Dynamics Solns Ch06

Solutions Manual
Engineering Mechanics: Dynamics

1st Edition
Gary L. Gray
The Pennsylvania State University
Francesco Costanzo
The Pennsylvania State University
Michael E. Plesha
University of WisconsinMadison
With the assistance of:
Chris Punshon
Andrew J. Miller
Justin High
Chris OBrien
Chandan Kumar
Joseph Wyne
Version: August 10, 2009
The McGraw-Hill Companies, Inc.
Copyright 20022010
Gary L. Gray, Francesco Costanzo, and Michael E. Plesha
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It
may be used and/or possessed only by permission of McGraw-Hill, and must be surrendered upon
request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without
the permission of McGraw-Hill, is prohibited.
Dynamics 1e
Important Information about

this Solutions Manual
Even though this solutions manual is nearly complete, we encourage you to visit
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often to obtain the most up-to-date version. In particular, as of July 30, 2009, please note the following:
_ The solutions for Chapters 1 and 2 have been accuracy checked and have been edited by us. They are
in their final form.
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adding some additional detail to these solutions in the coming weeks.
_ The solutions for Chapters 3, 6, 8, and 9 are being accuracy checked and the accuracy checked versions
should be available by the end of August 2009. We will be adding some additional detail to these
solutions in the coming weeks.
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August 10, 2009
Solutions Manual
Accuracy of Numbers in Calculations

Throughout this solutions manual, we will generally assume that the data given for problems is accurate to
3 significant digits. When calculations are performed, all intermediate numerical results are reported to 4
significant digits. Final answers are usually reported with 3 significant digits. If you verify the calculations in
this solutions manual using the rounded intermediate numerical results that are reported, you should obtain
the final answers that are reported to 3 significant digits.
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Dynamics 1e
Chapter 6 Solutions
Problem 6.1
Letting RA D 7:2 in: and RB D 4:6 in:, and assuming that the belt does not slip relative to pulleys A and
B, determine the angular velocity and angular acceleration of pulley B when pulley A rotates at 340 rad=s
while accelerating at 120 rad=s2 .
Solution
Let Q be a point on the periphery of pulley A and let P be a point on the periphery of pulley B. The no slip
condition between the pulleys and the belt requires
vQ D vP
RA !A D RB !B
!B D
!EB D 532 kO rad=s
RA
!A :
RB
(1)
Substituting in given data, we obtain:
Differentiating Eq. (1) with respect to time, we obtain

B D
RA
A ;
RB
which, upon substituting in given data gives

EB D 188 kO rad=s2
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Problem 6.2
Letting RA D 8 in:, RB D 4:2 in:, and RC D 6:5 in:, determine the angular velocity of gears B and C
when gear A has an angular speed j!A j D 945 rpm in the direction shown.
Solution
Using a vector approach with the component system shown in the figure below, we define points G and F as
the points on gears A and B, respectively, that are in contact at this instant. We also define points Q and P as
the points on gears B and C , respectively, that are in contact at this instant.
For vEG and vEF we have

vEG D !EA rEG=A D !A kO RA . {O/ D !A RA |O;
vEF D !EB rEF =B D !B kO RB {O D !B RB |O:
Since vEG D vEF ,
!A RA D !B RB
!B D
RA
!A
RB
!EB D
1800 kO rpm:
Similarly, we can find vEQ and vEP using

RA
!A kO RB . {O/ D RA !A |O;
RB
D !C kO RC {O D !C RC |O:
vEQ D !EB rEQ=B D

vEP D !E C rEP =C
Since vEQ D vEP , we have
RA !A D !C RC
!C D
RA
!A
RC
!EB D 1160 kO rpm:
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Problem 6.3
Letting RA D 203 mm, RB D 107 mm, RC D 165 mm, and RD D 140 mm, determine the angular
acceleration of gears B, C , and D when gear A has an angular acceleration with magnitude jA j D
47 rad=s2 in the direction shown. Note that gears B and C are mounted on the same shaft and they rotate
together as a unit.
Solution
We let O and H be the centers of gears A and B respectively. Because
the gears can not slip relative to each other, we can enforce the no
slip condition vEP =Q D 0E between the contact points P and Q. Using
the rigid body velocity equation for gear A we have
vEP D vEO C !A kO rEP =O
vEP D
!A RA |O:
!B D
RA
!A :
RB
Doing the same for gear B we have

vEQ D vEH C !B kO rEQ=H
vEQ D !B RB |O:
Enforcing the no slip condition we must have

vEP D vEQ C vEP =Q
vEP D vEQ
!A RA D !B RB
(1)
Differentiating Eq. (1) with respect to time we get

B D
RA
A
RB
Plugging in known values we get

EB D
89:2 kO rad=s2 :
Because gears B and C are mounted on the same shaft, we have

EC D
89:2 kO rad=s2 :
Next, by considering gears C and D with contact points F and G and proceeding as we did for gears A and
B, we get
RC
D D
C :
(2)
RD
ED D 105 kO rad=s2 :
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Problem 6.4
The bevel gears A and B have nominal radii RA D 20 mm and RB D 5 mm,
respectively, and their axes of rotation are mutually perpendicular. If the angular
speed of gear A is !A D 150 rad=s, determine the angular speed of gear B.
Solution
Since the gears do not slip over their nominal circles relative to one another, we can write
!A RA D !B RB
!B D
RA
!A D 600 rad=s.
RB
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Problem 6.5
A rotor with a fixed spin axis identified by point O is accelerated from rest with
an angular acceleration O D 0:5 rad=s2 . If the rotors diameter is d D 15 ft,
determine the time it takes for the points at the outer edge of the rotor to reach
a speed v0 D 300 ft=s. Finally, determine the magnitude of the acceleration of
these points when the speed v0 is achieved.
Solution
Points on the outer edge of the rotor have a speed v D d2 !, where ! is the angular
speed of the rotor. Letting !0 be the angular speed corresponding to v0 , we must have
v0 D 12 d!0
!0 D
2v0
:
d
If the angular acceleration is constant, and t0 is the time taken to go from rest to !0 , we have
O t0 D !0 D
The angular acceleration of points a distance

aEd D EO rEd=O
!02 rEd=O
d
2
2v0
d
2v0
.
O d
from O is
aEd D O kO 21 d uO r

aEd D
t0 D
2v02
uO r
d
aEd D
2v02
uO r C 12 O d uO ;
d
2 2
O
d
4v04
C
D 12;000 ft=s2 :
2
d
4
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Problem 6.6
Do points A and B on the surface of the bevel gear (bg), which rotates with angular velocity !bg , move
relative to each other? At what rate does the distance between A and B change?
Solution
Points A and B move relative to one another in the sense that the velocity of A is different from the velocity
of B. The difference between the velocity of A and the velocity of B arises from the fact that points A and B
are at different distances from the axis of rotation. As far as the distance between A and B is concerned, if
we model the gear as a rigid body, then that distance must remain constant.
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Problem 6.7
A Pelton turbine (a type of turbine used in hydroelectric power generation) is spinning at 1100 rpm when
the water jets acting on it are shut off, thus causing the turbine to slow down. Assuming that the angular
deceleration rate is constant and equal to 1:31 rad=s2 , determine the time it takes for the turbine to stop. In
addition, determine the number of revolutions of the turbine during the spin-down.
Solution
Letting ! and be the angular velocity and angular acceleration of the turbine respectively, we have
D 1:31 rad=s2 , and at t D 0, !.0/ D 1100 rpm: Since the angular acceleration is constant we must have
!.t / D !.0/ C t :
(1)
At the stop time ! D 0, so we have !.tstop / D 0: Plugging this into Eq. (1) we have
tstop D
!.0/
D 87:9 s:
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Problem 6.8
The velocities of points A and B on a disk, which is undergoing planar motion,
are such that jE
vA j D jE
vB j. Is it possible for the disk to be rotating about a fixed
axis going through the center of the disk at O? Explain.
Solution
The answer is no. The reason is that if the disk were spinning about a fixed axis perpendicular to the plane of
the figure, the velocity of B would have been perpendicular to the segment OB. However, the figure shows
that the velocity vector of B is not perpendicular to OB and therefore the motion of the disk cannot be a
rotation about a fixed axis perpendicular to the plane of the figure.
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Problem 6.9
The velocity of a point A and the acceleration of a point B on a disk undergoing
planar motion are shown. Is it possible for the disk to be rotating about a fixed
axis going through the center of the disk at O? Explain.
Solution
Yes, it is possible that the motion of the disk is a fixed-axis rotation about O. The velocity vector of point
A is perpendicular to the segment OA, which does not guarantee that the motion of the disk is a fixed-axis
rotation, but it does not exclude it either.
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Solutions Manual
Problem 6.10
Assuming that the disk shown is rotating about a fixed axis going through
its center at O, determine whether the disks angular velocity is constant,
increasing, or decreasing.
Solution
The angular velocity of the disk is decreasing. In fact, if the angular velocity were constant, then the
acceleration of point B would be directed toward the center O. Since the figure indicates that this is not the
case, we know that the angular velocity of the disk must either be increasing or decreasing. With this in mind,
notice that the the vector aEB has a component that is opposite to the vector vEB D !E O rEB=O . This in turn
indicates that the speed of point B is decreasing and therefore that the spin rate of the disk as a whole is
slowing down.
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Problem 6.11
The sprinkler shown consists of a pipe AB mounted on a hollow vertical shaft. The water comes in the
horizontal pipe at O and goes out the nozzles at A and B, causing the pipe to rotate. Letting d D 7 in:,
determine the angular velocity of the sprinkler !s , and jE
aB j, the magnitude of the acceleration of B, if B
is moving with a constant speed vB D 20 ft=s. Assume that the sprinkler does not roll on the ground.
Solution
Because the arms of the sprinkler are modeled as rigid bodies, we
know that
vEB D !S kO rEB=O :
Defining the position vector from O to B as shown to the right, we
also have
vEB D !S kO .d uO R C h uO / D d!S uO
d!S D vB :
Plugging in known values and solving, we have

!E S D
vB
D 34:3 uO rad=s:
d
Since O is not in the plane of motion of B, we have

aEB D !E S .!E S rEB=O / D
!S2 d
uO r
2
vB
:
jE
aB j D
d
Plugging in known values we have

jE
aB j D 686 ft=s2 :
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Solutions Manual
Problem 6.12
In a carnival ride, two gondolas spin in opposite directions about a fixed axis. If ` D 4 m, determine the
maximum constant angular speed of the gondolas if the magnitude of the acceleration of point A is not to
exceed 2:5g.
Solution
Under the stated conditions, point A would be moving in uniform circular motion. Therefore, we would have
p

aEA D ! 2 ` 2:5g ) !OA 2:5g=`:
OA
Using the given numerical value of `, we therefore have
.!OA /max D 2:48 rad=s:
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Problem 6.13
The tractor shown is stuck with its right track off the ground, and therefore the track is able to move without
causing the tractor to move. Letting the radius of sprocket A be d D 2:5 ft and the radius of sprocket B be
` D 2 ft, determine the angular speed of wheel B if the sprocket A is rotating at 1 rpm.
Solution
Because the track does not slip relative to the sprocket A we must have
!A
d
`
D !B
2
2
d
!B D !A :
`

!B D 1:25 rpm:
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Problem 6.14
A battering ram is suspended in its frame via bars AD and BC , which are identical and pinned at their
endpoints. At the instant shown, point E on the ram moves with a speed v0 D 15 m=s. Letting H D 1:75 m
and D 20 , determine the magnitude of the angular velocity of the ram at this instant.
Solution
Since bars AD and BC are identical and parallel to one another, we must conclude that the velocities of
points A and B are equal to one another. Since point A and B are coplanar and distinct, then we must
conclude that the ram is simply translating, which implies that
j!E ram j D 0:
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Problem 6.15
A battering ram is suspended in its frame via bars OA and OB, which are
pinned at O. At the instant shown, point G on the ram is moving to the right
with a speed v0 D 15 m=s. Letting H D 1:75 m, determine the angular velocity
of the ram at this instant.
Solution
The ram and its supports OA and OB form a single rigid body,
therefore we must have
vEG D !ram kO vEG=O D ! kO . H / |O D !ram H {O:
We are told that jE
vG j D v0 ; which means that
!ram H D v0 :
!E ram D
v0 O
k D 8:57 kO rad=s
H
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Problems 6.16 and 6.17

The hammer of a Charpy impact toughness test machine has the geometry
shown, where G, is the mass center of the hammer head. Use Eqs. (6.8)
and (6.13) and write your answers in terms of the component system shown.
Determine the velocity and acceleration of G, assuming
` D 500 mm, h D 65 mm, d D 25 mm, P D 5:98 rad=s, and R D
8:06 rad=s2 .
Problem 6.16
Determine the velocity and acceleration of G as a function of

Problem 6.17
P and .
R
the geometric parameters shown, ,
Solution to 6.16
Modeling the system as rigid and observing that point O is fixed, we have
vEH D vEO C !Ep rEH=O D !Ep rEH=O ;
(1)
where the vectors !Ep and rEH=O are given by

!Ep D P kO D
5:98 kO rad=s
and
rEH=O D .` C h/ uO r
d uO D .0:565 m/ uO r
.0:025/ uO :
(2)
Substituting the expressions in Eqs. (2) into Eq. (1) and carrying out the cross product, we have
vEH D . 0:15 uO r
3:38 uO / m=s:
Again recalling that O is a fixed point, for the acceleration, we have

aEH D Ep rEH=O
!p2 rEH=O ;
(3)
where Ep D R kO D 8:06 kO rad=s is the angular acceleration of the pendulum. Using this expression for Ep
and the expression for rEH=O in the last of Eqs. (2), after simplifying, we have
aEH D . 20:4 uO r
3:66 uO / m=s2 :
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Solution to 6.17
Modeling the system as rigid and observing that point O is fixed, we have
vEH D vEO C !Ep rEH=O D !Ep rEH=O ;
(4)
where the vectors !Ep and rEH=O are given by

!Ep D P kO
and rEH=O D .` C h/ uO r
d uO :
(5)
Substituting the expressions in Eqs. (5) into Eq. (4) and carrying out the cross product, we have
vEH D P d uO r C P .` C h/ uO :
Again recalling that O is a fixed point, for the acceleration, we have
aEH D Ep rEH=O
!p2 rEH=O ;
(6)
where Ep D R kO is the angular acceleration of the pendulum. Using this expression for Ep and the expression
for rEH=O in the second of Eqs. (5), after simplifying, we have
h
aEH D R d
i
h
i
P 2 .` C h/ uO r C R .` C h/ C P 2 d uO :
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Solutions Manual
Problem 6.18
At the instant shown the paper is being unrolled with a speed vp D 7:5 m=s and an acceleration ap D
1 m=s2 . If at this instant the outer radius of the roll is r D 0:75 m, determine the angular velocity !s and
acceleration s of the roll.
Solution
Referring to the figure shown to the right, the spool is in a fixed
axis rotation about its center O. It is assumed that the paper is just
coming off the spool does not slip relative to the paper that is still
on the spool. Let P be a point on the outmost layer of paper that is
just coming off the spool and let Q be the point on the paper layer
immediately below the outmost layer and on the same radial line as
P . Due to the no slip assumption, we have vEP D vEQ , i.e.,
vEP D
vP {O D vEQ D !E s rEQ=O ;
(1)
where !E s D !s kO is the angular velocity of the spool and rEQ=O D

Eq. (1) and solving for !s we have
!E s D
.vP =r/ kO
r |O. Substituting these expressions in
Enforcing the no slip condition for the acceleration gives that aEQ {O D aEP {O, that is, the components of the
accelerations of Q and P are the equal in the direction tangent to the contact. Now, observe that
aEP D
aP {O
and
aEQ D Es . r |O/
!s2 . r |O/ D s r {O
Using the expressions in Eq. (2) to enforce the no slip condition we have s r D
for s to obtain
Es D
.ap =r/ kO
vP2
|O:
r
(2)
aP , which can be solved
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Problem 6.19
At the instant shown, the propeller is rotating with an angular velocity !p D 400 rpm in the positive
direction and an angular acceleration p D 2 rad=s2 in the negative direction, where the axis is also
the spin axis of the propeller. Consider the cylindrical coordinate system shown, with origin O on the
axis and unit vector uO R pointing toward point Q on the propeller which is 14 ft away from the spin axis.
Compute the velocity and acceleration of Q. Express your answer using the component system shown.
Solution
The propeller is a rigid body, so we must have
vEQ D !EP rEQ=O D !P uO RQ uO R D !P RQ uO
where !P D 400 2
60 D 41:89 rad=s and RQ = 14 ft. Plugging in known values we get
vEQ D 586 uO ft=s:
Similarly for aEQ we get
aEQ D
D
D
!P2 rEQ=O C P kO rEQ=O

! 2 RQ uO R C P kO RQ
P
!P2 RQ
uO R C P RQ uO :

aEQ D 24:6103 uO R
28:0 uO ft=s2 :
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Problem 6.20
The wheel A, with diameter d D 5 cm, is mounted on the shaft of the motor shown and is rotating with
a constant angular speed !A D 250 rpm. The wheel B, with center at the fixed point O, is connected to
A with a belt, which does not slip relative to A or B. The radius of B is R D 12:5 cm. At point C the
wheel B is connected to a saw. If point C is at distance ` D 10 cm from O, determine the velocity and
acceleration of C when D 20 . Express your answers using the component system shown.
Solution
Since the belt does not slip relative to A or B, we have
!A
d
D !B R
2
!B D
d
!A :
2R
(1)
Next, observing that the crank is in a fixed axis rotation about O, we have
vEC D !EB rEC =O ;
(2)
where the
d!A O
k and rEC =O D `.cos {O C sin |O/:
2R
Substituting Eqs. (3) into Eq. (2), after simplifying we obtain
!EB D
vEC D
(3)
d `!A
. sin {O C cos |O/ D . 0:179 {O C 0:492 |O/ m=s:
2R
Recalling that the angular velocity of the wheel B is constant and that O is a fixed point, we have
aEC D
!B2 rEC =O :
(4)
Hence we have
aEC D
d 2 `!A2
.cos {O C sin |O/ D
4R2
.2:58 {O C 0:938 |O/ m=s2 :
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Problem 6.21
In a contraption built by a fraternity, a person is sitting at the center of a swinging
platform with length L D 12 ft that is suspended via two identical arms each of
length H D 10 ft. Determine the angle and the angular speed of the arms if
the person is moving upward and to the left with a speed vp D 25 ft=s at the
angle D 33 .
Solution
The platform and its rider are undergoing a curvilinear translation. Therefore, the velocity vector of the
person, vEP , is equal to the velocity vectors of points C and D.
vEC D vEP D vED
D
D 33:0 :
Also, we must have

vP D j!AB jH D j!CD jH:
j!AB j D j!CD j D
vP
D 2:50 rad=s:
H
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Problem 6.22
A geosynchronous equatorial orbit is a circular orbit above the Earths equator
that has a period of 1 day (these are sometimes called geostationary orbits).
These geostationary orbits are of great importance for telecommunications
satellites because a satellite orbiting with the same angular rate as the rotation
rate of the Earth will appear to hover in the same point in the sky as seen by a
person standing on the surface of the Earth. Using this information, modeling a
geosynchronous satellite as a rigid body, and noting that the satellite has been
stabilized so that the same side always faces the Earth, determine the angular
speed !s of the satellite.
Solution
The motion of the satellite is a fixed-axis rotation about the center of the Earth where the axis is perpendicular
to the plane of the satellites orbit. For the satellite to be geosynchronous, the satellites angular velocity must
be such that it moves through 2 radians every day
!s D
2 rad 1 h
D 72:710
24 h 3600 s
rad=s:
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Problem 6.23
The bucket of a backhoe is being operated while holding the arm OA fixed. At the instant shown, point
B has a horizontal component of velocity v0 D 0:25 ft=s and is vertically aligned with point A. Letting
` D 0:9 ft, w D 2:65 ft, and h D 1:95 ft, determine the velocity of point C . In addition, assuming that, at
the instant shown, point B is not accelerating in the horizontal direction, compute the acceleration of point
C . Express your answers using the component system shown.
Solution
Since the bucket is in a fixed axis rotation about point A, we have
vEB D !AB kO rEB=A D v0 {O
!AB kO ` |O D v0 {O
`!AB {O D v0 {O
v0
D
) !AB D
`
0:2778 rad=s;
where !AB is the angular velocity of the bucket. Since B is not accelerating in the horizontal direction,
AB D 0 and we have
vEC D !AB kO rEC =A D !AB w {O
.h
`/ |O
vEC D .h
`/!AB {O C !AB w |O:
Upon substituting in given quantities, we have

vEC D . 0:292 {O
Since AB D 0, aEC D
2
!AB
rEC =A D
v02 w {O
.h
0:736 |O/ ft=s:

`/ |O, which means that
aEC D . 0:204 {O C 0:0810 |O/ ft=s2 :
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Solutions Manual
Problem 6.24
Wheels A and C are mounted on the same shaft and rotate together. Wheels A
and B are connected via a belt and so are wheels C and D. The axes of rotation
of all the wheels are fixed, and the belts do not slip relative to the wheels they
connect. If, at the instant shown, wheel A has an angular velocity !A D 2 rad=s
and an angular acceleration A D 0:5 rad=s2 , determine the angular velocity
and acceleration of wheels B and D. The radii of the wheels are RA D 1 ft,
RB D 0:25 ft, RC D 0:6 ft, and RD D 0:75 ft.
Solution
Since the belts do not slip relative to the wheels they connect, we must have that
!A RA D !B RB ;
A RA D B RB ;
!C RC D !D RD ;
C RC D D RD ;
where
!A D !C ;
and
A D C :
Using the given quantities, we have

RA
!A kO D 8:00 kO rad=s
;
RB
RA
EB D
A kO D 2:00 kO rad=s2
;
RB
RC
!ED D
!C kO D 2:50 kO rad=s
;
RD
RC
ED D
C kO D 0:0625 kO rad=s2
:
RD
!EB D
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Problem 6.25
An acrobat lands at the end A of a board and, at the instant shown, point A has a downward vertical
component of velocity v0 D 5:5 m=s. Letting D 15 , ` D 1 m, and d D 2:5 m, determine the vertical
component of velocity of point B at this instant if the board is modeled as a rigid body.
Solution
Letting the pivot of the board point be O, and modeling the board
as a rigid body, we know that
vEA D !EAB rEA=O D !AB kO `.cos {O C sin |O/
D !AB `. sin {O C cos |O/:
Looking at the y component of vEA we have
vAy D
v0 D !AB ` cos
!AB D
v0
:
` cos
Similarly, for point B we know that

vEB D !AB kO rEB=O D
v0 O
k . d cos {O
` cos
d sin |O/ D
v0 d
v0 d
tan {O C
|O:
`
`
Plugging known values into the y component of vEB we have

vBy D
v0 d
D 13:8 m=s
`
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Problem 6.26
At the instant shown, A is moving upward with a speed v0 D 5 ft=s and acceleration
a0 D 0:65 ft=s2 . Assuming that the rope that connects the pulleys does not slip relative to
the pulleys and letting ` D 6 in: and d D 4 in:, determine the angular velocity and angular
acceleration of pulley C .
Solution
We can define the length of the rope as
L D yD C 2yA :
Taking two time derivatives of this equation, and remembering that the overall length is
constant because the rope is inextensible, we have
0 D yPD C 2yPA
yPD D
2yPA D 2v0
0 D yRD C 2yRA
yRD D
2yRA D 2a0
Because the point Q is contacting the rope, and the rope is not slipping, point Q has the
same velocity and vertical component of acceleration as D.
vQ D vD D 2v0 D !C
`
2
!E C D 4
v0
D 40:0 kO rad=s
`
aQy D aD D 2a0 D C
`
2
EC D 4
a0
D 5:20 kO rad=s2
`
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Dynamics 1e
Problem 6.27
At the instant shown, the angle D 30 , jE
vA j D 292 ft=s, and the turbine is rotating clockwise. Letting
OA D R, OB D R=2, R D 182 ft, and treating the blades as being equally spaced, determine the velocity
of point B at the given instant and express it using the component system shown.
Solution
At the instant shown D 30 , so the positions of A and B in the given cartesian coordinate system are
rEA D rEA=O D R.sin {O C cos |O/
R
rEB D rEB=O D
{O:
2
Because the windmill is being treated as a rigid body, we also know
vEA D !E T rEA=O D !T kO rEA=O D !T R. cos {O C sin |O/
vA D j!T jR D 292 ft=s
where !E T is the angular velocity of the turbine and vA is the speed of A. Solving for !T we have
!T D
vA
R
because the turbine is rotating clockwise. The velocity of point B is then

vEB D !E T rEB=O D
vEB D
vA O
k
R
R
{O
2
vA
|O D 146 |O ft=s:
2
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Problem 6.28
At the instant shown, the angle D 30 , the turbine is rotating clockwise, and
aEB D .70:8 {O 12:8 |O/ m=s2 . Letting OA D R, OB D R=2, R D 55:5 m,
and assuming the blades are equally spaced, determine the angular velocity and
angular acceleration of the turbine blades as well as the acceleration of point A
at the given instant.
Solution
At the instant shown D 30 , so the positions of A and B in the given cartesian coordinate system are
rEA D rEA=O D R.sin {O C cos |O/
R
rEB D rEB=O D
{O:
2
Because the windmill is being treated as a rigid body, we also know
!T2 rEB=O C T kO rEB=O

R
R
2
O
{O C T k
{O
D !T
2
2
R
R
D !T2 {O T |O D aBx {O C aBy |O:
2
2
aEB D
Therefore,
r
!E T D
ET D
2aBx O
k D 1:60 kO rad=s;
R
2aBy O
k D 0:461 kO rad=s2 :
R
The negative root is chosen for !T because the turbine is rotating clockwise. The acceleration of A is
aEA D
!T2 rEA=O C T kO rEA=O
!T2 R.sin {O C cos |O/ C T kO R.sin {O C cos |O/
R.!T2 sin C T cos / {O C R.T sin
!T2 cos / |O:
Plugging in the known values of R; !T ; T ; and we get

aEA D . 93:0 {O
110 |O/ m=s2 :
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Dynamics 1e
Problems 6.29 through 6.31

