Dynamics 13th Edition Solutions (Hibbeler)

15–149.
The chain has a total length L 6 d and a mass per unit

length of m¿ . If a portion h of the chain is suspended over h
the table and released, determine the velocity of its end A
y
as a function of its position y. Neglect friction.
d
A
SOLUTION
dv dm e
©Fs = m + vD>e
dt dt
dv
m¿gy = m¿y + v(m¿v)
dt
dv
m¿gy = m¿ ay + v2 b
dt
dy
Since dt = , we have
v
dv
gy = vy + v2
or
laws
dy
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Multiply by 2y and integrate:
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dv
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2gy2 dy = a 2vy2 + 2yv2 b dy
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L L dy
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2 3 3
and
g y + C = v2y2
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2 y3 - h3
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16–1.
The angular velocity of the disk is defined by A

v = 15t2 + 22 rad>s, where t is in seconds. Determine the
magnitudes of the velocity and acceleration of point A on
the disk when t = 0.5 s.
0.8 m
SOLUTION
v = (5 t2 + 2) rad>s
dv
a = = 10 t
dt
t = 0.5 s
v = 3.25 rad>s
a = 5 rad>s2
vA = vr = 3.25(0.8) = 2.60 m>s Ans.
a z = ar = 5(0.8) = 4 m>s2
or
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a n = v2r = (3.25)2(0.8) = 8.45 m>s2
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a A = 2(4)2 + (8.45)2 = 9.35 m>s2 Ans.
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16–2.
A flywheel has its angular speed increased uniformly from

15 rad>s to 60 rad>s in 80 s. If the diameter of the wheel is
2 ft, determine the magnitudes of the normal and tangential
components of acceleration of a point on the rim of the
wheel when t = 80 s, and the total distance the point travels
during the time period.
SOLUTION
v = v0 + ac t
60 = 15 + ac(80)
ac = 0.5625 rad/s2
a t = ar = (0.5625)(1) = 0.562 ft/s2 Ans.
a n = v2r = (60)2(1) = 3600 ft/s2 Ans.
v2 = v20 + 2ac (u - u0)
(60)2 = (15)2 + 2(0.5625)(u-0)
u = 3000 rad
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s = ur = 3000(1) = 3000 ft
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16–3.
The disk is originally rotating at v0 = 8 rad>s. If it is V0 8 rad/s

subjected to a constant angular acceleration of a = 6 rad>s2,
determine the magnitudes of the velocity and the n and t B
components of acceleration of point A at the instant
1.5 ft
t = 0.5 s.
2 ft A
SOLUTION
v = v0 + ac t
v = 8 + 6(0.5) = 11 rad>s
v = rv; vA = 2(11) = 22 ft>s Ans.
at = ra; (aA)t = 2(6) = 12.0 ft>s2 Ans.
an = v2r; (aA)n = (11)2(2) = 242 ft>s2 Ans.
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*16–4.
The disk is originally rotating at v0 = 8 rad>s. If it is V0 8 rad/s

subjected to a constant angular acceleration of a = 6 rad>s2,
determine the magnitudes of the velocity and the n and t B
components of acceleration of point B just after the wheel
1.5 ft
undergoes 2 revolutions.
2 ft A
SOLUTION
v2 = v20 + 2ac (u - u0)
v2 = (8)2 + 2(6)[2(2p) - 0]
v = 14.66 rad>s
vB = vr = 14.66(1.5) = 22.0 ft>s Ans.
(aB)t = ar = 6(1.5) = 9.00 ft>s2 Ans.
(aB)n = v2r = (14.66)2(1.5) = 322 ft>s2 Ans.
or
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16–5.
Initially the motor on the circular saw turns its drive shaft at
v = 120t2>32 rad>s, where t is in seconds. If the radii of gears
A and B are 0.25 in. and 1 in., respectively, determine the
magnitudes of the velocity and acceleration of a tooth C on
the saw blade after the drive shaft rotates u = 5 rad starting
from rest.
SOLUTION
v = 20 t2>3
dv 40 -1>3
a = = t
dt 3
du = v dt
u t
du = 20 t2>3 dt
L0 L0
3
u = 20a b t5>3
5
When u = 5 rad
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t = 0.59139 s
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a = 15.885 rad>s2 Dissemination
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v = 14.091 rad>s
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v A r A = vB r B
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14.091(0.25) = vB(1)
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vC = vB r = 3.523(2.5) = 8.81 in.>s

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aA rA = aB rB
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aB = 3.9712 rad>s2
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(aC)t = aB r = 3.9712(2.5) = 9.928 in.>s2
(aC)n = v2B r = (3.523)2 (2.5) = 31.025 in.>s2
aC = 2(9.928)2 + (31.025)2
= 32.6 in.>s2 Ans.
16–6.
A wheel has an initial clockwise angular velocity of 10 rad>s

and a constant angular acceleration of 3 rad>s2. Determine
the number of revolutions it must undergo to acquire a
clockwise angular velocity of 15 rad>s. What time is
required?
SOLUTION
v2 = v20 + 2ac(u - u0)
(15)2 = (10)2 + 2(3)(u- 0)
1
u = 20.83 rad = 20.83 ¢ ≤ = 3.32 rev. Ans.
2p
v = v0 + ac t
15 = 10 + 3t
t = 1.67 s Ans.
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16–7.
If gear A rotates with a constant angular acceleration of

aA = 90 rad>s2, starting from rest, determine the time
required for gear D to attain an angular velocity of 600 rpm.
Also, find the number of revolutions of gear D to attain this
angular velocity. Gears A, B, C, and D have radii of 15 mm, D A
50 mm, 25 mm, and 75 mm, respectively.
F B
SOLUTION C
Gear B is in mesh with gear A. Thus,
aB rB = aA rA
rA
aB = a baA = a b (90) = 27 rad>s2
15
rB 50
Since gears C and B share the same shaft, aC = aB = 27 rad>s2. Also, gear D is in
mesh with gear C. Thus,
aD rD = aC rC
rC
aD = a b aC = a b (27) = 9 rad>s2
25
rD 75
or
The final angular velocity of gear D is vD = a ba ba b =
laws
600 rev 2p rad 1 min
min 1 rev 60 s
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20p rad>s. Applying the constant acceleration equation,
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vD = (vD)0 + aD t
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20p = 0 + 9t
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vD2 = (vD)0 2 + 2aD [uD - (uD)0]

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(20p)2 = 02 + 2(9)(uD - 0)
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uD = (219.32 rad) a b
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= 34.9 rev Ans.

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*16–8.
If gear A rotates with an angular velocity of vA =

(uA + 1) rad>s, where uA is the angular displacement of
gear A, measured in radians, determine the angular
acceleration of gear D when uA = 3 rad, starting from rest.
D A
Gears A, B, C, and D have radii of 15 mm, 50 mm, 25 mm,
and 75 mm, respectively.
F B
SOLUTION C
Motion of Gear A:
aA duA = vA dvA
aA duA = (uA + 1) d(uA + 1)
aA duA = (uA + 1) duA
aA = (uA + 1)
At uA = 3 rad,
aA = 3 + 1 = 4 rad>s2
or
laws
Motion of Gear D: Gear A is in mesh with gear B. Thus,
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aB rB = aA rA
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rA
aB = a baA = a b (4) = 1.20 rad>s2
15 Dissemination
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rB 50
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Since gears C and B share the same shaft aC = aB = 1.20 rad>s2. Also, gear D is in
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aD rD = aC rC
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aD = a b aC = a b (1.20) = 0.4 rad>s2
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16–9.
The vertical-axis windmill consists of two blades that have a ac 0.5 rad/s2
parabolic shape. If the blades are originally at rest and
begin to turn with a constant angular acceleration of
ac = 0.5 rad>s2, determine the magnitude of the velocity
and acceleration of points A and B on the blade after the
blade has rotated through two revolutions.
B
10 ft
SOLUTION
20 ft A
Angular Motion: The angular velocity of the blade after the blade has rotated
2(2p) = 4p rad can be obtained by applying Eq. 16–7.
v2 = v20 + 2ac (u - u0)
v2 = 02 + 2(0.5)(4p - 0)
v = 3.545 rad>s
Motion of A and B: The magnitude of the velocity of point A and B on the blade can
be determined using Eq. 16–8.
vA = vrA = 3.545(20) = 70.9 ft>s Ans.
or
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vB = vrB = 3.545(10) = 35.4 ft>s Ans.
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The tangential and normal components of the acceleration of point A and B can be
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(at)A = arA = 0.5(20) = 10.0 ft>s2

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(an)A = v2 rA = A 3.5452 B (20) = 251.33 ft>s2

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(at)B = arB = 0.5(10) = 5.00 ft>s2

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(an)B = v2 rB = A 3.5452 B (10) = 125.66 ft>s2

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(a)A = 2(at)2A + (an)2A = 210.02 + 251.332 = 252 ft>s2 Ans.

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16–10.
The vertical-axis windmill consists of two blades that have a ac 0.5 rad/s2
parabolic shape. If the blades are originally at rest and begin
to turn with a constant angular acceleration of ac = 0.5 rad>s2,
determine the magnitude of the velocity and acceleration of
points A and B on the blade when t=4 s.
B
10 ft
SOLUTION
20 ft A
Angular Motion: The angular velocity of the blade at t = 4 s can be obtained by
applying Eq. 16–5.
v = v0 + ac t = 0 + 0.5(4) = 2.00 rad>s
Motion of A and B: The magnitude of the velocity of points A and B on the blade
can be determined using Eq. 16–8.
vA = vrA = 2.00(20) = 40.0 ft>s Ans.
vB = vrB = 2.00(10) = 20.0 ft>s Ans.
The tangential and normal components of the acceleration of points A and B can be
or
determined using Eqs. 16–11 and 16–12 respectively.
laws
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(at)A = arA = 0.5(20) = 10.0 ft>s2
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(an)A = v2 rA = A 2.002 B (20) = 80.0 ft>s2 Dissemination
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(an)B = v2 rB = A 2.002 B (10) = 40.0 ft>s2

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The magnitude of the acceleration of points A and B are

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(a)A = 2(at)2A + (an)2A = 210.02 + 80.02 = 80.6 ft>s2

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(a)B = 2(at)2B + (an)2B = 25.002 + 40.02 = 40.3 ft>s2

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16–11.
If the angular velocity of the drum is increased uniformly

from 6 rad>s when t = 0 to 12 rad>s when t = 5 s,
determine the magnitudes of the velocity and acceleration
of points A and B on the belt when t = 1 s. At this instant
the points are located as shown.
45°
4 in.
SOLUTION
v = v0 + act
A
12 = 6 + a(5) a = 1.2 rad>s2
At t = 1 s,
v = 6 + 1.2(1) = 7.2 rad>s
4
vA = vB = v r = 7.2 ¢ ≤ = 2.4 ft>s Ans.
12
4
aA = ar = 1.2 ¢ ≤ = 0.4 ft>s2 Ans.
12
or
laws
4
(aB)t = ar = 1.2 ¢ ≤ = 0.4 ft>s2
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(aB)n = v2r = (7.2)2 = 17.28 ft>s2
Dissemination
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aB = (aB)2t + (aB)2n = 0.42 + 17.282 = 17.3 ft s2 Ans.

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*16–12.
A motor gives gear A an angular acceleration of

aA = 10.25u3 + 0.52 rad>s2, where u is in radians. If this (vA)0 ⫽ 20 rad/s
gear is initially turning at 1vA20 = 20 rad>s, determine the B
angular velocity of gear B after A undergoes an angular A
displacement of 10 rev. 0.05 m
0.15 m
AA
SOLUTION
aA = 0.25 u3 + 0.5
a du = v dv
20p vA
(0.25 u3 + 0.5)duA = vA dvA
L0 L20
20p 1 vA
(0.0625 u4 + 0.5 u)冷 0 = (vA)2冷 20
2
vA = 1395.94 rad>s
vA rA = vB rB
1395.94(0.05) = vB (0.15)
or
laws
vB = 465 rad>s Ans.
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16–13.
A motor gives gear A an angular acceleration of

aA = 14t32 rad>s2, where t is in seconds. If this gear is (vA)0 ⫽ 20 rad/s
initially turning at 1vA20 = 20 rad>s, determine the angular B
velocity of gear B when t = 2 s. A
0.05 m
0.15 m
AA
SOLUTION
a A = 4 t3
dv = a dt
vA t t
dvA = aA dt = 4 t3dt
L20 L0 L0
vA = t4 + 20
When t = 2 s,
vA = 36 rad>s
vA rA = vB rB
or
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36(0.05) = vB (0.15)
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vB = 12 rad>s
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16–14.
The disk starts from rest and is given an angular acceleration

a = (2t 2) rad>s2, where t is in seconds. Determine the P
angular velocity of the disk and its angular displacement 0.4 m
when t = 4 s.
SOLUTION
dv
a = = 2 t2
dt
v t
2
dv = 2 t dt
L0 L0
2 32t
v = t
3 0
23
v = t
3
When t = 4 s,
2 3
v = (4) = 42.7 rad>s Ans.
3
or
u t
laws
2 3
du = t dt
L0 L0 3
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u = t
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u = (4) = 42.7 rad Ans.

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16–15.
The disk starts from rest and is given an angular acceleration

P
a = (5t1>2) rad>s2, where t is in seconds. Determine the
magnitudes of the normal and tangential components of 0.4 m
acceleration of a point P on the rim of the disk when t = 2 s.
SOLUTION
Motion of the Disk: Here, when t = 0, v = 0.
dv = adt
v t
1
dv = 5t2dt
L0 L0
v
10 3 2 t
v2 = t2
0 3 0
v = e t2 f rad>s
10 3
3
When t = 2 s,
or
A 2 2 B = 9.428 rad>s
laws
10 3
v =
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When t = 2 s,
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a = 5 A 2 2 B = 7.071 rad>s2
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Motion of point P: The tangential and normal components of the acceleration of

use
and
point P when t = 2 s are

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at = ar = 7.071(0.4) = 2.83 m>s2

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a n = v2r = 9.4282(0.4) = 35.6 m>s2 Ans.

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*16–16.
The disk starts at v0 = 1 rad>s when u = 0, and is given an

angular acceleration a = (0.3u) rad>s2, where u is in radians. P
Determine the magnitudes of the normal and tangential
0.4 m
components of acceleration of a point P on the rim of the
disk when u = 1 rev.
SOLUTION
a = 0.3u
v u
vdv = 0.3udu
L1 L0
1 22v u
v = 0.15u2 2
2 1 0
v2
- 0.5 = 0.15u2
2
v = 20.3u2 + 1
or
laws
At u = 1 rev = 2p rad
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v = 20.3(2p)2 + 1
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v = 3.584 rad>s
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a t = ar = 0.3(2p) rad>s 2 (0.4 m) = 0.7540 m>s2 Ans.

