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
2/4
8.2 (Homework)
The 2kg 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
eˆ
t
eˆ
N
mg
i
ˆ
j
ˆ
3/4
8.3 (Wilson & Sadler, Q10.8, p.759) (Tutorial)
The crank of the slidercrank 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 kgmm
2
about its mass center G
2
. The slider has a mass of 8
kg. The crank has a moment of inertia of 4000 kgmm
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
eˆ
n
eˆ
Ι
p
α
=
P
N
30°
B
t
eˆ
n
eˆ
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 2kg 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 kgmm2 about its stationary center of mass G1.759) (Tutorial) The crank of the slidercrank 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 kgmm2 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).