PROBLEM 15.153 Two rotating rods are connected by slider block P. The velocity vo of the slider block relative to the rod is constant and is directed outward. For the given data, determine the angular velocity of each rod in the position shown. b=8in, yy =9inds, SOLUTION Dimensions: Law of sines. AP _ BP. sin 20°” sin60® sin 40° AP = 4.2567 in, BP =10.7784 in, Velocities Note: P’= Point of AD coinciding with P. eM +N un [yp 10°] = [vp 2% 30°]4(9 in/s 22s 60°] i tan 40° ine yl nat PE 14.002 in/s © 10.7784 in, =1,2990 rad/s Opp =1.299 radis.) PROPRIETARY MATERIAL. «© 2009 The MeGraw-ill Companies, nc. All ights sessed, No part of this Monval may be diplaye reproduced or dsc any form or by any means, witht the price written permision of the publisher, tac beyond the Ted ‘deseibution to wachers and educators permed by Metraw-Hil for thes ical course preparation Ifyoucrea ser! wring ths Mer, vow are ws it without permission mstPROBLEM 15.154 Pin P i attached to the collar shown; the motion of the pin is guided by a slot cut in rod BD and by the collar that slides on rod A. Knowing that at the instant considered the rods rotate clockwise with constant angular velocities, determine for the given data the velocity of pin P. 0 qe =4 rads, Opp =1.5 rads. SOLUTION 20 60830" AB=20in, AP=20tan30°, BP. yp =Aradls ), yy = 1.5 radl's ) ‘on AE and 1, be the outward velocity of the collar along the rod AE. Let P” be the coinciding poi Vp Vp + Vnae SWAP) Oge + fh Let P* be the coinciding point on BD and 1, be the outward speed along the slot in rod BD. ¥p= Vie +V pap =UBP Og 30+ Lay 60%] [Equate the two expressions for yp and resolve into components. tes ne 20 Je 5)(c0s30°)+11, 60s 60° 20830 or 4, =30+0.5u, wo at ~c201an30°y6) =-{ 2a 5)sin30°-+ 14 sin 60° | 180 tan 30°30 tan 30°] = -33.333 ins 60° 2 sin From Eq. (1), 4, =30+ 0.5) vp =[(20tan 30°\(4) |} + [13.333—~] 333)=13.333 in/s [46.188 nfs |} +03.333inds—=] {46.1887 $13,333" =2.4037 mvs 88 6188 go73.9° = taa33 7 oe tam = Lins SB" € PROPRIETARY MATERIAL. #2009 The MeGrow-Hil Companies, Inc. Al rights reserved. No part ofthis Monual may be diplaved, reproduced oc distributed in any form or by any mans, without the prin witen permission of the publisher. or wed beyond the lnited [thribution to toachors and edccors printed by McGraw Hil for ther audstdual course preparation, Ifyou are aside sing this Maral, dow are ning if without pormision. ustPROBLEM 15.155 Pin P is tached to the coflar shown; the motion of the pin is guided by slot cut in tod BD and by the collar that stides on rod AE. Knowing that at the instant considered the rods rotate clockwise with constant angular velocities, determine for the given data the velocity of pin P. Om aS, Oy = SOLUTION 4B=20in, AP =20t0n 30°, BP=— 2 cos 30° rads ) Let P” be the coinciding point on AF and 1, be the outward velocity of the collar along the rod AE. tage =35 08), yy = WoW Mra WAP Ig [L404 — ] Lot P* be the coinciding point on BD and 1, be the outward speed along the slot in rod BD. Ye MF Vpn =UBP Ip 30} + [ty 7 60°] Equate the two expressions for vp. and resolve into components a P + 0 fi Yo or 1, =48+0.5u, a et: -(20 tan 309.5) 20 Ne. a Yo 14.667 inJs — | _f48tan30°—701an 30° sind From Eg. (1), 48+ (0.514.667) = 40.667 ins (20tan 30°Y(3.5) |] + (40.667 — 40.415 inJs |] + [40.667 ins] yp = 40.667)? + 40.415)" tang = 40418 7.3 ints Ba-448° Vp =57.3 ints S448" 40.667 PROPRIETARY MATERIAL. © 2009 The McGeaw-Hill Companies, Ine. All ights reserved No part of this Manel may be ciple, reproduced or dsribued in any form or by ny means, ehont the prior writen permision of te publisher nse hevond the lined stsmibuton to teachers and educators permite by McGraw farther incvial course preparation. ifyou ae wien wing tis Meal, {ou are sing i without pormassien 15sPo gu PROBLEM 15.156 Two rods AE and BD pass through holes drilled into a hexagonal block. (The holes are drifled in different planes so that the rods will not touch each other.) Knowing that atthe instant considered rod AE rotates counterclockwise with a constant angular velocity @, determine, for the given dala, the relative velocity of the block with respect to cach rod, (@) 0=90°, (b) B= 60". Angle between rods is constant, therefore yp O w=) (a) 090°: Geometry 1 2 A=; BD 3 B Rod AF and blo Ve FV ge = (AOL + Vyuge 1 van © a iB Rod BD and block H: Yan = Nae * Vio V4 =(BDYe>30° + Yyu9p 30° 2m 30° + pnp ABE @) Equate right-hand members of Eqs. (1) + 2 1 pol ne v3 Veotor diagram: O30 + Yay ABO 1 nae =e tan 60° "Ae a" =o Vine lo Yury =0 PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine All ights reserved. No part of this Manual may be diypaved reprudced or dante in ey form or By anny men vlthou the prior written permission ofthe publisher, or used Dayand the Tnited Udsibution to teachers and educators permite by AcGFes- Hl forte indvaal course preparation My area stent sing his Maru, Yo are nsng i ithon! permis 1186a PROPRIETARY MATERIAL. © 2009 The MeCr-Hh o PROBLEM 15.156 (Continued) 6 = 60" Geometry Equilateral triangle: AH = BH =1 Rod AE and block i Ya Vr uae (AH 226071094 30") Vy =U 60} [Yjyyy 230°] w Rod BD and block #: Ya Vue Vem [BHO 60°] + [yy 230°) Vy, = LO 60+ [9 yy5) 230°] @ Equate eight-hand members of Eqs. (1) and (2) [060° [jpg 2 30°] = [060°] + [0999 30°] Vector diagram: —Yyyqy) = Vjyqy, = 100 Companies, Ine. All Xs reserved. No port of this Adana may be displayed ‘reproduced or dhe in cany form or by any moans, withont the prior written permassion ofthe pub, on sed beyent he tasted sibuton to teachers ck edcotrs permit by Merane Hil for tei indies onrse preparation. Ifyou ane student ving hs Mantel, om are sing ttt pormision 37PROBLEM 15.157 ‘Two rods AE and BD pass through holes drilled into a hexagonal block. (The holes are drilled in different planes so that the rods will not touch each other.) Knowing that at the instant considered rod AZ rotates counterclockwise with a constant angular velocity @, determine, for the tziven data, the relative velocity of the block with respect to each rod = 43°, SOLUTION : Angle between rods is constant, therefore T > re, i Geontn | a 2 | sin 60 AH = (ALS BH = 0.8165! Rod AE and block Hf Wie *¥ uae = [AH 0 45°} + [WjageX45°1 Vy SUSI 45°] + Dyna 45°] wo Rod BD and block #7: Vn = Nar * Va. =[(BH) 0% 75°l+ [yp 15°) Vy, = [0816510 75°14 [yan 15°] 2 quate right-hand members of Eqs. (1) and (2): [AISle £0 45°] + [0 jpg 45°} = [0.8 165102 75°] +129 E15") PROPRIETARY MATERIAL. € 2009 The MeGrow-Hil Companies, In. All ihe reserved. No pave of this Manual may be displayed reproduced er dotrbuted in cny for: or by any means, without the prior writin permizsion of the publisher, or used bayond the Finited “sition to teachers and ecwers porate by MeGravrHl forte individual course preparation. If ou arc astadenasing his Manva yom are wing Hind permission, tisPROBLEM 15.157 (Continued) gram. | Equate components in direction parallel to Ve LASS Equate components in direct n parallel 0 vie 2% 60° Gp oancte (0.816510) ¢0860° + vy 4.,c0830°=1.115!@ Vpay =+08t6le0 * Viany =O816le0 0 15° Equate components in direction perpendicular to vje%>45° (0.816510)sin60° — »;yqy Sin 30° = Yjyyp (0.8165i@) sin 60° ~ (0.8160) si 30° = Vjyyg inge = 40.2990 Vinge = 02991045" PROPRIETARY MATERIAL. {9 2009 The McGraw-Hill Companies, Ine. All ight reeerved. No part of thir Maneal may be dispayet ‘reproduced or distributed in any farm or by any moans, without the prior writen permission ofthe publisher, ov nsed beyond the limited ‘tribution to teachers and edcedorspermited by Gra Hl for ther inva course preparation Ifo are aster! wing is Mara ow are avin it without parmassion 1159PROBLEM 15.158 Four pins slide in four separate slots eut in a circular plate as shown, ‘When the plate is at rest, each pin has a velocity directed as shown and of the same constant magnitude 1 If each pin maintains the same velocity relative to the plate when the plate rotates about O with a constant counterclockwise angular velocity @, determine the acceleration of each pin SOLUTION For each pin: Ap Sap Hyp Fe Acceleration of the coinciding Point P* of the plate. For each pin ay = ra” towards the center 0. Acceleration of the pin relative to the plate For pins 7, Py and P,, Aye For pin Py, yyy For each pin ay =240 with ay ina diteton obianed by rotting wth 90° in the sense of @ Le.) ro ‘Then a, =[ro >} + [2am 1) a, 2onj a, =r? UY Ran) a, =2aoi—ra?j a= tra ere] <0] “oo T}+ {2am T) reo’ +2au)j PROPRIETARY MATERIAL, © 2009 The MoCrave Hill Companies, Inc. All rghts sored. No put ofthis Manual may be displayed ‘epradhiced or dtribuied in any form or By any moans, withont the pri writen poomission of the publisher, oF sod beyond the fined disribution ta toachers nd educators peta by MeCrave il for