1.

The disk rolls without slipping on the Problems (Motion Relative to Rotating Axes)
horizontal surface, and at the instant
represented, the center O has the velocity and
acceleration shown in the figure. For this
instant, the particle A has the indicated speed u
and the time rate-of-change of speed 𝑢,ሶ both
relative to the disk. Determine the absolute
velocity and acceleration of particle A.
2. The disk rotates about a fixed axis through O with an
angular velocity w=5 rad/s (ccw) and an angular
acceleration a=4 rad/s2 (cw) at the instant represented.
The particle A moves in the circular slot with 𝛽ሶ =2 rad/s
ሷ
(ccw) and 𝛽=3 rad/s2 (cw) when b=36.87o. Determine the
absolute velocity and acceleration of A at this instant.
   
v A  vO  v A / O  vrel

0


vA / O   

 5k  2 sin 36.87 i   3  2 cos 36.87  j
  

1.2 i  4.6 j
  
v A / O  6 j  23i

vrel  b 2   22   4 cm / s
  
vrel  4 cos 36.87i  4 sin 36.87 j 𝒗𝒓𝒆𝒍
   𝒗𝒓𝒆𝒍
vrel  3.2i  2.4 j
  𝒗𝑨/𝑶

v A  26.2i  8.4 j
 w=5 rad/s (ccw), a=4 rad/s2 (cw), 𝛽ሶ =2 rad/s (ccw), 𝛽=3
ሷ rad/s2 (cw) b=36.87o.

         
a A  aO  w  w  rA / O   a  rA / O  2w  vrel  arel

 
0      
w  w  rA / O   5k  5k  1.2i  4.6 j   30i  115 j
  
    
a  rA / O  4k  1.2i  4.6 j   18.4i  4.8 j
 
𝝎 × 𝝎 × 𝒓𝑨/𝑶
 
    
2w  vrel  2 5k  3.2i  2.4 j   24i  32 j
 

arel t  b2  32  6 cm / s 2

  
𝒂𝒓𝒆𝒍
arel t  6 cos 36.87i  6 sin 36.87 j
n    𝜶 × 𝒓𝑨/𝑶
arel t  4.8i  3.6 j
𝒗𝒓𝒆𝒍
arel n  b 2 2  22 2  8 cm / s 2 𝟐𝝎 × 𝒗𝒓𝒆𝒍
  
𝒂𝒓𝒆𝒍 t arel n  8 sin 36.87i  8 cos 36.87 j
  
arel n  4.8i  6.4 j
   𝒗𝒓𝒆
a A  82i  145 j
 Problems (Motion Relative to Rotating Axes)
3. For the instant represented, link CB
is rotating ccw at a constant rate N = 4
rad/s and its pin A causes a cw rotation
of the slotted member ODE. Determine
the angular velocity w and angular
acceleration a of ODE for this instant.
 Problems (Motion Relative to Rotating Axes)
4. Link 1, of the plane mechanism shown, rotates
about the fixed point O with a constant angular
speed of 5 rad/s in the cw direction while slider A,
at the end of link 2, moves in the circular slot of
link 1. Determine the angular velocity and the
angular acceleration of link 2 at the instant
represented where BO is perpendicular to OA. The
radius of the slot is 10 cm.

2
36.87o
C
36.87o

B w1=5 rad/s
O
BO  OA
16 cm
5. The mechanism shown consists of a disk, a slotted arm CD and a bar EF. The disk
rotates about a fixed axis through A with an angular velocity of 3 rad/s (ccw) and
angular acceleration of 6 rad/s2 (ccw).

