Está en la página 1de 192
PROBLEM 15.1 ‘The motion of a cam is defined by the relation 9=/ ~9/? +151, where 0 is expressed in radians and ¢ in seconds. Determine the angular coordinate, the angular velocity, and the angular acceleration of the cam when (@) 1=0, (0) 1238, SOLUTION 9" +15¢ ao a i? 18/415 Mr? - 6145) = 3-5-1) de. dr = 6-18 @ 4 o-04 0=15.00 rads = -18.00 ralis? ) 138: * 93)? +15) @=3(3)? —18(3) +15 a= 6(3) 18 PROPRIETARY MATERIAL, & 2009 The MeGraw-1ill Cxnpanies, fn. All igs reserved. No part ofthis Manual may be elas reproduced or dartuted in any form oF by any means, shoud the prior writen permision of te publisher. or used beyond the lied distribution to teachers and educators permuted by McGraw Hil for thts mlisidua course preparation Ifyou este ws ts Maat, You are ung leo permission PROBLEM 15.2 For the cam of Problem 15.1, determine the time, angular coordinate, and angular acceleration when the angular velocity is zero. PROBLEM 15.1 The motion of a cam is defined by the relation @=1'~91" +151, where is expressed in radians and 1 in seconds, Determine the angular coordinate, the angular velocity, and the angular acceleration of the cam when (a) £0, (6) SOLUTION 90 4151 a6, dt 237 18415 =H? -61+5) (t— SKE) o=0 when 121.0008 and 1=5.005 4 tals: O=1-9415 8=7.00 1d a= 6(1)-18 12.00 radls? 158: 945)? +1505) 0=-25.0 rad = 6(5)-18 = 12.00 rad/s? PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine, All igh reserved. Mo part of thi Manual may be displayed reprediced or diteibuted in any farm or by any means. eat the prior wren permission of the publisher, or used beyond the fnited ‘Uibution Yo teachers and educors permit hy Mere Hl or the inviual course preparation. If yoaré-a stent wing this Marta Yo are igi witon permission. 02 PROBLEM 15.3 The motion of an oscillating erank is defined by the relation @ =, sin xe!T)~ (0.50,)sin (20/7), whete 0 is ‘expressed in radians and ¢ in seconds. Knowing that, =6 rad and 7'= 4 s, determine the angular coordinate, the angular velocity, and the angular acceleration of the exank when (a) ¢=0, (b) 1=2 8 SOLUTION @ fo: o=04 o=04 a=04 (6) a=6 su(22)-ostosn( #2) =6~0 ~{G)o(3 x 2a =6FO)-05OFD Oe = 411 rads 4 a=-3.70 rads? PROPRIETARY MATERIAL. © 2009 The MeGras-Hill Companies, Ine. Al sights yoserved. No pov ofthe Manu may be displayed ‘eprnduced or distibued tm any for or by any means, without the prior wvtten peraisson ofthc publsher. or mae beyond the hited \diibution wo teachers and edcators permit by MGraw-Hil for tei dal course preparation Ifyou area stent ng ts ha, eH ane sing iron pevmission, 963 PROBLEM 15.4 Solve Problem 15.3 when #= 1 s. PROBLEM 15.3 The motion of an oscillating crank is defined by the relation @=4sin(d'T) = (0.565)sin 2/7), where 0 is expressed in radians and 1 in seconds, Knowing that @ =6 rad and T=4 8, determine the angular coordinate, the angular veloeity, and the angular acceleration of the crank when (A) SOLUTION O=1243 rad @=333 radls Jafehom(2) any J Leas0(2ef 0 PROPRIETARY MATERIAL. & 2009 The MeGru Ail Companies, Ine AI rights reserved. No part of this Mina! may be displayed Teproduced or dnt in any form or by any mens, withow te prior wt pormisson of te publisher, or ated bxyond the Tinted isribci to eachrs a escape hy Merwe Hil fort ndsidual course preparation. Ifyou areastent using this Mano, on are rng wld persion. 364 PROBLEM 15.5 ‘The motion of a disk rotating in an oil bath is defined by the relation @=0,(1~e°"*), where Bis expressed in radians and / in seconds. Knowing that 6, =0.40 rad, determine the angular coordinate, velocity, and acceleration of the disk when (a) ¢=0, (6) £=3, (c) ==. SOLUTION = 0.40(1~e%) Bah one =0.106% 82019 4 » 00254 @ 10 2=0.40(1~e") o=04 0.106" 1000 ads a= 00256" a=-00250 nds? ©) ta3s: 0 =0.400- 6%) 4041 -0.4724) o= 021 ad < o=0.100" =0.10(0.4724) @=0.0472 radls € a=-0.0252™4 = -0.025(0.8724) 0.01181 radi? ) = 0401-6") = 0401-0) 6 = 0.400 mud = 0.1007 o=04 = ~0025e" a-04 PROPRIETARY MATERIAL, © 2009 The MeGraw-Hill Companies, Ine. All ight reserved: No prt of thir Mana mney be display reproduced cstributed in any form or by any means, without the prior wri permission ofthe publisher, oF tac Beyond the lined cdstribution to weachers od educators permite hy SteGraw-Hl fo their individual conse preparation Ifyouareastdet iting hs Menu Lyon are using it wichon permission, 968 PROBLEM 15.6 “The angular acceleration of an oscillating disk is defined by the relation a”=~k@. Determine (a) the value of k for which @=8 rad/s when =O and @=4 rad when @=0, (b) the angular velocity of the disk when 6 =3 rad, SOLUTION @ k=4.008° € @) o> 5.29 radls PROPRIETARY MATERIAL. ¢5 2008 Tho MeGirsw-1hll Companies, Ine. All ghts reserved. No part of ths Marne! may be displayed reproduced ov dsvibated in any form or by any mean, wiht the prior wten permission of the publisher, or wed beyond the fmited (teria to teachers and edsors permed by MeGrave il for tr indvidnal course preparation fyoucarea stadt using this Mone fon are asing ith pevmussin, 966 PROBLEM 15.7 When the power to an electric motor is tuned on the motor reaches its rated speed ‘0F 3300 rpm in 6 s, and when the power is tuned off the motor coasts to rest in 80's Assuming uniformly accelerated motion, determine the number of revolutions that the motor executes (a) in reaching its rated speed, (b) in coasting to rest. SOLUTION 1300 mpm =1100 sadls Uniformly accelerated motion 0) =0, 1265 @ o=0, bat; 02-0406), 6= 041+ 1a rt Wee loo? $30 rad 2 26 6 =(3307 rad) EY o=16518v 2a rad Oy 0, = 110s radls, @;=0 when 1-805 0, =0,40t; 0=N0r+a(808), a 1 1f 110 2 ameter cio -4{ 2s 0s = 88007 — 44007 = 4400 rad Lrey = (4400, Ome rad = 2200 rev PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. All rights reserved. No prt af this Manual ony he esplayec reproduced or dsributed in any form or by ny meas, wont the prior written permbsion of the publisher used besend the Tinted dsirtbuton to teachers and educators permite by MeCraw-4U for their onividval corse preparation Ifyouarea student asin is anu Pon are wing I thou! permcion 907 PROBLEM 15.8 ‘The rotor of a gas turbine is rotating at a speed of 6900 pm when the turbine is shut down. It is observed that 4 min is required for the rotor fo coast fo rest. Assuming uniformly accelerated motion, determine (a) the angular acceleration, () the number of revolutions that the rotor executes before coming to rest SOLUTION an 0 = 6900 rpm 2 eee ( oy ) 722.57 dls 1=4 min =240 @ @= 0, +at, 0=722.57+a(240) a=-3,0107 rads 301 dl? @) Baayts ar? 722. S720) +33 oo7y(240y? 6 =173,416 86,708 = 86,708 rad Lrev 0=86, roe 3 ) 7 rad PROPRIETARY MATERIAL. © 2009 Tho MeGrsw-til Companies, Ine, All ights reserved. No part of thie Manual may he displayed. reproduced or dsbuted tn any form or by any means, without the prior writies permission ofthe publisher ov nsed beyond the Fired sributonto teachers ad eucuors permite by MeGrave Hl for Hiv individual couse preparation. If you area student wing his Manvel, Jou are sing it thot permission 968 PROBLEM 15.9 ‘The angular acceleration of a shaft is defined by the relation @=--0,25e, where @& is expressed in rad/s? and @ in rad/s, Knowing that at ¢= 0 the angular velocity of the shaft is 20 rad/s, determine (a) the number of revolutions the shaft well execute before coming fo rest, (A) the time required for the shafl to come to res, (6) the time required for the angular velocity of the sheft to be reduced to | percent of is initial value. SOLUTION @ 0.250; 0=80rad 8 = (80 rad) e=127T rev Brad ® a=-0250; 0250, 1%--0.250 dt o 0.28 [a [in of, = 0.25 1 neo In20)= 4(In20~In js (PI 20)=4UIn20- Ino) 20 mae 1 ay a For o=0 124 In Od ine tno 0 (For = 0.01%, =0.01(20) =0.2 rad 20 wea. o(22)=4mi=aesoy PROPRIETARY MATERIAL. © 2009 The MeGraw-1ll Companies, ne. Al igh reserve. No part of this Manna may be displayed, ‘reproduced or disbuted i any form or by any means withou the prior writes permission ofthe publlsher, or used beyond the led tsribtion to teachers and edacors permed by Mere -Hl forthe individual owns prcparaion yon ance student wing this Manta, ‘yon are sing inion permission, 969 PROBLEM 15.10 ‘The assembly shown consists of the straight rod ABC, which passes through and is welded to the rectangular plate DEFT. ‘The assembly rotates about the axis AC with a constant angular velocity of 9 rad/s. Knowing that the motion when viewed from C is counterclockwise, determine the velocity and acceleration of corner SOLUTION AC = (350 mm)i~(200 mm)j-+(200 mm)k AC = 450 mm a =200)12008 2 oi -ajvy 0= hye =O rads) (714-4) = (7 rad/s)i—(4 radls)j+(4 mdi =O Comer F: 175 mm)i+(100 mm)k (0.175 mi + (0.100 mk OXt hp ijk 7 4 4 0.175 0 0.100] “0.41 +{-0.7-0.1)j- 0.7 Vp = (04 mv/sji=(1.4 mis}j-(0.7 mis 7 Ay = UY yp FOX(OXE pp) =040x¥p ay = OXY, ijk 7 4 4 oa -14 -07] =Q845.6)i+ (1644.9 j+(9.8-1.0K (84 mis? \i4+G.3 mis)§~C1.4 mis? )k PROPRIETARY MATERIAL,‘ 2008 The McGraw-Hill Companies, Ine. All righ reserved. No part of this Manual may be displayed reprodnowd or dstibated in cy form oF by any scans, without the prior writen permission of the publisher or use beyond the ited isvibron to cachors end acutors parted by MeGra-Hil for thoi indivi course preparation If yon aveca student us hs Manu om are ing i without permission on PROBLEM 15.11 In Problem 15.10, determine the acceleration of eorner H, assuming that the angular velocity is 9 rad/s and decreases, at arate of 18 rad/s", 100m > Hayy 7% PROBLEM 15.10 The assembly shown consists ofthe An straight rod ABC, which passes through and is welded to the rectangular plate DEFH. ‘Phe assembly rotates about 100m the axis AC with a constant angular velocity of 9 rads. at Knowing that the motion when viewed from C is counterclockwise, determine the velocity and acceleration of comer F, SOLUTION = (350 mm)i~(200 mum)j+(200 mame AC=450 mm 350i~200}+200k 14, 4: Age = AE = BSG 2005+ 200K Vigan MAE 450 ote e er oa, 9 ras) (714) 4k) ©=(7 mds) (4 dis) (@ adik — a =0 aanIB rads = thye =(18 ad?) (74) 4k) =—(Ud rads") (8 radls?))—(8 rads?) Comer I Fy = (075 an)h+(100 mn) = (0.175 mi-+ (0.100 mk Vy = OXt yy i i k =| 7 4 4 0.175 0 0.100 =-04i+ (0.70.7) +0.7 Vy =A mnisih+ (0.7 mish Ay = OX yy + OX(OXT 9) OXF gq FOXY Rete ijk ays] 14 8-8 le] 7-4 ad 0.175 0 0.100] |-04 0 07 =0.8i-+ (-1.40+1.40)j—1.40k ~2.81 + (-1.6~4.9)j~ 16k (2 mis’ )i- (6.5 m/s)j-G mis*)k ay PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Compenies, ne. All righs teseved. No part of his Manta! may be displayed, ‘reproduced or disribued tn any form or by any means, won te prior vritten permission ofthe publisher or sed beyond the lined dstbution to teachers and educators permis by MeCra- Hl fort individual course pepaaion Iwano student wn hs Blau ow are using itn permission. 7 PROBLEM 15.12 ‘The bent rod ABCDE rotates about a line joining Points A and E with a constant angular velocity of 9 rad/s. Knowing that the rotation is clockwise as viewed from Z, determine the velocity and acceleration of corner C. 200 mis SOLUTION (-041+0.45+0.24) = 20-2142) +k) = ephey = rad) 121+ 25+) = ~(6 ra/s)i + 6 rad/s) + @ radis)k i ik Xt =| 6B 6 3 |=-O4S1-1.25+(-0.94 24)k “04 015 0 Ve =(0.45 mis)i-(1.2 mis)i+ (1.5 misyk 40 tp FOX(@X Fp) = Cyc XFee + OXY ij ok =0+, 6 6 3 045 12 15 = (943.6) + (135+ )4 (7.242. (12.60 mvs" i-+(7.65 mAs*)} + (9.90 ms? Jk PROPRIETARY MATERIAL. © 2009 The MeGuw-till Companies, In. Al rights reserved, No part of this Manual may be displayed ‘reproduced on dtribuied in any form oF by any mens, hon the pier writen permissions ofthe publisher, or nsed beyond the Tiiied distribution to teachers and eduentrs porosity MeCiraw- Hi fot dua ows preparation Ifyou stent wsing hi Merl, pro a ig i without portion. om 4 PROBLEM 15.13 In Problem 15.12, determine the velocity and acceleration of comer B, assuming that the angular velocity is 9 radis and increases at the rate of 45 rad/s’ 200m PROBLEM 15.12 The bent rod ABCDE rotates about a line joining Points 4 and E with a constant angular velocity of 9 rad/s. Knowing thatthe rotation is clockwise as viewed fiom £, determi on oF comer C: the velocity and accelera 150 aca 400 mm [ sovution 14? + 0.4? 40.2 6m (0.25 m)j 04 mi+(O4 m)j+ (02 mk a, -24 (Paes ae) 1 lage EA 06 3 (214+ 2)+k) = Oho =O rads) (2142) 4) @=~(6 radis)i + (6 rad/s)j + (3 rad/s} Vg = OXNigg = (G+ 6] + 3K) X(-0.25)) = 1.9K +0.75 (0.75 mis)i+ (1.5 mvishk 01= Otyphyy =(45 radls? yeu 42)+k) 6. = 0 radis?)i-+ (30 radis?)j+ (15 rads?) Hyg + OX (OXF pg) = OX yy + OXY y boi k/] i ik a,=|-30 30 15|+]-6 6 3 © -025 0| Jo75 0 15 =3TS+7SK+91+(2.254+9))—4.5k ay = (12.75 mms ji + (11.25 mis?)j+ 3 mis?) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. All hls reserved. No part of this Manual may he displayed ‘repruduced or disibued in any form or by any means, without te prior vite pormsion ofthe publisher, or sed beyond the liited isoibution to teachers and educators permite by MeGraw-Hl fr thea individual course preparation Ifyou avec studert using this Man, ow are using without permission on PROBLEM 15.14 A triangular plate and (vo rectangular plates are welded to each, other and to the straight rod AB. The entire welded unit rotates about axis AB with a constant angular velocity of 5 rads Knowing that at the instant considered the velocity of comer E is directed downward, determine the velocity and acceleration of comer D. SOLUTION Since vy is downward d@yy isC when viewed from A. AB =0.4? 4037; AB=0.5m yw =(0.35 ra)i~(0.3 BA=(04 mj~(03 mk ie a Gloai-0K) 8j-0.6k = ayphng =(5 0dl5X0.8}~0.6k) = (4 tad) ~G rad’ ijk yp =Oxtpp=| 0 4 3 =1.05)-1.4 035 0 -03 Vp =—{l.2 mis)i ~(1.05 mvs)§= (1.4 mis) Ay = OX yy + OX(OX yy PEE ay=04] 0 4 “12-105 -14 OX ng FOXY (5.6 -3.15)i+3.6]-44.8k. fay = (8.75 mis?) (3.6 mis?) (4.8 mis) PROPRIETARY MATERIAL. 1 2009 ‘The MeGeuw-Hill Companies, Ine Al rights reserved. No part ofthis Mameal may be disfase reproduced or dvrtated in any frm oF y any means, wou the prior writen penwission of the publisher, or used beyond the Foited ‘hibuion to teachers and edneuiees permite by MeGraw- for they inddval course preparation Ary ae student wing is Ma yu are using i thot permission om PROBLEM 15.15. In Problem 15.14, determine the acceleration of comer D, assuming that the angular velocity is 5 rad/s and decreases at the rate of 20 rad/s?, PROBLEM 15.14 A triangular plate and two rectangular plates. are welded to each other and to the straight rod 4B, ‘The entire welded unit rotates about axis 4B with a constant angular velocity of 5 rad/s. Knowing that at the instant considered the velocity of corner £ is directed downward, determine the velocity and acceleration of corner D. af SOLUTION Since yy is downward @,, is when viewed from A AB = 0.4 403°; AB=05m yp =(35 myi—-CO3 mk BA=(04 m)j-(03 mk hay = Fg (OAI 0.3K) =O} ~-0.6K 5 radis}(0.8j -0.6k) = (4 rad/s)j~(3 rad/s) (20 rad/s? )(0.8j~0.6k) i+ (12 rads?) ijk 0 4-3 |= -1.24-1.05j-1.4k 035 0 -03 Vy =—(12 mis)i~ (1.05 mis)j~(1.4 misyk By = OXt yp FOX (OX 9) = OXF yg FOXY y ate tec =] 0-16 12 ]+] 0 4 035 0 -03] |-12 -105 -14 =4.814-4. 254 5.6K + (-S5.6-3.151 43.654 4.8. (3.95 mis? i+ (7.8 mis?)j-+ (10.40 mis*)k PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ie. AI rights reserved. No port of this Manual may be displayed Depradvced or dissed in ean form or by any mes, withow the prior nrdien permission ofthe publisher. oF used beyond the lited cdsibtion to oachors nud edcotrsperitod By MeCravHl for vi individual course preaovaton Uf owarec student ws hs Manual, Don are ning itn permission ons PROBLEM 15.16 ‘The earth makes one complete revolution on its axis in 23 h $6 min. Knowing that the mean radius of the carth is 3960 mi, determine the linear velocity and acceleration of a point on the surface of the earth (@)atthe equator, (0) at Philadelphia, latitude 40° north, (c) atthe North Pole. SOLUTION 24h 56 m=23.933h wpe 2nrad a0 P i933 in) a\ =72.925%10 rads R= (3960 mi (2282 . =2091x10%R r= radius of path = Reos9 | @ Equator: Latitude = = R(cos0)0 20.91% 10°} 1)(72.925 10 rads) 1525 908 (cos 0a? = (20.91%10°fY(1)(72.925%10 rads)? a=0.11I2 ts? € (&) Philadelphia: Latitude = @=40" o = Ricos40%\o0 20,9110" F(c0s40")(72.925 x10" “radls) vals ts 20.91 x10" R(cos 40°V(72.925%10 rad/s)? 1.0852 fis? (©) North Pole: Latinude =¢=0 r= Reos0=0 PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ie. A rights reserved. No part of ss Mama! may be displayed, reproduced or dsrtbuted in any form or by any means, without the prior writen permission of the publisher, or used beyul the limited istriéuon 1 teachers ana educators ported by Grant forte inside course preparation. Ifyou area student using this Mara Som are wing witha permission 976 PROBLEM 15.17 ‘The earth makes one complete revolution around the sun in 365.24 days, Assuming thal the orbit of the earth is circular and has a radius of 93,000,000 mi, determine the velocity and acceleration of the earth, SOLUTION aad (365.24 days)( 3) (4P*) =199.11x10" rads ro onset) (282 "ass H<10" rad/s) mi =97,770 fs ‘oF = (93X10°}(5280)(199.1 1x10"? racis)? 