16-1. A wheel has an initial clockwise angular velocity of 10 rad/s and a constant angular acceleration of 3 rad/s-.

Determine the number of revolutions it must undergo to acquire a clockwise angular velocity of 15 rad/s. What time is required?

(15? = (10? + 2(3)( 8 - 0)

8 = 20.83 rad = 20.83 (2~) = 3.32 rev. ADS W = Wo + a"t

15 = 10 + 3t

t = 1.67 s

ADS

16-2. A flywheel has its angular speed increased uniformly from 15 rad/s to 60 rad/s in 80 s. If the diameter of the wheel is 0.6 m, determine the magnitudes of the normal and the tangential components of acceleration of a point on the rim of the wheel when t = 80 s, and the total distance the point travels during the time period.

W = Wo + a"t

60 = 15 + ac(80) ac = 0.5625 rad/s?

a, = ar = (0.5625)(0.3) = 0.169 mls2 ADS

an = oJr = (60)2(0.3) = 1080 rn/s? ADS

oJ = w~ + 2a,,(8-~)

(60)2 = (15)2 + 2(0.5625)(8- 0) 8= 3000 rad

s = 8r = 3000(0.3) = 900 m

ADS

16-3. The angular velocity of the disk is defined by to = (5t2 + 2) rad/s, where t is in seconds. Determine the magnitudes of the velocity and acceleration of point A on the disk when t = 0.5 s.

W = (5t2 + 2) rad/s a= dw =10t

dt

t = 0.5 s

W = 3.25 rad/s

a= 5 rad/s?

VA = tor = 3.25(0.8) = 2.60 mls ADS

at = ar = 5(0.8) = 4 mls2

an = oJr = (3.25?(0.8) = 8.45 mls2

aA = ~(4)2 + (8.45)2 = 9.35 m/s? ADS

331

*16-4. Just after the fan is turned on, the motor gives the blade an angular acceleration a = (20e-D·6t) rad/s-, where t is in seconds. Determine the speed of the tip P of one of the blades when t = 3 s. How many revolutions has the blade turned in 3 s? When t = 0 the blade is at rest.

dta r a dt

f: dto = J; 20e -06, dt

20 I'

w = - _e-O·6, = 33.3(1 _ e-<J·6,)

0.6 0

w = 27.82 radls

Vp = tor = 27.82(0.5) = 13.91 mls Ans

d8= wdt

8 = 53.63 rad = 8.54 rev

Ans

16-5. Due to an increase in power, the motor M rotates the shaft A with an angular acceleration of a = (0.0682) rad/s-, where 8 is in radians. If the shaft is initially turning at roo = 50 rad/s, determine the angular velocity of gear B after the shaft undergoes an angular displacement 118 = 10 rev.

m dtu » ad8

r J,2n(lO)

W dto = 0.0682 d8

50 0

1 21w 312n(lO)

-w = 0.028 0

2 50

0.5WZ - 1250 = 4961

w = 111.45 radls

(111.45)(12) = wB(60)

wB = 22.3 radls Ans

332

16-6. The hook moves from rest with an acceleration of 10 rnls2• If it is attached to a cord which is wound around the drum, determine the angular acceleration of the drum and its angular velocity after the drum has completed 10 rev. How many more revolutions will the drum turn after it has first completed 10 rev and the hook continues to move downward for 4 s?

Angular Motion: The angular acceleration of the drum can be determined by applying Eq. 16-11.

a = 10.0 rad/s?

10 = a(l)

Ans

.. (2nrad)

Applying Eq. 16-7 with a; = a = 10.0 rad/s? and 8 = (10 rev) --

I rev

= 20n rad, we have

uj = W~ + 2a,.(8- 80)

uj = 0 + 2(10.0)(20n- 0)

W =35.45 rad/s = 35.4 rad/s

Ans

e

The angular displacement of the drum 4 s after it has completed 10 revolutions can be determined by applying Eq. 16-6 with Wo = 35.45 rad/s.

8 = 80 + wot + ! a,t2 2

= 0 + 35.45(4) + !(l0.0)(42) 2

( 1 rev)

= (221.79 rad) -- = 35.3 rev

2nrad

Ans

16-7. The disk is driven by a motor such that the angular position of the disk is defined by e = (20t + 4t2) rad, where t is in seconds. Determine the number of revolutions, the angular velocity, and angular acceleration of the disk when t = 90 s.

Angular Displacement: At t = 90 S.

( I rev)

8 = 20(90) + 4(902) = (34 200 rad) -- = 5443 rev

2nrad

Ans

Angular Velocity: Applying Eq. 16-1, we have

d8

W = dt = 20 + stl, = 90, = 740 rad/s

Ans

Angular Acceleration: Applying Eq. 16-2, we have

a= dw = S rad/s" dt

Ans

333

*16-8. The pinion gear A on the motor shaft is given a constant angular acceleration a = 3 rad/s". If the gears A and B have the dimensions shown, determine the angular velocity and angular displacement of the output shaft C, when t = 2 s starting from rest. The shaft is fixed to B and turns with it.

WA = 0 + 3(2) = 6 radls 1

B= ~+ wot+ -act2 2

1

BA = 0 + 0 + -(3)(2)2 2

BA=6rad

6(35) = w8(125)

We = WB = 1.68 radls

Ans

6(35) = BB( 125)

Be = BB = 1.68 rad

Ans

As t ~oo

Wm= 4 radls

4(2) = wP(8)

Wp= 1 radls

Vp = 1(32) = 32 ern/s2

Ans

16-9. The motor M begins rotating at ill = 4(1 - e-t) rad/s, where t is in seconds. If the pulleys and fan have the radii shown, determine the magnitudes of the velocity and acceleration of point P on the fan blade when t = 0.5 s. Also, what is the maximum speed of this point?

dw

a", = - = 4e-1 dt

When t= 0.5 s

Wm = 1.57388 radls a", = 2.4261 radls

1.57388(2) = f.!1,(8)

Wp = 0.39347 radls

Vp = 0.39347(32) = 12.60 cm/s

Ans

2.4261(2) = q,(8)

ap = 0.606525 rad/s?

ag = ar = 0.606525(32) = 19.4088 cm/s? ap = wZr = (0.39347)2(32) = 4.9542 cm/s?

ap = ~(19.4088)2 + (4.9542)2 = 20.0 ern/s2 Ans

334

16-10. The disk is originally rotating at 0)0 = 8 rad/s. If it is subjected to a constant angular acceleration of a = 6 rad/s-, determine the magnitudes of the velocity and the nand t components of acceleration of point A at the instant t = 0.5 s.

roo = 8 radls

ro = 8 + 6(0.5) = II radls

VA = 2(II) = 22 mls

(aA), = 2(6) = 12.0 mls2 (aA)n = (II)2(2) = 242 mls2

v=rw;

ADS

a,=ra;

ADS

ADS

16-11. The disk is originally rotating at 0)0 = 8 rad/s. If it is subjected to a constant angular acceleration of a = 6 rad/s', determine the magnitudes of the velocity and the nand t components of acceleration of point B just after the wheel undergoes 2 revolutions.

roo = 8 radls

ur = (8)2 + 2(6)[2(2n) - 0]

ca = 14.66 radls

VB = tar = 14.66(1.5) = 22.0 mls ADS

(aB), = ar = 6(1.5) = 9.00 mls2 ADS

(aB)n = urr = (14.66)2(1.5) = 322 m/s? ADS

335

*16-12. When only two gears are in mesh, the driving gear A and the driven gear B will always turn in opposite directions. In order to get them to turn in the same direction an idler gear C is used. In the case shown, determine the angular velocity of gear B when t = 5 s, if gear A starts from rest and has an angular acceleration of aA = (3t + 2) rad/s", where t is in seconds.

dw= adt

r dWA = J~ (3t + 2) dt

WA = 1.St2 + 2rl t ~ 5 = 47.5 rad/s

(47.5)(50) = wc(SO)

Wc = 47.5 rad/s

wB(7S) = 47.5(50)

WB = 31.7 rad/s Ans

16-13. A motor gives disk A an angular acceleration of aA = (6t2 + 0.75) rad/s', where t is in seconds. If the initial angular velocity of the disk is (00 = 6 rad/s, determine the magnitudes of the velocity and acceleration of block B when t = 2 s.

dtn » adt

r do) = J: (0.6t2 + 0.75) dt

w - 6 = (0.2t2 + 0.7St) I~

w=9.lOrad/s

VB = tor = 9.10(0.15) = 1.37 mls

aB = at = ar = [0.6(2)2 + 0.75](0.15) = 0.472 mls2

Ans

Ans

Wo = 6 rad/s --

16-14. The disk is originally rotating at (00 = 8 rad/s. If it is subjected to a constant angular acceleration a; = 6 rad/s", determine the magnitudes of the velocity and the nand t components of acceleration of block A at the instant t = 3 s.

w=wo+C!J

w = 8 + 6(3) = 26 rad/s

V = tor = 26(2) = 52.0 emls Ans

a, = ar = 6(2) = 120 cmls2 Ans

a,. = uJr = (26)2(2) = 1.35(10') emls2 Ans

Wo = 8 rad/s ~

A

336

16-15. Gear A is in mesh with gear B as shown. If A starts from rest and has a constant angular acceleration of aA = 2 rad/s", determine the time needed for B to attain an angular velocity of (OB = 50 rad/s.

Angular Motion: The angular acceleration of gear B must be determined first. Here, aATA = aBTB. Then,

TA ( 25 )

aB = -aA = - (2) = 0.5 rad/s'

TB 100

The time for gear B to attain an angular velocity of WB = 50 radls can be obtained by applying Eq. 16-5.

50 = 0 + 0.51

1=100s Ans

*16-16. The gear A on the drive shaft of the outboard motor has a radius rA = 2 cm and the meshed pinion gear B on the propeller shaft has a radius r» = 4 cm. Determine the angular velocity of the propeller in t = 1.3 s if the drive shaft rotates with an angular

acceleration a = (300{i) rad/s', where t is in seconds. The propeller is originally at rest and the motor frame does not move.

(300"fi )(2) = as(4) ap = 150"fi

dto = a dt

Jill dw = f' 150"fi dt

o Jo

w = 10013121, = 1.3 = 148 radls Ans

337

16-17. For the outboard motor in Prob. 16-16, determine the magnitudes of the velocity and acceleration of a point P located on the tip of the propeller at the instant t = 0.75 s.

dw= adt

fro dw = r' 150.Ji dt

o Jo

ta = 100t3l2

Vp = tor = [100(0.75)312](6) vp = 390cmls

(ap), = ar = [150 .J0.75](6)

Ans

(ap), = 779.4 cm/s?

(ap)n = air = [100(0.75)312]2(6) (ap)n = 25 312.5 cmls2

ap = ~(779.4)2 + (25312.5)2

= 25 324.5 = 25.3(103) cm/s? Ans

(300 .Ji )(2) = ape 4) ap = 150.Ji

16-18. Starting from rest when s = 0, pulley A is given an angular acceleration a = (68) rad/s", where 8 is in radians. Determine the speed of block B when it has risen s = 6 m. The pulley has an inner hub D which is fixed to C and turns with it.

6

8c= -- =80rad 0.075

8A(0.05) = 80(0.15)

8A = 240 rad ad8=wdw

C40 68A d8A = J:A WA dWA WA = [6(240)2]112 = 587.88 radls (587.88)(0.05) = WeCO. 15)

We = 195.96 radls

VB =195.96(0.075) = 14.7 mls

Ans

c

Also,

B

But 8A(50) = 150( 8c) 8A = 38c

Thus, ac = 68c

68~ = W~

6

Wc= -- =80rad 0.075

We = .[6 (80) = 195.96 radls

VB = (195.96)(0.075) = 14.7 mls

Ans

338

16-19. Starting from rest when s = 0, pulley A is given a constant angular acceleration a; = 6 rad/s'. Determine the speed of block B when it has risen s = 6 m. The pulley has an inner hub D which is fixed to C and turns with it.

6(50) = ac(150)

ac= 2 rad/s?

aB = acrB = 2(0.075) = 0.15 rn/s2

v2 = 0 + 2(0.15)(6 - 0)

v = 1.34 rn/s Ans

c

B

*16-20. Initially the motor on the circular saw turns its drive shaft at ill = (20t2/3) rad/s, where t is in seconds. If the radii of gears A and B are 1 em and 4 em, respectively, determine the magnitudes of the velocity and acceleration of a tooth C on the saw blade after the drive shaft rotates () = 5 rad starting from rest.

W= 20t2l3

a= dw = 40 t-l13

dt 3

de= wdt

J: de = J~ 20t2/3 dt

When e = 5 rad,

t = 0.59139 s

a = 15.885 rad/sca = 14.091 radls

14.091(1) = wB(4)

WB = 3.523 radls

Vc = WBr = 3.523(10) = 35.2 ern/s Ans

15.885(1) = aB(4)

aB = 3.9712 rad/s?

(ad, = aBT = 3.9712(10) = 39.71 cm/s? (adn = w~r= (3.523)2(10) = 124.12 cm/s-

ac = ~(39.71)2 + (124.12)2

= 130.3 cm/s?

Ans

339

16-21. Due to the screw at E, the actuator provides linear motion to the arm at F when the motor turns the gear at A. If the gears have the radii listed in the figure, and the screw at E has a pitch p = 2 rom, determine the speed at F when the motor turns A at WA = 20 rad/s. Hint: The screw pitch indicates the amount of advance of the screw for each full revolution.

Thus,

rA rc 10(15)

Wn = --WA = - - (20) = 1 radls

rB rD 50 60

(1 rad/s)(1 rev)

VF = 2nrad (2 mm) = 0.318 mmls ADS

rA = 10mm rB=50mm rc= 15 mm rD=60mm

16-22. A motor gives gear A an angular acceleration of aA = (0.2583 + 0.5) rad/s', where 8 is in radians. If this gear is initially turning at (WA)O = 20 rad/s, determine the angular velocity of gear B after A undergos an angular displacement of 10 rev.

aA = 0.2583 + 0.5 a dca e to do:

J.201< 3 fmA

(0.258 + 0.5) d8A = w A dWA

o m

20 1 ImA

(0.062584 + 0.58)101< = _(WA)2

2 20

WA = 1395.94 radls

1395.94(0.05) = wB(0.15)

WB = 465 radls ADS

16-23. A motor gives gear A an angular acceleration of aA = (4t3) rad/s'', where t is in radians. If this gear is initially turning at (WA)O = 20 rad/s, determine the angular velocity of gear B when t = 2 s.

din » adt

fmA J.' J.' 3

WA= aA dt= 4t dt

20 0 0

Whent=2s,

WA = 36 radls

36(0.05) = wB(0.15)

WB = 12 radls ADS

340

*16-24. The disk starts from rest and is given an angular acceleration a = (lOe1l3) rad/s', where e is in radians. Determine the angular velocity of the disk and its angular displacement when t = 4 s.

wdw= ad8

raJ r8.!.

Jo to dw = Jo 108' ae

1 (3 ') 4

lui' = 10 '48' = 7.58'

d8 tr: 2 w= - = ",158' dt

J: 8-t ao = f~ ..Jl5 dt 38t = ..Jl5 t

8= 2.152t3""4 = 138 rad Ans

16-25. The disk starts from rest and is given an angular acceleration a = (lOe1l3) rad/s-, where e is in radians. Determine the magnitudes of the normal and tangential components of acceleration of a point P on the rim of the disk when t = 4 s.

ui dtn » ad8

raJ r8.!.

