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RIGID BODIES
RELATIVE VELOCITY
RELATIVE
ACCELERATION
PROBLEMS
1. The circular disk rolls to the left without slipping. If
a A/ B 2.7 j m / s 2 , determine the velocity and
acceleration of the center O of the disk. (5/126)
a A/ B 2.7 j m / s 2 vO ? , aO ?
2. The end rollers of bar
AB are constrained to the
slot shown. If roller A has
a downward velocity of 1.2
m/s and this speed is
constant over a small
motion interval, determine
the tangential acceleration
of roller B as it passes the
topmost position. The value
of R is 0.5 m. (5/133)
vA = 1.2 m/s (cst), aBt = ? R = 0.5 m
3. At the instant represented the velocity of point A of
the 1.2 m bar is 3 m/s to the right and is constant for an
interval including the position shown, determine the
tangential acceleration of point B along its path and the
angular acceleration of the bar. (5/140)
vA = 3 m/s (cst), aB and a.
0.5cos60=0.25
vB / A vB 0.50 60
0.25 30
y
vA vB / A vB x
v B v A v B / A , v A 3i
v B v B cos 60 i v B sin 60 j 0.5v B i 0.866 v B j
v B / A rB / A k 1.17 i 0.25 j
1.2 m
0.25 m
1.17j 0.25i
0.5v B i 0.866 v B j 3i 1.17j 0.25i 1.17 m
i B 3 0.25 ,
0.5 v 3.24 rad / s v B 4.38 m / s
1.35
vA = 3 m/s (cst), aB and a.
aB a A aB / A
0.5cos60=0.25
aA 0 a Bn
a B a Bn a Bt 0.50 60
aB / An
0.25
a B / A a B / An a B / At
30 y
aB / At a Bt x
a Bt a Bt cos 60 i a Bt sin 60 j a Bn a Bn cos 30 i a Bn sin 30 j
v B 2 4.38 2
a Bn 38 .37 m / s 2
r 0.5
a Bn 38 .37 cos 30 i 38 .37 sin 30 j 33 .23i 19 .185 j
a B / An rB / A 3.24 k 3.24 k 1.17 i 0.25 j
12.28i 2.62 j
or a B / An rB/ A 2
1.2(3.24 ) 2
12 .60 m / s 2
vA = 3 m/s (cst), aB and a.
0.5cos60=0.25
a Bn
0.50 60
aB / An
0.25
30 y
aB / At a Bt x
a B / At a rB / A ak 1.17 i 0.25 j
1.17aj 0.25ai
33 .23i 19 .185 j a Bt cos 60 i a Bt sin 60 j 12 .28i 2.62 j 1.17aj 0.25ai
382.94 mm
i 0.38OB 0.19CB , OB 0.5CB 50.34
600 mm
j 0.46 OB 0.5 0.46CB , 0.69CB 0.5
B
0.5CB
y 461.91 mm
CB 0.725 rad / s , OB 0.362 rad / s
x
a B aO a B / O , aO 0 OB
a B / O a B / On a B / Ot
aOB
a B / On OB OB rB / O 0.362 k 0.362 k 0.46 i 0.38 j
0.167 j 0.138i
a B / On 0.0604 i 0.0500 j m / s 2 y 67.5
= 22.5
x
a B / Ot a OB rB / O a OB k 0.46 i 0.38 j
0.46a OB j 0.38a OBi CB
aCB
a B 0.0604 i 0.0500 j 0.46a OB j 0.38a OB i
= 45
block at O considered fixed, vC =0.5 m/s (cst), determine the
angular acceleration a of the right hand-bucket jaw when q = 45
as the bucket jaws are closing
aB aC aB / C , aC 0
O
a B / C a B / C n a B / Ct
382.94 mm
aB / Cn CB CB rB / C 0.725k 0.725k 0.46i 0.19 j
50.34
600 mm
0.167 j 0.069i
B
aB / Cn 0.0604i 0.025 j m / s 2
y 461.91 mm
aB / Ct a CB rB / C a CB k 0.46i 0.19 j
x
OB
0.46a CB j 0.19a CBi
aB aB / C 0.0604i 0.025 j 0.46a CB j 0.19a CB i
aOB
aBOB aBCB
67.5
y
= 22.5
x
i 0.0604 0.38a OB 0.0604 0.46a CB , a OB 1.21a CB
j 0 0.628 0.439 AB
AB 1.43 rad / s (cw)
i v A 0.1 AB
v A 0.143 m / s ()
= 60 rev/min (cst), determine the acceleration of the blade for
q = 90, a AB ?
450
aB aO aB / O , aO 0 , aB / O aB / On aB / Ot 100
0 439
aB / On
OB OB rB / O 6.28k
6.28
k
0 .1
i 3.94i
m / s 2
0.628 j
a A aB a A/ B , aB 3.94i
a A/ B a A/ Bn a A/ Bt
a A/ Bn AB AB rA/ B
1.43k 1.43k 0.439i 0.1 j
aAB
AB y y
0.628 j 0.143i x x
a A/ Bn 0.898i 0.204 j m / s 2
a A/ Bt a AB rA/ B
a AB k 0.439i 0.1 j
0.439a AB j 0.1a AB i
= 60 rev/min (cst), determine the acceleration of the blade for
q = 90, a AB ?
a A a Ai
a A i 3.94 i 0.898 i 0.204 j 0.439 a AB j 0.1a AB i
j 0 0.204 0.439 a AB
AB y y
aAB
a AB 0.465 rad / s 2 x x
a A 4.88 m / s 2
6. In the
mechanism shown,
the flexible band F
is attached at E to
the rotating sector
and leads over the
guide pulley. F is
given a constant
velocity of 4 m/s as
shown. For the
instant when BD is
perpendicular to OA,
determine the
angular acceleration
of BD. (5/154)
vE = 4 m/s (cst), BD perpendicular to OA, determine the angular
acceleration of BD.
7. At a given instant, the gear has the angular motion
shown. Determine the accelerations of points A and B on
the link and the links angular acceleration at this instant.
Determine aA, aB and aAB
v A vC v A / C rA / C 6k j 6i
0
v B v A v B / A 6i AB rB / A 6i AB k 8 cos 60 i 8 sin 60 j
4i 6.93 j
v B 6i 4 AB j 6.93 ABi
v B v B i
v B i 6i 4 AB j 6.93 ABi rB / A
j 0 4 AB , AB 0
vB / A
aAB
i v B 6 6.93 ABi y
AB
y x
v B 6 cm / s x
C
Determine aA, aB and aAB
2
a A aC a A / C r j r ai r j 3(36 ) j (1)(12 )i (1)(36 )6 j
2
a A 108 j 12 i 36 j , a A 12 i 72 j , a A 73 cm / s 2
a B a A a B / A a A a B / A a B / An a B / At
a A / Bn AB AB rB / AB
0
a A / Bt a AB rB / A a AB k 4i 6.93 j
4a AB j 6.93a AB i
rB / A
a B a B i 12 i 72 j 4a AB j 6.93a ABi
aB / At