Given the equations:

𝑥 = 𝑅 ∙ (𝜃 − 𝑠𝑒𝑛𝜃)
𝑦 = 𝑅 ∙ (1 − 𝑐𝑜𝑠𝜃)

Determine:
• Velocity vector
• Tangent unitary vector of the trajectory
• Acceleration vector
• Magnitude of tangential acceleration vector
• Normal acceleration vector
• Magnitude of normal acceleration vector
• Graph the results obtained for the velocity an acceleration
vector when  = 0° and  = 90°
𝑉  =𝑉´ ´=𝐼 +𝑌
´ ´ = 𝑅 ∗ ( 𝜃 − sin ( 𝜃 ) ) 𝐼 ∗ 𝑅 +¿
 𝑉

𝑉 ´ ´=𝑅 ∗ ( 𝜃˙ − 𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃˙ ) 𝐼 +𝑅+(sin ( 𝜃 ) ∗ 𝜃)𝐽

˙
 ´ ( 𝑡 ) =𝑅 ∗ ( 𝜃
𝑉 ˙ −𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃˙ ) 𝐼+ 𝑅 +(sin ( 𝜃 ) ∗ 𝜃˙ )𝐽
  2 2
√
|𝑉 ( 𝑡 )|= 𝑅 ∗ ( 𝜃 −𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃 ) 𝐼 +𝑅+(sin ( 𝜃 ) ∗ 𝜃 ) J  
˙ ˙ ˙
  𝑅 ∗ ( 𝜃˙ − 𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃˙ ) 𝐼 +𝑅+(sin ( 𝜃 ) ∗ 𝜃)𝐽
˙
𝑇= 2 2
√ 𝑅 ∗ ( 𝜃 − 𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃 ) 𝐼+𝑅 +(sin (𝜃 ) ∗ 𝜃) J  
˙ ˙ ˙
 ´ ( 𝑡 ) ´=𝑉´
 𝐴 (𝑡 )´
 ´ ( 𝑡 ) =𝑅 ∗ ( 𝜃
𝑉 ˙ −𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃˙ ) 𝐼+ 𝑅 +(sin ( 𝜃 ) ∗ 𝜃˙ )𝐽
´ ( 𝑡 )=𝑅 ∗ ( 𝜃¨ − 𝑠𝑖𝑛 ( 𝜃 ) ∗ 𝜃¨ ) 𝐼 + 𝑅+(𝑐𝑜𝑠 (𝜃 ) ∗ 𝜃)𝐽
 𝐴 ¨
  ´𝑛
𝐴
^𝐸 𝑛=
¿ 𝐴´ 𝑛∨¿ ¿
 
^𝐸 𝑛= 𝑅 ∗ ( 𝜃¨ − 𝑠𝑖𝑛 (𝜃 ) ∗ 𝜃¨ ) 𝐼+𝑅 +(𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃)𝐽
¨
2
√ ¨ 2J  
𝑅 ∗ ( 𝜃 − 𝑠𝑖𝑛 ( 𝜃 ) ∗ 𝜃 ) 𝐼 +𝑅+(𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃)
¨ ¨

 
^𝐸 𝑛= 𝑅 ∗ ( 𝜃−
¨ 𝑠𝑖𝑛 ( 𝜃 ) ∗ 𝜃¨ ) 𝐼
2
√ ¨ 2J  
𝑅 ∗ ( 𝜃 − 𝑠𝑖𝑛 ( 𝜃 ) ∗ 𝜃 ) 𝐼 +𝑅+(𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃)
¨ ¨

  𝑅+ ( 𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃¨ ) 𝐽
2
√ ¨ 2J 
𝑅 ∗ ( 𝜃 − 𝑠𝑖𝑛 ( 𝜃 ) ∗ 𝜃 ) 𝐼 +𝑅+(𝑐𝑜𝑠 (𝜃 ) ∗ 𝜃)
¨ ¨
 ¿ ^𝐸 𝑛∨¿ √ 𝐸𝑛2

  2 2

¿^𝐸 𝑛∨¿
√√ 𝑅 ∗ ( 𝜃¨ − 𝑠𝑖𝑛 ( 𝜃 ) ∗ 𝜃¨ ) 𝐼
2 2
𝑅 ∗ ( 𝜃¨ − 𝑠𝑖𝑛 ( 𝜃 ) ∗ 𝜃¨ ) 𝐼 +𝑅+(𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃)
¨ J 
𝐼+
𝑅+ ( 𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃¨ ) 𝐽
2 2
√ 𝑅 ∗ ( 𝜃¨ − 𝑠𝑖𝑛 ( 𝜃 ) ∗ 𝜃¨ ) 𝐼+𝑅 +(𝑐𝑜𝑠 ( 𝜃 ) ∗ 𝜃)¨ J  
𝐽
POINT 4)

The figure shows a rod OA forced to

rotate around the point o in such a
way that the variation of the angle b
with respect to time is constant and
equal to 5 rad/s. An ideal rope is
fixed to the end A of the rod and
passes through a small pulley in B; ¿60°
 

its free end C presents a small

block. Determine, for the moment
when angle  measures 60°, the
absolute velocity of block C.
  0 𝐴 2+0 𝐵2 − 𝐴𝐵 2
cos ⁡(𝐵)=
2∗ 0 𝐴 ∗0 𝐵

  12 +22 − 𝐿2
cos ⁡(𝐵 )=
2∗ 1∗ 2

 4 cos ( 𝐵 )=5 − 𝐿2
2
 𝐿 =5 − 4 cos ( 𝐵 )
 Derivate
2
 𝐿 =5 − 4 cos ( 𝐵 )
 2 𝐿=− 4 sin (𝐵 )
Replace values of B

  12 +22 − 𝐿2
cos ⁡(60 °)=
2∗ 1∗ 2
 0,5 ∗ 4 =5 − 𝐿2
  𝐿2 =5 − 2
 L= √3
 L=1,732
 Replace values of L in the function derivate

2(1,732)=4
  sin (60 ° )

Change to s rad/second

2(1,732)=4
  sin ( 60 ° ) ∗ 𝑠

  𝑉 =5 m
𝑠