A bicycle has wheels 700 mm in diameter and a gear set with the dimensions
given in the table below.
Crank
Sprocket
No. of Cogs
Radius (mm)
C1
26
52.6
C2
36
72.8
C3
48
97.0
Cassette (9 speeds)
Sprocket
No. of Cogs
Radius (mm)
S1
11
22.2
S2
12
24.3
S3
14
28.3
S4
16
32.3
S5
18
36.4
S6
21
42.4
S7
24
48.5
S8
28
56.6
S9
34
68.7
If a cyclist has a cadence of 1 Hz, determine the angular speed

of the rear wheel in rpm when using the combination of C3 and S2. In addition,
knowing that the speed of the cyclist is equal to the speed of a point on the tire
relative to the wheels center, determine the cyclists speed in m=s.
Problem 6.29
Problem 6.30
If a cyclist has a cadence of 68 rpm, determine which combination of chain ring (a sprocket mounted on the crank) and (rear) sprocket
would most closely make the rear wheel rotate with an angular speed of 127 rpm.
Having found a chain ring/sprocket combination, determine the wheels exact
angular speed corresponding to the chosen chain ring/sprocket combination and
the given cadence.
If a cyclist is pedaling so that the rear wheel rotates with an

angular speed of 16 rad=s, determine all possible (rear) sprocket/chain ring
(crank-mounted sprocket) combinations that would allow him or her to pedal
with a frequency within the range 1:001:25 Hz.
Problem 6.31
Solution to 6.29
Using C3 and S2, RC D 97:0 mm; RS D 24:3 mm; and RW D 0:7 m where the subscripts C; S; and W
denote the crank, sprocket and wheel respectively. We let !C ; !S ; !W be the angular velocities of the crank,
sprocket, and wheel. The sprocket is fixed to the wheel, so
!S D !W :
Since the chain does not slip relative to the crank or sprocket, we have
!S RS D !C RC
!S D !W D
RC
!C :
RS
Because the cyclists cadence is 1 Hz; !C D 2 rad=s: Plugging in known values, we get
!W D 25:1 rad=s D 240 rpm:
We are also told that vcyclist D vP =O where vEP =O is the velocity of a point on the rim of the wheel relative to
the wheels center O. From this, we have
vEP =O D !E W rEP =O
vcyclist D vP =O D !W RW :
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Solutions Manual

vcyclist D
RC
RW !C D 17:6 m=s:
RS
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Dynamics 1e
Solution to 6.30
We let !C ; !W ; and !S be the angular velocities and RC ; RW and RS be the radii of the crank, wheel, and
sprocket respectively. The chain does not slip with respect to the crank or sprocket, so we must have
!C RC D !S RS :
Given !C D 68 rpm, we are asked to pick a sprocket and crank combination such that !S is close to 128 rpm.
C
In other words, R
RS must be close to
!S
127
D
D 1:868:
!C
68
By trial and error we find that pairing C1 with S3 gives
RC
52:6 mm
D
D 1:86;
RS
28:3 mm
which is the closest pairing to the desired ratio. For this choice of gears and the given cadence,
!W D !S D
RC
52:6 mm
!C D
68 rpm D 126 rpm:
RS
28:3 mm
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Solution to 6.31
We let !C ; !W ; and !S be the angular velocities and RC ; RW ; and RS be the radii of the crank, wheel, and
sprocket respectively. The chain does not slip with respect to the crank or sprocket, and !S D !W so we
must have
RS
!S RS D !W RS D !C RC ) !C D !W
:
(1)
RC
We need to find the combinations of crank and sprocket such that
2 rad=s !C 2:5 rad=s
(2)
Plugging Eq. (1) into Eq. (2) we must have that

0:393
RS
0:491:
RC
By trial and error we find that all possible combinations include:

RS
RC
RS
S2 and C1:
RC
RS
S4 and C2:
RC
RS
S6 and C3:
RC
S1 and C1:
D 0:422
D 0:460
D 0:444
D 0:437:
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Dynamics 1e
Problem 6.32
A carrier is maneuvering so that, at the instant shown, jE
vA j D 25 knots (1 kn is exactly equal to 1:852 km=h)
and D 33 . Letting the distance between A and B be 220 m and D 22 , determine vEB at the given
instant if the ships turning rate at this instant is P D 2 =s clockwise.
Solution
Since A and B are on the same rigid body, we must have
vEB D vEA C !E carrier rEB=A
(1)
vEA D vA .sin {O C cos |O/;

O
!E carrier D ! kO D . 2 =s/ kO D . 0:03491 rad=s/ k;
(2)
rEB=A D AB.cos {O C sin |O/:
(4)
where
(3)
and
Substituting Eqs. (2)(4) into Eq. (1) we have

vEB D vA .sin {O C cos |O/ C ! kO AB.cos {O C sin |O/
D .vA sin
!AB sin / {O C .vA cos C !AB cos / |O:
Substituting in known values we get

vEB D .9:88 {O C 3:67 |O/ m=s:
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Problem 6.33
At the instant shown, the pinion is rotating between two racks with an angular
velocity !P D 55 rad=s. If the nominal radius of the pinion is R D 4 cm and if
the lower rack is moving to the right with a speed vL D 1:2 m=s, determine the
velocity of the upper rack.
Solution
We define P and Q to be the contact points between the pinion and the
top and bottom racks, respectively. Then we have
vEQ D vEL D .1:2 m=s/ {O:
Because Q and P are points on the same rigid body, we must also have
vEP D vEQ C !EP rEP =Q
D vL {O C !P kO .2R/ |O
D .vL
2R!P / {O:
Substituting known values we get

vEP D
3:2 {O m=s:
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Dynamics 1e
Problem 6.34
At the instant shown the lower rack is moving to the right with a speed of
vL D 4 ft=s, while the upper rack is fixed. If the nominal radius of the pinion is
R D 2:5 in:, determine !P , the angular velocity of the pinion, as well as the
velocity of point O, i.e., the center of the pinion.
Solution
We define P and Q to be the contact points between the pinion and the
top and bottom racks, respectively. Then we have
vEQ D vEL D .1:2 m=s/ {O
and
E
vEP D 0:
Because Q and P are points on the same rigid body, we must also have
vEQ D !EP rEQ=P D vEL
!P kO . 2R/ |O D vEL
2R!P {O D vEL
!P D
vL
: (1)
2R

!EP D 9:60 kO rad=s:
Points O and P are also on the same rigid body, so we also must have
vEO D !EP rEO=P D !P kO . R/ |O D !P R {O:
(2)
Substituting Eq. (1) into Eq. (2) we have

vEO D 2:00 {O ft=s:
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Solutions Manual
Problem 6.35
A bar of length L D 2:5 m is pin-connected to a roller at A. The roller is moving along a horizontal rail as
shown with vA D 5 m=s. If at a certain instant D 33 and P D 0:4 rad=s, compute the velocity of the
bars midpoint C .
Solution
Because C and A are points on the same rigid body, we must have
vEC D vEA C !EAC rEC =A ;
where
vEA D vA {O;
O
!EAC D P k;
rEC =A D
L
.sin {O
2
(1)
cos |O/:
(2)
Plugging Eqs. (2) into Eq. (1) we have

L
vEC D vA {O C !AC kO .sin {O cos |O/
2
L
L
D .vA C !AC cos / {O C !AC sin |O:
2
2
vEC D .5:42 {O C 0:272 |O/ m=s:
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Dynamics 1e
Problem 6.36
If the motion of the bar is planar, what would the speed of A need to be for vEC to be perpendicular to the
bar AB? Why?
Solution
The kinematic relation between points C and A is
vEC D vEA C !EAC rEA=C :
For vEC to be perpendicular to rEA=C in planar motion, we must have
vEA D 0E
vA D 0:
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Solutions Manual
Problem 6.37
Points A and B are both on the trailer part of the truck. If the relative velocity of point B with respect to A
is as shown, is the body undergoing a planar rigid body motion?
Solution
For the motion to be a planar rigid body motion, vEB=A must be perpendicular to the vector rEB=A . The figure
indicates that vEB=A and rEB=A are not perpendicular. Therefore, the motion of the trailer is not a planar rigid
body motion.
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Dynamics 1e
Problem 6.38
A truck is moving to the right with a speed v0 D 12 km=h while the pipe section with radius R D 1:25 m
and center at C rolls without slipping over the trucks bed. The center of the pipe section C is moving to
the right at 2 m=s relative to the truck. Determine the angular velocity of the pipe section and the absolute
velocity of C .
Solution
We let !EP be the angular velocity of the pipe. Because C and Q can be considered points
on the same rigid body, we must have
vEC D vEQ C !EP rEC =Q
(1)
where
O
!EP D !P k;
vEQ D vET D v0 {O;
and
rEC =Q D R |O:
(2)
Substituting Eqs. (2) into Eq. (1) we have

vEC D .v0
!P R/ {O:
(3)
We are also told that

vEC =Q D !EP rEC =Q D vpipe/truck {O
Plugging in known values we have !EP D
!P R {O D 2:000 {O m=s:
1:600; which to three significant figures is

!EP D
1:60 kO rad=s:
Plugging the unrounded value for !EP and all known values into Eq. (3), and rounding to three significant
figures we have
vEC D 5:33 {O m=s:
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Solutions Manual
Problem 6.39
A wheel W of radius RW D 7 mm is connected to point O via the rotating arm OC, and it rolls without
slip over the stationary cylinder S of radius RS D 15 mm. If, at the instant shown, D 47 and
!OC D 3:5 rad=s, determine the angular velocity of the wheel and the velocity of point Q, where point Q
lies on the edge of W and along the extension of the line OC.
Solution
Points C and O are two points on the arm, which is a rigid body, so we must
have
vEC D vEO C !E OC rEC =O ;
(1)
where
!E OC D !OC kO
and
rEC =O D .RS C RW / uO r :
(2)

vEC D .RS C RW /!OC uO :
(3)
E and
We let E be the contact point between cylinder S and wheel W , so vEE D 0,
vEC D vEE C !E W rEC =E D !W kO RW uO r D !W RW uO :
(4)
Equating Eqs. (3) and (4) we have

!W RW uO D !OC .RS C RW /uO
!W D
.RS C RW /
!OC :
RW

!E W D 11:0 kO rad=s:
Because Q is a point on the same rigid body as E, we also must have
vEQ D vEE C !W kO 2RW uO r
D 2RW !W uO D 2.RS C RW /!OC uO :
vEQ D 0:154 uO m=s:
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Dynamics 1e
Problem 6.40
For the slider-crank mechanism shown, let R D 20 mm, L D 80 mm, and
H D 38 mm. Use the concept of instantaneous center of rotation to determine
the values of , with 0 360 , for which vB D 0. Also, determine the
angular velocity of the connecting rod at these values of .
Solution
When vB D 0, B is the instantaneous center of rotation of AB, and vEA must
be perpendicular to the line BA. However, vEA must also be perpendicular
to the line OA, since O is the center of rotation of the crank. Therefore, O,
A, and B must be collinear. The two cases where this happens are shown
to the left. In the first, case we have that
.L C R/ cos 1 D H
1 D cos
H
LCR
1 D 67:7 :
In the second case we have that

.L
R/ cos 2 D H
2 D 180 C cos
L
)
R
2 D 231 :
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Solutions Manual
Problem 6.41
At the instant shown bars AB and BC are perpendicular to each other, and bar BC is rotating counterclockwise at 20 rad=s. Letting L D 2:5 ft and D 45 , determine the angular velocity of bar AB as well
as the velocity of the slider C .
Solution
Because D 45 , the instantaneous center of rotation of bar BC is point A.
Therefore,
p
vC D 2L!BC D 70:7 ft=s
Because C is constrained to move along the guide with vector .O{ C |O/, and
is moving up and to the right, we have
vEC D .50:0 {O C 50:0 {O/ ft=s:
A is also the center of rotation of bar AB. Therefore, in the present configuration
vB
!AB L
!BC L
!AB
!BC
!EAB D 20:0 kO rad=s:
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Dynamics 1e

A ball of radius RA D 3 in: is rolling without slip in a stationary spherical bowl of radius RB D 8 in:
Assume that the balls motion is planar.
Problem 6.42
If the speed of the center of the ball is vA D 1:75 ft=s and if the ball is moving down and
to the right, determine the angular velocity of the ball.
If the angular speed of the ball j!A j D 4 rad=s is counterclockwise, determine the velocity
of the center of the ball.
Problem 6.43
Solution to 6.42
Converting RA to feet we have RA D 0:2500 ft: Since the ball rolls without slip over a stationary surface, the
point of contact between the ball and the bowl is the instantaneous center of rotation of the ball. Therefore,
vA D j!EA jRA
!A D
vA
RA
!A D 7:000 rad=s
Observing that the ball will be rotating counterclockwise and given that kO D uO r uO , to three significant
figures we have
!EA D
7:00 kO rad=s:
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Solutions Manual
Solution to 6.43
Since the ball rolls without slip over a stationary surface, the point of contact between the ball and the bowl is
the instantaneous center of rotation of the ball. Therefore,
vA D j!EA jRA D 4RA
vEA D
12 uO in=s:
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Dynamics 1e
Problem 6.44
One way to convert rotational motion into linear motion and vice versa is via the use of a mechanism
called a Scotch yoke, which consists of a crank C that is connected to a slider B via a pin A. The pin
rotates with the crank while sliding within the yoke, which, in turn, rigidly translates with the slider. This
mechanism has been used, for example, to control the opening and closing valves in pipelines. Letting the
radius of the crank be R D 1:5 ft, determine the angular velocity !C of the crank so that the maximum
speed of the slider is vB D 90 ft=s.
Solution
Calling the center of the wheel the origin, from the geometry of the problem we
have
rEA D R.cos {O C sin |O/:
(1)
By construction, the velocity of the slider is equal to the horizontal component of
the velocity of point A. We can get vEA by taking the derivative of Eq. 1 with respect to time. Doing so we
have
vEA D RP . sin {O C cos |O/ ) vEB D RP sin {O:
P for .vB /max we have
Because RP sin varies as a function of , with its maximum value equal to Rjj,
.vB /max D RjP j D R!C
!C D
.vB /max
R
!E C D 60:0 kO rad=s:
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Solutions Manual

The system shown consists of a wheel of radius R D 14 in: rolling on a
horizontal surface. A bar AB of length L D 40 in: is pin-connected to the
center of the wheel and to a slider A that is constrained to move along a vertical
guide. Point C is the bars midpoint.
If, when D 72 , the wheel is moving to the right so that
vB D 7 ft=s, determine the angular velocity of the bar as well as the velocity of
the slider A.
Problem 6.45
If, when D 53 , the slider is moving downward with a speed

vA D 8 ft=s, determine the velocity of points B and C .
Problem 6.46
If the wheel rolls without slip with a constant counterclockwise

angular velocity of 10 rad=s, determine the velocity of the slider A when D
45 .
Problem 6.47
Solution to 6.45
Converting units on known values, we have
R D 1:167 ft
L D 3:333 ft:
We are told the wheel is moving to the right. Therefore, using the component system shown
vEB D 7 {O ft=s:
(1)
In addition, the slider must be moving down, so we have vEA D vA |O; and the angular velocity of the bar is
O Also, the position vector of B with respect to A is rEB=A D L.cos {O sin |O/: From rigid
!EAB D !AB k:
body kinematics, we must have
vEB D vEA C !EAB rEB=A
D vA |O C !AB kO L.cos {O
D !AB L cos {O C .!AB L sin
sin |O/
vA / |O:
(2)
vB
;
L sin
(3)
Equating Eq. (1) and Eq. (2) we have

vB D !AB L sin
!AB D
vA D !AB L cos :
(4)
Plugging known values into Eq. (3) we get

!AB D 2:208 rad=s:
To three significant figures this is
Plugging the unrounded value for !AB into Eq. (4) we get
vA D 2:27 ft=s
vEA D
2:27 |O ft=s:
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Dynamics 1e
Solution to 6.46
R D 1:167 ft L D 3:333 ft:
We are told the slider is moving down. Therefore, using the component
system shown,
vEA D 8 |O ft=s:
In addition, because the slider is moving down, the the wheel must be
O and !E W D
moving to the right, so we have vEB D vB {O; !EAB D !AB k,
O Also, the position vector of B relative to A is rEB=A D L.cos {O
!W k:
sin |O/; and of B relative to Q is rEB=Q D R |O: From rigid body kinematics
we must have
sin |O/
vA / |O:
(5)
We must also have

vEB D vEQ C !E W rEB=Q
D !W kO R |O
D
!W R {O:
(6)
Equating components of Eq. (5) with those of Eq. (6) we have

!W R D !AB L sin ;
(7)
vA D !AB L cos :
(8)
Solving Eq. (8) gives !AB D 3:988 rad=s: Plugging !AB into Eq. (7) gives !W D
!W into Eq. (6) gives
9:100 rad=s: Plugging
vEB D 10:6 {O ft=s:

Realizing that the position vector from A to C is rEC =A D
rEB=A
2 ,
from rigid body kinematics we have
vEC D vEA C !EAB rEC =A

L
vA |O C !AB kO .cos {O
2
D
sin |O/
vA / |O:
(9)
Plugging all known values into Eq. (9) gives

vEC D .5:31 {O
4 |O/ ft=s:
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Solutions Manual
Solution to 6.47
R D 1:167 ft L D 3:333 ft:
We are told that the wheel spins counterclockwise at 10 rad=s, so we have
!E W D 10 kO rad=s:
(10)
In addition, because the wheel is turning counterclockwise, the slider is

moving up, and B is moving to the left, we must have
vEA D vA |O;
vEB D
vB {O;
and
O
!EAB D !AB k:
(11)
Also, the position vector of B relative to A is rEB=A D L.cos {O

rEB=Q D R |O: From rigid body kinematics we must have
sin |O/; and of B relative to Q is
sin |O/
D !AB L cos {O C .!AB L sin C vA / |O:
(12)
We must also have

vEB D vEQ C !E W rEB=Q D !W kO R |O D
!W R {O D
11:67 {O ft=s:
(13)
Equating components of Eq. (12) with those of Eq. (13) we have

11:67 D !AB L sin ;
vA D
Solving Eq. (14) gives !AB D
(14)
!AB L cos :
(15)
4:952 rad=s: Substituting this value for !AB into Eq. (15), we have
vEA D 11:7 |O ft=s:
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Dynamics 1e
Problem 6.48
At the instant shown, the lower rack is moving to the right with a speed of
2:7 m=s while the upper rack is moving to the left with a speed of 1:7 m=s.
If the nominal radius of the pinion O is R D 0:25 m, determine the angular
velocity of the pinion, as well as the position of the pinions instantaneous
center of rotation relative to point O.
Solution
From the no slip condition at points U and Q we know that
vEU D
1:7 {O m=s
(1)
and
vEQ D 2:7 {O m=s:
(2)
From rigid body kinematics we have

vEU D vEQ C !EP rEU=Q D vL {O C !P kO 2R |O D vL {O
2R!P {O;
(3)
where !P is the angular speed of the pinion. Comparing Eq. (3) with Eq. (1) component by component, we
have
vL C 1:7
) !P D 8:800 rad=s:
1:7 D vL 2R!P ) !P D
2R
In vector form, and to three significant figures this is
!EP D 8:80 kO rad=s:
We also know that
vEIC D vEQ C !EP rEIC =Q
0E D vL {O C !P kO .dIC =Q /x {O C .dIC =Q /y |O
0E D vL
.dIC =Q /y !P {O C .dIC =Q /x !P |O:
(4)
Breaking Eq. (4) into two scalar equations by components we have

0 D vL
.dIC =Q /y !P
0 D .dIC =Q /x !P
.dIC =Q /y D
vL
;
!P
.dIC =Q /x D 0:
Substituting known values we have

rEIC =Q D 0:307 |O rad=s:
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Solutions Manual
Problem 6.49
A carrier is maneuvering so that, at the instant shown, jE
vA j D 22 kn, D 35 , jE
vB j D 24 kn (1 kn is equal
to 1 nautical mile (nml) per hour or 6076 ft=h). Letting D 19 and the distance between A and B be
720 ft, determine the ships turning rate at the given instant if the ship is rotating clockwise.
Solution
O and rEB=A D dAB .cos {O C sin |O/. From rigid body
We let vEA D vA .sin {O C cos |O/, !EA D !A k,
kinematics we know
D vA .sin {O C cos |O/ C !AB kO dAB .cos {O C sin |O/
D .vA sin
!AB dAB sin / {O C .vA cos C !AB dAB cos / |O:
(1)
Taking the magnitude of both sides of Eq. (1) we have

2
vB
D .vA sin
!AB dAB sin /2 C .vA cos C !AB dAB cos /2 :
(2)
All values in Eq. (2) are known except for !AB . Solving, we have !AB D 0:06805 rad=s: Since we are
told that the ship is turning clockwise, using the component system shown we must have
!EAB D
0:0681 kO rad=s:
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Dynamics 1e

For the slider-crank mechanism shown, let R D 1:9 in:, L D 6:1 in:, and H D 1:2 in: Also, at the instant
shown, let D 27 and !AB D 4850 rpm.
Problem 6.50
Determine the velocity of the piston at the instant shown.
Problem 6.51
Determine P and the velocity of point D at the instant shown.
Solution to 6.50
O Converting all given values to ft or rad=s we have
We let rEB=A D R.cos {O C sin |O/ and !EAB D !AB k.
R D 0:1583 ft;
L D 0:5083 ft;
H D 0:1000 ft;
and !AB D 507:9 rad=s:

vEB D vEA C !EAB rEB=A D !AB kO R.cos {O C sin |O/ D
!AB R sin {O C !AB R cos |O:
(1)
O rEC =B D L.sin {O C cos |O/, and vEC D vC |O, then we have

If we let !EBC D !BC k,
vEC D vC |O D vEB C !EBC rEC =B :
D vEB C !BC kO L.sin {O C cos |O/
D vEB
!BC L cos {O C !BC L sin |O:
(2)
Substituting Eq. (1) for vEB in Eq. (2) we get

vC |O D
.!AB R sin C !BC L cos / {O C .!AB R cos C !BC L sin / |O:
(3)
From the geometry of the problem we also have

L sin D R cos
Substituting Eq. (4) for in Eq. (3) we have

vC |O D
!AB R sin C !BC L cos sin
D sin
R
cos
L

R
cos :
L
(4)
{O C 2R cos .!AB C !BC / |O:
(5)

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Breaking Eq. (5) into two scalar equations by components we have

R
0 D !AB R sin !BC cos sin 1
cos
L
vC D 2R cos .!AB C !BC /:
(6)
(7)
Eqs. (6) and (7) are two equations in vC , !BC , and known values. Solving these equations for vC we get
vEC D 61:1 |O ft=s:
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Dynamics 1e
Solution to 6.51
O Converting all given values to ft=s or rad=s we have
We let rEB=A D R.cos {O C sin |O/ and !EAB D !AB k.
R D 0:1583 ft;
L D 0:5083 ft;
H D 0:1000 ft;
and !AB D 507:9 rad=s:

vEB D !EAB rEB=A D !AB kO R.cos {O C sin |O/ D
!AB R sin {O C !AB R cos |O:
(8)
O rEC =B D L.sin {O C cos |O/, and vEC D vC |O, then from rigid body kinematics we
If we let !EBC D !BC k,
have
vEC D vC |O D vEB C !EBC rEC =B :
D vEB C !BC kO L.sin {O C cos |O/
D vEB
!BC L cos {O C !BC L sin |O:
(9)
Substituting Eq. (8) into Eq. (9) we get

vC |O D
.!AB R sin C !BC L cos / {O C .!AB R cos C !BC L sin / |O:
(10)
From the geometry of the problem we also have

L sin D R cos

vC |O D
!AB R sin C !BC L cos sin
D sin
R
cos
L

R
cos :
L
(11)
{O C 2R cos .!AB C !BC / |O:
(12)

Equating components of Eq. (12) we have

0D
!AB R sin
!BC

cos sin
R
cos
L

(13)
vC D 2R cos .!AB C !BC /:
(14)
Eqs. (13) and (14) are two equations in vC , !BC , and known values. Solving these equations for !BC , we
get
!BC D 74:76 rad=s:
Because measures the angle of BC with respect to the horizontal axis, P D !BC . Therefore,
P D
74:8 rad=s:
We let rED=B D H.sin {O C cos |O/. Therefore, from rigid body kinematics we have
vED D vEB C !EBC rED=B
D vEB C !BC kO H.sin {O C cos |O/
D vEB
!BC H cos {O C !BC H sin |O:
(15)
Substituting Eq. (8) into Eq. (15) we get

vED D
.!AB R sin C !BC H cos / {O C .!AB R cos C !BC H sin / |O:
(16)
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Combining Eq. (11) with Eq. (16) to eliminate gives

R
H
vED D
!AB R sin C !BC H cos sin 1
cos
{O C R cos !AB C !BC
|O:
L
L
(17)
Substituting all known values into Eq. (17) we get

vED D . 29:3 {O C 69:6 |O/ ft=s:
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Dynamics 1e
Problem 6.52
A wheel W of radius RW D 7 mm is connected to point O via the rotating
arm OC, and it rolls without slip over the stationary cylinder S of radius
RS D 15 mm. If, at the instant shown, D 63 and !W D 9 rad=s, determine
the angular velocity of the arm OC and the velocity of point P , where point P
lies on the edge of W and is vertically aligned with point C .
Solution
Let E be the contact point between W and S. From the no slip condition,
E We let !E W D !W kO and from the geometry of the problem
vEE D 0.
rEC =E D RW .cos {O C cos |O/. From rigid body kinematics we have
vEC D vEE C !E W rEC =E
D !W kO RW .cos {O C sin |O/
D !W RW . sin {O C cos |O/:
(1)
Points C and O are also points on the arm where

rEC =O D .RS C RW /.cos {O C sin |O/. Therefore, we must have
vEC D vEO C !E OC rEC =O
D !OC kO .RS C RW /.cos {O C sin |O/
D !OC .RS C RW /. sin |O C cos |O/:
(2)

!W RW D !OC .RS C RW /
!E OC D
RW
!W kO D 2:86 kO rad=s:
RS C RW
Points P and C are both points on the wheel with rEP =C D RW |O. Therefore, we must have
vEP D vEC C !E W rEP =C :
Substituting in Eq. (1) for vEC we have
vEP D !W RW . sin {O C cos |O/ C !W kO RW |O
D !W RW . sin
1/ {O C cos |O:
(3)
Substituting known values into Eq. (3) we get

vEP D . 0:119 {O C 0:0286 |O/ m=s:
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Solutions Manual
Problem 6.53
At the instant shown, the center O of a spool with inner and outer radii r D 1 m
and R D 2:2 m, respectively, is moving up the incline at speed vO D 3 m=s.
If the spool does not slip relative to the ground or relative to the cable C ,
determine the rate at which the cable is wound or unwound, that is, the length
of rope being wound or unwound per unit time.
Solution
E We also know vEO D vO {O ,
From the no slip condition, vEQ D 0.
O
rEO=Q D R |O, and !E S D !S k. From rigid body kinematics we have
vEO D vEQ C !E S rEO=Q
vO {O D !S kO R |O
!S D
vO
:
R
We also know that rED=O D r |O, and vEC D vED . From rigid body
kinematics we have
vED D vEO C !E S rED=O
vEC D vO {O C !S kO r |O
vEC D .vO
!S r/ {O

r
vEC D vO 1 C
{O:
R
Since vEC and vEO are in the same direction, and vC > vO , the cord is being unwound at a rate of
jE
vC
vEO j D
r
vO D 1:36 m=s:
R
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Dynamics 1e
Problem 6.54
At the instant shown, the center O of a spool with inner and outer radii r D 3 ft
and R D 7 ft, respectively, is moving down the incline at a speed vO D
12:2 ft=s. If the spool does not slip relative to the rope and if the rope is fixed
at one end, determine the velocity of point C (the point on the spool that is in
contact with the incline) as well as the ropes unwinding rate, that is, the length
of rope being unwound per unit time.
Solution
We let point A be the point where the rope is losing contact with the spool.
Because the end of the rope not around the spool is fixed, the speed of
the rope is 0, and therefore vA D 0. We also know that vEO D 12:2 {O ft=s.
vEO D vEA C !E O rEO=A
vO {O D !O kO r |O
vO {O D
r!O {O
!O D
vO
:
r
We must also have

vEC D vEA C !E O rEC =A
vO O
D
k .r R/ |O
r
vO .r R/
D
:
r

vEC D
16:3 {O ft=s:
E the rope is being unwound, and its rate is

Since vEA D 0,
jE
vO
vEA j D 12:2 ft=s:
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Solutions Manual
Problem 6.55
The bucket of a backhoe is the element AB of the four-bar linkage system ABCD. Assume that the points A and D are fixed and that, at the instant shown, point B is vertically aligned with point A, point C is horizontally aligned with point B, and point B
is moving to the right with a speed vB D 1:2 ft=s. Determine the velocity of point C
at the instant shown, along with the angular velocities of elements BC and CD. Let h D 0:66 ft,
e D 0:46 ft, l D 0:9 ft, and w D 1:0 ft.
Solution
Point C is a point on both bar BC and bar CD, and therefore can be related to both points B and D through
rigid body kinematics. We have that
vEC D vED C !E CD rEC =D D !CD kO .w
h/ {O C .e C `/ |O D
!CD .e C `/ {O
!CD .w
h/ |O (1)
Since vEB D vB {O, we ahve

vEC D vEB C !EBC rEC =B D vB {O C !BC . w/ {O D vB {O
!BC w |O:
(2)
Equating Eqs. (1) and (2) component by component we have