Jo w dio = Jo 108' d8

d8 tr: 2 w= - = ",158' dt

f: 8-t se = f~ ..Jl5 dt 38t = ..Jl5 t

8= 2.152t3""4 = 137.71 d8

w = - = 6.455t2I'"4 = 103.28 dt

(ap)n = ui'r = (103.28)2(0.4) = 4267 mfs2 Ans

(ap), = ar = (10(137.71) t)(O.4) = 20.7 mfs2 Ans

341

16-26. If the angular velocity of the drum is increased uniformly from 6 radls when t = 0 to 12 radls when t = 5 s, determine the magnitudes of the velocity and acceleration of points A and B on the belt when t = 1 s. At this instant the points are located as shown.

12 = 6 + a(5)

a = 1.2 rad/s-

At t = 1 s,

W = 6 + 1.2(1) = 7.2 rad/s

VA = VB = car = 7.2( 11~0) = 0.72 mls

ADS

aA = ar = 1.2(_!.2_) = 0.12 mls2 100

ADS

(aB), = or = 1.2(_!.2_) = 0.12 mls2 100

(aB)n = urr = (7.2?U~0) = 5.184 mls2

aB = ~(aB): + (aB)~ = ~(0.12)2 + (5.184)2 = 5.185 mls2 ADS

16-27. The operation of "reverse" for a three-speed automotive transmission is illustrated schematically in the figure. If the crank shaft G is turning with an angular speed of 60 radls, determine the angular speed of the drive shaft H. Each of the gears rotates about a fixed axis. Note that gears A and B, C and D, E and F are in mesh. The radii of each of these gears are reported in the figure.

A

rA =90= rB=rc=30= rD =50=

re =70=

rF =60=

60(90) = WBc(30)

WBC = 180 rad/s

180(30) = 50( WDE)

WDE = 108 rad/s

108(70) = (60)(WH)

WH = 126 rad/s ADS

342

*16-28. Rotation of the robotic arm occurs due to linear movement of the hydraulic cylinders A and B. If cylinder A is extending at the constant rate 0.25 rnJs while B is held fixed, determine the magnitude of velocity and acceleration of the part C held in the grips of the arm. The gear at D has a radius of 0.05 m.

Angular Motion : The angular velocity of gear D must be determined first. Applying Eq. 16-8, we have

v = WDTD;

0.5 = WD (0.05) WD = 10.00 radls

Motion of Part C : Since the shaft that turns the robot's arm is attached to gear D, then the angular velocity of the robot's arm WR = WD = 10.00 radls. The distance of part C from the rotating shaft is Tc = 2 cos 45° + 1 sin 45° = 2.121 m. The magnitude of the velocity of part C can be determined using Eq. 16-8.

Vc = WRTC = 10(2.121) = 21.2 m1s

ADS

The tangential and normal components of the acceleration of part C can be determined using Eqs. 16-11 and 16-12 respectively.

at = aTe = 0

an = W~Tc = (10.002)(2.121) = 212.1 m/s?

The magnitude of the acceleration of point P is

ap = ~a; + a; = ~02 + 212.12 = 212 m1s2 ADS

16-29. At the instant shown, gear A is rotating with a constant angular velocity of OJA = 6 rad/s. Determine the largest angular velocity of gear B and the maximum speed of point C.

(rB)=x = (TA)=x = 50..fi mm (TB)min = (TA)min = 50 mm

When rA is max., TB is min.

(WB)max = 8.49 radls

Vc = (WB)=xTC = 8.49(0.05 ..fi)

ADS

Vc = 0.6 m1s

ADS

343

16-30. A mill in a textile plant uses the belt-and-pulley arrangement shown to transmit power. When t = 0 an electric motor is turning pulley A with an angular velocity of WA = 5 rad/s. If this pulley is subjected to a constant angular acceleration 2 rad/s', determine the angular velocity of pulley B after B turns 6 revolutions. The hub at D is rigidly connected to pulley C and turns with it.

Wbeo'. E 6 rev ;

4(6) - 31c

".76(4.5) - SCllc

GJc - 14.18 radiI

14.18(3) ~ 4(CII.).

344

16-31. The rope of diameter d is wrapped around the tapered drum which has the dimensions shown. If the drum is rotating at a constant rate of m, determine the upward acceleration of the block. Neglect the small horizontal displacement of the block.

d(CII1)

111---

dl

do> dr

.. di'+ ~

dr _ {, - " )tbc L

tbc dB

But- =-

dt 2K

ADS

*16-32. The rod assembly is supported by ball-and-socket joints at A and B. At the instant shown it is rotating about the y axis with an angular velocity co = 5 rad/s and has an angular acceleration a = 8 rad/s". Determine the magnitudes of the velocity and acceleration of point C at this instant. Solve the problem using Cartesian vectors and Eqs. 16-9 and 16-13.

y

Yc-cu)(r

"c - 5Jx(~A1+0.3k) .. {1.!i1+2I<} 1l1li

Wc _/1.52+2' Z 2.!iOmis

lie - ax r- oIr

_ 8J x (~.41 + O.3k) - 5' (-0.41 + O.3k)

_ {12.41-4.3k} mil'

..... - ./12.42+(4.3)' -13.1 mil"

x

345

16-33. The bar DC rotates uniformly about the shaft at D with a constant angular velocity OJ. Determine the velocity and acceleration of the bar AB, which is confined by the guides to move vertically.

y=lsinO

y = Vy = -I cos 0 iJ

.. '2

ji = a" = l(cos 0 0 - sin 0 8 )

Here Vy = VAB, ax = aAB, and iJ = to, e = a= O.

VAB = I cos 8(w) = -wi cos 8

aAB = l[cos 0(0) - sin O(w),] = -wi sin 8

ADS

ADS

16-34. The scaffold S is raised hydrautically by moving the roller at A toward the pin at B. If A is approaching B with a speed of 0.6 mis, determine the speed at which the platform is rising as a function of e. The 1.6-m links are pin-connected at their midpoint.

Position coordinate equation:

x = 1.6 cos 8 y = 1.6 sin 8

Time derivatives:

x = -1.6 sin 8 iJ

However, x = -VA = -0.6 m1s

-0.6 = -1.6 sin 8 o

iJ = 0.375 sin 8

,

y = Vy = 1.6 cos 8 o = 1.6 cos 8( 0:375) = 0.6 cot 8 Ans

sm 8

16-35. The mechanism is used to convert the constant circular motion OJ of rod AB into translating motion of rod CD. Determine the velocity and acceleration of CD for any angle e of AB.

x=lcos8

x = Vx = -I sin 8 iJ

.. '2

X = an = -l(sin 8 8 + cos 8 8 )

Here Vx = VCD, ax = aCD, and iJ = w, e = a = O.

VCD = -I sin 8(w) = -wi sin 8

aCD = -l[sin 8(0) + cos 8(w),] = -wi cos 8

ADS

ADS

=

Negative signs indicate that both VCD and aCD are directed opposite to positive x.

=

346

*16-36. The block moves to the left with a constant velocity Vo. Determine the angular velocity and angular acceleration of the bar as a function of e.

Position Coordinate Equation : From the geometry,

X= _a_ =acot8 tan 8

[1]

Time Derivatives: Taking the time derivative of Eq. [1], we have

dx = -a esc- 8 d8 dt dt

[2]

. .. d . th dx Al d8

Since Vo IS directe toward negattve x, en _ = -Vo. so, - = w.

dt dt

From Eq. [2],

-Vo = -a esc" 8( w)

w = __ vo __ = Vo sin? 8

a esc" 8 a

Ans

du) fr b .

Here, a = -. Then om the a ove expression

dt

a= Vo = (2 sin 8 cos fJ) d8

a dt

[3]

However, 2 sin 8 cos 8 = sin 28 and to = d8 = ..2 sin? 8. Substitnte

dt a

these values into Eq. [3] yields

347

16-37. Determine the velocity of rod R for any angle () of the cam C if the cam rotates with a constant angular velocity co, The pin connection at 0 does not cause an interference with the motion of A on C.

Position Coordinate Equation: Using law of cosine,

(r, + r2? = x2 + r,z - 2r,x cos e

[1]

W

_"_

Time Derivatives: Taking the time derivative of Eq. [1], we have

dx (. de dxJ

0= 2x- - 2r, -x Sill e- + cos e -

dt dt dt

[2]

dx de

However v = - and W = -. From Eq. [2],

dt dt

o = xv - r,(v cos e - XW sin 8)

lixwsin e r,cose-x

[3]

v=

However, the positive root of Eq. [1] is

Substitute into Eq. [3], we have

( r,2w sin 2e J

v = - I + liw sin e

21/ r,2 cos? e + r22 + 2r,r2

Ans

Note: Negative sign indicates that v is directed in the opposite direction to that of positive x.

16-38. The crankshaft AB is rotating at a constant angular velocity of co = 150 rad/s. Determine the velocity of the piston P at the instant () = 30°,

x = 0.2 cos e + 1(0.75)2 - (0.2 sin e)2

x = -0.2 sin e e + 2. [(0.75)' - (0.2 sin W]-t (-2)(0.2 sin 8)(0.2 cos 8) e 2

vp = -0.2w sin e _ (2.) (0.2)2 w sin 2e

2 .j(0.75)2 _ (0.2 sin e)2

At e = 30°, W = 150 radls

vp = -0.2(150) sin 300 _ (2.) (0.2)2(150) sin 60°

2 .j(0.75)2 _ (0.2 sin 30°)2

vp = -18.5 m1s = 18.5 m1s ~

Ans

348

16-39. At the instant () :: 50°, the slotted guide is moving upward with an acceleration of 3 rnfs2 and a velocity of 2 rnfs. Determine the angular acceleration and angular velocity of link: AB at this instant. Note: The upward motion of the guide is in the negative y direction.

y = 0.3 cos e

y = Vy = -0.3 sin e iJ

ji = ay = -O.3(sin e e + cos e iJ2)

Here Vy = -2 mis, a, = -3 m/s', and iJ = to, e = a, e = 50°.

-2 = -0.3 sin 500(w) w = 8.70 radls ADS

-3 = -O.3[sin 500( a) + cos 50°(8.70)2] a = -50.5 rad/s" ADS

t .., ,.

" • ~ JI"

*16-40. Disk A rolls without slipping over the surface of the fixed cylinder B. Determine the angular velocity of A if its center C has a speed vc= 5 rnfs. How many revolutions will A have made about its center just after link DC completes one revolution?

As shown by the construction, as A rolls through the arc s = eAr, the center of the disk moves through the same distance s' = s. Hence,

vc=5 mls

WA = 33.3 radls

ADS

c

Link:

Thus, A makes 2 revolutions for each revolution of CD. ADS

16-41. Arm AB has an angular velocity of (f) and an angular acceleration of a. If no slipping occurs between the disk and the fixed curved surface, determine the angular velocity and angular acceleration of the disk.

ds = (R - r) de = -r drp

(R - r)( ~~) = -r( ~~)

(R - r)w

w'=

ADS

r

ci = (R - r)a

r

ADS

349

16-42. The inclined plate moves to the left with a constant velocity v. Determine the angular velocity and angular acceleration of the slender rod of length l. The rod pivots about the step at C as it slides on the plate.

B

v

x

_".

16-43. The end A of the bar is moving to the left with a constant velocity VA- Determine the angular velocity OJ and angular acceleration a. of the bar as a function of its position x.

Position Coordinate Equation: From the geometry,

r x=--

sin e

[1]

sin (1/1 - 8) sin (180° - 1/1) sin 1/1

x sin 1/1= 1 sin (1/1- 8)

x sin 1/1=-1 cos (1/1- 8)8

[4]

ADS

Time Derivatives: Taking the time derivative of Eq. [1], we have

dx rcos 8 d8 dt =- sin2 8 dt

[2]

dx d8

Since Vo is directed toward positive x, then - = VA' Also, - = w.

dt dt

~

From the geometry, sin 8 = !... and cos 8 = x - r . Substitnte these

x x

values into Eq. [2], we have

Vo=_(r(~ /X»)W (r / X)2

ADS

Taking the time derivative of Eq. [2], we have

[3]

Thus

-v(sin 1/1) W = 1 cos(1/I - 8)

ADS

X sin 1/1 = -I cos (1/1 - e) e- 1 sin (1/1 - 8)(8)2 0= -cos (1/1- 8)a- sin (1/1- 8)w 2

a= -sin (1/1 - 8)( v2 sin2 1/1 )

cos (1/1 - 8) z2 cos2(1/1 - 8)

_v2 sin21/1 sin (1/1 - e) 12 cos2(1/1 - 8)

ADS

Here, d2x = a = 0 and d28 = a. Substitnte into Eq. [3], we have

dt2 dt2

Or [( 1 + cos2 e) 2 e]

= -- W - acos

sin2 e sin e

a = (1 + cos2 e) ro2 sin 8cos 8

However, sin 8= !...,cos8= ~ andW=-( h) VA'

x x xx-r

Substitnte these values into Eq. [4] yields

350

*16-44. The pins at A and B are confined to move in the vertical and horizontal tracks. If the slotted arm is causing A to move downward at VA, determine the velocity of B at the instant shown.

Position coordination equation:

tane=!:..=:!.. x y

Time derivatives:

ADS

16-45. Bar AB rotates uniformly about the fixed pin A with a constant angular velocity OJ. Determine the velocity and acceleration of block C, at the instant 8= 60°.

Lcose+Lcosifi=L cos e+cos ifi= 1

sin e 8 + sin ifi ¢ = 0 [1]

cos e( 8)2 + sin ee + sin ifi ifi + cos ifi( ¢)2 = 0 [2]

thus, 8 = - ¢ = w (from Eq. [1]) e=O

ifi = -1.155w2 (from Eq. [2])

Also, Sc = L sin ifi - L sin e

Vc = L cos ifi ¢ - L cos e 8

ac = -L sin ifi( ¢)2 + L cos ifi( ifi) - L cos e( e) + L cos e( 8)2

sc = 0

Vc = L(cos 600)(-w) - L cos 600(w) = -Lo: = Lo: t ADS

ac = -L sin 600(-w)2 + L cos 600(-1.155w2) + 0 + L sin 600(w)2

ac = -O.577Lw2 = 0.577Lw2 t

ADS

B

351

16-46. The bar is confined to move along the vertical and inclined planes. If the velocity of the roller at A is VA = 6 mls when (J = 45°, determine the bar's angular velocity and the velocity of roller B at this instant.

SB cos 30° = 5 sin 8

SB = 5.774 sin 8

SB = 5.774 cos 8 e

[1]

5 cos 8= SB + SB sin 30°

-5 sin 8 o = SA + SB sin 30°

[2]

Combine Eqs. [1] and [2] :

-5 sin 8 e = --6 + 5.774 cos 8( 8)(sin 30°)

. .

-3.5368 = --6 + 2.041 8

w = 8 = 1.08 radls

Ans

B

From Eq. [1] :

VB = SB = 5.774 cos 45° (1.076) = 4.39 mls Ans

16-47. The disk is rotating with an angular velocity of (j) and has an angular acceleration of a. Determine the velocity and acceleration of cylinder B. Neglect the size of the pulley at C.

S = ~32 + 52 - 2(3)(5) cos 8

1 8)-1.30'8)'

VB = S = -(34 - 30 cos 2 ( sm 8

2

15wsin 8

VB = -....:..:.=...:-=-=--- ...

