“16-00, “The epiyeic goar tran consists of the sum gear A which i ‘inmost withthe plant goa Hh oar has an faper hub © ‘which ied o Stand in mesh wih Ue xed rng gear RE the conncting link DE pinned to B and Cis rotating at feng = rads about the pin at B determine the ange ‘oles ofthe planct and sun gears SOLUTION to, = (SKI) = Def “The veo ofthe contact point P wit he rings x0. 9) = 0 Conk) (010) ay= 00s 2 am. {Let Pe the contact pat between Aad nek = 0+ (90K) x (04) somys 1 > am. 1648, “The pinion goa ellsom the pear rack 178s moving othe tight at 8/8 and Cis moving to the fel a 81s, det {he angular velocity ofthe pion pear and the Welty is coaterA. SOLUTION sy) 0610) = 20rad/s Ams. (AS) ag= 8 2003) = 2ys > Ams, At = + (oA) x OH) 060 rade an w+ 2m x03) Ws ams. (oe.Determine the veloxty of point om the rim of the ea at the instant shown, SOLUTION General Plane Motion: Applying the lative veloety equation Lo points B and C and refering to the Kinematic diagram of the gear shown in Fig-, wen tet wx tae w= 4h + (wk) x (2251) t= (2250 ~ 4) component yes 32204 o eat dys e For pins A and, tat tet OX tac (va)eb+ (val = —8 + (Carn) x (Lown + 256) (ene + (nad = 39851-32905 equating the andj components yl (ua)e = 3.9665 18 (ua)y = 32008 148 “Thos the magnitude of is a= Vita) * (wah? = VISRET TIOOR = 5.16 1/5 Ams nd its rection is Ams16-7. “The planciary gear system used in an automatic transmission for an automobile. By locking or releasing ‘erain gears it has the advantage operating the ear at diferent spec Consider the ease where the fing gear is held fixed, mq = Oy andthe sun goat S16 rotating at tos = Sra Determine the angular velox ofeach the planet gears and shat SOLUTION 1% = (80) = 400 mm/s — m= 0 = A008 + (wpb) > (aH) 0 4001 sey op = “Stadjs = Studi + (5) ap 2 on BO 167 ays An 167%, te ring gear D rotates counterclockwise with an angular oeity ap = 5 rad/s while link AB rotates eockwise With an angular velocity of way = 10 rad/s, determine the gular Yloct of ger €. SOLUTION Rotation About a Fixed Aste: Since link A and goat D 0 Fi. athe velocity ofthe center and the conta point of oars 2 and Cis p= wana = 1407S) = 275 m/s up = ary = S(05) = 25 m/s Generat Plane Motion: Applying the relative velocity equation and refering the kinematic diagram of pear € shown in Fie. tenet eX rye RIS = 254+ (we) (0129) “375 = (05 — 0.12500 Ths -215 = 25 ~ 01250 ye = 50 ras Ansesr. ‘The wheal is igidly attached to gear A, which sin mest with pear racks D and EID hus avckeity of yp~6 1s To the rbt and the wheal roll on track C without sipping, determin the velocity of gear rack SOLUTION General Plane Motion: Since located there. Fg. a Here, whee! rolls without slipping ontrack C, the 1 aol me = 2258 eye = 0751 ” = 2esit ‘That ag vy he ran be tern en wr » 6 owe on = 206 Te Tone 2B oe p= wrayec ~ 2660S) = 20s — thee:169, ‘The oil pumping unit consis of a walking beam A, onmacting rox FC, and sank CD. IF the eran rotates at 2 fenstan rte of 6'ra/s, determine the sped of the rod Tamger # of te instant shown. ia Pint follows lar path shout point Han therefore the velocity of inn eri SOLUTION Kinematic Diagram: From the geomet, 0~ ian (42) — 440" ant te = VETS ~ 8.1041 Since crank CD and oun ME ate eon about {Redpoint a Bn anys shea dicted popes to sank CD tod "houm HE, rapesively The mugitiale aye snd pare te wepten = 60) = HDI ad ny = gyre ~ 912g At