thet dial conse preparation Ifyou arccastident asin his Manta omar ex i illo! pormdsion 1160PROBLEM 15.159 Solve Problem 15.158, assuming that the plate rotates about O with a constant clockwise angular velocity & SOLUTION For each pin: ie FA He Acceleration of the coinciding Point P” of the plate. For cach pin aye = ray” towards the center O, Acceleration of the pin relative to the plate. For pins 2, P, and P,, Apr =0 For pin 2, Coriolis acceleration i. For each pin a =2en with a, in a direction obtained by rotating u through 90° in the sense of ‘Then ro 9] +[2om T] ra? You =] wane +120 3 a, =[ro" T+oul} i+ 2auj a, = -Qani-ra?j ay = (rw? ~2on)j PROPRIETARY MATERIAL. © 2009 The McGraw ill Companies, ne. Alb igh wserved. Mo part of hiv Mandal may be displayed ‘reprodwced or dsibted in any form or by any means, without the prior writen permission ofthe pusher or nse beyond the Timid distribution to teachers and educators pennited by McGrane for thet ndilual couse preparetion. yom are aston using his Mena, you are using it without permission, H61PROBLEM 15.160 At the instant shown the length of the boom 42 is being decreased at the constant rate of 0.2 misand the boom is being lowered at the constant rate of 0.08 rad/s. Determine (a) the velocity of Point 8, (6) the acceleration of Point B. SOLUTION Velocity of coincidling Point Bon boom, Vp = O={6)(0.08)= 0.48 mis “% 60" Velocity of Point B relative to the boom. Vanaam = 0-2 10187" 30" (a) Velocity of Poim B. b= 9+ Vatoon Les (vp), = 0.480860" ~ 0.2.c0s30° = 0.06680 mis ats (op), =-048sin60? -0.2sin30? = -0.51569 mvs Vo.06680" + 0.51569" = 0.520 mvs 0.51569 0.06680" tan, fa-82.0° Vy = 0.520 mis 82.69 Acceleration of coinciding Point B’ on boom ay = rar = (60.08) 1.0384 mis? 5” 30° Acceleration of B relative to the boom. Aaron = Coriolis acceleration. 2am = (2\(0.08)(0.2) = 0.032 ms? 60° PROPRIETARY MATERIAL. & 2009 The McGill Companies, Ine. AM rights reserved. No part of this Manual my Be dspaved ‘reproduced or cstibted in any form or By enyy means, wil the prior written permition of te publisher. om wsed beyond the lnited ‘tribution to teachers and educors permed by Mcrae onal course preparation ifyare a stent wing this Mant yo are sing I without parma, 162PROBLEM 15.160 (Continued) (0) Acceleration of Point B. 16 A gtoum + 2000 0.0384 cos 30° +0) -0.032cos60° =-0,04926 mis? te: (as), +h (ap), =0.03846in30° + 0+ 0.032sin 60° = 0.008513 mis? aay = (0.04926) + (0.008513)° = 0.0500 m/s? ay = 50.0 mms? 9.8" PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, ne, All ighs reserved. No part ofthis Manual may be dp reproduced or distributed in any form or by ny means, without the prior writen parmsion of the publisher, or aed Beyond the fined istribation to teachers and educa pormited by Meren-Hil for thei ndividua course preparation Ifyou area stent ws ths Arnal vow ave wing i withou pormicion 1163PROBLEM 15.161 At the instant shown, the length of the boom 4B is being increased at the constant rate of 0.2 mis and the boom is being lowered at the constant rate of 0.08 rad/s. Determine (a) the velocity of Point B, (6) the acceleration of Point 8. SOLUTION Velocity of coinciding Point B on boom. Vp =7@= (6)(0.08)= 0.48 m/s % 60° Velocity of Point B relative to the boom. Vortcan = 0.2 mis a 30° (a) Velocity of Point B. Vp = Vir * Vivicam Ae: (vp), = 0.48 cos 60° +0.2 cos 30° = 0.4132 mis ty Gp), 0.48 sin 60° + 02 sin 30° = ~0.3157 mis (0.8132 +3157 0.520 m/s vy =0.520 mis 374° Acceleration of coinciding Point B on boom. ay = rai? =(6)(0.08)" = 0.0384 mis? 230° Acceleration of B relative to the boom. Apteom = Coriolis acceleration, 2aan = (2)(0.08)(2) = 0.032 mis? 60% PROPRIETARY MATERIAL, © 2009 ‘The McGrail Companies, Ine. Allright reserved. No part of this Manual may be dpplaed, reproduced or distributed in any for a7 by any mcans seth the prior rst permission ofthe publisher, or red beyond the lined tan p= = 483°, 1 =95.2in ds? 48,3" Paae é PROPRIETARY MATERIAL © 2009 Tne MeCray-Hill Companies, Ine. All igs reserved. No part of this onal maybe dsplved, reproduced or distibuced in any form or by any means, wihow dhe prior wrticn permission ofthe publisher, or use beyond the fined dlisibution to teachers anal educatorspermiued by MeGra-HiI for her tava course preparation Wf yow area student ws ths Mana. ow are sine i eho permission unPROBLEM 15.167 (Continued) () Aly = 63.364 — 23.045 +38.4i~ 28.8) 24.96 ins? i (51.84 ins?) ay = (24.96) (51.8) 52 inj? a, =57.5 in/s' 764.39 PROPRIETARY MATERIAL. ® 2009 Te McGraw-Hill Companies, Inc. All ights reserved. NO part of thy Manual ay be displayed, treprotuced or dobuted in cw form or by any means, withon the prior writin permision ofthe publisher, or used beyond the limited riduion to ears ad educators permed by Me Gravel fr Meir individual cove preparation I tare stent sng his ane, you are sing whan persion. unPROBLEM 15.168 A chain is looped around two gears of radius 40 mm that ean rotate freely with respect to the 320-mm arm AB. The chain moves about arm AB in a clockwise direction at the constant rate of 80 mnvs relative to the arm. Knowing that in the position shown arm AB rotates clockwise about 4 at the fe a constant rate @=0.75 rad/s, determine the acceleration of 4 A160 ee each of the chain links indicated, Links f and 2, SOLUTION Let the arm AB be a rotating frame of reference. = 0.75 rad/s) (0.75 rads)k: Link I: (40 mami, Vy gq =H T= (BO ms) Q?r, = (0.75) (40) = (22.5 mnvs)i 30 p40 20% Vag = 2N(-O.75K) x (805) 120 mm’s)i + Muay t2OX Vian 302.5 mms?) ay 160 mm/s = (160 mavs?)i 303 mm/s? —+ Link 2: 5 = (160 mm)i+ 40 mm)j Voygp =U 9 =(4 in dS) 2)(-0.75k)>(80i) (120 mis?) AY Hayy + 2O%V a gp 904 22.5} -120j (90 minis? i (142.5 mms?) ooo)? +042. =168.5 mnvs? tan g=425, 7 S17 a, =168.5 mms?” 57.79 PROPRIETARY MATERIAL. «© 2009 The MeGraw-Hil Companies, Ine. AIL ghts reserved. No part of this Manual may be displaved ‘reproduced or dtribued in any form or by any means, without the prior writen permision of the publisher. used beyond the lined ‘Asin to teachers and edacctors permed by MeCanew Hil for thee onvidal course pripaation fo are aston wing this Hamat ow are ang witout permission amPROBLEM 15.169 A chain is looped around two geats of radius 40 mm that ean rotate freely with respect to the 320-mm arm AB. The chain ‘moves about arm 4B in a clockwise diteetion at the constant rate 80 mm/s relative to the arm, Knowing that in the position shown arm AB rotates clockwise about 4 at the constant rate 75 radis, determine the acceleration of each of the chain links indicated. Links 3 and 4, SOLUTION Let arm AB bea rotating frame of reference 75 ras.) = (0.75 nd) Link 3: ¥, = (360 mM)E Vy) 4 =6 Lb =~-(80 munvs)j (0.75) (360) = -(202.5 mm/s? ji (160 mnvis? ji 2O% V5 = (2M-0.75K)<(-80)) = (120 mas? }i Ay = ay Hy gy FOX V4 482.5 mms? ay Link 4: 4, = (160 mm)i (40 mm) Vouag =H = (80 mids" ji ayer, = (0.75) (601 ~ 40)) (90 inns i+ (22.5 mm/s?)j Bang =O 2X V yyy = (2X 0.75K)X(-803) = (120 mmis*)j Ag = Ag Hayy + 2QXV Gap ~(90 mmis* ji + (142.5 mms ay = (007 +(142.3)" = 168.5 mmv/s* tan ee, posure 4, =168.5 mis? 57.79 PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, All Fights eserved, No part of thir Mannal may Be displvsd ‘apraduced or distributed by any form ov by any means, without the prior writen permission af he publi or ws beyond the liniied ‘dsributon fo teachers rs educators permite by McCraw for thet nial couse preeaation If ynsanastacent using ths Man. ‘pare sing i witout person, 1175PROBLEM 15.170 Rod 4B of length R rotates about A with a constant clockwise angular velocity @;. At the same time, rod BD of length r rotates about B with a constant counterclockwise angular velocity @, with respect to rod 4B, Show that if a, = 20, the acceleration of Point D passes through Point A. Further show that this result is independent of R, r, and @ SOLUTION Angular velocities: 0 =-4k ©) = 20k Let F bea frame of reference rotating with the rod 4B. Then Q=0,=-ak Let D7” be the point of the frame coinciding with Point D. Geometry: Hyg =(R + rc0sO)i+ (sin Bj yg = (60s 0) (rsin 8)j Velocity of Point D relative to the frame #: = 2aqr(-sin Bi + cos) Coriolis acceleration. 