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a n = v2r = (3.584 rad>s)2(0.4 m) = 5.137 m>s2

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a p = 2(0.7540)2 + (5.137)2 = 5.19 m>s2

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16–17.
Starting at (vA)0 = 3 rad>s, when u = 0, s = 0, pulley A is

given an angular acceleration a = (0.6u) rad>s2, where u is 150 mm
in radians. Determine the speed of block B when it has
risen s = 0.5 m. The pulley has an inner hub D which is D C
fixed to C and turns with it. A
50 mm 75 mm
SOLUTION
aa = 0.6uA
0.5 B
uC = = 6.667 rad
0.075
s
uA(0.05) = (6.667)(0.15)
uA = 20 rad
adu = vdv
20 vA
0.6uAduA = vAdvA
L0 L3
or
laws
20
1 2 vA
Web)
teaching
0.3u2A 2 = v 2
2 A 3
in
0
copyright
Wide
Dissemination
permitted.
World
States
1 2
instructors
120 = v - 4.5
not
2 A
the
of
is
learning.
on
United
use
and
by
vA = 15.780 rad>s
the
student
work
for
(including
the
15.780(0.05) = vC (0.15)
protected
of
solely
work
is
assessing
vC = 5.260 rad>s
this
work
and
of
integrity
provided
This
is
the
vB = 5.260(0.075) = 0.394 m>s

part
Ans.
courses
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and
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16–18.
Starting from rest when s = 0, pulley A is given a constant

angular acceleration ac = 6 rad>s2. Determine the speed of 150 mm
block B when it has risen s = 6 m. The pulley has an inner
hub D which is fixed to C and turns with it. D C
A
50 mm 75 mm
SOLUTION
aA r A = aC r C
6(50) = aC(150) B
aC = 2 rad>s2
s
aB = aC rB = 2(0.075) = 0.15 m>s2
(+ c) v2 = v20 + 2 ac (s - s0)
v2 = 0 + 2(0.15)(6 - 0)
v = 1.34 m>s Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
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and
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16–19.
The vacuum cleaner’s armature shaft S rotates with an

angular acceleration of a = 4v3>4 rad>s2, where v is in
rad>s. Determine the brush’s angular velocity when t = 4 s,
starting from v0 = 1 rad>s, at u = 0. The radii of the shaft
and the brush are 0.25 in. and 1 in., respectively. Neglect the
thickness of the drive belt.
SOLUTION
Motion of the Shaft: The angular velocity of the shaft can be determined from
A S
dvS A S
dt =
L L aS
t vs
dvS
dt =
L0 L1 4vS 3>4
t vs
2 2
t 0 = vS 1>4 1
t = vS 1>4 – 1
vS = (t+1) 4
or
laws
When t = 4 s
Web)
teaching
in
vs = 54 = 625 rad>s
copyright
Wide
Dissemination
permitted.
World
States
Motion of the Beater Brush: Since the brush is connected to the shaft by a non-slip
instructors
not
the
of
belt, then
is
learning.
on
United
use
and
vB rB = vs rs
by
the
student
work
for
rs 0.25
(including
vB = ¢ ≤v = a b(625) = 156 rad>s

the
Ans.
rB s
protected
1
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solely
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This
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*16–20.
The operation of “reverse” for a three-speed automotive A

transmission is illustrated schematically in the figure. If the vH vG ⫽ 60 rad/s
crank shaft G is turning with an angular speed of 60 rad>s,
H G
determine the angular speed of the drive F C
shaft H. Each of the gears rotates about a fixed axis. Note B
that gears A and B, C and D, E and F are in mesh. The radii E D
of each of these gears are reported in the figure.
rA ⫽ 90 mm
rB ⫽ rC ⫽ 30 mm
SOLUTION rD ⫽ 50 mm
rE ⫽ 70 mm
60(90) = vBC (30) rF ⫽ 60 mm
vBC = 180 rad>s
180(30) = 50(vDE)
vDE = 108 rad>s
108(70) = (60) (vH)
vH = 126 rad>s Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
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and
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16–21.
A motor gives disk A an angular acceleration of V0 ⫽ 6 rad/s

aA = 10.6t2 + 0.752 rad>s2, where t is in seconds. If the
initial angular velocity of the disk is v0 = 6 rad>s,
A 0.15 m
determine the magnitudes of the velocity and acceleration
of block B when t = 2 s.
SOLUTION
dv = a dt
v 2
dv = (0.6 t2 + 0.75) dt
L6 L0 B
v - 6 = (0.2 t3 + 0.75 t)|20
v = 9.10 rad>s
vB = vr = 9.10(0.15) = 1.37 m>s Ans.
aB = at = ar = [0.6(2)2 + 0.75](0.15) = 0.472 m>s2 Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
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sale
16–22.
For a short time the motor turns gear A with an angular

acceleration of aA = (30t1>2) rad>s2, where t is in seconds.
Determine the angular velocity of gear D when t = 5 s,
starting from rest. Gear A is initially at rest. The radii of
gears A, B, C, and D are rA = 25 mm, rB = 100 mm,
A
rC = 40 mm, and rD = 100 mm, respectively. B
C
D
SOLUTION
Motion of the Gear A: The angular velocity of gear A can be determined from
dvA = adt
L L
vA t
dvA = 30t1>2dt
L0 L0
vA t
vA 0
= 20t3>2 2
0
vA = A 20t 3>2
B rad>s
When t = 5 s
or
laws
vA = 20 A 53>2 B = 223.61 rad>s
Web)
teaching
in
copyright
Wide
Motion of Gears B, C, and D: Gears B and C which are mounted on the same axle Dissemination
will have the same angular velocity. Since gear B is in mesh with gear A, then
permitted.
World
States
instructors
not
the
of
vB rB = vA rA
is
learning.
on
United
use
and
rA
by
25
the
vC = v B = ¢ ≤v = a b(223.61) = 55.90 rad>s

student
rB A
work
for
100
(including
the
protected
of
solely
work
Also, gear D is in mesh with gear C. Then

is
assessing
this
work
vD rD = vC rC
and
of
integrity
provided
This
is
the
part
rC 40
vD = ¢ ≤v = a b (55.90) = 22.4 rad>s Ans.
courses
any
and
rD C 100
of
destroy
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will
sale
16–23.
The motor turns gear A so that its angular velocity increases

uniformly from zero to 3000 rev>min after the shaft turns
200 rev. Determine the angular velocity of gear D when
t = 3 s. The radii of gears A, B, C, and D are rA = 25 mm,
rB = 100 mm, rC = 40 mm, and rD = 100 mm, respectively.
A
B
C
D
SOLUTION
rev 1 min 2p rad

Motion of Wheel A: Here, vA = a 3000 ba ba b = 100p rad>s
min 60 s 1rev
2p rad
when uA = (200 rev) a b = 400p rad. Since the angular acceleration of gear
1 rev
A is constant, it can be determined from
vA 2 = (vA)0 2 + 2aA C uA - (uA)0 D
(100p)2 = 02 + 2aA (400p - 0)
aA = 39.27 rad>s2
or
laws
Thus, the angular velocity of gear A when t = 3 s is
Web)
teaching
vA = A v A B 0 + a A t
in
copyright
Wide
Dissemination
= 0 + 39.27(3)
permitted.
World
States
instructors
not
= 117.81 rad>s
the
of
is
learning.
on
United
use
and
by
Motion of Gears B, C, and D: Gears B and C which are mounted on the same axle
the
student
work
will have the same angular velocity. Since gear B is in mesh with gear A, then
for
(including
the
vB rB = vB rA
protected
of
solely
work
is
assessing
rA
this
25
work
v C = vB = ¢ ≤v = a b (117.81) = 29.45 rad>s

and
of
integrity
rB A
provided
100
This
is
the
part
courses
any
and
Also, gear D is in mesh with gear C. Then

of
destroy
their
vD rD = vC rC
will
sale
rC 40
vD = ¢ ≤v = a b (29.45) = 11.8 rad>s Ans.
rD C 100
*16–24.
The gear A on the drive shaft of the outboard motor has a

radius rA = 0.5 in. and the meshed pinion gear B on the
propeller shaft has a radius rB = 1.2 in. Determine the
angular velocity of the propeller in t = 1.5 s, if the drive shaft
rotates with an angular acceleration a = (400t3) rad>s2,
where t is in seconds. The propeller is originally at rest and
the motor frame does not move. A
B
2.20 in.
SOLUTION
Angular Motion: The angular velocity of gear A at t = 1.5 s must be determined
first. Applying Eq. 16–2, we have
dv = adt
vA 1.5 s
dv = 400t3 dt
L0 L0
s
vA = 100t4 |1.5 = 506.25 rad>s
or
0
laws
However, vA rA = vB rB where vB is the angular velocity of propeller. Then,
Web)
teaching
in
rA
copyright
Wide
0.5
vB = v = a b(506.25) = 211 rad>s Dissemination
Ans.
rB A 1.2
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
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16–25.
For the outboard motor in Prob. 16–24, determine the

magnitude of the velocity and acceleration of point P
located on the tip of the propeller at the instant t = 0.75 s.
B
2.20 in.
SOLUTION
Angular Motion: The angular velocity of gear A at t = 0.75 s must be determined
first. Applying Eq. 16–2, we have
dv = adt
vA 0.75 s
dv = 400t3 dt
L0 L0
s
vA = 100t4 |0.75 = 31.64 rad>s
or
0
laws
Web)
The angular acceleration of gear A at t = 0.75 s is given by
teaching
in
copyright
Wide
aA = 400 A 0.753 B = 168.75 rad>s2 Dissemination
permitted.
World
States
instructors
However, vA rA = vB rB and aA rA = aB rB where vB and aB are the angular

not
the
of
is
velocity and acceleration of propeller. Then,

learning.
on
United
use
and
by
rA
the
0.5
vB = v = a b (31.64) = 13.18 rad>s
student
work
rB A
for
1.2
(including
the
protected
of
solely
rA 0.5
work
is
aB = a = a b(168.75) = 70.31 rad>s2

assessing
rB A 1.2
this
work
and
of
integrity
provided
This
is
the
part
Motion of P: The magnitude of the velocity of point P can be determined using

Eq. 16–8.
courses
any
and
of
destroy
their
2.20
will
vP = vB rP = 13.18 a b = 2.42 ft>s Ans.

sale
12
The tangential and normal components of the acceleration of point P can be

determined using Eqs. 16–11 and 16–12, respectively.
2.20
ar = aB rP = 70.31 a b = 12.89 ft>s2
12
2.20
an = v2B rP = A 13.182 B a b = 31.86 ft>s2
12
The magnitude of the acceleration of point P is
aP = 2a2r + a2n = 212.892 + 31.862 = 34.4 ft>s2 Ans.
16–26.
The pinion gear A on the motor shaft is given a constant

angular acceleration a = 3 rad>s2. If the gears A and B B
have the dimensions shown, determine the angular velocity C
and angular displacement of the output shaft C, when
t = 2 s starting from rest. The shaft is fixed to B and turns
125 mm
with it.
35 mm
A
SOLUTION
v = v0 + a c t
vA = 0 + 3(2) = 6 rad>s
1
u = u0 + v 0 t + ac t2
2
1
uA = 0 + 0 + (3)(2)2
2
uA = 6 rad
vA rA = vB rB
or
6(35) = vB(125)
laws
Web)
teaching
vC = vB = 1.68 rad>s
in
Ans.
copyright
Wide
uA rA = uB rB Dissemination
permitted.
World
States
instructors
not
6(35) = uB (125)
the
of
is
learning.
on
United
use
uC = uB = 1.68 rad
and
Ans.
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
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This
is
the
part
courses
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and
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16–27.
For a short time, gear A of the automobile starter rotates

with an angular acceleration of aA = (450t2 + 60) rad>s2,
where t is in seconds. Determine the angular velocity and
A
angular displacement of gear B when t = 2 s, starting from
rest. The radii of gears A and B are 10 mm and 25 mm,
respectively.
B
SOLUTION
Motion of Gear A: Applying the kinematic equation of variable angular
acceleration,
dvA = aAdt
L L
vA t
dvA = A 450t2 + 60 B dt
L0 L0
vA t
vA 0 = 150t3 + 60t 2
0
vA = A 150t + 60t B rad>s

3
or
When t = 2 s,
laws
Web)
teaching
vA = 150(2)3 + 60(2) = 1320 rad>s
in
copyright
Wide
Dissemination
duA = vA dt
permitted.
World
States
L L
instructors
not
the
of
is
t
learning.
uA
on
United
A 150t3 + 60t B dt
use
duA =
and
by
L0 L0
the
student
t
work
for
uA
uA 0 = 37.5t4 + 30t2 2
(including
the
protected
0
of
solely
work
is
uA = A 37.5t + 30t4 2
B rad
assessing
this
work
and
of
integrity
provided
When t = 2 s
This
is
the
part
courses
uA = 37.5(2)4 + 30(2)2 = 720 rad

any
and
of
destroy
their
will
Motion of Gear B: Since gear B is meshed with gear A, Fig. a, then

sale
vp = vA rA = vB rB
rA
vB = vA ¢ ≤
rB
0.01
= (1320) ¢ ≤
0.025
= 528 rad>s Ans.
rA
uB = uA ¢ ≤
rB
0.01
= 720
0.025
= 288 rad Ans.
*16–28.
For a short time, gear A of the automobile starter rotates

with an angular acceleration of aA = (50v1>2) rad>s2, where
v is in rad>s. Determine the angular velocity of gear B
when t = 1 s. Orginally (vA)0 = 1 rad>s when t = 0. The radii A
of gears A and B are 10 mm and 25 mm, respectively.
SOLUTION
Motion of Gear A: We have
dvA
dt =
L L aA
t vA
dvA
dt =
L0 L1 50vA 1>2
vA
t 1
t0 = vA 1>2 2
25 1
1 1
t= v 1>2 -
25 A 25
or
vA = (25t + 1)2
laws
Web)
teaching
in
When t = 1 s, vA = 676 rad>s
copyright
Wide
Dissemination
Motion of Gear B: Since gear B is meshed with gear A, Fig. a, then

permitted.
World
States
instructors
not
the
of
vp = vA rA = vB rB
is
learning.
on
United
use
and
rA
by
the
vB = vA ¢ ≤
student
rB
work
for
(including
the
protected
of
solely
0.01
work
is
= 676 a b
assessing
0.025
this
work
and
of
integrity
provided
= 270 rad>s Ans.