!CD .e C `/ {O D vB {O
h/ |O D
!CD .w
and
!BC w |O:
(3)
Solving Eqs. (3) we have

!CD D
vB
eC`
and !BC D
!CD .w
w
h/
!BC D
vB w h
:
eC` w
(4)
Substituting known values into Eq. (4), we have

!E CD D
0:882 kO rad=s;
!EBC D
0:300 kO rad=s:

vEC D vB {O C
vB
.w
eC`
h/ |O:
(5)
Substituting known values into Eq. (5) we have

vEC D .1:20 {O C 0:300 |O/ ft=s:
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Dynamics 1e
Problem 6.56
Bar AB is rotating counterclockwise with an angular velocity of 15 rad=s.
Letting L D 1:25 m, determine the angular velocity of bar CD when D 45 .
Solution
Because bar AB is rotating about the fixed point A, at the given instant point B is only moving in the {O
direction, and we have
vEB D !AB L {O:
Points B and C are both on the bar BC so we have
vEC D vEB C !EBC rEC =B D !AB L {O C !BC kO L {O D !AB L {O C !BC L |O:
(1)
Points C and D are also both on the bar CD so we have

vEC D vED C !E CD rEC =D D !CD kO
L
L
.cos {O C sin |O/ D !CD . sin {O C cos |O/:
2
2
(2)
Equating the {O components of Eqs. (1) and (2) we have

!AB L D
L
!CD sin
2
!CD D
2!AB
:
sin
Substituting in known values we have

!E CD D
42:4 kO rad=s:
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Solutions Manual
Problem 6.57
At the instant shown, bars AB and CD are vertical and point C is moving to the left
with a speed of 35 ft=s. Letting L D 1:5 ft and H D 0:6 ft, determine the velocity
of point B.
Solution
From the concept of instantaneous center of rotation, we see that lines ABA and CD are parallel, so the
instantaneous center of rrotation of bar BC is at infinity, so !BC D 0. Therefore, from rigid body kinematics
we have vEB D vEC , which gives us
vEC D
35 {O ft=s:
August 10, 2009
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Dynamics 1e
Problem 6.58
Collars A and B are constrained to slide along the guides shown and are
connected by a bar with length L D 0:75 m. Letting D 45 , determine
the angular velocity of the bar AB at the instant shown if, at this instant,
vB D 2:7 m=s.
Solution
From rigid body kinematics, we must have
vEA D vEB C !EAB rEA=B ;
where vEA D
vA |O, vEB D vB {O, and rEA=B D
L
p
2
{O C
L
p
2
|O. Plugging these values in we have

L
L
O
vA |O D vB {O C !AB k
p {O C p |O
2
2
L
L
vA |O D vB {O !AB p {O !AB p |O:
2
2
(1)
From the {O component of Eq. (1) we have

L
vB D !AB p
2
!AB D
vB p
2:
L

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Solutions Manual
Problem 6.59
At the instant shown, an overhead garage door is being shut with point B
moving to the left within the horizontal part of the door guide at a speed of
5 ft=s, while point A is moving vertically downward. Determine the angular
velocity of the door and the velocity of the counterweight C at this instant if
L D 6 ft and d D 1:5 ft.
Solution
Using the concept of instantaneous center of rotation we have
vB D !AB d;
p
vA D !AB L2
(1)
d 2:
(2)
Solving Eq. (1) for !AB we have

!AB D
vB
d
!AB D 3:333 rad=s:
In vector form and to three significant figures we have

Substituting all known values into Eq. 2 we have
vA D
vB p 2
L
d
Given the geometry of the pulley system, vC D
d2 D
19:35 ft=s:
vA . In vector form, we have
vEC D 19:4 |O ft=s:
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Dynamics 1e
Problem 6.60
A spool with inner radius R D 1:5 m rolls without slip over a horizontal rail as shown. If the cable on the
spool is unwound at a rate vA D 5 m=s in such a way that the unwound cable remains perpendicular to the
rail, determine the angular velocity of the spool and the velocity of the spools center O.
Solution
We let P be the contact point between the rope and the spool. By
the no slip condition, the |O component of vEP is equal to vA . Also,
vQ D 0 because it is the contact point between the spool and the
rail. From rigid body kinematics we then have
vEP D vEQ C!E spool rEP =Q
D !spool kO . R {O C R |O/
D
R!spool . {O C |O/:
Equating vP y to vA we have
vA D
R!spool
!spool D
vA
D
R
3:33 rad=s:
In vector form this is

!E spool D
3:33 kO rad=s:
We must also have

vEO D vEQ C !E spool rEO=Q D !spool kO R |O D
!spool R {O
vEO D 5:00 {O rad=s:
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Solutions Manual
Problem 6.61
In the four-bar linkage system shown, the lengths of the bars AB and CD are
LAB D 46 mm and LCD D 25 mm, respectively. In addition, the distance
between points A and D is dAD D 43 mm. The dimensions of the mechanism
are such that when the angle D 132 , the angle D 69 . For D 132 and
P D 27 rad=s, determine the angular velocity of bars BC and CD as well as
the velocity of the point E, the midpoint of bar BC . Note that the figure is
drawn to scale and that bars BC and CD are not collinear.
Solution
We let point D be the origin. From the geometry of the problem we have
rEA D dAD {O D 0:04300 {O m;
rEB=A D LAB .cos {O C sin |O/ D . 0:03078 {O C 0:03418 |O/ m;
rEB D rEA C rEB=A D .0:01222 {O C 0:03418 |O/ m;
rEC D LCD .cos {O C sin |O/ D .0:008959 {O C 0:02334 |O/ m;
and
rEC =B D rEC
rEB D .LCD cos
C .LCD sin
LAB cos / {O
dAD
LAB sin / |O D . 0:003261 {O
0:01085 |O/ m:

vEB D vEA C !EAB rEB=A :
D !AB kO LAB .cos {O C sin |O/
D !AB LAB . sin {O C cos |O/ D . 0:9230 {O
0:8311 |O/ m=s:
We must also have

vEC D vEB C !EBC rEC =B
D !AB LAB . sin {O C cos |O/ C !BC kO .LCD cos
C .LCD sin
D !BC .LAB sin
dAD
LAB cos / {O
LAB sin / |O
LCD sin /
C !BC .LCD cos
dAD
!AB LAB sin {O

LAB cos / C !AB LAB cos |O:
(1)
Point C is also on bar CD where rEC =D D LCD .cos {O C sin |O/. From rigid body kinematics we then have
vEC D vED C !E CD rEC =D
D !CD LCD . sin {O C cos |O/:
(2)

!BC .LAB sin
LCD sin /
!AB LAB sin D
!CD LCD sin
(3)
LAB cos / C !AB LAB cos D !CD LCD cos :
(4)
and
!BC .LCD cos
dAD
August 10, 2009
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Dynamics 1e
Eqs. (3) and (4) are two equations in !BC and !CD . Dividing the left hand side of Eq. (3) by the left hand
side of Eq. (4) and the right hand side of Eq. (3) by the right hand side of Eq. (4) and switching the sides of
the result we have
!BC .LAB sin LCD sin / !AB LAB sin
!BC .LCD cos dAD LAB cos / C !AB LAB cos
tan cos / D !BC .LAB sin LCD sin /
tan D
!AB LAB .sin
!BC
C tan .LCD cos dAD LAB cos /

!AB LAB .sin tan cos /
D
LAB sin LCD sin C tan .LCD cos dAD
LAB cos /
: (5)
Substituting known values into Eq. (5) we get

!EBC D 1310 kO rad=s:
Solving Eq. (3) for !CD we have
!CD D
!AB LAB sin
!BC .LAB sin

LCD sin
LCD sin /
(6)
Substituting Eq. (5) for !BC in Eq. (6) we have

!CD D
!AB LAB sin

LCD sin
!AB LAB .sin tan cos /.LAB sin
LAB sin LCD sin C tan .LCD cos dAD
LCD sin /
LAB cos /LCD sin
(7)

!E CD D
571 kO rad=s:
We can calculate vEE from the rigid body kinematics of bar BC , where rEE=B D 21 rEC =D . We have
vEE D vEB C !BC kO rEE=B
1
D vBx {O C vBy |O C !BC kO rEC =D
2
!BC O
D vBx {O C vBy |O C
k .rC =B /x {O C .rC =B /y |O
2
.rC =B /y {O
D vBx
2LAB sin LCD sin C tan .LCD cos dAD LAB cos /
C vBy C
.rC =B /x |O: (8)
2LAB sin LCD sin C tan .LCD cos dAD LAB cos /
Substituting all known values into Eq. (8) we have
vEE D .6:20 {O
2:97 |O/ m=s:
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Solutions Manual
Problem 6.62
A person is closing a heavy gate with rusty hinges by pushing the gate with car A. If w D 24 m and
vA D 1:2 m=s, determine the angular velocity of the gate when D 15 .
Solution
From the geometry of the problem, we have
yH D w tan :
(1)
Taking the first derivative of Eq. (1) we have

yPH D
Realizing that yPH D
w P
:
cos2
vA we have
vA D
w P
:
cos2
Solving for P we are left with

cos2
:
P D vA
w
Finally, substituting known values into Eq. (2) we have
P D
(2)
0:0467 rad=s:
August 10, 2009
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Dynamics 1e

In the four-bar linkage system shown, let the circular guide with center at O be fixed and such that, when
D 0 , the bars AB and BC are vertical and horizontal, respectively. In addition, let R D 2 ft, L D 3 ft,
and H D 3:5 ft.
When D 0 , the collar at C is sliding downward with a speed of 23 ft=s. Determine the
angular velocities of the bars AB and BC at this instant.
Problem 6.63
When D 37 , D 25:07 , D 78:71 , and the collar is sliding clockwise with a speed
vC D 23 ft=s. Determine the angular velocities of the bars AB and BC .
Problem 6.64
Determine the general expression for the angular velocities of bars AB and BC as a
P
function of , , , R, L, H , and .
Problem 6.65
Solution to 6.63
Because point B is the instantaneous center of rotation of bar CB,
it has zero velocity. Point A is pinned and cannot move, so bar AB
cannot be moving. Therefore we have
E
!EAB D 0:
From the instantaneous center of rotation method, we then have
vC D L!BC
!BC D
vC
D 7:667 rad=s:
L
Following the given component system, in vector form, and to three significant figures we have
!EBC D 7:67 kO rad=s:
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Solutions Manual
Solution to 6.64
From the geometry of the problem, we have the following position
vectors:
rEC =O D R.cos {O C sin |O/;
rEB=C D L.cos {O
sin |O;
rEB=A D H. cos {O C sin |O/;

and the velocity vector
vEC D vC .sin {O
cos |O/:
O Points B and C are both on bar BC so from rigid body

We also define !EBC D !BC kO and !EAB D !AB k.
kinematics we have
vEB D vEC C !BC kO rEB=C
D vC .sin {O
cos |O/ C !BC L.sin {O C cos |O/
D .vC sin C !BC L sin / {O C .!BC L cos
vC cos / |O:
(1)
Also, because points A and B are both on bar AB, we have

vEB D vEA C !EAB rEB=A D
!AB H.sin {O C cos |O/:
(2)
Equating Eq. (1) with Eq. (2) component by component we have

vC sin C !BC L sin D
!BC L cos
vC cos D
!AB H sin
(3)
!AB H cos :
(4)
Eqs. (3) and (4) are two equations in !AB and !BC . To solve them we divide the left hand side of Eq. (3) by
the left hand side of Eq. (4) and the right hand side of Eq. (3) by the right hand side of Eq. (4). We have
vC sin C !BC L sin
D tan
!BC L cos vC cos
vC sin C !BC L sin D tan .!BC L cos

)
!BC D vC
vC cos /
sin C tan cos

:
L.tan cos sin /
Substituting in known values, we have

!BC D
7:210 rad=s:
To three significant figures, and in vector form we have

!EBC D
7:21 kO rad=s:
Solving Eq. (3) for !AB we have

!AB D
vC sin C !BC L sin

:
H sin
Plugging in known values, we have

August 10, 2009
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Dynamics 1e
Solution to 6.65
L sin C H sin D H C R sin
and L sin C H cos D R.1
cos / C L:
(5)
Taking the first derivative with respect to time of Eqs. (5) we have
LP cos C H P cos D RP cos
LP sin H P sin D RP sin :
(6)
(7)
Eqs. (6) and (7) can be viewed as two equations in P and .

P Realizing that P D !BC and P D !AB
P
tells us that solving these two equations for and P will give us the angular velocities of the two bars as a
function of the specified terms. Solving these equations we have
!BC D
P D
!AB D
P D

RP
cos
L cos
cos tan C sin

tan tan
and
RP sin C tan cos
:
H cos tan sin
Simplifying these we end up with
!EBC D
RP
csc .
L
/ sin . C / kO
!EAB D
RP
csc .
H
O
/ sin . C / k:
and
August 10, 2009
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Solutions Manual
Problem 6.66
At the instant shown, the arm OC rotates counterclockwise with an angular
velocity of 35 rpm about the fixed sun gear S of radius RS D 3:5 in: The planet
gear P with radius RP D 1:2 in: rolls without slip over both the fixed sun gear
and the outer ring gear. Finally, notice that the ring gear is not fixed and it rolls
without slip over the sun gear. Determine the angular velocity of the ring gear
and the velocity of the center of the ring gear at the instant shown.
Solution
Points C and O are both on the bar OC , so from rigid body kinematics
we must have
vEC D vEO C !E COC ErC =O
D !OC kO .RS C RP / {O
D !OC .RS C RP / |O:
(1)
Point C is also on the planetary gear with point Q, so we must have

vEC D vEQ C !EP rEC =Q
D !P kO RP {O
D !P RP |O:
(2)

.RS C RP /!OC D RP !P
!P D
RS C RP
!OC :
RP
Point A is also on the planetary gear, so we must have

vEA D vEQ C !EP rEA=Q
RS C RP
D
!OC kO 2RP {O
RP
D 2.RS C RP /!OC |O:
(3)
Points A and B are both points on the ring gear, so we must have
vEA D vEB C !E R rEA=B
D !R kO 2.RS C RP / {O
D 2!R .RS C RP / |O:
(4)

2.RS C RP /!OC D 2!R .RS C RP /
!R D !OC :
August 10, 2009
825
Dynamics 1e
In vector form this is
!E R D 35:0 kO rpm:
Calling the center of the ring point D we must have
vED D vEB C !E R rED=B D ! kO .RS C RP / {O D .RS C RP /!OC |O:
(5)

vED D 17:2 |O in.=s:
August 10, 2009
826
Solutions Manual
Problem 6.67
The crank AB is rotating counterclockwise at a constant angular velocity of
12 rad=s while the pin B slides within the slot in the bar CD, which is pinned
at C . Letting R D 0:5 m, h D 1 m, and d D 0:25 m, determine the angular
velocity of CD at the instant shown (with points A, B, and C vertically aligned)
as well as the velocity of the horizontal bar to which bar CD is connected.
Solution
If we let ` be the distance between B and C , then from the geometry of
the problem we have the constraint equation
R sin D ` sin :
Differentiating this constraint with respect to time we have
RP cos D `P sin C `P cos :
(1)
At the instant given in the problem, we have D 0 ; D 0 , and

` D h R ) `P D 0. Substituting these values into Eq. (1) we have
RP D .h
R/P
Making the observation that !AB D P and !CD D

!CD D
R
h
!AB D
12:00 rad=s
P D
R
h
P :
P we have
,
)
!E CD D
12:0 kO rad=s:
Points Q and C are both on the arm CD so from rigid body kinematics we must have
vEQ D vEC C !E CD rEQ=C D !CD kO . d / |O D !CD d {O:
vEQ D 3:00 {O m=s:
August 10, 2009
827
Dynamics 1e

For the slider-crank mechanism shown, let R D 20 mm, L D 80 mm, and
H D 38 mm.
If P D 1700 rpm, determine the angular velocity of the connecting rod AB and the speed of the slider B for D 90 .
Problem 6.68
Determine the angular velocity of the crank OA when D 20

and the slider is moving downward at 15 m=s.
Problem 6.69
Determine the general expression for the velocity of the slider

Problem 6.70
P and the geometrical parameters R, H , and L, using the
B as a function of , ,
vector approach.
Determine the general expression for the velocity of the slider
B as a function of , P , and the geometrical parameters R, H , and L, using
differentiation of constraints.
Problem 6.71
Problem 6.72
Plot the velocity of the slider C as a function of , for
0 360 , and for P D 1000 rpm, P D 3000 rpm, and P D 5000 rpm.
Solution to 6.68
Converting units on known values we have
R D 20 mm D 0:020 m;
L D 80 mm D 0:080 m;
H D 38 mm D 0:038 m:
From the rigid body kinematics of the wheel, and letting !O D P we have
vEA D vEO C !E O rEA=O D P kO R |O D
P R {O:
p
From the rigid body kinematics of arm AB where rEB=A D H {OC L2
we have
H 2 |O,
p
RP {O C !AB kO .H {O C L2 H 2 |O/
p
D . P R !AB L2 H 2 / {O C !AB H |O:
Because B is confined to move vertically in the slot, vBx D 0. From this we have
!AB D
R
L2
H2
P :
In vector form, and plugging in known values we have

!EAB D
50:6 kO rad=s:
From the y component of vEB we have

vEB D vBy |O D !AB H |O D P H p
R
L2
H2
|O:
August 10, 2009
828
Solutions Manual

vEB D 1:92 |O m=s:
August 10, 2009
829
Dynamics 1e
Solution to 6.69
R D 20 mm D 0:020 m;
L D 80 mm D 0:080 m;
H D 38 mm D 0:038 m:
vEA D vEO C !E O rEA=O D P kO R.cos {O C sin |O/ D P R. sin {O C cos |O/:
From the rigid body kinematics of arm AB where rEB=A D .H
have
R cos / {O C
L2
.H
R cos /2 |O, we

P
O
R {O C !AB k .H
D

D
P R
!AB
L2

q
2
2
R cos / {O C L
.H R cos / |O

2
.H R cos / {O C !AB .H R cos / |O:
p
!AB L2 .H R cos /2
P
D
:
R
We also know that vEB D
(1)
15 |O m=s. From this we have
!AB .H
R cos / D
15
!AB D
15
R cos
(2)

P D
p
15 L2 .H
R.R cos
R cos /2
:
H/

!E O D P kO D
877 kO rad=s:
August 10, 2009
830
Solutions Manual
Solution to 6.70
vEA D vEO C !E O rEA=O D P kO R.cos {O C sin |O/ D P R. sin {O C cos |O/:
From the rigid body kinematics of arm AB, where rEB=A D .H
have
R cos / {O C
L2
.H
R cos /2 |O, we

RP {O C !AB kO .H
D

D
P R sin
!AB
L2

L2 .H R cos /2 |O

2
R cos / {O C !AB .H R cos / C RP cos |O:
R cos / {O C
.H
(3)
!AB D
RP sin
p
L2
.H
R cos /2
(4)
Plugging Eq. (4) into Eq. (3) we have

vEB D RP cos
RP sin .H

p
L2 .H
R cos /
R cos /2
!
|O:
August 10, 2009
831
Dynamics 1e
Solution to 6.71
xB D R cos C L cos D H
(5)
yB D R sin C L sin :
Taking a time derivative of these two equations we have
RP sin
RP sin
L sin
vB D RP cos C LP cos :
LP sin D 0
P D
(6)
(7)

vB D RP cos
RP sin cot :
(8)
From Eq. (5) we know that

cos D
and from the Pythagorean theorem, we know that
q
sin D L2
R cos
;
L
.H
(9)
R cos /2 :
(10)
Combining Eqs. (9) and (10) we have

cot D
H R cos
:
p
2
L L
.H R cos /2
(11)

vB D RP cos
H R cos
RP sin p
:
L L2 .H R cos /2
Knowing that B is confined to the |O direction, we have

vEB D RP cos
RP sin .H

p
L2 .H
R cos /
R cos /2
!
|O:
August 10, 2009
832
Solutions Manual
Solution to 6.72
R D 0:020 m;
L D 0:080 m;
H D 0:038 m:
vEA D vEO C !E O rEA=O
D P kO R.cos {O C sin |O/
D P R. sin {O C cos |O/:
From the rigid body kinematics of arm AB, where rEB=A D .H
have
R cos / {O C
L2
.H
R cos /2 |O, we

P
O
R {O C !AB k .H
D

D
P R sin
R cos / {O C
q
!AB L2
L2
R cos /2
.H
.H
R cos /2 |O
R cos / C RP cos |O:
{O C !AB .H
(12)
RP sin
!AB D
L2
.H
R cos /2
(13)
Plugging Eq. (13) into Eq. (12) we have

vEB D RP cos
RP sin .H

p
L2 .H
R cos /
R cos /2
!
|O:
The expression for vEB just derived can be reduced to a function of and P by substituting in the
given parameters. For each of the required values of P , the function can be plotted with software such as
Mathematica or M ATLAB. The plots presented below were obtained using Mathematica with the following
code:
Parameters ! !R " 0.02, L " 0.08, H " 0.038";
Velocity ! R dot Cos#$ $
R dot Sin#$ %H $ R Cos#$&

L2
dotval !
1
30
$ %H $ R
'. Parameters;
Cos#$&2
!1000, 3000, 5000";
Table(Plot(Velocity '. !dot " i", !, 0, 2 ", AxesLabel " )"", "vBy "*,
Ticks " !!0, , 2 , 3 ", Automatic"+, !i, dotval"+
Using the above code we obtain the following plots:

August 10, 2009
833
Dynamics 1e
vBy
2
-1
-2
vBy
6
4
2
-2
-4
-6
-8
vBy
10
-5
-10
August 10, 2009
834
Solutions Manual
Problem 6.73
Complete the velocity analysis of the slider-crank mechanism, using differentiation of constraints that was outlined beginning on p. 478. That is, determine
the velocity of the piston C and the angular velocity of the connecting rod as a
function of the given quantities , !AB , R, and L. Use the component system
shown for your answers.
Solution
One way to solve this problem is to write yC as
yC D R cos C L cos ;
(1)
where for cos and sin we will always use

s
R
sin D sin
L
and
cos D
sin2 D
R2 2
sin :
L2
(2)
Now we differentiate Eq. (1) with respect to time:

yPC D
RP sin
LP sin ;
(3)
where P is found by differentiating the first of Eq. (2) with respect to time:
R
P cos D P cos
L
R cos
P D P
:
L cos
(4)
Realizing that P D !BC and P D !AB , we have

!BC D !AB
R cos
L cos
!EBC D !AB
R cos O
k:
L cos
Also, noting that vEC D yPC |O, and substituting Eq. (4) for P in Eq. (3) we have
!
P cos R sin
R

R2 P sin cos
yPC D RP sin L
D RP sin
:
L cos
L
L cos
(5)
After substituting !AB into Eq. (5), and putting it in vector form we have

vEC D
R!AB sin
R2 !AB sin cos

L cos

|O:
August 10, 2009
835
Dynamics 1e
Problem 6.74
A truck on an exit ramp is moving in such a way that, at the instant shown, jE
aA j D 17 ft=s2 , P D 0:3 rad=s,
and R D 0:1 rad=s2 . If the distance between points A and B is dAB D 12 ft, D 57 , and D 13 ,
determine aEB .
Solution
O EAB D R k;
O and rEB=A D
Based on the picture shown, we let aEA D jE
aA j.cos {O sin |O/; !EAB D P k;
dAB .cos {O C sin |O/: From the vector approach to acceleration analysis we have
2
!AB
rEB=A
sin / C R kO dAB .cos {O C sin |O/
aEB D aEA C EAB rEB=A

D jE
aA j.cos {O
D .jE
aA j cos
R dAB sin
P 2 dAB .cos {O C sin |O/

P 2 dAB cos / {O C . jE
aA j sin C R dAB cos P 2 dAB sin / |O;
which can be evaluated to obtain

aEB D .17:0 {O
using the given values jE
aA j D 17 ft=s2 , P D
D 13 .
5:38 |O/ ft=s2 ;
0:3 rad=s, R D
0:1 rad=s2 , dAB D 12 ft, D 57 , and
August 10, 2009
836
Solutions Manual

Let L D 4 ft, let point A travel parallel to the guide shown, and let C be the
midpoint of the bar.
If point A is accelerating to the right with aA D 27 ft=s2
and P D 7 rad=s D constant, determine the acceleration of point C when
D 24 .
Problem 6.75
If point A is accelerating to the right with aA D 27 ft=s2 ,

P D 7 rad=s, and R D 0:45 rad=s2 , determine the acceleration of point C
when D 26 .
Problem 6.76
If, when D 0 , A is accelerating to the right with aA D

R
E determine P and .
and aEC D 0,
Problem 6.77
27 ft=s2
Solution to 6.75
O EAB D R kO D 0;
E and rEC =A D
We have aEA D aA {O; !EAB D P k;
approach to acceleration analysis we have
L
2 .sin
{O
cos |O/: From the vector
2
aEC D aEA C EAB rEC =A !AB
rEC =A
LP 2
D aA {O
.sin {O C cos |O/
2

L P2
L
D aA
sin {O C P 2 cos |O;
2
2

aEC D . 12:9 {O C 89:5 |O/ ft=s2 :
using the given values L D 4 ft, aA D 27 ft=s2 , P D 7 rad=s, and D 24 .
August 10, 2009
837
Dynamics 1e
Solution to 6.76
O EAB D R kO D 0,
E and rEC =A D
We have aEA D aA {O; !EAB D P k,
approach to acceleration analysis we have
aEC DE
aA C EAB rEC =A
L
2 .sin
{O
cos |O/: From the vector
2
!AB
rEC =A
L
LP 2
D aA {O C R kO .sin {O C cos |O/
.sin {O C cos |O/
2

2

L
L P2
L
2L
R
R
P
D aA C cos
sin {O C sin C
cos |O;
2
2
2
2
.16:8 {O C 87:7 |O/ ft=s2 :
using the given values L D 4 ft, aA D 27 ft=s2 , P D 7 rad=s, R D
0:45 rad=s2 , and D 26 .
August 10, 2009
838
Solutions Manual
Solution to 6.77
O EAB D R kO D 0,
E and rEC =A D
We have aEA D aA {O, !EAB D P k,
acceleration analysis we have
L
2
|O: From the vector approach to
2
aEC DE
aA C EAB rEC =A !AB
rEC =A

L
LP 2
0E D aA {O C R kO
|O C
|O
2
2

E0 D aA C R L {O C P 2 L |O:
2
2
(1)
Separating the components of Eq. (1) we have