The slotted arm CD, which is pinned at C

is free to turn about this point. The bar
EF can oscillate within the guides at E
and F. Pin B is fixed on the disk. As the
disk rotates, the pin B moves within the
slotted arm. Determine the angular
velocity and angular acceleration of the
slotted arm CD and the velocity and
acceleration of the bar EF at the instant
shown.
   
v B  v A  v B / A  3k  0.1i   0.3 j (1)
  

    
v B  vC  wCD  rB / C  vrel
    0.1      
v B  vC  wCD k  0.1i  0.2 j   v rel 
  0.2
i j   0.1wCD j  0.2wCD i  0.446v rel i  0.892v rel j (2)
 0.224 0.224 
  
(1)=(2) wCD  0.6 rad / s v rel  0.269 m / s v rel  0.12i  0.24 j


 
    
a B  a A  a B / A  3k  3k  0.1i   6k  0.1i   0.9i  0.6 j (3)
  

         

a B  aC  wCD  wCD  rB / C   a CD  rB / C  2wCD  vrel  arel v rel

   
   
    
a B  0.6k  0.6k  0.1i  0.2 j   a CD k  0.1i  0.2 j   2 0.6k  0.12i  0.24 j 

 

arel
 arel 0.446i  0.892 j 
      
a B  0.324i  0.072 j  0.12a CD j  0.2a CD i  0.446a rel i  0.892a rel j (4)

(3)=(4) a CD  2.2305 rad / s

2
a rel  0.1572 m / s 2

Acceleration of bar EF
  
aEF  0.122.2305i  0.267i
 Problems (Motion Relative to Rotating Axes)
6. The Geneva wheel is a mechanism for producing intermittent rotation. Pin P in the
integral unit of wheel A and locking plate B engages the radial slots in wheel C, thus
turning wheel C one-fourth of a revolution for each revolution of the pin. At the
engagement position q = 45°. For a constant clockwise angular velocity w1 = 2 rad/s of
wheel A, determine the angular acceleration a2 of wheel C for the instant when q = 20°.

200 / 2  141.42 mm
P
d
20o a
O1 200 mm O2
Law of cosines:

d 2  141.42 2  200 2  2141.42200 cos 20

d  82.77 mm

Law of sines:
82.77 141.42
  a  35.76o
sin 20 sin a
constant clockwise angular velocity w1 = 2 rad/s, determine the angular acceleration a2 when q = 20°.

P
d  82.77 mm
20o a  35.76o
O1 200 mm O2
Velocity
vrel
Plate B:
   
vP  vO1  w1  rP / O1
  
vP  2k  141.42 cos qi  141.42 sin qj 

 

 
132.89 i  48.37 j
  
vP  96.74i  265.79 j 1
Plate C:
    
vP  vO 2  w2  rP / O 2  vrel  w2 k   82.77 cos ai  82.77 sin aj   vrel cos ai  sin aj 
    
 
 
 
 67.17 i  48.37 j

    
vP  67.17w2 j  48.37w2 i  0.811vrel i  0.584vrel j 2

1 = 2  w2  1.932 rad / s vrel  234.5 mm / s

 P
d  82.77 mm
20o a  35.76o
O1 200 mm O2
arel
Acceleration
Plate B:
      
aP  aO1  w1  w1  rP / O1   531.58i  193.48 j 3

         
Plate C: aP  aO 2  w2  w2  rP / O 2   a 2  rP / O 2  2w2  vrel  arel
 
 



 

aP  1.932k  1.932k   67.17i  48.37 j  a 2 k   67.17i  48.37 j
 

 
  





 2 1.932k  234.5 cos ai  234.5 sin aj  arel cos ai  sin aj
 


vrel
        
aP  250.72i  180.55 j  67.17a 2 j  48.37a 2 i  529.52i  734.16 j  0.811arel i  0.584arel j 4

3 = 4  a 2  16.59 rad / s 2 arel  628.1 mm / s 2

arel
 Problems (Motion Relative to Rotating Axes)
7. For the instant shown, particle A has a velocity of 12.5 m/s towards point C relative to
the disk and this velocity is decreasing at the rate of 7.5 m/s each second. The disk rotates
about B with angular velocity w=9 rad/s and angular acceleration a=60 rad/s2 in the
directions shown in the figure. The angle b remains constant during the motion. Telescopic
link has a velocity of 5 m/s and an acceleration of 2.5 m/s2. Determine the absolute
velocity and acceleration of point A for the position shown.
     