This
is
the
part
courses
any
and
of
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16–29.
A mill in a textile plant uses the belt-and-pulley B

arrangement shown to transmit power. When t = 0 an
electric motor is turning pulley A with an angular velocity
4 in.
of vA = 5 rad>s. If this pulley is subjected to a constant
angular acceleration 2 rad>s2, determine the angular
velocity of pulley B after B turns 6 revolutions. The hub at 3 in.
D is rigidly connected to pulley C and turns with it. D C
SOLUTION 5 in.
When uB = 6 rev;
4(6) = 3 uC 4.5 in.
uC = 8 rev A
8(5) = 4.5(uA) ω A = 5 rad/s
uA = 8.889 rev
(vA)22 = (vA)21 + 2aC[(uA)2 - (uA)1]
(vA)22 = (5)2 + 2(2)[(8.889)(2p) - 0]
or
(vA)2 = 15.76 rad>s
laws
Web)
teaching
15.76(4.5) = 5vC
in
copyright
Wide
vC = 14.18 rad>s Dissemination
permitted.
World
States
instructors
14.18(3) = 4(vB)2
not
the
of
is
learning.
on
United
(vB)2 = 10.6 rad s

use
Ans.
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
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this
work
and
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This
is
the
part
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16–30.
A tape having a thickness s wraps around the wheel which s

is turning at a constant rate V. Assuming the unwrapped P
portion of tape remains horizontal, determine the
acceleration of point P of the unwrapped tape when the aP
radius of the wrapped tape is r. Hint: Since vP = vr, take r
the time derivative and note that dr>dt = v(s>2p).
SOLUTION
vP = vr
dvP dv dr
a = = r + v v
dt dt dt
dv
Since = 0,
dt
dr
a = va b
dt
In one revolution r is increased by s, so that
2p s
=
u ¢r
or
laws
Hence,
Web)
teaching
s
in
¢r = u
copyright
2p
Wide
Dissemination
dr s
permitted.
World
States
v
instructors
=
dt
not
2p
the
of
is
learning.
on
s 2
United
use
and
a = v Ans.
by
the
2p
student
work
for
(including
the
protected
of
solely
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is
assessing
this
work
and
of
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This
is
the
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16–31.
Due to the screw at E, the actuator provides linear motion F

to the arm at F when the motor turns the gear at A. If the
gears have the radii listed in the figure, and the screw at E
has a pitch p = 2 mm, determine the speed at F when the
motor turns A at vA = 20 rad>s. Hint: The screw pitch
indicates the amount of advance of the screw for each full
D
revolution. E
rA ⫽ 10 mm
SOLUTION C B rB ⫽ 50 mm
A rC ⫽ 15 mm
vA r A = v B r B rD ⫽ 60 mm
vC rC = vD rD
Thus,
rA r C 10 15
vD = v = 20 = 1 rad>s
rB r D A 50 60
1 rad > s 1 rev

vF = (2 mm) = 0.318 mm >s Ans.
2p rad
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
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will
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*16–32.
The driving belt is twisted so that pulley B rotates in the 200 mm 125 mm
opposite direction to that of drive wheel A. If A has a B
vA
constant angular acceleration of aA = 30 rad>s2, determine
the tangential and normal components of acceleration of a vB
point located at the rim of B when t = 3 s, starting from rest. A
SOLUTION
Motion of Wheel A: Since the angular acceleration of wheel A is constant, its
angular velocity can be determined from
vA = (vA)0 + aCt
= 0 + 30(3) = 90 rad>s
Motion of Wheel B: Since wheels A and B are connected by a nonslip belt, then
vBrB = vArA
rA
vB = a bv = a b (90) = 144 rad>s
200
rB A 125
or
laws
and
Web)
teaching
in
aBrB = aArA
copyright
Wide
Dissemination
rA
permitted.
aB = a ba = a b (30) = 48 rad>s2
200
World
States
instructors
rB A
not
125
the
of
is
learning.
on
United
use
and
by
Thus, the tangential and normal components of the acceleration of point P located
the
student
at the rim of wheel B are

work
for
(including
the
(ap)t = aBrB = 48(0.125) = 6 m>s2

protected
Ans.
of
solely
work
is
assessing
(ap)n = vB 2rB = (144 2)(0.125) = 2592 m>s2

this
Ans.
work
and
of
integrity
provided
This
is
the
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courses
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and
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16–33.
The driving belt is twisted so that pulley B rotates in the 200 mm 125 mm
opposite direction to that of drive wheel A. If the angular B
vA
displacement of A is uA = (5t3 + 10t2) rad, where t is in
seconds, determine the angular velocity and angular vB
acceleration of B when t = 3 s.
A
SOLUTION
Motion of Wheel A: The angular velocity and angular acceleration of wheel A can
be determined from
= A 15t2 + 20t B rad>s

duA
vA =
dt
and
= A 30t + 20 B rad>s
dvA
aA =
dt
or
laws
When t = 3 s,
Web)
teaching
vA = 15 A 32 B + 20(3) = 195 rad>s
in
copyright
Wide
Dissemination
aA = 30(3) + 20 = 110 rad>s
permitted.
World
States
instructors
not
the
of
is
Motion of Wheel B: Since wheels A and B are connected by a nonslip belt, then
learning.
on
United
use
and
by
vBrB = vArA
the
student
work
for
(including
rA
vB = a bvA = a b (195) = 312 rad>s
200
the
Ans.
protected
of
rB
solely
125
work
is
assessing
this
aBrB = aArA
work
and
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integrity
provided
This
is
the
part
rA
aB = a ba = a b (110) = 176 rad>s2
200
Ans.
courses
rB A
any
and
125
of
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16–34.
The rope of diameter d is wrapped around the tapered drum

L
which has the dimensions shown. If the drum is rotating at
a constant rate of v, determine the upward acceleration of the r1
the block. Neglect the small horizontal displacement of the block. r2
SOLUTION ω
d
v = vr
d(vr)
a =
dt
dv dr
= r + v
dt dt
dr
= v( )
dt
r2 - r1
r = r1 + ( )x
L
r2 - r1
or
dr = ( ) dx
laws
L
Web)
teaching
in
du
copyright
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But dx = –d
2p Dissemination
permitted.
World
States
instructors
not
dr 1 r2 - r1 du
the
of
is
Thus = ( ) d( )
learning.
on
dt L dt
United
2p
use
and
by
the
1 r2 - r1
student
work
for
= ( ) dv
(including
2p L
the
protected
of
solely
work
is
v2 r2 - r1
assessing
Thus, a =
this
( )d Ans.
work
L
and
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2p
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This
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16–35.
If the shaft and plate rotates with a constant angular velocity z

of v = 14 rad>s, determine the velocity and acceleration of
point C located on the corner of the plate at the instant
shown. Express the result in Cartesian vector form. A
v
0.6 m
a
D 0.2 m
C
SOLUTION 0.4 m
O
0.3 m
We will first express the angular velocity v of the plate in Cartesian vector form. The 0.3 m
unit vector that defines the direction of v is x 0.4 m y
- 0.3i + 0.2j + 0.6k 3 2 6 B

uOA = = - i + j + k
2( - 0.3)2 + 0.22 + 0.62 7 7 7
Thus,
3 2 6
v = vuOA = 14 a - i + j + k b = [- 6i + 4j + 12k] rad>s
7 7 7
Since v is constant
or
a = 0
laws
Web)
teaching
in
For convenience, rC = [ -0.3i + 0.4j] m is chosen. The velocity and acceleration of
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point C can be determined from Dissemination
permitted.
World
States
vC = v * rC
instructors
not
the
of
is
learning.
= ( -6i + 4j + 12k) * ( -0.3i + 0.4j)

on
United
use
and
by
the
= [-4.8i - 3.6j - 1.2k] m>s Ans.

student
work
for
(including
the
protected
of
and
solely
work
is
assessing
this
aC = a * rC + V * (V * rc)
work
and
of
integrity
provided
This
is
the
= 0 + ( -6i + 4j + 12k) * [( -6i + 4j + 12k) * ( -0.3i + 0.4j)]

part
courses
any
and
= [38.4i - 64.8j + 40.8k]m s2 Ans.

of
destroy
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sale
*16–36.
At the instant shown, the shaft and plate rotates with an z

angular velocity of v = 14 rad>s and angular acceleration
of a = 7 rad>s2. Determine the velocity and acceleration of
point D located on the corner of the plate at this instant. A
v
Express the result in Cartesian vector form. 0.6 m
a
D 0.2 m
C
SOLUTION 0.4 m
O
0.3 m
We will first express the angular velocity v of the plate in Cartesian vector form. The 0.3 m
unit vector that defines the direction of v and a is x 0.4 m y
- 0.3i + 0.2j + 0.6k 3 2 6 B

uOA = = - i + j + k
2( - 0.3)2 + 0.22 + 0.62 7 7 7
Thus,
3 2 6
v = vuOA = 14 a - i + j + k b = [- 6i + 4j + 12k] rad>s
7 7 7
3 2 6
a = auOA = 7 a - i + j + k b = [-3i + 2j + 6k] rad>s
7 7 7
or
laws
For convenience, rD = [- 0.3i + 0.4j] m is chosen. The velocity and acceleration of
Web)
teaching
in
point D can be determined from
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Dissemination
vD = v * rD
permitted.
World
States
instructors
not
= (- 6i + 4j + 12k) * (0.3i - 0.4j)

the
of
is
learning.
on
United
use
and
= [4.8i + 3.6j + 1.2k]m>s

by
Ans.
the
student
work
for
(including
and
the
protected
of
solely
work
is
aD = a * rD - v2 rD
assessing
this
work
and
of
integrity
= ( - 3i + 2j + 6k) * ( -0.3i + 0.4j) + (-6i + 4j + 12k) * [(-6i + 4j + 12k) * (-0.3i + 0.4j)]

provided
This
is
the
part
= [ - 36.0i + 66.6j - 40.2k]m s2 Ans.

courses
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16–37.
The rod assembly is supported by ball-and-socket joints at

z C
A and B. At the instant shown it is rotating about the y axis
with an angular velocity v = 5 rad>s and has an angular 0.3 m
acceleration a = 8 rad>s2. Determine the magnitudes of
the velocity and acceleration of point C at this instant.
Solve the problem using Cartesian vectors and Eqs. 16–9
0.4 m
and 16–13. B
y
A
A V
SOLUTION 0.4 m
x
vC = v * r
vC = 5j * ( -0.4i + 0.3k) = {1.5i + 2k} m>s
vC = 21.52 + 2 2 = 2.50 m>s Ans.
a C = a * r - v2r
= 8j * ( -0.4i + 0.3k) -52 ( -0.4i + 0.3k)
= {12.4i - 4.3k} m>s2
a C = 212.4 2 + (-4.3)2 = 13.1 m>s2 Ans.
or
laws
Web)
teaching
in
copyright
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Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
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provided
This
is
the
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16–38.
Rotation of the robotic arm occurs due to linear movement

of the hydraulic cylinders A and B. If this motion causes the
gear at D to rotate clockwise at 5 rad>s, determine the 4 ft
magnitude of velocity and acceleration of the part C held by 2 ft
the grips of the arm.
45
C
SOLUTION
Motion of Part C: Since the shaft that turns the robot’s arm is attached to gear D, D
B 3 ft
then the angular velocity of the robot’s arm vR = vD = 5.00 rad>s. The distance of
part C from the rotating shaft is rC = 4 cos 45° + 2 sin 45° = 4.243 ft. The
magnitude of the velocity of part C can be determined using Eq. 16–8. A
vC = vR rC = 5.00(4.243) = 21.2 ft>s Ans.
The tangential and normal components of the acceleration of part C can be

determined using Eqs. 16–11 and 16–12 respectively.
at = arC = 0
an = v2R rC = A 5.002 B (4.243) = 106.07 ft>s2
or
laws
The magnitude of the acceleration of point C is
Web)
teaching
in
aC = 2a2t + a2n = 202 + 106.072 = 106 ft>s2 Ans.
copyright
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Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
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this
work
and
of
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provided
This
is
the
part
courses
any
and
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16–39.
The bar DC rotates uniformly about the shaft at D with a

constant angular velocity V. Determine the velocity and
acceleration of the bar AB, which is confined by the guides C
A B
to move vertically. V
D U
l
SOLUTION
y = l sin u
# #
y = vy = l cos uu
$ $ #
y = a y = l(cos uu - sin uu)
$ $
Here vy = vAB , ay = aAB, and u = v, u = a = 0.
vAB = l cos u (v) = v l cos u Ans.
aAB = l C cos u(0) - sin u(v)2 D = - v2 l sin u Ans.
or
laws
Web)
teaching
in
copyright
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Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
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provided
This
is
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courses
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*16–40.
The mechanism is used to convert the constant circular

motion v of rod AB into translating motion of rod CD and
the attached vertical slot. Determine the velocity and B
l
acceleration of CD for any angle u of AB . V
D u A
C
SOLUTION
x = l cos u
# #
x = vx = - l sin uu
# $ #
x = a x = - l(sin uu + cos u u2)
# $
Here vx = vCD, ax = aCD, and u = v, u = a = 0.
vCD = - l sin u (v) = - vl sin u Ans.
a CD = -l C sin u(0) + cos u(v)2 D = - v2 l cos u Ans.
Negative signs indicate that both vCD and aCD are directed opposite to positive x.
or
laws
Web)
teaching
in
copyright
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Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
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sale
16–41.
At the instant u = 50°, the slotted guide is moving upward B

with an acceleration of 3 m>s2 and a velocity of 2 m>s.
300 mm
Determine the angular acceleration and angular velocity of
V, A
link AB at this instant. Note: The upward motion of the y
guide is in the negative y direction. U
SOLUTION
y = 0.3 cos u
# #
y = vy = - 0.3 sin uu v 2 m/s
a 3 m/s2
## $ #
y = a y = -0.3 A sin uu + cos uu2 B
# # $
Here vy = - 2 m>s, ay = - 3 m>s2, and u = v, u = v, u = a, u = 50°.
-2 = -0.3 sin 50°(v) v = 8.70 rad>s Ans.
- 3 = -0.3[sin 50°(a) + cos 50°(8.70)2] a = - 50.5 rad>s 2 Ans.
or
laws
Web)
teaching
in
copyright
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Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
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and
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16–42.
The mechanism shown is known as a Nuremberg scissors. If

the hook at C moves with a constant velocity of v, determine
A L/2
the velocity and acceleration of collar A as a function of u.
The collar slides freely along the vertical guide.
u
L/2
u
B
SOLUTION C
v
x = 3L sin u
# #
v = x = 3L cos u u
y = L cos u
# #
y = - L sin u u
# #
y L sin u u
= - #
v 3L cos u u
#
y = (v tan u)>3 T Ans.
v v v
y = (sec2u u) = a ba b
1
or
$ #
laws
3 2
3 cos u 3L cos u
Web)
teaching
in
$ v2
y =
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T Ans.
9L cos3 u Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
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is
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This
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16–43.
The crankshaft AB is rotating at a constant angular velocity B