L
0 D aA C R
2
R D
aA
2
D
L
13:5 rad=s2 ;
and
L
0 D P 2
2
P D 0;
using the given values L D 4 ft, aA D 27 ft=s2 , aC D 0 ft=s2 , and D 0 .
August 10, 2009
839
Dynamics 1e
Problem 6.78
A wheel W of radius RW D 5 cm rolls without slip over the stationary cylinder
S of radius RS D 12 cm, and the wheel is connected to point O via the arm
OC . If !OC D constant D 3:5 rad=s, determine the acceleration of point Q,
which lies on the edge of W and along the extension of the line OC .
Solution
Let E be the contact point between W and S. From the no slip condition,
E We let !E W D !W kO and from the geometry of the problem
vEE D 0.
rEC =E D RW .cos {O C cos |O/. From rigid body kinematics of the wheel we
have
vEC D vEE C !E W rEC =E
D !W kO RW uO r
D !W RW uO :
(1)
Points C and O are also points on the arm where

rEC =O D .RS C RW / uO r . From rigid body kinematics we must have
vEC D vEO C !E OC rEC =O D !OC kO .RS C RW /uO r D !OC .RS C RW /uO :
(2)

!W RW D !OC .RS C RW /
!W D
RS C RW
!OC :
RW
Because C is undergoing a uniform circular motion with radius .RS C RW / about O, we have
aEC D
2
!OC
.RS C RW / uO r :
From the vector approach to acceleration analysis we have

2
!W
rEQ=C

RS C RW 2 2
2
!OC RW uO r
!OC .RS C RW / uO r
RW

RS C RW
2
!OC .RS C RW / 1 C
uO r
RW

RS
2
!OC
.RS C RW / 2 C
uO r ;
RW
aEQ D aEC C EW rEQ=C

D
D
D

9:16 uO r m=s2 :
using the given values RW D 5 cm D 0:05000 m, RS D 12 cm D 0:1200 m, and !OC D 3:5 rad=s.
August 10, 2009
840
Solutions Manual
Problem 6.79
One way to convert rotational motion into linear motion and vice versa is via
the use of a mechanism called the Scotch yoke, which consists of a crank C
that is connected to a slider B via a pin A. The pin rotates with the crank while
sliding within the yoke, which, in turn, rigidly translates with the slider. This
mechanism has been used, for example, to control the opening and closing of
valves in pipelines. Letting the radius of the crank be R D 25 cm, determine
the angular velocity !C and the angular acceleration C of the crank at the
instant shown if D 25 and the slider is moving to the right with a constant
speed vB D 40 m=s.
Solution
Choosing point O as the origin of the reference frame, from the geometry of the
problem we have
rEA D R. cos {O C sin |O/:
(1)
By construction, the velocity of the slider is equal to the horizontal component of
the velocity of point A. We can get vEA by taking the derivative of Eq. (1) with
respect to time. Doing so we have
vEA D RP .sin {O C cos |O/
vEB D RP sin {O
P D
vB
D 378:6 rad=s;
R sin
where we have used the given values R D 25 cm D 0:2500 m, vB D 40 m=s, and D 25 . Realizing that
!C D P we have
!E C D
379 kO rad=s:
Because we are told vB D 0 we must have

d
vB D R sin R C R cos P 2 D 0
dt
R D
P 2
:
tan

R D
307103 kO rad=s2 :
August 10, 2009
841
Dynamics 1e
Problem 6.80
Collar C moves along a circular guide with radius R D 2 ft with a constant
speed vC D 18 ft=s. At the instant shown, the bars AB and BC are vertical
and horizontal, respectively. Letting L D 4 ft and H D 5 m, determine the
angular accelerations of the bars AB and BC at this instant.
Solution
Note: The problem statement gives H D 5 m, which is incorrect. The solution will use H D 5 ft.
Realizing that B is the instantaneous center of rotation of bar AB and A is not moving, we must have
!AB D 0: Because B is also the instantaneous center of rotation of bar BC , we must have
vC
L
!BC D
!EBC D
vB O
k:
L
Since C moves in a uniform circular motion about O at constant speed, we have

aEC D
2
vC
{O;
R
O we have
and from the vector approach to acceleration analysis where, rEB=C D L {O and EBC D BC k,
aEB DE
aC C EBC rEB=C
2
!BC
rEB=C
2
2
vC
vC
{O C BC kO L {O
L {O
R
R2

2
vC
L
1C
{O C BC L |O:
R
R
D
D
(1)
Also from the vector approach to acceleration analysis where rEB=A D H |O and EAB D AB kO we have
2
!AB
rEB=A D AB kO H |O D
AB H {O:
(2)
Equating components of Eqs. (1) and (2) we have

2
vC
R
L
1C
R

D
AB H
and
BC L D 0:
(3)
Solving Eq. (3) for AB and BC , we have

AB D
2
vC
R

L
1C
R
EAB D 97:2 kO rad=s2
and
E
EBC D 0:
August 10, 2009
842
Solutions Manual

A ball of radius RA D 5 in: is rolling without slip inside a stationary spherical
bowl of radius RB D 17 in: Assume that the motion of the ball is planar.
If, at the instant shown, the center of the ball is traveling
counterclockwise with a speed vA D 32 ft=s and such that vPA D 0, determine
the acceleration of the center of the ball as well as the acceleration of the point
on the ball that is contact with the bowl.
Problem 6.81
If, at the instant shown, the center of the ball is traveling

counterclockwise with a speed vA D 32 ft=s and such that vPA D 24 ft=s2 ,
determine the acceleration of the center of the ball as well as the acceleration of
the point on the ball that is contact with the bowl.
Problem 6.82
Solution to 6.81
The center of the ball is making a uniform circular motion of radius
RB RA about O at constant speed, so we must have
aEA D
vA2
RB
RA
uO r
(1)
Since the ball rolls without slip over a stationary surface, the point of
contact between the ball and the bowl, point Q, is the instantaneous
center of rotation of the ball. Therefore,
vA D j!EA jRA
!A D
vA
:
RA
Notice that A D 0 because !A is constant. From the vector approach to acceleration analysis where
rEQ=A D RA uO r we must have
aEQ D aEA C EA rEQ=A
!A2 rEQ=A
vA2
RB
RA
uO r
vA2
RA2
RA uO r D
vA2
1
RB

1
C
uO r
RA
RA
(2)
Substituting given values vA D 32 ft=s, RA D 5 in: D 0:4167 ft, and RB D 17 in: D 1:417 ft into
Eqs. (1) and (2) we have
aEA D
1020 uO r ft=s2 ;
aEQ D
3480 uO r ft=s2 :
August 10, 2009
843
Dynamics 1e
Solution to 6.82
The center of the ball is moving in a uniform circular motion of
radius RB RA about O, as well as accelerating in the direction,
so we must have
aEA D
vA2
RB
RA
uO r C vPA uO
(3)
Substituting given values vA D 32 ft=s, vPA D 24 ft=s2 , RA D

0:4167 ft, and RB D 1:417 ft into Eq. (3), we have
aEA D . 1020 uO r C 24:0 uO / ft=s2
Since the ball rolls without slip over a stationary surface, the point of contact between the ball and the bowl,
point Q, is the instantaneous center of rotation of the ball. Therefore,
vA D j!EA jRA
!A D
vA
:
RA
From the no slip condition, aQ D 0. From the vector approach to acceleration analysis where rEQ=A D RA uO r
and EA D A kO we must have
aEQ D aEA C EA rEQ=A
D
D
vA2
!A2 rEQ=A
vA2
uO r C vPA uO C A RA uO
RA uO r
RB RA
RA2

1
1
2
vA
C
uO r C .vPA C A RA / uO :
RB RA
RA
(4)
However, vPA C A RA D 0, so we are left with

aEQ D
vA2
1
RB
1
C
RA
RA

uO r :
(5)
Substituting given values vA D 32 ft=s, vPA D 24 ft=s2 , RA D 0:4167 ft, and RB D 1:417 ft into Eq. (5), we
have
aEQ D
3480 uO r ft=s2 :
August 10, 2009
844
Solutions Manual
Problem 6.83
A bar of length L D 2:5 m is falling so that, when D 34 , vA D 3 m=s and
aA D 8:7 m=s2 . At this instant, determine the angular acceleration of the bar
AB and the acceleration of point D, where D is the midpoint of the bar.
Solution
We have rEB=A D L.sin {O cos |O/ and rED=A D L
2 .sin {O
analysis where vEA D vA |O and vEB D vB {O, we have
vB {O D
cos |O/. From the vector approach to velocity
vA |O C !AB kO L.sin {O
)
cos |O/
vB {O D .L!AB cos / {O C .L!AB sin
vA / |O: (1)
Equating the two sides of Eq. (1) component by component, we have

0 D L!AB sin
vA
!AB D
vA
;
L sin
and vB D L!AB cos :
(2)
Substituting given values vA D 3 m=s, L D 2:5 m, and D 34 into Eqs. (2), we have
!AB D 2:146 rad=s
vB D 4:448 m=s:
and
From the vector approach to acceleration analysis where aEA D

2
!AB
rEB=A

)
aA |O and aEB D aB {O, we have
aB {O D
aA |O C AB kO L.sin {O
D .AB L cos
2
!AB
L sin / {O
cos |O/
2
!AB
L.sin {O
C .AB L sin C
cos |O/
2
!AB
L cos
aA / |O:
(3)
From the |O component of Eq. (3) we have

2
AB L sin C !AB
L cos
aA D 0
AB D
aA
2
!AB
L cos
:
L sin
(4)
Substituting known values aA D 8:7 m=s2 , L D 2:5 m, !AB D 2:146 rad=s, and D 34 into Eq. (4), we
have
EAB D 0:604 kO rad=s2 :
For D we have
aED D aEA C EAB rED=A
"
D
L
2 L
.sin {O cos |O/ !AB
.sin {O
2 !
#2
2
!AB
L cos L
2 L
cos !AB
sin {O
L sin
2
2
aA |O C AB kO
aA
2
!AB
rED=A
cos |O/
August 10, 2009
845
Dynamics 1e
"
aA
2
L cos
!AB
L sin
L
2 L
C
sin C !AB
cos
2
2

1
2
2 L
.aA !AB L cos / cot !AB sin {O
D
2
2

1
2
2 L
C .aA !AB L cos / C !AB cos aA |O
2
2
#
aA |O
(5)
Substituting known values aA D 8:7 m=s2 , L D 2:5 m, !AB D 2:146 rad=s, and D 34 into Eq. (5), we
have
aED D . 3:84 {O
4:35 |O/ m=s2 :
August 10, 2009
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Solutions Manual
Problem 6.84
A bar of length L D 8 ft and midpoint D is falling so that when D 27 ,
jE
vD j D 18 ft=s, and the vertical acceleration of point D is 23 ft=s2 downward.
At this instant, compute the angular acceleration of the bar and the acceleration
of point B.
Solution
We have rEB=A D L.sin {O cos |O/ and rED=A D L
2 .sin {O cos |O/. Realizing
that point H is the instantaneous center of rotation of the line HD, where the
distance between H and D is dHD D L
2 , we have
!AB D
vD
D 4:500 rad=s:
L=2
O
From the vector approach to acceleration analysis where EAB D AB k,
O
aEA D aA |O and !EAB D !AB k we have
2
aED D aEA C EAB rED=A !AB
rED=A
L
L
D aA |O C AB cos {O C AB sin |O
2
2
D .AB L cos
L
.sin {O cos |O/
2

L
2
2 L
!AB L sin / {O C aA C AB sin C !AB cos |O
2
2
2
!AB
(1)
We also have
2
aEB D aEA C EAB rEB=A !AB
rEB=A
D aA |O C AB kO L.sin {O cos |O/
D .AB L cos
2
!AB
L.sin {O
cos |O/
2
2
!AB
L sin / {O C .aA C AB L sin C !AB
L cos / |O
(2)
Recalling that aDy is given and aBy D 0, we have

2
aBy D 0 D aA C AB L sin C !AB
L cos
L
2 L
cos
aDy D 23:00 ft=s2 D aA C AB sin C !AB
2
2
(3)
(4)
Solving Eq. (3) for aA and substituting into Eq. (4) we have
23:00 ft=s2 D
D

L
2
2 L
cos
AB L sin C !AB
L cos C AB sin C !AB
2
2
L
46:00 ft=s2
2 L
2
AB sin !AB
cos ) AB D
!AB
cot
2
2
L sin
(5)
August 10, 2009
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Dynamics 1e
Substituting given values L D 8 ft, D 27 , and !AB D 4:500 rad=s into Eq. (3), we have
AB D
27:08 rad=s2
EAB D
27:1 kO rad=s2 :
Substituting known values L D 8 ft, D 27 , AB D 27:08 rad=s2 , and !AB D 4:500 rad=s into Eq. (3),
we have
aA D 45:99 ft=s2 :
Substituting known values L D 8 ft, D 27 , AB D
45:99 ft=s2 into Eq. (1) we have
aED D . 133 {O
27:08 rad=s2 , !AB D 4:500 rad=s, and aA D
23:0 |O/ ft=s2 :
August 10, 2009
848
Solutions Manual
Problem 6.85
Assuming that, for 0 90 , vA is constant, compute the expression for
the acceleration of point D, the midpoint of the bar, as a function of and vA .
Solution
Calling O the origin of the reference frame, from the geometry of the problem
we have
xD D
L
sin ;
2
yD D L
L
cos
2
; and
yA D L cos :
(1)
Observing that aED D xRD {O yRD |O, by taking time derivatives of Eqs. (1) we have

L P2
L
L P2
L
aED D
sin C R cos {O
cos C R sin |O; (2)
2
2
2
2
yPA D
LP sin D vA
P D
vA
:
L sin
R D
vA2
vA
cos P D
L sin2
L2 sin3
cos
(3)
Substituting Eqs. (3) for P and R in Eq. (2) we have

aED D
vA2
2L sin
!
1 vA2
cos2 {O
2 L sin3
vA2
2L sin2
cos
vA2
2L sin2
cos |O
aED D
vA2
2L sin3
{O:
August 10, 2009
849
Dynamics 1e
Problem 6.86
A truck on an exit ramp is moving in such a way that, at the instant shown, jE
aA j D 6 m=s2 and D 13 .
Let the distance between points A and B be dAB D 4 m. If, at this instant, the truck is turning clockwise,
D 59 , aBx D 6:3 m=s2 , and aBy D 2:6 m=s2 , determine the angular velocity and angular acceleration
of the truck.
Solution
From the information given in the problem we have
O
EAB D AB k;
rEB=A D dAB .cos {O C sin |O/;
and aEA D jE
aA j.cos {O
sin |O/:
(1)

2
!AB
rEB=A
(2)

aEB D jE
aA j.cos {O
D .jE
aA j cos
sin |O/ C AB kO dAB .cos {O C sin |O/

AB dAB sin
2
!AB
dAB .cos {O C sin |O/
2
!AB
dAB cos / {O
C . jE
aA j sin C AB dAB cos
2
!AB
dAB sin / |O
(3)
Breaking Eq. (3) into components we have

aBx D jE
aA j cos
aBy D
AB dAB sin
2
!AB
dAB cos
jE
aA j sin C AB dAB cos
2
!AB
dAB
sin
Eqs. (4) and (5) are two equations in AB and !AB . Solving them we have
s
jE
aA j.cos cot sin / aBx cot aBy
!AB D
;
dAB .cos cot sin /
and
aBy cos jE
aA j.sin cos C sin cos / aBx sin
AB D
:
dAB
Substituting known values dAB D 4 m, D 13 , D 59 , aBx D 6:3 m=s2 , aBy D
jaA j D 6 m=s2 into Eqs. (6) and (7) we have
!AB D
0:4577 rad=s
and AB D
(4)
(5)
(6)
(7)
2:6 m=s2 , and
0:2582 rad=s:
August 10, 2009
850
Solutions Manual
In vector form, and to three significant figure we have

!EAB D
0:458 kO rad=s EAB D
0:258 kO rad=s2 :
August 10, 2009
851
Dynamics 1e

The system shown consists of a wheel of radius R D 1:4 m rolling without slip
on a horizontal surface. A bar AB of length L D 3:7 m is pin-connected to the
center of the wheel and to a slider A constrained to move along a vertical guide.
Point C is the bars midpoint.
If the wheel is rolling clockwise with a constant angular speed
of 2 rad=s, determine the angular acceleration of the bar when D 72 .
Problem 6.87
If the slider A is moving downward with a constant speed

3 m=s, determine the angular acceleration of the wheel when D 53 .
Problem 6.88
Determine the general relation expressing the acceleration of

Problem 6.89
the slider A as a function of , L, R, the angular velocity of the wheel !W , and
the angular acceleration of the wheel W .
Solution to 6.87
We assume the wheel does not leave the ground, hence B is constrained
to move in the horizontal direction, and from the rolling without slip
condition we have
vEB D vB {O D R!W {O:
(1)
Also, calling point O the origin of the reference frame, from the geometry
of the problem we have
xB D L cos :
(2)
Differentiating Eq. (2) with respect to time, and observing that vB D xPB
we have
xPB D
L sin P D
R!W
R!W
P D
L sin
(3)
Taking a time derivative of Eq. (3) we have

R D
R!W cos P

L sin2
2
R 2 !W
cos
R D
D 0:2057 rad=s2 ;
3
2
L sin
where we have substituted the known values !AB D 2 rad=s, R D 1:4 m, L D 3:7 m, and D 72 .
R in vector form and to three significant figures, we have
Observing that AB D ,
EAB D 0:206 kO rad=s2 :
August 10, 2009
852
Solutions Manual
Solution to 6.88
We assume the wheel does not leave the ground, hence B is constrained to move in the horizontal direction, and from the rolling without
slip condition, we have
vEB D vB {O D
R!W {O:
(4)
Also, calling point O the origin of the reference frame, from the geometry
xB D L cos
and yA D R C L sin :
(5)
Differentiating Eqs. (5) with respect to time, and observing that vB D xPB
and vA D yPA , we have
yA D R C L sin
yPA D
vA D LP cos
P D
vA
L cos
R D
vA2 sin
vA2 sin P

D
L2 cos
L2 cos3
(6)
and
xPB D
L sin P D
R!W

L
L
vA
!W D P sin D sin
D
R
R
L cos
vA
tan :
R
(7)
Taking a time derivative of Eq. (7), we have

W D
L cos P 2
R
L sin R
:
R
Substituting the expressions for P and R in Eqs. (6) into Eq. (8), we have

2
vA
sin

2
L sin L2 cos3
A
L cos L vcos
vA2
vA2 sin2

W D
D
D
R
R
LR cos LR cos3
(8)
vA2 .1 C tan2 /
: (9)
LR cos
Substituting known values vA D 3 m=s, R D 1:4 m, L D 3:7 m, and D 53 into Eq. (9), we have
W D
7:971
EW D
7:97 kO rad=s2
August 10, 2009
853
Dynamics 1e
Solution to 6.89
We assume the wheel does not leave the ground, hence B is constrained to move in the horizontal direction, and from the rolling without
slip condition we have
vEB D vB {O D
R!W {O
and aEB D
RW {O:
(10)

vEA D vEB C !EAB rEA=B D
D . R!W
R!W C !AB kO L. cos {O C sin |O/

L!AB sin / {O C . L!AB cos / |O: (11)
Because the slider is constrained to move in the slot, vAx D 0: Therefore,

setting the x component of the last of Eqs. (11), we have
!AB D
!W
R
:
L sin
We must also have

aEA D aEB C EAB rEA=B
D
D
2
!AB
rEA=B
R2
2
RW {O C AB kO L. cos {O C sin |O/ !W
L. cos {O C sin |O/
L2 sin2
!

2
R2 !W
R2
2
cos {O C
AB L cos !W
RW AB L sin C
|O:
L sin
L sin2
(12)
Because the slider is constrained to move in the slot, aAx D 0: Therefore, setting the x component of the last
of Eqs. (11), we have
!
2
R 2 !W
1
AB D
cos RW :
(13)
L sin L sin2
Substituting Eq. (13) for AB in Eq. (12) we have
aEA D
RW
tan
2
R2 !W
cot2
L sin
2
!W
R2
L sin
!
|O D
!
2
R 2 !W
cot2 C 1
|O
L sin
RW
tan
)
aEA D
RW
tan
2
R 2 !W
L sin3
!
|O:
(14)
August 10, 2009
854
Solutions Manual

For the slider-crank mechanism shown, let R D 0:75 m and H D 2 m, and let the length of bar BC be
LBC D 3:25 m.
Problem 6.90
for D
27 .
Assume that P D 50 rad=s D constant and compute the angular acceleration of the slider
Assume that, at the instant shown, D 27 , P D 50 rad=s, and R D 15 rad=s2 . Compute

the angular acceleration of the slider at this instant as well as the acceleration of point C .
Problem 6.91
Assuming that P is constant, determine the expression of the angular acceleration of the
slider as a function of and P (and the accompanying geometrical parameters).
Problem 6.92
Problem 6.93
function of for
Letting P D 300 rpm D constant, plot the angular acceleration of the slider as a
360 . In addition, plot the speed of point C for the same range of .
Solution to 6.90
R we can use differentiation of constraints to find an expression for BC . From the
Observing that BC D ,
geometry of the problem we have the constraint equations
dBO sin D R sin
and
Solving Eqs. (1) for dBO and , we have

R sin
1
D tan
H R cos
dBO cos C R cos D H:
and
dBO D
(1)
H sin
:
cos sin C cos sin
(2)
Using Eqs. (2) for D 27 , we have

D 0:2503 rad
and
dBO D 1:375 m:
Taking time derivatives of Eqs. (1) we have

dPBO sin C dBO P cos D RP cos
and
dPBO cos
dBO P sin
RP sin D 0:
(3)
Solving Eqs. (3) for dPBO and P we have

dPBO D R sin C P
and
R cos. C /P
P D
:
dBO
(4)
Substituting known values R D 0:75 m, D 0:2503 D 27 , P D 50 rad=s, and dBO D 1:375 m into
Eqs. (4), we have
dPBO D 24:77 m=s and P D 20:48 rad=s:
August 10, 2009
855
Dynamics 1e
Taking a time derivative of P from Eq. (4) and letting R D 0, we have
P
R sin . C /P .P C /
R cos . C /dPBO P
C
:
R D
2
dBO
dBO
(5)
Substituting known values R D 0:75 m, D 0:2503 , P D 20:48 rad=s, D 27 , P D 50 rad=s, dBO D

1:375 m, and dPBO D 24:77 m=s into Eq. (5), we have
R D
1639 rad=s2
EBO D 1640 kO rad=s2 :
August 10, 2009
856
Solutions Manual
Solution to 6.91
dBO sin D R sin
and
Solving Eqs. (6) for dBO and we have

R sin
1
D tan
H R cos
and
dBO D
(6)
H sin
:
cos sin C cos sin
(7)
Using Eqs. (7) for D 27 , we have

D 0:2503 rad
dBO D 1:375 m:
and

dPBO sin C dBO P cos D RP cos
and
dPBO cos
dBO P sin
RP sin D 0:
(8)
Solving Eqs. (8) for dPBO and P we have

dPBO D R sin C P
R cos. C /P
:
P D
dBO
and
(9)
Substituting known values R D 0:75 m, D 0:2503 D 27 , P D 50 rad=s, and dBO D 1:375 m into
Eqs. (9), we have
dPBO D 24:77 m=s and P D 20:48 rad=s:
Taking a time derivative of P from Eq. (9), we have
P
R cos . C /dPBO P
R sin . C /P .P C /
R D
C
2
dBO
dBO
R cos . C /R
:
dBO
Substituting known values R D 0:75 m, D 0:2503 , P D 20:48 rad=s, D 27 , P D 50 rad=s, R D

15 rad=s2 , dBO D 1:375 m, and dPBO D 24:77 m=s into Eq. (5), we have
R D
1632 rad=s2
EBO D 1630 kO rad=s2 :
The acceleration of C can be found by applying rigid body kinematics. Observing that rEB=A D R.sin {O
R we have
cos |O/, !AB D P , and AB D ,
D AB kO R.sin {O
2
!AB
rEB=A
2
!AB
R.sin {O cos |O/
D . RP 2 sin C RR cos / {O C .RP 2 cos C RR sin / |O
cos |O/
D . 841:2 {O C 1676s |O/ m=s2 ;
(10)
where we have used the known values R D 0:75 m, D 27 , P D 50 rad=s, and R D 15 rad=s2 . Observing
R and rEC =B D L. sin {O cos |O/ we must also have
P BC D ,
that !BC D ,
aEC D aEB C EOB rEC =B
2
!OB
rEC =B
August 10, 2009
857
Dynamics 1e
D . 841:2 {O C 1676s |O/ m=s2 C .1632 kO rad=s2 / L. sin {O
.20:48 rad=s/L. sin {O
cos |O/
cos |O/
D . 848:2 {O C 7153 |O/ m=s;

where we have used the expression for aB from Eq. (), and known values R D 0:75 m, D 0:2503 ,
P D 20:48 rad=s, R D 1632 rad=s2 . To three significant figures we have
aEC D . 848 {O C 7150 |O/ m=s:
August 10, 2009
858
Solutions Manual
Solution to 6.92
dBO sin D R sin
and
(11)
Solving Eqs. (11) for we have

D tan
R sin
H R cos

:
(12)
Taking time derivatives of in Eq. (11) we have

RP .H cos R/
H 2 C R2 2HR cos
2HR2 . R C H cos / sin P
R D
.H 2 C R2 2HR cos /2
P D
HRP sin
H 2 C R2 2HR cos
(13)
For EOB , we then have
EOB D
HRP sin
C
H 2 C R2 2HR cos
!
O
k:
August 10, 2009
859
Dynamics 1e
Solution to 6.93
dBO sin D R sin
and
(14)
Solving Eqs. (14) for we have

D tan
R sin
H R cos

:
(15)
Taking time derivatives of in Eq. (14), we have

RP .H cos R/
H 2 C R2 2HR cos
R D
P D
(16)
HRP sin
:
H 2 C R2 2HR cos
For EOB , we then have
EOB D
HRP sin
C
H 2 C R2 2HR cos
!
O
k:
We know the position of C can be expressed as

rEC D .R sin
L sin / {O
.R cos C L cos / |O:
(17)
For the velocity of C , we take a time derivative of Eq. (17), which gives us
vEC D .RP cos
LP cos / {O C .RP sin C LP sin / |O:
(18)
Substituting from Eq. (15) and P from Eq. (16) into Eq. (18), we have
(
"
#

)
P .H cos R/
R

R
sin

vEC D RP cos L
cos tan 1
{O
H 2 C R2 2HR/
H R cos
(
"
#

)
P .H cos R/
R
sin

R

sin tan 1
|O:
C RP sin C L
H 2 C R2 2HR
H R cos
The expressions for EOB and vEC just derived are reduced to functions of and P . The function can be
plotted with software such as Mathematica or M ATLAB. The plots presented below were obtained using
Mathematica with the following code:
August 10, 2009
860
Solutions Manual
Parameters ! !R " 0.75, LBC " 3.25, H " 2, Dot " 300 $
OB !
2 H R 2 #H Cos$% ' R& Sin$% Dot

'H2 ( R 2 ' 2 H R Cos$%(
vC !
Sqrt* R Dot Cos$% ' LBC
30
";
). Parameters;
H R Dot Sin$%
H2 ( R 2 ' 2 H R Cos$%
R Dot #H Cos$% ' R&