2X9 yy = 2-9) [eye (sin B+ cos 8] 4x r(cos 1+ sin Bj) (2)'(reosdi+ sind) 4a r(cos i+ sin Qj) Acceleration of Point D. Ap Ay +p +2QXV ye Note that the last two terms cancel so that By = Ay OF tp 4 Since ay when placed at D points toward 4, so does ap So long as @; =~20, the result is valid forall po PROPRIETARY MATERIAL. © 2009 The MeGeaw-Hil Companies, Ine_ Al tights reserved. No par of thie Mona! may be displayed. ‘reproduced on ditibuted in cw form or bp my eon, iho! the prior verte permtision ofthe publisher, or wsed beyond the finite “sibution to ecchers ae educators permed by Morel for thei individual course preparion. Ifyou area stent in dis Miva, on are ning it without permission 1116PROBLEM 15.174 Rod AB of length R=15 in. rotates about 4 with a constant clockwise angular velocity a of S radis. At the same time, rod BD of length r=8in, rotates about B with a constant counterclockwise angular velocity «, of 3 rad/s with respect to rod AB. Knowing, that @=60°, determine for the position shown the acceleration of Point D. SOLUTION Data Re15in, r=8in, @=60° ,= Gk with @ -Sradis, =0 0, = ak with @=3 radi, @ =0 Let F be a frame of reference rotating with the rod AR. Then 2=q =k Let D’ be the point of the frame coinciding with Point D. Geometry: Hyg = (R +P COsO)i+ (Hsin Oj (rcosOi+ (sini Tom Velocity of Point D relative to the frame F. 2 XE =(Wk)x(rcosOi+ rsin OD) sin 81-4005 69) (2eqk)x<[@,r(-sinBi + e086] 2ener(cos 94+ sin) Vine accelerati 2OXV pu leration of Point J in the frame. Rtg a [(R + r00s OL rsin Bi] Acceleration of Point D relative to the frame. Aye Ty i (rcos 1+ sind) PROPRIETARY MATERIAL #9 2000 The McGraw-Hill Companies, Ine. AIL ight reserved, No part ofthe Manvel may be displayed reproduced or dstribated in any form or by any meas, send the prior written pormision of te publisher, wed beyond the lined Aisribnvn to teachers and educcions permitted by MeGrave-Fl for ther indsieul course proportion, Ifyou aro asain sing ds Ma, Som are sing without permssen unPROBLEM 15.171 (Continued) Acceleration of Point D. By =p $y + 2OXV pp af RE =~ [ari +(@) +) (ros 81+ rsin 2) = ACS) US)14+ (5 +3)? eos 607 + 8sin 60°] = ~(391 in/s?)h— (27.713 ins?) (a +200 +0x)" (reos Oi+rsin di) iy =392 inls® 4.05" PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine, All ights reserved. No part of this Mano! may be displaved ‘reproduced or debated in any form or by any means, thon the prior writen permission of the publisher, or rxed beyond the finited ‘sorbution to teachers and educators permite by McGraw Hil for her invidual conve preparation Ifyoncarc student wing this Maru, Yoo are sing it wit permission, a7PROBLEM 15.172 ‘The collar P slides outward at a constant relative speed 1 along rod AB, which rotates counterclockwise with a constant angular velocity of 20 rpm. Knowing that r=250 mm when @=0 and that the collar reaches B when @=90°, determine the magnitude of the acceleration of the collar P just as it reaches B. SOLUTION rad/s a =90°== radians 2 Uniform rotational motion 0-8, +01 Uniform motion along rod. r=ntut a Tafe_ 05-025 Ht 0.75 Vous == mist 3 Acceleration of coinciding Point P’on the rod. (r= 0.5m) ay ara any Ee o{%) 2 = vst 9 = 2.1932 mis* | Acceleration of collar P reteive tothe od. An Crittenton — Randa =2on e024] En Acceleration of collar P. Ap =p + Apgyy + 2OXV pcp aay = [2.1932 mis? 1] [1.3965 mis? C] ay = 2.60 ws? 7 57.5° 60 mis? PROPRIETARY MATERIAL, © 2009 The MeCiaw¥ill Companies, In. AM vghts served. Ne part ofthis Maral may be displayed reproduced or dstebuted in coy form or by any means, without the prior written permiion of the publisher or weed beer the limited 45° = 0.92 mis? “S 45° e Aue = ? = 0.081 m/s? > Coriolis acceleration, ou = 0.54 mis? > Ay =Ay + yy + OU] = [1.521 mvs? 9] +10.9 mis? L] ay =1.167 mis 30.6 PROPRIETARY MATERIAL. & 2009 The McGrawtlill Companies, Inc, All hs reserved. No part of this Manual may be displayed ‘reproduced or dsibued in any form or by any means, witout the prior writen permission of the publisher, or wxed beyond the Titec dsribaion to teachers and educators permite by MeGra-1 or thet insu course preparation, Ifsoucareestaent using is Mara, ‘yo sing i widou permssion, 180(©) Point C. Coriolis acceleration, PROBLEM 15.173 (Continued) re=0.2mt Yop $0.09 mis» te =o = 19MO2T) =18 mis 2 ost m ? ow = 0.54 mis? L Be Hag Hoe + Beoud] = 2.421 mis* 1 ag 242 mis l PROPRIETARY MATERIAL. & 2009 The MeGiaw-Vill Companies ne. Allright reserved. No part of this Manual may be displayed reprced or dsc x any farm or by any maa, sent the prior written permission ofthe publisher, or axed beyond the tinted dstribaton to teachers end educators permite by MeGran-Il fr thelr india conte prearaton vou arecastdontwsng this Mera, uw are ws i without pernision nist> PROBLEM 15.174 :- an J, in sii cir et tin eso a cons else ima \\ 7 10 mvs. Knowing that at the instant shown the angular velocity @ of the plate is 3 radis clockwise and is deercasing atthe rate of 5 radis", determine the acceleration of the pin ifitis located at (a) Point, (6) Point B, (c) Point C SOLUTION w=3rds ), =90 mays =0.09 mis, ti =0 p= 100mm 2 _ 00) Pp 100 oP =36 rads? 2eaw = (2390) = $40 mms (a) Point a. r,=0 V gp 0.09 mis ay=0 gp wt = 0.081 mis? T Coriolis acceleration, 2ouT =0.54 ws? F Hag tgp tol] 0.621 mis? T a, =0.621 mis? Td (®) Point B. ty =O.1N2 m Ss 45°, Vg =0.09 mis T Ay = OKX Vy — OF Fy =[(0.1V2 (5) > 45°]—[(90.1V2) Se 45°) 0.5V2 mvs? 2 45°]+(0.9V2 mis? 45°) Ayy == 0.081 mis? > Pp Coriolis acceleration. 2eou = 0.54 ms? > ay Hay Hage +2e0>] 1021 m/s? 9) +[L4 mvs" 4) ay = 1.733 mis* %& 53.9% PROPRIETARY MATERIAL. © 2009 The MeGraw-Hil Companies, ne. All ghts reserved. No part of thy Manual may he displayed ‘reprnduced or dstibted tv any form ory any means, tbo the rior wien permision of the publisher used beyond the fnited ‘sri to toachors onl eden erie by MeGraw Hal for thor ouside course preparation. ify area stat si this Mu, Dow are using i thon pesmi uaaPROBLEM 15.174 (Continued) (ce) Point C. 2mT 109 mis > Aes = AX ra" (0.2K) J 100.2 1) =U) ms? }4 1.8 mvs? Bow = ot mis? L Coriolis acceleration. ou =0.54 mis? 1 ote top +204 = [I mis? «J +[2.421 mAs? L] .62 mis? 67.6" PROPRIETARY MATERIAL. € 2009 The McGraw-Hill Companies, Ine All ight resceved. No part of thy Manual may be esplaye reproduced or dtrbted i any form or hy any means, withow the por written permission of the publisher used beyond the limited dsiributon to teachers and educators permite by Aderae Hl forte livia conase preparation. Ifyou area student as ths ka en ae ning Insiion pormistion 1183PROBLEM 15.175 Knowing that at the instant shown the rod attached at B rotates with a constant counterclockwise angular velocity @, of 6 rad/s, determine the angular velocity and angular acceleration of the rod attached at 4 SOLUTION Geomeny, AB=16in, — BD=16tan30? in, AD = 163030” in, Lot the rod attached at 4 be a rotating frame of reference. Q=0,) ‘Motion of coinciding Point D' on rod attached at A. = (AD), = (16803009, 60° %» Ay =[(AD ty 60°} + [ADO 30°] =[16sec30%a1, <2 60°] + [16sec30°0 30°] ‘Motion of collar D relative tothe frame. Vp 20 S30, ayy = 30" Coriolis acceleration Deny 2.60" Vp = Vo + ¥op =WOAsCC30O, 60°] +[4 S30] ap =[0.4sec30"}a,, <£ 60°]+[(0.4s0e30")e9} 30°] +i 5301+ 2ou £60") Rod BD: Vp = (BD) Oy (0.4 tan 30°6) =[(2.4tan30°)in/s* >) ap = (BD) a = (0.4 tan 30°\6)" = [04.4 tan30°}in,/s? T] [quate the two expressions for vp and resolve into components. 2260: (0Asce30°)e, = 2.4 tan 30°05 60°, S30: w= 2.4tan 30°c0830°=1.2 mis 500 radis *) PROPRIETARY MATERIAL. © 2009 The MeGrev-Hil Companies, ln. All ight soserved. No part of this Manval may be displayed reproliced or dspibute in any form or by any mec, without the prior writen permission of the publisher, or used beyond the limited Uisrtuion to teachers end ecators pert by McGraw Hil for tel individual course preparation Ifyou arcastdent using this Man Som are sie al permusion. isPROBLEM 15.175 (Continued) [Bquate the two expressions for ap and resolve into components. 260": (OAsee 30"), + 20,01 = 44tan 30°)(sin 60°) (0:4 $0030" ‘14.4 ta30°sin 60° ~(2)¢1.5)(1.2) 1, = 7.79 rads?) ‘PROPRIETARY MATERIAL, © 2009 "he McGraw-Hill Companies, Ine. All righ eserves, No part of this Manaat may be dispaye reproduced or disiided in any form or by any means, without the prior writin permisston ofthe publisher. or ued beyond the lant stitution fo teachers rsd educators permite by MeCran-Hil for dei ld coursepreparaan. Ifyou area stadent ws hs Mana, Jeu are sing i withow permission sssPROBLEM 15.176 Knowing that at the instant shown the rod attached at B rotates with a constant counterclockwise angular velocity @, of 6 rad/s, determine the angular velocity and angular acceleration of the rod attached at 4, SOLUTION Geometry. AB=04m, — BD=04tun30°, AD =0.4 see30° Let the rod attached at B be a rotating frame of reference. Q=@, =6 rads >) Motion of coinciding Point D’ on the rod attached! at B. Vy =(BD) 0 (0.4tan30°)(6) 2.4tan30° mis > Ay = (BD) = (0.4100 30"\6)" =14.4tan30° m/s? T Motion of collar D relative to the frame. Yow =u t, ne Coriolis acceleration. 