6,700 mid a= 19.4710 tus? PROPRIETARY MATERIAL © 2009 The McGraw-Hill Comypnies, Ine All rights reserved. No part of this Manual may be displayed, ‘reproduced or dbte in any form or by any mcans, whon the pir written permussion ofthe publisher or sed beyond the Tamted ‘dsr irtion to teacher an ecacators permite by MeGrnaw- for thew inva conrse preparation. If year stent wing ths Slane, ow are et i iter pormision on PROBLEM 15.18 ‘The circular plate shown is initially at rest. Knowing that »-=200 mm and that the plate has a constant angular acceleration of 0,3 rad/s’, determine the magnitude of the total acceleration of Point B when (a) 1=0, (0) 1225, (©) SOLUTION Uniformly accelerated motion. =a, +eI=0+at wat ara a,=r0? =ra°t 2a att =P set) apaa sa? ay = ral at" r=0.2m, @=03 radis® ay =(0.2K0.3)14 (034)? =0,06(1 + 0.0904)" @ ay = 0.061 +0) iy = 0.0600 mis? () 228: a4, = 0.06(1 + 0.09 24) 4g = 0.0937 mis? © 124s: ay = 0.06(1 + 0,094)! ay = 0.294 mis? PROPRIETARY MATERIAL. © 2009 The MeGeaveAil Companies, ne. All ights reserved. No pot of his Manual me be diploed, reproduced or tied in any form or By any macs, wiht the rice writen permission of the publisher ase beyond the Fnited ‘disributon to teachers cnx usar permitod by MeCaw-Il or thei inviual course preparation yow area stadt wing this Mar ‘em are sing itn permission. O78 PROBLEM 15.19 ‘The angular acceleration of the 600-mm-radius circular plate shown is defined by the relation = age". Knowing that the plate is at rest when ¢=0 and that @ =10 rad/s”, determine the magnitude of the total acceleration of Point B when (0) 1= 0, (6) £=0.5 8, (c) f==, SOLUTION @) 1=0; ©) (05s: (tae a= a (-e") (0.6 mY(10 rad/s Je = be *F =(0,6)(10)"(1~-e)? = 600-7 P Ge" =6 mist 4, = 601-6" =0 aha +n a, = 6e"* = 6(0,6065) = 3.639 m/s? a, = 601-e = 60(1~0.6065)? =9.289 mis? ah =a +a ~ 3.639) + (9.289% ay =9.98 is? 4, =6e" =0 4, = 6001 —e P= 60 m/s? aha? +a =0+ 60° 4, = 60.0 mis? PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine All vghtscesrved. No part ofthis Mana may be diployed. ‘reproduced or distributed in cn form or by any means, withow the prior wt permission ofthe publisher or ased beyond the limited sisribution teachers nad educators permitd by MeGna-Hl for de indoiual owes preparation I yon area student tone ts Menta, on ave rng it with! permission om PROBLEM 15.20 “ “The 250-mm-radius circular plate shown is initially at rest and has an ular acceleration defined by the relation er= @ cos (71/T). Knowing that 7 =1.5s and @% =10 rad/s’, determine the magnitude of the total ‘acceleration of Point B when (a) =0, (b) £=055 5, (c) #= 0.75 s, SOLUTION at 2) coal # mm c B)\-(2s. cos | =2.5cos| 2 oot =) (0.25 m)Q0 maa veo) seo #2) sin) «ssi #2) 18 1s (16 ay =2.50 is? 105s: Sees SeosF =I 25 mis* 4, = 5.10sin? (%)- 5.10sin? = = 4,275 mvs? r 3 25? 44.275 a, = 4.45 mis? (1075s: ana vai =045.10° a =5.10 wis? PROPRIETARY MATERIAL. © 2009 The MeGrow-Hil Companies, ne Al rights reserved. No part af shi Manvel may be displayed, reproduced or dstrbuted nv any frm or by eng: means, without the prior wien permission of the publisher, or weed boyond the linited stribnton to teachers and educrs port by MeGrow-I forthe individual couse preparation if you are student sing ie Mansa, ow are sig withou permission PROBLEM 15.21 A seties of small machine components being moved by a conveyor belt pass over a 6-in.-radius idler pulley. At the instant shown, the velocity of Point A is 15 in/s 10 the left ‘and its acceleration is 9 in/s® to the right, Determine (a) the angular velocity and angular acceleration of the idler pulley, (6) tke total acceleration of the machine component at B. SOLUTION SEES ee ring® @ @=250adls) € a=1.500 ads?) B es (0) a,=ra bat =(6 in.Y2.5 rad/s)? a, =37.5 inJs*| g= Fong? Ay = 386 in Js? 76.5 PROPRIETARY MATERIAL. © 2009 The MoGraw-Hill Companies, Ine. All ight reserved. No part of this Menual may be displayed ‘eprodced or dstrited any form or by any meen, without the prior weit permission of the prblisher, or nse beyond the lined dsribaton to teachers ent cco permite by Meri fr thelr nd ia eonrae preparation If yen ance student avg ths Manta, So ar using 1 st pernision PROBLEM 15.22 A series of small machine components being moved by @ conveyor belt pass over @ 6-in-radius idler pulley. At the instant shown, the angular velocity of the idler pulley is 4 rad/s clockwise. Determine the angular acceleration of the pulley for which the magnitude of the total acceleration of the machine component at B is 120 inJ/s”. SOLUTION me HEPA = (Sia ee aye rHd?e (Bin ltedh) > Wine aadta (120 inJs"’ = (6ar)” + (96 inJs’ 44, a= £12 = 12.00 rad/s? D PROPRIETARY MATERIAL. & 2009 The MeGrsw-till Companies, le. All ahts reserved. No port of thie Manual ona e dplaved ‘reproduced or disributed bn any form or By ans mets, withont the prior written permission ofthe publisher, oF wsed beyond the Tanted ‘dsb to teachers end actors permite by MeCra-18 for tei invidal conane prervaion youre student using this Manta ow are wring 1 toa! permission on PROBLEM 15.23 ‘The belt sander shown is initially at rest. Ifthe diving drum B has a constant angular acceleration of 120 rad/s’ counter- clockwise, determine the magnitude of the acceleration of the belt at Point C when (a) r= 0.5 s, (b) ¢=2 s. SOLUTION 4, = re#= (0.025 m(120 radis*) Age s70 rodfg™ a, =3 ms" {ar @ 120 rad/s’ (0. 82500 44, = reo" = (0.025 m)(60 rails)! ae ay = 90.05 mis? 20 rad/s? (2 s) = 240 rad/s a, = ra = (0.025 m)(240 rad/s) 4 4, =1440 mis? ay =1440 mis? PROPRIETARY MATERIAL, © 2009 The MeCrav-Hill Companies, Ie. All rights reserved. No put of thc Mama maybe aplayed reproduced or dsibused in any form or by any mes. wou the prior erin permission of the yublter, ar ed bere the Fined tsibuion to teachers and eduewors permite by Mera Hl for thes dual eure preparaiion If yonare a stadentasing this Samual ‘orare sing ison permission ons PROBLEM 15.25 (Continued) i (B) Accelerations: ne Point on rim of ry = 24mm = 0.024 m ay =r (0.024 m)(31.416 radls)® = 23.687 mis? a,=23.7 mis" | 2n Point on rim of B = 275 rpm{ ensina eos (22) = 28.798 radls Ay = 9h = (0.024 m)(28.798 rads) 9.904 mis? a, =19.90 mis? | PROPRIETARY MATERLAL. © 2009 The Meith Compas, Ine. AIL righ reserved No pat ofthis Manual may be cspleyed ", indy reproduced or deibted ix any form or by any means, wid the prior writen permission of the publisher, or wsed Beyond the Finited ‘dsibution to teachers and educators permite by McGraw-Hill forts ideal course preparation. ff yow ave astadent sing this Maral, ow are sing i tho permission PROBLEM 15.26 Ring B has an inside radius 7, and hangs from the horizontal shaft 4 as shown. Knowing that shaft A rotates with a constant angular velocity @ and that no slipping occurs, derive a relation in tems of r, 12, rs, and @ for (a) the angular velocity of ring B, (b) the accelerations of the points of shaft 4 and ring B which are in contact, SOLUTION (a) Let Point C be the point of contact between the shaft and the ring. (©) Onshaft A: On ring B: PROPRIETARY MATERIAL. ° 2009 The MeGrawHill Companies, Ine All ights served, No part of this Manual may be displayed ‘produced or dbributed in ey form or by any means, wilt the prior written permtsion of the publisher or used Beyond the Tied distribution to teachers and educators permite by MeCrese-Il forthe individual course preparation you area student wing this Manvel. ow are sing i withontpormision 97 4 PROBLEM 15.27 Ring B has an inside radius rand hangs from the horizontal shaft 4 as shown, Shafl 4 rotates with @ constant angular velocity of 25 rad/s ipping occurs. Knowing that r) = 12 mm, r= 30 mm, and 10. mm, determine (a) the angular velocity of ring B, (b) the accelerations of the points of shaft A and ring B which are in contact, (6) the magnitude of the acceleration of a point on the outside sutface of ring B, SOLUTION Let Point C be the point of contact between the shaft and the ring. Hits | a On shaft A: 0, =403 | 2 2, On ring B seas -a( 24) a, fay = 849 mms? 2732.0" D (0g)z romrnje Monvat! ey be ciple, PROPRIETARY MATERIAL. (2 2009 The McGraw-Hill Companies, Ine, All rights reserved. No part of is ‘veproduced or disibuted in cny form or by any means, without the prior writen permission ofthe publisher, oF raed beyene te Treted nH for ther inividnal course preparation Ifyou are stdent wing this Man, isibution 1 teachers al eden porte by et ouave sing i won permicsion 998 PROBLEM 15.31 A pulley and two loads are connected by inextensible cords as shown. The pulley starts from rest at = Qand is accelerated at the uniform rate of 2.4 rad/s clockwise, At r=4 s, determine the velocity and position (a) of load 4, (b) of Toad B. SOLUTION Uniformly accelerated motion, (a) Load, AL f= 45: (0) Load At f= 4s: m=O = 24 radis? ) = ay tar =0+(24 radis? (4s) @ =96 rad/s?) = rare yar = 0408524 mais yt 9 =19.20 rad) 20 mm 120 mmy(9.6 rad/s) = 1152 mm/s vy, =1.152mis | € 0 = (120 mm)(19.2 rad) 2304 mm y,=230m} yy =180 mm. Up = ry = (180 mmy(9.6 rads) =1728 mos vg =1.7281is | 4 Yea = (180 mmy(19.2 rad) =3456 mm yp=34om | ‘PROPRIETARY MATERIAL « 2009 Ts McGraw-Hill Companies, ne. All rights reserved. No port of his Manual may be dspaved, Feprudiced ov disbuted in any form or by any means whom the prior written permission ofthe publisher, or used beyond the tinted Uasiton to teachers and educators permitiod by Mer Hl fer their indivi conse preparation. Ifynave student using this Mame, ‘oa are using i thou! permission. 904 PROBLEM 15,32 Disk B is at rest when itis brought into contact with disk A, which is rotating freely at 450 rpm clockwise. After 6 s of slippage, during which each disk has a ‘constant angular acceleration, disk A reaches a final angular velocity of 140 rpm clockwise, Determine the ‘angular acceleration of each disk during the period of slippage. SOLUTION Al ra, When 1=6 s: (end of slippage) rally (eq = 450m ©, =140 rpm = 14.661 rad/s) a=0 (Bin.)(14.661 rad/s) = (5 ino, (Oy + O46 14,661 radis = 47.124 radts + a (68) @y =8.196 rad/s") y= (Og )y + yl 8.196 radls = 0+ %,(6 8) iy =1.466 rad/s? Ot, =1.466 rads?) 17.124 radis 1, =SAl rad/s?) PROPRIETARY MATERIAL. © 2009 The MeGraw-Hil Companies, Ine, AU rights reserve. Mo port of this Mama nay he dplave ‘eprodced or dried iv any form or by any means, without the tor wren permission ofthe publisher. or nsed beyond the lined ‘Astrismon to teachers and sdcetors permed by Gre Hl for tcc inva course prepara ifs area eden wag ths Maa you ate sing i withont permission 99s, PROBLEM 15.33 ‘A simple fiietion drive consists of two disks 4 and B. Initially, disk A has a clockwise angular velocity of 500 spm and disk B is at rest. It is known that disk 4 will coast to rest in 60 s. However, rather than ‘waiting until both disks are at rest to bring them, together, disc B is, given a constant angular acceleration of 2.5 radis* counterclockwise. Determine (a) at what time the disks ean be brought together if they ate not to slip, (b) the angular velocity of each disk as contact is made. (@,)p = 500 mpm = 52.36 rad/s.) Og)y +h; = 52.36 rad/s + a1(60 8) At time Oy = (yy tO 0, =52.36~ 0.872661 wo Disk B: Ay =2.5 radls? (py = 0 Autime ¢ 04 =(thy)y tO; Og = 25 @ (@) Bring disks together whew: 14), = rally (3 in {52.36 0.872661) = (Sin }(2.5) 157.08 ~ 2.6181 = 12.51 157.08 =15.118¢ 1210398 4 (®) When contact is made (¢=10.39 8) Eq, (1) 0, ~52.36~0.87266 (10.39) @, = 43.29 rads 13pm) Eq, 2) ty =2.5(1039) = 25.935 rad/s @, =248pm) 4 PROPRIETARY MATERIAL, © 2009 The Meiew-Hil Companies, Ie. Al rghlssesrved. No part of this Momual may be displayed reproduced or dsmtuaed in any form or by any means, withnt the prior writen permission of the publisher or wsed beyond the Lnited Udsibuton to teachers end ecwors pent by MeGraveHl forte indlviua course preparation. Ifyou area stdent ws this Mane, Sor are ing lr pesmsion. 996 PROBLEM 15.34 A simple fiietion drive consists of two disks A and B. Initially, disk 4 has a clockwise angular velocity of 500 rpm and disk at rest, It is known that disk will coast to rest in 60 s. However, rather than waiting until both disks are at rest to bring them together, disk B is given a constant angular acceleration of 2.5 rad/s” counterclockwise, Determine (a) at what time the disks can be brought together if they are not to slip, (b) the angular velocity of each disk as contact is made. ‘SOLUTION Disk Disk a will coast to rest in 60 s. Attime f: Oy) bd Oy = 52.36 0.872661 a Disk B: Srad/s* (@y)y =0 Attime t: Og \y + Oils @ (a) Bring disks together when: 14g = 14 (80 mm)(52.26 0.872661) = (60 mm)(2.51) 4188.8 69.813 = 150r 4188.8 219.813 9.056 s 1219.068 () Contact is made: Fa, (I) (04, = 52.36 ~0.87266(19.056) 0, = 35.73 rad/s ©, =344 rpm) Eq. 2) y= 2.519.056) py = 47.64 rad/s ©, = 455 mpm) (@,)o =500 rpm = 52.36 rad/s.) 5 0=52.36-4-€,(60 8) 1, = -0.87266 radis? (Oy + PROPRIETARY MATERIAL, ° 2009 The MeCir ‘reproduced or distributed i ey for or by any wees, istibuton teachers cand educators permite by MG forthe nd do are sing I ae! permision Hill Companies, ne, AI rights reserved. No pare of thie inal my Be dsplaer thou the prior wien permission of the publisher, or sed beyond the limited ul Course preparation Ij sonare a student sig this Mann on PROBLEM 15.35 ‘Two friction disks 4 and B are both rotating fively at 240 rpm counterclockwise when they are brought into contact, After 8s of slippage, during which each disk has a constant angular acceleration, disk 4 reaches a final angular velocity of 60 rpm counterclockwise, Determine (a) the angular acceleration of ceach disk during the period of slippage, (b) the time at which the angular velocity of disk B is equal to zero, SOLUTION @) Diska: (,)p = 240 rpm = 25.133 rads") When £=8, (9, = 60 rpm = 6.283 radis *) 0, = (Oy + Cyt; 6.283 rads = 25,133 rads +.,4(8 8) 1, =-2.356 rads” 1, = 2.36 rads?) Disk B: (gy = 240 rpm = 25.123 rad/s) (lippage stops) 14, = Tay (80 mm)(6.283 rads) = (60 mney 378 rads For): y = (@p)y + yt 8.375 radis = 25.133 radis + ag(8 8) 0%, = 4,188 rad/s Oty = 4.19 rads?) (8) Time when a =0 For 2): Wy = (Wg)y + yl = -25.133 rad/s + (4.188 rad/s") 1= 6.008 126008 € PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Inc.All igs reserve. No part of this Manual may be displayed, ‘oproduced on diitbited in any form or by any means, ssthou the prior wetten permission ofthe publisher, or uaed beyond the limited Aisvibution to teachers and educators permite ty MeCnaw-1E forthe individual course preparation. Ifyou ave astdent wing this Manual “yo are ning it oth permission. 998 PROBLEM 15.36" In a continuous printing process, paper is drawn into the presses at a constant speed v. Denoting by r the radius of the paper roll at any given time and by b the thickness of the paper, derive an expression for the angular acceleration of the paper roll. ‘SOLUTION Let one layer of paper be unrolled, PROPRIETARY MATERIAL. (© 2009 ‘he McGraw-Hill Companies, ne. Allright reserved. No part of this Manual may be dyplayed ‘reproduced or disiibted in any form or by any mars, without the por written permission ofthe publisher, ar wed beyond the lined stitution to teachers educators permite by Metre Hilfor their indivi owrse preparation Ifyonarec student wri hts Mana, pow are sing iio permusrion 99 PROBLEM 15.37" Television recording tape is being rewound on # VCR reel, which rotates with a constant angular velocity «,, Denoting by r the radius of the reel and tape at any given time and by b the thickness of the tape, derive an ‘expression for the acceleration of the tape as it approaches the reel SOLUTION Let one layer of tape be wound and let » be the tape speed. vAr=2nr and Ar ar _ by bo ar 2ar De dw_d(v) \dv, df(t For the eek ee eee () rat a) PROPRIETARY MATERIAL. © 2009 The MeGiaw-1il Companies, le. AIL rights reserved. No part of this Manval may be displayed reprediced wr distributed in any far or by-any mens, wthon the prior written permission ofthe publisher, ar wsed beyond the Finited (Gstibtion to achere and edhcotore permed by MeCia-Hil for ivi one preparation Ifyou avec stent using this Manta, Yow ae ming i io pormision 1000 PROBLEM 15.38 ‘The motion of tod AB is guided by pins attached at 4 and B, which slide in the slots shown, At the instant shown, @ = 40" and the pin at B moves upward to the left with a constant velocity of 6 in./s. Determine (a) the angular velocity of the rod, (b) the velocity of the pin at end a. SOLUTION Law of sines, sin 75° sin 50° =6.42 inis | @) Vpn = 7.566 inds 40° Yau =(ABYOyy AB =20 in, 7.566 ins = (20 in.}y5 @ yy = 0.3783 rad/s 1378 rad/s) PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, Yc. All rights reserve. No part ofthis Manual may be diplayed ‘reproduced or distributed in any form oF by any mans, wihont the prior writen permrssion ofthe publisher, or nae beyond the aie dsteibation to wachers and edcars permited by McGrail fr thet ndvcal conn prerarahen Ifyou areca stem using this Mar, you are rng it wihoat permission. 