H2 ( R 2 ' 2 H R
R Dot #H Cos$% ' R&
R Dot Sin$% ( LBC
H2 ( R 2 ' 2 H R
Cos*ArcTan*
Sin*ArcTan*
R Sin$%
H ' R Cos$%
R Sin$%
H ' R Cos$%
Plot*OB , ,, 0, 2 -, AxesLabel " ,"", "OB "-, Ticks " !!0,
++
(
+ ). Parameters;
, 2 ", Automatic"+
2
3
Plot*vC , ,, 0, 2 -, AxesLabel " ,"", "vC "-, Ticks " !!0, , ,
, 2 ", Automatic"+
2
2
2
, ,
++
Using the above code we obtain the following plots:

OB
20
10
3
2
-10
-20
vC
100
80
60
3
2
August 10, 2009
861
Dynamics 1e
Problem 6.94
A spool with inner radius R D 5 ft is made to roll without slip over a horizontal rail as shown. If the cable
on the spool is unwound in such a way that the free or vertical portion of cable remains perpendicular
to the rail, determine the angular acceleration of the spool and the acceleration of the spools center O.
The vertical component of the velcocity of point A is vA D 12 ft=s, and the vertical component of its
acceleration is aA D 2 ft=s2 .
Solution
We let point P be the contact point between the spool and rail, and
point Q be the contact point between the spool and rope. From the
no slip condition, we then have
vEP D 0E and
vQy D vA :
(1)

vEQ D vEP C !E spool rEQ=P
D !spool kO . R {O C R |O/
D
!spool R. {O C |O/;
(2)
Equating the y component of vEQ in Eq. (2) with vQy in Eq. (1), we have
!spool R D vA
!spool D
vA
:
R
Now that we have found the angular velocity of the spool, we look at the acceleration. From the no slip
condition we have
aP x D 0 ) aEP D aP y |O:
Also, because O can only move in the horizontal direction, we must have
aEO D aOx {O:
2
!spool
rEO=P
v 2
A
aOx {O D aP y |O C spool kO R |O
R |O
R
aEO D aEP C Espool rEO=P
August 10, 2009
862
Solutions Manual
"
aOx {O D
spool R {O C aP y
vA2
R
#
|O:
(3)
Writing Eq. (3) as two scalar equations we have

aOx D
spool R
aP y D
and
vA2
R
aEP D
vA2
|O:
R
We now know the acceleration of two points on the spool, and we can relate them to find the angular
acceleration. We have
2
!spool
rEQ=P
v 2
v2
A
D A |O C spool kO R. {O C |O/
R. {O C |O/
R
R
!
vA2
spool R {O spool R |O:
D
R
aEQ D aEP C Espool rEQ=P
(4)
From the rolling without slip condition at Q we have

aQy D aA :
(5)
Equating Eq. (4) with the expression for aQy in Eq. (5), we have
spool R D aA
spool D
aA
R
Espool D
0:400 kO rad=s2 :
where we have used the given values R D 5 ft and aA D 2 ft=s2 . Substituting this expression for spool into
Eq. (3) we have
aEO D aA {O
aEO D 2:00 {O m=s2 ;
where we have used the given value aA D 2 ft=s2 .
August 10, 2009
863
Dynamics 1e
Problem 6.95
At the instant shown, bars AB and BC are perpendicular to each other while the slider C has a velocity
vC D 24 m=s and an acceleration aC D 2:5 m=s2 in the directions shown. Letting L D 1:75 m and
D 45 , determine the angular acceleration of bars AB and BC .
Solution
Because D 45 , the instantaneous center of rotation of bar BC is point A.
Therefore,
p
vC
vC D 2L!BC ) !BC D p
D 9:697 rad=s;
2L
where we have used the given values vC D 24 m=s and L D 1:75 m. Because C is constrained
to move along the guide oriented by the unit vector
p
uO t D .O{ C |O/= 2, and is moving up and to the right, we have
vEC D vC .cos 45 {O C sin 45 |O/ D .16:97 {O C 16:97 {O/ ft=s
(1)
and
aEC D aC .cos 45 {O C sin 45 |O/ D . 1:786 {O
1:786 |O/ ft=s2 ;
(2)
where we have used the given values vC D 24 m=s and aC D 2:5 m=s2 . Point A is also the center of rotation
of bar AB. Therefore, in the present configuration
vB D !AB L D !BC L
!AB D !BC D 9:697 rad=s:

2
2
2
!AB
rEB=A D AB kO . L |O/ C !AB
L |O D LAB {O C !AB
L |O:
We must also have

2
!BC
rEC =B
L |O/ C BC kO L {O
aEC D aEB C EBC rEC =B

2
D .LAB {O C !AB
D .AB L
!AB L {O
2
2
!AB
L/ {O C .BC L C !AB
L/ |O
(3)
Equating the expressions for aEC in Eqs. (2) and (3), on a component by component basis, we have
1:786 m=s2 D AB L
2
!AB
L and
2
1:786 m=s2 D BC L C !AB
L:
(4)
August 10, 2009
864
Solutions Manual
Eqs. (4) are two equations in the two unknowns AB and BC . Solving them we have
AB D
2
L
!AB
1:786 m=s2
L
and BC D
2
L/
.1:786 m=s2 C !AB
:
L
Substituting in known values L D 1:75 m and !AB D 9:697 rad=s, and putting the angular accelerations in
vector form, we have
EAB D 93:0 kO rad=s2
and EBC D
95:1 kO rad=s2 :
August 10, 2009
865
Dynamics 1e
Problem 6.96
A flood gate is controlled via the hydraulic cylinder AB. If the length of the cylinder is increased with a
constant time rate of 2:5 ft=s, determine the angular acceleration of the gate when D 0 . Let ` D 10 ft,
h D 2:5 ft, and d D 5 ft.
Solution
At any position of the gate, we have the constraint equations
`
LAB cos D d cos
and LAB sin
h D d sin :
(1)
where LAB is the distance between points A and B. For D 0, we

then have

q
h
D tan 1
and LAB D h2 C .` d /2 : (2)
` d
Substituting known values h D 2:5 ft, d D 5 ft, and ` D 10 ft into Eqs. (2), we have
D 0:4636 rad
and LAB D 5:590 ft:

LAB P sin D d P cos
and LAB P cos D d P sin :
(3)
P Solving them, we have

Eqs. (3) are two equations in P and .
P AB
cot . C /L
P D
LAB
P AB
csc . C /L
and P D
:
d
(4)
P AB D 2:5 ft=s into

Substituting known values D 0:4636 rad, D 0 rad, d D 5 ft, LAB D 5:590 ft, and L
Eqs. (4) we have
P D 0:8946 rad=s and P D 1:118 rad=s:
R we take a time derivative of P from Eqs. (4), and remembering that LR AB D 0,
Observing that gate D ,
we have

cot . C / csc . C /LP AB P C P
gate D R D
d
P AB D
Substituting in known values D 0:4636 rad, P D 0:8946 rad=s, D 0 rad, P D 1:118 rad=s, L
2:5 ft=s, and d D 5 ft, and expressing in vector form with three significant figures, we have
Egate D 4:50 kO rad=s2 :
(5)
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Solutions Manual
Problem 6.97
The bucket of a backhoe is the element AB of the four-bar linkage system ABCD. Assume that the points
A and D are fixed and that the bucket rotates with a constant angular velocity !AB D 0:25 rad=s. In
addition, suppose that, at the instant shown, point B is aligned vertically with point A, and C is aligned
horizontally with B. Determine the acceleration of point C at the instant shown along with the angular
accelerations of the elements BC and CD. Let h D 0:66 ft, e D 0:46 ft, l D 0:9 ft, and w D 1:0 ft.
Solution
Point C is a point on both bar BC and bar CD, and therefore can be related to both points B and D through
rigid body kinematics. We have that
vEC D vED C !E CD rEC =D D !CD kO .w
h/ {O C .e C `/ |O D
!CD .e C `/ {O
!CD .w
h/ |O: (1)
Observing that A is the instantaneous enter of rotation of AB, vBy D 0, and vEB D vBx {O. We then have
vEC D vEB C !EBC rEC =B D vBx {O C !BC . w/ {O D vBx {O
!BC w |O:
(2)

!CD .e C `/ {O D vBx {O
!CD .w
and
h/ |O D
!BC w |O:
(3)
Observing that A is the instantaneous center of rotation of AB, we also have vB D j!AB j`. Solving Eqs. (3),
for !CD and !BC , we have
!CD .e C `/ D j!AB j`
!CD D
j!AB j`
eC`
(4)
!BC D
j!AB j` w h
:
eC` w
(5)
and
!BC D
!CD .w
w
h/
Substituting known values j!AB j D 0:25 rad=s, e D 0:46 ft, ` D 0:9 ft, h D 0:66 ft, and w D 1:0 ft into
Eqs. (4) and (5), we have
!E CD D 0:1654 kO rad=s;
!EBC D 0:05625 kO rad=s:
From rigid body kinematics we must also have

2
!AB
rEB=A D
2
!BC
rEC =B
2
!AB
` |O
C BC
kO . w {O/
2
!AB
` |O;
!AB ` w h
eC` w
(6)
2
. w {O/
August 10, 2009
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Dynamics 1e

!AB ` w h
Dw
eC` w
2
{O
2
.!AB
` C BC `/ |O;
(7)
and
2
!CD
rEC =D

!AB ` 2
O
D CD k .e C `/ |O
.e C `/ |O
eC`
.!AB `/2
D CD .e C `/ {O
|O
eC`
aEC D aED C ECD rEC =D
(8)

!AB ` w h
w
eC` w
2
.!AB
`
2
D
.!AB `/2
C BC `/ D
eC`
CD .e C `/
BC
CD D
!2 `
D AB
eC`
!AB `.w h/2

D
.e C `/w
2
!AB
BC D
0:01749 rad=s2
2
!AB
`
eC`
(9)

1
D 0:004516 rad=s2 : (10)

In vector form, we have
EBC D
0:0175 |O rad=s2
and
ECD D 0:00452 kO rad=s2 :
Substituting known values w D 1:0 ft, ` D 0:9 ft, e D 0:46 ft, h D 0:66 ft, j!AB j D 0:25 rad=s, and
AB D 0:004516 rad=s2 into Eq. (7) we have
aEC D .0:00316 {O
0:0388 |O/ ft=s2 :
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Solutions Manual
Problem 6.98
At the instant shown, bar CD is rotating with an angular velocity 20 rad=s and with angular acceleration
2 rad=s2 in the directions shown. Furthermore, at this instant D 45 . Letting L D 2:25 ft, determine the
angular accelerations of bars AB and BC .
Solution
Because bar AB is rotating about the fixed point A, at the given instant point B is only moving in the {O
direction, and we have
vEB D !AB L {O:
Points B and C are both on the bar BC so we have
vEC D vEB C !EBC rEC =B D !AB L {O C !BC kO L {O D !AB L {O C !BC L |O:
(1)
Points C and D are also both on the bar CD so we have

L
L
vEC D vED C !E CD rEC =D D !CD kO .cos {O C sin |O/ D !CD . sin {O C cos |O/:
2
2
(2)
Equating Eqs. (1) and (2) component by component, we have

L
!CD sin
!CD sin ) !AB D
2
2
L
!CD cos
!BC L D !CD cos ) !BC D
:
2
2
!AB L D
(3)
(4)
Similarly for the accelerations, we have

2
!AB
rEB=A
2
!CD
sin2
. L |O/
4
2
L!CD
sin2
D LAB {O C
|O;
4
D AB kO . L |O/
as well as
2
!BC
rEC =B
!
2
L!CD
sin2
D LAB {O C
|O C BC kO L {O
4
2
!CD
cos2
L {O
4
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Dynamics 1e
D LAB
2
cos2
L!CD
4
!
{O C
2
sin2
L!CD
C LBC
4
!
|O;
(5)
and
2
aEC D aED C ECD rEC =D !CD
rEC =D
L
2 L
.cos {O C sin |O/
D CD kO .cos {O C sin |O/ !CD
2
2

L
L
2 L
2 L
D
CD sin C !CD cos {O C CD cos !CD sin |O:
2
2
2
2
(6)
Equatings Eqs. (5) and (6) component by component we have

LAB
2
cos2
L!CD
D
4
2
L!CD
sin2
C LBC
4

L
2 L
CD sin C !CD cos
2
2
2
sin
2 cos
2 cos
) AB D !CD
CD
!CD
4
2
2
L
2 L
D CD cos !CD
sin
2
2
2
!CD
sin2
cos
2 sin
C CD
!CD
:
) BC D
4
2
2
Substituting known values !CD D 20 rad=s; CD D 2 rad=s2 ; D 45 ; and L D 2:25 ft; in vector form we
have
EAB D 92:1 kO rad=s2 and EBC D 191 kO rad=s2 :
August 10, 2009
870
Solutions Manual

A wheel W of radius RW D 2 in: rolls without slip over the stationary cylinder
S of radius RS D 5 in:, and the wheel is connected to point O via the arm
OC .
Determine the acceleration of the point on the wheel W that is
in contact with S for !OC D 7:5 rad=s D constant.
Problem 6.99
Determine the acceleration of the point on the wheel W that

Problem 6.100
is in contact with S for !OC D 7:5 rad=s and OC D 2 rad=s2 .
If, at the instant shown, D 63 , !W D 9 rad=s, and
W D 1:3 rad=s2 , determine the angular acceleration of the arm OC and the
acceleration of point P , where P lies on the edge of W and is aligned vertically
with point C .
Problem 6.101
Solution to 6.99
We call the contact point between the wheel W and cylinder S point Q. From
the geometry of the problem, we have
rEC =O D .RS C RW / uO r
and
rEC =Q D RW uO r :

D !OC kO .RS C RW / uO r
D !OC .RS C RW / uO :
(1)
E Therefore, we must have

Due to rolling without slip, vEQ D 0:
vEC D vEQ C !E W rEC =Q D !W kO RW uO r D !W RW uO
(2)

!OC .RS C RW / D !W RW
!W D
.RS C RW /
!OC :
RW
(3)
We must also have

aEC D aEO C EOC rEC =O
D
2
!OC
rEC =O
2
!OC
.RS C RW / uO r
and
2
!W
rEQ=C
2
2
!OC
.RS C RW / uO r C W kO . RW / uO r C !W
RW uO r

D
2
2
D !OC
.RS C RW / C !W
RW uO r
RW W uO
(4)
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Dynamics 1e
From the no slip condition, we know that aEQ D 0. Substituting Eq. (3) for !W in Eq. (4) we have

aEQ D
2
!OC
.RS

.RS C RW /2 2
RS C RW
2
C RW / C
!OC uO r D !OC .RS C RW /
RW
RW

1 uO r :
(5)
Substituting known values RW D 2 in: D 0:1667 ft; RS D 5 in: D 0:4167 ft; and !OC D 7:5 rad=s, we have
aEQ D 82:0 uO r ft=s2 :
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Solutions Manual
Solution to 6.100
rEC =O D .RS C RW / uO r
rEC =Q D RW uO r :
and

(6)

vEC D vEQ C !E W rEC =Q D !W kO RW uO r D !W RW uO :
(7)

!W D
.RS C RW /
!OC :
RW
(8)
We must also have

2
aEC D aEO C EOC rEC =O !OC
rEC =O
2
D OC kO .RS C RW / uO r !OC
.RS C RW / uO r
2
!OC
.RS C RW / uO r C .RS C RW /OC uO
and
2
!W
rEQ=C
2
2
D !OC
.RS C RW / uO r C .RS C RW /OC uO C W kO . RW / uO r C !W
RW uO r
2
2
D !OC
.RS C RW / C !W
RW uO r C .RS C RW /OC
RW W uO :
(9)
From the no slip condition, we know that

aEQ D 0
W D
RS C RW
OC :
RW
Substituting Eq. (8) for !W in Eq. (9) we have

.RS C RW /2 2
RS C RW
2
2
!OC uO r D !OC .RS C RW /
aEQ D
!OC .RS C RW / C
RW
RW
(10)

1 uO r : (11)
Substituting known values RW D 2 in: D 0:1667 ft; RS D 5 in: D 0:4167 ft; and !OC D 7:5 rad=s, we have
aEQ D 82:0 uO r ft=s2 :
August 10, 2009
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Dynamics 1e
Solution to 6.101
rEC =O D .RS C RW / uO r ;
rEP =C D RW sin uO r C cos uO ;
and
rEC =Q D RW uO r :
(12)

vEC D vEQ C !E W rEC =Q D !W kO RW uO r D !W RW uO
(13)

!OC D
RW
!W :
.RS C RW /
(14)
We must also have

2
aEC D aEO C EOC rEC =O !OC
rEC =O
2
D OC kO .RS C RW / uO r !OC
.RS C RW / uO r
2
!OC
.RS C RW / uO r C .RS C RW /OC uO
D
and
2
!W
rEQ=C
2
2
D !OC
.RS C RW / uO r C .RS C RW /OC uO C W kO . RW / uO r C !W
RW uO r
2
2
D !OC
.RS C RW / C !W
RW uO r C .RS C RW /OC
RW W uO :
From the no slip condition, we know that

aEQ D 0
OC D
RW
W :
RS C RW
(15)
We must also have

aEP D aEC C EW rEP =C
2
!W
rEP =C
2
!OC
.RS C RW / uO r C .RS C RW /OC uO C W kO RW .sin uO r C cos uO /
2
!W
RW .sin uO r C cos uO /

2
2
!OC
.RS C RW / RW W cos !W
RW sin uO r

2
C .RS C RW /OC C RW W sin !W
RW cos uO
(16)
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Solutions Manual
Substituting Eqs. (14) and (15) into Eq. (16) we have

"
#
2
RW
2
2
aEP D
!
RW W cos !W RW sin uO r
.RS C RW / W

2
C RW W .1 C sin / !W
RW cos uO
(17)
Substituting known values RW D 2 in: D 0:1667 ft; RS D 5 in: D 0:4167 ft; D 63 ; !W D 9 rad=s; and
W D 1:3 rad=s2 , into Eqs. (15) and (17), to three significant figures we have
EOC D
0:371 kO rad=s2
and aEP D . 15:8 uO r
6:54 uO / ft=s2 :
August 10, 2009
875
Dynamics 1e
Problem 6.102
At the instant shown, bars AB and CD are vertical. In addition, point C is moving to the left with a speed
of 4 m=s, and the magnitude of the acceleration of C is 55 m=s2 . Letting L D 0:5 m and H D 0:2 m,
determine the angular accelerations of bars AB and BC .
Solution
Realizing that if C is moving left, !CD must be counterclockwise, from the concept of instantaneous center
of rotation, we have
vC O
aC O
!E CD D
k D 8:000 kO rad=s and ECD D
k:
(1)
L
L
Similarly, because the center of rotation of bar BC is at infinity, we have
E
!EBC D 0:
Therefore, the velocity of B is the same as the velocity of C , so we must have
!EAB D
vC O
kD
L
8:000 kO rad=s:
(2)
Observing that at the given instant we have the position vectors

rEB=A D
L |O;
rEB=C D
.H {O C 2L |O/;
and rEC =D D L |O;
then from rigid body kinematics we must have

2
!CD
rEC =D D CD kO L |O
2
!AB
rEB=A D AB kO . L/ |O
2
vC
|O;
L
2
2
!AB
. L/ |O D LAB {O C L!AB
|O;
2
!CD
.L |O/ D
LCD {O
(3)
and
2
!BC
rEC =B
2
D LAB {O C L!AB
|O C BC kO .H {O C 2L |O/

D .LAB
2LBC
2
!BC
.H {O C 2L |O/
2
2
H !BC
/ {O C .L!AB
C HBC
2
2L!BC
/ |O:
(4)
Equations (3) and (4) are two expressions for aEC , and setting them equal component by component, we have
LCD D LAB
2LBC
2
H !BC
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Solutions Manual
and
2
vC
2
D L!AB
C HBC
L
2
2L!BC
;
which are two equations in AB and BC . Solving them, we have

2
2
2
2
2
L H
2vC
a
C
2L!
C
AB C H C 4L !BC
L
AB D
HL

2
2
2
2!BC
C L2 !AB
vC
BC D
;
HL
where we have let CD D aLC . However, closer inspection, only the magnitude of aC is given in the
problem, so we must find answers for both the positive and negative values. Choosing aC D 55 m=s2 , and
substituting the given values vC D 4 m=s, aC D 55 m=s2 , L D 0:5 m, H D 0:2 m, !AB D 8:000 rad=s,
and !BC D 8:000 rad=s, in vector forma and to three significant figures, we have
EAB D
84:4 kO rad=s2
and
EBC D
315 kO rad=s2 :
Choosing aC D 55 m=s2 and substituting the given values vC D 4 m=s, aC D 55 m=s2 , L D 0:5 m,
H D 0:2 m, !AB D 8:000 rad=s, and !BC D 8:000 rad=s, in vector forma and to three significant figures,
we have
EAB D 136 kO rad=s2 and EBC D 315 kO rad=s2 :
August 10, 2009
877
Dynamics 1e

For the slider-crank mechanism shown, let R D 1:9 in:, L D 6:1 in:, and H D 1:2 in:
Assuming that !AB D 4850 rpm and is constant, determine the angular acceleration of
Problem 6.103
the connecting rod BC and the acceleration of point C at the instant when D 27 .
Assuming that !AB D 4850 rpm and is constant, determine the acceleration of point D
at the instant when D 10 .
Problem 6.104
Assuming that, at the instant shown, D 31 , !AB D 4850 rpm, and AB D !PAB D
280 rad=s2 , determine the angular acceleration of the connecting rod and the acceleration of point C .
Problem 6.105
Determine the general expression of the acceleration of the piston C as a function of L,

P and AB D .
R
R, , !AB D ,
Problem 6.106
Solution to 6.103
From the geometry of the problem we have
rEB=A D R.cos {O C sin |O/;
rEC =B D L. sin {O C cos |O/;
and
L sin D R cos
D sin

R
cos :
L

R!AB sin {O C R!AB cos |O
and
D
R!AB sin {O C R!AB cos |O C !BC kO L. sin {O C cos |O/
D . R!AB sin
L!BC cos / {O C .R!AB cos
L!BC sin / |O:

August 10, 2009
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Solutions Manual
Because C is constrained to move in the vertical direction, we have

L!BC cos D 0
R!AB sin
!BC D
R!AB sin
:
L cos
Remembering that AB D 0, we must also have

2
!AB
rEB=A
aEB D aEA
D
2
!AB
R.cos {O C sin |O/
2
R!AB
cos {O
2
!AB
sin |O
and
2
!BC
rEC =B
2
2
R!AB
cos {O !AB
sin |O
2
C BC kO L. sin {O C cos |O/ !BC
L. sin {O C cos |O/
!
#
"
2 ! 2 sin2
R
2
AB
sin LBC cos {O
D
R!AB
cos C
L cos2
"
!
#
2 ! 2 sin2
R
2
AB
C
R!AB
sin LBC sin
cos |O
L cos2
(1)

2
R!AB
cos C
2
R2 !AB
sin2
L cos2
!
sin
LBC cos
2
R!AB
cos C
BC D
2
R2 !AB
sin2
2
L cos
L cos

sin
(2)
Substituting known values R D 1:9 in: D 0:1583 ft; L D 6:1 in: D 0:5083 ft; H D 1:2 in: D 0:1000 ft;
D 27 ; and !AB D 4850 rpm D 507:9 rad=s into Eqs. (1) and (2), rounding to three significant figures,
and putting in vector form we have
aEC D
11000 |O ft=s2
and EBC D
72900 kO rad=s2 :
(3)
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Dynamics 1e
Solution to 6.104
rED=C D .L
H /.sin {O
cos |O/;
and
L sin D R cos
D cos
L
sin
R
D 56:17 :

and
D
D . R!AB sin
L!BC sin / |O:

L!BC cos D 0
R!AB sin
!BC D
R!AB sin
:
L cos
Remembering that AB D 0, we must also have

2
!AB
rEB=A D
aEB D aEA
2
!AB
R.cos {O C sin |O/ D
2
R!AB
cos {O
2
!AB
sin |O
and
2
!BC
rEC =B
2
2
R!AB
cos {O !AB
sin |O
2
C BC kO L. sin {O C cos |O/ !BC
L. sin {O C cos |O/
!
#
"
2
2
2
R !AB sin
2
sin LBC cos {O
D
R!AB cos C
L cos2
"
!
#
2
R2 !AB
sin2
2
R!AB sin LBC sin
C
cos |O:
L cos2
(4)
Because C is constrained to move in the vertical direction, aC x D 0, and we have

!
2
R2 !AB
sin2
2
R!AB cos C
sin LBC cos D 0
L cos2
2
R!AB
BC D

cos C
2
R2 !AB
sin2
2
L cos

sin
:
L cos
Substituting known values R D 1:9 in: D 0:1583 ft, L D 6:1 in: D 0:5083 ft, H D 1:2 in: D 0:1000 ft,
D 10 , D 56:12 , and !AB D 4850 rpm D 507:9 rad=s, we have
aEC D
39070 |O ft=s2
and EBC D
42330 kO rad=s2 :
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880
Solutions Manual
Finally, we must have

aED D aEC C EBC rED=C
D aEC C BC kO .L
"
D
2
R!AB
cos
2
!BC
rED=C
H /.sin {O
cos |O/
RAB sin C
2
cos
LR!AB
1
H tan
L2
2
sin2
HR2 !AB
L2 cos
H /.sin {O
2
R!AB
sin
2
LR!AB
cos |O/
tan
2
sec sin 2 tan
LRAB sin C R2 !AB
L2
"
C RAB cos
2
!BC
.L
#
{O
2
sec sin 2
HR2 !AB
L2
cos
LRAB sin C R
2
!AB
sec sin tan

|O
(5)
Substituting known values R D 1:9 in: D 0:1583 ft, L D 6:1 in: D 0:5083 ft, H D 1:2 in: D 0:1000 ft,
D 10 , D 56:12 , and !AB D 4850 rpm D 507:9 rad=s into Eq. (5), and rounding to three significant
figures, we have
aED D .31000 {O
46100 |O/ ft=s2 :
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881
Dynamics 1e
Solution to 6.105
and
L sin D R cos
D sin

R
cos :
L

and
D
D . R!AB sin
L!BC sin / |O:

L!BC cos D 0
R!AB sin
!BC D
R!AB sin
:
L cos
We must also have

2
rEB=A
2
D AB kO R.cos {O C sin |O/ !AB
R.cos {O C sin |O/
D . RAB sin
2
R!AB
cos / {O C .RAB cos
2
!AB
sin / |O
and
2
!BC
rEC =B
2
2
D . RAB sin R!AB
cos / {O C .RAB cos !AB
sin / |O
2
C BC kO L. sin {O C cos |O/ !BC L. sin {O C cos |O/
!
#
"
2
R2 !AB
sin2
2
sin LBC cos {O
D
RAB sin R!AB cos C
L cos2
"
!
#
2
R2 !AB
sin2
2
C RAB cos R!AB sin LBC sin
cos |O:
L cos2
(6)
Because C is constrained to move in the vertical direction we have