of v = 150 rad>s. Determine the velocity of the piston P at 0.2 ft 0.75 ft
the instant u = 30°.
U
A
V
P
x
SOLUTION
x = 0.2 cos u + 2(0.75)2 - (0- 2 sin u)2
# $ 1 $
x = -0.2 sin uu + C (0.75)2 -(0.2 sin u)2 D - 2( -2)(0.2 sin u)(0.2 cos u)u
1
1 (0.2)2v sin 2 u
vP = -0.2v sin u - a b
2 2(0.75)2 - (0.2 sin u)2
At u = 30°, v = 150 rad>s
1 (0.2)2(150) sin 60°

vP = -0.2(150) sin 30° - a b
2 2(0.75)2 - (0.2 sin 30°)2
vP = -18.5 ft>s = 18.5 ft>s ;
or
Ans.
laws
Web)
teaching
in
copyright
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Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
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*16–44.
Determine the velocity and acceleration of the follower v

rod CD as a function of u when the contact between the cam A
and follower is along the straight region AB on the face of r u
D
the cam. The cam rotates with a constant counterclockwise C
O
angular velocity V.
B
SOLUTION
Position Coordinate: From the geometry shown in Fig. a,
r
xC = = r sec u
cos u
Time Derivative: Taking the time derivative,
# #
vCD = xC = r sec u tan uu (1)
#
Here, u = + v since v acts in the positive rotational sense of u. Thus, Eq. (1) gives
or
laws
vCD = rv sec u tan u : Ans.
Web)
teaching
in
The time derivative of Eq. (1) gives
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Dissemination
$ $ # # #
aCD = xC = r{sec u tan uu + u[sec u(sec2uu) + tan u(sec u tan uu)]}
permitted.
World
States
instructors
not
$ #
the
of
aCD = r[sec u tan u u + (sec3 u + sec u tan2 u)u2]

is
learning.
on
United
use
and
by
# $
the
Since u = v is constant, u = a = 0. Then,

student
work
for
(including
a CD = r[sec u tan u(0) + (sec3 u + sec u tan2 u)v2]

the
protected
of
solely
= rv2 A sec3 u + sec u tan2 u B :

work
is
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Ans.
this
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This
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16–45.
Determine the velocity of rod R for any angle u of the cam V

C if the cam rotates with a constant angular velocity V. The
pin connection at O does not cause an interference with the
motion of A on C. r1 C
r2
u
SOLUTION O
R A
Position Coordinate Equation: Using law of cosine. x
(r1 + r2)2 = x2 + r12 - 2r1x cos u (1)
Time Derivatives: Taking the time derivative of Eq. (1).we have
dx du dx
0 = 2x - 2r1 ¢ -x sin u + cos u ≤ (2)
dt dt dt
dx du
However v = and v = . From Eq.(2),
dt dt
0 = xv - r1(v cos u - xv sin u)
or
laws
r1xv sin u
Web)
teaching
v = (3)
r1 cos u - x
in
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Dissemination
However, the positive root of Eq.(1) is
permitted.
World
States
instructors
not
x = r1 cos u + 2r21 cos 2u + r22 + 2r1r2

the
of
is
learning.
on
United
use
and
by
Substitute into Eq.(3),we have

the
student
work
for
(including
r21v sin 2u
the
v = - + r1v sin u Ans.

protected
2 2r21 cos2u + r22 + 2r# 1r2

of
solely
work
is
assessing
this
work
and
of
integrity
Note: Negative sign indicates that v is directed in the opposite direction to that of
provided
positive x.
This
is
the
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16–46.
The bridge girder G of a bascule bridge is raised and

lowered using the drive mechanism shown. If the hydraulic
cylinder AB shortens at a constant rate of 0.15 m>s,
determine the angular velocity of the bridge girder at the B G
instant u = 60°.
A C u
3m
SOLUTION 5m
Position Coordinates: Applying the law of cosines to the geometry shown in Fig. a,
s2 = 32 + 52 - 2(3)(5) cos A 180°- u B
s2 = 34 - 30 cos A 180° - u B
However, cos A 180°-u B = - cos u. Thus,
s2 = 34 + 30 cos u
Time Derivatives: Taking the time derivative,

# #
2ss = 0 + 30 A - sin uu B
or
# #
laws
ss = - 15 sin uu (1)
Web)
teaching
# #
in
When u = 60°, s = 234 + 30 cos 60° = 7 m. Also, s = - 0.15 m>s since s is directed
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towards the negative sense of s. Thus, Eq. (1) gives Dissemination
permitted.
#
World
States
7 A - 0.15 B = - 15 sin 60°u

instructors
not
the
of
is
#
learning.
on
United
v = u = 0.0808 rad>s
use
Ans.
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
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part
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and
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16–47.
The circular cam of radius r is rotating clockwise with a v

constant angular velocity V about the pin at O, which is at an e
eccentric distance e from the center of the cam. Determine
the velocity and acceleration of the follower rod A as a r A
O u
function of u.
SOLUTION
Position Coordinates: From the geometry shown in Fig. a,
xA = e cos u + r (1)

# #
vA = xA = - e sin uu (2)
#
Since v acts in the negative rotational sense of u, then u = - v. Thus, Eq. (2) gives
vA = - e sin u( -v) = ev sin u : Ans.
or
Taking the time derivative of Eq. (2) gives
laws
aA = xA = - e A sin uu + cos uu2 B
Web)
teaching
$ $ #
(3)
in
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$ Dissemination
Since v is constant, u = a = 0. Then Eq. (3) gives
permitted.
World
States
instructors
not
aA = - e[sin u(0) + cos u(v2)]

the
of
is
learning.
on
United
= - ev2 cos u
use
and
by
= ev2 cos u ;
the
Ans.
student
work
for
(including
the
The negative sign indicates that aA acts towards the negative sense of xA.
protected
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This
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*16–48.
Peg B mounted on hydraulic cylinder BD slides freely along C

B
the slot in link AC. If the hydraulic cylinder extends at a
constant rate of 0.5 m>s, determine the angular velocity and
angular acceleration of the link at the instant u = 45°. 0.5 m/s
u A
D
SOLUTION
0.6 m
Position Coordinate: From the geometry shown in Fig. a,
yC = 0.6 tan u m

# #
vC = yC = (0.6 sec2 uu) m>s (1)
Here, vC = 0.5 m>s since vC acts in the positive sense of yC. When u = 45°, Eq. (1)
gives
0.5 = A 0.6 sec2 45° B u

#
#
vAB = u = 0.4167 rad>s = 0.417 rad>s Ans.
or
laws
The time derivative of Eq. (1) gives
Web)
teaching
in
aC = yC = 0.6 A sec2 uu + 2 sec u sec u tan uu2 B
$ $ #
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Dissemination
aC = 0.6 sec2 u A u + 2 tan uu2 B

$ #
permitted.
(2)
World
States
instructors
not
the
of
is
learning.
Since vC is constant, aC = 0. Thus, Eq. (2) gives

on
United
use
and
by
0 = u + 2 tan 45° A 0.41672 B

the
$
student
work
for
(including
the
$
aAB = u = - 0.3472 rad>s2 = 0.347 rad>s2d Ans.
protected
of
solely
work
is
assessing
this
The negative sign indicates that aAB acts counterclockwise.

work
and
of
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This
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16–49.
Bar AB rotates uniformly about the fixed pin A with a B

constant angular velocity V. Determine the velocity and
acceleration of block C, at the instant u = 60°.
L
V
L
A u
SOLUTION
L cos u + L cos f = L C
cos u + cos f = 1 L
# #
sin u u] + sin f f = 0 (1)
# $ $ #
cos u(u)2 + sin uu + sinf f + cos f ( f)2 = 0 (2)
When u = 60°, f = 60°,

# #
thus, u = -f = v (from Eq. (1))
$
u = 0
$
or
laws
f = -1.155v2 (from Eq.(2))
Web)
teaching
in
Also, sC = L sin f - L sin u
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# # Dissemination
vC = L cos f f - L cos u u
permitted.
World
States
# $ $ #
instructors
not
the
aC = -L sin f (f)2 + L cos f (f) - L cos u(u) + L sin u(u)2

of
is
learning.
on
United
use
and
by
At u = 60°, f = 60°
the
student
work
for
(including
sC = 0
the
protected
of
solely
work
is
vC = L(cos 60°)( - v) - L cos 60°(v) = - Lv = Lv c

assessing
Ans.
this
work
and
of
integrity
aC = - L sin 60°( -v)2 + L cos 60°(-1.155v2) + 0 + L sin 60°(v)2

provided
This
is
the
part
aC = - 0.577 Lv2 = 0.577 Lv2 c Ans.

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16–50.
The block moves to the left with a constant velocity v0.

Determine the angular velocity and angular acceleration of
the bar as a function of u.
a
u
x
SOLUTION v0
Position Coordinate Equation: From the geometry,
a
x = = a cot u (1)
tan u
Time Derivatives: Taking the time derivative of Eq. (1),we have
dx du
= - a csc2 u (2)
dt dt
dx du
Since y0 is directed toward negative x, then = -v0. Also, = v.
dt dt
or
laws
From Eq.(2),
Web)
teaching
in
copyright
Wide
- v0 = - a csc2 u(v) Dissemination
permitted.
World
States
instructors
v0 v0
not
v = = sin2 u
the
of
Ans.
is
a csc2 u
learning.
a
on
United
use
and
by
the
dv
student
work
Here, a =
for
. Then from the above expression

(including
dt
the
protected
of
solely
work
is
v0 du
assessing
a = (2 sin u cos u) (3)

this
a dt
work
and
of
integrity
provided
This
is
the
part
du v0
However, 2 sin u cos u = sin 2u and v = = sin2 u. Substitute these values into
courses
any
and
dt a
of
destroy
Eq.(3) yields
their
will
sale
v0 v0 v0 2
a = sin 2u a sin2u b = a b sin 2u sin2 u Ans.
a a a
16–51.
The bar is confined to move along the vertical and inclined

planes. If the velocity of the roller at A is vA = 6 ft>s when
u = 45°, determine the bar’s angular velocity and the
velocity of roller B at this instant. vA
A
5 ft
SOLUTION
30⬚
sB cos 30° = 5 sin u
sB = 5.774 sin u B
# # vB
s = 5.774 cos u u (1)
B
5 cos u = sA + sB sin 30°

# # #
-5 sin u u = sA + sB sin 30° (2)
Combine Eqs.(1) and (2):

# #
- 5 sin u u = - 6 + 5.774 cos u (u)(sin 30°)
# #
or
- 3.536u = - 6 + 2.041u
laws
#
Web)
teaching
v = u = 1.08 rad>s Ans.
in
copyright
Wide
Dissemination
From Eq.(1):
permitted.
World
States
#
instructors
vB = sB = 5.774 cos 45°(1.076) = 4.39 ft>s

not
Ans.
the
of
is
learning.
on
United
use
and
by
the
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(including
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of
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*16–52.
Arm AB has an angular velocity of V and an angular C

acceleration of A. If no slipping occurs between the disk
and the fixed curved surface, determine the angular velocity
and angular acceleration of the disk. A
ω ', α ' r
ω ,α
SOLUTION
B
ds = (R - r) du = - r df R
du df
(R - r) ¢ ≤ = -r ¢ ≤
dt dt
(R - r) v
v¿ = - Ans.
r
(R - r) a
a¿ = - Ans.
r
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
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protected
of
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work
is
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and
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This
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16–53.
If the wedge moves to the left with a constant velocity v,

determine the angular velocity of the rod as a function of u.
L
v
u f
SOLUTION
Position Coordinates:Applying the law of sines to the geometry shown in Fig. a,
xA L
=
sin(f - u) sin A 180° - f B
L sin(f - u)
xA =
sin A 180° - f B
However, sin A 180° - f B = sinf. Therefore,
L sin (f - u)
xA =
sin f
or
laws
Time Derivative: Taking the time derivative,
#
Web)
teaching
# L cos (f - u)(- u)
in
xA =
copyright
Wide
sin f Dissemination
permitted.
World
L cos (f - u)u
States
#
instructors
vA = xA = -
not
(1)
the
of
is
sin f
learning.
on
United
use
and
by
Since point A is on the wedge, its velocity is vA = - v. The negative sign indicates
the
student
work
for
that vA is directed towards the negative sense of xA. Thus, Eq. (1) gives
(including
the
protected
of
#
solely
v sin f
work
is
u = Ans.
assessing
L cos (f - u)
this
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16–54.
The slotted yoke is pinned at A while end B is used to move

the ram R horizontally. If the disk rotates with a constant R B
angular velocity V, determine the velocity and acceleration
of the ram. The crank pin C is fixed to the disk and turns V
with it.
u C
r
l
SOLUTION
(1) f
d
x = l tan f
A
r s s r
However = = sin f = sin u
sin f sin (180° - u) sin u s
d + r cos u
d = s cos f - r cos u cos f =
s
r
sin u
sin f s lr sin u
From Eq. (1) x = l a b = l§ ¥ =
cos f d + r cos u d + r cos u
s
or
# #
laws
(d + r cos u)(lr cos uu) - (lr sin u)(-r sin uu) #
xª = v = Where u = v
Web)
teaching
(d + r cos u)2
in
copyright
Wide
lr(r + d cos u) Dissemination
= v Ans.
permitted.
(d + r cos u)2
World
States
instructors
not
# #
the
of
is
(d + r cos u)2( -d sin uu) - (r + d cos u)(2)(d + r cos u)( -r sin uu)
learning.
on
United
x= a = lrv c d
use
¶
and
(d + r cos u)4
by
the
student
work
for
lr sin u(2r2 - d2 + rd cos u)