(34 - 30 cos 8)t

Ans

15w cos 8 8 + 15w sin 8 ~ 15w sin 8)(30 sin 8 8)

aB = S = .:..:..:~==~,;,;,;;;..:::...::... + ..>.....=......-----_.-,--

~34 - 30 cos 8 (34 - 30 cos 8)2

15(w2 cos 8 + a sin 8) 225w2 sin2 8

1. 2

(34 - 30 cos 8r (34 - 30 cos 8) 2

Ans

352

Ir(r + d cos 8) W (d + r cos 8)2

.. [Cd + r cos 8)2(-dsin (8) - (r + dcos 8)(2)(d + r cos 8)(-rsin (8)]

x = a = lrt» -'----"'--'---..:.__;_:_---'--_;---f-"-'-'-------'-''-----'-

(d + r cos 8)4

*16-48. The slotted yoke is pinned at A while end B is used to move the ram R horizontally. If the disk rotates with a constant angular velocity w, determine the velocity and acceleration of the ram. The crank pin C is fixed to the disk and turns with it.

x=ltantP

[1]

=~

___ s __ = _s_

sin (1800 - 8)

r

sin ¢= -; sin 8

However

r sin ¢

sin 8

[1]

(J.J >12 m

I(}.I (>12 - COSll)~

~

0.1 sinll

d=ssin¢-rcos 8

d+rcos8 cos o « _;---

s

From Eq. [1]

[ r. 8 ]

sin ¢ +sm lr sin 8

x-I -I S -

- (cos ¢) - d + ~ cos 8 - d + reDs 8

(d + reDs 8)(lr cos 8 8) - (Ir sin 8)( -r sin 8 8) (d + r cos 8)2

Where#= ca

x =V=

Ans

Ir sin 8(2r2 - d2 + rd cos 8) W (d + r cos 8)3

Ans

16-49. The Geneva wheel A provides intermittent rotary motion WA for continuous motion WD = 2 radls of disk D. By choosing d = IOO-.[i mm, the wheel has zero angular velocity at the instant pin B enters or leaves one of the four slots. Determine the magnitude of the angular velocity WA of the Geneva wheel at any angle () for which pin B is in contact with the slot.

0.1 sin 8

tan ¢ = --.__--O.l(.J2 - cos 8)

sin 8

.J2 - cos 8

. (..[i - cos 8)(cos 8 8) - sin 8(sin II 8) _ .J2 cos 8 - 1 8·

sec' ¢ ¢ = ..:....:....---.:....:....,,~-"----'----'-

(..[i - cos 8)2 - (..[i - cos 8)2

From the geometry :

i'- = (0.1 sin 6)2 + [O.I(..[i - cos 6)F = 0.01(3 - 2..[i cos 6)

r2 0.01(3 - 2.J2 cos 8) (3 - 2.J2 cos 8)

sec- ¢ = - - ..o;;_,.........:._......;:.:~

[O.l(..[i - cos 8)f - [0.1(..[i - cos 8)]2 - (..[i - cos 8)2

FromEq. [1]

(3 - 2.,[2 cos 8) ~ = .,[2 cos 8 - 1 8

(.,[2 - cos 8)2 (.,[2 - cos 8)2

..[icos8-I· . .

¢ = 8 Here ¢ = WA and 8 = wD = 2 radls

3 - 2$ cos 8)2

2( .J2 cos 8 - 1 ) Ans

WA = 3 _ 2.J2 cos 8

353

16-50. At the instant shown the boomerang has an angular velocity (0 = 4 radls, and its mass center G has a velocity Vo = 12 crnfs. Determine the velocity of point B at this instant.

VB = Va + VB/a

VB = 6 + [4(3/sin 45°) = 16.9706]

30~ t

::... (VB)x = 12 cos 30° + 0 = 10.392 cmls

+ t (VB)y = 12 sin 30° + 16.9706 = 22.9706 cmls

VB = ~(10.392)2 + (22.9706)2 = 25.2 cmls

e = tan' 22.9706 = 65.70

10.392

VB = Va + ill X rB/a

Ans

(VB),i + (VB)yj = (-12 cos 300i + 12 sin 300j) + (4k) x (3/sin 45°)i (VB)x = -12 cos 30° = -10.392 cmls

(VB)y = 12 sin 30° + 16.9706 = 22.9706 cmls

VB = ~(10.392)2 + (22.9706)2 = 25.2 cmls

e = tan:' 22.9706 = 65.7° 10.392

Ans

16-51. The crankshaft AB is rotating at 500 radls about a fixed axis passing through A. Determine the speed of the piston P at the instant it is in the position shown

v. = 500(0.1) - so mil

"c = so + O.SCI)

J. J. 30"~

.:. 0 = -O.S4>cos3()O, 4> = 0

+ J. Vc = so mil ADS

-vcJ = -SOJ + {aJk}x{0.Scos6O"1 + 0.Ssin6O"j}

~ 0 =- 0 - ru(O.5sin6()O)

+i -vc=-SO+O

Vc - so mil A ••

354

*16-52. The pinion gear A rolls on the fixed gear rack B with an angular velocity Q) = 4 rad/s. Determine the velocity of the gear rack C.

m

B

::... Vc = 0 + 4(0.3)

+ t Vc = 1.2 m1s

Ans

v 4J1ldfs

tfj

v,,=o

+ -2 = 4 - 0.3(w)
-+
c w = 20 radls
VA = VB+ VAIB
+ VA = 8 - 20(0.15)
-+
VA = 1 m1s ~ Ans

Ans

Ans

Ans

2mls 03m

I'A

4 mfs B

Also:

-Vci = 0 + (4k) x (0.3j)

Vc = 1.2 m1s

Ans

16-53. The pmion gear rolls on the gear racks. If B is moving to the right at 4 mls and C is moving to the left at 2 mis, determine the angular velocity of the pinion gear and the velocity of its center A.

B

Also:

-2i = 4i + (wk) x (O.3j)

-2 =4-0.3w

to = 20 radls

vAi = 4i + 20k x (0.15j)

355

-Vci = -4(0.3) sin 300i + 4(0.3) cos 300j + wk x (-0.125 cos 45°i + 0.125 sin 45°j)

-Vc = -1.0392 - 0.008839w

16-54. The sharper mechanism is designed to give a slow cutting stroke and a quick return to a blade attached to the slider at C. Determine the velocity of the slider block C at the instant () = 60°, if link AB is rotating at 4 rad/s.

Vc = 1.64 mls Ans

" .0.125 m

. . .

VB =4(0.3)

60°

vc=4m1s

o = 0.6 - 0.08839w

Solving,

w = 6.79 rad/s

16-55. Determine the velocity of the slider block at C at the instant () = 45°, if link AB is rotating at 4 rad/s.

-Vci = -4(0.3) cos 45°i + 4(0.3) sin 45°j + wk x (-0.125 cos 45°i + 0.125 sin 45°j)

-Vc = -0.8485 - 0.08839w

0= 0.8485 - 0.08839w

Solving,

ta = 9.60 radls

Vc = 1.70 mls Ans

Jle ~/B=0.125m

.~

VB = 4(0.3)

vc=4 mls _V~B1.~ .. ,.m"~2~·c~0

B lm rem

*16-56. The velocity of the slider block C is 4 mls up the inclined groove. Determine the angular velocity of links AB and BC and the velocity of point B at the instant shown.

For link Be

Vc = {-4 cos 45°i + 4 sin 45°j} mls rAIB={li}m

1m

-4 cos 45°i + 4 sin 45°j = -vBi + (WBCk) x (li)

-4 cos 45°i + 4 sin 45°j = -vBi + wBd

Equating the i and j components yields :

-4 cos 45° = -VB; VB = 2.83 mls

Ans

4 sin 45° = WBC; WBC = 2.83 rad/s

Ans

For link AB : Link AB rotates about the fixed point A. Hence

WAB = 2.83 radls

Ans

356

16-57. If the block at C is moving downwrd at 4 mis, determine the angular velocity of bar AB at the instant shown.

Kinematic Diagram : Since link AB is rotating about fixed point A, then VB is always directed perpendicular to link AB and its magnitude is VB = WABrAB = 2wAB. At the instant shown, VB is directed towards the negative y axis. Also, block C is moving downward vertically due to the constraint of the guide. Then Vc is directed toward negative y axis.

Velocity Equation: Here, rOA = {3 cos 300i + 3 sin 300j} m = {2.598i + 1.50j} m. Applying Eq. 16-16, we have

Vc = VB + WBC x rC'B

-4j = -2wAB.i + (wBck) x (2.598i + 1.50j)

-4j = -1.50wBci + (2.598wBC - 2wAB)j

Equating i and j components gives

0= -1.50WBC

WBC= 0

!

vc=4m1s

(Wcnk) x (-4 cos 45°i + 4 sin 45°j) = (-3k) x (6i) + (wBck) x (-8 sin 300i - 8 cos 800j) -2.828wCD = 0 + 6.928wBC

-4 = 2.598(0) - 2wAB

WAB = 2.00 rad/s

Ans

16-58. If link AB is rotating at WAB = 3 rad/s-, determine the angular velocity of link CD at the instant shown.

Vc = WCD x rao

-2.828wCD = -18 - 4WBC

Solving,

WBC = -1.65 rad/s

WCD = 4.03 rad/s Ans

357

16-59. The planetary gear A is pinned at B. Link Be rotates clockwise with an angular velocity of 8 rad/s, while the outer gear rack rotates counterclockwise wih an angular velocity of2 rad/s. Determine the angular velocity of gear A.

Kinematic Diagram : Since link BC is rotating about fixed point C, then VB is always directed perpendicular to link BC and its magnitude is VB = WBCrBC = 8(0.375) = 3 mls. At the instant shown, VB is directed to the left. Also, at the same instant, point E is moving to the right with a speed of VE = WDrCE = 2(0.5) = 1 mls.

Velocity Equation: Here, VBlE = WArBlE = 0.125w A which is directed to the left. Applying Eq. 16-15, we have

.:. -3 = 1 - 0.125wA

WA = 32.0 radls Ans

358

*16-60. The rotation of link AB creates an oscillating movement of gear F. If AB has an angular velocity of WAB = 6 rad/s, determine the angular velocity of gear F at the instant shown. Gear E is rigidly attached to arm CD and pinned at D to a fixed point.

F

Kinematic Diagram : Since link AB and arm CD are rotating about the fixed points A and D respectively, then VB and Vc are always directed perpendicular to their respective arms with the magnitude of VB = WABrAB = 6(0.075) = 0.450 mls and Vc = wCDrCD = 0.15wcD' At the instant shown, VB and Vc are directed toward negative x axis.

Velocity Equation: Here, rBlc = {0.1 cos 300i + 0.1 sin 300j} m = {0.08660i + 0.05j) m. Applying Eq. 16-16, we have

-0.45Oi = -0. 15wcoi + (wBck) x (0.08660i + 0.05j)

-0.450i = -(0.05WBC + 0.15wcD)i + 0.08660WBcl

Equating i and j components gives

o = 0.08660wBC

-0.450 = -[0.05(0) + 0.15wcDJ

WCD = 3.00 radls

Angular Motion About a Fixed Point : The angular velocity of gear E is the same with arm CD since they are attached together. Then, WE = WCD = 3.00 radls. Here, wErE = WFrF where WF is the angular velocity of gear F.

rE (100)

WF = - WE = - (3.00) = 12.0 radls

rF 25

Ans

359

16-61. At the instant shown, the truck is traveling to the right at 3 mis, while the pipe is rolling counterclockwise at ill = 8 radls without slipping at B. Determine the velocity of the pipe's center G.

Va = 3 + 12 ---7 ---7 +---

WSr.ldlS

1.5m

VGIB = 1.5(8) = 12 m/s

Va = 9 mls f--

ADS

Also:

voi = 3i + (Sk) X (1.5j)

Va = 3 -12

Va = -9 mls = 9 mls f-- ADS

16-62. At the instant shown, the truck is traveling to the right at 8 mls. If the spool does not slip at B, determine its angular velocity so that its mass center G appears to an observer on the ground to remain stationary.

0= S + 1.5w

---7 +---

~I)GflI=L5Ct)

J.5W

w = _!_ = 5.33 radls 1.5

ADS

Also:

Oi = Si + (wk) x (1.5j) 0= S -1.5w

w = _!_ = 5.33 radls ADS

1.5

360

16-63. The planetary gear system is used in an automatic transmission for an automobile. By locking or releasing certain gears, it has the advantage of operating the car at different speeds. Consider the case where the ring gear R is held fixed, (OR == 0, and the sun gear S is rotating at (Os == 5 rad/s. Determine the angular velocity of each of the planet gears P and shaft A.

40mm

VA = 5(80) = 400 mmls t-

0= -40Oi + (wpk) x (80j) o = -400i - 80wpi

Wp = -5 radls = 5 radls Ans

Vc = 0 + (-5k) x (-40j) = -20Oi WA = 200 = 1.67 radls

120

Ans

361

*16-64. If the link AB is rotating about the pin at A with an angular velocity WAH = 5 rad/s, determine the velocities of blocks C and E at the instant shown.

VD = -Sj + (2.887k) x (-3 sin 300i + 3 cos 300j) VD = {-7.Si - 9.33j}

Vc= 5 + w(2) +- J. \j 30°

+ <-

Vc = 0 + w(2) sin 30° o = 5 - w(2) cos 30°

Ans

VDl

roDE

4m

VE

Ans

Ans

Ans

+J,

W = 2.887 rad/s

Vc = 2.89 rnfs

VD = 5 + 2.887(3) + wDe(4)

J. /1600 -t

VE= VD + VFJD

VE = 5 + 2.887(3) + wDe(4)

J. J. /1600 -t

0= 0 - 7.500 + wDe(4) WDE = 1.875 rad/s

+J, VE = 5 + 4.330

+ --

VE = 9.33 rnfs J,

Also:

-Vci = -5j + (wk) x (2 cos 300i + 2 sin 300j)

-Vc= 0- w

0=-5 + 1.732w

w = 2.887 rad/s

Vc = 2.89 rnfs

VE = VD + WDE xrFJD

-vEJ = (-7.Si - 9.33j) x (WDEk) x (-4j) 0= -7.5 + 4WDE

-vE=-9.33

WDE = 1.875 rad/s

VE = 9.33 rnfs

362

16-65. If disk D has a constant angular velocity (OD = 2 rad/s, determine the angular velocity of disk A at the instant e = 60°.

Also:

VB = 1.5 + 2WBC

~45° LJO° /1600

VB = Vc + VB/C

+ -+

VB cos 450 = 1.5 cos 300 - 2WBC sin 60° VB sin 45° = -1.5 sin 30° + 2WBC cos 60°

VB cos 45°i - VB sin 45°j = 1.5 cos 300i + 1.5 sin 300j

c

+ (wBck) x (2 cos 600i - 2 sin 600j)

WBC = 0.75 radls VB= 0

o

WA= - =0

0.5

Ans

VB cos 45° = 1.5 cos 30° + WBC (2 sin 60°) -VB sin 45° = 1.5 sin 30° + WBC (2 cos 60°) WBC = 0.75 radls

VB=O

o

WA= - =0

0.5

Ans

16-66. The bicycle has a velocity v = 1 mis, and at the same instant the rear wheel has a clockwise angular velocity (0 = 3 rad/s, which causes it to slip at its contact point A. Determine the velocity of point A.

