j j Changing the coordinates by ˆ ˆ ˆ e t = cos 45  i + sin 45  ˆ . Therefore.8. The collar A is sliding along the vertical shaft with acceleration 4 m/s2 upward.2 (Homework) The 2-kg collar C is free to slide in the vertical plane along the smooth rod AB.

186. The crank has a moment of inertia of 4000 kg-mm2 about its stationary center of mass G1.759) (Tutorial) The crank of the slider-crank mechanism of the figure has an instantaneous angular velocity of 10 rad/s clockwise and an angular acceleration of 200 rad/s2 clockwise.8. The connecting rod has a mass of 15 kg and a mass moment of inertia of 7500 kg-mm2 about its mass center G2.3 rad/s2 (ccw) aG3 = 5800 mm/s2 36 90 3/4 . The slider has a mass of 8 kg.3 (Wilson & Sadler. p.44  82 OB =30 mm BC =90 mm aG2 = 3810 ∠325o mm/s2 α2 = 66. Acceleration information is given in the figure. Determine all bearing forces and the input torque T1 for the position shown. Q10.8.

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5  ⇒ (N)   F = mg (sin 30 ) − m αr = 1225  (2) (3) 4/4 . Solution: Kinematic Analysis:    ˆ ˆ ˆ a p = α × r = αk × ( − re n ) = −αre t ˆ j ˆ i P B F N I p = mr = 125 (kg m ) 2 2 Ιpα P Dynamic Analysis: •  For pipe:  M P = I Pα ˆ en ˆ et mg 30° = ˆ en aP ˆ et 30° B A ˆ ˆ ˆ ⇒ − re n × Fe t = mr 2 (αk ) ⇒ Fr = 125α (1)   F = ma p ˆ ˆ ˆ ⇒ Ne n + Fe t − mg ˆ = m ( −αre t ) j Changing the coordinates by ˆ ˆ j ˆ ˆ ˆ i = cos 30  e t − sin 30  e n . If the ramp is fixed horizontally.5 m rolls down a ramp without slipping as shown.4 A pipe (thin ring) with mass 500 kg and radius of 0. determine the angular acceleration of the pipe and forces between the pipe and ramp.Additional Questions 8.9 (rad/s)  N = mg (cos 30  ) = 4243. (2) and (3) ⇒ α = 4. ˆ = sin 30  e t + cos 30  e n Then ˆ en : N − mg (cos 30  ) = 0 ˆ et : F − mg (sin 30  ) = − m αr Solving (1).