(including
=
the
v2 Ans.
(d + r cos u)3
protected
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16–55.
The Geneva wheel A provides intermittent rotary motion

d ⫽ 100 2 mm
vA for continuous motion vD = 2 rad>s of disk D. By
choosing d = 100 22 mm, the wheel has zero angular
velocity at the instant pin B enters or leaves one of the four A
slots. Determine the magnitude of the angular velocity V A 100 mm
of the Geneva wheel at any angle u for which pin B is in
· ·
contact with the slot. vD ⫽ u u f vA ⫽ f
100 mm
D
SOLUTION B
0.1 sin u sin u

tan f = =
0.1 A 22 - cos u B 22 - cos u
#
# A 22 - cos u B (cos uu) - sin u(sin uu
ª) 22 cos u - 1 #
sec2 f f = = u (1)
A 22 - cos u B 2
A 22 - cos u B 2
From the geometry:
r 2 = (0.1 sin u)2 + [0.1 A 22 - cos u B ]2 = 0.01 A 3 - 2 22 cos u B
r2 0.01 A 3 - 2 22 cos u B (3 - 222 cos u)

sec2 f = = =
or
[0.1 A 22 - cos u B ] 2
[0.1 A 22 - cosu B ] 2
A 22 - cos u B 2
laws
Web)
teaching
From Eq. (1)
in
copyright
Wide
A 3 - 2 22 cos u B 22 cos u - 1 # Dissemination
fª = u
permitted.
A 22 - cos u B A 22 - cos u B 2
World
2
States
instructors
not
the
of
is
# 22 cos u - 1 # #
learning.
on
United
f = Here f = vA and u = vD = 2 rad>s

use
u
and
3 - 2 22 cos u
by
the
student
work
for
22 cos u - 1
(including
vA = 2a b
the
Ans.
protected
3 - 2 22 cos u
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*16–56.
At the instant shown, the disk is rotating with an angular A

velocity of V and has an angular acceleration of A.
Determine the velocity and acceleration of cylinder B at 3 ft
this instant. Neglect the size of the pulley at C. u
V, A C
5 ft
SOLUTION B
s = 232 + 52 - 2(3)(5) cos u
# 1 1 #
vB = s = (34 - 30 cos u)- 2(30 sin u)u
2
15 v sin u
vB = 1 Ans.
(34 - 30 cos u) 2
1 #
# # a - b(15v sin u) a 30 sin uu b
# 15 v cos uu + 15v sin u 2
aB = s = + 3
234 - 30 cos u (34 - 30 cos u) 2
15 (v2 cos u + a sin u) 225 v2 sin2 u
= -
or
Ans.
laws
1 3
(34 - 30 cos u) 2 (34 - 30 cos u) 2
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
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16–57.
If h and u are known, and the speed of A and B is

vA
vA = vB = v, determine the angular velocity V of the body
and the direction f of vB. u
V
h
SOLUTION vB
f B
vB = vA + v * rB>A
-v cos fi + v sin fj = v cos ui + v sin uj + ( -vk) * ( -hj)

+ )
(: - v cos f = v cos u - vh (1)
(+ c ) v sin f = v sin u (2)
From Eq. (2), f = u Ans.

2v
From Eq. (1), v = cos u Ans.
h
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
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protected
of
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work
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16–58.
If the block at C is moving downward at 4 ft/s, determine

the angular velocity of bar AB at the instant shown.
C
3 ft vC = 4 ft/s
A 30°
ω AB B
SOLUTION 2 ft
Kinematic Diagram: Since link AB is rotating about fixed point A, then vB is always
directed perpendicular to link AB and its magnitude is vB = vAB rAB = 2vAB. At
the instant shown, vB is directed towards the negative y axis. Also, block C is moving
downward vertically due to the constraint of the guide. Then vc is directed toward
negative y axis.
Velocity Equation: Here, rC>A = {3 cos 30°i + 3 sin 30°j} ft = {2.598i + 1.50j} ft.
Applying Eq. 16–16, we have
vC = vB + vBC * rC>B
- 4j = - 2vAB j + (vBCk) * (2.598i + 1.50j)
or
-4j = - 1.50vBCi + (2.598vBC - 2vAB)j
laws
Web)
teaching
Equating i and j components gives
in
copyright
Wide
0 = - 1.50vBC vBC = 0 Dissemination
permitted.
World
States
instructors
-4 = 2.598(0) - 2vAB vAB = 2.00 rad s

not
Ans.
the
of
is
learning.
on
United
use
and
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16–59.
The velocity of the slider block C is 4 ft>s up the inclined 1 ft vC 4 ft/s

groove. Determine the angular velocity of links AB and BC
and the velocity of point B at the instant shown. B C
1 ft
SOLUTION
45⬚
For link BC A
vC = {- 4 cos 45°i + 4 sin 45°j} ft>s vB = -vB i v = vBC k
rB>C = {1i} ft
vC = vB + v * rC>B
- 4 cos 45°i + 4 sin 45°j = -vBi + (vBC k) * (1i)
- 4 cos 45°i + 4 sin 45°j = -vB i + vBCj
Equating the i and j components yields:
or
-4 cos 45° = - vB vB = 2.83 ft>s Ans.
laws
Web)
teaching
-4 cos 45° = vBC vBC = 2.83 rad>s Ans.
in
copyright
Wide
For link AB: Link AB rotates about the fixed point A. Hence Dissemination
permitted.
World
States
instructors
vB = vAB rAB
not
the
of
is
learning.
on
United
use
2.83 = vAB(1) vAB = 2.83 rad>s

and
Ans.
by
the
student
work
for
(including
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protected
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*16–60.
The epicyclic gear train consists of the sun gear A which is

in mesh with the planet gear B. This gear has an inner hub C
which is fixed to B and in mesh with the fixed ring gear R. If
the connecting link DE pinned to B and C is rotating at 100 mm
vDE = 18 rad>s about the pin at E, determine the angular 600 mm A B
velocities of the planet and sun gears. E
C
D
SOLUTION 200 mm
vD E 18 rad/s 300 mm
vD = rDE vDE = (0.5)(18) = 9 m>s c
The velocity of the contact point P with the ring is zero.

R
vD = vP + v * rD>P
9j = 0 + ( -vB k) * ( - 0.1i)
vB = 90 rad>s b Ans.
Let P¿ be the contact point between A and B.
vP¿ = vP + v * rP¿>P
or
vP¿ j = 0 + (- 90k) * ( -0.4i)
laws
Web)
teaching
vP¿ = 36 m>s c
in
copyright
Wide
Dissemination
vP¿ 36
vA = = = 180 rad>s d
permitted.
Ans. World
States
rA 0.2
instructors
not
the
of
is
learning.
on
United
use
and
by
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16–61.
The shaper mechanism is designed to give a slow cutting

stroke and a quick return to a blade attached to the slider at
125 mm
C. Determine the velocity of the slider block C at the
C
instant u = 60°, if link AB is rotating at 4 rad>s.
45
B
SOLUTION
vAB 4 rad/s
vC = vB + v * rC>B
300 mm
-vCi = -4(0.3) sin 30°i + 4(0.3) cos 30°j + vk * ( -0.125 cos 45°i + 0.125 sin 45°j) u
-vC = - 1.0392 - 0.008839v

A
0 = 0.6 - 0.08839v
Solving,
v = 6.79 rad > s
vC = 1.64 m>s Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
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student
work
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(including
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protected
of
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16–62.
If the flywheel is rotating with an angular velocity of

1.5 m
vA = 6 rad>s, determine the angular velocity of rod BC at
the instant shown. A
0.3 m vA ⫽ 6 rad/s
O
C
B
SOLUTION 60⬚ 0.6 m

D
Rotation About a Fixed Axis: Flywheel A and rod CD rotate about fixed axes,
Figs. a and b. Thus, the velocity of points B and C can be determined from
vB = vA * rB = (-6k) * ( -0.3j) = [-1.8i] m>s
vC = vCD * rC = (vCDk) * (0.6 cos 60° i + 0.6 sin 60° j)
= - 0.5196vCD i + 0.3vCD j
General Plane Motion: By referring to the kinematic diagram of link BC shown in

Fig. c and applying the relative velocity equation, we have
or
vB = vC + vBC * rB>C
laws
Web)
teaching
- 1.8i = - 0.5196vCD i + 0.3vCD j + (vBC k) * ( -1.5i)
in
copyright
Wide
- 1.8i = - 0.5196vCD i + (0.3vCD - 1.5vBC)j Dissemination
permitted.
World
States
instructors
Equating the i and j components

not
the
of
is
learning.
on
United
use
- 1.8 = - 0.5196vCD
and
by
the
student
work
0 = 0.3vCD - 1.5vBC
for
(including
the
protected
of
solely
Solving,
work
is
assessing
this
work
vCD = 3.46 rad>s

and
of
integrity
provided
This
is
the
part
vBC = 0.693 rad>s Ans.

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16–63.
If the angular velocity of link AB is vAB = 3 rad>s,

determine the velocity of the block at C and the angular C
velocity of the connecting link CB at the instant u = 45° θ = 45°
and f = 30°.
A
3 ft
ω A B = 3 rad/s
SOLUTION 2 ft φ = 30°
B
vC = vB + vC>B
B vC R = C 6 S + D vCB (3) T
; 30°c 45°b
+ )
(: -vC = 6 sin 30° - vCB (3) cos 45°
(+ c ) 0 = - 6 cos 30° + vCB (3) sin 45°
vCB = 2.45 rad>s d Ans.
or
vC = 2.20 ft>s ; Ans.
laws
Web)
teaching
Also,
in
copyright
Wide
vC = vB + v * rC>B Dissemination
permitted.
World
States
instructors
-vC i = (6 sin 30°i - 6 cos 30°j) + (vCB k) * (3 cos 45°i + 3 sin 45°j)
not
the
of
is
learning.
on
+b
United
use
a: -vC = 3 - 2.12vCB
and
by
the
student
(+ c )
work
0 = - 5.196 + 2.12vCB
for
(including
the
protected
of
vCB = 2.45 rad s d

solely
Ans.
work
is
assessing
this
vC = 2.20 ft s ; Ans.
work
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*16–64.
Pinion gear A rolls on the fixed gear rack B with an angular C

velocity v = 4 rad>s. Determine the velocity of the gear
rack C.
A
v 0.3 ft
B
SOLUTION
vC = vB + vC>B
+ )
(; vC = 0 + 4(0.6)
vC = 2.40 ft>s Ans.
Also:
vC = vB + v * rC>B
-vC i = 0 + (4k) * (0.6j)
vC = 2.40 ft>s Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
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16–65.
The pinion gear rolls on the gear racks. If B is moving to the C

right at 8 ft>s and C is moving to the left at 4 ft>s, determine
the angular velocity of the pinion gear and the velocity of its
center A. A
V 0.3 ft
B
SOLUTION
vC = vB + vC>B
+ )
(: - 4 = 8 - 0.6(v)
v = 20 rad>s Ans.
vA = vB + vA>B
+ )
(: vA = 8 - 20(0.3)
vA = 2 ft>s : Ans.
Also:
or
vC = vB + v * rC>B
laws
Web)
teaching
- 4i = 8i + (vk) * (0.6j)
in
copyright
Wide
-4 = 8 - 0.6v Dissemination
permitted.
World
States
v = 20 rad>s
instructors
Ans.
not
the
of
is
learning.
on
United
vA = vB + v * rA>B
use
and
by
the
student
vAi = 8i + 20k * (0.3j)

work
for
(including
the
vA = 2 ft>s :
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16–66.
Determine the angular velocity of the gear and the velocity A

of its center O at the instant shown.
45 0.75 ft 3 ft/s
O
1.50 ft
4 ft/s
SOLUTION
General Plane Motion: Applying the relative velocity equation to points B and C
and referring to the kinematic diagram of the gear shown in Fig. a,
vB = vC + v * rB>C
3i = -4i + A - vk B * A 2.25j B
3i = A 2.25v - 4 B i
Equating the i components yields
3 = 2.25v - 4 (1)
v = 3.111 rad>s Ans. (2)
or
laws
Web)
teaching
For points O and C,
in
copyright
Wide
vO = vC + v * rO>C Dissemination
permitted.
World
A -3.111k B * A 1.5j B
States
= - 4i +
instructors
not
the
of
is
learning.
on
= [0.6667i] ft>s
United
use
and
by
the
student
work
Thus,
for
(including
the
protected
vO = 0.667 ft>s :
of
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16–67.
Determine the velocity of point A on the rim of the gear at A

the instant shown.
45 0.75 ft 3 ft/s
O
1.50 ft
4 ft/s
SOLUTION
General Plane Motion: Applying the relative velocity equation to points B and C
and referring to the kinematic diagram of the gear shown in Fig. a,
vB = vC + v * rB>C
3i = - 4i + A -vk B * A 2.25j B
3i = A 2.25v - 4 B i
Equating the i components yields
3 = 2.25v - 4 (1)
v = 3.111 rad>s (2)
or
laws
Web)
teaching
For points A and C,
in
copyright
Wide
vA = vC + v * rA>C Dissemination
permitted.
World
A vA B x i + A vA B y j = - 4i + A - 3.111k B * A - 1.061i + 2.561j B

States
instructors
not
the
of
is
learning.
A vA B x i + A vA B y j = 3.9665i + 3.2998j
on
United
use
and
by
the
student
work
Equating the i and j components yields

for
(including
the
A vA B x = 3.9665 ft>s A vA B y = 3.2998 ft>s

protected
of
solely
work
is
assessing
this
work
Thus, the magnitude of vA is

and
of
integrity
provided
This
is
the
part
vA = 2 A vA B x 2 + A vA B y 2 = 23.96652 + 3.29982 = 5.16 ft>s Ans.