Velocity Analysis v A  v B  w  r  vrel

Telescopic link has a velocity of 5 m/s

vB
  24  7 
v B  5 i  j
 25 25  b
25 7
  
v B  4.8i  1.4 j 24

The disk rotates about B with angular velocity w=9 rad/s

2 2 2 2
y  x2    x2   x m
9 3 9 3
   2 2     
w  r  9k   i  j  w  r  6i  6 j
3 3 
Particle A has a velocity of 12.5 m/s towards point C relative to the disk

dy 4  3 4    vrel
tan q   2x  vrel  12.5 i  j   7.5i  10 j
dx x2 / 3 3 5 5 
5 4
   q

v A  6.3i  17.4 j 3
Acceleration Analysis
         
a A  a B  w  w  r   a  r  2w  vrel  arel

Telescopic link has an acceleration of 2.5 m/s 2.

  24  7  aB
a B  2.5 i  j
 25 25 
  
a B  2.4i  0.7 j b 25
7

24

The disk rotates about B with angular velocity w=9 rad/s and angular acceleration
a=60 rad/s2
    2  2       
w  w  r   9k  9k   i  j   9k   6i  6 j   54i  54 j
  
 3 3 
    2  2   
a  r  60k   i  j   40i  40 j
3 3 
particle A has a velocity of 12.5 m/s towards point C relative to the disk. The disk
rotates about B with angular velocity w=9 rad/s.

 
    
2w  vrel  2 9k  7.5i  10 j   180i  135 j

Particle A has a velocity of 12.5 m/s towards point C relative to the disk and this
velocity is decreasing at the rate of 7.5 m/s each second.

dy 4 d2y
 2x  2
2
dx x2 / 3 3 dx
3/ 2
  dy  2 
1    
  dx  
  2.315 m
d2y
dx 2
+n +t
2
12.5 2
v rel vrel
arel n    67.49 m / s 2 (arel)n
 2.315 q
5 4
  4  3    3
arel n  67.49  i  j   53.992i  40.494 j (arel)t
 5 5 
  3  4   
arel t  7.5 i  j   4.5i  6 j
5 5 
  
a A  254.892i  74.794 j
8. The pin A in the bell crank AOD is guided by the flanges of the collar B,
which slides with a constant velocity vB of 0.9 m/s along the fixed shaft for an
interval of motion. For the position q=30o determine the acceleration of the
plunger CE, whose upper end is positioned by the radial slot in the bell crank.
Velocity Analysis vA
vA vrel

30o
vB=(vA)x 129.9 mm

60o 30o
vB 0.9
vA    1.039 m / s
cos 30 cos 30
1.039
 w AOD  w   6.928 rad / s
0.15
 
vC   vC j 1
    
vC  vO  w  rC / O  v rel  6.928k  0.225i  0.13 j   v rel cos 30i  sin 30 j 
    

0
    
vC  0.9i  1.56 j  0.866v rel i  0.5v rel j 2
vrel
(1)=(2) vrel=1.039 m/s
vc=2.079 m/s
 Acceleration Analysis
vrel
(aA)n VB=constant
30o
aA
aA So aA must be vertical.
60o 30o 129.9 mm
(aA)t
a A n  w 2 OA  6.9282  0.15  7.195 m / s 2
a A n
aA   8.308 m / s 2
cos 30
a A t  a A sin 30  4.154 m / s 2  a A t  a AOD AO
a AOD  a  27.695 rad / s 2
 
aC  aC j 3
         
aC  aO  w  w  r   a  r  2w  vrel  a rel

0

   
  
aC  6.928k   6.928k  0.225i  0.13 j   27.695k  0.225i  0.13 j 
 

 
    
 2  6.928k   1.039 cos 30i  1.039 sin 30 j   arel cos 30i  sin 30 j 
    
aC  21.58i  12.464 j  0.866a rel i  0.5a rel j 4 (3)=(4)
arel=24.92 m/s2
aC=27.92 m/s2