VA = 0.95 mls

Ans

Also,

VA = Ii + (-3k) x (_ 650 j) 1000

VA = Ii - 1.95i = -O.95i VA = 0.95 mls f-

Ans

1 mls

@)3md/S

0.65m 0.65(3)

A

363

16-67. If the angular velocity oflinkAB is mAB = 3 rad! s, determine the velocity of the block at C and the angular velocity of the connecting link CB at the instant e = 45° and q>= 30°.

Vc = VB + VC'B

[V 1 [2 ] [WCB(3) ]

~ =+~Oo + 45~

B

..!. -Vc = 1 sin 30° - WCB(l) cos 45°

+1 0 = -1 cos 30° + wCB(l) sin 45°

WCB = 2.45 radls ')

Vc = 0.73 mls ~

Ans

Vc C

B

30· B m/s

Ans

Also,

Vc = VB + wxrC'B

-vci = (2 sin 300i - 2 cos 300j) + (wcBk) x (1 cos 45°i + 1 sin 45°j)

..!. -Vc = 1 - 0.707 WCB

+1 o =-1.732+ 0.707wCB

WCB = 2.45 radls ') Vc = 0.73 mls ~

Ans

Ans

*16-68. If the end of the cord is pulled downward with a speed Vc = 120 mm/s, determine the angular velocities of pulleys A and B and the speed of block D. Assume that the cord does not slip on the pulleys.

For pulley A : Motion about a fixed axis through the center applies.

120 = 30wA

WA = 4 radls

Ans

For pulley B : Point P' is at rest during the instant considered.

Thus,

Vp = V?, + Vp/?,

+1 120 = 0 + 120(wB)

WB = 1 radls ')

Ans

VD = 0 + 60(1)

VD = 60 rnmIs

Ans

364

16-69. At the instant shown, the truck is traveling to the right at 8t m/s, while the pipe is rolling counterclockwise at Q) = 2t radls without slipping at B. Determine the velocity of the pipe's center G.

Va = VB + VOIB

Va = St m1S---7

ADS

~2trad!s L5m~'G ~8tmlS B

Also:

Va = VB + W X rOIB

voi = (8t)i + (2t)k X (1.S)j

Va = 8t- 3t

Va = St m1S---7

ADS

16-70. At the instant shown, the truck is traveling to the right at 12 m/s. If the pipe does not slip at B, determine its angular velocity if its mass center G appears to an observer on the ground to be moving to the right at 3 m/s.

Va = VB + VOIB

9

ca = - = 6 rad/s ') 1.5

ADS

Also:

Va = VB + W X rOIB

3i = l2i + (wk) X (1.Sj) 3 = 12 - 1.Sw

9

to = - = 6 rad/s ') 1.5

ADS

365

16-71. The top view of an automatic service window at a fast-food restaurant is shown in the figure. During operation, a motor drives the pin-connected link CB with an angular velocity WCB = 0.5 rad/s. Determine the velocity at the instant shown of the end A, which moves along the slotted guide.

VA - "'. + YA1•

VA - (0.2)(0.5) + (1).00(0.2)

-+ 30" ~ 3(f' 7

al AD = 0.5 rad/.

VA - -0.17321 mi. - -0.173 mi.

Au

vAl - -0.2(0.S)cos30"1 + 0.2(0.S)lin30"j + (Q)ADk) x (-O.2coa6O"1 + 0.21in6O"J>

VA - -(o.2)(0.S)cos3O" - alAo(0.2)ooa3O"

0- Q.2(0.S)sin3O" - (l)Ao(0.2)sin30"

VA = -0.17321 mi. - -0.173 mi.

Au

radls

*16-72. Part of an automatic transmission consists of a fixed ring gear R, three equal planet gears P, the sun gear S, and the planet carrier C, which is shaded. If the sun gear is rotating at Ws = 6 rad/s and has an angular velocity Wc of the planet carrier. Note that C is pin-connected to the center of each of the planet gears.

24 = 0 + 4(wp)

II' II'

Wp = 6 radls

_O~A. .. . .. l'1an.etgear

VA - . OJp

2cm E 2cm

VI! D

Yv=6(4) =24

VE = 0 + 6(2)

II' II'

VE = 12 cmls

G\ ~

12cmls

12

We = 6" = 2 radls

Ans

366

16-73. The mechanism shown is used in a riveting machine. It consists of a driving piston A, three links, and a riveter which is attached to the slider block D. Determine the velocity of D at the instant shown, when the piston at A is traveling at VA = 20 rn/s.

Kinematic Diagram: Since link BC is rotating about fixed point B, then v C is always directed perpendicular to link Be. At the instant shown, Vc = -Vc cos 300i + Vc sin 300j = -O.8660vci + 0.500vd. Also, block D is moving towards the negative y axis due to the constraint of the guide. Then, VD = -vrJ.

Velocity Equation: Here, VA = {-20 cos 45°i + 20 sin 45°j} mls = {-14.14i + 14.14j} mls and rOA = {-O.3 cos 300i + 0.3 sin 300j} m = {-O.2598i + 0.150j} m. Applying Eq. 16-16 to link AC, we have

-O.8660vci +0.500vd =-14.14i+ 14.14j + (wAck) x (-O.2598i + 0.150j)

-O.8660vci + O.50Ovd = -{14.14 + 0.150wAc)i + (14.14 - O.2598wAc)j

Equating i and j components gives

-O.8660vc = -{14.14 + 0.150WAc)

[I]

0.500vc = 14.14 - 0.2598wAC [2]

Solving Eqs. [I] and [2] yields

WAC = 17.25 radls

Vc = 19.32 mls

Thus, Vc = {-19.32 cos 300i + 19.32 sin 300j} mls = {-16.73i + 9.659j} mls and rDIC= {-O.15 cos 45°i -0.15 sin 45°j} m= {-O.1061i -O.1061j} m. Applying Eq. 16-16 to link CD, we have

VD = Vc + WCD x rDIC

-vrJ = -16.73i + 9.659j + (wcok) x (-O.106li - 0.106Ij)

-vrJ = (0. 1061 WCD - 16.73)i + (9.659 - 0.1061wCD)j

Equating i and j components gives

0= 0.1061wCD -16.73

[3]

-VD = 9.659 - O.1061wcD

[4]

Solving Eqs. [3] and [4] yields

WCD = 157.74 radls VD = 7.07 mls

Ans

367

16-74. In an automobile transmission the planet pinions A and B rotate on shifts that are mounted on the planet-pinion carrier CD. As shown, CD is attached to a shaft at E which is aligned with the center of the fixed sun-gear S. This shaft is not attached to the sun gear. If CD is rotating at WeD = 8 rad/s, determine the angular velocity of the ring gear R.

Vc = Vp + W x rc/P

16-75. The two-cylinder engine is designed so that the pistons are connected to the crankshaft BE using a master rod ABC and articulated rod AD. If the crankshaft is rotating at W = 30 rad/s, determine the velocities of the pistons C and D at the instant shown.

VC=VB+VC/B

Vc = 1.5 + (O.25)w 450;7 +- "'i'30°

+ +-

Ve cos 45° = 1.5 - wc(0.25)(cos 30°)

Vc sin 45° = 0 + wc(0.25)(sin 30°)

" ..

ADS .a:::6s.

~~

" •• U..,,,

Vc = 0.776 m1s

We = 4.39 radls

VA = 1.5 + [0.05(4.39) = 0.2195]

--7 +- ~5°

v.~

w'

...... 0.:121$

.If5'" .JtS.

VD = 1.5 + 0.2195 + ui(0.25)

45°~ 45"7 /' /'

",+ VD = -1.5 sin 45°

VD = 1.06 m1s "

ADS

Ii = 0 + (-wk) X (0.05j)

W = 20 radls

VR = 0 + (-20k) x (O.lj)

VR= 2i

vR 2

WR = -;:- = (0.125+0.05) = 11.4 radls

VB = wx rBlE

VC=VB+ wBCxrC/B

-VC cos 45°i - Vc sin 45°j = (30k) x (0.05j) + (wBck) x

(0.25 cos 600i + 0.25 sin 600j) -Vc cos 45° = -1.5 - wBc(0.2165)

-VC sin 45° = 0.125wBc

Vc = 0.776 m1s WBC = 4.39 radls

ADS

VD cos 45°i - VD sin 45°j = (30k) x (0.05j) +

(-4.39k) x (0.05 cos 45°i + 0.05 sin 45°j) + (wmk) x (-0.25 cos 45°i + 0.25 sin 45°j)

VD cos 45° = -1.5 + 0.1552 - wAD(0.1768)

-VD sin 45° = 0.1552 - 0.1768WAD

WAD = 3.36 radls

VD = 1.06 m1s

ADS

368

16-76. If the slider block A is moving downward at VA = 4 mis, determine the velocities of blocks Band Cat the instant shown.

--7

.!. VB = 0 + wAB(0.55) ( f)

+ i 0 = -4 + WAB(0.55)( f)

Solving,

WAB = 9.091 rad/s VB = 3.00 mls

Ans

VD = 4 + [(0.3)(9.091) = 2.727] 42",

.j. Y5

Ve = VD+ Vov

Ve = 4 + 2.727 + weiO.4)

--7 .j. ¥ '1300

.!. ve = 0 + 2.727 (f) - weiO.4)(sin 30°)

WCE = 5.249 rad/s

Ve = 0.587 mls Also:

Ans

VD = -4j + (-9.091k) x {-54 (0.3)i + f(O.3)j}

VD = {1.636i -1.818j} mls

Ve = VD + WeE X rov

Vei = (1.636i - 1.818j) + (-WeEk) X (-0.4 cos 300i - 0.4 sin 300j)

Ve = 1.636 - 0.2WCE

VB = wAB(0.33) 0= -4 + O.44wAB WAB = 9.091 radls VB = 3.00 mls

0= 1.818 - 0.3464wCE

WeE = 5.25 rad/s Ve = 0.587 mls

Ans

Ans

369

16-77. Mechanical toy animals often use a walking mechanism as shown idealized in the figure. If the driving crank AB is propelled by a spring motor such that WAB = 5 rad/s, determine the velocity of the rear foot E at the instant shown. Although not part of this problem, the upper end of the foreleg has a slotted guide which is constrained by the fixed pin at G.

Ve = VB + VlYB

Ve = 5 + 6w

~oo 500[\ J,.

~ Ve cos 30° = 5 sin 50° + 0

Ve = 4.42 cmls

4.42

WEe = -2- = 2.21 radls

VE = (2.21)(4) = 8.84 cmls

Ans

Also:

Ve = WEe X rCID

(wEek) X (2 cos 600i + 2 sin 600j)= (-5k) X (1 cos 500i + 1 sin SOOj) + (wk) x (--6j) = 3.83

-1.732wEC = 3.83

1 WEe = -3.214 - 6w

WEe = -2.21 radls

W = -0.167 radls

VE = 4(2.21) = 8.84 cmls

Ans

370

16-78. Solve Prob. 16-51 using the method of instantaneous center of zero velocity.

VB = 500(0.1) = 50 mls

Since Ie is at =

W=o

Ve = VB = 50 mls

ADS

.~

Ie

1>B= 50mls

16-79. Solve Prob. 16-54 using the method of instantaneous center of zero velocity.

1.2

W = 0.1768 = 6.79 radls

Ve = 6.79(0.2415) = 1.64 mls f-

ADS

0.125n1

0.2415m-

IC~

0.3(4) = 1.2 m/s

0.1768 m

*16-80. Solve Prob. 16-60 using the method of instantaneous center of zero velocity.

Instantaneous center for link Be is at infinity.

Ve = VB = 6(0.075) = 0.45 mls

0.45

WeD = 0.15 = 3 radls

(100)

WF = 3 25 = 12.0 radls

ADS

371

16-81. Solve Prob. 16-61 using the method of instantaneous center of zero velocity.

G

VB = 3 mls

3

d, = "8 = 0.375 m

d2 = 1.5 - 0.375 = 1.125 m Va = 8(1.125) m = 9 mls f--

Ans

B 3 mls

16-82. Solve Prob. 16-62 using the method of instantaneous center of zero velocity.

G

Mass center G is the instantaneous center.

1.5m

r{J)= VB

VB 8

(J) = - = - = 5.33 rad/s

r 1.5

Ans

B 8 mls

16-83. Solve Prob. 16-63 using the method of instantaneous center of zero velocity.

Vp = (80)(5) = 40 mls

Ie

rlH.

.... R-...::,,--, ~I'

Vp= 400 mlmls

400

(J)p = 80 = 5 rad/s )

Ans

Vc = (5)(40) = 200 mm1s

200

(J)A = (80+40) = 1.67 radls)

Ans

372

*16-84. Solve Prob. 16-65 using the method of instantaneous center of zero velocity.

When radial lines extend from B and C, they intersect at B, thus the IC is at B and so

VB= 0

ADS

Hence

o

WA= -- =0 0.5 m

ADS

Vc = 2(0.75) =lSm/s

16-85. Solve Prob. 16-66 using the method of instantaneous center of zero velocity.

1

rC/lC = "3 = 0.333 m

650

rAlIC = 100 - 0.333 = 0.317 m

VA = 3(0.317) = 0.95 m1s f-

ADS

373

B

16-86. In each case show graphically how to locate the instantaneous center of zero velocity of link AB. Assume the geometry is known.

A

(a)

(c)

ic

a)

VlJ

b)

c)

374

16-87. The shaper mechanism is designed to give a slow cutting stroke and a quick return to a blade attached to the slider at C. Determine the angular velocity of link CB at the instant shown, if the link AB is rotating at 4 rad/s.

Kinematic Diagram : Since link AB is rotating about fixed point A, then VB is always directed perpendicular to link AB and its magnitude is VB = WABrAB = 4(0.3) = 1.20 mls. At the instant shown, VB is directed at an angle 30° with the horizontal. Also, block C is moving horizontally due to the constraint of the guide.

Instantaneous Center : The instantaneous center of zero velocity of link BC at the instant shown is located at the intersection point of extended lines drawn perpendicular from VB and Vc. Using law of sines, we have

rBIIC _ 0.125

sin 45° - sin 30°

rBlIC = 0.1768 m

renc = 0.2415 m

The angular velocity of bar BC is given by

VB 1.20

WBC = -- = 0 1768 = 6.79 rad/s

rBIlC .

Ans

IC

375

*16-88. At the instant shown, the disk is rotating at to = 4 rad/s. Determine the velocities of points A, B, and C.

E

The instantaneous center is located at point. Hence, VA = O. ADS

rcac = ~0.152 + 0.152 = 0.2121 m VB = (})rBlIC = 4(0.3) = 1.2 m1s

Vc = (})rC/lC = 4(0.2121) = 0.849 m1s ~45°

rBllC = 0.3 m

ADS ADS

16-89. The wheel rolls on its hub without slipping on the horizontal surface. If the velocity of the center of the wheel is Vc = 0.6 rnls to the right, determine the velocities of points A and B at the instant shown.

Vc = (})rC/lC

0.6 = w(0.075)

(}) = 8 rad/s

VB = (})rBlIC = 8(0.275) = 2.2 m1s ----t

ADS

rom

VA = (})rNIC = 8(0.075 ..fi) = 0.849 m1s

ADS

B

0'475m~.. . .. :.

CA .