Ue aan Shown diectedvertcaly while vs rete with an angle S462 withthe verte Instantancoas Center Thc instantaneous center of zero velocity of fink BC at the insiant shown is located al the intersccion point of extended lincs drawa perpendicular rom vy and Vc From the geometry - fone — Soa 10 ene — aya aust on The angular velocity of ink HCis given by 180 ee ag HD als Thus tho angular velo of own BE is given by scr 8.124eme = 03000048) fone © 200 js “Thospeed of od hanger Hie given by sy ~ wnat ~ 2K) ~ 180A Ans. kBohls16102, I rod AB is rotating with an angular velocity fan = 3 eaf/s, determine the angular velosy of xl CD at Uteinstant shown. SOLUTION Kinematic Dagrane Yow to gore. 8 = sn *) 810, Since links AM snd CD rotting about fied pons A and, then vp ed Yo lms diecte porponscule ois AM and CI, esptivy The magia of and W880 vp eantay~ 312) ~ 6OIYs and 9 ~ wenren Ay AE the instant shown, yi ito an nh of 4° whi src at 3. Instansancons Center To stantansos center of zero velo of ink BC atthe inant shown is lated at the intersection point of xtended ines dawn ‘Perpendicular irom yp and vc. Using law ofsineswe have wet aig rune 80st ieee eye 010m “Te amp eo fk BC gen by se _ PR = 1988 mays ‘Thus the angular veleity of ink CD isiven by forcy = 1983(0.129) acy = 00510 ral’s Am46-106. The square plate is constrained within he slos at p Arand B. When 0 ~ 30°, point Ais moving ot 04 ~ m/s. Determine the veloc of point Ct thi netant oy, rayne = 03 c05 MP = 02598 m s Gage = OMRraM/s rene = VORP = OS — AOIWRHO SI eos GF = 02821 m_ te = (02821)(30792) = 89 m/s Ane a sind _ sine — 03 ~ 02821 eee 7098 6 = 90" — 67.09" = eV Ans. 16-07. “The square plate is constrained within the slots at p Fayre = O3sin WP = 0.15 m VF = CIF = BOUTS COST Rms Ans, = ame116-93. end Aot he hydraulic olinder is moving with a elocity of e = 3 mya, dotermine the angular velosity of tod BCat the instant shown, Rotation About a Fixed Axes Referring toFig. a, va encra = apc (04) ‘General Plane Metion: Te location of the /C for rod Ais inicate in Fig. b.From, % the geometry shown in this gure, we obtain os. oan cae rayne 7 O67 7 rayre =O tan AS? = 0.4m ‘Thus the angular velocity ofrod AB can be determined from 3 TaRt 3G rays“16-81. 1 the slider block A is moving to the right at ty = 8tfs, determine the velocity of blocks B and C at the instant shown. Member CD is pin conaecied to member ADB. Kinematic Diagram: Block B and Care moviag slong the guide and directed towards the positive y axis and negative y ais, respectively. Thea, vp = vj and Xe = ~vej. Since the direction of the velocity of point D is uaknowe, we can ‘sume that ite x and y componcnis are drested in the positive diretion of thi respective ais Velocity Equation: Here, ry/4 = [eos 5% + 4sin 45% t = (2828 + 2.083]. andy, = [2o0s45% + 2sin 435] st = [L414 + 141g] 1 Applying Eq 16-1610 link ADB, we have rat ane Xam tab + (ape) * 2228 + 28035) yh = 8 2828eryg)t + 25280 gop) Equating band) components gives 8 = 28280405 ny va = 2828008 a Solving Eqgft} an [2] yields ape = 2828 rays p= 8008s T Ans. The x and y componeat of veloaty of vp are given by vat wane toys 400 Hs (worst + (woh) A+ 828K) x (LAIsH + Lata) 4.08 + 4.065 eo 4 0014, ut L008/s (un), = 4.00145 Here, yp = [208 10% +2 sn 20%] fe = [1.7325 + If). Applying Eg. 16-16, toliak CD.wehave ved = 4.008 + 4.00) + (weak) (17301 + 1p) (400 ~ wep)i + (4 ~ 