01 PROBLEM 15.39 ‘The motion of rod AB is guided by pins attached at A and B, which slide in the slots shown. At the instant shown, @=30° and the pin at 4 moves downward with a constant velocity of 9 inJ/s, Determine (a) the angular velocity of the 10d, (6) the velocity of the pin at end B. Ve = Va Ving Law of sines. sin 60° sin 75° sin 45° ) yp HOD ins 1S? Vpya = 12.294 mds 30° ABO yy 20 in.) 16147 rads © qq =0.615 rad/s") 12.294 ind (@) Oy = PROPRIETARY MATERIAL * 2009 The McGraw-Hill Companies, Me. AIL ighs eserved. No par of this Manaal may be dispaved. reproduced or citibed ix any form or By any means, wnt the prior written pormisson of th publisher, ov nse beyond the finite (dsributon fo eachors ned ecucors ported by Mera Hil forthe nea conree preparation Ife arecasuent wsing this Man ow are uti without permission PROBLEM 15.40 ‘Small wheels have been attached fo the ends of rod AB and roll freely along the surfaces shown, Knowing that wheel A moves 0 the left with a constant velocity of 1.5 m/s, determine (a) the angular velocity of the rod, (6) the velocity of end B of the rod, | soLuTION a2 Seals ae Vat Viva [vp Ys 60°]=[1.5 Ws —]4 Iq 707] Law of sines. n 6" Vp =1.840 mis % 60° (6) Vig =1.696 mis ax 70° (AB) 0p 1.696 m/s=(0.75 m)ogy @ Gq = 2.261 radis yy =2.26 rads) PROPRIETARY MATERIAL. «2 2009 The MeGraw-Hill Companies, Ine. All rights reserved. No part of thir Mannal may be displayed reproduced or distributed on any form oF by any means, withent the pre written permission ofthe publisher, er net Beyond the Tinted Seay, = 300, +60 ‘9{120 rpm) = 3(150 spm) + 6a, fa) @, = 10S rpm @, = 105 rpm) Components >: vp +30, 30, +309, 3, +04) (e+ 0) (150 rpm 105 spm) ® Gy =127.5 pm Os =1275 rpm PROPRIETARY MATERIAL, © 2009 The MeGraw-1ill Companies, ne. All riahs reserved, No part of this Manual may be displayed. ‘eprainced or dsibuted in any form or by any means, wahou the pir writen pormission ofthe publisher, or ned beyond the Simtel dswistion to teachers on educators permit by MeGrn-Hil for thet india env preparation Ifvowareastent wring his Men. Dower ng i witout permission. 01s PROBLEM 15.49 In the planetary gear system shown, the radius of the central gear 4 is a, the radius of each of the planetary gears is b, and the radius of the outer gear His a-+2b.'The angular velocity of gear A is @, clockwise, and the outer gear is stationary. If the angular velocity of the spider BCD is to be ay/5 clockwise, deiermine (a) the required value of the ratio bla, (8) the corresponding angular velocity of each planetary gear. SOLUTION Let a be the radius of the central gear A, and let b be the radius of the planetary gears B, C, and D. ‘The radius of the outer gear B is a+ 26, Label the contact point between gears 4 and B as 1, the center of gear B as 2, and the contact point between gears Band Bas 3 Gear F: From Eqs. (4) and (5), From Bgs. (1) and (3), Solving for v, and ws, 4 =aa,} a (a+bya, | Q ven +bey | @ vy =v, +0, | @) vy =(0+2b)ey, | 6) v5 4 dy = (a+ 26), ro) vy ~ bay = y= a0, o yy = Mat 2b)e aa) oe 2 [a+ 2a, ~ae,) 2b PROPRIETARY MATERIAL. © 2009 The MeGeaw-Hil Companies, Ine. Al ghts reserved. No part ofthis Manual may be displayed ‘reproduced or disibuted in an form or by any means, wthou the prior tion permission ofthe publi, or ued beyond tse Tinted o a Oe ah, ry Toa Gear A: Nu, (6) Gear B: Gear A: Oy =42 pm = 14a radls Vo = Fay @yg = (IS\1.4m) = 20 ins. xin) @, =20 1pm 3 Yow = Hs ~0(34)-0r ins Np = n+ Vins 2 21a\, t6r\ <2 nds Yon = Vp = p= 2lat ins 2a =3.50r radis ) ©, =105.0 pm) 4 PROPRIETARY MATERIAL. © 2009 The MeGras-Hill Companies, Ine. All igh reseved. No part of this Mnual may be displayed ‘reproduced or dsribted in any form ar by any means, whihou the prior write permission ofthe publisher or wed bejond the lined Atsibaion to teachers an ednccors permite by McGaw Hil for tee invidual course preparation. Ifyou area stent usin is Mua, yeu are using i thon permission PROBLEM 15.52 Arm AB rotates with an angular velocity of 20 rad/s counter- clockwise. Knowing that the outer gear C is stationary, determine (a) the angular velocity of gear B, (B) the velocity of the gear tooth Tocated at Point D. SOLUTION Atm AB: ARM AB Zoreds 4 UR" Ustonz0'%4) nt = Zitnaht Gear B: were AN age 2, + “5 - Ave (@) BE=0.05 m \p-# Vppp = 0-4 (BE) ty 24 misf=0+(0.05 may cy =48 rads oy =48 radls 4 (b) DE =(0.05y2): Vp = Vet Vine = 0+ (DE) yj, =0+(0.0592)(48) vp =3.39 mis vp =3.39mis 045° PROPRIETARY MATERIAL. £ 2009 The MeGraw Hill Companies, Ine. Al vghts served, No part of this Maral may be esplayed ‘eprodiced or distributed in cy frm or by any means, without the prlor writen permsion of the publisher, or tsed Beyond the Fnited disribuion ta toachers and edcions permed by MeGraw HA for thor bud course pparstion. Ifo area student sing this Manual, Yow are ning hou permission 18 PROBLEM 15.53 Atm ACB rotates about Point C with an angular velovity of 40 rad/s counterclockwise, Two friction disks 4 and B are pinned at their centers to arm ACB as shown. Knowing that, the disks roll without slipping at surfaces of contact, determine the angular velocity of (a) disk 4, (b) disk B. Atm ACB: Fixed axis rotation, rye = 2A mm, Vz = reap = 24Y(40) =960 mans | A Oe 1B tye #18 mM, Yp = Fae@yn = (18X40) = 720 mais} u i Disk B: Plane motion = Translation with B+ Rotation about B. 7 230mm, ¥p=Ve Von A. ve 0=7204 + 30 ap] mans = Oy 2 4, = 2 = 24 rads ) 11440 mous} Disk 4: Plane motion = Translation with 4 + Rotation about A. ry =m, Vp =Vy—Vyyy 1440} =960} + 120, », = 04960 209 ras) 2 (a) @, = 200 rad's) @ y= 24.0 calls) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ie. Allright served, No part of this Mannal may be displayed, ‘epraduced or ditribited in any form or by any means, withow the prior vrien permussion ofthe publishes, or wsed beyond the lined ‘distribution te teachers and educators permite by MeCiraw-Hil for their dividual course preparation. you areastadent using ths Mana you ave wing i withou perms. 101 PROBLEM 15.54 ‘Arm ACB rotates about Point C with an angular velocity of 40 rad/s counterclockwise. Two frietion disks 4 and # are pinned at their centers to arm ACB as shown, Knowing that the disks roll without slipping at surfaces of contact, determine the angular velocity of (a) disk A, () disk B. SOLUTION ra afte MACH Bred exis rotation ry =6 mM, Vy =Pye@qa | = 6M40) |= 240 mms | pane Mw Ye =36- mM, Vp =r yc@ae} = GB6NAD)| = 1440 mis} 4 Disk B; Plane motion = Translation with B + Rotation about B. 4 on tae tage fy =l2mm, vp Vou ; “iN. . 0= 1440} + 120 1440 vin mT 20 rad/s .) « a = 1440} + (6)(120) | = 2880 mnvs} Disk 4: Plane motion = Translation with 4 + Rotation about A. @ @, = 104.0 rad/s) 120.0 rad/s.) @) o, PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. Allg reserved. No part of this Monn! may be diplaed, Ieprodced or distributed in any form or by any means, witht the por writes permission ofthe publisher, ov wsed beyond the lined ys gp = 60.0 tpm ) [B 37.7 inds A Vp =37.T ints ® Oy) =0 4 Vp = 503 inl PROPRIETARY MATERIAL. © 2009 The MeGraw Hill Companies, Inc.All ights reserved. No part of this Manval may be displayed ‘reproduced or doribted in ay form or by any means, withow the prior writen permision df the publisher or mse beyond te Fined dition to teachers ant educators permed hy AdeGraeHlfr tr dividual course preparation. von area student wing is Shona, you are wsing lout permission, oa PROBLEM 15.56 Knowing that crank AB has @ constant angular velocity of 160 rpm counterclockwise, determine the angular velocity ‘of rod BD and the velocity of collar D when = 60°. SOLUTION Yo Crank AB: 4, =160 pm =16.255 rad’s ‘ AB =3in, (CABO Yo (Bin,)(16.255 rad/s) a ¥ = 50.27 ins > 30° Rod BD, PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Inc. AI hts reserved. No part of this Manual may be displared reproduced or ditribsed sn any form oF by amy means, without the prior written permission of the publisher oF used beyond the lined ‘Astributon to teachers and educators permite hy McCrae for ther onvidualcouree preparation ifsew are asters we he Maret you are wing i without permision wor PROBLEM 15.56 (Continued) Law of sines, 50.27 inJs singo.11> sin 09.89" Vp = 34.44 inds 6.73 ins Viyp = (UD in} Vp =344 nls 67 radis) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. All ighis reserved. No part of his Manna! may be displayed, ‘reproduced or disiibted in amy form or by amy means, who the prior wntten permission ofthe publisher, or ebay the lated stibution to teachers an educators permited by MeGraw Hl for dc individual course preparation. Iron are student ting ths Mua, ov are using i tthout person. m3 PROBLEM 15.57 In the engine system shown, /=160 mm and b=60 mm. Knowing that the crank AB rotates with a constant angular velocity of 1000 rpm clockwise, determine the velocity of the piston / and the angular velocity of the connecting, rod when (a) @=0, (b) @=90", SOLUTION ey, =1000 spr) Y°. Crank AB. (Rotation about A), = 0.06 m} 0.06)(104.72) = 6.2832 m/s —= (@ @ Va = Yanan Rod BD, (Plane motion = Translation with B + Rotation about BY Y= Met Yon vp { =16.2832 — ]4 Eva w= Vpyp = 6.2832 mis Yr=¥p yy == $282 1 016 (8) 8=90%. Crank AB. (Rotation about A) ty =0.06m—+ ag ay Va =P Dye =(0.06104.72)=6.2832 mi} Ig af Rod BD. (Plane motion ~ Translation with B+ Rotation about B.) . ti Yo = Vet Yow vp |= 6.2832 [#9 27] PROPRIETARY MATERIALy © 2009 The McGaw Companies, In. All rights reseed. No part ofthis Manat maybe aplayed ‘reproduced or eiributed in cay form or by any means, without the prior written permission ofthe publisher, or waed beyond the linited lintribution ro teachers and educators ported by MeGran-€T for thelr individual course preparation. If you areastudent using this Mena, Sow are usagi stot permision to PROBLEM 15.57 (Continued) Vp = 6.2832 mis Vp =¥p = 6.2832 mis} Op =0 4 28 wis |< PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ie. All hts tested. No par of this Marea wx be displayed, ‘reproduced or cstibed in ay form or by any means, without te prior written permission ofthe publisher. or md beyond the lant stitution to teachers ec ators permite by Metra fr heidi course preparation Ij yomanca student nso ths Monel Yo are ug i eth permission mrs PROBLEM 15.58 In the engine system shown in Figures P15.57 and P15.58, 1=160 mm and b+ =60 mm. Knowing that crank 4B rotates with a constant angular velocity of 1000 rpm clockwise, determine the velocity of the piston P and the angular velocity of the connecting rod when @= 60°. SOLUTION ) 8= 602. Crank AB. (Rotation about A) tgjq = 3 in. 30° Tpyslgy = (0.06)(104.72) = 6.2832 mis ~z 60° Rod BD. (Plane motion = Translation with B+ Rotation about B.) Geometry. Isin )=rsin@ ny sin B= 2 sind = 28 sin 60° "\ - ” 7 is f=1895° a re Yo = Yat Now [vp | ]=[314.16 560°] +> 2” A] Draw velocity vector diagram, p= 180° ~30° - (90° — 8) =78.95° Law of sines. wt —1— ‘sin(90°- A) a + @ | 6.2832 sin 78.95" we 0818.95 o™ tore =652 ms vp aM vp =6.52m/s| 4 PROPRIETARY MATERIAL. * 2009 The MeGraw4hill Companies, Ise. All vights reserved. No part ofthis Manual may be ciplayed produced or distributed i ey for or by any means, without the prior written permsion of the publisher or used beyond the limited \danthuion to teachers and edactiors porniiedby McGraw Hl for ther individual conrse preparation fy are a stint wing ths Manual, yom are ising ith permission, 1026 PROBLEM 15.58 (Continued) 6.2832sin30° 0818.95" = 3.3216 mis 0.8 radls) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, ne. All igh resrved. No part of this Manna! onay be displayed, reproduced on disteibaed any form or by any mans, withow the prior wetten permission ofthe publisher ows Beyd the Tied distribution to teachers and ecucetors permite by MeCra1Hl forthe indvidual curse preparation Ifyun arccastdent as his Mena, Now are suing i without permdsson. a7 PROBLEM 15.59 ‘A steaight rack rests on a gear of radius r and is attached to a block # as shown. Denoting by @ the clockwise angular velocity of gear D and by @ the angle formed by the rack and the horizontal, derive expressions for the velocity of block B and the angular velocity ofthe rack in terms ofr, @, and ay. | | SOLUTION Rte | co Roto sn. Tenn cnc wl ck (vee ce Ye 1) Rack AB: + — Rotation about £. % Fs oun =. Bidee Bete eS 8 +¥ae (We — N= [ee S14 [ne ZA) Draw velocity vector diagram. Ye =I. wee v-e cosd cos ws jtand = rap tand ray tan ‘and ep tan? Oy =e tan?) PROPRIETARY MATERIAL. © 2009 The MeCiavHll Companies, ne. Al sights reserved. No part ofthis Manual may be displayed, repradiced dstited in any form or by any mens, seth the prior written permission ofthe publisher, or nsed beyond the limited ‘dsrbuion to teachers and ecucators ported by MeCrcw-H forte individual course preparetion If youre student ws this Mara, boo ar sing ito perms 12s PROBLEM 15.60 A straight rack rests on a gear of radius °=75 mm and is aitached to a block & as shown, Knowing that at the instant shown the angular velocity of gear D is 15 rpm counterclockwise and 0 = 20°, determine (a) the velocity of block 8, (b) the angular velocity of the raek, SOLUTION Gear D: Rotation about D. Tooth E is in contact with rack AB. Gy =1S rpm = LOH) asa rads 60 ayy = (0.075)(0.5x) = 0.11781 mis, rn 0.075 Rack AB: 0.20606 m {and tan 20° Translation with E+ Ne Ee us P= ve a 8 3 Yn = Vet Vue [ae T= Eves. 14 | Yap AQ] Draw velocity vector diagram, 11781 c0s20° eos 20° @ = 12537 ms Wp =0.1254 mis — () Vy =p tan 202 11781 tan 20° 04288 m/s ten 0.04288 yy = 0.208 rad/s) ao PROPRIETARY MATERIAL} © 2009 The McGraw-Iill Companies, Ie. All rigs reserved No port of this Mana many be displayed. ‘reproduced or cstibted in ay form or by any means, without te prior writes permission ofthe publishes, or used bexond the Tinted dsibuton te teachers end educators permed by MeGrasHl for thet indeica onrse preperation you avea student ro hie Mal, Yow are sing i with permission, 29 PROBLEM 15.61 A straight rack rests on a gear of radius r= 60 mm and is attached to a block B as shown. Knowing that at the instant shown the velocity of block B is 200 mvs to the right and @=25°, determine (a) the angular velocity of gear D, (b) the angular velocity of the rack SOLUTION Gear D: Rotation about D. Tooth F is in contact with rack AB. Ve =p SO Rack AB: Iep =— ‘and Jation with E+ Vet Vue Wy =D SOP eel 8 Draw velocity veetor diagram. vp 28. cos Fy cos Yage = Mp AN = rep tand ra, tan tnd = Wp ta yy = 0p tan? 8) 7260 mm, 8=25° v,=200 mis—» 7 sn, = 128980. 20008 25° a pee 0 @p =3.02 rad/s.) ow yy =3.02 tan? 25° © yy = 0.657 radls) PROPRIETARY MATERIAL. ® 2009 The MeGraw-Hill Companies, Inc. All his reserved. No part ofthis Maes! may be displayed reproduced or diiniuted tn any form or by any means, with the prior writen perntsion of the publisher or wsed beyund the fiited dissbtion to teachers and educors permit by MeGrav- HU for Her Indstdal course preparation fy aré stent wing ths Manual, fom are sing i thon permission. 1930 PROBLEM 15.62 ~ In the eccentric shown, a disk of 2-in-radius revolves about shaft O that is located 0.5 in, from the center 4 of the disk. The distance between the center 4 of the disk and the pin at Bis 8 in. Knowing that the angular velocity of the disk is 900 rpm clockwise, dofermine the Yin in a velocity of the block when 4 =30" SOLUTION Geometry (OA)sin = (AB)sin B i oS sin p= LOAsing Po aD 05 sin 30" 19° ‘Shaft and eccentric disk, (Rotation about 0) £444 =900 rpm =30% rads ) (OA) thay = (0.S\30R) = 15x minis 5 Rod AB. (Plane motion = Translation with 4+ Rotation about 4.) tea Abe Soa : 6 8 a . A o & aa 4 ag 2 Feed % Wee Vat Vy Wa] 69°) + Dvn NBL Draw velocity vector diagram, 90° f= 88.21° a = 180°~60°-88.21° = =31.79° A Ya v4 ‘ Sing sin0°— A) * sin(90°— B) 5a)sin 31.79" sin 88.21" = 24.837 inds 24.8 inds— PROPRIETARY MATERIAL. (© 2009 The MeGisw-Hill Companies, Inc. All ighs reserved. No part of thir Manna may be displayed, reproduced or dstribted in any form or by any meas, without the prior wren permission of te publisher ov need beyond the lied ‘hetibuion to teachers and educotorspemited by McCraw Hil for ther iva course proparin. yon are ase wing this Marl, Yow ave uit wthow pormision 03st PROBLEM 15.63 In the position shown, bar 4B has an angular velocity of 4 rad/s clockwise, Determine the angular velocity of bars BD and DE. 3 SOLUTION Bar AB: (Rotation about 4) yy =4 radls )=—(4 rad/s) 4k) (Ti) ty 27 Vg = (28 Inds) Vp = annus Bar BD: (Plane motion = Translation with B + Rotation about B.) Opp =Oyek Fyg =—(8 10.) Y= Vat Opp X Foye = 285+ (Oppk)x(-8)) Yo = 2854 8094 (Rotation about £) Oye = py Fe =—C11 n+ Q inj Wp =p XTaye = (OyeK) X13) Xp = Madge ~ Spe Equating components of the two expressions for vp. i B=-ey, yy = 0.955 rads) PROPRIETARY MATERIAL. £2 2009 The MeGraw-Hill Companies, Inc.All rights reserved. No par” of his Manual na be displaned produced or distributed in any form or by any means, witout the prior written permision of the publisher or axed beyond the timed ‘itribnton ta teachers end cacators pert by MeGrenHill for Ser indus conse preparation Yfyonareasedent wen this Manual, pron ar ing i willed pormiesion 32 PROBLEM 15.64 In the position shown, bar 4B has an angular velocity of 4 rad/s clockwise, Determine the angular velocity of bars BD and DE. SOLUTION an a kroz 2d @ Bar AB (0.25 m(4 rads) =1 mis F + 0.06 m Bane # eo Bar DE: B= tan! 228 _ 9 go 015m ie 50.15 m oY pe =2!5™ 0.1616 m - sos ost 2S it ¥p = (01616 m) op, Bar BD: pment fe % te og hued @ 2 L a eo om |L o + 4 D >i, a = (culm, } a? 6 Ya Mya? (1m) Mop Me "e cosB 0.1616 m)ep¢ = me Opp =6.67 ras) eos 0 AB I= 1+ D0 — (0.1 meg = (0 is) tan 21.8" + Yom tan om = 41a) PROPRIETARY MATERIAL. 