2adgu = (2(6) «= 120 p= Yo + Yor [14.4tan 30° 9]+[0 T] Ay =A, FAs + 2OyH =[14.4tan30° 1] +f P+ [120] Rod AD: Vp =(AD)In, = (0.456030 Yn, 760° ap =[0.4sec30°a,, << 60°}+[ 0.4 sec30°«, 30°] quate the two expressions for vp and resolve into components. Fe: 2.41an30° = (0.482030) 0, (c0860"), 5.00 rads”) Ay w=(0.4sec30°)@, sin 60° (04sec30°V(6)(sin 60°) =24 ms PROPRIETARY MATERIAL, © 2009 The MeGravHill Companies, Ie. All rights reserved. No part ofthis Mama! may be asplayed reprduced or dsvtuted tn cow forme or by any means, wihout the prior writen permission of the publisher or wsed beyond the lnited Utsributon ts teachers and edcuiors permed by McGrawtilfor ther indivi course preparation. Ifyou are student using this Manel ow areasing i without permission 1186PROBLEM 15.176 (Continued) quate the two expressions for ap and resolve into components. “ber -12u =(0.450630°) a7, C0860 0.4sec30%0F, e030” O4@%—120 0.4 See30"c0s60° (0.46)? ~(12)(2.4) 4 2050 €0s60" =~62.4 rads? PROPRIETARY MATERIAL. 6 2009 The MeCisw Mill Companies, c- All rights reserved. No part ofthis Manual my be dsplayek ‘produced or distributed in cy form or by any means, it the rive written permission of the publisher used Devon the lied sion to teachers an edncaiers permitted by MeCrav- Hil for ther individual course peeprction fou we a student ws Mana, you are using i withow permission, usPROBLEM 15.177 At the instant shown, bar BC has an angular velocity of 3 rad/s and an angular acceleration of 2 rad/s", both counterclockwise, Determine the angular acceleration of the plate. SOLUTION Relative position vectors fun = (4 in +B ind} tye = (6 Inji+ G3 in.)f Velocity analysis. gc = 3 rad/s“) Bar BC (Rotation about C); Oy = GB nadls)k Wp = Ope XP ge = 3KX(-6+ 3) =+(9 in/s)i—(8 ins} Plate (Rotation about Dy 0, = Ok Let Point BY be the point in the plate coinciding with B. Vy = Op Xt = Ok (41+ 3) = Bayi + 4ay§ Let plate be a rotating frame. Vise = Yad Ww = Met Mae BOK HAM, + Yi Equate like components of ¥y. 92-30, @, = radis)k fe B=) A Ya Yq =O indy ‘Acceleration analy tty, = 2 rads?) Bar BC Oty, = (2 rad/s” Jk p= Ope Fn — he Foe = 2k x(-61 +39) — GY (61+ 39) =-10j-6i+5: 48 inJs?)i = G9 inds?)} Plate: Op =apk Bip = Gp Xp ~ = pk x (4i +3)) GY (41+ 3)) Bey. Aatp) 361-27) PROPRIETARY MATERIAL. & 2009 The McGraw-Hill Companies, Ine. All its tesrved. No par” of this Manual may be displayed reproduced or dite In any form or by any mexns, wiht de pier writen permision of the publisher used beyond the Tinted Cdsnution to techers asd eucators permite by Mere Hl fr the indvidal course preparation. If yncaréastadent using this Mana, toa ane sing ish permission 1188PROBLEM 15.177 (Continued) Relative to the frame (plate), the acceleration of pin B is Baye = (ys) dE ? =-(225 ind? + (Oa) i Corialis acceleration 200) Ye 2(3k)x(-30)) = (180 inJs? )i Then By My +p +0, Ay = Bory +3014 Weay ~ 27)j~ 2254+ (a4 ),J +18 Ay = Baty +81) + ek +45), ~ 27} Equate like components of ay. 3.0 radi? ) E 48=-Gay +81) ap = rads? PROPRIETARY MATERIAL. * 2009 The McGraw-Hill Compaties, Inc. All ighs reserved. No part of his Mandal may be displayed reproduced or cstruted in any form or by any means. shout the prior wniten permission of the publisher on nse beyond the lined A] Motion relative to the frame. Nos B angi eB Coriolis acceleration, 2agu NB 1.549140, Alef > 8) tty = Ap bays +200 \| =[L549 14a, A BI+1 5491405 > AI +bhi 2 ]+2ew \ 8) Motion of disk D. (Rotation about B) Ve Nn ye 0 inJs 2° 30° BP), =(1.25)8) = a, =[(BP a, 7 60°] + [(BP ag ~< 30°] =0+{(1.25)(8)" 30°] 280 inis? 30° PROPRIETARY MATERIAL. © 2009 The MeGeaw Hill Companies, Ine, All ighls reserved. No part of dis Manual may: be doplaed, reproduced or diriuted ts ay form or by ay mes, wow the prior writin parmusion ofthe publisher, or used bevand the linited “sribaion 1 tewchors an educiorspormited by MeGrav- Il for dei ndvidual course preparation. Ifyou area sent usr is Mama. Syonrare nsing i withow permission. 92PROBLEM 15.179 (Continued) Equate the vo expressions for yp and resolve into components, NB: 1.549140, =10e05(30" + 8) WOeos53,794° 154914 3.8130 rad/s web: Equate the two expressions for ay and resolve into components NB: Ls4914ar, =10sin(30° + 8) = 108in53.794° = 10690 ins asst = 80sin (30° +B) 4g = BSiNS3.794° + (2B.8130V8.0690) i 1.54914 81.4 rads? , =3.81 rad/s) € 14 rad/s?) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine All ighs reserved. No part of his Manual kay be displayed, ‘eprudaced or ds in any form oF by any means, whom the pvr written person ofthe publisher ov use beyond the lied disibrion to teachers nvteducators permite by MeCros-HIl or the inva conrseprspratio. fy area stant ths Mana, toneare sng it withou permission 198PROBLEM 15.180 My = By In Problem 15.179, determine the angular velocity and angular acceleration of disk S'at the instant when @=135°. PROBLEM 15.179 The Geneva mechanism shown is used to provide an intermittent rotary motion of disk 8. Disk D rotates with @ constant counterclockwise angular velocity @y of & rad/s, A pin P is attached to disk D and can slide in one of the six equally spaced slots cut in disk S. It is desirable that the angular velocity of disk 5 be zero as the pin enters and leaves each of the six slots; this will occur if the distance between the centers of the disks and the radii of the disks ate related as shown. Determine the angular velocity and angular acceleration of disk Sat the instant when = 150", SOLUTION Geometry: Law of cosines. 1? 21.25? + 2.507 ~ (2)(1.252.50)cos 45° r= 1.84208 in Pp vty sing sinast 1257 ° f=28678° rd Let disk S be a rotating frame of reference. Q=0, ), Motion of coinciding Point P’ on the disk Ware, =1.842030,\ 8 as) Ay = Ok Xt yo — ORF =[1.84208ar 81+ [1.8420308 > FI Motion relative to the frame. Yas =U Bo apse B Coriolis acceleration. 2a \ B Ye = Wot Vins 1.842080, NBL 3 Bl ap =p taps +200 NY S[1.842030%, A, B]+(1.8420308 3 B)+ Lh 714 Raw N A] PROPRIETARY MATERIAL. (0 2099 The MeGraw4ill Companies, Inc. AI bts reserved. No parr of sis Manual may be displeved ‘reproduced or doaribted in any form or hy ey meuns, wit the pror writen permission of te publiser of rsed bevend the Tamed “sribntion to toachers and edacators period y Merv for ther indvdaal course preparaion Aye are a stadent sig this Manual pow are sing initio permasion issPROBLEM 15.180 (Continued) Motion of disk D. (Rotation about BY BP Yay = .25)(8)= 10 ins 7 30° (BP ety 45°] + (BPO ~~ 45°] = 0+ [(1.25K8)? 45°] ay = 80 Inds? 45° Equate the two expressions for vp and resolve into components AB: 1.84203; = 10009045" + B) 10c0873.675° 1.84203 1.52595 radis 526 ads) FB w= 10sin(45° + B)=10sin 73.675" =9,5968 in.Js quate the two expressions for ap and resolve into components KB: 1.842035 ~ 2equ = 80sin (45° 6) gq, = Bibsin73.675° + 2)1.52595)(9.5968) : 1.84203 = 57.6 rad/s? ots = 57.6 rads?) PROPRIETARY MATERIAL © 2009 The McGraw-Hill Companies, Ine. All rights resevel. No part of this Manna may be displayed ‘reproduced on diibted in emp form or by any means, thou the prior writin permission ofthe publisher, or used beyond the Lied ‘ispibution fo teachers and educators permed by Metis Hil for di individual conse preparlon Ifyou ared stent wig this Manuel, yew are sing wihoud pormision iss125 20m, PROBLEM 15.181 ‘The disk shown rotates with a constant clockwise angular velocity of 12 radis, At the instant shown, determine (a) the angular velocity and A angular acceleration of rod BD, (b) the velocity and acceleration of the | point of the rod coinciding with E. SOLUTION 0.125 Geometr tan p= lS g-06.565° cy tnB= Fae f= 26.56 0.25 Ja 0.27951 m cosh Velocity analysis. Opp =12 rads), Op =p ) Vp = (AB) = (0.12512) =1.5 ws} We = Wet BEVO p> B \ 1.5}]+[0.2795 leyp > BI i Yow “WAS w= 0 eye Use ¥p =¥e + Yin and xesolve into components. 