Vc. . .. 9A

IC VA

0.075 m 0.075fi m

ADS

376

16-90. If link CD has an angular velocity of WeD = 6 rad/s, determine the velocity of point E on link AB at the instant shown.

Vc = wCD(rCD) = (6)(0.6) = 3.60 m1s

Vc 3.60

WBC = rClIc = 0.6 tan 300 = 10.39 rad/s

( 0.6 )

VB = WBCrB//C = (10.39) cos 300 = 7.20 m1s

rB 7.20

WAH= - = ~ =6rad/s ')

rAB ~

cos 30°

Ans

tc

VE = WBCrEl/C = 10.39 ~(0.6 tan 30°)2 + (0.3)2 = 4.76 m1s Ans

( 0.3 )

e = tan:' 0.6 tan 300 = 40.9° ~

Ans

r/C_B = 0.3 cos 30° = 0.2598 III Ttc : c = 0.3 cos 60° = 0.1500 III

~

B~"c

30· C

1.S mls 0.3 m

16-91. If link AB is rotating at WAH = 6 rad/s, determine the angular velocities of links BC and CD at the instant 8= 60°.

B

1.5

WBC = 0.2598 = 5.774 = 5.77 rad/s

Vc = 5.774(0.15) = 0.8661 m1s

0.8661

WCD=~

= 2.17 rad/s

Ans

377

*16-92. Determine the angular velocity oflinkAB at the instant shown if block C is moving upward at 12 crn/s.

B

_4 __ rIC_B _ rIC_C

sin 45° - sin 30° - sin 105°

rIC-C= 5.464 em

r/C_B = 2.828 em

WBC = 2.1962 radls

= 2.1962(2.828) = 6.211 emls

WAR = 1.24 radls

Ans

16-93. As the car travels forward at 24 rn/s on a wet road, due to slipping, the rear wheels have an angular velocity w = 100 rad/s. Determine the speeds of points A, B, and C caused by the motion ..

24

r= 100 =0.24m

Ans Ans

VA = 0.18(100) = 18 m/s=-e Vc = 0.66(100) = 66 mls ~

VB = 0.4837(100) = 48.37 mls 60.3~

Ans

O.l8m

378

16-94. Knowing that the angular velocity of link AB is (J)AB = 4 rad/s, determine the velocity of the collar at C and the angular velocity of link CB at the instant shown. Link CB is horizontal at this instant.

rlC_. • 0.2562 m

rlC_C • 0.3138 m

2

Gte. - 0.2562 = 7.8059 = 7.81 radii A ...

YC - 7.80'9(0.3138) =2.4' mI, A ...

16-95. If the collar at C is moving downward to the left at Vc = 8 mis, determine the angular velocity of link AB at the instant shown.

rlC_. = 0.2562 m

tse-c = 0.3138 m

8

tl)c. = 03i3i = 25.494 radiI

". = 25.494(0.2562) = 6.S31' mi.

6.s31S

tl)A. = -- • 13.1 rwJI. 0.'

379

*16-96. Due to slipping, points A and B on the rim of the disk have the velocities shown. Determine the velocities of the center point C and point D at this instant.

1.6 - x x -5-= 10

5x= 16-10x x = 1.06667 m

10

w = 1.06667 = 9.375 radls

r/C_D = ..)(0.2667)2 + (0.8/ - 2(0.2667)(0.8) cos 135° = 1.006 m

sin tfJ _ sin 135°

0.2667 - 1.006

tfJ= 10.80°

Vc = 0.2667(9.375) = 2.50 mls VD = 1.006(9.375) = 9.43 mls e = 45° + 10.80° = 55.8°

AilS

AilS

VB= lOmls B

V~B=IOI11fS

1.6-

v,=5m/s

0.2667 m

16-97. Due to slipping, points A and B on the rim of the disk have the velocities shown. Determine the velocities of the center point C and point E at this instant.

1.6 - x x -5-= 10

5x= 16 -lOx

x = 1.06667 m

10

ca = 1.06667 = 9.375 radls

= 9.375(1.06667 - 0.8) = 2.50 mls

AilS

VB= 10mls B

= 9.375 ..)(0.8)2 + (0.26667)2

= 7.91 mls

AilS

0'8in~ •• lO,~... . • ,W

N Ie

E

5111fs I.(i-x

380

16-98. The mechanism used in a marine engine consists of a single crank AB and two connecting rods BC and BD. Determine the velocity of the piston at C the instant the crank is in the position shown and has an angular velocity of 5 rad/s.

VB = 0.2(5) = 1 mls ~ Member Be:

rCIIC _ ~

sin 60° - sin 45°

tcac = 0.4899 m

J!Js;_ _ ~

sin 75° - sin 45°

rBlIC = 0.5464 m

1

WBC = 0.5464 = 1.830 radls

Vc = 0.4899(1.830) = 0.897 mls /'

Ans

16-99. The mechanism used in a marine engine consists of a single crank AB and two connecting rods BC and BD. Determine the velocity of the piston at D the instant the crank is in the position shown and has an angular velocity of 5 rad/s.

VB = 0.2(5) = 1 mls ~ MemberBD:

~-~

sin 105° - sin 45°

rBlIC = 0.54641 m

rD11C -~

sin 30° - sin 45°

rDRC = 0.28284 m

1

WBD = 0.54641 = 1.830 radls

VD = 1.830(0.28284) = 0.518 mls ""

Ans

381

*16-100. The square plate is confined within the slots at A and B. When e= 30°, point A is moving at VA = 8 m1s. Determine the velocity at point C at this instant.

c

TNIC = 0.3 cos 30° = 0.2598 m

8

w = 0.2598 = 30.792 radls

TC/IC = ~(0.2598)2 + (0.3)2 - 2(0.2598)(0.3) cos 60° = 0.2821 m

Vc = (0.2821)(30.792) = 8.69 mls

ADS

sin I/J _ sin 60° 0.3 - 0.2821

I/J= 67.09°

e= 90° - 67.09° = 22.9° \1

Ans

16-101. The square plate is confined within the slots at A and B. When e= 30°, point A is moving at VA = 8 m1s. Determine the velocity at point D at this instant.

TA/IC = 0.3 cos 30° = 0.2598 m

8

w = 0.2598 = 30.792 radls

TBlIC = 0.3 sin 30° = 0.15 m

TDnc = ~(0.3)2 + (0.15)2 - 2(0.3)(0.15) cos 30° = 0.1859 m

VD = (30.792)(0.1859) = 5.72 mls

ADS

sin I/J _ sin 30° 0.15 - 0.1859

I/J= 23.794°

e= 90° - 30° - 23.794° = 36.2° ~

t~s

ADS

382

16-102. The epicyclic gear train is driven by the rotating link DE, which has an angular velocity (ODE = 5 rad/s. If the ring gear F is fixed, determine the angular velocities of gears A, B, and C.

v. - 0.16(5) - 0.1 mil

AIlS

0.8

.c - 0.03 & 26.7 radII

II, - (0.06)(26.7) - 1.6 mil

1.6

ell. - 0.0:1:165 a 28.75 rad/. AIlS

1.6 0.45

-;- - .. -0.04

.. = 0.0:1565 m

u"'/s

.

"'" (X-o.M)_

I/f'

'II,. - 28.7S(0.08-0.0!iS6S) - 0.700 mls +-

0.700

.A - -o:os = 14.0 rad/. A.s

16-103. The mechanism produces intermittent motion of link AB. If the sprocket S is turning with an angular velocity of (Os = 6 rad/s, determine the angular velocity of link AB at this instant. The sprocket S is mounted on a shaft which is separate from a collinear shaft attached to AB at A. The pin at C is attached to one of the chain links.

Kinematic Diagram : Since link AB is rotating about the fixed point A, then VB is always directed perpendicular to link AB and its magnitude is VB = WABrAB = 0.2wAB' At the instant shown, VB is directed at an angle 60° with the horiontal. Since point C is attached to the chain, at the instant shown, it moves vertically with a speed of Vc = wsrs = 6(0.175) = 1.05 mls.

Instantaneous Center : The instantaneous center of zero velocity of link BC at the instant shown is located at the intersection point of extended lines drawn perpendicular from VB and Vc. Using law of sines, we have

rBIIC 0.15

sin 105° = sin 30°

rBlIC = 0.2898 m

Ie

rCIIC _....Q:.!2_

sin 45° - sin 30°

tcac = 0.2121 m

The angular velocity of bar BC is given by

Vc 1.05

WBC = -- = 02121 = 4.950 radls

Tcnc .

Thus, the angular velocity of link AB is given by

0.2WAB = 4.950(0.2898) WAB = 7.17 radls

Ans

383

*16-104. The similar links AB and CD rotate about the fixed pins at A and C. If AB has an angular velocity WAH = 8 rad/s, determine the angular velocity of BDP and the velocity of point P.

700mm

Ie..

l

P

Kinematic Diagram : Since links AB and CD are rotating about the fixed points A and C, then VB and VD are always directed perpendicular to link AB and CD respectively. The magnitude is VB and VD are VB == wABrAB = 8(0.3) = 2.40 m1s and VD = WCDrCD = 0.3WCD' At the instant shown, VB and V D are directed at 30° with the horiontal.

Instantaneous Center : The instantaneous center of zero velocity of link BDP at the instant shown is located at the intersection point of extended lines drawn perpendicular from VB and YD' From the geometry,

0.3

rBlIC = cos 600 = 0.600 m

rp//C = 0.3 tan 60° + 0.7 = 1.220 m

The angular velocity of link BDP is given by

WBDP = ..2:!L = 2.40 = 4.00 radls

rB11C 0.600

Ans

Thus, the velocity of point P is given by

Vp = WaDprp/lC = 4.00(1.220) = 4.88 m1s ~ Ans

384

16-105. At a given instant the bottom A of the ladder has an acceleration aA = 2 mls2 and velocity VA = 3 mis, both acting to the left. Determine the acceleration of the top of the ladder, B, and the ladder's angular acceleration at this same instant.

3

to = "4 = 0.75 radls

aB = 2 + (0.75)2(8) + a(8) .J.. f- 3W' 300[\

::... 0 = 2 + (0.75)2(8) cos 30° - a(8) sin 30°

+t aB = 0 + (0.75)2(8) sin 30° + a(8) cos 30°

Solving,

a = 1.47 rad/s? aB = 12.5 mfs2 t Also:

ADS

ADS

-aAi = -Ij + (ak) x (-8 cos 300i - 8 sin 300j) - (0.288675)2(-8 cos 300i - 8 sin 300j)

-aA = 4a + 0.5774

-aai = -2i + (ak) x (8 cos 300i + 8 sin 300j) - (0.75)2(8 cos 300i + 8 sin 300j)

o = -2 - 4a - 3.897

-aB = 6.928a - 2.25 a = 1.47 rad/s?

aB = 12.5 mfs2 t

ADS

ADS

Jr7i2m!S

YSm'f

VA

16-106. At a given instant the top B of the ladder has an acceleration aB = 1 mls2 and a velocity of VB = 2 mis, both acting downward. Determine the acceleration of the bottom A of the ladder, and the ladder's angular acceleration at this instant.

2

W = = 0.288675 radls

8 cos 30°

0=-1 - 6.928a + 0.3333

a = -0.0962 rad/s" = 0.0962 rad/s? ) aA = -0.193 mfs2 = 0.193 mfs2-7

ADS

ADS

385

16-107. At a given instant the top end A of the bar has the velocity and acceleration shown. Determine the acceleration of the bottom B and the bar's angular acceleration at this instant.

5

()) = 5" = 1.00 radls

aB = 7 + 10 + a(10)

~ .j, \j 30° LJO°

.=. as = 0 - 10 sin 30° + a(10) cos 30°

+ i 0 = -7 + 10 cos 30° + a(10) sin 30° a = -0.3321 rad/s? = 0.332 rad/s-

ADS

S'cm

v. =5 em! .

VB

aB = -7.875 cmls2 = 7.88 cm/s? ~ Also:

ADS

aBi = -7j - (1)2(10 cos 600i - 10 sin 600j) + (ak) x (10 cos 600i - 10 sin 600j)

.=. aB = -10 cos 60° + a(10 sin 60°)

+ i 0 = -7 + 10 sin 60° + a(10 cos 60°) a = -0.3321 rad/s' = 0.332 rad/s"

ADS

aB = -7.875 cmls2 = 7.88 cmfs2 ~

ADS

386

*16-108. At a given instant, the slider block A has the velocity and deceleration shown. Determine the acceleration of block B and the angular acceleration of the link at this instant.

VB I.S

WAB = - = =.J 07 radls

'Aile O.3cos45° .

-a.j = 16i+ (at) x (0.3 cos4S0j + 0.3 sin4S°j)- (7.07)2 (0.3 cos4sol+0.3 sin4soJ)

.; 0 = 16- a(O.3)sin45°-(7.07)2(O.3)cos4S0

Solving:

Ans

aB = 5.21 m/s2 J. Ana

VA = 1.5 mls

387

16-109. The wheel is moving to the right such that it has an angular velocity ill = 2 radls and angular acceleration a = 4 rad/s? at the instant shown. If it does not slip at A, determine the acceleration of point B.

Since no slipping

ac = ar = 4(0.4) = 1.6 m/s?

a =4 (0=2

aB = ac + awc

aB = 1.6 + (2)2(0.4) + 4(0.4)

~ ~Oo l/300

+ --+

(aB), = 1.6 + 1.39 + 0.8 = 3.79 (aB)y = 0 - 0.8 + 1.39 = 0.59

A

Also:

aB = ac + a x rwc - uJlrwc

aB = 1.6i + (-4k) x (-0.4 cos 300i + 0.4 sin 300j) - (2)2(-0.4 cos 300i + 0.4 sin 300j)

aB = {3.785i + 0.5857j} mls2

aB = ~(3.785)2 + (0.5857)2 = 3.83 mls2

Ans

aB = ~(3.79)2 + (0.59)2 = 3.84 mls2

Ans

0.59 ~"

8= tan-1-- = 8 80° .a....fl

3.79 .

Ans

16-110. At a given instant the wheel is rotating with the angular motions shown. Determine the acceleration of the collar at A at this instant.

See Prob. 16-59, ta = 4.16 radls

aA = 2.4 + 9.6 + (4.16)2(0.5) + a(0.5) ~ L!_roo ~Oo roy \J 60°

.=.. -aA = 2.4 cos 60° + 9.6 cos 30° - 8.65 cos 60° - a(0.5) sin 60°

+t 0 = 2.4 sin 60° - 9.6 sin 30° - 8.65 sin 60° + a(0.5) cos 60°

a = 40.8 rad/s' )

a = 12.5 mls2 f-

Ans

Also:

aAi = (8)2(0.15)(cos 300)i - (8)2(0.15) sin 300j + (16)(0.15) sin 300i + (16)(0.15) cos 300j + (ak) x (0.5 cos 600i + 0.5 sin 600j) - (4.16)2(0.5 cos 600i + 0.5 sin 600j)

aA = 8.314 + 1.200 - 0.433a - 4.326

0= -4.800 + 2.0785 + 0.25a-7.4935

a = 40.8 rad/s' ')

Ans

(0.5857)

8= tan:' -- = 8 80° ~

3.785 .

Ans

0.. 0(

as"_ "/3

(Ot)raUl."Is) (o..".or(I)'{P.1S)" 9-'

.. .,.It-

388

16-111. The flywheel rotates with an angular velocity ill = 2 radls and an angular acceleration a = 6 rad/s-. Determine the angular acceleration of links AB and Be at this instant.