1 2009 The McGraw-Hill Commies, Ine. AIL ihe reseed. No part of this Manual maybe splayed reproduced or doiribted in any form or by any means, ite the prior written permission ofthe publisher, ov used beyond the linated Aisribuion to teachers ad ednceions permite by MeCas-HAl for dei individu course preparation Ion area st ig hie Maud, Yow are nsing i wtih permission PROBLEM 15.65 HV mn of 4 rad/s clockwise. Determine the angular velocity i of bars BD and DE. {/ | | Js SOLUTION 0.4 Bar AB: = tan 75 = 26.56" Bar AB. Botan 0.8 AB= =, = 0.8944 m cos 8 (AB) edgy, = (0.8944 my4 ms) Vy = 3.578 m/s > 26.56 | | 10. | =tan! 4-38.66 i: 7=trtO | pe =25.=0,6403 m cosy Vp = (DE)Ope Vip = (0.6403 m) aye 3 38.66" Bar BD: % Peel a 6 ie SS Sy + pte Mo Uy? O10 Hogg Yo = Yat Vive [yy N=) B+ Ve PROPRIETARY MATERIAL, © 2009 The MeGrww-1il Companies, Hye All ght reserved, No par’ af sus Mana may Be displayed ‘produced or dsrtted in any form or by ony means, without the prior writen permision of the publisher ow weed beyond the lined ‘istibnin ta teachers and educators permed by McCaw Hil for her xB course preparation. ify are atten wing tis Mar, pow ave ug 1 wow permsion i) PROBLEM 15.65 (Continued) 6 2655" FN Uy? 3STIMS fone Rbic6% Baath = 6.82" as 5 a sv Law of sings, Ving __ 3.578 mls 6344 Sin65.22" sinS1.34° vp =4.009 mis {0.6403 m)@y¢ = 4.099 mis Opp =6.4 rads) Von = 4.160 m/s (0.8 m)ryp = 4.16 m/s gp =5.2 radis ) PROPRIETARY MATERIAL. £9 2009 The McGraw-Hill Companies, Inc.All ights reserved. No part of this Manual may be displayed ‘reproduced or dstributed in any form or by any means, wihont the prior write permission ofthe publisher. red fond the linhted ‘antihtion to teachers and educators permed by Meinaw-l for ther ond course proportion sow are-a sent ng his Mma, Jom are using i sthont permssiom 3s PROBLEM 15.66 In the position shown, bar DE has a constant angular velocity of 10 rad/s clockwise. Knowing that = 500 mm, determine (a) the angular velocity of bar FBD, (b) the velocity of Point F, be ai mn ae SOLUTION 10 radls .) =~(10 radis)k peg =—CO.1 m)h+ (0.2 mj Vp = Opp Xe: = (10K) X(-0.11 0.25) = (1 s)j-4(2 nv} DE: (Rotation about £) Bar F8D: (Plane motion = Translation with D + Rotation about D.) Opp =pypK ty =—CO3 mpi + (0.1 on} We Yt Onn Xt yp (yp) XC-0.314 0.1) 03p§- 01@gpi Bar AB: — (Rotation about A) 4g =OygQk tpg = (0.42 m)j Wp = Ope Fare = Oygh)% (0.42) 0.420 gyi ing components of the two expressions for Vg, @ j 10.30) =O @yy) =3.3333 rad/s yp = 3.33 radis*) i 2~ Oly =-OA2@ yy 2—(0.13.3333) =-04204y 3.9683 rad/s @,y =3.97 rads.) Bar BD: x03 cae 03 1 Oyo tap + 2+ C030 yp 4—O-1Mppi) + 24+ C(-j-0.333331) With yy =] 2k 2.6667] ~ 0.888891 Oy 1.11111 mis)i ~(.66667 m/s)j yp =2.00 mis 563° PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, ne. AU rights seserved. No part of this Manual may be asplened, rprodced or csi nv any form oF by a ean, wihoxt the prior writen permision of the publsher or wsed bevond the Tinited ‘sribuson to weaver sand educators permite by Metra fr then ia one prpnavaron If youve student sng hs Man, Syottare using without permission 1036 PROBLEM 15.67 eee In the position shown, bar DE has @ constant angular velocity of wm 19 rad/s elockwise. Determine (a) the distance 4 for which the Be velocity of Point F is vertical, (b) the corresponding velocity of Hi Point F. 10 0 SOLUTION Bar DE: (Rotation about £) pp =10 rad/s) =-(10 rad/s (0.1 mi + (0.2 m)j Ine XEe = (LOK) (0.10.29) = mi9j+ 2 mis)i ove % Bar FBD: (Plane motion = Translation with D + Rotation about D.) po = Ok Fyn = (0.3 mPL+ (0.1 mf We = Yo+ On Xan 421+ (@apk) X(-0.31-+ 0.19) F424 0304-01 ppt BarAB: (Rotation about 4) Oy =O yg Nyy =(O82 mj Vp =O yp Xt yg = (@ygk)*(042)) =-OA2O ph quating components of the two expressions for ¥p, @ i 1-030) =0 Opp =3.3333 rad/s i: 2=O.pp = 0.4204, 2—(0.1NG.3333) = 0.4204, qq =-3.9683 radls yp =3.97 rads) 1403 03 Bar FAD: Epp = Cty where C Ye SMF Og Xo = JF 2A +C(-03%p) -O1Ogp i) 5 J+ 24+ C(-j-0.333331) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Compavies, Ine. All ights reserved. No pur of this Manual may De displayed ‘reproduced or dswibuted in any form or by any mess. withont the prior written pormisson ofthe publisher, oF ased beyond the Lined srtbaon to teachers and edcators permit by MeGraneHil for thet india onrve preparation Ifyou arecastedent wri his Manta Dow are using 1 iin permission 0x7 PROBLEM 15.67 (Continued) But vs = vp. Equating components of the two expressions for ¥yp, =2-0.33333C C= @ h=03C~03=(0.3)(6)-03 h=1500m 4 6) i ~ C= U-6)j yp =5.00 ris | PROPRIETARY MATERIAL. © 2009 The MeGraw-Hil Companies, In. AM rights reserved. No part ofthis Manual may be displayed, reproduced or distributed in any form or by any means, thou he prior vrten permission ofthe publisher oF used beyond the lined distribution to teachers and educators permed by MeCraw-1 or thar vidual couse preparation yore asuent using he Mara Don are wting without permasten 10x pamepoom ps PROBLEM 15.68 In the position shown, bar 4B has zero angular acceleration and an ‘angular velocity of 20 rad/s counterclockwise, Detetmine (a) the 1 angular velocity of member BDH, (6) the velocity of Point G. | AB=Sin B= vy =G in,)(20 rad/s) =100 ins % B Yo = Yet Von Vine = (10 iO puny | foe | jee | + {0} 0) Yip = 60+ 60 =120 ins (10 in )Dypy¢ =120 ins (a) Oppy =12 rads) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Inc.All ights eseved. No part of this Mama! may be displayed ‘reproduced or dated tn any form or by any means, witout the prior written permission of the publisher, or ase boyd the Fnited ‘rina to teachers ana edusiors permitted by MeGra- Hil for ter hndvidal course proportion Irom area stadent ig is Mana, om are asin it ath permission, 1039 PROBLEM 15.68 (Continued) o 7 [re G8] eral 4 00 inss)=+0 w PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. AIL Fights weserved. No part of this Mnual may be displayed, repreduced or ditibuted in any form or By any mec, withow the pricy written permission ofthe pubsher ase beyond the linted dstibuton te teachers ant educators permite by MeCre-lfor their individ course preparation. Ifytvareastadent stg ths Man, Sora ing ied permission, PROBLEM 15.69 In the position shown, bar AB has zero angular acceleration and an angular velocity of 20 radis counterclockwise. Determine (a) the angular velocity of member BDH, (5) the velocity of Point 1. SOLUTION Bar AB: AR=Sin. B (5 in 20 rads) 100 inds Yo = Yat Nowe Yow =(10 0.}ep | fv “xp | -[. e | +100) 01} yg = 60-+ 60 =120 inds (10 in.}o%ypyj =120 ints PROPRIETARY MATERIAL. ® 2009 The MeGras-Hill Companies, Ine. All ights reserved. No part ofthis Mona! may be clglayed ‘reproduced or dianibued in any form or by any meas, shou the prir written permission ofthe publisher, or used beyond te linited ] z yy =140.8 Ns —> Vp Wi + Mog LTO thls > ]+[70.4 fs £8 30°] vp $136.0 1s 0.15.0 We = Me +g [70-4 Ris —+ ] +1704 145} vy, = 99.6 fs 545.0" PROPRIETARY MATERIAL. © 2009 The McGrail! Companies, Ine. All ighs reserved. No part of thir Mennal may be displayed eprduced or distribu in any form or by ay means, wot the prior written permission ofthe publisher, or nsed beyond the linked ‘dsribution to teachers and educators permed by McGraw il for lie diepdul course preparation Ifyou area stadt wing tts Mana on are sing i with perso B aiPomhsa PROBLEM 15.71 SE ga ‘The 80-mm-radius wheel shown rolls to the left with a velocity xy cn OF 900 min/s. Knowing that the distance 4) is 50 mm, determine ae the velocity of the collar and the angular velocity of rod AB when (a) f= 0, (b) B= 90". SOLUTION (a) B= Wheel AD, Vp =45 inds — yy = t= OO 211.25 rads) cD 80 CA=(CD)~(D4)=80—50=30 mm (CA)eDyy = (3011.28) =337.5 minis — Rod AB. Mat Vara Die = [=18375+—]+[vee No] vg =338 mes — Og=0 4 (6) B=90", Wheel AD. ve =0, tan p= be i : = 94.34 mm cosy CA) gy = (94 34)(01.25)= 1061.3 mds 1061.3 mmis 32.005" Plane motion = Translation with A+ Rotation about 4, PROPRIETARY MATERIAL © 2009 The McGraw It Companiss, Inc. AM rights reserved. No pet ofthis Mawal may be dixployed, ‘reproduced or distributed any form or by ay ine, wilhont the prior writen permission ofthe publisher, or ned beyond the fined dstrbuson 10 teachers and educators pried by MeChavlill fr their inval curve preparation. fou areastudent using his Manual, Som ere using without permission. mas PROBLEM 15.71 (Continued) Sy B + A We =Me tM sat aah] Draw velocity vector diagram. 5 = 180° y-(00°+ 9) 90° 32,005" —18,663° = 39,332" w Law of sines Ye M4 z sind Sing Sin(G0"+p) y= _Yasind __ G061.3)sin 39.332" Be SinG0+9) sin 108.663° =710 mms yp= 710 mmis — 7 148i” __ (1061.3) sin 32.005° 4 Sin(90"+ 9) Sin 108.663" =593.8 mms iis yy = 2.37 radls PROPRIETARY MATERIAL. 1 2009 The McGraw-Hill Companies, Ine. AIL igs teserved. No part of vis Manead may Be displayed reproduced or disiibued tn any form or by any means, thou the pier weiter permsion of the publisher oF nse beso the lined {Asributon to teachers and educorspermited by McGraw for thet cua course preparation. ify are ask ws ths Manel you are ung Ur without permission, PROBLEM 15.72* For the gearing shown, derive an expression for the angular velocity @, of gear C and show that a. is independent of the radius of gear B. Assume that Point 4 is fixed and denofe the angular velocities of rod ABC and gear A by @ypc and ay, respectively. SOLUTION Label the contact point between gears 4 and B as | and that between gears B and C as 2 Rod ABC: yp = Ogu Assume ,) for sketch, v= Os YoU Uy + He ype Gear A Gear B: Oy Vy = Vy Hp Oy = Urry HF VO aes PROPRISTARY MATERIAL. © 2008 The MeGraw-Hill Companies, Ine. All ights reserved. No part ofthis Manual may be displayed ‘produced or dsiuted in any form or by any means, withont the prior sitter permission of the publisher o ase beyond the limited ‘lspabution to leachors ane edcuiors permitted by McGraw Hil for ther indsialcoorseproparatin. Ifyou area stdent wing thie Man, ow are sing i without permission 1046, PROBLEM 15.72" (Continued) Gear C: MS Ve“ Ke 600 = 47503 rg + ryan = 4+ By + VO ane — TEM (rg “Fe age = “Fo M Note that the result is independent of rp. PROPRIETARY MATERIAL. ‘2 2000 The MeGiaw-Hill Compatis, ne. All rights reserved. No part of this Mannal moy be displayed ‘reproduced or distibued in any form or by oxy means, thou th prior rite permission ofthe publisher, or used beyond the lndted ‘lstributon fo eachors and educators permite by MoGraw-Hil for their individual conse preparation Ife areastacent wring the Mant you ae using i withou permission 1007 PROBLEM 15.73 A 10-ft beam AE is being lowered by means of two overhead cranes. At the instant shown, it is known that the velocity of Point D is 24 ins downward and the velocity of Point F is 36 in./s downward. Determine (a) the instantaneous center of rotation of the beam, (b) the velocity of Point (a) wo Clies 110 the right of 4. 00 ins | PROPRIETARY MATERIAL. © 2009 The McGraw Hil Companies, Ie. All ght reserved. No part of thi Manual may be ciplayed. ‘reproduced or distributed in any form or by ay means, without the prlor writen pecmision of the publisher, or wsed Beyond the Finifed dsnibution teachers and educciors permitted by MoGrawHil foray tndtdual course preparation, fo are student using this Maral, Sow are msg i without permission. tos PROBLEM 15.74 A helicopter moves horizontally in the x direction at a speed of 120 mish. Knowing that the main blades rotate clockwise with an angular velocity of 180 cpm, determine the instantaneous axis of rotation of the main blades. SOLUTION Vp =120 mith =176 fs @=180 rpm = BCH), 60 Top view » Ww=z0 os ( = » 116 176 Loa t 8.85 i c Instantaneous axis is parallel fo the y axis and passes through the point z xa0d 34nd PROPRIETARY MATERIAL 0 2009 The McGraw-Hill Companies, ne. All fights wserved. No prt of this Monnal may be displayed roprediced or dtrabued in any form or by any mans, sithont the prior written permission ofthe publisher, ar nsed bey the Viiied ‘Astribution to eochors and educators permite by McGrew Hl for ther inva course preparation. Uy areata tng the Manual, Yow are using 1 without pornision PROBLEM 15.75 ‘The spool of tape shown and its frame assembly are pulled upward at ‘a speed y, = 750 mm/s, Knowing that the 80-mm-radius spool has an angular velocity of 15 rad/s clockwise and that at the instant shown the (otal thickness of the tape on the spool is 20 mm, determine (a) the instantaneous center of rotation of the spool, (6) the velocities of Points B and D. SOLUTION v, = 750 mmisf @=l5tadi/s ) p @ ‘The instantaneous center lies 50 mm to the right ofthe axle, <4 CB =80+20~50=50 mm @ vy = (CB)o= (S015) = 750 mnvs yy =750 mms} CD =80+50=130 mm vp =(CD)a=(130)(15)=1950 mms yy =1.950 mist PROPRIETARY MATERIA! 1 2009 The McGraw-Hill Companies, Ine. All righ reserved No pare of dis Monnal mey' be displayed raproduced or dieibued iv any for or by any means, sit the prior written permission of te publisher or axed bend the limited “Usui to toochors and edvcaiorspeviited by MeGrans Hil for cr onda course preparation Ifyou areata wig is Mau, Jew are using without permission. 1050 PROBLEM 15.76 ‘The spool of tape shown and its frame assembly are pulled upward at a speed y,=100mnis. Knowing that end B of the tape is pulled downwatd with a velocity of 300 mm/s and that at the instant shown the total thickness of the tape on the spool is 20 mm, determine (a) the instantancous center of rotation of the spool, (6) the velocity of Point D of the spool SOLUTION 4 =100 mais (a) Since vy and yy are parallel, instantaneous center C is located at intersection of BC and line joining end points of ¥p and vp Similar triangles. OC _ BC _OC+BC % Ye Mate oc=—% (0C + BC) wr 100 mm/s (100+300) mm/s mm < (100 mm) 7 bo. % Xp (00 mvs =e, —_te __-100mnvs vy =420mmis | (B0)+ (OC) OC} BOF2S}mm 2S mm Yo= 420mm PROPRIBTARY MATERIAL, © 2009 The MeGraw-til Companies, no. Al ights reserved. No part of thi Manual may be displayed, ‘eprsduced or estdbued in any farm or By any means, thou the prior writen permission of te publisher, or wsed beyond the lnited (Asiributon to teachers and educators permidd hy MeGrav-1l for tei dividual eno preparation Ifyouareastdent wing this Morne, uw are ung i withow permission ost PROBLEM 15.77 Solve Sample Problem 15.2, assuming that the lower rack is not stationary but moves to the left with a velocity of 0.6 mis. SOLUTION Since v, and ve are parallel, the instantaneous center of rotation is atthe inte joining the end points of y, andy, fon of BC and the line (@) Angular velocity (ane (0.15 ma 2rad/s.) 4 (0) Upper rack = (Bde vq = (0.2 my(I2 rads) y=24mis —> Veto rota 15M. 3 DA___0.15m DI = =0.1803 m cos B 008563" ¥, =o ¥p) = (0.1803 m)(12 rad/s) Yo =216 mis 227 56.3° 4 PROPRIETARY MATERIAL. ©) 2009 The McGraw-Hill Companies, Ie, Al sghtsresceved. No purt of this Momaal may be displayed ‘reproduced or dsnibted in any form or by any means, stow de prior written permision ofthe publisher, ov use beyond dhe tinted Attribution fo teachers and educators permite by Mera Hl for tei india course preparon Io area student ig hs Maru Yon are using itech permis 0s PROBLEM 15.78 radius inner pulley is 1 A double pulley is attached to a slider block by a pin at 4. The 30-mm- idly attached to the 60-mm-radius outer pulley. Knowing that cach of the two cords is pulled at a constant speed as shown, determine (a) the instantaneous center of rotation of the double pulley, (b) the velocity of the slider block, (©) the number of millimeters of cord wrapped or unwrapped on each pulley per second. SOLUTION yp =200 mms, Y= 160 mms 4 Yt Me Bi 200+160 90 =4 rads co = 28 220.50 mm o 4 CA =60~50=10 mm @ () vy =10@=(10)(4) = 40 mmis (©) yy-v, =240 mms} 20 mmés | wwe Clics 10 mm to the right of A. vy, =40.0 mmis | Cord DE is unwrapped at 240 mnvs. Cord BF is unwrapped at 120 mms. PROPRIETARY MATERIAL. © 2009 The MeGias-i) Compsties, ne. All igh reserved. No part of this Manual may be dispayect ‘reproduced or diributed tn any form or by any means, without the pie vruten parson ofthe publisher, or nse bevond the lined Aisribution 1 teachers and educators permited by Mec forse niu couse preparation Ifyou are ose wing hs More, ‘you are using without permission, i | PROBLEM 15.79 Solve Problem 15.78, assuming that cord £ is pulled upward at a speed of speed of 200 mm/s, f 160 mm/s and cord F is pulled downward at a : PROBLEM 15.78 A double pulley is attached to a slider block by a pin at A. The 30-mm-radius inner pulley is rigidly attached to the 60-mm-radius outer pulley. Knowing, that each of the two cords is pulled at a constant speed as shown, determine (a) the instantaneous center of rotation of the double pulley, (b) the velocity of the slider block, (©) the number of rillimeters of cord wrapped or unwrapped on each pulley per second. SOLUTION (a) Since yp and vp are parallel, instantaneous center is located at the intersection of BD and line joining end points of ¥p and yp, BC _CD_ BC+CD 200 "160 * 200-160" but BC+ CD =90 mm : “BC _90mm ; 200 360 7 BC = 50) mms MyeLOOwele AC=BC~AB oun * Cohn 250 mm—30 mm = 20mm Instantaneous center C is 20 mm to right of 4. CO) Mee MEO BC =(200 mn/sy/50 mm; @= 4 rad/s") AC) = (20 mm)(4 rad/s) =80 mois; Vina = 80 mms} (©) Outer pulley: Vp {and ¥.,|, cord is unwrapped at (ip + ¥,,)48 ty + v4 =160-+80=240 mami, 240 mm, unwrappedis Inner pulley: vo] > vf cord is unwrapped at (¥— ~v,)/s vp 20 mms; 120 mm, unwrappedis PROPRIETARY MATERIAL. © 2009 The MeGaw-Hit Comanics, Ines AR rights reserved. No por ofthis Manual may he dxplaye ‘repyaduced on disitted in ey form oF by any means, witiou the pier written permusion of the publisher, oF used beyond the Dunted Since v4 is to the right and vp is to the left, cord is being unwound, ~ vp 2946= 15 nds © Cord unwound per second = 15.00 in. PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine, Al) his seserved. No part ofthis Maneal way be displayed, reproduced or elstbted iv any form or by any nea, witont the prior written permission of the publisher, or used beyond the fited dispibution to teachers an ecuctvs permitted by MeGrew-HUl for ther noua course preparation. If yoxearéa stadent uring this Marve, on ar ing i ithou permission. 