42 Br W=-1Ssin 840.2795 lay, yy =2.400 rads NB: 0=1ScosB—u, w=13416 ms Vp SUS {140.2795 2.400) 7 B]=1.3416 mis > 63.4° Acceleration analysis a4, =(AB)or3g = (0.125)(12)° =18 mvs? + Ay Ay [BEV yy > B14 (BE)Oy NB] 8—> ]+[0.2795 lat, > B)+[L.6IN BI Aran TINA] ay PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, [pe All ightsresonvod. No par of this Manual may be displayed, ‘proce or dsrabted i any form or by any mean, witht the prior written parmision ofthe publisher or used beyond the lined ‘Setuaion to teachers na educators permitsd by MeGraw Hil for their individual conrse preparation, Ifyou area student wring this Man, ou are sing it wld person 1196PROBLEM 15.181 (Continued) Coriolis acceleration. ypu = (22.400}(1.3416) = [6.4399 mis? > B] Use ty =A + tgzgy +120_pu BI and resolve into components. +2” Bs 0= 18008 8-+0.2795 ley + 6.4399 4g =34.56 ad's? aN B: 0=-18sinB+1.61-, 1 =-6.4398 mis? ap =[18— ]+ (0.2795 1)84.56)> A] +[1.61\) 6] = [18 }+[9.6594 J]+11.61N BI = 9.11 ms? 18.4" Summary: @ Oy =2.40 rad/s) py = 34.6 radls? ) ©) 342 mis. 63.4° 9.1L mis? 18.4° PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, nc. Al sghts reserved. No port ofthis Manual may be diplaed, ‘repraduced or clstribied in any form or by any mens, without prior written permission ofthe publisher, ar asad beyond the famed ‘isibution te foachors and educaore period by MeCraw-Hil forthe indivi course preparation Ison avtastuent uring thie Marah, ow are uti i wihout permtesion 1197PROBLEM 15.182* Rod AB passes through a collar which is welded to link DE. Knowing that atthe instant shown block 4 moves fo the right at a constant speed of 75 in, determine (a) the angular vetocity of rod AB, (b) the velocity relative to the collar of the point of the rod in contact with the collar, (¢) the acceleration of the point of the rod in contact with the collar. (Hint: Rod AB and link DE have the same @ and the same 0.) SOLUTION Let @=@") and &=0) be the angular velocity and angular acceleration of the link DE and collar rigid body. Let /* be a frame of reference moving with this body. The rod AB slides in the collar relative to the frame of reference with relative velocity w= <<" 30° and relative acceleration i =1i <<" 30°. Note that this relative motion isa transtation that applies to all points along the rod. Let Point be moving with the end of the rod and 4’ be moving with the frame. Point £ is a fixed point. Gin, Geometr tee 2 in sin 30° ‘Velocity analysis, y, = 75 inds— =120| Ya¥e-+u Resolve into components. Ae: 15=0+u 00830 n= 86.603 in/s cos 30° Hh o=-t2@+usin30> = 4SR2" 3.6085 ras (a) Angular velocity, @=3.61 rad/s) 4 (6) Velocity of rod AB relative to the collar, 36.6 in./s <7 30° (©) Acceleration analysi a,=0 ap = Dal 20? =12a| +156.25—~ Coriolis acceleration 20%» 60" = 625.01 ins? Ys 6° a,=ay tata, Resolve into components. te: 0 =156.25+4 ne0s30"— 625.01 cos 60" 4 =180.43 inds? sh 0=-1207+ sisin30° + 625.01sin 60" a= 52.624 rads? PROPRIETARY MATERIAL. © 2009 ‘The MeGaw 1h Companies Ine. Allright reserved, No part uf thie Marval may be dislave reproduced op dsteibted in any form 07 by any means, without the prior witen penntsion of the publisher, oc wsed beyond the lnited istriburon teachers and educators permite by MeGra-1l fo thetv ills curse preparation. Ifyou reason wing hit Man ow are using it wthon pormiscon 1198PROBLEM 15.182* (Continued) For tod AB, yy =3.6085 rads) yy = 52.624 rads?) Let P be the point on AB coinciding with collar D. pg =12c0830° ” 30°] 478.13 inis? > 60°] ‘Then ay = [315.74 >° 30°] + [78.13% 60°] + (180.43 <<” 30°] + [625.01 60°] = (135.31 57° 30"] + [546.88 60°] PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Comypnis, Ine. AML ight eeseved, No part of this Mamnal maybe displayed, ‘uprodueed or dite is any form or by any mas, without the pre writen permission ofthe publisher, or sed beyond the Linted epraticed on estibuced in any form or by any means, wathou the prior wvitton permission ofthe pubisher, or vsed hevond th linited Aseribution to teachers aud educaors permite by MeGrave- Hil for tel individual couse preparation Ifyou area stent asin his Marna pow ae uring i withon pormision imBi PROBLEM 15.201 ‘The 45* sector of a 10-in.-tadius citcular plate is attached to a fixed ball-and-socket joint at O. As edge OA moves on the horizontal surfice, edge OB moves along the vertical wall. Knowing. that Point A moves at a constant speed of 60 inn/s, determine for the position shown (a) the angular velocity of the plate, (6) the veto of Point B. SOLUTION 10 in.)sin OPE + (10 in.Jeos60° OA = (8.6603 in,i+ (5 in.jke ty =OB = (rp), 1+ Up), i Sealar product (OA-OB =(OAYOB) sin 45° (8.66031 + 5k): ((r%,) i+ (tp), i) =C10)10)sin 45° 8.6603(7,), = 70.711 8.165 in, Up) = OB 0), =10" =8.165"; (rq), $5.77 in 1p =(8.165 in)i-+ (5.773 in) j Since v, is perpendicular to OA, v, forms 30° angle with z axis. ¥, = (60 inJs}(-sin 30°i + cos60°9) Vy =—(0in/S)i + (51.96 ins) k Plate OAB: ox aito,jtak Vs =Oxty ioik -|% @ a, lk.ooos 0 5 ~30I-+51.96k = Sen, + (8.660309, ~ 50,)j~8.66030, i: -30=Sa, 0, = brads 50, @, =0.577350, oO @, = Grails PROPRIETARY MAYERLAL, © 2009 The MeGras:-Hll Companies Ine. Allright reserved. No part of thir Manual muy be diplayed, reproduced on dismibued is any form or by any means, seiko the prior vit pesmsson ofthe publisher, or nsed beyond the Tinted dstibution wo teachers aed educators permite by Metre 1h or thet india ene preparation If youre sade using his Mama, ‘pow are wing i without peraision nw\8.165. 5.773 0 S.1730,i + 8.1650, 5+ (5.773@, ~8.1650,)k Point B moves in xy plane, (1), $0 =5.1734, -8.1650, 0= 5.7730, ~8.165(-6) 2, = 8.486 rads PROBLEM 15.201 (Continued) Eg. (1) ©, =0.57735(-8.486) = ~4.899 rads @ = ~(8.48 rad/s) — (6 radis)j~ (4.90 rad’s)k +) (Wp), =-5.7TB-4.899) = 28.3 nds (4), =8.165(-4.899) = -40.0 nds Op). = 9 ( 28.3 in/s)l (40.0 in /S)) < PROPRIETARY MATERIAL, © 2009 ‘She McGraw-Hill Companies, Ine. Alt rights reserved. No part of thie Monnal may be displayed. ‘reproduced or distributed in any form or by any mans, without the prior eit permission ofthe publisher, or wed hevond the lied ‘dsibetion to oachors amd eaucrs ported by MeGrav- Hil fr their individual conree preparation Ifyou ave ashen using Hs Maa, ‘yu are sing It without permission. ia" PROBLEM 15.202 Rod AB of length 275 mm is connected by ball-and-socket joints to collars 4 and B, which slide along the two rods shows. Knowing that collar B moves toward the origin O at a constant speed of 180 mmis, determine the velocity of collar A when c= 175 nim, SOLUTION vometty. e=017Sm, yg =0.275m $0,150? 44? or 0.2757 0.1757 40.157 +5? Egg = (0.175 m)i+ (0.15 m+ (0.15 mk Vy =—(L80 mn's)i =-(0.18 m/sih Velocity of collar A ype vik Ve = Va New where Van =O X¥ ye Noting that voy is perpendicular to ryy, we get Kgs Vpig =O Forming tyg V4, We get Nam Va = Ean (Wa + Von) Nan Vath Yaw oH Tue Va Ean Yn a From Ba. (I), (-0.175i4-0.15j+0.15k) (0k) = (0.175% + 0.15}+0.15k) (0.181) 0.15v, = (-0.175)(-0.18) or v, =0.21 mis 210 mmisyk PROPRIETARY MATERIAL. 5 2000 The MeGsaw-Hill Companics, Ine All rights reserved. No part of this Manaal may be displayed reproduced or distributed by any form oF by ony snr, witht the prior write permission ofthe publi, or wsel beyond the linted sdstiution wo teachers ned ecco permite by MeGra- Il fr tho indica conree preparation Wf yow ava sodent wih this Mansa, Joware asi with! permizion nasPROBLEM 15.203 Rod AB of length 275 mm is connected by ball-and-socket joints to collars A and B, which slide along the two rods shown, Knowing that collar # moves toward the origin O ata constant speed of 180 mnv/s, determine the velocity of collar A when e= 50mm, SOLUTION 275m or 0.275° = 0,05" 40,18? +b? b=0.225 m (0.05 m)i + (0.15 an)j + (0.225 mk Velocity of collar B. (0.18 m/s}i Velocity of collar 4. where Van = O49 Xt on Noting that vy is perpendicular t0 typ, We Bet tins “Vine Forming ay Vyy We BE ay Wy =F yp “(Wn + Ven) San Ve tan Van or Tye Va = "an Vo 1) (0.05% +0.15}+0.225K)-(yk) 0.051 +0.15}+0.225K)- (0.181) (-0.05-0.18) or y, ¥,=(40.0 mm/s)k PROPRIETARY MATERIAL. © 2009 The McGill Companies Ine. Allright reserved. No part of thix Manual may be displayed reprised on dist i ay form or by any mcans, without the prior itt permission ofthe publisher, or ase hevond the finited ‘dspibuton to oachors nd educators ported by MeCN fore vida couse prerrution Ione area sent wing this Marve Jun are wing i withou permision nsPROBLEM 15.204 Rod AB is connected by ball-and-socket joints to collar A and to the 16-in.-eproduced or dicibuted i any form or By any means, who the prior write permission ofthe publisher, or wsod bevond the Tote distribution to eachers nud educators ported by McGrane thei indivadua cotase preparation If youre student wing this Masa, Yow are using i thot pormision ne7 PROBLEM 15.209 Rod AB of length 25 in, is connected by ball-and-socket joints to collars 4 and B, which slide along the two rods shown, Knowing that collar 8 moves toward Point £ at a constant speed of 20 ins, determine the velocity of collar A as collar B passed through Point C. SOLUTION Geometry Py =Xyy + ry tei IF =O4 yy (20? (6 in} ~ Bin. Jk tye = (2 inji~@ inj, lop = V2)? +9)? =15 in. "oe Velocity of collar B. I Velocity of is (21-99) yp = (20) 07 9D 12 = 20) = (16 in/s)i—(12 inds)j Velocity of collar A. wa val Y= Met Ya where Vow = O40 Tas Noting that vj» is perpendicular to typ, We Bet Yigg Va =O. Forming typ Ygo We get Fay Y Eup Cy + ¥yn) tan Ve 4 Tae Yup or ” From Bq. (0s (6)~84) (14) = (8I-M)-(6L-12) 60, =(X-12)_ v4 =—1Dinds ~(12.00in/s)j PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine, All igh reserved. No part ofthis Mamral may be displayed reproduced or dinbuted in emy form or by any meant, withou the prior writen permission ofthe publisher, or sed beyand the limited ‘tibution fo teachers av educators permite by MeGraw-Hil fer thir individu course prepariion, Jy area stent wing tis