(J) = 2 rad/s a = 6 rad/s?

m

(a.), + 0.9 = 1.8 + 1.2 + aA• (0.5)

._ J. ._ ,J. '...;"

+ ._

aA• = 0.75 RIll.' ')

A ..

(a.), - 1.575 mI"

1.575 ,

a.c - 0.4 - 3.94 RIll' ') Au

AlIO:

(0.6)' ,

-(0.),1 - --j - -6(0.3)1 - (2) (O.3)j + (aA.k) x (0.41 - 0.3j) - 0 0.4

-0.9 - - 1.2 + 0.4aA•

aA• = 0.75 RIll.' ')

Au

(a.), - 1.575 m/"

1.575 ,

a.c - 0.4 = 3.94 ndI, j Au

389

*16-112. At a given instant the wheel is rotating with the angular velocity and angular acceleration shown. Determine the acceleration of block B at this instant.

to = 2 rad/s a = 6 rad/s2

". - 0.6 + ClJ(O.'l

J. y;f'7 ~.,.

~ 0 - -O.6c:os300 + 4)(O.5)COI4SO

CI) - 1.470 radii

+ 1.2 + (1.470)2(0.5)

JII"'\J .,.7

a" = 1.8 J. y;f'7

+ 0(0..5) ~,.

+ J. a" = 1.811830" - l.2cos3O" + 1.081184,.. + a(O..5) 1184'"

a" m 3.SS mI,2 Al80:

Au

-".1 .. (~.6COB3O"i - 0.6s1n3O"J) + (-CIlk) x (0..5cos4,... + O.SIiD4S·j)

o - -0.6coa3O" + ClJ(O.Ssln4S")

CI) ~ 1.470 radla

-a"J - (-1.2&1n3O"1 + 1.2cos3O"J) + (-1.8cos3O"1 - 1.8s1n3O"J) +(-ak) x (0.SCXl84,..1 + 0.Ssln4S·J)

o - -1.2I1n3O" - 1.8cos3O" - (1.470)2(0.Scos4SO) + a(0.Ssln4S0)

-a" .. 1.2cos3O" - 1.851830" - (1.470)2(0.Ssln4S0) - 0(0..511n4S")

a - 8.266 radla

a" - 3.55 mls2 Au

390

16-113. The disk is moving to the left such that it has an angular acceleration a = 8 rad/s? and angular velocity Q) = 3 rad/s at the instant shown. If it does not slip at A, determine the acceleration of point B.

ac = 0.5(8) = 4 mis2

_ 4 [(3)\0.5)] l(0.5)(8)J

aB - [.J + LJoo + 300[\

+ -+

(aB), = -4 + 4.5 cos 30° + 4 sin 30° = 1.897 mis2

+ i (aB)y = 0 + 4.5 sin 30° - 4 cos 30° = -1.214 mis2

aB = ~(1.897)2 + (-1.214)2 = 2.25 m/s?

ADS

(1.214)

e = tan:' 1.897 = 32.6°

ADS

Also,

aB = ac + a x rBlC - urrBlC

(aB)J + (aB)J = -4i + (8k) x (-0.5 cos 300i - 0.5 sin 300j) - (3)2(-0.5 cos 300i - 0.5 sin 300j)

+ -+

(aB), = -4 + 8(0.5 sin 30°) + (3)2(0.5 cos 30°) = 1.897 mis2 (aB)y = 0 - 8(0.5 cos 30°) + (3)'(0.5 sin 30°) = 1.214 m/s?

(1.214)

e= tan' -- = 326° ~

1.897 .

ADS

aB = ~(1.897)2 + (-1.214)2 = 2.25 mis2

ADS

391

16-114. The disk is moving to the left such that it has an angular acceleration a = 8 rad/s- and angular velocity ill = 3 rad/s at the instant shown. If it does not slip at A, determine the acceleration of point D.

aC = 0.5(8) = 4 mls2

aD = ac+ aDIC

[(3)2(0.5)] l(8)(0.5)J aD = [~l + 11450 + 45~

.:,. (aD). = -4 - 4.5 sin 45° - 4 cos 45° = -10.01 mls2

(aD)y = 0 - 4.5 cos 45° + 4 sin 45° = -0.3536 mls2

(0.3536)

e = tan:' IO:Ol = 2.02°

aD = ~(-10.01)2 + (-0.3536)2 = 10.0 mls2 -;7

Ans

0.'5-.

Ans

Also,

aD = ac + a x rDIC - arrDIC

(aD)J + (aD),j = -4i + (8k) x (0.5 cos 45°i + 0.5 sin 45°j) - (3)2(0.5 cos 45°i + 0.5 sin 45°j)

.:,. (aD), = -4 - 8(0.5 sin 45°) - (3)2(0.5 cos 45°) = -10.01 mls2

+ t (aD)y = +8(0.5 cos 45°) - (3)2(0.5 sin 45°) = -0.3536 mls2

(0.3536)

e = tarr ' 10.01 = 2.02° -;7

Ans

aD = ~(-1O.01)2 + (-0.3536)2 = 10.0 mls2

Ans

392

16-115. The hoop is cast on the rough surface such that it has an angular velocity OJ = 4 rad/s and an angular acceleration a = 5 rad/s'. Also, its center has a velocity Va = 5 mls and a deceleration aa = 2 mls2. Determine the acceleration of point A at this instant.

Ans

(4.8)

e = tan:' 3.5 = 53.9° -;7

Ans

~ =4rad/s

'-6}) O.3m

ao = 2 rn/s : -:

B t a = 5 rad/s-'

45°

Also:

a, = -2i - (4)2(0.3j) + 5k x (0.3j) aA = {-3.5i - 4.8j} m/s?

aA = 5.94 mls2

Ans

(4.8)

e= tan:' - = 53 9°

3.5 .

Ans

*16-116. The hoop is cast on the rough surface such that it has an angular velocity OJ = 4 rad/s and an angular acceleration a = 5 rad/s'. Also, its center has a velocity Va = 5 mls and a deceleration aa = 2 mls2. Determine the acceleration of point B at this instant.

- [2] l5(O.3)J [(4)2 (O.3)J

aB - <- + L + __!:,.

Ans

(4.455)

e = tan' 4.333 = 45.8° __!:,.

Also:

aB = -2i + 5k x (0.3 cos 45°i - 0.3 sin 45°j) - (4)2(0.3 cos 45°i - 0.3 sin 45°j) aB = {-4.333i + 4.455j} mls2

Ans

(4.455)

e = tarr! 4.333 = 45.8° __!:,.

393

16-117. The disk rotates with an angular velocity OJ = 5 radls and an angular acceleration a = 6 rad/s', Determine the angular acceleration of link CB at this instant.

_"FH.._" WCB .~ .. '''' ... ~'1' aCB

The Ie is at 00. Thus

00=0

2.5

WBe = 1.5 = 1.667 rad/s

(aB), + 4.167 = 3 + 12.5 + 2aAB

~ t ~ t \j30°

.:.. (aB), = 3 - 2aAB sin 30°

+ t 4.167 = 12.5 + 2aAB cos 30°

aAB = -4.81 rad/s- = 4.81 rad/s? ) (aB), = 7.81 m/s?

7.81 -,

aBC = -- = 5.21 rad/s' ) 1.5

Ans

ool\~

oo{ J--VB

~nVs

Also:

(aB),i + 4. 167j = (3i + 12.5j) - 0 + (aABk) x (2 cos 300i + 2 sin 300j)

(aB), = 3 - 2aAB sin 30°

4.167 = 12.5 + 2aAB cos 30°

aAB = -4.81 rad/s? = 4.81 rad/s' ) (aB), = 7.81 m/s?

7.81 ')

a = -- = 5 21 rad/s?

Be 1.5 .

Ans

(1.667)2(1.5) =4.167 m/s

Bt

(5)2(0.5) = 12.5 m~S2 D --()

2m aB,

A aAB

6(0.5) = 3 nVs2

394

16-118. At a given instant, the slider block B is traveling to the right with the velocity and acceleration shown. Determine the angular acceleration of the wheel at this instant.

Velocity Analysis : The angular velocity of link AB can be obtained by using the method of instantaneous center of zero velocity. Since VA and VB are parallel, rNIC = rBlIC = 00. Thus, WAB = O. Since WAB = 0, VA = VB = 6 cmls. Thus, the angular velocity of the wheel is

VA 6

Ww = - = - = 1.20 rad/s.

rOA S

Acceleration Equation : The acceleration of point A can be obtained by analying the angular motion of link OA about point O. Here, rOA = {Sj} cm.

= (-awk) x (Sj) - 1.2Q2(Sj) = {Sawi-7.20j} cm/s?

Link AB is subjected to general plane motion. Applying Eq. 16-18 with rBlA = {20 cos 300i - 20 sin 300j} em = {17.32i -IO.Oj} em, we have

aB = a, + aAB x rBlA - w~BrBlA

3i = Sawi -7.20j + aABk x (17.32i - 1O.Oj) - 0 3i = (IO.OaAB + Saw)i + (17.32aAB - 7.20)j

Equating i and j component, we have

3 = 1O.OaAB + Saw 0= 17.32aAB - 7.20

[I] [2]

Solving Eqs. [I] and [2] yields

aAB = 0.41S7 rad/s?

aw = -0.2314 rad/s? = 0.231 rad/s- Ans

395

16-119. The ends of the bar AB are confined to move along the paths shown. At a given instant, A has a velocity of 8 mls and an acceleration of 3 mls2• Determine the angular velocity and angular acceleration of AB at this instant.

8

(J) = "4 = 2 rad/s )

Ans

VB = 4(2) = 8 rnIs

[ 16 J + [(aB)~J = [tJ + [a(4)J + [(2)2(:)J

~o ~o [1600 ~

.:. 16 sin 30° + (aB), cos 30° = 0 + a(4) sin 60° + 16 cos 60°

+ i 16 cos 30° - (aB), sin 30° = -3 + a(4) cos 60° - 16 sin 60°

a = 7.68 rad/s- ) (aB), = 30.7 rnIs2

Ans

tc

Also:

(aB), cos 300i - (aB), sin 300j + ( ~ J sin 300i + ( ~ ) cos 300j

= -3j + (ak) x (-4 sin 300i + 4 cos 300j) - (2)2(-4 sin 300i + 4 cos 300j)

.:. (aB), cos 30° + 8 = -3.464a + 8

+ i -(aB), sin 30° + 13.8564 = -3 - 2a - 13.8564

a = 7.68 rad/s? ) (aB), = 30.7 rnIs2

Ans

396

*16-120. RodAB has the angular motion shown. Determine the acceleration of the collar C at this instant.

c

rBIIC _~

sin 30° - sin 135°

rBlIC = 1.7678 m

10

to = 1.7678 = 5.66 radls ')

Ans

lacj -l 6 j I 50 J l(5.66)(2.5)j la(2.5)j

--7 - 45~ + L45Y + d!!!J0 + ~30°

.:. ac = -6 cos 45° - 50 cos 45° + 80 cos 60° + a(2.5) cos 30°

+ i 0 = 6 sin 45° - 50 sin 45° + 80 sin 60° - a(2.5) sin 30°

a = 30.5 rad/s- ')

aC = 66.5 mls2 Also:

Ans

VB = 5(2) = 10 mls

-vci = -10 cos 45°i + 10 sin 45°j + wk x (-2.5 sin 300i - 2.5 cos 300j)

0= 10 sin 45° - 2.5w sin 30°

w = 5.66 radls

aci = - (1~)2 cos 45°i _ (1~)2 sin 45°j _ 6 cos 45°i + 6 sin 45°j + (ak)

x (-2.5 cos 600i - 2.5 sin 600j) - (5.66)2(-2.5 cos 600i - 2.5 sin 600j)

.:. ac = -35.355 - 4.243 + 2.165a + 40

+ i 0 = -35.355 + 4.243 - 1.25a + 69.282 a = 30.5 rad/s? ')

ac = 66.5 mls2--7

Ans

397

16-121. At the given instant member AB has the angular motions shown. Determine the velocity and acceleration of the slider block C at this instant.

7em

3 rad/s 2 rad/s2

5em

VB = 3(7) = 21 emls

Vc = VB + W x rCIB

-vc( i} - vc(%)j = -2li + wk x (-5i - 12j)

.:. -O.8vc = -21 + 12w

+ t -O.6vc = -5w

Solving: I\Jc:.

to = 1.125 rad/s

Vc = 9.375 emls = 9.38 emls ¥ Ans

(aB)n = (3)2(7) = 63 cm/s? J_ (aB), = (2)(7) = 14 emls2 f--

-ac(i} - ac(%} = -14i - 63j + (ak) x (-5i -12j) - (1.125)2(-5i -12j)

.:. -O.8ac = -14 + 12a + 6.328

+ t -O.6ac = -63 - 5a + 15.1875

ac = 54.7 emls2 ¥

Ans

a = -3.00 rad/s?

398

16-122. At a given instant gears A and B have the angular motions shown. Determine the angular acceleration of gear C and the acceleration of its center point D at this instant. Note that the inner hub of gear C is in mesh with gear A and its outer rim is in mesh with gear B.

ap = aP' + apIP'

..c. 120 = -40 + a(15)

a = 10.67 rad/s? )

Ans

ap = aD + aplD

..c. 120 = (aD), + (10.67)(10)

(aD), = 13.3 cm/s?

Vp = VI" + VPIP'

..c. 20 = -20 + cv(15)

to = 2.667 radls

VD = Vp + VDIP

~ VD = -20 + 10(2.667)

VD = 6.67 cm/s

(6.67)2

(aD)n = -10- = 4.44 cm/s- i

(4.44)

e= tan-I 13.3 = 18.4°

aD = ~(4.44)2 + (13.3)2 = 14.1 cm/s?

Ans

399

16-123. The tied crank and gear mechanism gives rocking motion to crank AC, necessary for the operation of a printing press. If link DE has the angular motion shown, determine the respective angular velocities of gear F and crank AC at this instant, and the angular acceleration of crank AC.

Velocity analysis :

VD = WDErDIE = 4(0.1) = 0.4 mls l'

VB = 0.4 + ( Ub)(0.075)

.6!]oo r J.

.!,. VB cos 30° = 0,

VB= 0

...

ac

_".: (GBlO)t

5.33 radl~S.l

",. •. 0.075 m = r8m

(tiivV)n . D

B

+1' Wo = 5.33 radls

Since VB = 0, Vc = 0, WAC = 0

Ans

(100)

WF = 5.33 50 = 10.7 radls

Ans

Acceleration analysis:

(aD)n = (4)2(0.1) = 1.6 mls2-7 (aD), = (20)(0.1) = 2 mls2 l'

o + (aB), = 1.6 + 2 + (5.33)2(0.075) + au(0.075)

.6!]oo -7 l' -7 l'

+1' (aB), sin 30° = 0 + 2 + 0 + au(0.075)

.!,. (aB), cos 30° = 1.6 + 0 + (5.33)2(0.075) + 0

Solving,

au = 2.052 rad/s? )

Hence,

(aB), 4.31

aAC = -- = -- = 28.7 rad/s? ) Ans

rBtA 0.15

400

*16-124. As the cord unravels from the cylinder, the cy linder has an angular acceleration of a = 4 rad/s- and an angular velocity of w = 2 rad/s at the instant shown. Determine the accelerations of points A and B at this instant.

a =4rad/s2 ./ to = 2 rad/s .:/

aC = 4(0.75) = 3 m/s? J,

a, = -3j + 4k x (0.75j) - (2)2(0.75j)

a, = {-3i - 6j} m/s?

aA = 1(-3)2 + (-6)2 = 6.71 mls2

ADS

ADS

aB = ac + a x rlllC - urrlllc

aB = -3j + 4k x (-O.75i) - (2)2(-O.75i)

aB = {3i - 6j} mls2

ADS

ADS

401

16-125. The wheel rolls without slipping such that at the instant shown it has an angular velocity CO and angular acceleration a. Determine the velocity and acceleration of point B on the rod at this instant.