1056 PROBLEM 15.82 Knowing that at the instant shown the angular velocity of rod AB is 15 radis clockwise, determine (a) the angular velocity of rod BD, (6) the velocity of the midpoint of rod BD. SOLUTION oy =I5 a's) Mp (AB) IN4y (0.200)(15) =3 ms werd Locate the instantaneous center (Point C) of bar BD by noting that velocity directions at Points B and D are known, Draw BC perpendicular to ¥, and DC perpendicular tov. : ate By =12.00 as @ y= = Gg = 2 ras yp =12.00 rads) (6) Locate Point M, the midpoint of rod BD. Draw CA. BD = 40.6) + 0.25) =0.65 m 025 tonp=928 pore 90° p=6738° fat 1 «| B ca = pM = MB~1 (6p) =0.325 m 2 9 mls vy =3.90 mis 7 67.4" € ‘y= (CM)eo= (0.325)(12) PROPRIETARY MATERIAL, © 200% The McGraw-Hill Compsnies, Ine. Allright reseved, No part of this Manual may be displayed apneic or cstributed many form or by any means, withou the prior rit pormisson ofthe publisher, or used beyond the linked istbuton to teachers ad educators permite by MeGra- Hl forthe incisal conse preparation: Iya are asd! wg tht ar, ‘you are ung I without prmission 1057 PROBLEM 15.83 Knowing that at the instant shown the velocity of Point D is 2.4 mvs upward, determine (a) the angular velocity of rod AB, (b) the velocity of the midpoint of rod BD. SOLUTION a Rod AB: oa “Sy Ae + Live vp = (ABO, yy = 02 may & o Rod BD: Draw lines perpendicular to yy and yp to locate instantaneous center of rotation C. @ vp (CD Oqy 4 mis = (0.6 m)iyy pp =4 rads.) Jp =(BC)yy =(0.25 m4 ra) fan B4.() %p =(02 MO I nvs=(02 m)ay 0.125 m (b) : = 22.6° \° "03m 72 93m 325 m. cos f 5 = (CO)tiyg = (0.325 m\X4 rads yy =1.300 ms 7 22.6° 1.300 mis 300 mis 67.49 PROPRIETARY MATERIAL. * 2009 The MeGrav-till Companies, Inc, AI rights served. No part ofthis Mannal may be diplayed Fepraduced on ditebued bn any form or By any mens, without the prior wren porasion of the publisher. or used bevond the finited (Gnrbuton to teachers and cucotors permitd by Ita or thei inal course preparaion Ifyouearea stakent using this Mara pow are ning i withon permis oss PROBLEM 15.84 Rod ABD is guided by wheels at 4 and B that voll in horizontal and vertical tracks. Knowing that at the instant shown /¥ = 60° and the velocity of wheel B is 40 inJs downward, determine (a) the angular velocity of the rod, (6) the velocity of Point D, SOLUTION Rod ABD: SEC] 2Sin 12.980 We locate the instantaneous center by drawing lines perpendicular to y, and yj, @ Angul BOW 40 inds =(12.99 ino = 3.079 rads = 3.08 rads.) Velocity of B: 17s InACDE} stn 2521615 cD: CDE yet yy =(CD)0= 27.08 0.3.07 rads yp #833 nds 16.1° Wy =832 ine. PROPRIETARY MATERIAL. & 2009 The McGraw-Hill Companies, nc. All ights reserved, No part of this Manee! may be dplayed ‘reproduced or dsvbated in any form or by any mens, shout the rior writen permision of te publisher or used beyond the fed ©) Velocity of D: In ACDE: p= tan £27 59 2° 383) 6.427 82 ft sin (CD)o (7.482 (0.4667 rad/s) 3.49 fs vp 3.49 18. 592° PROPRIETARY MATERIAL, © 2009 The MeCias-1il Companies ie. Al rights reserved. No part ofthc Mena may be cuplayed Ieprodaced or distributed in any foro By ny mcons, thot the prior written permission ofthe publisher o used boyond the linated Uistibuion to teachers and educators permed hy McGraw 1E forth isha couse preparation Wfyow area skent wing ths Mama Somare ws ewan permasion 1060 198 nn PROBLEM 15.86 Knowing that at the instant shown the angular velocity of rod BE is 4 rad/s counterclockwise, determine (a) the angular velocity of rod AD, (b) the velocity of collar D, (¢) the velocity of Point A. Rod AD. Vn = Fine ye = (0.1924) = 0.768 mis (@) Instantaneous center C is located by noting that CD is perpendicular to vp and CB is perpendicular to vp ye = 0.360 sin 30° = 0.180 m 0.168 Me yay =H = 2788 4 9667 OTe 0.180 yy =4.27 rads) @) Velocity D. rye = 0.360 c0830°=0.3117 m Vy = Frye = (0.31177)(4.2667) (©) Velocity of 4 fey, = 0-600sin 30° 0.20785 tmAm~“Ga09 A Jog = (0.20785)° + (0.300)" 0.36497 m. M4 =loy®an (0.36497)(4.2667) = 1.557 m/s y=LSST mis of 34.794 PROPRIETARY MATERIAL © 2009 The McGraw-Hill Companies he. Alt righis reseed. No part of this Manual maybe displayed. ‘reproduced or distributed in any form or by any means, withon the prior written permission ofthe publisher, ov se bevond the linited distribution to edchers nd educators permite by MeGraw Hl for thea indvial conrse preparation. If youre stent iso hs Meme Yon are sig i thon permission 61 PROBLEM 15.87 Knowing that at the instant shown the velocity of collar D is 1.6 mis upward, determine (a) the angular velocity of rod AD, (b) the velocity | of Point B, (c) the velocity of Point A. SOLUTION A Boom or Lams sD s D be conace sh 34, 771% —sf We draw perpenciculars to v, and y, to locate instantaneous center C. | (a) Angular velocity: vy = (CD)@ 1.6 m/s=10.31177 m; @ @= 5.132 radls @=5.13 radis 0) Vp = (BC)CO= (180 mm)(5.132 rads) ¥p =923.76 mms p= 0.924 mis -— © 4, =UO@ Intriangle ACE: tan p=2278S mM 34.72° AC = (207.857 +800)" AC =364.97 mm vy, = (364.97 mm)(5.132 rad/s) = 1873.0 mm/s y=1870 mis~34.7° PROPRIETARY MATERIAL. © 2009 The MeGraw-till Companies, Ine. All hte reserved. No part of this Manual may be displayed reproduced or dire in any for or by any means, without the prior rll permission ofthe publisher, or used beyond the Tinie tdstibntion to ewchers amd educators permit hy McGraw I forthe individual course preparation Jf you area stent wing this Maral you are sing ith permis 1062 PROBLEM 15.88 Rod AB can slide freely along the floor and the inclined plane. Denoting by v, the velocity of Point 4, derive an expression for (a) the angular velocity of the rod, (b) the velocity of end B. SOLUTION Locate the instantaneous center at intersection of lines drawn perpendicular toy, and vj. Law of. Sinf90°=(B=0)] sin(00°—B) (a) Angular velocity (B) Velocity of B: AC BC AC eosi—0) cat eB—O. Be y= dQo= Ie “1 costB-8) ? —ercrnn 2088, [%. sin peu vy = (BC)o=! inB | 1 cos(B-8) eae cous=0) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, nc. All ights reseed. No part af this Manual may be dplayed reproduced or dsrbuted tn any form or by any mean, wilt the prior written permission of te publisher, a wsed bevond the United ‘tribution to teachers and elcetors peri by MeGraw Ul for er buds couse preparation Ifyou area stndent ising is Barua Sy are using without permission. 1063 PROBLEM 15.89 Rod AB ean slide freely along the floor and the inclined plane. Knowing that @= 20°, B= 50°, f= 0.6 m, and mis, determine (a) the angular velocity of the rod, (4) the velocity of end B. SOLUTION Locate the ins! neous center at intersection of lines draw perpendicular to yy and yp. Lawof pee Co Eee sin[90°~(8 -@)] _ sin(90°- 4) 1 sin AC BC cos( 8) Angular velocity: Velocity of B: 3s Data: PROPRIETARY MATERIAL. © 2000 The McGraw-Hill Companies, Ine. All Fights reserve No port of this Manat may be displayet repre on dobuded in ey form or hy any means, without the prior writin permission of the publisher, or use! beyond the Fated ‘isibuton to toachors asd educators pormited by MeGrcHillfor irda course preparation you areca stent wg this Maal, don origi end permission 064 (a) 6) PROBLEM 15.89 (Continued) % sing —_3mv/s___sinS0? FT cos(B~A) 0.6m cos(50°—20°) 4423 radi | £080 * cos(B— 6) i: 08 20° =G mi) 50° 309) 2552 mis AD radls)) Vy =3.26 mis ax 50? PROPRIETARY MATERIAL, © 2009 The MeGraw-Hil| Comopanies, In. All rights reserved. Na part of ths Maal may be dyplave ‘epraduced or distributed in any form or by cy means, without the pre vette permission ofthe publicher, or used beyond the United “Astribntion wo teachers and educators permite by MeGraw-Il for thet anda course prepation yaw are stent wing tis Mana ow are using it wathon permission 065 (lel PROBLEM 15.90 Am ABD is connected by pins to a collar at B and to erank DE. 7 7 Knowing that the velocity of collar B is 400 mm/s upward, me | | determine (a) the angular velocity of arm ABD, (6) the velocity = 3.0m of Point A PS i re SOLUTION i 3 0 t waisinal — uny= ve=wPT nt C) of bar ABD by noting that velocity ditections at Points B and D are nd DC perpendicular to ¥, Locate the instantaneous center (P known, Draw BC perpendicular to. yp ) 66.667 mm 300 B= JBC =320- 66.667 vy 400 CB 253.33 CK = CB + BK =253.33 4 180= 433.33 mm KA__90 crDpveny—060| 53.33 mm. 519 radls,) 57895 rads np @ aeyy: BHNLT3, 90°- B= 78.3" CK G3 CK __ 43333 __ 442.58 mm cos 117335" Vy = (AC) yy = (442.58). 5789S) = 699 mmnls y PROPRIETARY MATERIAL. © 2009 The MeGraw-Will Companies, Inc. All igs reserve. No part of this Manna! may be displayed ‘epivdced or distibted in ay form oF By any means, win the price writen permission ofthe piisher sve beyond the fm Uisribntion to teachersouledcators permed by Mena Hil for thet isda conse prepara. [fet area stadent wt this Manual, eo ae ing i thn! permaion 06 125 mw PROBLEM 15.91 py Arm ABD is connected by pins toa collar at B and to erank DE. ? Knowing that the angular velocity of crank DE is 1.2 rad/s | counterclockwise, determine (¢) the angular velocity of arm ABD, = fe @) the velocity of Point A oer: bragecel 0 mn — im ‘10 nn 100 eee SOLUTION = eee =325 mm con cosy y=22.620°, El = (ED) yy = %» 325)(1.2)=390 mnvs vj) =390 musty ve=¥l Locate the instantaneous center Point C) of bar ABD by noting that velocity dir known. Draw BC perpendicular to yy and DC perpendicular to vp. 125 125" DJ__ 160 300, cosy cosy cr=canrany= 60 }= 0.007 mm, eD @ yyy = fim 2 2.25 rads) CK = KI ~CI = 500~66,667 = 433.33 m1 4k 90 n= AK 7 pauis3s 90° p=78° AC =. 233 «449.58 mm cos fi cos © ACY pp = (442,582.25) =996 mis ¥ =996 mm's 7° 78.3" PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, I. AI rights reserved. No part ofthis Manual may be diplave epreduced or clstibuted in any form oF by ony means, stout the prior written permission ofthe publisher, or wsed beyond the fied isrbution to teachers andeducaors permite by McCiraw-Iil forthe idosua conse preparation Ifyou are asta wing this Manna Yoav ane ue i ou permis, fs] PROBLEM 15.92 ("Two slots have been cut in plate FG and the plate has been + | placed so that the slots fit oxo fixed pins 4 and B. Knowing, * that atthe instant shown the angular velocity of crank DE is, 6 rad/s clockwise, determine (a) the velocity of Point F, (b) the velocity of Point G. 2c 30m SOLUTION iy Crank DE DE) py. = 3.6 in.}(6 rads) FA OD Ve =21.6indsf Rod BF: (ep =p =21.6inssf aj, hb Inds Plate #G: Witte vy and yy are velocities of poi and Yp 10 locate the instantaneous (@ Velocity of Point F: ison the plate next to the pins A and B. We d ter C. ww lines perpendicular toy, =[(CP cos fo Bat (yp) 216 inds and (CF)cos B= 24 in 21.6 inds=(24 ino = 09 rads ©=0.9 radls ) PROPRIETARY MATERIAL. © 2009 The MeGiawHHil Companies, fa. AL ights rexaved. No par of tis Manvel may be displaved ‘reproduced or dsr in any form ory any means, witout the prior ween permission of the publisher, tsed Beyond the lonied ‘astraton to teachers and educators permed by MeGnaw Il for ter individual cows preparation. Ifyoeareu sunt utag ths Marta. pow are etre it wthontpormision, 106 PROBLEM 15.92 (Continued) CF =24,399 in, B=1037 ‘i 30 ~6 »p=(CPyo = gael oe 7 = (24.399 in,)(0.9 radis) 24.— = 21.96 inds ye =22.0inds YY 10.4° 2.0 in.is 79.60 {) Velocity of Point G: 10.992 4744 CG = 22.839 in, 1.392 in, y=20.50° cL (cao a, = (22.839 in.X(0.9 radis) 20.554 inds Yq = 20.6 Inds “% 20.5° PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. All igh reserved. No part of dis Mansa! may: be displayed, reproduced or ditibued ney form or by any mets, sith the prior writen perisson ofthe publoher, or uaed beyond the linited “siibution to teochers al educators pormited by McGrew Il forthe Indsidnal course preparation. Ifyou ave a student wsing ths Marva yu are angi with permistion 1069 PROBLEM 15.93 ‘Two identical rods ABF and DBE are connected by a pin at B. Knowing that at the instant shown the velocity of Point J is 10 in/s upward, determine the velocity of (a) Point & (b) Point / SOLUTION (ABO sn, ¥p = 200 mms | Locate the instantaneous center (Point C) of bar DBE by noting that the velocity directions at Points & and D are known, Draw BC perpendicular to ¥y and DC perpendicular {© Yp Law of sines for triangle cD _ BC BD sin}50°~ sin13° sind5 BC=BD=9in. m5" 17.387 in, sit” vy 10 os 5 rope = 20-2 10057515 rads ) one Cp T7387 / Vp = (BC) ppp = (0.57515) = 5.1763 ins *1 $178 9 sts ad) One =e 4B Vp (APIO yyy = (USHOSIS1S) = 8.6272 ins PROPRIETARY MATERIAL. © 2009 ‘The MeGenw Hil Companies, Ie. All sights roseved. No part of this Manal may be displayed ‘reproduced or dinibued in ey form or by any means, thou the prior writin permission ofthe publisher, or wed besarte Finite 45° PROPRIETARY MATERIAL. © 2009 he MeGrow-Hill Compasies, Is. ALL sights reserved. No pur ofthis Manual may be displayed reproxtced or dried in any frm oF by any means, without the prior writen permission of the publisher, or used beyond the lnted siributon to teachers aad educators permite by McGraw forthe individual course preparation ifyou area sede using he Mana aw are wing i without permssion 1076 PROBLEM 15.97 (Continued) Rod 4B: vy = BC} y 20V2 in Js =(17V2 in ony yy = 29 ad's = 1.1765 radls 0 =1177radls) o y= AC Joy = (25 in)(1.1765 rads) yy =294 ins yj =294inds— PROPRIETARY MATERIAL. ‘2 2009 The McGraw-Hill Companies, Inc. All ights teseved. No part of iy Manual may be displayed ‘oproduced or doiyiuted bs ey form or by any meds, witout ploy written permision ofthe publisher, or used beyand the Cnited durian to teachers al edncatorspormied by MeGras- HA for te Individual course preparaion. Ifyou area stent ing this Mana an are asin iithow permission 1077 PROBLEM 15.98 Two rods AB and DE are connected as shown. Knowing that Point B moves downward with a velocity of 60 ins, determine (@) the angular velocity of each rod, (6) the velocity of Point E. SOLUTION We locate two instantaneous centers at intersections of lines drawn as follows: c For rod 4B, drav lines perpendicular to v4 and vp. For rod DE, draw lines perpendicular to vp and Ve Geometry: DE = +h Since AC\DG and ADFC: ave similar, =17in, Vin. 15 3.2in, C,D=68in BC, = Sin. CF =8-3.2=4.8in. (a) Rod 4B: ¥y = BC )Oun 30 in/s = 30 in.}yg yy =2radls p= (DG oun ¥p = (17 in.J2 rads) = 34 ins PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. Allright served. No part of this Manual may be displayed, reprulaced or dibued in ay form oF by any means, witon the prior written permission ofthe publisher, or used beyond the limited spiaaton to teachers ond educators permited by MeGraw-HIl fr ter inva course preparation Iyowareca student wing this Manel, den are using Ith! permission. 