Mana, “yon are ing i withond permission. maty PROBLEM 15.210 ‘Two shafts AC and EG, which lie in the vertical yz plane, are connected by a universal joint at D. Shaft AC rotates = with a constant angular velocity a as shown. Ata time when the arm of the crosspiece attached to shaft AC is vertical, determine the angular velocity ofshaft EG. SOLUTION Angular velocity of shaft AC. Oye = ak Let aaj be the angular velocity of body D relative to shaft 4D. Angular velocity of body D. 0) = Okay Angular velocity of shaft BG. yg, = ,(60825%K ~ sin 25°) Let ai be the angular velocity of body D relative to shaft EG. Angular velocity of body D. 0p) = @(c0825°k —Sin 25°) + ai quate the two expressions for « and resolve into components. & 0=0y w J a =a, sin 25° @ k. cos 25° eB) From Fa. (3), aoe ¢5 sega O8in 25%] +e0825°H) < PROPRIETARY MATERIAL. © 2008 Tho MeGeaw Hil Companits Ine. All rights reserved. No port ofthis Manual may be displayed reproduced ditibted in ean form or by’ any mers, seituon! the price wetlen permission ofthe publisher, or nse beyond the lined lsrhuton to teachers aud educators ported by Merl fr tt indviua onose preparation. J yon areca student sng this Moma, ou are using i without permission, nePROBLEM 15.211 Solve Problem 15.210, assuming that the arm of the crosspiece attached to shaft AC is horizontal SOLUTION Angular velocity of shaft AC. We = Ok Let ani be the angular velocity of body D relative to shaft AD. Angular velocity of body D. Angular velocity of shaft BG. K+ oi 0,(c0525°k ~sin 25°)) Let «A be the angular velocity of body D relative to shaft BG. Where 2 is a unit vector along the axis, the clevis axle is attached to shaft £G. iy A=cos25%j+sin25°k s A= 04, c0825°}+ 0, sin 25° . Angular velocity of body D. Op =O pg, + GA (0 =(0,€0825°— a, sin25°)) +(c0, in 2S° + 0, 00825"). Equate the tvo expressions for @, and resolve into components. i @,=0(1) f= a, cos 25° aa, sin 25° @ k: 0} =0,sin 25°+ 0 cos25" @ From Eqs. (2) and (3), 0, =0,00825° ye, = @€0825°(-sin25°} +0825") PROPRIETARY MATERIAL. © 2008 Ts MeCirsw-Hil Companiss, ne All rights reserved. No purl af this Marea! may be cplaye ‘reproduced or dicibuted in ay form or by ay means, without the prior writin permusson ofthe publisher, o” sed beyond the hinted ‘tribution to teachers an educators porte by MeCrave-Hillfor ther individual course preparation If yon areastdent ang this Mal, “you are nsng it withow' permission nePROBLEM 15.212 In Problem 15.203, the ball-and-socket joint between the rod and collar 4 is, replaced by the clevis shown, Deteimine (a) the angular velocity of the rod, (O) the velocity of eollar A 05m, Lay 7 +0.150? +b? 225m (0.05 m)i-+ (0.15 m)j+ (0.225 mk 01S? +88 Velocity of collar 8. Velocity of collar 4 Angular velocity of collar 4. 0, =k ‘The axle of the clevis at B is perpendicular to both the z axis and the rod 4B. A vector P along this axle is Pe HK xt yy = 0005) + 0.151 P= (05)? + (0.15)? =0.158114 Unit veotor A along the axle: A= ee 0.486814 0.31623} Let @, be the angular velocity of rod 4B relative to collar A. 0, = Oh = 0.162301 + 0.948680,5 Angular velocity of rod AB. yp =, +0, Om 0.948601 4031623045 +k a Vasa Mi FO Xt gp i k vk = ~0.18% + 0.948680, Nee a 0.05 0.15 0225] Resolving into components, is 0=-0,18-0.15eq + 0.071150 2 i 0.0504 -0.213450, @) k: O.1S81 1a, @ PROPRIETARY MATERIAL, © 2000 The McGraw Ill Companies, Ine. AIL fights weserved. Mo part of thir Manvel may be diphaed, ‘epretuced on cstributed in any form or By any mans, tha he por writen permis ofthe publisher, or used beyond the lint epradiced or dbibued in ay form or By any means, shou Oe por written permission ofthe publisher or wsed beyond the lint ‘dsorvaion to teachers ae educators permited by Mera for thir indivi conve partion Ie arcastedent wg this oneal, ‘onan ing ith permission. nePROBLEM 15.221 (Continued) (6) Forx=15 in, (collar Cis in xz plane), Velocity from Patt (a): Yay = BOinJ)E~ (16 in/5)} Foy =(LSin)i Yor = Axx, =—3iXISE=0 = G0 ins)i-(6in/s)j Acceleration: a, is same as in Part (a): PROPRIBTARY MATERIAL, © 2009 Ye McGraw-Hill Companies, Ine. All rghis served. No pnt of this Maat may he displayed, ‘reproduced or dievibuted in any form or By any meas, withont the prior writen permission af the publisher, or ned besend the imited ‘lsebaon ta teachers end chore porated by MeGran-Hil forth indivi conve preparation aa student ning his Manta, “Jou are wig i tion! permission 1268PROBLEM 15.222 ‘The circular plate shown rotates about its vertical diameter at the constant }0xad/s. Knowing that in the position shown the disk fies in the XY plane and point D of strap CD moves upward at a constant relative speed u=1.S is, determine (a) the velocity of D, (b) the acceleration of D. SOLUTION Geometry. te = (0.2 m\(cos30% ~sin30°)) = (0.13 mi-(O.1 mj Let frame Cxyz, which at the instant shown coincides with CXYZ, rotate with angular velocity 2=aj=(l0rds)) Motion of coinciding Point D’ in the frame. Vy = Dp = 10jx(0.1N3i+0.19) =-(5 misjke ay =-Q2(rc0830 =-10°O.1vd =—(10¥3 mvs*)i Motion of Point D relative to the frame. u=1.5 mis Voye = 4(Sin 30° + c0$30°) = (0.75 ms + (0.153 ms) Ane = (C0830 + sin 30°) = FS coos +sin30°) = (5.6253 m/s? ji + (5.625 mis*)j PROPRIETARY MATERIAL. © 2009 he MeCiaw-H8Il Companies, Ine. Al rights reserved, No part ofthis Manvel may be diplayed, reproduced or dlsributed in any form or by any means, without the priae writen permision of the publisher, or wsed Beyond the limited 2009 The MeGrave-Hill Companies, ne. AU Fights served. No port of thy Manual may be displayed, ‘repraiced o® dtriuted in any form ov by any mens, witht the pray written permision ofthe publier, or nse heyond the Fiited dsributon to teachers ov ecacaons permite by MeCiraw-H othe vical curse prepavetion If yoann wring this Mana, Drove ng wit prs 1266PROBLEM 15.223 (Continued) (a) Velocity of Point D. Y= Wt Yor Vp = (0.75 misji + (0.753 m/s)j (V3 mis)ke Vo = (0.750 mis)i + (1.299 mnis)j~ (1.732 mis) Coriolis acceleration 2X 2X Ven = (2M10})x (0.751 + 0.7535) = (15 mis?)k (6) Acceleration of Point. ay = yy + yp + 2QVpyp ay = (-103 -11.243)1 + 3.206995 +(2.5¥3 -15)k ay) = (28.6 mvs” ji + (3.21 m/s? )j — (10.67 mis?) PROPRIETARY MATERIAL. © 2009 Tho MoCGeaw-Aill Companies, Ine, All rights reserved. No part ofthis Manual muy be displays ‘reproduced or ditibuted in any form or by any means, show the prior written pernision ofthe publisher, or nse beyond the limited ‘sribution to teachers ce eccators permite by McGraw forte inva conve preparation. I yen arcastadent ws hs Mana Doteane sing isto permission 1267PROBLEM 15.224 A square plate of side 18 in. is hinged at 4 and B to a clevis. The plate rotates at the constant rate @, =4 rad/s with respect to the clevis, which itself rotates at the constant rate a, =3 rad/s about the ¥ axis, For the position shown, determine (a) the velocity of, Point C, (b) the acceleration of Point C. SOLUTION Geometry, Fe = (18 in(c0s20%~ sin 20°) Let fiame Oxyz rotate about the y axis with angular velocity = <(0.135}+0.09k) (1.08 m/s)j-+ (1.62 mvs) te Hs Ye 605) (0.135j-+0.09K) + 125 x(-1.08)-+ 1.62k) = 45.4) -8.1k -19.44) 12.96 (14.04 ms? )j ~ (21.06 mis? ks Vetocity of Point C. Yor Noor (1.215 mnis)i~ (.080 mm/s} + (1.620 m/s)k PROPRISTARY MATERIAL. & 2009 The MeGraw-4 Bil Companies, In All vightsseseeved, Nv part ofthis Manual may be displayed reproduced on distributed tan form or By any means, thon the por ston permission ofthe publiver, or wsed beyond the Tinted 0, =0 Coefficient of i: Bq. 3): () Disk 4 rotates about y axis at rate «, a=0,x0 is{e R ix] evi + PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companis, Ine All igh reserved, No part of his Manual may be displayed ‘reproduced or duribted in any form or by any means, withow the prior weaten permission ofthe publisher, or sed beyond the limited Aistibuton to teachers ane educators permited by Metra Hil fer ti indiviha course preparation [fyewanea student usin this Mena oware wig if without permission nePROBLEM 15.232 Using the method of Seetion 15.14, solve Problem 15.195. PROBLEM 15.195 A 3-in.-radius disk spins at the constant rate a) =4 radis about an axis held by a housing atached to a horizontal rod that rotates at the constant rate @=5 rads, Knowing that = 30°, determine the acceleration of Point P on the rim of the disk. SOLUTION Let frame Oxyz rotate with angular velocity Q=aia(5 radls)i ‘The motion relative to the frame is the spin k= (A rads) 0" 3 in.