Velocity :

+ .....

VB = 1.58wa

Ans

Acceleration :

s: aB = -oi'a +aa - ~2 (2a) cos 30° + ( JJ - 3~ ](2a) sin 30°

aB = 1.58aa - 1.77 oi'a

Ans

402

16-126. At a given instant, the gear has the angular motion shown. Determine the accelerations of points A and B on the link and the link's angular acceleration at this instant.

W = 6 radls f a = 12 rad/s? I,. "-:::

For the gear :

VA = OJrAllC = 6(1) = 6 emls

30 = -12(3)i = {-36i} cm/s? rAlO = {-2j} em a= {12k} rad/s'

= -36i + (12k) x (-2j) - (6)2(-2j)

t.rM~

') .;t. ... AilS ..

= {-12i + 72j} emls2

Ans

8= tan-I(~~) = 80.5° .z,

Ans

For IinkAB

The Ie is at 00, so WAH = 0, i.e.,

WAH= ..2.. = ~ = 0

rAIlC

+ _,.

aB = -12 + 8 sin 60° (18) = 113 emls2 ~

Ans

aAH = 18 rad/s? )

Ans

403

16-127. Determine the angular acceleration of link AB if link CD has the angular velocity and angular deceleration shown.

Ie is at 00, thus

WBC= 0

VB = Vc = (0.9)(2) = 1.8 mls (ad. = (2)2(0.9) = 3.6 mls2 t (ad, = 4(0.9) = 3.6 mls2 ~

(1.8)2

(a) = -- = 10.8 m/s? t

B. 0.3

aB = ac + aBC x rlllC- w~crlllc

(aB),i - 10.8j = 3.6i - 36j + (aBck) x (--O.6i - 0.6j) - 0

+ _.

(aB), = 3.6 + 0.6aAB

aCD = 4 rad/s? WCD = 2 rad/s

0.6m1s2

+ t -10.8 = -3.6 - 0.6aAB

aBC = 12 rad/s-

(aB), = 10.8 mls2

10.8

aAB = -- = 36 rad/s? ) 0.3

Ans

*16-128. The slider block B is moving to the right with an acceleration of 2 rnls2• At the instant shown, its velocity is 6 rnls. Determine the angular acceleration of link AB and the acceleration of point A at this instant.

WAB = (2.-) = ~ = 0; VA = VB = 6 mls

rBIC 00

VA 6

WAC = - = - = 2 rad/s

rAC 3

aAB = 3 rad/s- )

Ans

0= 12-4aAB

aA = {-7i + 12j} m/s?

Ans

12

e = tarr ' - = 59.7° ~ 7

Ans

10.8 mls2

404

16-129. The ends of the bar AB are confined to move along the paths shown. At a given instant, A has a velocity of VA = 4 m/s and an acceleration of aA = 7 mls2. Determine the angular velocity and angular acceleration of AB at this instant.

VB = 4 + iL(4.788)

30~ !

.:':. -VB COS 30° = 0 - w( 4. 788) sin 51.21 °

+t VB sin 30° = --4 + w(4.788) cos 51.21°

VB = 20.39 mls 30~ w = 4.73 radls ')

Ans

a, + 207.9 = 7 + 107.2 + 4.788(a)

30~ 6OV'"

\j 51.21"

4'7~B

A~

4m1s

<!- a, cos 30° + 207.9 cos 60° = 0 + 107.2 cos 51.21 °

+ 4.788a(sin 51.21 0)

+t a, sin 30° - 207.9 sin 60° = -7 -107.2 sin 51.21°

+ 4.788a(cos 51.21°)

a,(0.866) - 3.732a = -36.78 a,(O.5) - 3a = 89.49

a, = -607 mls2

a = -131 rad/s? = 131 rad/s" )

Ans

Also:

-VB cos 300i + VB sin 300j = --4j + (wk) x (3i + 3.732j)

-VB cos 30° = -w(3.732)

VB sin 30° = -4 + w(3)

to = 4.73 radls ) VB = 20.39 mls

Ans

(-a, cos 300i + a, sin 300j) + (-207.9 cos 600i - 207.9 sin 600j)

= -7j - (4.732)2(3i + 3.732j) + (2k) x (3i + 3.732j)

-a, cos 30° - 207.9 cos 60° = -{4.732)2(3) - a(3.732)

a, sin 30° - 207.9 sin 60° = -7 - (4.732)2(3.732) + a(3)

a, = -607 mls2

a = -131 rad/s? = 131 rad/s? ) Ans

405

16-130. At a given instant, the cables supporting the pipe have the motions shown. Determine the angular velocity and anbular acceleration of the pipe and the velocity and acceleration of point B located on the pipe.

5=6-w(4)

to = 0.25 rad/s ) VB = 5.00 cmfs -1-

ADS

ADS

V' =5 cmfs v=6cmfs
j I
a' = 1.5 cmfs2
I 1
r '"
a= 2cmfs2 1.5 + (aB)x = 2 + (aA)x + (a)(4) + (0.25f(4)

,j, --7 T f-- ,j, --7

.:. 1.5 = -2 + a(4)

a = 0.875 rad/s ')

ADS

BfJ\. A

~

5 cmls 6cmls

0.875radJs'

~ ~

,41

1.5 cm/s 0.25 radJs

20cm~

ic~A

co 5cml~ 6cm/s

1.5 + (aB)x = ao + 0.875(2) + (0.25f(2)

,j, --7,j, ,j,

+-1- (aB)x = (0.25f(2) = 0.125 cm/s?

ae = ~(1.5)2 + (0.125)2 = 1.51 cmfs2

ADS

( 1.5 )

8= tan:' 0.125 = 85.2° V

ADS

Also:

5

co = 20 = 0.25 rad/s

ADS

VB = 5.00 cmfs

ADS

-1.5j + (aB)xi = 2j - (aA)) + (ak) x (-4i) - (0.25f(-4i)

-1.5 = 2 -4a

4a = 0.875 rad/s- ')

ADS

aB = ao + a x rBJO - w2rBJo

-1.5j + (aB)) = -aai + (ak) x (-2i) - (0.25)2(-2i)

(aB)x = (0.25)'(2) = 0.125

aB = ~(1.5)2 + (0.125)2 = 1.51 cm/s-

ADS

( 1.5 )

8 = tan:' 0.125 = 85.2 V

ADS

406

16-131. Block A, which is attached to a cord, moves along the slot of a horizontal forked rod. At the instant shown, the cord is pulled down through the hole at 0 with an acceleration of 4 rnls2 and its velocity is 2 rnls. Determine the acceleration of the block at this instant. The rod rotates about 0 with a constant angular velocity to = 4 rad/s.

Motion of moving reference.

VO=O

30=0 .Q=4k

x

Motion of A with respect to moving reference. rAlO = O.li

VAlO = -2i

*16-132. The ball B of negligible size rolls through the tube such that at the instant shown it has a velocity of 5 rnls and an acceleration of 3 rnls2, measured relative to the tube. If the tube has an angular velocity of ([) = 3 rad/s and an angular acceleration of a = 5 rad/s? at this same instant, determine the velocity and acceleration of the ball.

Kinematic Equations :

aB = 30 + Q x rB/O + .Q x (.Q x rB/O) + 2.Q x (VB/o)xyz + (aB/o)xyz [2]

VO=O ao= 0

.Q = {3k} rad/s

Q = {SkI rad/srB/O = {2i} m (VB/o)xyz = {Si] m/s (aB/a)xyz = {3i} mls2

Substitute the data into Eqs. [1] and [2] yields:

VA = 0 + (3k) x (2i) + (Si) = {Si + 6j} m/s

aB = 0 + (Sk) x (2i) + (3k) x [(3k) x (2i)] + 2(3k) x (Si) + (3i)

= {-lSi + 40j} mls2

ADS

ADS

[1]

Thus,

a, = ao + Q x rAlO +.Q x (.Q x rAla) + 2.Q x (VAlo)xyz + (aAlo)xyz = 0 + 0 + (4k) x (4k x O.li) + 2(4k x (-2i» - 4i

a, = {-S.6Oi - 16j} m/s?

ADS

z

I

x

407

16-133. The man stands on the platform at 0 and runs out toward the edge such that when he is at A, y = 5 m, his mass center has a velocity of 2 mls and an acceleration of 3 mls2, both measured with respect to the platform and directed along the y axis. If the platform has the angular motions shown, determine the velocity and acceleration of his mass center at this instant.

VA = 0 + (O.Sk) x (Sj) + 2j VA = {-2.5Oi + 2.00j} m1s

Ans

a, = 0 + (O.2k) x (Sj) + (O.Sk) x (O.5k x Sj) + 2(O.Sk) x (2j) + 3j a, = -Ii - 1.2Sj - 2i + 3j

a, = {-3.0Oi + 1.7Sj} m1s2

Ans

y

x

o r-t- __ -..;A..:._ __ W1:d.S(~

~: D. 'Z. oJ,I,"a..

16-134. Block B moves along the slot in the platform with a constant speed of 2 mis, measured relative to the platform in the direction shown. If the platform is rotating at a constant rate of Q) = 5 rad/s, determine the velocity and acceleration of the block at the instant e = 60°.

2

rB/a = tan 600 i + 2j = {l.SSi + 2j} m

VB = Va + Q x rB/a + (VB/a)xy,

VB = 0 + Sk X (l.lSSi + 2j) - 2i VB = (-12.0i + S.77j) m1s

Ans

x

aB = 0 + 0 + Sk X [(Sk) x (l.1SSi + 2j)] + 2(Sk) x (-2i) + 0 aB = 0 + 0 - 28.87i - SOj - 20j

aB = {-28.9i - 70.0j} m1s2

Ans

........__

to = 5 radls

408

16-135. While the swing bridge is closing with a constant rotation of 0.5 rad/s, a man runs along the roadway at a constant speed of 2 mls relative to the roadway. Determine his velocity and acceleration at the instant d = 6 m.

Q = {O.Sk} radls Q =0

rmlO = {--6j} m (Vmlo)xyz = {-2j} mls

v, = 0 + (O.Sk) x (--6j) - 2j Vm = {3i - 2j} mls

Ans

am = 0 + 0 + (O.5k) x [(O.5k) X (--6j)] + 2(0.5k) X (-2j) + 0

am = {2i + l.Sj} mls2

Ans

*16-136. While the swing bridge is closing with a constant rotation of 0.5 rad/s, a man runs along the roadway such that when d = 4 m, he is running outward from the center at 2 m/s with an acceleration of 0.8 m/s2, both measured relative to the roadway. Determine his velocity and acceleration at the instant.

Q= {O.5k} radls

r,n/O = {-4j} m (v,n/o)xyz = {-2j} mls (a,n/o)xyz = {-O.S) mls2

v, = 0 + (O.Sk) X (--4j) - 2j Von = {2i - 2j} mls

Ans

am = 0 + 0 + (O.Sk) X [(O.5k) X (--4j)] + 2(0.Sk) X (-2j) - O.Sj

am = {2i + 0.2j} mls2

Ans

409

16-137. A girl stands at A on a platform which is rotating with a constant angular velocity ill = 0.5 rad/s. If she walks at a constant speed of v = 0.75 rn/s measured relative to the platform, determine her acceleration (a) when she reaches point D in going along the path ADC, d = 1 m; and (b) when she reaches point B if she follows the path ABC, r = 3 m.

--

y

x

Motion of moving reference

Motion of D with respect to moving reference

30 =0

Q = {O.Sk} radls Q =0

rDIO = {Ii} m (VDIO)xyz = {0.7Sj) m1s

-,X

Substitute the data into Eq. [1] :

aB= 0 + (0) x (Ii) + (O.Sk) x [(O.5k) x (Ii)] + 2(0.Sk) x (0.7Sj) + 0

= {-Ii} m1s2

Ans

(b) aB = 30 + Q x rB/O + Q x (Q x rB/o) + 2Q x (VB/o)xyz + (aB/o)xyz [2]

Motion of moving reference

Motion of B with respect to moving reference

30 =0

Q = {O.Sk} radls

Q =0

rDIO = {3i} m

(VB/O)xyz = {0.7Sj) m1s

=_( 0.:S2}

= {-O.187Si} m1s2

Substitute the data into Eq. [2] :

aB= 0 + (0) x (3i) + (O.5k) x [(O.5k) x (3i)] + 2(0.Sk) x (0.7Sj) + (-O.187Si)

= {-1.69i} m1s2

Ans

410

16-138. A girl stands at A on a platform which is rotating with an angular acceleration a = 0.2 rad/s' and at the instant shown has an angular velocity OJ = 0.5 rad/s. If she walks at a constant speed of v = 0.75 m/s measured relative to the platform, determine her acceleration (a) when she reaches point D in going along the path ADC, d = 1 m; and (b) when she reaches point B if she follows the path ABC, r = 3 m.

-

y

x

Motion of moving reference

Motion of D with respect to moving reference

Q = {O.5k} radls

rDIO = {Ii} m (VDIO)xyz = {O.75j} mls

Q. = {O.2k) rad/s"

Substitute the data into Eq. [1] :

aB = 0 + (O.2k) x (Ii) + (O.5k) x [(O.5k) x (Ii)] + 2(O.5k) x (O.75j) + 0

= {-Ii + O.2j} mls2

Ans

Motion of moving reference

Motion of B with respect to moving reference

aO = 0

rBiO = {3i} m (VBlO)xyz = {O.75j} mls

Q = {O.5k} rad/s

Q. = {O.2k} rad/s"

=_( O.~52}

= {-O.1875i} mls2

Substitute the data into Eq. [2] :

aB = 0 + (O.2k) x (3i) + (O.5k) x [(O.5k) x (3i)] + 2(O.5k) x (O.75j) + (-0. 1875i)

= {-1.69i + O.6j} mls2

Ans

411

16-139. Rod AB rotates counterclockwise with a constant angular velocity (0 = 3 rad/s. Determine the velocity and accelerationof point C located on the double collar when () = 45°. The collar consists of two pin-connected slider blocks which are constrained to move along the circular path and the rod AB.