1078 PROBLEM 15.98 (Continued) Rod DE: @) Ys ECO pe 8 in XS rads) 4 ins PROPRIETARY MATERIAL. ‘9 2000 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Mamval may be ciplayed, ‘reproduced oy dsbute in amy form or by any mans, wihou the prior writin permission ofthe publisher, or used beyond the fimited ‘isnibuton to toachors and educators pormiled hy Mera Hilfor their individual conrve preparation Ifyow area student wi this Manta, Jen are angi tte permission. PROBLEM 15.99 Describe the space centrode and the body centrode of rod ABD of Problem 15.84, (Hint: The body centrode need not lie on a physical portion of the rod.) SOLUTION Draw x and y axes as shown with origin at the intersection of the two slots. These axes are fixed in space. Wau, W=%el Locate the space centrode (Point C) by noting that velocity directions at Points A and B are known, Draw AC perpendicular toy, and BC perpendicular to yj. ‘The coordinates of Point C are x, =~Isin ff and yp =/eos adr ye =P = (15inP “The space centrode is a quarter eirele of 15 in, radius centered at O. Redraw the figure, but use axes x and y that move with the body. Place origin at 4. se =(AC) eos 8 cos = L(re0828) ‘The body centrode is a semicircle of 7.5 in. radius centered midway between and & < PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Comps, Ine, All igh teserve. No pt of thie Monn mey be displayed, reproduced or cstribnsed fn ey form or by any moans, with the prior writen persion of the publisher, or wed beyond the lined ‘Taibuten to teachers and ducts ported hy Meir for ti ndividal ours preparation Ifyou area stent using the Mana You are wing it without permission 1080 PROBLEM 15.100 Describe the space centrode and the body centrode of the gear cof Sample Problem 15.2 as the gear rolls on the stationary horizontal rack SOLUTION © c Let Points, 4, B, and C move to 4’, B', and C’ as shown, ‘Since the instantaneous center always lies on the fixed lower rack, the space centrode is the lower rack, space centrode: lower rack Since the point of contact of the gear with the lower rack is always a point on the circumference of the gear, the bodly centrode is the circumference of the gear body centrode: circumference of gear PROPRIETARY MATERIAL © 2009 The MeCiraw-Hill Companies, Ine, All rights reserved, No port af this Manual may be displayed ‘reprudced or dstribted in any form or by any means, withont the prior writin permisiom of te publisher, ov ase beyond the lined ‘distribution to oachers rd ecucaors permed by Mena for their ideal course preparation. Ifyou area tudent ung this Marva [on are ring it wind permission 181 PROBLEM 15.101 Using the method of Seetion 15.7, solve Problem 15.62. PROBLEM 15.62 In the eccentric shown, a disk of 2-in, radius revolves about shaft O that is located 0.5 in. from the center 4 of the disk. The distance between the center 4 of the disk and the pin at B is 8 in, Knowing that the angular velocity of the disk is 900 rpm clockwise, determine the velocity of the block when @= 30°. SOLUTION ° fie (OA)=0.5in. ay, =900 rpm = 307 radl’s.) 7 * y= (OA) ay, = (0.5(30R) = 15x ins M4 FO, yay % Locate the instantaneous center (Point C) of bar BD by noting that velocity directions at Point B and 4 are known, Draw BC perpendicular to yp and AC perpendicular t0 0.ssin30° (OA)sin30° in p= OD SINIO" _ OO sin3O" B= 1.19 sing oe 7 B OB = (OA) cos30° + (AB)e0s f= 0.5e0830° + 8e08 8.4291 in, c= —28 ae 1233 in c0s30° BC = (OB) tan30? = 4.8665 in. =24.84in/s vp =2Bin/s — 4 PROPRIETARY MATERIAL. © 2009 The MeGaw-1 Companies, Ie. All rights reserved. No por of this Mama? may be dplayed reproduced or diribaed in ay form a by any means, etna the ior wren permission ofthe publisher, or used beyond the lined ‘aibution to tonchers and educators permite hy Mero for thelr dividual course preparation ify are student wring this Mont ‘pow are wing il withow permission 1082 50 mo PROBLEM 15.102 [Tt 100 v0 [2500 Using the method of Sect n 15.7, solve Problem 15.64, PROBLEM 15.64 In the position shown, bar AB has an angular velocity of 4 rad/s clockwise. Determine the angular velocity of EE bars BD and DE, SOLUTION A Vp = (AB) ayy = (0.25 m)(4 rad/s) = 1 mis Fovzsn—| Bar DE: p= tan-! 296 a4 96 01s pot _iee pp 015m {Ser fa yy Leathe Xp = (DE) Ope = oy a Bar BD: vprre ton tan 21.8° DC Eq. (): we PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine All ights reserved, No part of this Momad! may be displayed, reprodeced ar dsributed i cy frm or by any means. who the prior writen permission of the publisher, or weed Beyond the Tied Alibi to teachers an educuiars permite by MeGraw-til for ther tna course preparation. Ifo are student sig this Mandal at aveasing Hien permission tons PROBLEM 15.103 Using the method of Section 15.7, solve Problem 15.65. PROBLEM 15.65 In the position shown, bar AB has an angular velocity of 4 rad/s clockwise, Determine the angular velocity of bats BD and DE. SOLUTION A Bar 4B: ws am te p vig (AB) yy = (0.8944 m)(4 ras) ea Bisel yy = 3.578 mis Ys. 26.56 04m Bar DE: tan OST 239.662 ar yotan SE 38.66 pe =25"..0,6403m | cos y Vp = (DEVO py Vp = (0.6403 m)iy,. 5° 38.66" Bar BD: Locate instantaneous center at intersection of lines drawn c perpendicular to vq and vp, BC cD osm sin51.34° sin 63.44" — sin 65.22° BC =0,688 m CD =0.7881 1m BO\O py 3578 mis= (0.688 may; yy =5.2 100s) y= (CD) = (0.7881 (5.2 mis) = 4.098 mis Bq. (): 4.098 mis=(0.688 m)opp: Opp = 6A rad/s) PROPRIETARY MATERIAL. © 2009 The MeGrow-¥il Companies, Ine. All sights reserved. No part ofthis Menual may be diplaved rprodueed oe disruled in ey form or By any means, withou the prios writen permission of te publisher. ar used beyond the tated ‘dktriontion to tonchers and edacedars permited hy MeCrasetll for her mice course preparation Ion are a stadent sing ts Maral dum ave using i withon poronsion 0s PROBLEM 15.104 Using the method of Section 15.7, solve Problem 15.70 PROBLEM 15.70 An automobile travels to the right at a constant speed of 48 mifh, Ifthe diameter of a wheel is 22 in,, determine the velocities of Points B, C, D, and on the tim of the wheel, SOLUTION 4, = 48 mish = 70.4 fs 4-500 mm, r= Ld 11in,=0.91667 R Point C is the instantaneous center. 0 104 76.8 rads 9.1667 B= =1833H vp = (CB = (1.8333) 76.8)=140.8 ls vy =1408 Nis» 1 y=ho0)=15° 7109 fe CD = 2r eosl5" = (2)(0.91667)eos15°= ¥p =(CD)@= (1.7709)(76.8) = 136.0 fs Yp = 136.0105 <2 15.09 r¥3 = 0.916672 (CE) =(1.2964)(76.8) = 99.56 tis 2964 ft = 99.6 fis “45.0? PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, le All rights served. No port of this Manual muy be displayed ‘reproduced or dhribted in cy form oF by any mets, withont the prior writen permission ofthe publisher or nse beyond the lined ‘sibution teachers an educators permite by MGres-l for thew indivi couse preparation I youareasadent wen ths Mana, ‘ona igi permission xs PROBLEM 15.105 ‘A 900-mm rod rests on a horizontal table. A force P applied as shown produces the following accelerations: a, =3.6 m/s to the right, ar=6 rad/s? counterclockwise as viewed from above, Determine the acceleration (a) of Point G, (b) of Point B. SOLUTION : @ ae T ae ONS or + ge wo oKsen ag =) +gq ay —> HAG) —~ 4g, =3.6 m/s? —+ +(0.45 m)(6 rads?) — fag, =3.6 mls? + 42.7 mis? ap =A, Hy fy =3.6 mis?» +(0.9 m6 rads?) +— ap =3.6mis§—» 45.4 mis? + + +( AB) ag =0.9mis§—> ay =18mis? PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. AIL ighs reserved. No part of this Manual may be displayed Daproduced on dsoribued bx any form or by any means, withou the prior writen persion ofthe publisher. or wsed bevond the linge + (AQ) a ae O=3.6 mis’—~ + (y){6 rad/s?) =— 38m 06m orale a=0 at 0.6m from € A Mat gg = ay —* + (AD) = — 2.4 mis? —+ =3.6 ms?—= + (p)6 rad/s?) «— 12 mis? -— v6 rad/s?) =~ y=02m a=24 m/s? + at 0.2 mfiomd € PROPRIETARY MATEREAL. © 2009 The MeGiaw Hil Companies, ne. All sights eesrved. No port of thir Manval may be diplayed, ‘yproduced or cstibuted in any form or by any means, thou the prior rite permission ofthe publher, or ased beyond the linited J =[(1 5033.6) —+ }= $040 mis? —~ (y:0)4 = UDEV} 1]=[050)(07]=0 Ag = Ay Hn), +x )y 2880 —- ]+[5040 —+ ]+0= 7920 mm/s? —» 92 mis? — PROPRIETARY MATERIAL, © 2009 The MeGuav-Hill Companies, Ine. Allright reserved. No part ofthis Manna may be displayed, ‘eprnduced or dstbued tn any form or by any means, wthou te pie writen permission ofthe publiher, ar used beyond the linge \lstibution to teachers and educators permite by MeGrav- 1 for tet individual cone preparetion (fiom are ashen using ths Mant, ow are using I thon permission. PROBLEM 15.111 An automobile travels to the left at a constant speed of 48 mich, Knowing that the diameter of the wheel is 22 in., determine the acceleration (a) of Point B, (b) of Point C, (c) of Point D. SOLUTION y= 48 mith Rolling with no sliding, instantaneous center is at C: yy =(AC)@; 704 aw (1 ajo 0-768 ads ) Acceleration 8 Garo 24 aay > = + b=“Lela € “Pete Trans. with A + Rotation about 4 na = Bog Ay =707 (z a} 8 rad/s)? = 5407 fs? @ Ay + ay, = 0+ 5407 fi's?| 5410 tus? | ) 6 =8, 4+ Mo, = 0+5407 fi/s?t a, =S4i0 tus" f © ay =a, tap, =0+5407 fs? 30° = 5410 fs 60° PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Compasies, ne. Allright reserved. No part of this Manval may be displayed, repruduced ar disbuted in any form oF by any means, without dhe prior written permission ofthe publisher, or used beyond the liited ‘dsributon to teachers ane ecicatns permite by MeGra-Hil for thei inivicha ourse preparation Ifyouareca student wing this Manual, ‘jo are sing i witht permision. PROBLEM 15.112 A cattiage C is supported by a caster A and a cylinder B, each of 50-mm diameter. Knowing that ot the instant shown the carriage has an acceleration of 2.4 mv/s* and a velocity of 1.5 m/s, both directed to the left, determine (a) the angular accelerations of the ‘caster and of the cylinder, (B) the accelerations of the centers of the caster and of the cylinder. SOLUTION Rolling occurs at all surfaces of contact. Instantaneous centers are at points of contact with floor. Caster: =0.025 m ay 20, 22.4 mis? — My if \* (ap), = 0 (rolling with no stiding) Bo = (ay) Hay)y| #rda + rh A ay=04 ra, 24 mis? — = (0.025 ma, 01, = 96 rad/s?) a pee ee Cylinder: 17=0.025 m fy \ es (ay), 2.4 mis? =-— ( (ay), =0 6 ay ay +Apy (ap)q-— +(ae)y} =(ay),-— + (ap), | +2rdy — + 2raR | B (ap), = (ap)y +20 2.4 mls’ — =042(0.025 may Oty = 48 rads? *) Ay =(4p),-—Hap)y | tra +ra?| st ay =O4 ray ag = (0.025 m){48 rad/s’ ); ay S12 mis? Answers: @ 01, =96.0 rads?) a, =2.40 mis? — @ 1 = 48.0 radis**) ay =1.200 mis? — PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ie. All sghtsresarved. No part of this Mannal may be displayed ‘aprodueed or distributed in any form or by eyy means, without the prior write permission ofthe publisher, or wsed besond the listed ‘siribution to teachers and educators permite by McGraw Till fr thtrndviduol course preparation. Ifyou ara student esing this Maal “on ure sing it wtthout permission 1095, PROBLEM 15.113 ‘The motion of the 75-mm-radius cylinder is controlled by the cord shown. Knowing that end £ of the cord has a velocity of 300 min/s anc an acceleration of 480 mm/s*,both directed upward, determine the acceleration (a) of Points A, (b) of Point 8. SOLUTION Velocity analysis. Point isthe instantancous center of rotation of the cylinder, ve =¥q =300 mms 300 ara @= Me =O 2 rah @ Om 5.” IS) as) = (75)@)? =300 mavs? Lay] ag = Uae), HP flac), IF fate + 1@e)y 1 ay toca lady 1 Acceleration analysis. n fay) 4 2reef] + (2ra? [ag —]-+1150}] +{600 —] a) Lael] Wed, [480] }+ (@e), = From Eq.(1), components +{: 480=150, or=3.2 rad/s” .) Ag = 4 + Agia), + Baradn lag{]= [ay 14 ells bro? [ag f= Lag —}+ [240 mms? ] +[300 mm/s? from which 40 mas? anda, =300 mvs? ag = 240 mms" @ a, =300 mmis*—~ € » y= 8G + gg) +Anady = [240 [1+ [ra +r] 240 {] + [240 +} + [300 |} = [240 mm/s? —]+ [60 mms? |] a, =247 mmis’ > 14.0° PROPRIETARY MATERIAL. © 2009 he Meck Companies, ne. Al ight see No part of his Me may be dle repre or ditt nay form 0” by ap mene ton th res rion pasion the ube, or ed bet he tinted “Tetrion to eahurs necro tre Hilf hr nda ou preparion yom ana saent ig i Man ya are teint person 1096 PROBLEM 15.114 ‘The motion of the 75-mm-radius eylinder is controlled by the cord shown. Knowing that end £ of the cord has a velocity of 300 mmis and an acceleration of 480 mm/s*,both directed upward, determine the acceleration of Points C’and D of the cylinder, SOLUTION Velocity anaiysis. Point A isthe instantaneous center of rotation of the cylinder Ye = vy =300 mm/s Yes 2ro w= Acceleration analysis. ro? = (75)(2)' = 300 mis ay [ag 1 ae U0), 14 lacy Ts tay Hee), Alera +10), 2] lag T+ l¢¢), T= Lay 14 2rer}] +2r@? —] [4801] +((2¢)y~—T=Lay 11500} }+(600 -—] wo FromEq(1, components +]: 480=150a, am3.2 dh?) Mas = 4 + (Meads + (Besa 1 (aq ]=Lay— 1+ [240 mnvs?f]+ [300 mm/s? —) Lag f1=lay— 1+ tra} + [ro ~ from which 4g, = 240 mmis? and a, =300 mvs? ag = 240 mms? From Eq. (1), components + : (ae )y =a 4 + 600 = ~300 +600 = 300 mmis? PROPRIETARY MATERIAL. © 2009 The MeGeaw-Hill Companies, Ine All igh weseved. No pot of this Manual may e aspered Pepradueed or dixmibuted in any form or by any means, who the price wette permission ofthe publisher, or used beyond the Lamed isoibution to teachers nel educators permite by MeCvas-Hil fer thea nda conse prepara Ifyou area stent win ns Manne, Jon are ising iwi permission, 1097 PROBLEM 15.114 (Continued) ‘Then ‘ae = [480 mm/s" {] + [300 mnvs? ~~] ag = 566 mm/s? 58.0" ap =86 + (pc), den = [2401] + (ra— ]+ [ref] =[240{] +1240] +300] = [540 mms? {]+{240 mm/s? —- ] ap = 591 mms? 2 66.0° PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, In AM rights serve. No pat ofthis Maal may be displayed, ‘reproduced or distributed in any form ar by any means, without the pray written persion ofthe publisher, or used beyond the lina distribution ta eachers a educntors pero by McGraw Hil for etal course preparation (sou area suens wing he Mare yoware wang 1 withowt permission. 109% PROBLEM 15.115, ‘A 3-in-radius drum is rigidly attached to a S-in-radius drum as shown, One of the drums rolls without sliding on the surface shown, and a cord is wound around the other drum, Knowing that at the instant shown end D of the cord has a velocity of 8 in/s and an acceleration of 30 in/s", both directed to the left, determine the accelerations of Points 4, B, and C of the drums. SOLUTION Velocity analysis. ins Instantaneous center is at Point B. — v,=(AB)w, 8=(5-3)@ =410ds ) Acceleration analy sy =Lap{ fo sping ag =A + And + Anan {410 —]+1(a,)4 1141 -3)a— }4[5~3)0? } ‘Components +. 0=-3042@ @=15 rad/s?) y= 8g +A) Hyg de [4g |1=[4¢ 1+ [Sa ~* }+150"f] Components 1g $50 ay =Sa=T5inJs? ale ay = (5)(4)" = 80 inJ/s* y= 8g + Ayah Hac )y =[75 1+ Ba} +30" [1 = [75] +[45— }+ [48] [30 in/s? —] + [48 inis*t) 4, =566 in/s? 580° PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Inc.All rights eservod. No part ofthis Manual oy be displayed ‘reproduced or dite in amy form or By any means, without the prior writin permision ofthe publisher, or used beyond the limited dirbution to teachers and educators permitted by MeGrane Hill for Pir nda courve preparation Ifyou arecsstudent wing hs Manel, dou are using without permission 1099 PROBLEM 15.115 (Continued) 1 + (800) + @oa)n ~]4 [Serf] +[S0* —] 2[75-—]415}}+180-—] = [155 inJs? ~~] +[75 invs?f] 72.2 in/s? 258° PROPRIETARY MATERIAL. © 2009 The MeGraw-4il Companies, ne All ights reserved. No pet af thie Maal may be displayed, roprskiced or distributed by any form or by any means, without the priar wren perntesion of the publisher, or wsed Beyond the lined (stration to teachers an ecaorspermited by Mera Hil for tet india ourve preparation. Ifyou aver student uring hit Mana, “you ao ing it ito! pormision 1100) PROBLEM 15.116 A 3-in.-radius drum is rigidly attached to a 5-in.-rodius drum as shown. ‘One of the drums rolls without sliding on the surface shown, and a cord is wound around the other drum, Knowing that at the instant shown end D of the cord has a velocity of 8 inJs and an acceleration of 30 in./s”, both directed to the left, determine the accelerations of Points 4, 8, and Cofthe drums. SOLUTION Velocity analysis. Vy = W=8 nds Instantaneous center is at Point A. vp =(AB)@, 8= (5-3) w=4radis) Acceleration analysis. 4, =[4,!] forno slipping. aa) a, =[30 in/s? —}+{(a),!) 6a yy Hun) + Bande fag! }=Bo——}+ 1a), +16—3)a— 1+18 3104) ‘Components t.: 0=-30+2a@ @=15 radis? 82g #0), +a ayt tag }+ Ba 1+ 307t} Components ++. 04g -3a a= =45 ins? a, = 3a? = BNA = 48 ind 48.0 ints | € Ay = Ag (Aye) Oaa a = [4S] + [50 —] 4 150 t] =[45—~]+175-—}+1801] =[30 ins] [80 ins?) ay =85.4 ins? 69.49 PROPRIETARY MATERIAL. { 2009 The MeGrew-Hill Companis, Ine. Allright reserved. No part of this Manual may be digalayed. reproduced or diseibued any form or by any means, who the pric writen permission ofthe publisher, or wed beyond the Tinted ‘Aspibuton to teachers and educators peroited by MeCrow-Hil for thei dividual course preparation ify are stds is Mar, [our are using i withou permission 01 PROBLEM 15.116 (Continued) 8 = 8G + eG) + Aca a 45 — }+(5erl] +150? —] [45+ ]4[75} }4 180] 135 in/s! —]4+[75 inss?hy ag $82.8 PROPRIETARY MATERIAL. © 2009 The MeCraw-Hill Compaoies, Ie. All rights reserved. No par ofthis Mama! may be aisploye reproduced or diiribted in en form or by amy means, hol the prior ten permiesion ofthe publisher, or used beyond the Tinted ‘spibution fo toochors aml educators permit by Metra Hil fords indie conse preparation Io arto sderd in hs Manual, yo are sing ltt permission. 10 PROBLEM 15.117 ‘The 150-mm-radius drum rolls without slipping on a belt that moves to the Jeft with a constant velocity of 300 mnvs. At an’ instant when the velocity and acceleration of the center D of the drum are as shown, determine the accelerations of Points 4, By and C of the drum, SOLUTION Velocity analysis. Acceleration analysis. Components: +: 300 mms, aw) yp =750 mms —+, Ye YeRVp Noy OF [300 -~]=[750—-] +1500 =] 300 = 750-1500, a 1» + Gop), + Bows Lac] =1900—~ } + {150a —]+ (1500 {] 02900-1500 a6 rads?) a, =7.35 wis} Ay + Aap + avn =[900-— } + [150a@ — ] [1500 |] =[900 —+ ]+{900—~ ]+[7350 |] = [1800 mov's? = ]+[7350 mavs? }] a, =757 mis? 76.20 p+ nn) + Anny ay = [900] + [1500 |] + [15007 = [900 —~ }+[900] ]+[7350 -—] = [6450 mms? +—]+{900 mmvis*| } ay = 6.51 7.99 PROPRIETARY MATERIAL. & 2009 The MeGrww Hill Companies, Allright esored. No part of dis Mena! may be displayed, reproduced or dy uted in cy frm or by any means, in te prior written permission of the publisher, or used Beyond the finite isvibotion ta teachers an ecectons pt Py Mean for thelr individual course preparation Ifyou area stot using is Marea, Su are esta i thot persion 1103, PROBLEM 15.118 The [8-in.