Assistant Professor: Zhou Yufeng

1. Collar A moves in a constant velocity of 900 mm/s to the right. At the

instant when  = 30, determine (a) the angular velocity of rod AB, (b) the
velocity of collar B.
With O-xy, we can express

vA  9000  900iˆ(mm / s)

rBA  300  30  300(0.866iˆ  0.5 ˆj )(mm)

vB  vB   70  vB (0.342iˆ  0.94 ˆj )(mm / s)
   
v
Using B  v A    rBA gives

vB (0.342iˆ  0.94 ˆj )  900iˆ  kˆ  300(0.866iˆ  0.5 ˆj )

Component of i : 0.342v  150  900 (1)
B

Component of ĵ : 0.94vB  259.8  0 (2)

Solving the simultaneous equations (1) and (2) gives
vB  1017(mm / s)   3.68(rad / s)
 
Hence vB  1017  70(mm / s)   kˆ  3.68kˆ
2. In the position shown, bar AB has a constant angular
velocity of 3 rad/s counterclockwise.
a) Determine the angular velocity of bars BD and DE.
b) Determine the angular acceleration of bars BD and
DE.
(a) Set up E-xy. The geometry is given as
rBD  200(mm),   tan 1 ( 13 )  18.43
rDE  225(mm), rBA  300 sec(18.43)  316.23(mm)

Using 1  3kˆ(ccw) (rad/s) and right-hand rule gives
  
vB  1  rBA  3kˆ  (316.23)  161.57  948.7  71.57
 
With the known direction lines of vD & vB / D , we can express
vD  vB cos(18.43)  900(mm / s) vB / D  vB sin(18.43)  300(mm / s)
Therefore

2  300 / 200kˆ  1.5kˆ(cw)

3  900 / 225kˆ  4kˆ(ccw)
(b) Using equation
  
aB  aD  aB / D

to relate the unknown motion of rod DE to the

known motion of rod AB.

Since rod AB is rotating with constant angular

velocity, the acceleration of B is completely known.

And accelerations
     
a D  a Dt  a Dn a B / D  a Bt / D  a Bn / D
are partly known.
t t
Explain that the direction lines of a D and a B / D are known:
     
a Dt   3  rDE a Bt / D   2  rBD
So we can obtain the two scalar unknowns 2= 4.5and 3=6 by solving the
ONE vector equation
3. Knowing that at the instant shown the velocity of
collar D is 120 mm/s to the left, determine (a) the
instantaneous center of rotation of rod BE, (b) the
angular velocity of a crank AB and rod BE, (c) the
velocity of point E.

Given vD  120iˆ(m / s)
 
a) The known directions of v D and v B allow us to determine
the instant center C as shown
 120 ˆ
b) So we have BE  k  1.2kˆ(ccw)(rad / s)
100
  270 ˆ
vB  1.2kˆ  (225)(iˆ)  270 ˆj  AB  k  2.7kˆ(ccw)(rad / s)
100
c) Using the given geometry , we can determine

rEC  rEC  , rEC  199.56(mm),   51.2
Hence
  
vE  BE  rEC  1.2(199.56)(90   )  239.5141.2(mm / s)
4. The vertical plate ABED is pinned to rod OA at A and supported by a
roller at E which slides in a horizontal slot. In the position shown the
velocity of E is 0.7 m/s to the right. Determine (a) the angular velocity of
the plate, and (b) the velocities of A, B, and D.

Solution: (a) Find the I.C. (Instant Center) C, use

   
vE    rEC  0.7iˆ    (14 ˆj )


to determine   0.05k̂

(b) rAC  10m, rBC  16.12m, rDC  6m

  
vA    rAC  0.5(53.13)

  
vB    rBC  0.806(29.74)

  
vD    rDC  0.30
5. At a given instant, the cable supporting the pipe has the motion shown.
Determine the angular velocity and angular acceleration of the pipe and
the velocity and acceleration of point B located on the pipe.
Convert the given motion of point C and D to the motion of
point B and A on the pipe:
   
v B  v C  1.5 ˆj v A  v D  1.8 ˆj
   
a Bt  a C  0.45 ˆj a At  a D  0.6 ˆj
Consider the velocities of A and B on the pipe:
     
v B  v A  v B / A  v A    rBA (1)

Solve for   0.25k̂
Consider the accelerations of A and B on the pipe:
      
aBt  aBn  a At  a An    rBA   2 rBA (2)
 ˆ Dot both sides by iˆ ,
Dot both sides by ĵ , we can solve for   0.875k (rad / s )(ccw)
2

we can solve for a Bn .
Consider the accelerations of B and G on the pipe: And finally
t  n    
2    2
aB  aB  aG    rBG   rBG (3) a B 0.452 85.2( m / s )