!
2
R2 !AB
sin2
2
RAB sin R!AB cos C
sin LBC cos D 0
L cos2

2
R2 !AB
sin2
2
R!AB cos C
sin LBC cos
L cos2
) AB D
(7)
R sin
Substituting known values R D 1:9 in: D 0:1583 ft; L D 6:1 in: D 0:5083 ft; H D 1:2 in: D 0:1000 ft;
D 31 ; AB D 280 rad=s2 and !AB D 4850 rpm D 507:9 rad=s into Eqs. (6) and (7), rounding to three
significant figures, and putting it in vector form, we have
EBC D
69400 kO rad=s2
and
aEC D
15200 |O ft=s2 :
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Solutions Manual
Solution to 6.106
Letting the origin of the reference frame be at A, at the indicated instant, we
have that the vertical distance from A to C , yC , is
yC D R sin C L cos :
We also know that
L sin D R cos :
Hence, yC can be rewritten as
s
yC D R sin C L 1
R
cos
L
2
:
Because C is constrained to move vertically, have

3
2
6
vEC D yPC |O D RP cos 41 C
R sin
7
q
5 |O
2
2
R cos
L 1
L2
and differentiating again with respect to time, we have

2 0
6 B
aEC D 4L @
R2 cos2 P 2
q
L2 1
0
B
@
R2 cos 2
L2
R2 sin 2 P 2
q
L2 1
R2 cos2
L2
1
2
P
sin C
3=2 A
2
2
R4 cos2

L4 1
C
R cos
L2
R2 cos
q
L2 1
3
1

R
sin C
7
sin P 2 C cos R 5 |O:
ACR
2
2
R cos
L2
August 10, 2009
883
Dynamics 1e

In the four-bar linkage system shown, let the circular guide with center at O be
fixed and such that, for D 0 , the bars AB and BC are vertical and horizontal,
respectively. In addition, let R D 0:6 m, L D 1 m, and H D 1:25 m.
When D 37 , D 25:07 , and D 78:71 , assume
collar C is sliding clockwise with a speed 7 m=s. Assuming that, at the instant
in question, the speed is increasing and that jE
aC j D 93 m=s2 , determine the
angular accelerations of the bars AB and BC .
Problem 6.107
Problem 6.108
Use the method of differentiation of constraints to
derive expressions for the angular accelerations of bars AB and BC as a
P and R . Finally, Let D .0:3 rad=s2 /t 2 and plot the angular
function of , ,
accelerations of AB and BC for 0 t 1 s.
Solution to 6.107
From the geometry of the problem, we have the following position
vectors:
rEC =O D R.cos {O C sin |O/;
rEB=C D L.cos {O
sin |O;
rEB=A D H. cos {O C sin |O/;

and the velocity vector
vEC D vC .sin {O
cos |O/:
O Points B and C are both on bar BC so from rigid body

We also define !EBC D !BC kO and !EAB D !AB k.
kinematics we have
vEB D vEC C !BC kO rEB=C
D vC .sin {O
cos |O/ C !BC L.sin {O C cos |O/
D .vC sin C !BC L sin / {O C .!BC L cos
vC cos / |O:
(1)
Also, because points A and B are both on bar AB, we have

vEB D vEA C !EAB rEB=A D
!AB H.sin {O C cos |O/:
(2)
Equating Eq. (1) with Eq. (2) component by component we have

vC sin C !BC L sin D
!BC L cos
vC cos D
!AB H sin
(3)
!AB H cos :
(4)
Eqs. (3) and (4) are two equations in !AB and !BC . To solve them we divide the left hand side of Eq. (3) by
the left hand side of Eq. (4) and the right hand side of Eq. (3) by the right hand side of Eq. (4). We have
vC sin C !BC L sin
D tan
!BC L cos vC cos
vC sin C !BC L sin D tan .!BC L cos

)
!BC D vC
vC cos /
sin C tan cos

:
L.tan cos sin /
August 10, 2009
884
Solutions Manual
Substituting in given values vC D 7 m=s, D 37 , D 78:71 , D 25:07 , and L D 1 m, we have

!BC D 22:09 rad=s:
Solving Eq. (3) for !AB and substituting in known values vC D 7 m=s, !BC D 22:09 rad=s, D 37 ,
D 78:71 , D 25:07 , H D 1:25 m, and L D 1 m, we have
!AB D
vC sin C !BC L sin

D 13:36 rad=s:
H sin
We can now begin to look at the acceleration analysis. For the slider we have
aEC D aEO C EOC rEC =O
2
!OC
rEC =O
2
vC
D OC kO R.cos {O C sin |O/
R.cos {O C sin |O/
2
! R
!
2
2
vC
vC
D
ROC sin
cos {O C ROC cos
sin |O:
R
R
(5)
Taking the magnitude of aEC and solving for OC we have

2
aC
D
ROC sin
2
vC
cos
R
!2
C ROC cos
2
vC
sin
R
!2
)
OC D
2
aC
R2
4
vC
R4
(6)
Because the speed is increasing, the angular acceleration must be clockwise, and we choose the negative
solution for OC . Substituting in known values R D 0:6 m; L D 1 m; H D 1:25 m; D 37 ;
D 25:07 ; and D 78:71 we have
OC D
74:15 rad=s2 :

aEB D aEC C EBC rEB=C
D
2
L!BC
cos
2
!BC
rEB=C
2
vC
cos
C LBC sin
R
!
ROC sin {O
2
C LBC cos C ROC cos C L!BC
sin
2
vC
sin
R
!
|O
(7)
and
2
D .H !AB
cos
2
!AB
rEB=A
HAB sin / {O C . HAB cos
2
H !AB
sin / |O:
(8)
Setting Eqs. (7) and (8) equal and solving for AB and BC we have
2

csc . /
2
2
HR!AB
cos . / C vC
cos . C / C R L!BC
C ROC sin . C / ;
HR

csc . /
2
2
2
LR!BC
cos . / C vC
cos . C / C R H !AB
C ROC sin . C / :
BC D
LR
Substituting in known values as designated above, rounding to three significant figures, and putting in vector
form, we have
AB D
EAB D
1090 kO rad=s2
and EBC D
1190 kO rad=s2 :
August 10, 2009
885
Dynamics 1e
Solution to 6.108
To solve the problem we first assume that and are known functions of (and of the geometric parameters
R, L, and H ). Then we proceed to determine and as functions of .
Let EAB D AB kO and EBC D BC kO denote the angular accelerations of bars AB and BC , respectively, and therefore we have
AB D
and
BC D
R
:
(9)
Hence, the answer to the problem is found by providing expressions

for R and R as a function of the angle and its time derivatives.
To do so, we observe that, using trigonometry, the motion of the
mechanism is subject to the following two constraint equations:
L sin C H sin D H C R sin ;
L cos C H cos D R C L
(10)
R cos :
(11)
Differentiating the above equations with respect to time, we have

LP cos C H P cos D RP cos ;
LP sin C H P sin D RP sin :
(12)
(13)
Equations (12) and (13) can be viewed as a system of 2 equations in the 2 unknowns P and P whose solution
is
RP sin. C /
RP sin. C /
P D
and P D
;
(14)
L sin. /
H sin. /
where we have used the following trigonometric identities: sin.x C y/ D sin x cos y C cos x sin y and
sin.x y/ D sin x cos y cos x sin y. Differentiating the first of Eqs. (14) with respect to time we obtain

R sin. C / RP . P C P / cos. C / sin. / .P P / sin. C / cos. /
R

R D
L sin. /
L sin2 . /

RR sin. C / RP P cos. C / sin. / C P sin. C / P sin. C / cos. /
D
; (15)
L sin. /
L sin2 . /
where we have used the trigonometric identity sin.x C y/ D sin x cos y C cos x sin y. Next, substituting
R we have
Eqs. (14) into Eq. (15), simplifying, and recalling that BC D ,
BC D
RR sin. C /
L sin. /

RP 2 cos. C / sin2 .
C
/ C
R
H
sin2 . C / C
L sin3 .
R
L
sin2 . C / cos.

:
(16)
Repeating similar steps, i.e., differentiating with respect to time the second of Eqs. (14) to obtain an expression
P ,
R P and ,
for R in terms of , ,
P recalling that AB D ,
R and finally using Eqs. (14) again to replace the
P
expressions for and ,
P after simplification, we have
AB D
RR sin. C /
H sin. /

RP 2 cos. C / sin2 .
/ C
R
L
sin2 . C / C
H sin3 .
R
H
sin2 . C / cos.

:
(17)
August 10, 2009
886
Solutions Manual
We now need to provide and as functions of . This can be done in (at least) two ways. The time
interval of the needed plots is 0 t 1 s, which corresponds to 0 0:3 rad. Hence, we can use
numerical software to obtain and for 0 0:3 rad and then plot the results. A second but challenging
approach, is to find analytical expressions of and as functions of . We will explore both approaches.
Determination of and via a numerical approach. We begin by going back to Eqs. (10) and (11),
which we now differentiate with respect to to obtain
L 0 cos C H 0 cos D R cos ;
0
L sin C H sin D
(18)
R sin ;
(19)
where 0 D d=d and 0 D d =d . The above equations can be solved for 0 and 0 to obtain
0 D
R sin. C /
L sin. /
and
0 D
R sin. C /
:
H sin. /
(20)
Now observe that for D 0, D 0 and D =2. Hence, we can obtain and by numerically solving
the system of first order differential equations in Eqs. (20) subject to the initial conditions .0/ D 0 and
.0/ D =2. Once this is done, recalling that H D 1:25 m, L D 1 m, and R D 0:6 m, D .0:3 rad=s2 /t 2 ,
P D .0:6 rad=s2 /t , and R D 0:6 rad=s2 , we can then plot the expressions for AB and BC found earlier. The
plots in question are shown below.
Angular Acceleration of AB
BC !rad#s2 "
AB !rad#s2 "
0.4
0.3
0.2
0.1
0.0
0.0 0.2 0.4 0.6 0.8 1.0
t !s"
Angular Acceleration of BC
!0.348
!0.350
!0.352
!0.354
!0.356
!0.358
!0.360
0.0 0.2 0.4 0.6 0.8 1.0
t !s"
These plots and the operations needed to generated them, can be obtained with appropriate mathematical
software. The plots given below were obtained using Mathematica using the code below.
Parameters ! !R " 0.6, L " 1., H " 1.25, dddtdt " 0.6, ddt " 0.6 t, " 0.3 t2 ";
AB ! %
BC !
R dddtdt Sin# ' $

H Sin# % $
R dddtdt Sin# ' $

L Sin# % $
R ddt 2
H Sin# % $3
R ddt 2
'
DifEqandICs ! %'#$ !!
L Sin# % $3
%R
Cos# ' $ Sin# % $2 '
Cos# ' $ Sin# % $2 '
Sin##$ ' $
L Sin##$ % #$$
, '#$ )
R
H
R
L
Sin# ' $2 '
Sin# ' $2 '
Sin##$ ' $
H Sin##$ % #$$
R
L
R
H
Sin# ' $2 Cos# % $ ;
Sin# ' $2 Cos# % $ ;
, #0$ ) 0, #0$ )
(R " 0.6, L " 1., H " 1.25);

Solution ! NDSolve#DifEqandICs, (, ), (, 0, 0.3)$;
Plot*AB '. " +#$ '. Solution, '. " +#$ '. Solution, '. Parameters, (t, 0, 1),
& '.
Frame " True, GridLines " Automatic, AspectRatio " 1, FrameLabel " !"t +s,", "AB +rad's2 ,"",
PlotLabel " "Angular Acceleration of AB" -
Plot*BC '. " +#$ '. Solution, '. " +#$ '. Solution, '. Parameters, (t, 0, 1),
Frame " True, GridLines " Automatic, AspectRatio " 1, FrameLabel " !"t +s,", "BC +rad's2 ,"",
PlotLabel " "Angular Acceleration of BC"-
August 10, 2009
887
Dynamics 1e
Determination of and via a purely analytical approach. To determine and in terms of

analytically, for convenience, we begin by dividing Eqs. (10) and (11) by L and then rewriting them as
follows:
sin C sin D A
cos C cos D B
sin D A
sin
and
sin D A
sin ;
(21)
) cos D B
cos
and
cos D B
cos ;
(22)
where the terms , A, and B are

D
H
;
L
AD
H
R
C sin ;
L
L
and
BD
R
.1
L
cos / C 1:
(23)
Squaring the second of Eqs. (21) and (22) and summing, we have
sin2 Ccos2 D .A sin /2 C.B cos /2
1 D A2 CB 2 C 2 2A sin 2B cos ; (24)
where we have used the identity sin2 x C cos2 x D 1. The last of Eqs. (24) can then be rewritten as
A sin C B cos D
A2 C B 2 C 2
2
(25)
We now introduce the following definition:

tan
B
A
sin
B
Dp
2
A C B2
and
cos
Dp
A
A2
C B2
(26)
where we observe that, since A and B

pare known functions of , the angle is also a known function of .
Then, dividing Eqs. (25) through by A2 C B 2 , and using the last two of Eqs. (26), we have
sin cos
C cos sin
A2 C B 2 C 2 1
p
2 A2 C B 2
sin. C
/D
A2 C B 2 C 2 1
;
p
2 A2 C B 2
(27)
where we have used the following trigonometric identity: sin.x C y/ D sin x cos y C cos x sin y. Finally,
solving Eq. (27) for and recalling that transcendental equations admit infinite solutions, we have
8

2 C 2 1
1 A2 CB
p
2n1 tan 1 B
n2 ; or
<sin
2
2
A
2 A CB

D
(28)

2 C 2 1
B
1 A2 CB
1
p
2n1 tan
: sin
2
2
A n2 ;
2
A CB
where n1 D 0; 1; 2; : : :, n2 D 0; 1; 2; : : : and where it is understood that ranges of the inverse sine and inverse
tangent functions are 2 ; 2 and . 2 ; 2 /, respectively. To select the solution that pertains to our problem,
we observe that for D 0, we must have D 2 rad. In addition, we observe that, for D 0, we have
2

2
2
1
1 A CB C
1 B
D
0:8961
rad
and
tan
D 0:6630 rad;
(29)
sin
p
A D0
2 A2 C B 2
D0
where we have used the definitions in Eq. (23) and the following numerical data: H D 1:25 m, L D 1 m,
and R D 0:6 m. Therefore, in order for us to obtain D 2 rad D 1:571 rad using the results in Eqs. (29) we
must choose the solution for given by the lower expression in Eq. (28) and with n1 D n2 D 0. That is, the
correct expression for in our problem is
2

2
2
1
1 A CB C
1 B
D sin
tan
:
(30)
p
A
2 A2 C B 2
August 10, 2009
888
Solutions Manual
Proceeding in a similar manner, we can obtain an expression for the angle . That is, squaring the last of
Eqs. (21) and (22) and summing them we have
2 D A2 C B 2 C 1
) sin cos
2A sin
C cos sin
2B cos
D
A sin C B cos D
A2 C B 2 C 1 2
) sin. C
p
2 A2 C B 2
A2 C B 2 C 1 2
2
A2 C B 2 C 1 2
/D
; (31)
p
2 A2 C B 2
which can be solved for to obtain

8
!

2
2
2
1 A CB
p C1
2n3 tan 1 B
<sin
A n4 :
2 A2 CB 2
!
D

2
2
2
1 A CB
p C1
2n3 tan 1 B
: sin
2
2
A n4 :
(32)
2 A CB
Then, in order for us to obtain D 0 when D 0, we must choose the upper formula in Eq. (32) with
n3 D n4 D 0. In summary, recalling the definitions in Eqs. (26), we have
!

2 C R.L C R/
R cos
H
R.L
C
R/
cos

C
HR
sin

1 LCR
1
tan
;
D sin
p
H C R sin
H .L C R R cos /2 C .H C R sin /2
!

2 C R.L C R/
L
R.L
C
R/
cos

C
HR
sin

R cos
1
1 LCR
D sin
tan
:
p
H C R sin
L .L C R R cos /2 C .H C R sin /2
Combining the above equations with the expressions for AB and BC found earlier, and recalling that
H D 1:25 m, L D 1 m, and R D 0:6 m, D .0:3 rad=s2 /t 2 , P D .0:6 rad=s2 /t, and R D 0:6 rad=s2 , using
mathematical software we obtain precisely the same plots given earlier. However, this time we have used the
Mathematica code given below.
Parameters ! !R " 0.6, L " 1., H " 1.25, dddtdt " 0.6, ddt " 0.6 t, " 0.3 t2 ";
AB ! %
BC !
R dddtdt Sin# ' $

H Sin# % $
R dddtdt Sin# ' $

L Sin# % $
! ArcSin%
R ddt 2
H Sin# % $3
'
R ddt 2
L Sin# % $3
Cos# ' $ Sin# % $2 '
Cos# ' $ Sin# % $2 '
L2 ' L R ' R 2 % R &L ' R' Cos#$ ' H R Sin#$

L
! % ArcSin%
&L ' R % R Cos#$'2 ' &H ' R Sin#$'2
( % ArcTan%
H2 ' R &L ' R' % R &L ' R' Cos#$ ' H R Sin#$
H
&L ' R % R
Cos#$'2
' &H ' R
Sin#$'2
R
L
R
H
Sin# ' $2 '
Sin# ' $2 '
L ' R % R Cos#$
H ' R Sin#$
( % ArcTan%
R
H
R
L
Sin# ' $2 Cos# % $ ;
Sin# ' $2 Cos# % $ ;
(;
L ' R % R Cos#$
H ' R Sin#$
(;
Plot)AB *. Parameters, +t, 0, 1,, Frame " True, GridLines " Automatic, AspectRatio " 1,
FrameLabel " !"t &s'", "AB &rad*s2 '"", PlotLabel " "Angular Acceleration of AB" -
Plot)BC *. Parameters, +t, 0, 1,, Frame " True, GridLines " Automatic, AspectRatio " 1,
FrameLabel " !"t &s'", "BC &rad*s2 '"", PlotLabel " "Angular Acceleration of BC"-
August 10, 2009
889
Dynamics 1e
Problem 6.109
Complete the acceleration analysis of the slider-crank mechanism using differentiation of constraints that was outlined beginning on p. 498. That is, determine
the accleration of the piston C and the angular acceleration of the connecting
rod as a function of the given quantities , !AB , R, and L. Assume that !AB is
constant, and use the component system shown for your answers.
Solution
We have that the vertical distance from A to C , yC is
yC D R sin C L cos :
We also know that
L sin D R cos :
Hence, from the trigonometry of , yC can be rewritten as
s
yC D R sin C L 1
(1)
R
cos
L
Because C is constrained to move vertically, we know that

2
6
vEC D yPC |O D RP cos 41 C
2
:
3
R sin
7
q
5 |O
2 cos2
L 1 R L
2
and
2 0
R2 cos2 P 2
R4 cos2 sin2 P 2 C
q

A
2 cos 2
2 cos2 3=2
L2 1 R L
L4 1 R L
2
2
1
3
0

2
2
2
2
R cos sin R C
7
B R sin P
C
sin P 2 C cos R 5 |O:
q
ACR
@ q
2
2
2
2
cos
cos
L2 1 R L
L2 1 R L
2
2
6 B
aEC D 4L @
Furthermore, taking two time derivatives of Eq. (1), we have

LP cos D
R D
RP sin
P D
RP sin
L cos
R.P 2 cos C R sin /

C P 2 tan :
L cos
(2)
(3)
August 10, 2009
890
Solutions Manual
Substituting Eq. (2) for P in Eq. (3), we have

R D
R.P 2 cos C R sin /

C
L cos
RP sin
L cos
!2
tan
LR cos .P 2 cos C R sin / C R2 P 2 sin2 tan

:
L2 cos2

cos

, Eq. (4) becomes
Realizing that P D !AB , R D 0, and from Eq. (1), D sin 1 R
L
D
R D
h
2
cos sin
LR!AB
R
L
h
2
sin2 tan sin
cos C R2 !AB
i
h

cos

L2 cos2 sin 1 R
L
cos
i
R
L
cos
(4)
i
:
R in vector form we have

Realizing that BC D ,
EBC D
h
2
LR!AB
cos sin
R
L
h
2
cos C R2 !AB
sin2 tan sin
h

i
cos

L2 cos2 sin 1 R
L
cos
i
R
L
cos
i
O
k:
August 10, 2009
891
Dynamics 1e
Problem 6.110
Obtain the acceleration of point P using the information from the mini-example
on p. 522; that is, obtain Eq. (6.71), using polar coordinates.
Solution
We let xy be a rotating reference frame with origin at O that rotates with the disc. For the acceleration of P ,
we have
E vEP rel C
EP rEP =O C
E .
E rEP =O /
aEP D aEO C aEP rel C 2
(1)
where
E
aEO D 0;
rEP =O D s {O;
vEP rel D sP {O;
aEP rel D sR {O;
O
E D !0 k;
and
O
EP D 0 k:
(2)
Substituting Eqs. (2) into Eq. (1), we have

aEP D sR {O C 2!0 kO sP {O C 0 kO s {O C !0 kO !0 kO s {O
D sR {O C 2!0 sP |O C 0 s |O C !0 kO .s!0 / |O
D sR {O C 2!0 sP |O C 0 s |O
aEP D sR
s!02 {O

s!02 {O C .2!0 sP C 0 s/ |O:
August 10, 2009
892
Solutions Manual
Problem 6.111
The reciprocating rectilinear motion mechanism consists of a disk pinned at
its center at A that rotates with a constant angular velocity !AB , a slotted arm
CD that is pinned at C , and a bar that can oscillate within the guides at E and
F . As the disk rotates, the peg at B moves within the slotted arm, causing it to
rock back and forth. As the arm rocks, it provides a slow advance and a quick
return to the reciprocating bar due to the change in distance between C and B.
For the position shown, determine
(a) The angular velocity of the slotted arm CD and the velocity of the bar
(b) The angular acceleration of the slotted arm CD and the acceleration of the
bar
Evaluate your results for !AB D 120 rpm, R= h D 0:5, and d D 0:12 m.
Solution
Part (a). Given a fixed reference frame X Y and a rotating reference frame
xy attached to the bar CD with origin at point C , we have the relationships
IO D cos {O C sin |O
and
JO D
sin {O C cos |O:
(1)
From rigid body kinematics, we have

D !AB kO R IO
D R!AB JO
D R!AB . sin {O C cos |O/:
(2)
Relating point B to point C , we must also have

E rEB=C D rPB=C |O C !CD kO rB=C |O D
vEB D vEC C vEBrel C
rB=C !CD {O C rPB=C |O;
(3)
E Equating Eqs. (2) and (3) component by component, we have

where we have used the fact that vEC D 0.
!CD D R!AB
sin
sin
R2 !AB
2 !AB
D R!AB 2
D
D
rB=C
h C R2
h2 C R 2
1 C 2
(4)
and
rPB=C D R!AB cos ;
where we have let
R
h
(5)
D . From the geometry of the problem at this instant, we have that

tan D
R
;
h
sin D p
R
h2
R2
and
cos D p
h
h2
C R2
(6)

Rh!AB
rPB=C D p
:
h2 C R 2
August 10, 2009
893
Dynamics 1e
In vector form, for !E CD , we have
2 !AB O
k:
1 C 2
Because there is no slip between arm CD and the bar, vbar D !CD d , and so we have
!E CD D
vEbar D
(7)
2 !AB O
d I:
1 C 2
(8)
Substituting the given values !AB D 120 rpm D 12:57 rad=s, D 0:5, and d D 0:12 m into Eqs. (7) and (8),
we have
!E CD D 2:51 kO rad=s and vEbar D 0:302 IO m=s:
Part (b). Obtaining the acceleration of point B by relating it to point A, we must have
2
!AB
rEB=A D
2
R!AB
IO D
2
R!AB
.cos {O
sin |O/;
(9)
where we have used the fact that !AB is constant, so AB D 0. Relating the acceleration of B to C using the
rotating reference frame, for aEB we must also have
2
aEB D aEC C aEBrel C 2!E CD vEBrel C ECD rEB=C !CD
rEB=C
2
rB=C |O
D rRB=C |O C 2!CD kO rPB=C |O C CD kO rB=C |O !CD
2 !AB O
Rh!AB
kp
|O
2
1C
h2 C R2
2
2
p
!AB p 2
2
2
O
C CD k h C R |O
h C R2 |O
1 C 2
2

p
!AB
Rh!AB
2
2
2
C CD h C R {O
p
1 C 2
h2 C R2
#
"
2
2
!AB p 2
C rRB=C
h C R2 |O;
1 C 2
D rRB=C |O C 2
(10)
where we have substituted in for !CD from Eq. (4). Equating Eqs. (9) and (10), solving for CD , and
substituting the relationships from Eqs. (6), we have

2

p
Rh!AB
!AB
2
2 C R2
R!AB
cos D
2
C
h
p
CD
1 C 2
h2 C R2

2

1
!AB
Rh!AB
2
CD D p
R!AB cos 2
p
1 C 2
h2 C R2
h2 C R 2
2
2
2
Rh.h
R /!AB
D
2
.h C R2 /2

R2
R
2
1
!AB
h
h2
D

2 2
1C R
h2
2
2
1 !AB
O
) ECD D
(11)
2 k:
1 C 2
August 10, 2009
894
Because there is no slip between arm CD and the bar, abar D dCD , and we can write
2
1 2 !AB
O
aEbar D d
2 k:
1 C 2
Solutions Manual
(12)
Substituting known values !AB D 120 rpm D 12:57 rad=s, D 0:5, and d D 0:12 m into Eqs. (11) and (12),
we have
ECD D 37:9 kO rad=s2 and aEbar D 4:55 IO m=s2 :
August 10, 2009
895
Dynamics 1e
Problem 6.112
bar
Solution
Part (a). Given a fixed coordinate system X Y and a rotating coordinate
system xy attached to the bar CD at point C , we have the relationships
IO D {O
and JO D |O:
(1)

vEB D vEA C !EAB rEB=A D !AB kO R JO D
R!AB IO D
R!AB {O (2)

E rEB=C
D rPB=C |O C !CD kO rB=C |O
D
(3)

!CD D
where we have left D
R
.
h
R!AB
R
D
!AB D
!AB
rB=C
hCR
1C
and
rPB=C D 0;
(4)

!E CD D
O
!AB k:
1C
(5)
Because there is no slip between arm CD and the bar, we have vbar D !CD d , and so
vEbar D
!AB d IO:
1C
(6)
Substituting the given values !AB D 90 rpm D 9:425 rad=s, D 0:5, and d D 0:12 m into Eqs. (5) and (6),
we have
August 10, 2009
896
Solutions Manual
2
!AB
rEB=A D
2
R!AB
JO D
2
R!AB
|O:
(7)
Relating the acceleration of B to C using rotating reference frames, for aEB we must also have
2
rEB=C
2
rB=C |O
2

!AB .h C R/ |O:
D rRB=C |O C CD kO .h C R/ |O
1C
(8)
Setting Eqs. (7) and (8) equal, and solving for CD , we have
2
R!AB
|O D CD .h C R/ {O C
"
!AB
1C
2
#
.h C R/ |O
CD .h C R/ D 0
)
ECD D 0E rad=s2 :
Because there is no slip between arm CD and the bar, and the bar is confined to move in the horizontal
direction, aEbar D dCD IO, so we must have
aEbar D 0E m=s2 :
August 10, 2009
897
Dynamics 1e
Problem 6.113
bar
Solution
IO D {O
and JO D |O:
(1)

vEB D vEA C !EAB rEB=A D !AB kO . R/ JO D R!AB IO D R!AB {O (2)
Relating point B to point A, we must also have
E rEB=C
D rPB=C |O C !CD kO rB=C |O
D
rB=C !CD {O C rPB=C |O:
(3)