-radius flywheet is rigidly attached to a 1.5-in,-radius shaft that can zoll along parallel rails. Knowing that at the instant shown the center of the shaft has a velocity of 1.2 in/s and an acceleration of 0.5 inJ/s?, both directed down to the left, determine the acceleration (a) of Point A, (B) of Point 2. SOLUTION Velocity analysis Let Point G be the center of the shaft and Point C be the point of contact with the rails, Point C is the instantaneous center of the wheel and shat since that point does not slip on the rails. ‘Shaft Acceleration analysis. Since the shaft does not slip on the rails, c Be sae 20° Also, = [0.5 inJs? > 20°) aC = Ag + ag), + oe )y Lag N 20°] =[0.5 in./s? > 20°] + (1 Ser 20°] + [1.50 420°) Components 7 20°: 05=-1.Sa o=0.33333 rad/s? ”) (a) Acceleration of Point A. 84 = Mg + (uc), (Ope )n = [0.57 20°] +180 —]+[180" |} 14698 —]+[0.1710]] +16 T+ 11.521] = [6.4698 -—]+(11.670|] a, =13.35 ini? 61.0 @) Acceleration of Point B. Ay = AG + (ne); + Apa) SF 20°] + [18a —]+ [1800] 10.4698 =~ ]+{0.1710 | }+[6 —~ J+ (11.524) 5.5302 —~ ] [11.349] ay =12.62 ins? <7 64.0? PROPRIETARY MATERIAL, © 2009 Tye MeGrowHlil Compascs, he. Al rights reserved, No por of this Manual may be disphyed ‘reprodhced or disibuted in any form or by any means, without the prior weluen permission ofthe publisher, or wsed beyond the limited dsribaton to teachers and educators permite by Merew-Hil fer te inva course prenvation U/yon avec stdert using hs Maru, Dow are urn it without permision 1104 PROBLEM 15.119 In the planetary gear system shown, the radius of gears A, B, C, and D is 3 in, and the radius of the outer gear £ is 9 in. Knowing that gear A has a constant angular velocity of 150 rpm clockwise and that the outer gear F is stationary, determine the magnitude of the acceleration of the tooth of gear D that is in contact with (a) gear A, (B) gear E SOLUTION Velocity. T= Tooth of gear D in contact with gear 4 Gears: vp =r, =G in.Jo, Since vp =0, His instantaneous center of gear D. =2ra, Binoy =2 in jen, i Oy 2 =p =(3 in) 4 =(.5 in.iy Spider: ? AY’ Vp =(6 in.)ng ba f > (5 ina, = inj, H a =44, 150 rpm = 15.708 rads) oy =o, =7.854 rads ) o,- Lo, =3927 rads) 4 Spider: @, = 3.927 radis bap ) dy = (AD) = (6 in. 3.927 rad/s)” eS By ay =92.53 nis? / PROPRIETARY MATERIAL. ® 2009 The McGraw-Hill Companies, ne. All ights eseved. No part of this Manval may be dplayed reproduced or dsirited i any form or by any means, wilt the prior written permission of the publisher or used beyond the Fined tdsribution to teachers onl educators ported by Metirav> Hil for ter nv course preparation. fyow area student wing ts Maral, Son are sing I without permission. tos Gear D: (@) Tooth 7'in contact with gear A. Ap =p +My = ay +(DTIO}, = 92.53 in. + 3 in.(7.854 rad/s)? / = 92.53 ims? / 4185.06 ins? / ay 92.53 in Js? / (8) Tooth £ in contact with gear £. Ay Alp +p = Ay + (ED) e, = 92.53 in Js? / + (3 in.\(7.854 rads)? / = 92.53 ins? / 4185.06 inde? ap =2776 inds? ay =92.5 ins? ag = 278 inde? PROPRIETARY MATERIAL. © 2009 The MeGrav-t6ill Companies, Ine. All ights reserved. No part of this Manual may be displayed ‘reproduced or dtibuerd in any form or by any means, wit the prior written permission ofthe publisher. or used bend the Tinited lstributon to teachers and educedors permitted by McGraw 10 or ther inlividal cour preparation. iyo are aston win ths Mad you are using Without permision 1106, 6, ei PROBLEM 15.120 50m ‘The disk shown has a constant angular velocity of 500 rpm counter clockwise. Knowing that rod BD is 250 mm long, determine the acceleration of collar D when (a) = 90°, (5) @=180°. 150mm SOLUTION Disk 4. ©, = 500 rpm) = 52.36 rad/s") a1, =0, (AB) =50mm=0.05 m AB), = (0.05)(52.36) = 2.618 ms 6 iy = (AB), = (0.05)(52.36)* = 137.08 mis? f "Whe (@) a=90°. v,=2.618mis|, vy =vpb sin 20MM wo4 p= 2058° vp and yp are parallel > app =0 % ay =137.08 mis*—=, ay =ap!, On =a) Apyy “BDA _y S B]+ (BD) G4 BL =10.25 ty) A]+0 Ay =Ay +A,yy Resolve into components. £,0=137.08+( 5.605 B)Uyy — yy = ~589.3 rads?” +{a,, = 0 (0.25 sinpX ~$89.3) + 0= 59.83 ms? PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. All ighs reserved. No part of this Manual may be coplayed reproduced or diated in ey for or by any means, withoa the prior writen permission ofthe publisher, or used beyond the Tinted distin to teachers and educators ported by Mera Hil for thei indiutual course preparation If you area stent weg this Manel. Son are nsing i eho permission ne PROBLEM 15.120 (Continued) 618 ws—r, v= ryt () a= 180". 150mm 250 mm 16 B=36.87° Vp =2.618 mis, Instantaneous center of bar BD lies at Point C. My 2618 yy = = 13.09 rad/s (BD) 0.25 cos B ay =137.08 ms"f, ay apf, Opp =en ) Ay “UBD tqy % I+ (BDO y\f 8) = 10.2595 % B+ 42.837 8) Resolve in components Bb 8) = Ay Fp 2.0 04(0.25 608 ayy + 42.837 si Oy = ~128.5 1 rads? + Jay =137.08~(0.25 sin f){ 128.51) + 42.837 c05 8 2190.63 mls? oe = 3 ay = 190.6 mis?) PROPRIETARY MATERIAL. © 2009 The MeCraw-Hil Companies, le, AI sights reserved. No part of ths Manual may be displayed ‘raproduced or distributed in any form or by any means, shou the prior vevtien permiston ofthe publaher, or used Beyond the limited disribntion to teachers and educators permed by MeGrow-Hil for dete ids coursepreption. Ifvow are sedent sing ts Mua, pow are sing i eithout permission 1108 PROBLEM 15.121 In the tvo-cylinder air compressor shown, the connecting rods BD and BE are each 190 mm long and crank AB rotates about the fixed Point 4 with a constant angular velocity of 1500 rpm clockwise. Determine the acceleration of each piston when 8 = 0. SOLUTION Crank AB. ¥,=0 y= 0 yy =1500 spm=157.08 radis,.), yy = Vp Vy + Vp 0+ [0.05 Oy 45°] = 7.854 mis xt 45° ay =a) Hee) Hn dy = 0+ [0.05045 37 45°] + (0.0500, AS") = [(0.05}(157.08)° 45°] = 1233.7 mis? 45° Rod BD. Y= Vy TAS Onp= My, ) Vo Yet Van vp GAS? =[7.854 228 45°] + [0.1905 77 45°) ‘Components 45°: 0=7.854 0.19 Gig) @yp) = 41.337 rads ay ay S45" Mp = 8p + App) +ADe)n = [1233.7 45°] 110.1999 37 45°] +[0.19 05 45°] Lay S45 PROPRIETARY MATERIAL, #2009 he McGrnwHill Companies, Ine. All ghts reserved. No part ofthis Maral may be aliployed reproduced or csiihted ina form or by cy meas. witha the prior writen permston ofthe publisher, or used beyond the finite ddsribntio to teachers andl educators permuted by MeGraw-H fr thelr Individual eowse preparation Ifyowareastudent sing is Manual, Spon are wing ith permassin 1109 PROBLEM 15.121 (Continued) Components 45° 233.7 + (0.19)(41.337)" = 1558.4 mis? Rod BE. y= 29.742° Since vp isparallel to Vp, ge 85 = dg 45° (ay,), =0.19 0p (re), = Cre) Bay =a + Ane), Draw vector addition diagram, yo4—p 258° ig any 233.7 tan 136.52 mis* ap = 1558 mis? 45° ay =337 is? 45? PROPRIETARY MATERIAL. © 2009 The MeGraw-Hil Comnpaies, In. All rights reserved. No part of thie Mana may be displayed. ryprticed or ebuied tn any frm or By any mans, thou the rior wren permission of the publisher, or nsed heyond the fied tseibuton to teachers edcaions permined by McGraw-Hill far ther inaivdual couse preparation sow are stent wing this Nar, ow are wring i withoa persion m0 PROBLEM 15.122 ‘Arm AB has a constant angular velocity of 16 rad/s counter clockwise. At the instant when @=0, determine the acceleration (a) of collar D, (b) of the midpoint G of bar BD. SOLUTION Velocity Vp =(ABYO4y = (Bin,j(16 rads) vy, =48inisf ee ¥p =(BC)eyy 2 Fai an, ner 4B in Js = (8 in Opp eee pp =6 rads .) Acceleration Rod AB: ay = (AB)oiy = (3 in X16 rad/s)* = 768 in/s* — (a) Ap = 8g + App = 8g + (Ane), + (oe) 5 — + (BD) Se + (BDV 768 ins? ~~ + (WWinjae Sy + (10 in.\(6 rads)? 4% = + (10:in.Jer Sy +360 inds? xf PROPRIETARY MATERIAL, © 2009 The Meraw46l Companies, Ine. AIL vights resorved. No part of ths Mana! may be displayed reproduced or dsrbuted i any form or by eng means, witout the pray stn permision of te publisher need beyond the Fined (Sisribution to teachers and eduentrs porated by MeGran-4Bl for ter individual conse preparation. If yon area staden wing ths Mama, yen are using I thou! permission PROBLEM 15.122 (Continued) Vector diagram. (loin, yas = 216in/s*; a=27 rads? >) ay = 168+ 288+ 2 (10;injer = T68-+ 288-+ = (10)(27) = 768-+ 288+ 162 =1218 in/s? ay =1218inis? — 1 Me By + Mein = My + em), + ain )y ig = ap — + (BG)a Se + (BG )a? wf = 768 in Js? — + (5 in, (27 rad/s) Me + (5 in (6 radis*) a e+ 180inds* 46 = 768 nds? «+ 138inis ‘ (4 3) + feomponcnt cc), =135{ 4) 1903 { components: (a) (3) (2) = 108 in/s? — 108 in,Js' (aig), =0 (3 4 ee = 993 in ds? ag = 993 ini — PROPRIETARY MATERIAL. {9 2009 Tho McGraw-Hill Companies, Ine. All rights reserved, No part of this Mana! may be displayed reprodnced or disibted in ay form ar by any means, witout the prior writen permission of the publish, or wed Beyond the Utd Anion ta teochors and edwcions permed by McCraw for ter Indie course preparation If ar student ing this Maral, jon ae using with! permission un PROBLEM 15.123 Arm AB has a constant angular velocity of 16 rad/s counterclockwise, At the instant when @ = 90°, determine, the acceleration (a) of collar D, (6) of the midpoint G of bar BD. SOLUTION Rod 4B: Oy = (AB)eoy Rod BD: instantaneous center is at OD; gy =0 3 in J(16 rad/s)? 680 ay sin =@iny(W0in)=03, f=17.46° Acceleration, toe Plane motion = = B + Rotation about B (a Ay =8p tpn =p + (8), + andy ay | +(BD)a NP + (BDahy, 0B = T68inds? 1+ (Win) aN P+ (in joy 6 a, = T68inis L+(0inja NB oe < : Vector diagram: 7h nds* fei NG = (168 in./s*) tan 17.46" Goble \d~ go raest = 241.62 inJs? 142 injst = (10 in.)ae = (768 in./s? Yous 17.46” (10 in.Jor= 805.08 in Js? a= 80.5 rad/s? ") PROPRIETARY MATERIAL. © 2009 The MeSieave-4il Companies, Ine. All rghts reserved, No part ofthis Manel may be splayed reproduced or dsibuded mn any form or by any means, withoat the prior writen permiscion of the publisher or uted beyond the Lnted “atritution to teachers and educators permed by ieGrow- Hl forth ndtv course preperation Ifyou are student using this Nan Jon arencing wien pormsion uns PROBLEM 15.123 (Continued) ® 4g =p HGy =p + Cay), + Bandy ap | BGA NB + (BO)aiy 8 = 768 inJs? | +(5in,1(80.5 radis*) NY + (BG\(a)* ag, = T6RinJs? | 4402.5 inds? 17.40" + components: {a )y = (402.5 ins? sin 17.46° “ (8g), =120.77 ins? — v components: (4g) = 768 ins? ~ (402.5 in./s? Joos 17.46° sey 68 nds? — 384 ins? waa) ile (ag), = 384 ins? Ag = 403 in ds? 725° PROPRIETARY MATERIAL. «9 2009 The McGraw-Hill Companies, Ine. A rights reserved. No part ofthis Manual may be ciyphaye reproduced or dseibued iv any form or by ony means, ito the prior wien permission of the publisher, ar used Boson the fined stribuaen ws teachers and educrrs permit by eraw-Hil fortes vidal cose preparation I yar sent wing is Smeah You ae using 1 without permision wa PROBLEM 15.124 Arm AB has a constant angular velocity of 16 rad/s counterclockwise, At the instant when @ = 60°, determine the acceleration of collar D. SOLUTION B=sin" B=19.89 Velocity Vy =(AB) 4g = Bin, XU6 radis) = 48in Jo. 30° Rod BD: m0 a>. > = a ? srg ee BE Mee Plane motion = Trans. with B + Rotation about & Yo = Va Vo =a (BDO B Vp O=4Bin/sD 30° + (10 inary K, 19,80° +} components (48 in/s)sin30° = (10 in.)argp, c0819.89" (48 in/s)sin 30° 22532 rads.) Winjoost4.890° Acceleration. Rod AB: Ap = (AB)Oyy 7 60° = (3 in,}{16 radis)” 60° ay = 768 inds? > 60" Rod BD: - Gash X10 wit. te : %s nh, s Ae Trans.withB + Rotation about B PROPRIETARY MATERIAL © 2009 The McGraw-Hill Companies, Inc All ightstesrved. No pave of this Marea! may be csplayed ‘reproduced or disvibuted in any form ar by ay mets, withow the prior writen permusion ofthe publisher or wsdl beyond the Lnited B = T6R inJs? > G"-+(10 in edgy NF (10 in 2.532 rads?) >> dp O~6BinIS? ZF (UO 0. )oy\f19.89°4 65.14 ins? > 19.8 Vector diagram, components +#{ T6Bsin 60° + 65.14sin 19.89°~10a%pp cost9.89° = 0, 3.09 ralis? Om x components: = ay = T68e0560" + 65.14.60819,89° + (10)(73.09)sin 19.89° ey = 693.9 ind? a) = 694 inis? — PROPRIETARY MATERIAL. © 2009 The MeGraw-HHl| Companies, Ine. Al sights reserved. No part af the Manual may be cplaye reproduced or dsrtbued is any jorm oF By any! means, win the prior wten permision of te publisher, or nsed beyond the nied unibution wo teachers an educaiors permed by McGraw: for tev multdbal course prepares, vox are stent sing this Mama, uw ae using 1 witha permission PROBLEM 15.125 Knowing that crank AB rotates about Point A with a constant angular velocity of ‘900 rpm clockwise, determine the acceleration of the piston P when 0 = 60°. ry SOLUTION 60° Law of S60" p= 16.779" eaweremes aos” ois, 97" D Velocity analysis. @yg = 900 rpm = 307 rad/s) Vy = 0.050049 ~ 1S mvs <— 60° 0} po = Pan *) 0.15 Voip = 01S Oy > B Yo= Vet Yow 8 vp | [= [LSS 60°] +[0.15 0 > 8) bof ]+[0.15e%4 > 8] ise Components .: 0=1.51760860" = 0.15%, cos B A 1.5 cos 60° 6.4065 ads) Acceleration analysis. 053, = (0.05)(302)* = 444.13 mis? 7 30" Ay =p] Gan = an) 0.15 eeyy 2 B+ [0.150% NB] = [60%q, B]+[40.376 NB} @p =Ay+(@pq) Resolve into components. PROPRIETARY MATERIAL. © 2009 Te McGraw-Hill Companies, Ine. All ights reserved. No part of this Mamial may be displayed, reproduced or diated in any form or by any means, whow dhe prior writen permission ofthe publisher, or used besond the fnted ‘isibraton to teachors av educators permed by MeGraw Il for their nviduacourse preparation. Ifyou area student ws this Manta ‘on ane ninth permission an PROBLEM 15.125 (Continued) 05 -444.13 605 30° + 0.15czpp c08 J+40.376 sin Oy = 2597.0 vals? dy = 444,13 sin 30° — (0.15)(2597.0)sin f +40.376 008 6 =148.27 ms? ap =ay ay = 148.3 mis} PROPRIETARY MATERIAL. © 2009 he MeGeaw-Ail Companies, I. AM rights reseived, No pur ofthis Mama! may be displayed. reproduced er dsr i cow form oF by any means, without the prior writen permission af the publisher. or weed beyond te led B 0.1m Vo =Vat Von a [ep | |= [5x 3 60°]+ [0.150 > A] 2 Components .: 0==1.54 €05 60° -0.150yp c08 1.52 cos 60° EERE OC = 16.4065 rads Acceleration analysis. ay = 0.0Sa%4y = (0.05)(302) = 444.13 mv 7 30% =a] Op = Gey) Any =[0.1Sa4p << B]+[0.15a%9 h A] = [6a << f]+[40.376 hp} p= Ay H(@yp) Resolve into components. PROPRIETARY MATERIAL. «9 2009 The MeGraw-Hill Companies, ne. All rights reserved. No part of thiv Manual ona be displayed, rypresiced ar dried x any frm or by any mer, witht the privy wvittn permission ofthe peblisher ras beyond the lated dsribation to teachers eo ecucators permuted by MeGrm-Hll for thet india cnrye preva If yomerecastdent cing ths Mena, ow are using i wie permiston a9) PROBLEM 15.126 (Continued) = 444,13 c08 30°+ 0.15cig, cos B+ 40.376 sin 8 py = 2597.0 rads? dy) = 444.13 sin 30° — (0.15)(2597.0)sin + 40.376 c0s =-296 mis? ay = ay, ap = 290 ms" f PROPRIETARY MATERIAL. 0 2009 The McGraw-Hill Companies, Ine. AIL ighs reserved. No part of this Manvat may be displayed, Foproduced ot etbue on any form or by any means eihou the price ritten permission ofthe publisher, or used Beyond the Tite \Teributon ts owchors ad ductors porn by Metra for thet anda conve preparation ifyoware asad using his Mana, dow are wring without permission 10 PROBLEM 15.127 Knowing that at the instant shown tod AB has zero angular acceleration and an angular velocity of 15 rad/s counterclockwise, determine (a) the angular acceleration of arm DE, (b) the acceleration of Point D. SOLUTION Acceleration analysis. O45 =0 [4B YB] +[(AB) Gy > BY =0+((S)(15)) S. B]=1125 in’s? %B [(BD) ay, 1] +[(BD)ai, —] =[ 1a, T]+100)02)° = [10a T]+11440 ins? ] 8p “WDE NAH (DEVO. BL = [5a NAI+ES)ISY A) =[Satpe A B]+[1125 inds? 2 y=) +A, Resolve into components, PROPRIETARY MATERIAL, © 2009 The MeCiraw4il| Companies, Ie. Al rights reserved. No part of ths Mamaal may be dipleyed ‘reproduced or disnibned in any form or by any means wihow the prior wetton permission ofthe publiher, ov used Bayond dhe Fimited fl =0-4[(5)(15)? Mx BI=1125 ins? SB Any =[OD)4qy1}+[HD)0ip = (10a, T]+{00,02)? =[Hoeigy T]+ 11440 ins? My “UDEV, NBDE ct BI =[Saipy A B+15)05)" 8} =[5App A B]+[1125inJs? Bl Ay =Mp+Apy Resolve into components. PROPRIETARY MATERIAL. © 2009 The MeGiraw Hill Companies, Ine All his reserved. No par of thy Mamas! may be displayed ‘eprodvcod or ditributed in any form or by any means, withont the prior writen permission ofthe yudlishes, or used beyond te lied distribution te teachers end educators permite by Metra for the india corse prerraton If yo areastadet wing is Mama. ow ae ing I wien! permision m3 PROBLEM 15.128 (Continued) Serpe Sin f + 1125c0s f =-1125c0s 8 ~1440 Oye = 1080 rad/s? ~Setyy, c08 8 +1125sin 8 =1125sin J +10crqy Seine cosh _ (51080) cos 10 = 432 rad/s? Opp = 432 rads?) o ay =((BG)eE50 [1+ (BG) 0jy) —} 594329] 41059129" —] 160 ind} 4720 info? = 26 = My HAG = 1125. 6 +21601+720 — = (112Ssin 8 +2160) | +(1125cos B+ 720) — = 2835 inJs? {+1620 ins? — = 3265 ins? > 60.3° 172 fils? Sa 60.3° PROPRUCTARY MATERIAL. ° 2009 The MeGraw Ell Companies, Inc AU rights resrved, No part ofthis Manual may be displayed reproduced or diributed in eny form or by cany means, without the prior tien permiesion of the publisher, or used beyond the Tinted Atributn to teachers andeduceiors permis by MeGrave Hil for ther buona course preparation. Ifyou area student wing ths Manual, ‘yon are sing i win peemisson. uaa PROBLEM 15.129 pee 0am +} Knowing that at the instant shown rod AB has a constant won gs angular velocity of 6 rad/s clockwise, determine the f fe acceleration of Point D. nn tifa L205 ym sf — 225 SOLUTION e Velocity analysis. yy =6 radls) ‘ % “PR A ct ‘The instantaneous center of bar BDE lies at =, Then Mp, =0 and vy = 540 mm/s Acceleration analysis, Ay = (ABYey =[(906)" |] =3240 mms? | Ay (CD )aep > (CD) ay |] = [180 4p ~~ ]+ 10808)" |] = [180a%p — } +1620 mas? |} Mp =[90Cgy ~~] + [2524p |] + [22505 —]+ [90 |] = [0G —-]+ [225241 ] Ay =a £49 Resolve into components. +f: -1620=-3240+228%, gy =7.2 radis?) 