(cos30° + sin30°)) 3 in.) (cos30°i + sin 30°) airy = Six(3e0s30% +3sin30°)) 7.5 inds)k Vp = Okt 4k x(Be0s30% + 3sin30°)) (6 in/s)i (10.392 inis)j hixt, +A 0+ Six 7.5K (37.5 inJs*}i Ok xt OKXV pp 0-4 4k (6+ 10.392)) =~ (41,569 in ds? Vi ~(24 in Js?) 2OX Vip 2y{Si)x(-64+10.3925) = (103.92 in /s?)k a 0 Acceleration at Point P. Ap Hyp HA, 4g = (ALG Inds H-(OLS inde? }5+ (103.9 ind) PROPRIETARY MATERIAL. © 200% The McGraw-Hill Companies, Ine. All rights reserved. No part of this Manual may be dspleyed, ‘reproduced or diiributed in any form or by any mes, withont the prow writhen permission of the publisher, or used beyond the limited (Gstributon to teachers ed ducts permite by McGrane fort individual course preparation. If you arcashudentasing this Manvel, se ae using without persion 280PROBLEM 15.233 Using the method of Section 15.14, solve Problem 15.192 PROBLEM 15.192 The L-shaped arm BCD rotates about the 2 axis with @ constant angular velocity of 5 rad/s Knowing that the 150-mmeradius disk rotates about BC with a constant angular velocity @, of 4 rad/s, determine the angular acceleration of the disk SOLUTION Total angular velocity = 0) ak = (4 radis)j+(5 radis)k Angular acceleration. Frame Oxyz is rotating with angular velocity @ = ayk. a=6 py, 4X0 = 0+ ak x(a,)-+ ak) =-aoxi a= 5y(4)i = 204 = ~(20.0 rad/s? }i PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, Inc.All ights reserved. No part of this Manna! maybe displayed ‘reproduced ar dtibuted 1m any form or by copy means. wathout the prior writes permission ofthe publisher, or used beyond the lined (Qexp) = 2x9 0.6 rads) (16.8 inJs)ke (10,08 ins" Ji nue XM pe Ke) Ay ve * Vie (0.45 rad/s)jx{—(3.6 in./s)j-+ (6.2354 in/s)i] (1.620 in./s* i= (2.806 in /s?)j 2% py (0.6 rad/s) x{-(3.6 ins) + (6.2354 in/s)i] (7.482 in/s? )k Ly Hyp 8, (10.08 in Js? )i~(1.620 in/s? i ~(2.806 ins?) ~ (7.482 in ds?) (11.70 in.és? (2.81 ints” )j— (7.48 in PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Inc All ighs reserved. No part of thir Manual may be displayed reproduced or dsrtbted in any form ar by any means, wl the prior writen permission ofthe publsler, ov axed bevond the linited Lisribation wo teachers and educators permite by McGraw-Thl fr thelr individual couse preparation Ifyou area studen wsing hs Mo, jon are sing ition permission 183PROBLEM 15.235 A disk of radius 120 mm rotates at the constant me @, =S rads with respect fo the arm 4B, which itself rotates atthe constant rate, =3 rad/s, For the position shown, determine the velocity, and acceleration of Point C. 5.0m SOLUTION Geometry Foy4 = (0.195 m)i—O.D} Kein = (0.12 mi Let fiame Axyz, which coincides with the fixed frame AXYZ at the instant shown, be rotating about the y axis with constant angular velocity {2= «j= (3 radis)j. Then the motion relative to the frame consists of rotation about the axle B with a constant angular velocity «, = ak = (5 radls)k. Motion of the coinciding Point Cin the frame. Oxre4 (0.1954 0.14)) =3)x(-0.585k) (1.755 mvs*)i Motion relative to the frame, Velocity of Point C. Ye = (0.600 mls)j~(0.585 ms)k Coriolis acceleration. 20XVey = QVBNX(0.6)=0 Acceleration of Point C. Ae He Fey + 2QX Very (4.16 mis!) PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Inc.All rights reserved. No part of this Manual may’ be displayed ‘repradacedl ov disribted In any form or by cy means, thou the prior writes permission ofthe publoher, or ued beyond the tinted + 80% 230° + 8a Yn 60" Resolve into components, 12.821 rad/s? Pr O=88827 +8044, c0830°+0 yy @ +h ay =8ezqy sin30° =(8)(-12.821)sin 30° = 51.284 ins? 13in'| € PROPRIETARY MATERIAL % 2009 The McGraw-Hill Compsnie, In. All ights reserved. No part of this Manual may: he dsplaed, reproduced or clstribued ty any form oF by any means, eho the prior writen permission of te publisher, oF ued beyond the linited Alisribution io teachers and educions permitted by McGraw Il for ther nlvidualconree preparation Ifo are astkns wing tie Mara, on are using it withont permission 10PROBLEM 15.248 (Continued) © Ay = 89 + ne), +@oe)s 88.827 + + Bey 730? + 8typp S60” 88.827 — + (8)(-12.821) 77 30°+0 8.827 —~ +102.568 030° =177.653—+ + 51.284 Ay = 184.9 ins? 16.1" PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, le. All rights reserved. No part of this Manual may be displayed, typed or dstted in any form or hy any means, without the prior writen permission ofthe publisher, or ased beyond dhe Tinted “spbution to teachers on ahcotrs permed by Metra Hl for thetrindsidual corse preparation. youare-astuden using this Manvel, ot are using who! pormizion ertyPROBLEM 15.249 ‘The rotor of an electric motor has a speed of 1800 rpm when the power is cut off, The rotor is then observed to come to rest after executing 1550 revolutions. Assuming uniformly accelerated motion, determine (a) the angular acceleration of the rotor, (b) the time required for the rotor to come to rest SOLUTION «.=100 22) 88.50 rad/s 8 =1550 rev (22) > 9739 rad (@ Angular acceleration: @ = +20(0-0,) 0 = (188.5 rad/s)? + 204(9739 rad ~ 0) o (Time required to stop: =a, +01 88.5 radis ~(1.824 rad/s?)t 1510338 4 PROPRIETARY MATERIAL. (2 2009 The McGraw-Hill Companies, lve, All ighs reserved. No part of tis Manu may be displayed reproduced or disaiuted ix any form or by any mews, wou the par writen permission ofthe publisher, or used beyond the linited dsr bution co teachers and educators permite by MeGrav-Hill forthe india conse preparation yon ae student ving hs Manuel, ou are ving thon person, nePROBLEM 15.250 A disk of 0.15-m radius rotates at the constant ate @, with respect to plate BC, which itself rotates at the constant rate @ about the y axis. Knowing that oy =a =3 radis, determine, for the position shown, the velocity and acceleration (@ of Point D, (6) of Point F. SOLUTION Frame AXYZ is fixed, Moving frame, Exyz, rotates about F axis at (@) Point D: (0.15 mi Vp = DX py = Yow = Ot 3 radis)jx<(~0.15 mpi (0.5 mis)k. vp =(0.45 mis)k OX oe 3 rad/s)px (0.45 mis}k (1.35 mis") 20 Voy 263 rad/s)jx (0.45 m/s)k = (2.70 mi/s*)i Say tape Fa, 0-4 (1.35 m/s?) (2.70 mis}i Ay =(4.05 mis?) PROPRIETARY MATERIAL. ‘© 2009 The McGeaw-Hill Compasies, Ine. All rights reserved. No port of this Manual maybe dsplyed, ‘reproduced or dt tn any form or by any means, withow the prior writin permission ofthe publishes, or wed beyond the limited ‘dstition to tochers cn ebicators permite by MeCraw- Hil fr dee indivi onrae preperation If yon ave student ing his Manel, ose ane sing into permission 1313PROBLEM 15.250 (Continued) | 2 = 4] = ralls}h Ty, =O3 mi Fp =(0.15 mi Wp = OX =G rads} x(0.3 mje = ~(0.9 m/s)k Vane = OXF ere = (3 rad/s)jx (0.15 m)i (0.45 m/s\k vet Vin =~(0.9 mis)k—(0.45 misyk (0) Point F: (1.35 mvs)k QxVp- = G radis)ix(-0.9 v/s) =G madis)jx(-0.45 mis) (1.35 mis? 8, = 20 Vp (3 rad's)}X (-0.45 m/s)k, (2.7 mis?)i Fale ta (2.7 mis? ji (1.35 mls" )i—(2.7 mis? i ap =-6.75 mis vi PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. All ighs reserve. Na part of this Manual maybe displayed, ‘reproduced or dosribated in any form or by ans means, sithont the por verte permission of the publisher or used beyond the lined dlisibution 1 teachers and edcators permed by Metiaw-Hilfor thei ndvidual Course preparation Ifyow are astdent wing his Mena ‘on ave swing ist permission m4PROBLEM 15.251 The fan of an automobile engine rotates about a horizontal axis parallel to the direction of motion of the automobile. When viewed from the rear of the engine, the fan is observed to rotate clockwise at the rate of 2500 1pm, Knowing that the automobile is turning right along a path of radius 12m at a constant speed of 12 knivh, determine the angular acceleration of the fan at the instant the automobile is moving due north. SOLUTION 000m _h = 02 kr 00m mm 36008 = (8.333 mit 2a rad 2500 rpm) 7 261.8 rad/s} ingular velocity of auto (F) (3.333 mls), (Fam } (0.2778 radls)j 0= 0X0, 0.2778 radl/s})x(261.8 rads) = (72.7 rads? Jk = 72.7 rads? toward the east PROPRIETARY MATERIAL. © 2009 Te MeGrw Hill Companies, In, All ights reserved, No par of thiv Manual may be dplayed. reproduced or dle in any form or by any means, witht the prior writen permision of the publisher ov ased beyond the limited (dstibuton to teachers aa educators pernted by MeGra- il for thei indvidal cone preparation. Ifgvarea stadent wing thie Marte Yon are using i withow permission, aisPROBLEM 15.252 A drum of radius 4.5 in. is mounted on a cylinder of radius 755 in, A cord is wound around the drum, and its extremity is pulled to the right with a constant velocity of 15 ind, causing the eylinder to roll without sliding on plate F. Knowing that plate #* is stationary, determine (a) the Seen velocity of the center of the cylinder, (b) the acceleration of Point D of the cylinder. SOLUTION (a) Velocity of center 4 Instantaneous center of ration is at Point D. v= (BDO: IS ins =G ino; © =Sradis .) ¥=(ADV0 = (1.5 in.X5 in.) =375 inJs 7 (6) Acceleration of Point D. Ye7Sin o fired, (@)-@) yo {2079)m p= o mn,” ‘Trans. with¢ — + Rotation about 4 ap= Mt Aig (6p) 4 (dy), P= a5 9 nay —# oan D 04 (ay), T=04rae— +r T t+ x components: ra=0, a=0 y components (ap), =70 7.5 in.