!CD D
R!AB
D
!AB D
!AB
rB=C
h R
1
and rPB=C D 0:
(4)
O
!AB k:
(5)
1
From the concept of instantaneous center of rotation, vbar D !CD d . Observing that if !CD > 0 then
vbar > 0, we have
vEbar D
!AB d IO:
(6)
1
Substituting known values !AB D 60 rpm D 6:283 rad=s, D 0:5, and d D 0:12 m into Eqs. (5) and (6), we
have
!E CD D
August 10, 2009
898
Solutions Manual
2
2
2
!AB
rEB=A D R!AB
JO D R!AB
|O:
(7)
Using the idea of moving reference frames, for aEB we must also have
2
rEB=C
2
rB=C |O
2

!AB .h R/ |O:
D rRB=C |O C CD kO .h R/ |O
1C
(8)
Setting Eqs. (7) and (8) equal, and solving for CD , we have
"
2
R!AB
|O D
CD .h
R/ {O C rRB=C
!AB
1C
2
.h
R/ |O
CD .h
)
R/ D 0
ECD D 0E rad=s2 :
Because there is no slip between the arm CD and the bar, and the bar is confined the move in the horizontal
direction, abar D dCD , so we must have
aEbar D 0E m=s2 :
August 10, 2009
899
Dynamics 1e
Problem 6.114
For the arbitrary position shown, determine
bar
as functions of , D R= h, d , and !AB
Solution
IO D cos {O C sin |O
and
JO D
sin {O C cos |O:
(1)

D !AB kO R.cos IO C sin JO /
D
R!AB sin IO C R!AB cos JO
R!AB sin .cos {O C sin |O/

C R!AB cos . sin {O C cos |O/
.R!AB sin cos C R!AB cos sin / {O C .R!AB cos cos R!AB sin sin / |O
(2)

(3)
Equating Eqs. (2) and (3) component by component, from the {O component we have
rB=C !CD D
!CD
.R!AB sin cos C R!AB cos sin /

sin cos C cos sin
D R!AB
rB=C
sin cos C cos sin
D R!AB p
h2 C R2 C 2hR sin
(4)
where we have replaced rB=C by its equivalent expression from the Law of Cosines. Also from the geometry
tan D
R cos
; and we also have the trig identities
h C R sin
August 10, 2009
900
Solutions Manual
sin D p
tan
1C
and
tan2
1
cos D p
:
1 C tan2
(5)

R!AB .R C h sin /
!AB . C sin /
!CD D p
D
1 C 2 C 2 sin
h2 C R2 C 2hR sin
(6)
rPB=C D R!AB . sin sin C cos cos /:
(7)
and
From the geometry of the problem, we have that Substituting Eqs. (5) into Eq. (7) we have
rPB=C D p
Rh!AB cos
h2 C R2 C 2Rh sin

!E CD D
!AB . C sin / O
k:
1 C 2 C 2 sin
Because the arm CD doesnt slip relative to the bar, we have vbar D !CD d , which gives us
vEbar D
!AB . C sin / O
d I:
1 C 2 C 2 sin
2
rEB=A
D R! 2 .cos IO C sin JO /
AB
2
R!AB
.cos cos
sin sin / {O
R!AB .cos sin C sin cos / |O:
(8)
2
rEB=C
2
rB=C |O

Rh!AB cos
!AB . C sin / O
kp
|O
D rRB=C |O C 2
2
1 C C 2 sin
h2 C R2 C 2Rh sin

2 p
p
!
.
C
sin

/
AB
C CD kO h2 C R2 |O
h2 C R2 |O
1 C 2 C 2 sin

!AB . C sin /
Rh!AB cos
D
2
{O
p
1 C 2 C 2 sin
h2 C R2 C 2Rh sin
"
#

p
!AB . C sin / 2 p 2
2
2
2
C CD h C R C rRB=C
h C R |O:
1 C 2 C 2 sin
(9)
Setting Eqs. (8) and (9) equal, and solving for CD , and substituting the relationships from Eqs. (5), we have

!AB . C sin /
Rh!AB cos
2
R!AB .cos cos sin sin / D
2
p
1 C 2 C 2 sin
h2 C R2 C 2Rh sin
August 10, 2009
901
Dynamics 1e
"
p
2
R!AB
.cos sin C sin cos / D CD h2 C R2 C rRB=C
CD
Rh.h2
2
R2 /!AB
R
h

1
cos
D 2
D
2
.h C R C 2Rh sin 2
1C
R2
h2
R2
h2
!AB . C sin /
1 C 2 C 2 sin
2
cos
!AB
2
C 2R
sin

h
ECD
2 p
#
h2 C R2
2
cos
2 !AB
O
D
2 k:
1 C 2 C 2 sin
1
Because the arm CD doesnt slip relative to the bar, we have abar D dCD , and so we have
aEbar
2
cos
2 !AB
O
Dd
2 k:
1 C 2 C 2 sin
1
August 10, 2009
902
Solutions Manual
Problem 6.115
Determine the angular velocity and angular acceleration of the slotted arm CD
as functions of , D R= h, d , and !AB . After doing so, plot the velocity and
acceleration of the bar as a function of the disk angle for one full cycle of the
disks motion and for !AB D 90 rpm, d D 0:12 m, and
(a) D R= h D 0:1
(b) D R= h D 0:3
(c) D R= h D 0:6
(d) D R= h D 0:9
Explain why this mechanism is often referred to as a quick return mechanism.
Solution
Given a fixed coordinate system X Y and a rotating coordinate system xy
attached to the bar CD at point C , we have the relationships
IO D cos {O C sin |O;
JO D
sin {O C cos |O;
and
O (1)
kO D K:

D !AB kO R.cos IO C sin JO /
D
R!AB sin IO C R!AB cos JO
R!AB sin .cos {O C sin |O/

C R!AB cos . sin {O C cos |O/
.R!AB sin cos C R!AB cos sin / {O

C .R!AB cos cos
R!AB sin sin / |O:
(2)

(3)
E Equating the x components of Eqs. (2) and (3), we have

rB=C !CD D
!CD
.R!AB sin cos C R!AB cos sin /

sin cos C cos sin
D R!AB
rB=C
August 10, 2009
903
Dynamics 1e
sin cos C cos sin
D R!AB p
:
h2 C R2 C 2hR sin
(4)
where we have replaced rB=C by its equivalent expression from the law of cosines. Also from the geometry
tan D
R cos
;
h C R sin
tan
;
sin D p
1 C tan2
and
1
cos D p
:
1 C tan2
(5)

R!AB .R C h sin /
!AB . C sin /
!CD D p
D
2
2
1
C 2 C 2 sin
h C R C 2hR sin
(6)
rPB=C D R!AB . sin sin C cos cos /:
(7)
and

rPB=C D p
Rh!AB cos
h2 C R2 C 2Rh sin

!E CD D
!AB . C sin / O
K
1 C 2 C 2 sin
Because the arm CD does not slip relative to the bar, we have vbar D !CD d , which gives us
vEbar D
!AB . C sin / O
dI
1 C 2 C 2 sin
Obtaining the acceleration of point B by relating it to point A, we must have

2
rEB=A
2
D R! .cos IO C sin JO /
AB
2
R!AB
.cos
cos
sin sin / {O
2
R!AB
.cos sin C sin cos / |O:
(8)
2
rEB=C
2
rB=C |O

Rh!AB cos
!AB . C sin / O
kp
|O
D rRB=C |O C 2
2
1 C C 2 sin
h2 C R2 C 2Rh sin

p
!AB . C sin / 2 p 2
2
2
O
C CD k h C R |O
h C R2 |O
1 C 2 C 2 sin

!AB . C sin /
Rh!AB cos
D
2
{O
p
1 C 2 C 2 sin
h2 C R2 C 2Rh sin
"
#

2 p
p
!
.
C
sin

/
AB
C CD h2 C R2 C rRB=C
h2 C R2 |O:
1 C 2 C 2 sin
(9)
August 10, 2009
904
Solutions Manual
Setting Eqs. (8) and (9) equal, and solving for CD , and substituting the relationships from Eqs. (5), we have

!AB . C sin /
Rh!AB cos
2
R!AB
.cos cos sin sin / D
2
p
1 C 2 C 2 sin
h2 C R2 C 2Rh sin
#
"

2 p
p
!
.
C
sin

/
AB
2
h2 C R 2
R!AB
.cos sin C sin cos / D CD h2 C R2 C rRB=C
1 C 2 C 2 sin

2
R2
R
2
2
2
2
cos
1
!AB
cos
1 2 !AB
Rh.h
R /!AB cos
h
h2
O
)
ECD D
CD D 2
D

K:
2
2
2
2 C 2 sin 2
.h C R C 2Rh sin
R2
R
1
C
1 C h2 C 2 h sin
Because the arm CD does not slip relative to the bar, we have abar D dCD , and so we have
aEbar
2
cos
2 !AB
Dd
2 IO
2
1 C C 2 sin
1
The expressions for vEbar and aEbar just derived is a function of when !AB , d , and are specified. For each
of the several values of , the function can be plotted with software such as Mathematica or M ATLAB. Using
Mathematica, the following code was used, with the value for changed for each part:
Parameters ! ! # 0.1, d # 0.12, AB # 9.425";
vbar !
AB # % Sin$%&
1 % 2 % 2 Sin$%
abar ! d
'. Parameters;
(1 ' 2 ) AB 2 Cos$%
(1 % 2 % 2 Sin$%)
'. Parameters;
Plot$vbar , !, 0, 2 ", PlotLabel # "vbar ", Frame # True,
FrameLabel # !"#rad&", "vbar #m's&"", ImageSize # Medium%
Plot*abar , !, 0, 2 ", PlotLabel # "abar ", Frame # True,
FrameLabel # +"#rad&", "abar #m's2 &",, ImageSize # Medium-
August 10, 2009
905
Dynamics 1e
Part (a).
We let = 0.1. Using the above code we obtain the following plots:
vbar
abar
1.0
abar !m#s2 "
vbar !m#s"
0.5
0.0
!0.5
0.5
0.0
!0.5
!1.0
!1.0
0
!rad"
!rad"
Part (b). We let = 0.3. Using the above code we obtain the following plots:
vbar
abar
4
abar !m#s2 "
vbar !m#s"
1
0
!1
!2
!3
2
0
!2
!4
!4
0
3
!rad"
!rad"
Part (c). We let = 0.6. Using the above code we obtain the following plots:
vbar
abar
20
abar !m#s2 "
vbar !m#s"
0
!5
!10
10
0
!10
!20
3
!rad"
3
!rad"
Part (d). We let = 0.9. Using the above code we obtain the following plots:
August 10, 2009
906
Solutions Manual
abar
4
3
2
1
0
!1
!2
!3
abar !m#s2 "
vbar !m#s"
vbar
3
!rad"
6
4
2
0
!2
!4
!6
0
!rad"
August 10, 2009
907
Dynamics 1e
Problem 6.116
The reciprocating rectilinear motion mechanism of Probs. 6.1116.115 is often
referred to as a quick return mechanism since it can move much more quickly
in one direction than the other. To see this, we will determine the velocity of
the bar in each of the two positions shown (position 1 when B is farthest from
C and position 2 when B is closest to C ) under the assumption that the disk,
whose center is at A, rotates with a constant angular velocity !AB D 120 rpm.
Find the velocity of the bar in positions 1 and 2 for d D 0:12 m and for
(a) R= h D 0:3
(b) R= h D 0:8
Comment on which of the two R= h values would provide a better quick return
and why.
Solution
Position 1 Given a fixed coordinate system
XY and a rotating coordinate system xy attached to the bar CD at point C , we have the
relationships
IO D {O;
JO D |O;
and
O
KO D k:

D !AB kO R JO
D
R!AB IO
R!AB {O
(1)

(2)

!CD D
where we have let D
R
.
h
R!AB
D
!AB D
!AB
rB=C
hCR
1C
and
rPB=C D 0;
(3)

!E CD D
O
!AB k:
1C
Because there is no slip between arm CD and the bar, we have vbar D !CD d , and so
vEbar D
!AB d IO
1C
:
August 10, 2009
908
Solutions Manual
Position 2 Given a fixed coordinate system X Y and a rotating coordinate system xy attached to the bar
CD at point C , we have the relationships
IO D {O;
JO D |O
and
O
KO D k:

vEB D vEA C !EAB rEB=A D !AB kO . R/ JO D R!AB IO D R!AB {O
(4)
Relating point B to point A, we must also have

(5)

!CD D
R!AB
R
D
!AB D
!AB
rB=C
h R
1
and rPB=C D 0:
O
!AB k:
1
From the concept of instantaneous center of rotation, vbar D !CD d . Observing that if !CD > 0 then
vbar > 0, we have
!E CD D
vEbar D
Part (a) For
R
h
!AB d IO
D 0:3 and !AB D 12:57 rad=s, we have vbar D 2:90 m=s at position 1 and
vbar D 5:39 m=s at position 2.

Part (b) For
R
h
D 0:8 and !AB D 12:57 rad=s, we have vbar D 5:59 m=s at position 1 and
vbar D 50:3 m=s at position 2.

The bar is moving through the return phase when it is in position 2. Therefore, the R
value from Part (b)
h
would provide a better quick return because it is moving back into position faster than the R
value from Part
h
(a).
August 10, 2009
909
Dynamics 1e
Problem 6.117
The Pioneer 3 spacecraft was a spin-stabilized spacecraft launched on December
6, 1958, by the U.S. Army Ballistic Missile agency in conjunction with NASA.
It was designed with a despin mechanism consisting of two equal masses A
and B that could be spooled out to the end of two wires of variable length
`.t/ when triggered by a hydraulic timer. As a prelude to Probs. 7.64, 7.65,
and 8.77, we will find the velocity and acceleration of each the two masses.
To do this, assume that masses A and B are initially at positions A0 and B0 ,
respectively. After the masses are released, they begin to unwind symmetrically,
and the length of the cord attaching each mass to the spacecraft of radius R is
`.t/. Given that the angular velocity of the spacecraft at each instant is !s .t /,
determine
(a) The velocity of mass A
(b) The acceleration of mass A
in components expressed in the rotating reference frame whose origin is at Q,
as well as R, `.t /, and !s .t /. Note that the rotating frame is always aligned
with the unwinding cord, and Q is the point on the cord that is about to unwind
at time t.
Solution
We let be the unwind angle of the rope relative to the satellite. As stated, we will use a rotating reference
frame attached at Q, as indicated on the diagram. For the velocity of A, we have
vEA D vEQ C EPrel C !E OQ EA=Q
(1)
where
vEQ D .!S C P /R {O; EPrel D
`P {O; !E OQ D
O EA=Q D
.!S C P / k;
` {O; and D
`
R
`P
P D : (2)
R
Substituting Eqs (2) into Eq. (1), we have

!
`P
vEA D R !S C
{O
R
`P {O
!
`P O
!S C
k . `/ {O
R
)
!
P /
`.t
vEA D R!S .t / {O C `.t / !S .t / C
|O:
R
(3)
For the acceleration we have

aEA D aEQ C ERrel C 2!E OQ EPrel C EOQ EA=Q
2
!OQ
EA=Q ;
(4)
where
aEQ D
R.!S C P /2 |O C R.!P S C R / {O;
ERrel D
`R {O;
EOQ D
.!P S C R /;
and
`R
R D kO
R
(5)
August 10, 2009
910
Solutions Manual

aEA D
R.!S C P /2 |O C R.!P S C R / {O
`R {O
2.!S C P / kO . `P {O/
.!P S C R / kO . ` {O/
.!S C P /2 . ` {O/
"

P /2
`.t / R
`.t
`.t / P
2
.
`.t
/
C
R!
.t
//
C
R
!
P
.t
/
{
O
C
`.t
/
C
aEA D
S
S
R2
R
R

#
R!S .t /2 C `!P S .t / |O:
August 10, 2009
911
Dynamics 1e
Problem 6.118
Let frames A and B be the frames with origins at points A and B, respectively. Point B does not move
relative to point A. The velocity and acceleration of point P relative to frame B are
vEP rel D . 6:14 {OB C 23:7 |OB / ft=s
and aEP rel D .3:97 {OB C 4:79 |OB / ft=s2 :
Knowing that, at the instant shown, frame B rotates relative to frame A at a constant angular velocity
!B D 1:2 rad=s, that the position of point P relative to frame B is rEP =B D .8 {OB C 4:5 |OB / ft, and that
frame A is fixed, determine the velocity and acceleration of P at the instant shown and express the results
using the frame A component system.
Solution
From the kinematic equations for the velocity of a point relative to a rotating reference frame we have
E rEP =B D PEPrel C !B kO rEP =B :
vEP D vEB C vEP rel C
(1)
P
We have known values PErel D . 6:14 {OB C 23:7 |OB / ft=s, !B D 1:2 kOB rad=s, and rEP =B D .8 {OB C 4:5 |OB / ft,
but they must be transformed from the B component system to the A component system where {OB D
cos 23 {OA C sin 23 |OA and |OB D sin 23 {OA C cos 23 |OA . Therefore, in the A component system, our
known values are
P
PErel D . 14:91 {OA C 19:42 |OA /;
rEP =B D .5:606 {OA C 7:268 |OA / ft;
and
!EB D 1:2 kOA rad=s:
Substituting these known values into Eq. (1) we have

vEP D . 23:6 {OA C 26:1 |OA / ft=s:
Similarly, for the acceleration of point P we have
E vEP rel C
EP rEP =B C
E .
E rEP =B /
aEP D aEB C aEP rel C 2
R
P
D PErel C 2!B kO PErel C !P B kO rEP =B C !B kO .!B kO rEB=P /:
(2)
R
We must also transform PErel into the A component system. Doing so we have
R
PErel D .2:103 {OA C 6:447 |OA / ft=s2 :
(3)
August 10, 2009
912
Solutions Manual
P
Substituting this value, as well as the known values PErel D . 14:91 {OA C 19:42 |OA /;
7:268 |OA / ft; and !EB D 1:2 kOA rad=s into Eq. (2), we have
aEP D . 52:9 {OA
rEP =B D .5:606 {OA C
40:3 |OA / ft=s2 :
August 10, 2009
913
Dynamics 1e
Problem 6.119
Repeat Prob. 6.118, but express the results using the component system of frame B.
Solution
From the kinematic equations for the velocity of a point relative to a rotating reference frame we have
E rEP =B
P
D PErel C !B kO rEP =B :
(1)
P
Substituting known values PErel D . 6:14 {OB C23:7 |OB / ft=s, !EB D 1:2 kO rad=s, and rEP =B D .8 {OB C4:5 |OB / ft
into Eq. (1) we have
vEP D . 11:5 {OB C 33:3 |OB / ft=s:
Similarly, for the acceleration of point P we have
E vEP rel C
EP rEP =B C
E .
E rEP =B /
R
P
D PErel C 2!B kO PErel C !P B kO rEP =B C !B kO .!B kO rEB=P /
(2)
P
R
Substituting the known values PErel D . 6:14 {OB C 23:7 |OB / ft=s, PErel D .3:97 {OB C 4:79 |OB / ft=s2 , !EB D
1:2 kO rad=s, and rEP =B D .8 {OB C 4:5 |OB / ft into Eq. (2), we have
aEP D . 64:4 {OB
16:4 |OB / ft=s2 :
August 10, 2009
914
Solutions Manual
Problem 6.120
A vertical shaft has a base B that is stationary relative to an inertial reference frame with vertical axis
Z. Arm OA is attached to the vertical shaft and rotates about the Z axis with an angular velocity
!OA D 5 rad=s and an angular acceleration OA D 1:5 rad=s2 . The axis is coincident with the Z axis
but is part of a reference frame that rotates with the arm OA. The x axis of the rotating reference frame
coincides with the axis of the arm OA. At the instant shown, the y axis is perpendicular to the page and
directed into the page. At this instant, the collar C is sliding along OA with a constant speed vC D 5 ft=s
and is at a distance d D 1:2 ft from the axis. Compute the inertial acceleration of the collar, and express
it relative to the rotating coordinate system.
Solution
Using the idea of rotating reference frames, we have
O
E rC =O D vC {OC!OA kd
vEC D vEO CrEPC =O CE
{O D vC {OCd!OA |O;
where we have used the fact that vO D 0. For the acceleration, we then have
E OC vEC =O C
EP OC rEC =O C
E OC .
E OC rEC =O /
aEC D aEO C aEC =O C 2
D 2!OA kO vC {O C OA kO d {O C !OA kO .!OA kO d {O/
D 2!OA vC |O C dOA |O C !OA kO d!OA |O
D
2
d!OA
{O C .2!OA vC C dOA / |O;
(1)
O and
O Substituting
E OC D !OA k,
EP OC D OA k.
where we have used the fact that aO D 0, vC D constant,
2
the given values d D 1:2 ft, vC D 5 ft=s, !OA D 5 rad=s, and OA D 1:5 rad=s into Eq. (1), and rounding
to three significant figures, we have
aEC D . 30:0 {O C 51:8 |O/ ft=s2 :
August 10, 2009
915
Dynamics 1e
Problem 6.121
A vertical shaft has a base B that is stationary relative to an inertial reference frame with vertical axis
Z. Arm OA is attached to the vertical shaft and rotates about the Z axis with an angular velocity
!OA D 5 rad=s and an angular acceleration OA D 1:5 rad=s2 . The axis is coincident with the Z
axis but is part of a reference frame that rotates with the arm OA. The x axis of the rotating reference
frame coincides with the axis of the arm OA. At the instant shown, the y axis is perpendicular to the
page and directed into the page. At this instant, the collar C is sliding along OA with a constant speed
vC D 3:32 m=s and is rotating with a constant angular velocity !C D 2:3 rad=s relative to the arm OA.
At the instant shown, point D happens to be in the x plane and is at a distance ` D 0:05 m from the
x axis and at a distance d D 0:75 m from the axis. Compute the inertial acceleration of point D, and
express it relative to the rotating reference frame.
Solution
Using the idea of rotating reference frames, we have
E rED=O
vED D vEO C rEPD=O C
D .vC {O
O d {O
`!C |O/ C .!C {O C !OA k/
D vC {O C .d!OA
`!C / |O;
where we have used the fact that vO D 0 and D is making a circular motion about the bar OA, and moving
out of the page at the instant shown. For the acceleration, we then have

E vED=O C
EP rED=O C
E
E rED=O
aED D aEO C aED=O C 2

D 2 !C {O C !OA kO .vC {O `!C |O/ C OA kO d {O C ` kO

h

i
O
O
C !C {O C !OA k !C {O C !OA k d {O

2 O
D 2`!C
k C 2!OA .vC |O C `!C {O/ C dOA |O C !C {O C !OA kO .d!OA |O/

2
2 O
D 2`!C !OA d!OA
{O C .dOA C 2vC !OA / |O C `!C
k
(1)
where we have used the fact that aO D 0, vC D constant, !C D constant, Dis making a circular

E D !C {O C !OA kO , and
motion about the bar OA, and moving out of the page at the instant shown,
O Substituting the given values d D 0:75 m, ` D 0:05 m, vC D 3:32 m=s, !C D 2:3 rad=s,
EP OC D OA k.
August 10, 2009
916
Solutions Manual
!OA D 5 rad=s, and OA D 1:5 rad=s2 into Eq. (1), and rounding to three significant figures, we have
aEC D

17:6 {O C 34:3 |O C 0:264 kO m=s2 :
August 10, 2009
917
Dynamics 1e
Problem 6.122
The wheel D rotates with a constant angular velocity !D D 14 rad=s about the fixed point O, which is
assumed to be stationary relative to an inertial frame of reference. The xy frame rotates with the wheel.
Collar C slides along the bar AB with a constant velocity vC D 4 ft=s relative to the xy frame. Letting
` D 0:25 ft, determine the inertial velocity and acceleration of C when D 25 . Express the result with
respect to the xy frame.
Solution
From the geometry of the problem, we have rEC =O D . ` cot {O C ` |O/. From the concept of rotating
reference frames, we have
E rEC =O D vC {O C !D kO .` cot {O
vEC D vEO C vEC =O C
` |O/ D .vC C `!D / {O C `!D cot |O; (1)
O Substituting known values ` D 0:25 ft,

E D !D k.
where we have used the fact that vO D 0 and
!D D 14 rad=s, vC D 4 ft=s, D 25 into Eq. (1), and rounding to three significant figures we have
vEC D .7:50 {O C 7:51 |O/ ft=s:
For the acceleration, we then have

E vEC =O C
EP rEC =O C
E
E rEC =O
h
i
D 2!D kO vC {O C !D kO !D kO . ` cot {O C ` |O/

2
2
D `!D
cot {O
2vC !D C `!D
|O;
(2)
O
E D !D k,
EP D 0.
E Substituting the known values ` D 0:25 ft,
where we have used the fact that vO D 0,
aEC D .105 {O
161 |O/ ft=s2 :
August 10, 2009
918
Solutions Manual
Problem 6.123
The wheel D rotates without slipping over a flat surface. The X Y frame shown is inertial, whereas the xy
frame is attached to D at O and rotates with it at a constant angular velocity !D D 14 rad=s. Collar C
slides along the bar AB with a constant velocity vC D 4 ft=s relative to the xy frame. Letting ` D 0:25 ft
and R D 1 ft, determine the inertial velcity and acceleration of C when D 25 and the xy frame is
parallel to the X Y frame as shown. Express your result in both the xy and X Y frames.
Solution
E rEC =O
D .R!D C vC /O{ C !D kO .` cot {O
` |O/
D .R!D C vC C `!D / {O C `!D cot |O;
(1)
O Substituting known values R D 1 ft,

E D !D k.
where we have used the fact that vEO D R!D {O and
` D 0:25 ft, !D D 14 rad=s, vC D 4 ft=s, D 25 into Eq. (1), and rounding to three significant figures we
have
vEC D .21:5 {O C 7:51 |O/ ft=s:

E vEC =O C
EP rEC =O C
E
E rEC =O
h
i
D 2!D kO vC {O C !D kO !D kO . ` cot {O C ` |O/

2
2
D `!D
cot {O
2vC !D C `!D
|O;
(2)
O
E D !D k,
EP D 0.
E Substituting the known values ` D 0:25 ft,
aEC D .105 {O
161 |O/ ft=s2 :
August 10, 2009
Dynamics 1e
919
Problem 6.124
The wheel D rotates without slipping over a flat surface. The X Y frame shown is inertial whereas the xy
frame is attached to D and rotates with it at a constant angular velocity !D . Collar C slides along the bar
AB with a velocity vC relative to the xy frame. Suppose that `, , and R are given and that we want to
determine the inertial acceleration of C when the xy frame is parallel to the X Y frame as shown. Would
the expression of the inertial acceleration of the collar in the two frames be different or the same?
Solution
At the instant shown, the two reference frames are coincidental, i.e. {O D IO and |O D JO . Therefore, a vector
will have exactly the same representation with respect to the two frames.
August 10, 2009
920
Solutions Manual
Problem 6.125
At the instant shown, the wheel D rotates without slipping over a flat surface with an angular velocity
!D D 14 rad=s and an angular acceleration D D 1:1 rad=s2 . The X Y frame shown is inertial whereas
the xy frame is attached to D. At the instant shown, the collar C is sliding along the bar AB with a
velocity vC D 4 ft=s and acceleration aC D 7 ft=s2 , both relative to the xy frame. Letting ` D 0:25 ft and
R D 1 ft, determine the inertial velocity and acceleration of C when D 25 and the xy frame is parallel
to the XY frame as shown. Express your result in both the xy and the X Y frames.
Solution
E rEC =O
` |O/
(1)