18004 (907.2), cp =3.6 rads?) ay =[3240 |] +1(90)(7.2) —] +1(225\7.2) 1] = [648 —] +1620 mows? |) =1745 mmis* >” 68.2° aly =1.745 ns" > 68.2° PROPRIETARY MATERIAL. © 2009 Tie MeGeaw-Hill Companies, ne. All righ reserved, No port of this Manual may be daphyed, "eprdaced or drbuted ix any form oF by any neans, want the price written permission 2f the publisher or we beyond the Limited dstrbation to teachers and educators permite by eG for thet nda one preparation If yom ancastudent wing hs Mand, on are using wiht permission. ins PROBLEM 15.130 Knowing that at the instant shown rod AB has a constant angular velocity of 6 rad/s clockwise, determine (a) the angular acceleration of member BDE, (b) the acceleration of Point SOLUTION Velocity analysis eq = 6 rls ) Vp = (ABO ‘Then Acceleration analysis. ay = (AB) Gig =((90K6)" |] =3240 mavs? | Ap =[(CD) ety =~] + (CD) a8 p |] = [1804 ¢y>— J + (080)(3) |} = [1800,, —]+[1620 mnv/s* |} Bn =[90gy T+ [22504gy 1] + [225024 ~—]+ [90 0p |} =[90aiyp —]+[225a%9f | yg Resolve into components. 1620 = -3240+ 225 ay), Oy =7.20 radis*) Ayyp =[180%pp ~~] +1450 ctgp f+ [4500p 1+ [180 |] = [(080)(7.2) -—}+[(450)(7.2) 11+ 10-—]+10| ] ap (a) = (1296 mm/s? +—]+[3240 mms? ] 240 mais? | ]+[1296 mnie? +—]+(3240 mms? [] Ma A = 1296 mm/s? ay = 1.296 ms? +— PROPRIETARY MATERIAL. © 2009 The MeOrww-Hill Compaies, ne. All ights reserved, No put of dis Manual mey be dplayec, Tepodced ov dotvbuted i ay form or by ay means, whoa the prior writen permisston ofthe publisher, or sed bond the fined Iisritanon to teachers and edctors pended by Bra Hal forte ndoa ourse preparation. fyouare ast as dis Mana sew ae wg iio permission 126 PROBLEM 15.131 Knowing that at the instant shown rod AB has zero angular acceleration and an angular vetocity a, clockwise, determine (a) the angular acceleration of arm DE, (b) the acceleration of Point D. SOLUTION Velocity analysis Oy =) Vp = (AB)O yy = le, Va=Ye—s Yo =%p) — Instantaneous center of bar BD lies at oe, Acceleration analysis. Og Ay [ABQ gy, =~] ABO%y |] =0-+[ (la8)64 | ]=l08 | Ayyp =[2laup [3+ lag —1+[ 2a — }+[lozn | | 1 etyy b+ ota —r J+ 0 =[2Uetyn |] +Ueiqy)—] Ap =[(DE)ye 14+ (DE) ee |) = Uae ~~ 1+[{(i0¥)(o4) | | Ay =Ay + Ayy Resolve into components. the lab Hla} +2 ta = 8) @ letyg = lyn ~ edgy = lag -0 Ging = 08 Cpe =a) 4 | oO aap = lag —> + Lag | ay = V2lag at 45° PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companis, Ine. All ight reserved. No part of thir Manned may be dplaved, reproduced or dieibued in any form or by any’ means, tha te prior writen permission ofthe publisher, or used Beyond the lite’ ‘saribution wo teachers and educators permite by MeGrav- 11 or thet dividual conse preparation If youre ase ws hs Manat, our ave sing i withou permission in PROBLEM 15.132 At the instant shown, rod AB has zero angular accele and an angular velocity of 8 rad/s clockwise. Knowing that J = 0.3 m, determine the acceleration of the midpoint C of member BD. SOLUTION Velocity analysis. yy =8 radis ) Vy = (AB Vays ~(0.3)(8)=2.4 ms Vp te Y= Instantaneous inter of bar BD lies al e2, 24 Op, = <— = 8 rad/s e282 rath) Acceleration analysis, Cy, =0, ig = 64 rad is Ay SAB} gy —]1AB Yn | =0-+1(0.3)(64) |]=19.2 mvs? | ety V+Uetgy +] +[2edhy — ]+[tern | = [0.604yp{] +1032) — 140 = [0.60] }410-3e¢y5 =) Ay SDE Vpn > J+ (DEVGe LY =[03¢%e = ]+100.3)64) 1] Botox: —e 1+119.2 mis? |] 1) My +A, Resolve into components, +f: 19.2=-19.24060g) gp = 64 rads? Bee = Ain “(03Mtyp | ]+(0-15@%qy —] =[19.2 me? f 49.6 mis? —~ ty #1192 | }41192 [419.6 ag =9.60 mis? > PROPRIETARY MATERIAL, © 2009 The MeGrasIhil Companies Ie. Al rights reserved. No part of te Manacl may be diplaved, reproduced or dsuted in any form or by any means, without the prior writen permission of te publisher, or wsed beyond the United (stb to teachers and educors prs hy Mea for ek individ ose preparation you reason wang hs ana, bow are using without permission PROBLEM 15.133 Knowing that at the instant shown bar AB has a constant ithinw angular velocity of 4 rad/s clockwise, determine the angular acceleration (a) of bar BD, (b) of bat DE. 50 nam 400 SOLUTION Relative position vectors. Fy =A m)i~O8 mj Tyg = O8 mY tye = OA mi ~ (0.5 m)j Velocity analysis, See solution to Problem 15.65. g=4105) aye =64 nad) yy = 520s) Acceleration analysis. Gig =0, Opp =Aypk. Op Bar AB (Rotation about A): hy = Oye Xt 4 ~ ankiny =0~(4)'(-0.4i-0.8)) = G4 nvs*)i+ 12.8 mis*)j a Bar BD (Translation with B + Rotation about By By ily + Oly) XX yy ~ fn Fone = 641 +128] + yok (0.81) ~ (5.2) (ODE = 641 +128] + 0.8e%ypj 21.6321 =1S2321 112.84 080, )} Bar DE (Rotation about £): Ap = Coe Xing ~ bet = Gipgk x(0.4i — 0.5) (6.4) (0.4i- 0.59) = Oats +0.50)yph ~ 16.3841 + 20.48} = OSeiyy 16.3844 OAet yp + 20.48) @ PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, ne. All ighs eserved. No pars of this Manual may be displayed Yoprchiced or dried in any form or by ony mens, thud the rior written permiscion ofthe publisher or used Beyond the linked “dsrbution teachers an edveairs pormited by McGrail fr there nda couse preparation Ifyou area stent using his raul ‘yr are ing it wiht perinsson. 19 PROBLEM 15.133 (Continued) Equate like components of ap expressed by Eqs. (1) and (2) Sty: ~ 16.384 yy = 2.304 rads? 15,23: 12.8 + O.8e%gp =(0.4)(2.304) + 20,48 ty) =10.752 rad/s? py =10.75 radis? >) (a) Angular acceleration of bar BD. ()) Angular acceleration of bar DE. 30 rads?) PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, Ine. All rights reserved. No pat ofthis Manual may be displayed ‘reproduced or disibued in ey form or by any means, without the prar writen permisson ofthe publisher, or used beyond the hited sribnton to teachers and ede mors permed by MeCios-Hil for Hi nda conse preparation Un ave student wv this Manual. pias ae ning without portion hoe PROBLEM 15.134 Knowing that at the instant shown bar AB has a constant angular velocity of 4 rad/s clockwise, determine the angular acceleration (a) of bar BD, (b) of bar DE. SOLUTION Velocity analysis. Bar AB (Rotation about 4); @yy =4 rads )= (4 rad’ Fyg AT ini Vp = ©gy XP yy = AK) (TI) Vp = (28 in.s)) = Translation with B+ Rotation about B) Bar DE (Rotation about 8): oe Xone = (Mpg) x43) Nap, }~3e%ppi Equating components of the two expressions for vp, fi W=-M@_ Oy =-2.5455 rad/s py =2.55 rad’s .) Acceleration analysis. Bar AB: 2D: 2 tap Xe ~ aoknn = 112+ ago x (Bj) — (0.95455) (83) = (1248 edgy i+ 7.2895 aw PROPRIETARY MATERIAL, © 2009 The MeGrawHil Companies, Ine, Al sights reserves, No part ofthis Mana! may be diay reproduced or distributed in ay form oF by ay means, without Ue prior writen permission of the publisher, or weed beyond the limited ‘isribution fo teachors and educators permite by MeGraw-Hil for tht indivi course preparation Ifyou area stenting his Mamas, es ae angi eth pormsrion 1131 PROBLEM 15.134 (Continued) Ge = Ope Ay = Cpe Kae ~ Mbetone = Gipgk x(~Li+3)) ~ 2.5455) (Ui 3) ~etyg§~3e%y i+ 71.2751~ 19.4395 = (Retpg FTI 27S) = (Vey, +19.439)} 2 Equate like components of ay expressed by Eqs. (1) and (2). i 7,289 = ~(eipg +19.439) Gye = 2.4298 rad/s? k 112+ 8aigy =[-(3X-2.4298) + 71.275] yp = 4.1795 rad/s® (a) Angular acceleration of bar BD. Og =4.18 radis?) Oye = 2.43 sadis? ) (6) Angular acceleration of bar DE. PROPRIETARY MATERIAL. 8) 2009 The MeGraw-Hill Companies, Ie. Al rights reserved. No part af tas Manual may be cplayed ‘reproduced or distributed in any form oF by any means, wilt the prior witen permision of the publiher, or nsed beyond the United Asiributon to teachors and edncaiars permitted by MeGrawHal for etrindnacl course preparation. f you area student sing this Manual, om are ang tint poms 1132 PROBLEM 15.135 Knowing that at the instant shown bar 4B has an angular velocity ‘of 4 rad/s and an angular acceleration of 2 rad/s’, both clockwise, determine the angular acceleration (a) of bar BD, (b) of bar DE, by using the veetor approach as is done in Sample Problem 15.8 $00 nn —— 400 —] SOLUTION Relative position vectors. (04 m)i~ (0.5 mj Velocity analysis. See solution to Problem 15.65. Ope =64tadIS) yy = 5.2 dls.) Acceleration analysis. {2 radls*)k, yy = Ogi Ke, Oty = Aye Bar AB (Rotation about A) (-2k) «(0.44 -0.8))— (4)*(-0.44-0.89) = ~(1.6 nis” Ji + (0.8 nv/s*)j (6.4 m/s" ji + (12.8 m/s" )j 4.8 m/s? ji (13.6 nvs”)j a Bar BD (Translation with B + Rotation about B) Ay = Mp + Opp Xp ~ Cy Tora 81+ 13.6) + arg k x (0.88) ~ (5.2) (0.8) 8i-+ 13.6) + 08a%yp§— 21.6324 16.8521 +15.6+ 08eryp)} Bar DE (Rotation about E): ye on ~ Cet oe = Gy kX(O.4i ~ 0.59) - GAY (04i-0.5)) Odie | + 0.Sctppi ~16.3844 + 2048 = (0 5dtyg ~16.384)1-+ (Odin + 20.48)} 2 PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, be, AM rights veserved. No part of this Manual may be displayed, ‘reproduced or disibted in any form or by any meuns thon the prior written permission ofthe publisher, or used beyond the Finite disrtbuton wo teachers aed educators permited by MeCraw-H fr the indoidual course preparation. yaw are astdent wing hi Manual, so ae using i withou permission na PROBLEM 15.135 (Continued) Equate like components of ap expressed by Eqs. (1) and (2), i 16.88: O.Sepy 16.384 ttpy = ~0.896 rad 13.6+ 0.8¢tqp =(OAV(-0.896)+2048 egy =8.152 rads? (@) Angular acceleration of bar BD. yy = 8.15 radis?”) ()) Angular acceleration of bar DE. yy = 0.896 radls”) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. AIL igh reserve. No port of this Monnal may be displayed, ruproduced or distributed in any form or by any means, withow the prior writen permission ofthe publisher, or used beyond the lined ddsiibmtionw teachers and educators permed by Metra for thea indidua ours preparation. you area studs wsig hs Mana Dow are using wihont permission us PROBLEM 15.136 Knowing that at the instant shown bar AB has an angular velocity of 4 rad/s and an angular acceleration of 2 rad/s, both clockwise, determine the angular acceleration (a) of bar BD, (6) of bar DE by using the veetor approach as is done in Sample Problem 15.8. SOLUTION Velocity anabysis Bar AB (Rotation about A): yy > 4 rads) =~(4 radis)k Mp = O an Xpng = AK) XT) Bar BD (Plane motion = ‘Translation with B+ Rotation about B): Opn = CK Nyq = 8 iD} Vp = Vat Opp ¥ Bye = 28] + (@yyk) x8) Vp = 2814 8p | Bar DE (Rotation about BY: Ope = py toy = (11 inh in. Vp Ope Xtp = pK NESD Yp = Maye j -3ppi Equating components of the two expressions for ¥p WHO ye Ope Wg =2.55 tall) Bar, 3 dye =-( 5] 2.5488) = 0.98455 rads pp = 0.955 rad/s”) Acceleration analysis yy =2 ras) =-(2 rads?) Bar AB: My = yp Xt ~ Onl é = (-2k)x (Ti) (4)"(-Fi) = 112 ins )4+ (14 ins?) Bebe: Opp = Genk Ay Hy + Opp XE pn ~ iota S11 + 14j Fagg pkx(-8)— (0.95455) (-8)) =(I2+8 ay, i+ 21.289} a PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, ne. AML dghts reserved. No part of ty Manual may be displayed, reproduced or dred tn cy form oF by ans means, wit the prior written permision of the publisher, or used bevond the fnited {Ohtribution ta toachers ane edctns permite by MeCraned Tl fer ndividva couse preparation Ison are astute rs is Sana, Som are nsing without permis 3s PROBLEM 15.136 (Cont Bar DE: Cy = Aigghe Ay = Ope Xing ~ Veto = agg XCM i+ 39) ~ (2.5455) (“11 +3)) ety) ~3appl +71.275i~ 19,4395 3Aiyy, +71. 27SM~ (Meng +19.439)j @ Equate like components of a, expressed by Bs. (1) and (2). 5 21,289 = ~(1 Lag, +19:439) yy = -3.7025 rads? is 112 4 8g, =[-(3X-3.7025) + 71.275] tgp = ~3.1022 rad/s® (a) Angular acceleration of bar BD. Oty) = 3.70 radls? Op, = 3.70 rads?) @®) Angular acceleration of be PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine All hts reserves. No part af this Mama! may be displayed ‘reproduced or disiibuted in any form or by any means without the prior wvitien permission ofthe publisher, oF ned beyond the limited b 6 +0 A mn ad Quiiyir ii (ary ew? Bat @-@ and a6 Then \< PROPRIETARY MATERIAL. © 2009 The MeGrsw-Hill Companies, Ine. All rights resived. No part of this Manual may be displayed ‘reproduced or disiibuted in any form or by any meas, without the prior rite permission ofthe pusher, oF used beyond the linated disribeaion 1 teachers and eduentrs porated by Mera Hil for ther individual conse preparation If vow area student wing hs Maul, Jon are using it without permission, 1 PROBLEM 15.142* Rod AB moves over a small wheel at C while end 4 moves to the right with @ constant velocity vs. Using the method of Section 15.9, derive expressions for the horizontal and vertical components of the velocity of Point B. SOLUTION But “var Xp =(e eo Ye =On)y On), PROPRIETARY MATERIAL, © 2009 The MeGraw-i] Companies, Inc. AN rshls reserved. No part of his Mama moy be displayed ‘reproduced or diietbued in any form or by any means, wot the prior rtien permision ofthe publiher, or nse beyond the fied lsribution 1 teachers und educcars porn by MeGrave- Hl for tos indvidal course preparaion Ifou area stadt sing is Alaa, Son ave asin ith permission na PROBLEM 15.143" A disk of radius r rolls to the right with a constant velocity y. Denoting by P the point of the rim in contact with the ground at 0, derive expressions for the horizontal and vertical components of the velocity of P at any time f SOLUTION orsind =1O-rsin 8 Vp = Pg =P 08 8 =r=reosd PROPRIETARY MATERIAL. ° 2009 The McGraw-Hill Companies, In. All rights resrved, No part ofthis Manual may be cplayed reproduced or diibted in cw fora or by any meus, without te prior rite permiason ofthe publisher, or nsed Beyond the lin dibution to eochers an eduenions porate by Mera Hill fr ther ndisidual course preparation If yon area student ting his Manual, you are using i ethou permission PROBLEM 15.144* At the instant shown, rod AB rotates with an angular velocity @ and an angular acceleration @, both clockwise Using the method of Section 15.9, derive expressions for the velocity and acceleration of Point C, SOLUTION Place the origin at the fixed Point 4, Ne = 21 cos 0 ye=0 a Sa Se =-21 sin 06 ie =0 sin 08 ~21 cos 00° (ve), =e =Lasind — 4 eds fae)y = He 21(ar sin 8+ a cos 0) -— 4 PROPRITARY MATERIAL. © 2009 The MeCiaw-Hill Compania, Ine, All ightstesiyed. No part of thir Manoal may be diyplayed reproduced or distribued iv any form or by any means, wuhou the prior writen permision of te publisher, used fevond the linked ‘dsibution to teachers and educators permite by McGraw Hil for ther onda course preparation. Ifyou area stent wing ds Manu ow are using sou permission. 44 PROBLEM 15.145" At the instant shown, rod AB rotates with an angular velocity @ and an angular acceleration a, both clockwise. Using the method of Section 15.9, derive expressions for the horizontal and vertical components of the velocity and acceleration of Point D. SOLUTION Place the origin at the fixed Point 4. i xy =3/ e080 A sin @ 3tsin 08 = ity =-31 sin 08 ~3/ cos 66" =1 08 00 ~I sin OF Aa, =a Woe Oo). On), Cody (). (a), (@p); (ap), =(arcos = oF sind) Gp = ~(3lar sin 8 + 31a cos Oi + (Ler cos 81a” sin Ai PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Inc.All ighs reserved. No part of this Manual may be display ‘reproduced or dstibied in any form or hy eny means that the rior writen permission af the publisher wed beyond the limited ‘dsibution to oochors and educciors permite by Mr: Hil for thee oust conree proportion. ifsoxareastent wing tis Meal, Yow are wing i ithon permission. nuas, PROBLEM 15.146* ‘The position of rod AB is controlled by a disk of radius r which is attached to yoke CD. Knowing that the yoke moves vertically upward with a constant velocity vo, derive an ‘expression for the angular acceleration of rod AB. SOLUTION — yA From geometry, But yy sin? @ cud) 4 PROPRIETARY MATERIAL. © 2009 The MeGeaw-¥il Companies, Ie. Al sights reserved. No part ofthis Manual may he displayed, ‘iproduced on distil inary form ar By any means, sethont the prior written pormierion of the publisher, or nsed bevond the lied (Bstribution teachers educoors porated by Carew Hl for thei nda conrae preparation so are sak wing thie Mans, owe uring it without permission 1146 PROBLEM 15.147" Jn Problem 15.146, derive an expression for the angular acceleration of rod AB. SOLUTION From geometry, But Angular acceleration, 40 asin! Of vo. 7 03" 6 6058 (1+ cos? asin’ cos’ 8 a-(*) (1+cos? ata”) PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. All ights reserved. No part of hie Manual may be displayed reproduced o ctibuted ix any form oF by any means seth the prior vert permission ofthe publeker, used bend the Utd 70°}+ [480 mmis 2 20°] Yeas e0s50° 480 Vp © e0350° = 746.7 mm/s "159.63 mm =4.678 rad/s yp = 4.68 radi") paps tan 50° (480) tan 50” = 572.04 mm/s Ons ANS radis*) PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. AIL rights reserve. No part of this Mana! maybe displayed, Iepredaced or disibuted in ey form or by any mean, ion the par wetien permission ofthe publisher, or uses beyond the limited “Ghotbuton to oachers and educworspormited by Meira Hil for thi iniviha conrse preparation Ifyon avec stent using hs Sanwa, ‘you are using ition permission 1182