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will
sale
A vA B y 3.2998
u = tan - 1 C S = tan - 1 ¢ ≤ = 39.8° Ans.
A vA B x 3.9665
*16–68.
Part of an automatic transmission consists of a fixed ring

gear R, three equal planet gears P, the sun gear S, and the
planet carrier C, which is shaded. If the sun gear is rotating
at vS = 6 rad>s, determine the angular velocity vC of the
planet carrier. Note that C is pin connected to the center of C
P P
each of the planet gears. vS
S
4 in. vP
SOLUTION vC
vD = vA + vD>A
2 in.
24 = 0 + 4(vP) R
b b P
vP = 6 rad>s
vE = vA + vE>A
vE = 0 + 6(2)
b b
vE = 12 in.>s
12
vC = = 2 rad>s Ans.
6
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
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and
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sale
16–69.
If the gear rotates with an angular velocity of v = 10 rad>s

and the gear rack moves at vC = 5 m>s, determine the
velocity of the slider block A at the instant shown. A
0.5 m
SOLUTION v 10 rad/s
60
General Plane Motion: Referring to the diagram shown in Fig. a and applying the
relative velocity equation,
vC 5 m/s C 75 mm
vB = vC + v * rB>C
= - 5i + ( -10k) * (0.075j)
= [ -4.25i] m>s
Then, applying the relative velocity equation to link AB shown in Fig. b,
vA = vB + vAB * rA>B
vA j = - 4.25i + ( - vAB k) * ( -0.5 cos 60° i + 0.5 sin 60° j)
or
laws
vA j = (0.4330vAB - 4.25)i + 0.25vAB j
Web)
teaching
in
copyright
Wide
Equating the i and j components, yields Dissemination
permitted.
World
States
0 = 0.4330vAB - 4.25 (1)

instructors
not
the
of
is
learning.
vA = 0.25vAB
on
United
(2)
use
and
by
the
student
work
Solving Eqs. (1) and (2) yields

for
(including
the
protected
of
vAB = 9.815 rad>s

solely
work
is
assessing
this
vA = 2.45 m>s c Ans.

work
and
of
integrity
provided
This
is
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16–70.
If the slider block C is moving at vC = 3 m>s, determine the B

angular velocity of BC and the crank AB at the instant shown.
0.5 m
1m
60⬚
A
45⬚ C
vC ⫽ 3 m/s
SOLUTION
Rotation About a Fixed Axis: Referring to Fig. a,
vB = vAB * rB
= ( -vAB k) * (0.5 cos 60° i + 0.5 sin 60° j)
= 0.4330vAB i - 0.25vAB j
General Plane Motion: Applying the relative velocity equation and referring to the
kinematic diagram of link BC shown in Fig. b,
0.4330vAB i - 0.25vAB j = - 3j + ( - vBC k) * ( -1 cos 45° i + 1 sin 45° j)
or
laws
0.4330vAB i - 0.25vAB j = 0.7071vBC i + (0.7071vBC - 3)j
Web)
teaching
in
copyright
Wide
Equating the i and j components yields, Dissemination
permitted.
World
States
0.4330vAB = 0.7071vBC
instructors
not
the
of
is
learning.
on
-0.25vAB = 0.7071vBC - 3
United
use
and
by
the
student
work
Solving,
for
(including
the
protected
of

solely
work
is
assessing
this
vAB = 4.39 rad>s Ans.

work
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This
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16–71.
The two-cylinder engine is designed so that the pistons are

connected to the crankshaft BE using a master rod ABC
and articulated rod AD. If the crankshaft is rotating at
v = 30 rad>s, determine the velocities of the pistons C and D C
D at the instant shown. 250 mm 250 mm 45°
50 mm
SOLUTION A
45° 60°
vC = vB + vC>B
B
vC = 1.5 + (0.25) v 50 mm ω = 30 rad/s
; E
45°d c30°
+
(;) vC cos 45° = 1.5 - vC(0.25)(cos 30°)
(+ T) vC sin 45° = 0 + vC(0.25) (sin 30°)
vC = 0.776 m>s Ans.
v C = 4.39 rad>s
vA = vB + vA>B
= 1.5 + [0.05(4.39) = 0.2195]
or
vA ;
laws
:
45°a
vD = vA + vD>A
Web)
teaching
in
copyright
Wide
vD = 1.5 + 0.21 95 + v¿(0 .25) Dissemination
45°d 45°d Q Q
permitted.
World
States
instructors
(R+) vD = - 1.5 sin 45°

not
the
of
is
learning.
vD = 1.06 m>s a
on
Ans.
United
use
and
by
the
student
work
Also:
for
(including
the
vB = v * rB>E
protected
of
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work
is
assessing
this
vC = vB + vBC * rC>B
work
and
of
integrity
provided
This
is
the
- vC cos 45°i - vC sin 45°j = (30k) * (0.05j) + (vBC k) * (0.25 cos 60°i + 0.25 sin 60°j)
part
courses
any
and
- vC cos 45° = - 1.5 - vBC (0.2165)

of
destroy
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sale
- vC sin 45° = 0.125vBC
vC = 0.776 m>s Ans.
v BC = 4.39 rad>s
vA = vB + vBC * rA>B
vD = vA + vAD * rD>A
vD cos 45°i - vD sin 45°j = (30k) * (0.05j) + ( -4.39k) * (0.05 cos 45°i + 0.05 sin 45°j) +
(vAD k) * (- 0.25 cos 45°i + 0.25 sin 45°j)
vD cos 45° = - 1.5 + 0.1552 - vAD (0.1768)
- vD sin 45° = 0.1552 - 0.1768vAD
vAD = 3.36 rad s
vD = 1.06 m s Ans.
*16–72.
Determine the velocity of the center O of the spool when the A

cable is pulled to the right with a velocity of v. The spool rolls
without slipping.
O
r
v
R
SOLUTION
Kinematic Diagram: Since the spool rolls without slipping, the velocity of the
contact point P is zero. The kinematic diagram of the spool is shown in Fig. a.
General Plane Motion:Applying the relative velocity equation and referring to Fig. a,
vB = vP + v * rB>D
vi = 0 + ( -vk) * C (R - r)j D
vi = v(R - r)i
Equating the i components, yields
or
v
v = v(R - r) v =
laws
R - r
Web)
teaching
in
copyright
Wide
Using this result,
Dissemination
permitted.
vO = vP + v * rO>P
World
States
instructors
not
the
of
is
learning.
v
on
= 0 + ¢- k ≤ * Rj
United
use
and
R - r
by
the
student
work
for
R
(including
vO = ¢ ≤v :
the
Ans.
R - r
protected
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solely
work
is
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this
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This
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16–73.
Determine the velocity of point A on the outer rim of the A

spool at the instant shown when the cable is pulled to the
right with a velocity of v. The spool rolls without slipping.
O
r
v
R
SOLUTION
Kinematic Diagram: Since the spool rolls without slipping, the velocity of the
contact point P is zero. The kinematic diagram of the spool is shown in Fig. a.
General Plane Motion:Applying the relative velocity equation and referring to Fig. a,
vB = vP + v * rB>D
vi = 0 + ( -vk) * C (R - r)j D
vi = v(R - r)i
Equating the i components, yields
or
v
v = v(R - r) v =
laws
R - r
Web)
teaching
in
copyright
Wide
Using this result,
Dissemination
permitted.
vA = vP + v * rA>P
World
States
instructors
not
the
of
is
learning.
v
on
= 0 + ¢- k ≤ * 2Rj
United
use
and
R - r
by
the
student
work
for
2R
(including
= B¢ ≤ vR i
the
R - r
protected
of
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assessing
this
Thus,
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2R
vA = ¢ ≤v : Ans.
courses
R - r
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16–74.
If crank AB rotates with a constant angular velocity of 0.5 m

vAB = 6 rad>s, determine the angular velocity of rod BC
0.3 m B C
and the velocity of the slider block at the instant shown. The
rod is in a horizontal position.
60⬚
30⬚
A vAB ⫽ 6 rad/s
SOLUTION
vB = vAB * rB
= (6k) * (0.3 cos 30° i + 0.3 sin 30° j)
= [ -0.9i + 1.559j]
General Plane Motion: Applying the relative velocity equation to the kinematic
diagram of link BC shown in Fig. b,
(- 0.9i + 1.559j) = (- vC cos 60° i - vC sin 60° j) + ( -vBC k) * ( -0.5i)
or
laws
- 0.9i + 1.559j = - 0.5vC i + (0.5vBC - 0.8660vC)j
Web)
teaching
in
copyright
Wide
Equating the i and j components yields Dissemination
permitted.
World
States
-0.9 = - 0.5vC (1)

instructors
not
the
of
is
learning.
on
United
1.559 = 0.5vBC - 0.8660vC (2)

use
and
by
the
student
work
Solving Eqs. (1) and (2) yields

for
(including
the
protected
vC = 1.80 m>s
of
Ans.
solely
work
is
assessing
this

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This
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16–75.
If the slider block A is moving downward at vA = 4 m>s, E

determine the velocity of block B at the instant shown. B 300 mm
4
250 mm 3
5
400 mm D
vA = 4 m/s
SOLUTION 300 mm
30°
vB = vA + vB>A C A
vB = 4 T + v (0.55)
: AB
+ ) 3
(: vB = 0 + vAB (0.55)( )
5
4
(+ c ) 0 = - 4 + vAB (0.55)( )
5
Solving,
vAB = 9.091 rad>s
vB = 3.00 m>s Ans.

Also:
vB = vA + vAB * rB>A
or
laws
-4 3
vB i = - 4j + ( -vAB k) * { (0.55)i + (0.55) j }
Web)
teaching
5 5
in
copyright
Wide
vB = vAB (0.33) Dissemination
permitted.
0 = - 4 + 0.44vAB
World
States
instructors
not
the
of
is
vAB = 9.091 rad>s

learning.
on
United
use
and
by
vB = 3.00 m>s
the
Ans.
student
work
for
(including
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This
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*16–76.
If the slider block A is moving downward at vA = 4 m>s, E

determine the velocity of block C at the instant shown. B 300 mm
4
250 mm 3
5
400 mm D
vA ⫽ 4 m/s
300 mm
30⬚
C A
SOLUTION
General Plane Motion: Applying the relative velocity equation by referring to the
kinematic diagram of link AB shown in Fig. a,
vB = vA + V AB * rB>A
vB i = - 4j + ( -vAB k) * c - 0.55 a b i + 0.55a bj d

4 3
5 5
vB i = 0.33vAB i + (0.44vAB - 4) j
Equating j component,
0 = 0.44vAB - 4 vAB = 9.091 rad>sb
Using the result of vAB,
or
laws
Web)
teaching
vD = vA + V AB * rD>A
in
= - 4j + ( - 9.091k) * c -0.3 a b i + 0.3 a bj d
4 3
copyright
Wide
5 5 Dissemination
permitted.
World
States
= {1.636i - 1.818j} m>s

instructors
not
the
of
is
learning.
on
United
use
Using the result of vD to consider the motion of link CDE, Fig. b,

and
by
the
student
work
vC = vD + V CD * rC>D
for
(including
the
vC i = (1.636i - 1.818j) + ( -vCD k) * (-0.4 cos 30° i - 0.4 sin 30° j)

protected
of
solely
work
is
assessing
vC i = (1.636 - 0.2vCD)i + (0.3464vCD - 1.818)j

this
work
and
of
integrity
provided
This
is
the
part
Equating j and i components,

courses
any
and
vCD = 5.249 rad>sb

of
0 = 0.3464vCD - 1.818
destroy
their
will
sale
vC = 1.636 - 0.2(5.249) = 0.587 m>s : Ans.
16–77.
The planetary gear system is used in an automatic 40 mm

vR
transmission for an automobile. By locking or releasing
certain gears, it has the advantage of operating the car at P
different speeds. Consider the case where the ring gear R is
held fixed, vR = 0, and the sun gear S is rotating at
vS = 5 rad>s. Determine the angular velocity of each of the R vS
planet gears P and shaft A.
S A
SOLUTION
80 mm
vA = 5(80) = 400 mm>s ;
vB = 0
vB = vA + v * rB>A
0 = -400i + (vp k) * (80j) 40 mm
0 = -400i - 80vp i
vP = -5 rad>s = 5 rad>s Ans.
vC = vB + v * rC>B
vC = 0 + ( -5k) * (-40j) = - 200i
or
laws
Web)
teaching
200
vA = = 1.67 rad>s
in
Ans.
120
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
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protected
of
solely
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this
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and
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This
is
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16–78.
If the ring gear D rotates counterclockwise with an angular

velocity of vD = 5 rad>s while link AB rotates clockwise D
with an angular velocity of vAB = 10 rad>s, determine the
angular velocity of gear C.
0.5 m
A
0.125 m
vAB 10 rad/s
SOLUTION C
B
Rotation About a Fixed Axis: Since link AB and gear D rotate about a fixed axis,
Fig. a, the velocity of the center B and the contact point of gears D and C is
0.375 m
vB = vAB rB = 10(0.375) = 3.75 m>s
vP = vD rP = 5(0.5) = 2.5 m>s
kinematic diagram of gear C shown in Fig. b,
vB = vP + vC * rB>P
-3.75i = 2.5i + (vC k) * (0.125j)
or
laws
-3.75i = (2.5 - 0.125vC)i
Web)
teaching
in
Thus,
copyright
Wide
Dissemination
-3.75 = 2.5 - 0.125vC

permitted.
World
States
instructors
not
the
of
vC = 50 rad>s Ans.
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
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This
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16–79.
The differential drum operates in such a manner that the

rope is unwound from the small drum B and wound up on
A B
the large drum A. If the radii of the large and small drums
are R and r, respectively, and for the pulley it is (R + r)>2,
determine the speed at which the bucket C rises if the man
rotates the handle with a constant angular velocity of v.
Neglect the thickness of the rope.
SOLUTION
Rotation About a Fixed Axis: Since the datum rotates about a fixed axis, Fig. a, we
obtain vB = vr and vA = vR.
kinematic diagram of pulley shown in Fig. b, C
vA = vB + V P * rA>B
vRj = - vrj + ( - vPk) * ( - 2rPi)
vRj = (-vr + 2vPrP)j
Equating the j components, yields

vR = - vr + 2vPrP
or
v(R + r)
laws
vP =
2rP
Web)
teaching
in
copyright
Wide
Since rP = (R + r)>2, then Dissemination
permitted.
v(R + r)
World
States
instructors
vP = = v
not
(R + r)
the
of
is
learning.
on
United
use
and
Using this result, we have

by
the
student
work
for
vC = vB + V P * rC>B
(including
the
protected
= - vrj + ( -v k) * ( - rP i)
of
solely
work
is
assessing
v(R + r)
= c -vr + dj
this
work
and
of
integrity
2
provided
This
is
the
part
= c (R - r) d j
v
courses
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and
2
of
destroy
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sale
Thus,
v
vC = (R - r) c Ans.
2
*16–80.
Mechanical toy animals often use a walking mechanism as

shown idealized in the figure. If the driving crank AB is G
propelled by a spring motor such that vAB = 5 rad>s,
determine the velocity of the rear foot E at the instant
shown. Although not part of this problem, the upper end of 3 in.
the foreleg has a slotted guide which is constrained by the C B
1 in.
fixed pin at G. 2.5 in.
0.5 in.
D 50°
A
SOLUTION 2 in. ω AB = 5 rad/s
45°
vC = vB + vC>B 60°
vC = 2.5 + 3v E F
c30° c T
50°
+ )
(: yC cos 30° = 2.5 sin 50° + 0
vC = 2.21 in.>s
2.21
vEC = = 2.21 rad>s
1
vE = (2.21) (2) = 4.42 in.>s Ans.
or
laws
Also:
Web)
teaching
in
vB = vAB * rB>A
copyright
Wide
Dissemination
permitted.
vC = vEC * rC>D
World
States
instructors
not
the
of
is
vC = vB + v * rC>B
learning.
on
United
use
and
by
the
student
(vEC k) * (cos 60°i + sin 60°j) = (- 5k) * (0.5 cos 50°i + 0.5 sin 50°j) + (vk) * ( -3i)
work
for
(including
the
-0.866vEC = 1.915
protected
of
solely
work
is
assessing
this
0.5vEC = - 1.607 - 3v
work
and
of
integrity
provided
This
is
the
vEC = - 2.21 rad s

part
courses
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and
v = - 0.167 rad s
of
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vE = 2(2.21) = 4.42 in. s Ans.
16–81.
In each case show graphically how to locate the B

instantaneous center of zero velocity of link AB. Assume V
the geometry is known.
A
A
(a)
V
V
A C
(b)
SOLUTION B
B
a)
(c)
b)
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
c)
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
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this
work
and
of
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This
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16–82.
Determine the angular velocity of link AB at the instant

shown if block C is moving upward at 12 in.>s. A VAB
C
5 in. 45⬚ 4 in.
30⬚
B
SOLUTION
4 rIC-B rIC - C
= =
sin 45° sin 30° sin 105°
rIC-C = 5.464 in.
rIC-B = 2.828 in.
vC = vB C(rIC - C)
12 = vB C(5.464)
vB C = 2.1962 rad>s
vB = vB C(rIC-B)
or
laws
= 2.1962(2.828) = 6.211 in.>s
Web)
teaching
in
vB = vAB rAB
copyright
Wide
Dissemination
6.211 = vAB(5)
permitted.
World
States
instructors
not
the
of
vAB = 1.24 rad>s Ans.

is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
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This
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16–83.
At the instant shown, the disk is rotating at v = 4 rad>s.