173200) j p+ den X topo Equating ‘andj components gives B116-77. ‘The planetary gear set of an aulomatic transmission consists of threc planet gears A,B, and C, ‘mounted on carrier D,and meshed with the sun gear F and ring gear F. By controlling which gear of the planetary set rotates and which gear receives the engine's power, the automatic transmission can alter a car's speed and direction. Ifthe cartier is rotating with a counterclockwise angular velocity of wp = 20rad/s while the ring gear is rotating with a clockwise angulat velocity of ap = 10 rad/s, determine the angular velocity of the planct gears and the san gear. The radii of the planet gears and the sun gear are 45 mm and 75 mm, respectively, Rotation About a Fixed Axis: Here. the ring gear, the sun gear. and the cartier rotate about a fixed axis Thus the velocity ofthe center O of the planet gear and the contact points P" and P with the ring and sun gear can be determined from Yo = ep = 20(0085 + 0.075) = 2.4 m/s — Ve = were = 10(O.045 + 0.085 + 0.075) = 1.65 m/s —> (0073) = 00750, General Plane Motion: Fist, applying the relative velocity equation for O and P* ‘and referring to the kinematic diagram of planet gear A shown in Fig. a, % x Vo = We eg X toe 2a = 1.651 + (oh) x (0.045) 2.41 = (1.65 - 0.04505 ‘Thus, proojsue 24 = LOS - 00450, @ og = 0 rads Ans. Using this result to apply the relative velocity equation for P' and P, Ye =p #04 X oye =0075gi = 1.654 + (=90)) x (—0.09)) ~O0TSagi = —6.454 0.0750 wor = S6rad/s Ans.16-76, ‘The mechanism of a reciprocating printing table is driven by the crank AB. If the crank rotates with an angular velocity of o = 10 rad/s, determine the velocity of point C atthe instant shown. Rotation About a Fixed Axis: Referring 10 Fig. vps OX ty = (10k) x (-05c08 45°F + OSsin 455) = [3536 + 3536j] m General Plane Motion: Applying the law of sines tothe geometry shown in Fig b, sin 6 _ sin 135° aT 6 = 20708 Applying the relative velocity equation to the kinematic diagram of link BC shown inFig.c, B Ne + one X te Im SSR64 + 3.536) = ¥CH+ (ogc K) X (=I €05 20.70" 1 + 1 sin 20.70%) 35361 + 3.536] = (ve + 0.3536u—c)H + 0.93540RC 5 Equating the andj components ysl, 3536 = ve + 03536090 (b) 3536 = 0953S Solving, 3.780 rad/s ve = 2.199 m/s16-61. ‘The rojation of link AB creates an oscillating movement of gear F. If AB has an angular velocity of yy = 6 rad/s, determine the angular velocity of gear F at the instant shown, Gear £ is rigidly attached to arm CDand pinned at D to a fixed point. ‘Kinematic Diagram: Since link AB and arm CD are rotating about the fixed points Aaand D respectively, then ¥, and ¥- are always dicted perpendicular theit their respective arms with the magnitude of vg = 43 '4p = 6(0.073) = 0.8S0m/s and ue = wep rcp = D.ASucp. At the instant shown, vy and vg are directed toward negative x axis. Velocity Equation: Here, ryje = (0.1 cos 0° + 0.1 + 005i) m. Applying Eq. 16-16, we have 308) m = [=0.08660% Ye =p + One X Fon 04504 = ~0.150x pi + (och) % (0.086505 + 0.05)) 0450 = ~(O.65u9¢ + O1Suco}i + .08660eecj ‘Equating i and j components gives 0 = 0.08660uy¢ oye = 0 0.450, {005(0) + 0.15aen] wen = 200rad/s Angular Motion About a Fixed Point: The angular velocity of gear Eis the same with arm CD since they are attached together. Then, wp = cp = 300rad/s. Here, ere = wr Fr Where w isthe angular velocity of gear F c= (809 « none ue