A

raA = {0.40Oi + 0.400j}

y

Vc = -Vci

-Vci = 0 + (3k) x (0.400i + 0.400j) + (VaA cos 45°i + VaA sin 45°j)

-vci = 0 - 1.20i + 1.20j + 0.707vaAi + 0.707vaJ

-Vc = -1.20 + 0.707vaA

o = 1.20 + 0.707vaA

Vc = 2.40 mls VaA = -1.697 mls

ac = aA + Q x raA + Q x (Q x raA) + 2Q x (VaA)xyz + (aaA)xyz

Ans

-(ac),i - (2.4W j = 0 + 0 + 3k x [3k x (O.4i + O.4j)] + 2(3k) 0.4

x [0.707(-1.697)i + 0.707(-1.697)j] + 0.707aaAi + 0.707aaJ -(ac),i - 14.40j = 0 + 0 - 3.6Oi - 3.60j + 7.2Oi - 7.20j + 0.707aaAi

+ 0.707aaJ

-(ac), = -3.60 + 7.20 + 0.707aaA

-14.40 = -3.60 -7.20 + 0.707aaA

aaA = -5.09 mls2

(ac), = 0

Thus,

(2.40)2 2

ac = (adn = 0.4 = 14.4 mls

ac = {-14.4j) mls2

Ans

412

x

*16-140. A ride in an amusement park consists of a rotating platform P, having a constant angular velocity {J)p = 1.5 radls, and four cars, C, mounted on the platformm which have constant angular velocities {J)c/p = 2 radls measured relative to the platform. Determine the velocity and acceleration of the passenger at B at the instant shown.

y

Motion of moving reference.

Fix the x, y, z axes to the platform with the origin at O.

Vo = (I.S)(3)j = 4.Sj

ao = (ad. = -(l.S)2(3)i = -U.7Si Q = l.5k

Q =0

Motion of A with respect to moving reference.

rNO = O.7Sj

(VNO)xy, = 2(O.7S)j = l.Sj

(aNO)xy, = (aNO). = -(2f(O.7S)i = -3i

= 4.Sj + (I.Sk) x (O.7Sj) + I.Sj VB = {7.l2j} mls

~x

o

Ans

3B = {-IS.9i} mls2

= -U.7Si + 0 + l.5k x [(I.5k) x (O.7Si)] + 2(I.Sk) x (I.Sj)]- 3i

Ans

413

16-141. Block B of the mechanism is confined to move within the slot member CD. If AB is rotating at a constant rate of WAB =3 rad/s, determine the angular velocity and angular acceleration of member CD at the instant shown.

Coordinate Axes : The origin of both the fixed and moving frames of reference are located at point C. The x, y, z moving frame is attached to and rotates with rod CD since peg B slides along the slot in member CD.

Kinematic Equations: Applying Eqs. 16-Z4 and 16-Z7, we have

[1]

Motion of moving reference

Motion of C with respect to moving reference

ve = 0 ac = 0

rBlC = {O.Zi} m

(vBldxyz = (vBldxyzi (aBlC)xyz = (aBlC)xy)

The velocity and acceleration of peg B can be determined using Eqs. 16-9 and 16-14 with rBlA = {OJ cos 600i - 0.1 sin 600j} m = {0.05i - 0.08660j} m.

VB = WAB x rBlA = -3k x (O.05i - 0.08660j)

= {-O.Z598i - 0.150j} mls

aB = aAB x rBlA - Q x rBlA = 0 - 32(O.05i - 0.08660j) = {-O.450i + 0.7794j} mls2

Substitute the above data into Eq. [1] yields

-O.Z598i - 0.150j = 0 + (-wCDk) x O.Zi + (vBldxyzi

-O.Z598i - 0.150j = (vBlc)xyzi - O.Zwcd

Equating i and j components, we have

(vBldxyz = -O.Z598 mls WCD = 0.750 rad/s

Ans

Substitute the above data into Eq. [Z] yields

-O.450i + 0.7794j = 0 + (-£XeDk) x O.Zi + (-O.750k) x [(-O.750k) x O.Zi] + Z(-O.750k) x (-O.Z598i) + (aBldxyzi

-O.450i + 0.7794j = [(aBlC)xyz - O.lIZ5]i + (0.3897 - O.Z£XeD)j

Equating i and j components, we have (aBldxyz = -0.3375 mls2

£XeD = -1.95 rad/s" = 1.95 rad/s? Ans

414

16-142. At the instant shown, the robotic arm AB is rotating counterclockwise at Q) = 5 radls and has an angular acceleration a = 2 rad/s", Simultaneously, the grip Be is rotating counterclockwise at of = 6 radls and . ex' = 2 rad/s-, both measured relative to a fixed

reference. Determine the velocity and acceleration of the object held at the grip C.

Vc = VB + Q x rC'B + (VC'B)xyz [1]

ac = aB + Q. x rC'B + Q x (Q x rC'B) + 2Q x (VC'B)xyz + (aC'B)xyz [2]

Motion of moving reference

Motion of C with respect to moving reference

Q = {6k) radls Q. = {2k) rad/s?

Motion of B:

rC'B = {0.125 cos 15°i + 0.125 sin 15°j) m (VC'B)xyz = 0

(aC'B)xyz = 0

= (5k) x (0.3 cos 300i + 0.3 sin 300j) = {-O.75i + 1.2990j) mls

aB = a x r"'A = uf2r"'A

= (2k) x (0.3 cos 300i + 0.3 sin 300j) - (5)'(0.3 cos 300i + 0.3 sin 300j) = {~.7952i - 3.2304j) mls2

Substitute the data into Eqs. [1] and [2] yields:

Vc = (-O.75i + 1.2990j) + (6k) x (0.125 cos 15°i + 0.125 sin 15°j) + 0

= {-O.944i + 2.02j) mls

Ans

ac = (~.79527i - 3.2304j) + (2k) x (0.125 cos 15°i + 0.125 sin 15°j)

+ (6k) x [(6k) x (0.125 cos 150j + 0.125 sin 15°j)] + 0 + 0

= {-11.2i - 4.15j) mls2

Ans

415

16-143. The two-link mechanism serves to amplify angular motion. Link AB has a pin at B which is confined to move within the slot of link CD. If at the instant shown, AB (input) has an angular velocity of WAB = 2.5 radls and an angular acceleration of aAB = 3 rad/s', determine the angular velocity and angular acceleration of CD (output) at this instant.

VC=O

ac=O Q=-wDck Q =-aDCk

rBlC = {-O.15i} III

(VBlc)xyz = (vBld""i (aBlC)xy, = (aBlc)xy,i

VB = WDC x rBlA = (-2.5k) x (-0.2 cos 15°i + 0.2 sin 15°j) = {0.1294i + 0.4830j} rnIs

= (-3k) x (-0.2 cos 15°i + 0.2 sin 15°j) - (2.5)'(-0.2 cos 15°i + 0.2 sin 15°j) = {1.3627i + 0.2560j} rnIs2

0.1294i + 0.4830j = 0 + (-wDck) x (-0. lSi) + (vBldxy,i 0.1294i + 0.4830j = (vBldxy,i + 0.15wDcl

Solving:

(VBlc)xy, = 0.1294 rnIs WDC = 3.22 rad/s )

Ans

---""',-

<,

-,

\

c \

\

A \

I I I

aAB = 3 rad/s2 /

/ / /

'- ,/

<, --------/

l.3627i + 0.2560j = 0 + (-aDck) x (-O.15i) + (-3.22k)

x [(-3.22k) x (-O.l5i)] + 2(-3.22k) x (0.1294i) + (aBlc)xy,i 1.3627i + 0.2560j = [1.5550 + (aBlc)xy,)i + (0. 15aDc - 0.8333)j

Solving:

(aOA)xy, = -0.1923 m/s'' aDC = 7.26 rad/s? )

Ans

416

16-144. At the instant shown, rod AB has an angular velocity ([JAB = 3 radls and an angular acceleration aAB = 5 rad/s-. Determine the angular velocity and angular acceleration of rod CD at this instant. The collar at C is pin-connected to CD and slides over AB.

B

raA = (0.75 sin 600)i - (0.75 cos 600)j raA = {0.6495i - 0.375j} m

Vc = WCD x rCID

= (wcok) x (O.5j) = {-O.5WCDi} mls

-O.5WCDi = 0 + (3k) x (0.6495i - 0.375j) + VaA sin 600i - VaA cos 600j

-O.5WCD = 1.125 + 0.866vaA

o = 1.9485 - O.5vaA

VCYA = 3.897 mls

WCD = -9.00 radls = 9.00 radls )

Ans

3c = 0 + (5k) x (0.6495i - 0.375j) + (3k) x [(3k) x (0.6495i - 0.375j)]

+ 2(3k) x [3.897(0.866)i - 0.5(3.897)j] + 0.866aaAi - 0.5aaJ O.5acJ - (-9.00)2(0.5)2j = 0 + 1.875i + 3.2475j - 5.8453i + 3.375j + 11.691Oi

+ 20.2488j - 0.866aaAi - O.5aaJ

O.5acD = 7.7205 + 0.866aaA -40.5 = 26.8713 - 0.5aaA

aaA = 134.7 mls2 acD = 249 rad/s? )

Ans

417

16-145. The gear has the angular motion shown. Determine the angular velocity and angular acceleration of the slotted link Be at this instant. The peg at A is fixed to the gear.

VA = (1.2)(2) = 2.4 mls ~ ao = 4(0.7) = 2.8 mls2

a, = 2.8 + 4(0.5) + (2)2(0.5)

f-- f-- .L

aA = 4.8 + 2 f-- .L

-2.4i = 1.6Qj - 1.2Qi + 0.8vAlBi + 0.6vAlai

-2.4 = -1.2Q + 0.8VAlB

0= 1.6Q + 0.6VAlB

Solving,

C4Jc = Q = 0.720 rad/s ')

Ans

1)A~~ 2 rad/s

l.2m

Ie

VAiB = -1.92 mls

a, = aB + Q x rAiB + Q x (Q x rAlB) + 2Q x (VAlB)xyz + (aAlB)xy,

-4.8i - 2j = 0 + (Qk) x (1.6i + 1.2j) + (O.72k) x (O.72k x (1.6i + 1.2j)) + 2(0.72k) x HO.8)(1.92)i - 0.6(1.92)j} + 0.8aBlAi + 0.6aBlJ -4.8i - 2j = 1.6 Qj - 1.2 Qi - 0.8294i - 0.6221j - 2.2118j + 1.6589i

+ 0.8aBlAi + 0.6aBlJ

-4.8 = -1.2 Q - 0.8294 + 1.6589 + 0.8aBlA

-2 = 1.6 Q - 0.6221 - 2.2118 + 0.6aBlA

-4.6913 = -Q + 0.667aBlA

0.5212 = Q + 0.357aBlA

aBC = Q = 2.02 rad/s" ')

Ans

aBlA = -4.00 mls2

y

y~xx

418

16-146. The quick-return mechanism consists of a crank AB, slider block B, and slotted link CD. If the crank has the angular motion shown, determine the angular motion of the slotted link at this instant.

VB = 3(0.1) = 0.3 mls

(aB), = 9(0.1) = 0.9 m/s"

0.3 cos 600i + 0.3 sin 600j = 0 + (wc"k) x (O.3i) + VLVCi

VLVC = 0.15 mls

WCD = 0.866 rad/s ')

Ans

0.9 cos 600i - 0.9 cos 300i + 0.9 sin 600j + 0.9 sin 300j = 0 + (ac"k) x (0.3i)

+ (0.866k) x (0.866k x 0.3i) + 2(0.866k x 0.15i) + aLVci

- 0.3294i + 1.2294j = O.3acui - 0.225i + 0.2598j + aLVci

aLVC = -0.104 mls2

acD = 3.23 rad/s? ')

Ans

419

16-147. A ride in an amusement park consists of a rotating arm AB having a constant angular velocity WAB = 2 rad/s about point A and a car mounted at the end of the arm which has a constant angular velocity w' = {-O.5k} rad/s, measured relative to the arm. At the instant shown, determine the velocity and acceleration of the passenger at C.

rlllA = (5 cos 300i + 5 sin 300j) = {4.33i + 2.5j} m

VB = WAB x rlllA = 2k x (4.33i + 2.5j) = {-5.0i + 8.66j} mls

= 0 - (2)2(4.33i + 2.5j) = {-17.32i - 10j} mls2 Q = (2 - O.5)k = l.5k

= -5.0i + 8.66j + l.5k x (-lj) + 0 = {-3.5i + 8.66j} mls

Ans

= -17.32i - 10j + 0 + (l.5k) x (l.5k) x (1.5k) x (-lj) + 0 + 0

= {-17.32i -7.55j} m/s?

Ans

*16-148. A ride in an amusement park consists of a rotating arm AB that has an angular acceleration of aAB = 1 rad/s? when WAB = 2 rad/s at the instant shown. Also at this instant the car mounted at the end of the arm has a relative angular acceleration ofa' = {-O.6k} rad/s? when of = {-O.5k} rad/s. Determine the velocity and acceleration of the passenger C at this instant.

rlllA = (5 cos 300i + 5 sin 300j) = {4.33i + 2.5j} m

VB = WAB x rlllA = 2k x (4.33i + 2.5j) = {-5.0i + 8.66j} mls

= (lk) x (4.33i + 2.5j) - (2)'(4.33i + 2.5j) = {-19.82i - 5.67j} m/s?

Q = (2 - O.5)k = 1.5k Q = (1 - O.6)k = O.4k

= -5.Oi + 8.66j + l.5k x (-lj) + 0 = {-3.5i + 8.66j} mls

Ans

= -19.82i - 5.67j + (O.4k) x (-lj) + (1.5k) x (l.5k) x (-1j) + 0 + 0

= {-19.4i-3.42j} m/s?

Ans

420

16-149. The cars on the amusement-park ride rotate around the axle at A with a constant angular velocity (OAif = 2 rad/s, measured relative to the frame AB. At the same time the frame rotates around the main axle support at B with a constant angular velocity (Of = 2 rad/s. Determine the velocity and acceleration of the passenger at C at the instant shown.

Motion of moving reference

Motion of C with respect to moving reference

rOA = {-4i} ill (VOA)xyz = 0

(aOA)xyz = 0

.,

Q = {3k} radls Q =0

,

x

Motion of A :

VB = ill X rNB

= (lk) x (-7.5 cos 300i + 7.5 sin 300j) = {-3.7Si - 6.50j} mfs

Substitute the data into Eqs. [1] and [2] yields :

Vc = (-3.7Si - 6.50j) + (3k) x (-4i) + 0

= {-3.7Si - 18.Sj} mfs Ans

aA= a X rNB - urrNB

= 0 - (l?(-7.S cos 300i + 7.5 sin 300j) = {6.S0i - 3.7Sj} mfs2

ac = (6.S0i - 3.7Sj) + 0 + (3k) x [(3k) x (-4i)] + 0 + 0

= {42.Si - 3.7Sj} m/s? Ans

y

16-150. The cars on the amusement-park ride rotate around the axle at A with a constant angular velocity (OAif = 2 rad/s, measured relative to the frame AB. At the same time the frame rotates around the main axle support at B with a constant angular velocity (Of = 1 rad/s. Determine the velocity and acceleration of the passenger at D at the instant shown.

Motion of moving reference

Motion of D with respect to moving reference

rOIA = {4j} ill

x

Q = {3k}radls Q =0

(VOIA)xyZ = 0 (aOIA)xyz = 0

Motion of A :

= (Ik) x (-7.5 cos 300i + 7.5 sin 300j) = {-3.7Si - 6.50j} mfs

Substitute the data into Eqs. [1] and [2] yields:

Vo = (-3.7Si - 6.50j) + (3k) x (4j) + 0

= {-lS.7Si-6.50j} mfs Ans

aD = (6.5Oi - 3.7Sj) + 0 + (3k) x [(3k) x (4j)] + 0 + 0

a, = a x rNB - urrNB

= 0 - O?(-7.S cos 300i + 7.5 sin 300j) = {6.S0i - 3.7Sj} mfs2

= {6.S0i - 39.7Sj} m/s"

Ans

421