E D !D k.
have
vEC D .21:5 {O C 7:51 |O/ ft=s:

E vEC =O C
EP rEC =O C
E
E rEC =O
h
i
D 3!D kO vC {O D kO . ` cot {O C ` |O/ C !D kO !D kO . ` cot {O C ` |O/

2
2
D aC C `D C RD C `!D
cot {O C 2vC !D `!D
C `D cot |O;
(2)
O
E D !D k,
EP D RD {O. Substituting the known values R D 1 ft,
` D 0:25 ft, !D D 14 rad=s, D D 1:1 rad=s2 , vC D 4 ft=s, D 25 into Eq. (2), and rounding to three
significant figures we have
aEC D .113 {O
160 |O/ ft=s2 :
August 10, 2009
921
Dynamics 1e
Problem 6.126
A floodgate is controlled by the motion of the hydraulic cylinder AB. If the gate BC is to be lifted with a
constant angular velocity !BC D 0:5 rad=s, determine dPAB and dRAB , where dAB is the distance between
points A and B when D 0. Let ` D 10 ft, h D 2:5 ft, and d D 5 ft.
Solution
We define a fixed reference frame X Y such that X is horizontal and
pointing to the right, and Y is vertical and pointing up, and a rotating
reference frame xy attached at A that rotates with the bar. We are
asked to find dPAB and dRAB , which correspond to the {O component of
rPB=A and rRB=A , respectively. If we write the velocity of B using the
rotating reference frame, we have
E rEB=A
vEB D vEA C vEB=A C
q
D dPB=A {O C !AB kO .` d /2 C h2 {O
q
(1)
D dPB=A {O C !AB .` d /2 C h2 |O;
p
where we used the fact that vA D 0 and rEB=A D .` d /2 C h2 |O. We must also have
E rEB=C D
vEB D vEC C vEB=C C
!BC kO . d / IO D
d!BC JO D d!BC sin {O C d!BC cos |O;

(2)
p
where we used the fact that vC D 0, rEB=A D .` d /2 C h2 |O, and JO D sin {O C cos |O. Setting Eqs. (1)
and (2) equal component by component, we have
dPA=B D d!BC sin ;
q
!AB .`
d /2 C h2 D d!BC cos
(3)
)
!AB D p
Substituting the known values d D 5 ft, !BC D 0:5 rad=s, and D tan
have
dPAB D 1:12 ft=s:
d!BC cos
:
(4)
d /2 C h2

h
D 26:57 into Eq. (3), we
` d
.`

Similarly for the acceleration we have

E vEB=A C
EP rEB=A C
E .
E rEB=A /
aEB D aEA C aEB=A C 2
August 10, 2009
922
Solutions Manual
D dRB=A C 2!AB kO dPB=A {O C AB kO dB=A C !AB kO .!AB kO dB=A {O/

q
q
2
2
2
2
2
R
D dAB !AB .` d / C h {O C AB .` d / C h C 2d!BC !AB sin |O
(5)
O and dAB D !AB . We must also have

where we have used the fact that aA D 0, D !AB , P D AB k,
E vEB=C C
EP rEB=C C
E .
E rEB=C /
aEB D aEC C aEB=C C 2
h
i
D !BC kO !BC . rB=C /IO
2
D !BC
rB=C IO
2
D d!BC
.sin {O
2
d!BC
sin {O
cos |O/
2
d!BC
cos |O;
(6)
where we have used D !BC and IO D cos {O sin |O. Setting the y components of Eqs. (5) and (6) equal
to each other, we have
q
2
2
R
.` d /2 C h2
(7)
dAB D d! sin C !
BC
AB
Substituting the expression for !AB from Eq. (4) into Eq. (7), we have
!2 q
.d!BC cos /2
2
d /2 C h2 D d!BC
sin C p
(8)
.` d /2 C h2
.` d /2 C h2

Substituting the known values h D 2:5 ft, d D 5 ft, ` D 10 ft, !BC D 0:5 rad=s, and D tan 1 ` hd D
26:57 into Eq. (8) and rounding to three significant figures, we have
dRAB D
2
d!BC
sin C
d!BC cos
.`
dRAB D 2:01 ft=s2 :
August 10, 2009
923
Dynamics 1e
Problem 6.127
The manually operated road barrier shown has a total length l D 15:7 ft and has a counterweight C whose
position is identified by the distances d D 2:58 ft and D 1:4 ft. The barrier is pinned at O and can move
in the vertical plane. Suppose that the barrier is raised and then released so that the end B of the barrier
hits the support with a speed vB D 1:5 ft=s. Determine the speed of the counterweight C when B hits A.
Solution
The barrier rotates about the fixed point O. Since both points B and C are on the barrier, ie.e, belong to the
same rigid body, we must have
!barrier D
vB
`
and !barrier D
vC
vC D
vB
`
(1)
Substituting given values D 1:4 ft, ` D 15:7 ft, d D 2:58 ft, and vB D 1:5 ft=s into the last of Eqs. (1), we
have
vC D 0:160 ft=s:
August 10, 2009
924
Solutions Manual
Problem 6.128
A slender bar AB of length L D 1:45 ft is mounted on two identical disks D and E pinned at A and B,
respectively, and of radius r D 1:5 in: The bar is allowed to move within a cylindrical bowl with center at
O and diameter d D 2 ft. At the instant shown, the center G of the bar is moving with a speed v D 7 ft=s.
Determine the angular velocity of the bar at the instant shown.
Solution
By construction, the bar rotates about the fixed point O. Therefore, its
angular speed is given by j!E bar j D hv , where h is the vertical distance
between G and O. From the geometry of the problem we have that
s

2
d
L2
hD
r
:
2
4
Given the direction of v, G is moving clockwise about O, so we must
have
v
!E bar D r
kO

d
2
L2
4
Substituting in the known values v D 7 ft=s, d D 2 ft, r D 1:9 in: D 0:1583 ft, and L D 1:45 ft, we have
!E bar D
14:3 kO rad=s
August 10, 2009
925
Dynamics 1e
Problem 6.129
Assuming that the rope does not slip relative to any of the pulleys in the system,
determine the velocity and acceleration of A and D, knowing that the angular velocity
and acceleration of pulley B are !B D 7 rad=s and B D 3 rad=s2 , respectively. The
diameters of pulleys B and C are d D 25 cm and ` D 34 cm, respectively.
Solution
We let Q be the point of contact between pulley B and the cord to the right of
pulley B. This cord is not moving because it is fixed to the wall, so from the no slip
condition at Q, we must have
vA D !B
d
2
and
d
aA D B :
2
Substituting given values d D 25 cm D 0:25 m, !B D 7 rad=s, and B D 3 rad=s2 ,

we have
vA D 0:8750 m=s and aA D 0:3750 m=s2 :
(1)
Using the directions shown in the problem statement, in vector form and with three
significant figures, we have
vEA D 0:875 |O m=s
and aEA D 0:375 |O m=s2
By pulley kinematics, we have

yD C 2yB D constant
yPD D
2yPB
and yRD D
2yRB
)
yPD D
2vA
and
yRD D
2aB ; (2)
where we have used that fact that A and B must have the same velocity and acceleration. Substituting the
values from Eqs. (1) into Eqs. (2), for D we have
vED D
1:75 |O m=s
and aED D
0:750 |O m=s2
August 10, 2009
926
Solutions Manual
Problem 6.130
At the instant shown, the hammer head H is moving to the right with a speed vH D 45 ft=s and the angle
D 20 . Assuming that the belt does not slip relative to wheels A and B and assuming that wheel A
is mounted on the shaft of the motor shown, determine the angular velocity of the motor at the instant
shown. The diameter of wheel A is d D 0:25 ft, the radius of wheel B is R D 0:75 ft, and point C is at a
distance ` D 0:72 ft from O, which is the center of the wheel A. Finally, let CD have a length L D 2 ft,
and assume that, at the instant shown, D 25 .
Solution
From the geometry of the problem, we have the geometrical
constraints
xD D ` cos C L cos
and
L sin D ` sin C h; (1)
where h is the vertical distance between O and D. Taking the

first time derivative of Eqs. (1), we have
xPD D vH x D
`P sin C LP sin
(2)
and
P cos D P ` cos
L
` cos
P D P
:
L cos
(3)
Substituting the expresion for P from Eq. (3) into Eq. (2), we have
vH x D
`P
.sin cos C sin cos / D
cos
`P
sin . C /
cos
P D
vH x cos
` sin . C /
Since the belt does not slip, and because !A is indicated as being clockwise, we have
d!A D 2R!B
!EA D
2R vH x cos O
k;
d ` sin . C /
(4)
P Subsituting given values R D 0:75 ft, d D 0:25 ft, ` D 0:72 ft,

where we have used the fact that !B D .
vH x D 45 ft=s, D 25 , and D 20 into Eq. (4), we have

!EA D
481 kO rad=s:
August 10, 2009
927
Dynamics 1e

An overhead fold-up door with height H D 30 ft consists of two identical
sections hinged at C . The roller at A moves along a horizontal guide, whereas
the rollers at B and D, which are the midpoints of sections AC and CE, move
along a vertical guide. The doors operation is assisted by a counterweight P .
Express your answers using the component system shown.
If at the instant shown, the angle D 55 and P is moving
upward with a speed vP D 15 ft=s, determine the velocity of point E as well as
the angular velocities of sections AC and CE.
Problem 6.131
If at the instant shown, D 45 , and A is moving to the right

with a speed vA D 2 ft=s while decelerating at a rate of 1:5 ft=s2 , determine the
acceleration of point E.
Problem 6.132
Solution to 6.131
From the geometry of the problem, we have the constraints
xA D
H
cos ;
4
xE D xA ;
and
yE D
H sin :
(1)
Taking a time derivative of xA from the first of Eq. (1) and observing that xPA D vA D
vA D
H P
sin D
4
Observing that !AC D P , and !EAC D

H D 30 ft, and D 55 gives us
P D 2:442 rad=s
vP
4vP
:
H sin
(2)
!E CE by symmetry, substituting given values vP D 15 ft=s,
!EAC D 2:44 kO rad=s
For the position of E, we have

H
cos {O
4
Taking a time derivative of Eq. (3), we have
rEE D
vEE D
P D
vP , we have
H P
sin {O
4
and
H P cos |O D
!E CE D
cos2
vP {O
2:44 kO rad=s:
(3)
4vP
|O:
tan
Substituting known values vP D 15 ft=s and D 55 , we have

vEE D . 15:0 {O
42:0 |O/ ft=s:
August 10, 2009
928
Solutions Manual
Solution to 6.132
From the geometry of the problem, we have the constraints
xE D xA D
H
cos D 5:303 ft
4
and yE D yE D
For the position of E, we have

H
cos {O
4
Taking two time derivatives of Eq. (4), we have
rEE D
vEE D vEE D
and
aEE
H P
sin {O
4
0
B
B
D aA {O C H B
@
H P cos |O D
vP {O
H sin :
cos2
(4)
4vP
|O:
tan
1
C
16vA2
256xA2 vA2
16xA aA
C
C
q
q
C |O:

3=2 C
2
2 A
16xA
16xA
2
2 1
2 1
16xA
H
H
4
H 1
H2
H2
H2
Substituting known values xA D 5:303 ft, vA D 2 ft=s, aA D 1:5 ft=s2 , and D 45 , we have
aEE D . 1:50 {O
0:320 |O/ ft=s2 :
August 10, 2009
929
Dynamics 1e
Problem 6.133
At the instant shown, bar AB rotates with a constant angular velocity !AB D 24 rad=s. Letting L D 0:75 m
and H D 0:85 m, determine the angular acceleration of bar BC when bars AB and CD are as shown, i.e.,
parallel and horizontal.
Solution
From the concept of instantaneous center of rotation, we know that the center of rotation of bar BC is at
infinity, so
!BC D 0:
Therefore, the velocity of B is the same as that of C , so we have
!CD D
!AB
!E CD D 24 kO rad=s:
From rigid body kinematics, we know that

2
2
!AB
rEB=A D L!AB
{O
LAB |O
where we have used the fact that aA D 0. We must also have

2
!BC
rEC =B
LAB |O C BC kO .2L {O

2
D L!AB
{O
2
D .L!AB
C HBC / {O C .2LBC
H |O/
2
!BC
.2L {O
H |O/
LAB / |O:
(1)
We must also have

2
!CD
rEC =D D
2
L!AB
{O
LCD |O:
(2)
Eqsuations (1) and (2) are both expressions for aEC , and equating them component by component yields
2
L!AB
C HBC D
2
L!AB
BC D
2
2L!AB
H
LAB D
LCD
CD D
AB
2LBC
(3)
2
4L!AB
:
H
Substituting known values L D 0:75 m, !AB D 24 rad=s, and H D 0:85 m, in vector form to three significant
figures, we have
EBC D
1020 kO rad=s2 :
August 10, 2009
930
Solutions Manual
Problem 6.134
The bucket of a backhoe is the element AB of the four-bar linkage system ABCD. The buckets motion
is controlled by extending or retracting the hydraulic arm EC . Assume that the points A, D, and E are
fixed and that the bucket is made to rotate with a constant angular velocity !AB D 0:25 rad=s. In addition,
suppose that, at the instant shown, point B is vertically aligned with point A and point C is horizontally
aligned with B. Letting dE C denote the distance between points E and C , determine dPE C and dRE C at
the instant shown. Let h D 0:66 ft, e D 0:46 ft, l D 0:9 ft, w D 1:0 ft, d D 4:6 ft, and q D 3:2 ft.
Solution
Because point A is stationary, it is the center of rotation of bar AB, and therefore we have
vEB D `!AB {O:
Then, for point C , we must have
vEC D vEB C !EBC rEC =B D `!AB {O C !BC kO . w/ {O D `!AB {O
w!BC |O;
(1)
and also
vEC D vED C !E CD rEC =D D !CD kO .h
w/ {O C .` C e/ |O D
.` C e/!CD {O C .h
w/!CD |O: (2)
Equations (1) and (2) are two equations in !BC and !CD , and when solved give
!BC D
`.w h/!AB
w.e C `/
and !CD D
`!AB
:
eC`
(3)
Substituting !BC from Eq. (3) into Eq. (1), we have

vEC D `!AB {O C
`.w h/!AB
|O D .0:2250 {O C 0:05625 |O/ ft=s;
.e C `/
(4)
where we have used the given values ` D 0:9 ft, w D 1:0 ft, e D 0:46 ft, h D 0:66 ft, and !AB D 0:25 rad=s.
Similarly for the accelerations, we have
2
!AB
rEB=A D
2
!AB
` |O;
(5)
where we have used the fact that aA D AB D 0. Relating point C to point B gives us
2
aEC D aEB C EBC rEC =B !BC
rEC =B
2
O w/ {O ! 2 . w/ {O
D !AB
` |O C BC k.
BC
August 10, 2009
931
Dynamics 1e

`.w h/!AB
Dw
w.e C `/
2
`2 .w h/2 !AB
{O
D
w.e C `/2
2
{O
2
.`!AB
C wBC / |O
2
.`!AB
C wBC / |O:
(6)
Similarly, relating point C to point D we can have

2
aEC D aED C ECD rEC =D !CD
rEC =D
D CD kO .h w/ {O C .e C `/ |O
eCD
`CD
2
!CD
.h
!
2
`2 .h w/!AB
.e C `/2
w/ {O C .e C `/ |O
{O C hCD
wCD
2
`2 !AB
e`
!
|O:
(7)
Equations (6) and (7) are two equations in BC and CD , which when solved give
BC D
` h3 ` C 2h2 w` C e.e C `/2 w

.e C `/3 w 2
2
h`w 2 !AB
(8)
and
CD D
2
h`2 .w h/!AB
:
.e C `/w
(9)
Substituting BC from Eq. (8) into Eq. (6), we have

2
`2 .w h/2 !AB
aC D
{O
w.e C `/2
"
2
`!AB
` h3 ` C 2h2 w` C e.e C `/2 w

.e C `/3 w
2
h`w 2 !AB
#
|O
D .0:003164 {O C 0:03876 |O/ ft=s2 ; (10)

where we have used the given values ` D 0:9 ft, w D 1:0 ft, e D 0:46 ft, h D 0:66 ft, and !AB D 0:25 rad=s.
Now that the motion of both ends of the hydraulic arm EC is known, we can determine its time rate of
change in length. We begin by defining the horizontal distance from E to C as xE C , and the vertical distance
from E to C as yE C . The distance between E and C is then
q
2
2
(11)
dE C D xE
C C yE C ;
where xE C D d C h
have
w D 4:260 ft and yE C D q D 3:200 ft: Taking two time derivatives of Eq. (11) we
2xE C xP E C C 2yE C yPE C

dPE C D
q
2
2
2 xE
C C yE C
and
dRE C D
2
2
2xP E
R E C C 2yE C yRE C
.2xE C xP E C C 2yE C yPE C /2
C C 2yPE C C 2xE C x
C
:
q

3=2
2
2
2
2
4 xE
2 xE
C
y
C C yE C
C
EC
(12)
Observing that xP E C D vC x D 0:2250 ft=s, yPE C D vCy D 0:05625 ft=s, xR E C D aC x D 0:003164 ft=s2 ,
and yRE C D aCy D 0:03876 ft=s2 , we have
dPE C D 0:214 ft=s
and dRE C D
0:0192 ft=s2 :
August 10, 2009
932
Solutions Manual
Problem 6.135
Let frames A and B have their origins at points A and B, respectively. Point
B does not move relative to point A. The velocity and acceleration of point P
relative to frame A, which is fixed, are
vEP D . 14:9 {OA C 19:4 |OA / ft=s
and
aEP D .1:78 {OA C 5:96 |OA / ft=s2 :
Knowing that frame B rotates relative to frame A at a constant angular velocity

!B D 1:2 rad=s and that the position of point P relative to frame B is rEP =B D
.8 {OB C4:5 |OB / ft, determine the velocity and acceleration of P relative to frame
B at the instant shown and express the results using the frame A component
system.
Solution
Given the two reference frames in the problem statement, we have the following relationships between them:
{OB D cos 23 {OA C sin 23 |OA
and |OB D
sin 23 {OA C cos 23 |OA :
(1)
From the concept of rotating reference frames, we have

E rEP =B
)
vP xA {OA C vP yA |OA D vP xB {OB C vP yB |OB C !B kO .8 {OB C 4:5 |OB /
vP xA {OA C vP yA |OA D vP xB .cos 23 {OA C sin 23 |OA / C vP yB . sin 23 {OA C cos 23 |OA /
C !B kO .8.cos 23 {OA C sin 23 |OA / C 4:5. sin 23 {OA C cos 23 |OA //
. 14:9 {OA C 19:4 |OA / D .vP xB cos 23
vP yB sin 23
8!B sin 23
C .vP xB sin 23 C vP yB cos 23 8!B cos 23
4:5!B sin 23 / {OA

4:5!B sin 23 / |OA ;
(2)
where weve used the fact that vB D 0. Solving Eq. (2) for vP xB and vP yB using the known value
!B D 1:2 rad=s, we have
vP xB D
6:178 ft=s
and
vP yB D 12:67 ft=s
vEP rel D . 6:18 {OA C 12:7 |OA / ft=s:
Similarly for the acceleration, we have
)
)
E vEP rel C
EP rEP =B C
E .
E rEP =B /
.1:78 {OA C 5:96 |OA / ft=s2 D aP xB {OB C aP yB {OB C 2!B kO . 6:18 {OA C 12:7 |OA /
C !B kO !B kO .8 {OB C 4:5 |OB /
.1:78 {OA C 5:96 |OA / ft=s2 D aP xB {OB C aP yB {OB .25:4!B {OA C !B 12:36 |OA /
C !B kO . 4:5!B {OB C 8!B |OB /:
(3)
Substituting Eqs. (1) and the given value !B D 1:2 rad=s into Eq. (3), and solving for aP xB and aP yB , we
have
aP xB D 40:27 ft=s2
and aP yB D 31:25 ft=s2
aEP rel D .40:3 {OA C 31:3 |OA /:

August 10, 2009
933
Dynamics 1e
Problem 6.136
A vertical shaft has a base B that is stationary relative to an inertial reference frame with vertical axis Z.
Arm OA is attached to the vertical shaft and rotates about the Z axis with an angular velocity !OA and an
angular acceleration OA . The axis is coincident with the Z axis but is part of a reference frame that
rotates with the arm OA. The x axis of the rotating reference frame coincides with the axis of the arm OA.
At the instant shown, the y axis is perpendicular to the page and directed into the page. At this instant,
the collar C is at a distance d from the Z axis, is sliding along OA with a constant speed vC (relative to
the arm OA), and is rotating with a constant angular velocity !C (relative to the xy frame). Point D is
attached to the collar and is at a distance ` from the x axis. At the instant shown, point D happens to be in
the plane that is rotated by an angle from the x plane. Compute the expression of the inertial velocity
and acceleration of point D at the instant shown in terms of the parameters given, and express it relative to
the rotating coordinate system.
Solution
Using the concept of rotating reference frames, we have
E rED=O ;
vED D vEO C vEDrel C
(1)
where
E
vEO D 0;
vEDrel D vC {O
`!C cos |O
O
`!C sin k;
O
E D !OA k;
(2)
and
O
rED=O D d {O C `. sin |O C cos k/:
(3)

vED D vC {O
`!C cos |O
O
`!C sin kO C !OA kO d {O C `. sin |O C cos k/;
(4)
which can be simplified to read

vED D .vC C !OA ` sin / {O C .d!OA
`!C cos / |O
O
`!C sin k:
Similarly, for the accelerations, we have

E vEDrel C
EP rED=O C
E .
E rED=O /;
aED D aEO C aEDrel C 2
(5)
August 10, 2009
934
Solutions Manual
where
E
aEO D 0;
vEDrel D vC {O
O
`!C sin k;
`!C cos |O
O
E D !OA k;
O
EP D OA k;
2
aEDrel D !C
` sin |O
and
2
O
!C
cos k;
O
rED=O D d {O C `. sin |O C cos k/:
(6)

2
2
O
aED D !C
` sin |O !C
cos kO C 2!OA kO vC {O `!C cos |O `!C sin k
O C !OA kO !OA kO .d {O ` sin |O C ` cos k/;
O
C OA kO d {O C `. sin |O C cos k/
which can be simplified to read

2
2
2
aED D . d!OA
C 2!OA `!C cos C `OA sin / {O C .dOA C .!C
C !OA
/` sin C 2!OA vC / |O
O
! 2 cos k:
C
August 10, 2009
935
Dynamics 1e
Problem 6.137
The wheel D rotates without slip over a curved cylindrical surface with constant radius of curvature
L D 1:6 ft and center at the fixed point E. The X Y frame is attached to the rolling surface, and it is inertial.
The xy frame is attached to D at O and rotates with it at a constant angular velocity !D D 14 rad=s.
Collar C slides along the bar AB with a constant velocity vC D 4 ft=s relative to the xy frame. At the
instant shown, points O and E are vertically aligned. Letting ` D 0:25 ft and R D 1 ft, determine the
inertial velocity and acceleration of C at the instant shown when D 25 and the xy frame is parallel to
the XY frame. Express your result in the xy and X Y frames.
Solution
From the geometry of the problem, we have rEC =O D
frames, we have
` cot {O C ` |O. From the concept of rotating reference
E rEC =O
` |O/
(1)

E D !D k.
have
vEC D .21:5 {O C 7:51 |O/ ft=s:

E vEC =O C
EP rEC =O C
E
E rEC =O
2
R2 !D
|O
L R
h
i
2!D kO vC {O C D kO . ` cot {O C ` |O/ C !D kO !D kO . ` cot {O C ` |O/
!
2!2

R
2
D
2
2vC !D `!D
C
D `!D
cot {O C
|O;
(2)
L R
2 2
O
E D !D k,
EP D D kO D 0,
E and aEO D R !D |O. Substituting
L R
known values ` D 0:25 ft, !D D 14 rad=s, vC D 4 ft=s, D 25 into Eq. (2), and rounding to three
aEC D .105 {O
166 |O/ ft=s2 :

August 10, 2009
936
Solutions Manual
August 10, 2009
937
Dynamics 1e
Problem 6.138
The wheel D rotates without slip over a curved cylindrical surface with constant radius of curvature
L D 1:6 ft and center at the fixed point E. The X Y frame is attached to the rolling surface, and it is
inertial. The xy frame is attached to D at O and rotates with it at an angular velocity !D D 14 rad=s
and an angular acceleration D D 1:3 rad=s2 . Collar C slides along the bar AB with a constant velocity
vC D 4 ft=s relative to the xy frame. Letting ` D 0:25 ft and R D 1 ft, determine the inertial velocity
and acceleration of C , at the instant shown, when D 25 and the xy frame is parallel to the X Y frame.
Express your result in the xy and X Y frames.
Solution
From the geometry of the problem, we have rEC =O D
frames, we have
` cot {O C ` |O. From the concept of rotating reference
E rEC =O
` |O/
(1)

E D !D k.
have
vEC D .21:5 {O C 7:51 |O/ ft=s:

E rEC =O
E vEC =O C
EP rEC =O C
E
2
R2 !D
|O
L R
i
h
2!D kO vC {O C D kO . ` cot {O C ` |O/ C !D kO !D kO . ` cot {O C ` |O/
!
2!2

R
2
2
D
D `D C `!D
cot {O C
2vC !D `!D
C
C `D cos |O;
(2)
L R
O and aEO D R !D |O. Substituting

O
E D !D k,
EP D D k,
L R
known values ` D 0:25 ft, !D D 14 rad=s, vC D 4 ft=s, D 25 into Eq. (2), and rounding to three
2
aEC D .107 {O
166 |O/ ft=s2 :

August 10, 2009

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Solutions Manual

Engineering Mechanics: Dynamics

Version: August 10, 2009

The McGraw-Hill Companies, Inc.

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August 10, 2009

Accuracy of Numbers in Calculations

August 10, 2009

!EB D 532 kO rad=s

Substituting in given data, we obtain:

Differentiating Eq. (1) with respect to time, we obtain

which, upon substituting in given data gives

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For vEG and vEF we have

Similarly, we can find vEQ and vEP using

vEQ D !EB rEQ=B D

!EB D 1160 kO rpm:

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Doing the same for gear B we have

Enforcing the no slip condition we must have

Differentiating Eq. (1) with respect to time we get

Plugging in known values we get

Because gears B and C are mounted on the same shaft, we have

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The angular acceleration of points a distance

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Plugging in known values and solving, we have

Since O is not in the plane of motion of B, we have

Plugging in known values we have

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Plugging in known values we have

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Problems 6.16 and 6.17

Determine the velocity and acceleration of G as a function of

where the vectors !Ep and rEH=O are given by

Again recalling that O is a fixed point, for the acceleration, we have

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where the vectors !Ep and rEH=O are given by

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where !E s D !s kO is the angular velocity of the spool and rEQ=O D

r |O. Substituting these expressions in

aP , which can be solved

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!P2 rEQ=O C P kO rEQ=O

Plugging in known values we get

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.2:58 {O C 0:938 |O/ m=s2 :

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Also, we must have

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!T2 R.sin {O C cos |O/ C T kO R.sin {O C cos |O/

R.!T2 sin C T cos / {O C R.T sin

!T2 cos / |O:

Plugging in the known values of R; !T ; T ; and we get

vEA D vA .sin {O C cos |O/;

rEB=A D AB.cos {O C sin |O/:

!AB sin / {O C .vA cos C !AB cos / |O:

If, when D 53 , the slider is moving downward with a speed