\S in/s)” (ap), =1875 ins’? ay =@p)y ay =1875 ini? T PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Compavies, nc All ights reserved. No part of thr Manal may be displaved, reprodaced wr dsc in any form or by any means, wihond the prior writen permission of the publisher o used beyond the fined distribution io teachers aad educators permite by McGraw tl for thelr drial curse preparation Ifyonarcastadent using ths Manta, bow are uring i without pormisionPROBLEM 15.253 75in Su Solve Problem 15,252, assuming that plate J” is moving to the right with a constant velocity of 9 in/s, arene SOLUTION (@ Velocity of center 4. Instantaneous center of rotation is at Point C. triangles yy ein Finks inis 1sy=9p 427 pe4sin G@543+45)in. 435i, yy =24 in/s 2ink > -€ == E a rads = 2104s ) y aSin, (6) Acceleration of Point D. Yousin hed a @)-(@ “s Lan, ers Ere “Peon )e Plane motion = Trans. withd + Rotation about 4 | Ang (Ap), Hp )p T= Ag + (Arya dy Toya) = ra? hr 7.5 in.)(2 rad +t x components: py PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ie. AI Highs reserved. No part of this Manual may be displaved rproduced of ltibted in ey form or By any means, with the pri writen permission ofthe publisher, or used bxsond the lined ‘Ustibution to teachers and edicors permite by McCrae IMU for thelr mdldeal couse preperation. Ifyou are a shadent axing dis Manna “yn ae weng Hho permissionPROBLEM 15.254 ‘Water flows through a curved pipe 4B that rotates with a constant clockwise angular velocity of 90 1pm. If the velocity of the water relative to the pipe is 8 mis, determine the fotal acceleration of a particle of water at Point P. SOLUTION Let the curved pipe be a rotating frame of reference. lts angular velocity is 90 rpm ,) or @=9.4248 rad/s.) Motion of the frame of reference at Point”. Vor = (AP)@0 27 45° = (0.5 2)(9.4248) 45° = 6.6643 mls xf 45° ayy = (AP)? AS? = (0.5V2 9.4248)? % 45? = 62.81 mis? 45° =2(9.4248)¢8) = 150,797 mis? 50.797 mvs? T ‘Acceleration of water at Point P. Bp Ap Fy +A, ap = [62.81% 45°] + (128 1} + (150.797 1] = [44.413 mis? >] + [21.616 mis? L] PROPRIETARY MATERIAL, © 2009 The MoCraw-Iill Companies, Ine. All rights reserved. No part of this Manwal may be displayed, reproduced or ditriited inc form or by any nears, without the prer written permission ofthe publishes, or nse beyond the lined dsibuton to teachers nd exncaors permite by McGran- 10 fr des inva couase preperation. Ifynarea student ro ths Man, ‘ora ing isdn persion, 13187 PROBLEM 15.255 Rod BC of length 24 in. is connected by ball-and-socket Joints to a rotating arm AB and to a collar C that stides on the fixed rod DE, Knowing that the length of arm AB is 4 in, and thal it rotates atthe constant rate a =10 rad/s, determine the velocity of collar C when @=0. a0 SOLUTION Geometry, Ine = 24 in. (16 in i+ Zo0k 24? a8 416? the Wk Velocity at B. Velocity of collar C. where Von = Ope Xie Noting that vg is perpendicular t0 tig, We Bel Yop * Ver Forming toy "Vo. we get Tow Yo= Fon" Wp * Yon) Kom Vat Tem Now or Tow Ne = Yow Ye Oo From Eg. (1) (8i~16)-+ 16k) (vk) =(81—165-+ 16k) (40) 16ve =(-16)(-40) or Yo = 40 ins Ye =(40.0 indsyk PROPRIETARY MATERIAL, © 2009 The MeGrav-Hill Companies, Ine. All Fghts reserved. No par ofthis Manual muy he digplayec ‘reproduced or disibuted in any form or by any means, suo the pre written permsson ofthe publisher, or used beyond the limited isribuaion 1 teachers and educairs permed hy McGraw TNL for he indo course proparation. ion are a stent wing this Aaa, You are sain llth permission4 PROBLEM 15.256 Solve Problem 15.255, assuming that 6 = 90°, PROBLEM 15.255 Rod BC of length 24 in. is connected by ball-and-socket joints to a rotating arm AB and to a collar C ‘that slides on the fixed rod DE, Knowing that the length of arm AB is 4 in, and that it rotates at the constant rate @ =10 rad/s, dotermine the velocity of collar C when 0 = 0, SOLUTION Geometry Ig: = 24 in. Nop =(4 in 2 = 412? + hie 2eqn = 20.396 i. Teyp = (4 in. ~ (12 in.}f+ (20.396 in.)k Bye =A inj Velocity at B. Vp = GKXT Gs Okx(-49) = (40 indsit Velocity of collar C. Yo = Vek rat Yoon where Yew = @ ac *ern Noting that vig is perpendicular f0 Fezp, WE Bet Fezp "Vow =O Forming og "Veo We get Fes "No™ For Ya * Non) foo “Yat Tor Yow or Faw No= Fon Va a From Bq.(1), (4i=12j+20.396K): (vk) = (41-12) + 20.396k) (401) 20.396, = (4(40) Ye = 7.8447 inJs (7.84 indsyk PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, le. All rights reserved, No part of ths Mawel may be displayed, ‘repradced distributed in any for or by any means, withon the priar writen pormissias ofthe publisher, or wsed beyond the liited dstributon to teachers and educators permed by MeCiras-Hl forte individual course preparation fy arsed sng this Mana Soares i tou! permiaion 1320PROBLEM 1) 5.257 Crank AB has « constant angela yelocity of 1.5 rad/s position shown, determing counterclockwise. For the (a) the angular velocity oF rd BD, (0) the veloeity of collar D. on ‘SOLUTION yp = ABO va 2=(40 minj(1.5 rad/s) yp = 60 minis = a, 7 ABO (a0 mmx. 9) ay, =90 sninis? Crank AB: Yp = Yat Yor avg H (BDO & yp D258 = 60 mals. 4+£(160 mm)qy + gowns 0 tan 25° 7.978 moms T Opp = V6 6 160 mim =0,17487 rads gy = 01749 rad’s)) 4 = oni i c0s25° yp = 66:2 mls 25° (66.202 mm/s __ cmponiess eA sighs revere. pan of he Mae ma de meee A ber, oF wed beyond rie is Man 19 The McGraw-Hill sito pa reste aig ‘PROPRIETARY MATERIAL © 2 Parente Fm te sree, without te BE cchers and econ ” aie by Menor te 1 ed curse pregertion Pee ‘sain cha ion person iPROBLEM 15.258 2 Crank 48 has a constant angular velocity of 1.5 radis » a counterclockwise. For the position shown, determing Tf (@) the angular acceleration of rod BD, (6) the om acceleration of collar D ales Sesser mani fae Ss SOLUTION Crank AB: Ya = (ABYC =(40 mmy(1.5 rad/s) Ye 8 0 mms ta is | Hom AB)aiiy = (40 my rads eae 1) mm/s* | Rod BD: Ya = Vat Vow = Vp (BD)0yy Yp 225° =60 mmis + (160 mje, T & Yow = 60 tan 25°= 27.978 mm/s P “| 25 yy = PISS 8 9 1487 rag ear 160 mmm pp = 0.1749 radis*) » eam = 66.202 mavs Yy = 66.2 mmis%.25° Gag), t2)%1g 7 Howe aan tor eS Camdyeloow? 7 = a la, CS 26 7 Plane motion = Trans. with B BD = Ay + Any 25° a5 1+ (ayy), L Hayy )y & iy 25° =90 mais? + (160 mm)4%5p T+(160 mm)(0.17487 rad/s)? + components: Fp cos25°= (160 mmy(0.17487 rad/s)? 4,008 25° = 4.8925 mms? L renee aRY MATERIAL. © 2009 The McGraw Company, te, A {eh reserved. No part of this Manna may be dave, ern atte in ans ft or by ay meio. ote en oe Permission ofthe publisher, or ised been he hes Sewanee curs perme Cha Halon en ome preparation Ifvouareastudenticinetion Mon Now are using i withou permieion bnPROBLEM 15.258 (Continued) (0) ay =5.398 mms” ap = 5.40 mm/s? 25° Hae Ce teeta (5.398 mny/s”)sin 25° = -90 min/s? + (160 mm)egp, (a) Aigy = 40.5768 rads? Opp = 0.577 rad/s?) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Inc. All ighsreseved. No part of this Manual may Be displayed, ‘rspradueed or ditributed in ey form o by any means, withon the prior writen permission ofthe publisher, or nd Beyors the lite diswibunion to teachers and educulos permite by McGrail for Unc sndvidral course preparation. Ifyou ar astudentusing dis Maal pu are ucng it without permission ta23PROBLEM 15.259 Rod 4B of length 125 mm is attached to a vertical rod that rotates about the y axis at the constant rate a =5 rad/s. Knowing that the angle formed by rod 4B and the vertical is increasing at the constant rate dBildt =3 radis, determine the velocity and acceleration of end B of the rod when 5 =30°, SOLUTION Frame AXYZ is fixed. Moving frame Aayz rotates about the F axis with Q= a= (5 rad/s)j o, -(2) =( radis)k dt Velocity. Tyg =(0.125 m)fsin 30% ~cos30°j] (0.0625 m)i ~ (0.10826 m)j Vor = AXtigy = (S rad/s)jx{(0.0625 m)i ~ (0.10826 mj] Vp =-(0.3125 mis) Vague =; Xt ig = rads) X[(0.0625 m)i ~ (0.10826 m)j] Ye = 01875 m/s} + (0.32476 mis) Yo = Yor * Yo = -0.3 125k +0.1875j+0.324761 Vp = (0.325 mi + (0.1875 mish]-(0.313 mis)k Acceleration. yp = QV y = (5 rad/s) (-0.3125 mis)k ay =—(1.5625 mvs?) Aye =, XV = tadls)k x{(0.1875 1nvs)}+ (0.32476 m/s) App = (0.5625 ws" )i + (0.9743 mis’ )j a, = 20% V pp = 2(5 rad/s}jx{(0.1875 mvs} + (0.32476 m's a, = (3.248 m/s?) ay ay tay ta, = ~1.5625i ~ 0,5625i + 0.9743) —3.248k. ap = (2.13 mis? )i + (0.974 mi/s*)j- (3.25 mis*)k PROPRIETARY MATERIAL. © 2009 The MeGrow Vil Companies, In. All ights reserved. No part of this Manual may be displayed ‘reproduced or disribuied in ay form ox by any mens, io the prior written permission ofthe publisher, or ued beyond the lied ‘isribution to teachers amd educators port by Cian Hil ford livia course preparation. fyou are stdent wing hs Bhenea yo ae ning isethout permission ri