Determine the velocities of points A, B, and C. D
C
v ⫽ 4 rad/s
O
A B
SOLUTION 0.15 m
The instantaneous center is located at point A. Hence, vA = 0 Ans.
E
rC>IC = 20.152 + 0.152 = 0.2121 m rB>IC = 0.3 m
vB = v rB>IC = 4(0.3) = 1.2 m>s Ans.
vC = v rC>IC = 4(0.2121) = 0.849 m>s c 45° Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
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this
work
and
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This
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and
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*16–84.
If link CD has an angular velocity of vCD = 6 rad>s, 0.3 m 0.3 m

determine the velocity of point B on link BC and the B C
angular velocity of link AB at the instant shown.
E
0.6 m
vCD 6 rad/s
30 D
A
SOLUTION
Rotation About Fixed Axis: Referring to Fig. a and b,
vC = vCD rC = 6(0.6) = 3.60 m>s ;
vB = vAB rB = vAB(1.2) 60° b (1)
General Plane Motion: The location of IC for link BC is indicated in Fig. c. From the
geometry of this figure,
rC>IC = 0.6 tan 30° = 0.3464 m
0.6
rB>IC = = 0.6928 m
cos 30°
Thus, the angular velocity of link BC can be determined from
vC 3.60
or
vBC = = 10.39 rad>s
laws
=
rC>IC 0.3464
Web)
teaching
in
Then
copyright
Wide
Dissemination
vB = vBC rB>IC = 10.39 (0.6928) = 7.20 m>s Ans.

permitted.
60° b World
States
instructors
not
the
of
is
Substitute this result into Eq. (1),

learning.
on
United
use
and
by
the
7.20 = vAB (1.2)

student
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vAB = 6 rad>s d
the
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16–85.
If link CD has an angular velocity of vCD = 6 rad>s, 0.3 m 0.3 m

determine the velocity of point E on link BC and the angular B C
velocity of link AB at the instant shown. E
0.6 m
vCD 6 rad/s
30 D
A
SOLUTION
vC = vCD (rCD) = (6)(0.6) = 3.60 m>s
vC 3.60
vBC = = = 10.39 rad>s
rC>IC 0.6 tan 30°
0.6
vB = vBC rB>IC = (10.39) a b = 7.20 m>s
cos 30°
vB 7.20
vAB = = = 6 rad>s d Ans.
rAB 0.6
a b
sin 30°
vE = vBC rE>IC = 10.39 2(0.6 tan 30°)2 + (0.3)2 = 4.76 m>s Ans.
or
laws
0.3
u = tan - 1 a b = 40.9° b Ans.
Web)
teaching
0.6 tan 30°
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
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16–86.
At the instant shown, the truck travels to the right at 3 m>s,

while the pipe rolls counterclockwise at v = 6 rad>s without G 1.5 m
slipping at B. Determine the velocity of the pipe’s center G. 3 m/s
SOLUTION
Kinematic Diagram: Since the pipe rolls without slipping, then the velocity of point
B must be the same as that of the truck, i.e; yB = 3 m>s.
Instantaneous Center: rB>IC must be determined first in order to locate the the
instantaneous center of zero velocity of the pipe.
yB = vrB>IC
3 = 6(rB>IC)
rB>IC = 0.5 m
Thus, rG>IC = 1.5 - rB>IC = 1.5 - 0.5 = 1.00 m. Then
or
laws
yG = vrG>IC = 6(1.00) = 6.00 m>s ; Ans.
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
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work
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This
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16–87.
If crank AB is rotating with an angular velocity of 0.6 m

vAB = 6 rad>s, determine the velocity of the center O of B C
the gear at the instant shown. 0.1 m
0.4 m O
0.1 m
vAB 6 rad/s
60
A
SOLUTION
vB = vAB rB = 6(0.4) = 2.4 m>s
General Plane Motion: Since the gear rack is stationary, the IC of the gear is located
at the contact point between the gear and the rack, Fig. b. Thus, vO and vC can be
related using the similar triangles shown in Fig. b,
vC vO
vg = =
rC>IC rO>IC
vC vO
=
0.2 0.1
or
laws
vC = 2vO
Web)
teaching
in
copyright
Wide
The location of the IC for rod BC is indicated in Fig. c. From the geometry shown,
Dissemination
permitted.
World
0.6
States
instructors
rB>IC = = 1.2 m
not
the
of
cos 60°
is
learning.
on
United
use
and
rC>IC = 0.6 tan 60° = 1.039 m

by
the
student
work
for
(including
Thus, the angular velocity of rod BC can be determined from

the
protected
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is
vB 2.4
assessing
vBC = = = 2 rad>s
this
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rB>IC 1.2
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Then,
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vC = vBC rC>IC
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2vO = 2(1.039)
vO = 1.04 m>s : Ans.
*16–88.
If link AB is rotating at vAB = 6 rad>s, determine the

angular velocities of links BC and CD at the instant u = 60°. A
250 mm
ω AB = 6 rad/s
30°
B C
300 mm
400 mm
SOLUTION
rIC - B = 0.3 cos 30° = 0.2598 m
θ
D
rIC - C = 0.3 cos 60° = 0.1500 m
1.5
vBC = = 5.774 = 5.77 rad>s Ans.
0.2598
vC = 5.774(0.15) = 0.8661 m>s
0.8661
vCD = = 2.17 rad s Ans.
0.4
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
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not
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of
is
learning.
on
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use
and
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(including
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16–89.
The oil pumping unit consists of a walking beam AB, 9 ft 9 ft

connecting rod BC, and crank CD. If the crank rotates at a 1.5 ft
constant rate of 6 rad>s, determine the speed of the rod E
hanger H at the instant shown. Hint: Point B follows a A
B 9 ft
circular path about point E and therefore the velocity of B
is not vertical.
10 ft
3 ft
6 rad/s
D H
C
SOLUTION
1.5
Kinematic Diagram: From b = 9.462° and the geometry, u = tan - 1 a
9
rBE = 292 + 1.52 = 9.124 ft. Since crank CD and beam BE are rotating about
or
fixed points D and E, then vC and vB are always directed perpendicular to crank CD
laws
and beam BE, respectively. The magnitude of vC and vB are
Web)
teaching
yC = vCD rCD = 6(3) = 18.0 ft>s and yB = vBE rBE = 9.124vBE. At the instant
in
shown, vC is directed vertically while vB is directed with an angle 9.462° with the
copyright
Wide
Dissemination
vertical.
permitted.
World
States
instructors
not
the
of
is
learning.
Instantaneous Center: The instantaneous center of zero velocity of link BC at the

on
United
use
and
instant shown is located at the intersection point of extended lines drawn

by
the
perpendicular from vB and vC. From the geometry

student
work
for
(including
the
10
protected
rB>IC = = 60.83 ft
of
solely
work
is
sin 9.462°
assessing
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work
and
of
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10
provided
rC>IC = = 60.0 ft
This
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tan 9.462°
courses
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The angular velocity of link BC is given by

their
will
sale
yC 18.0
vBC = = = 0.300 rad>s
rC>IC 60.0
Thus, the angular velocity of beam BE is given by
yB = vBC rB>IC
9.124vBE = 0.300(60.83)
vBE = 2.00 rad>s
The speed of rod hanger H is given by
yH = vBErEA = 2.00(9) = 18.0 ft>s Ans.
16–90.
Due to slipping, points A and B on the rim of the disk have vB ⫽ 10 ft/s B
the velocities shown. Determine the velocities of the center D
point C and point D at this instant. 0.8 ft
45
E 30
C
F
A vA 5 ft/s
SOLUTION
1.6 - x x
=
5 10
5x = 16 - 10x
x = 1.06667 ft
10
v = = 9.375 rad>s
1.06667
rIC-D = 2(0.2667)2 + (0.8)2 - 2(0.2667)(0.8) cos 135° = 1.006 ft
sin f sin 135°

=
0.2667 1.006
or
laws
f = 10.80°
Web)
teaching
in
vC = 0.2667(9.375) = 2.50 ft>s
copyright
Wide
Ans.
Dissemination
permitted.
vD = 1.006(9.375) = 9.43 ft>s Ans.
World
States
instructors
not
the
of
is
u = 45° + 10.80° = 55.8°

learning.
on
United
use
and
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This
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16–91.
Due to slipping, points A and B on the rim of the disk have vB ⫽ 10 ft/s B
the velocities shown. Determine the velocities of the center D
point C and point E at this instant. 0.8 ft
45
E 30
C
F
A vA ⫽ 5 ft/s
SOLUTION
1.6 - x x
=
5 10
5x = 16 - 10x
x = 1.06667 ft
10
v = = 9.375 rad>s
1.06667
vC = v(rIC - C)
= 9.375(1.06667 - 0.8)
or
= 2.50 ft>s
laws
Ans.
Web)
teaching
vE = v(rIC - E)
in
copyright
Wide
= 9.3752(0.8)2 + (0.26667)2 Dissemination
permitted.
World
States
instructors
= 7.91 ft>s
not
Ans.
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
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*16–92.
Knowing that the angular velocity of link AB is

vAB = 4 rad>s, determine the velocity of the collar at C and
the angular velocity of link CB at the instant shown. Link
CB is horizontal at this instant.
350 mm
C B
SOLUTION 45⬚
0.350 rIC-B rIC-C VAB 500 mm

= =
sin 75° sin 45° sin 60°
60⬚
rIC-B = 0.2562 m
rIC-C = 0.3138 m A
2
vCB = = 7.8059 = 7.81 rad>s Ans.
0.2562
vC = 7.8059(0.3138) = 2.45 m>s Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
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This
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16–93.
If the collar at C is moving downward to the left at

vC = 8 m>s, determine the angular velocity of link AB at
the instant shown.
350 mm
C B
SOLUTION 45⬚
0.350 rIC-B rIC-C VAB 500 mm

= =
sin 75° sin 45° sin 60°
60⬚
rIC-B = 0.2562 m
rIC-C = 0.3138 m A
8
vCB = = 25.494 rad>s
0.3138
vB = 25.494(0.2562) = 6.5315 m>s
6.5315
vAB = = 13.1 rad>s Ans.
0.5
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
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This
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16–94.
If the roller is given a velocity of vA = 6 ft>s to the right,

determine the angular velocity of the rod and the velocity
C
of C at the instant shown.
B
6 ft
SOLUTION
4 ft
6 ft>s
v = = 1.125 rad>s = 1.12 rad>s Ans.
5.334 ft
vC = (1.125 rad>s)(3.003 ft) = 3.38 ft>s Ans.
60⬚
vA ⫽ 6 ft/s
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
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is
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This
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16–95.
As the car travels forward at 80 ft/s on a wet road, due to 80 ft/s

slipping, the rear wheels have an angular velocity
C
v = 100 rad>s. Determine the speeds of points A, B, and C
caused by the motion. B
1.4 ft A 100 rad/s
SOLUTION
80
r = = 0.8 ft
100
vA = 0.6(100) = 60.0 ft s : Ans.
vC = 2.2(100) = 220 ft s ; Ans.
vB = 1.612(100) = 161 ft s 60.3°

b Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
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*16–96.
Determine the angular velocity of the double-tooth gear and

the velocity of point C on the gear. A
vA ⫽ 4 m/s
0.3 m 0.15 m
C
vB ⫽ 6 m/s
B
SOLUTION
General Plane Motion: The location of the IC can be found using the similar
triangles shown in Fig. a.
rA>IC 0.45 - rA>IC
= rA>IC = 0.18 m
4 6
Then,
y = 0.3 - rA>IC = 0.3 - 0.18 = 0.12 m
and
or
laws
rC>IC = 20.32 + 0.122 = 0.3231 m
Web)
teaching
in
f = tan - 1 a b = 21.80°
0.12
copyright
Wide
Dissemination
0.3
permitted.
World
States
instructors
not
the
of
is
learning.
Thus, the angular velocity of the gear can be determined from

on
United
use
and
by
the
vA 4
student
work
v = = 22.22 rad>s = 22.2 rad>s Ans.

for
=
rA>IC 0.18
(including
the
protected
of
solely
work
is
Then
assessing
this
work
and
vC = vrC>IC = 22.2(0.3231) = 7.18 m>s

of
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Ans.
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This
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And its direction is

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f = 90° - f = 90° - 21.80° = 68.2° Ans.

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16–97.
The wheel is rigidly attached to gear A, which is in mesh D

with gear racks D and E. If D has a velocity of vD = 6 f t>s
vD 6 ft/s
to the right and the wheel rolls on track C without
1.5 ft
slipping, determine the velocity of gear rack E.
A
O
0.75 ft
C
C
vE
E
SOLUTION
General Plane Motion: Since the wheel rolls without slipping on track C, the IC is
located there, Fig. a. Here,
rD>IC = 2.25 ft rE>IC = 0.75 ft
Thus, the angular velocity of the gear can be determined from
vD 6
v = = = 2.667 rad>s
rD>IC 2.25
Then,
vE = vrE>IC = 2.667(0.75) = 2 ft>s ; Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
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16–98.
The wheel is rigidly attached to gear A, which is in mesh D

with gear racks D and E. If the racks have a velocity of
vD 6 ft/s
vD = 6 ft>s and vE = 10 ft>s, show that it is necessary for
the wheel to slip on the fixed track C. Also find the angular 1.5 ft
velocity of the gear and the velocity of its center O. A
O
0.75 ft
C
C
vE
E
SOLUTION
General Plane Motion: The location of the IC can be found using the similar
triangles shown in Fig. a,
rD>IC 3 - rD>IC
= rD>IC = 1.125 ft
6 10
Thus,
rO>IC = 1.5 - rD>IC = 1.5 - 1.125 = 0.375ft
rF>IC = 2.25 - rD>IC = 2.25 - 1.125 = 1.125ft
Thus, the angular velocity of the gear is
or
laws
vD 6
v = = = 5.333 rad>s = 5.33 rad>s
Web)
Ans.
teaching
rD>IC 1.125
in
copyright
Wide
Dissemination
The velocity of the contact point F between the wheel and the track is
permitted.
World
States
instructors
not
vF = vrF>IC = 5.333(1.125) = 6 ft>s ;

the
of
is
learning.
on
United
use
and
Since vF Z 0, the wheel slips on the track

by
(Q.E.D.)
the
student
work
for
(including
The velocity of center O of the gear is

the
protected
of
solely
work
is
vO = vrO>IC = 5.333(0.375) = 2ft>s ;

assessing
Ans.
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16–99.
The epicyclic gear train is driven by the rotating link DE,

which has an angular velocity vDE = 5 rad>s. If the ring
C E 30 mm
gear F is fixed, determine the angular velocities of gears A,
B, and C. 40 mm
B
vDE ⫽ 5 rad/s
50 mm
A D
SOLUTION
vE = 0. = 0.8 m>s
F
0
vC = 26.7 rad>s Ans.
0.
vP = (0. 6.7) = 1.6 m>s
1.6
=
x x
x = 0.05
or
vB = ; = 28.75 rad>s Ans.
laws
0
Web)
teaching
in
vP¿ = 28.75(0.08 - 0.05565) = 0.700 m>s ;
copyright
Wide
Dissemination
0.700
vA = = 14.0 rad>s
permitted.
Ans.
World
States
instructors
0.05 not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
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This
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*16–100.
The similar links AB and CD rotate about the fixed pins at 300 mm 300 mm
B D
A and C. If AB has an angular velocity vAB = 8 rad>s,
determine the angular velocity of BDP and the velocity of
300 mm 300 mm
point P.
60° 60°
A C
ωAB = 8 rad/s
700 mm
SOLUTION
Kinematic Diagram: Since link AB and CD is rotating about fixed points A and C.
then vB and vD are always directed perpendicular to link AB and CD
P
respectively. The magnitude of vB and vD are vB = vAB rAB = 8(0.3)
= 2.40 m>s and vD = vCD rCD = 0.3 vCD. At the instant shown. vB and vD are
directed at 30° with the horizontal.
Instantaneous Center: The instantaneous center of zero velocity of link BDP at the
perpendicular from vB and vD. From the geometry.
0.3
rB>IC = = 0.600 m
cos 60°
or
rP>IC = 0.3 tan 60° + 0.7 = 1.220 m
laws
Web)
teaching
in
The angular velocity of link BDP is given by
copyright
Wide
Dissemination
vB 2.40
vBDP = = = 4.00 rad s
permitted.
Ans.
World
States
rB>IC
instructors
0.600 not
the
of
is
learning.
on
United
use
Thus, the velocity of point P is given by

and
by
the
student
vP = vBDP rP IC = 4.00(1.220) = 4.88 m s ;

work
Ans.
for
(including
the
protected
of
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16–101.
If rod AB is rotating with an angular velocity C

vAB = 3 rad>s, determine the angular velocity of rod BC at
the instant shown. 3 ft
4 ft
B
2 ft
vAB 3 rad/s 45 60
D
A
SOLUTION
4 sin 60° - 2 sin 45°

Kinematic Diagram: From the geometry, u = sin - 1 a b = 43.10°.
3
Since links AB and CD is rotating about fixed points A and D, then vB and vC are always
directed perpendicular to links AB and CD, respectively. The magnitude of vB and vC
are yB = vAB rAB = 3(2) = 6.00 ft>s and yC = vCDrCD = 4vCD. At the instant
shown, vB is directed at an angle of 45° while vC is directed at 30°
or
laws
Web)
teaching
in
perpendicular from vB and vC. Using law of sines, we have
copyright
Wide
Dissemination
rB>IC 3
permitted.
= rB>IC = 3.025 ft
World
States
instructors
sin 103.1° sin 75°

not
the
of
is
learning.
on
United
rC>IC
use
3
and
= rC>IC = 0.1029 ft
by
the
sin 1.898° sin 75°

student
work
for
(including
the

protected
of
solely
work
is
assessing
yB 6.00
this
vBC = = = 1.983 rad>s = 1.98 rad>s

work
Ans.
and
of
integrity
rB>IC 3.025
provided
This
is
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16–102.
If rod AB is rotating with an angular velocity C

vAB = 3 rad>s, determine the angular velocity of rod CD at
the instant shown. 3 ft
4 ft
B
2 ft
vAB 3 rad/s 45 60
D
A
SOLUTION
4sin 60° - 2 sin 45°

Kinematic Diagram: From the geometry. u = sin - 1 a b = 43.10°.
3
Since links AB and CD is rotating about fixed points A and D, then vB and vC are
always directed perpendicular to links AB and CD, respectively. The magnitude of vB
and vC are yB = vAB rAB = 3(2) = 6.00 ft>s and yC = vCD rCD = 4vCD. At the
instant shown, vB is directed at an angle of 45° while vC is directed at 30°.
or
laws
Web)
teaching
in
perpendicular from vB and vC. Using law of sines, we have
copyright
Wide
Dissemination
rB>IC 3
permitted.
= rB>IC = 3.025 ft
World
States
instructors
sin 103.1° sin 75°

not
the
of
is
learning.
on
United
rC>IC
use
3
and
= rC>IC = 0.1029 ft
by
the
sin 1.898° sin 75°

student
work
for
(including
the

protected
of
solely
work
is
assessing
yB 6.00
this
vBC = = = 1.983 rad>s

work
and
of
integrity
rB>IC 3.025
provided
This
is
the
part
courses
Thus, the angular velocity of link CD is given by

any
and
of
destroy
their
yC = vBCrC>IC
will
sale
4vCD = 1.983(0.1029)
vCD = 0.0510 rad>s Ans.
16–103.
At a given instant the top end A of the bar has the velocity
vA ⫽ 5 ft/s
and acceleration shown. Determine the acceleration of the A
bottom B and the bar’s angular acceleration at this instant. aA ⫽ 7 ft/s2
10 ft
SOLUTION 60
B
5
v = = 1.00 rad>s
5
aB = aA + aB>A
aB = 7 + 10 + a(10)
: a 30°
T h 30°
+ )
(: aB = 0 - 10 sin 30° + a(10) cos 30°
(+ c) 0 = - 7 + 10 cos 30° + a(10) sin 30°
a = - 0.3321 rad>s2 = 0.332 rad>s2 b Ans.
aB = - 7.875 ft>s2 = 7.88 ft>s2 ;
or
Ans.
laws
Web)
teaching
Also:
in
copyright
Wide
aB = aA - v2rB>A + a * rB>A Dissemination
permitted.
World
States
instructors
aBi = - 7j - (1)2(10 cos 60°i - sin 60°j) + (ak) * (10 cos 60°i - 10 sin 60°j)
not
the
of
is
learning.
on
+
United
use
: aB = - 10 cos 60° + a(10 sin 60°)

and
by
the
student
(+ c) 0 = - 7 + 10 sin 60° + a(10 cos 60°)

work
for
(including
the
protected
of
a = -0.3321 rad>s2 = 0.332 rad>s2 b

solely
Ans.
work
is
assessing
this
aB = - 7.875 ft>s2 = 7.88 ft>s2 ; Ans.

work
and
of
integrity
provided
This
is
the
part
courses
any
and
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will
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*16–104.
At a given instant the bottom A of the ladder has an

acceleration aA = 4 ft>s2 and velocity vA = 6 ft>s, both
acting to the left. Determine the acceleration of the top of
the ladder, B, and the ladder’s angular acceleration at this
same instant.
B
16 ft
SOLUTION
6 30⬚
v = = 0.75 rad>s A
8
aB = aA + (aB>A)n + (aB>A)t
aB = 4 + (0.75)2 (16) + a(16)

T ; 30° d 30° f
+ )
(; 0 = 4 + (0.75)2(16) cos 30° - a(16) sin 30°
(+ T ) aB = 0 + (0.75)2(16) sin 30° + a(16) cos 30°
Solving,
or
a = 1.47 rad>s2 Ans.
laws
Web)
teaching
aB = 24.9 ft>s2 T Ans.
in
copyright
Wide
Dissemination
Also:
permitted.
World
States
instructors
aB = aA + a * rB>A - v2rB>A
not
the
of
is
learning.
on
United
use
- aBj = - 4i + (ak) * (16 cos 30°i + 16 sin 30°j) - (0.75)2(16 cos 30°i + 16 sin 30°j)
and
by
the
student
work
for
0 = - 4 - 8a - 7.794
(including
the
protected
of
solely
- aB = 13.856a - 4.5
work
is
assessing
this
a = 1.47 rad>s2
work
Ans.
and
of
integrity
provided
This
is
the
part
aB = 24.9 ft>s2 T Ans.

courses
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and
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16–105.
At a given instant the top B of the ladder has an

acceleration aB = 2 ft>s2 and a velocity of vB = 4 ft>s, both
acting downward. Determine the acceleration of the
bottom A of the ladder, and the ladder’s angular
acceleration at this instant.
B
16 ft
SOLUTION
4 30⬚
v = = 0.288675 rad>s A
16 cos 30°
aA = aB + a * rA>B - v2rA>B
- aAi = - 2j + (ak) * ( - 16 cos 30°i - 16 sin 30°j) - (0.288675)2( -16 cos 30°i - 16 sin 30°j)
- aA = 8a + 1.1547
0 = -2 - 13.856 a + 0.6667
a = -0.0962 rad>s2 = 0.0962 rad>s2b Ans.
aA = -0.385 ft>s2 = 0.385 ft>s2 : Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
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and
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will
sale
16–106.
Crank AB is rotating with an angular velocity of 0.5 m
vAB = 5 rad>s and an angular acceleration of 45°
B
aAB = 6 rad>s2. Determine the angular acceleration of BC
and the acceleration of the slider block C at the instant shown. C
0.3 m
vAB ⫽ 5 rad/s
aAB ⫽ 6 rad/s2
A
SOLUTION
Angular Velocity: Since crank AB rotates about a fixed axis, Fig. a,
vB = vAB rB = 5(0.3) = 1.5 m>s :
The location of the IC for link BC is indicated in Fig. b. From the geometry of this
figure,
rB>IC = 0.5 tan 45° = 0.5 m
Then,
vB 1.5
vBC = = 3 rad>s
or
=
rB>IC 0.5
laws
Web)
teaching
in
Acceleration and Angular Acceleration: Since crank AB rotates about a fixed axis,
copyright
Wide
Fig. c,
Dissemination
permitted.
World
States
a B = aAB * rB - vAB2rB
instructors
not
the
of
is
learning.
= ( -6k) * (0.3j) - 52(0.3j)

on
United
use
and
by
= [1.8i - 7.5j] m>s2

the
student
work
for
(including
the
Using this result and applying the relative acceleration equation by referring to Fig. d,
protected
of
solely
work
is
aC = aB + aBC * rC>B - vBC2 rC>B

assessing
this
work
and
of
integrity
aC cos 45°i + aC sin 45°j = (1.8i - 7.5j) + (aBCk) * (0.5i) - 32(0.5i)

provided
This
is
the
part
0.7071aCi + 0.7071aCj = - 2.7i + (0.5aBC - 7.5)j

courses
any
and
of
destroy
their
Equating the i and j components,

will
sale
0.7071aC = - 2.7 (1)

0.7071aC = 0.5aBC -7.5 (2)
Solving Eqs. (1) and (2),

aC = - 3.818 m>s2 = 3.82 m>s2 b Ans.
aBC = 9.60 rad>s2d Ans.
The negative sign indicates that aC acts in the opposite sense to that shown in Fig. c.
16–107.
At a given instant, the slider block A has the velocity and

deceleration shown. Determine the acceleration of block B
B
and the angular acceleration of the link at this instant.
300 mm
45°
SOLUTION A
v A = 1.5 m/s aA = 16 m/s2
vB 1.5
vAB = = = 7.07 rad>s
rA>IC 0.3 cos 45°
aB = aA + a * rB>A - v2 rB>A
-aB j = 16i + (ak) * (0.3 cos 45°i + 0.3 sin 45° j) - (7.07)2 (0.3 cos 45°i + 0.3 sin 45°j)
+ b
a: 0 = 16 - a (0.3) sin 45° - (7.07)2 (0.3) cos 45°
(+ T) aB = 0 - a(0.3) cos 45° + (7.07)2 (0.3) sin 45°
Solving:
aA>B = 25 4 rad>s2 d Ans.
or
laws
aB = 5.21 m s2 T Ans.
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
will
sale
*16–108.
As the cord unravels from the cylinder, the cylinder has an

angular acceleration of a = 4 rad>s2 and an angular velocity
of v = 2 rad>s at the instant shown. Determine the
accelerations of points A and B at this instant.
A
α = 4 rad/s2
ω = 2 rad/s
C
B
SOLUTION 0.75 ft
aC = 4(0.75) = 3 ft>s2 T
aA = aC + a * rA>C - v2rA>C
aA = - 3j + 4k * (0.75j) - (2)2 (0.75j)
aA = { - 3i - 6j} ft>s2
aA = 2(-3)2 + ( - 6)2 = 6.71 ft>s2 Ans.
6
u = tan - 1 a b = 63.4°d Ans.
3
aB = aC + a * rB>C - v2 rB>C
or
laws
aB = - 3j + 4k * (- 0.75i) - (2)2 ( - 0.75i)
Web)
teaching
in
aB = {3i - 6j} ft>s2
copyright
Wide
Dissemination
aB = 2(3)2 + ( -6)2 = 6.71 ft>s2

permitted.
Ans.
World
States
instructors
not
the
of
is
6
learning.
f = tan - 1 a b = 63.4°c
on
Ans.
United
use
and
3
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
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16–109.
The hydraulic cylinder is extending with a velocity of vC ⫽ 3 ft/s
3 ft aC ⫽ 1.5 ft/s2
vC = 3 ft>s and an acceleration of aC = 1.5 ft>s2.
B D
Determine the angular acceleration of links BC and AB at
the instant shown. C
1.5 ft 45⬚
A
SOLUTION
Angular Velocity: Since link AB rotates about a fixed axis, Fig. a, then
vB = vAB rB = vAB (1.5)
figure,
3
rC>IC = 3 tan 45° = 3 ft rB>IC = = 4.243 ft
cos 45°
Then
vC 3
vBC = = = 1 rad>s
rC>IC 3
or
laws
Web)
teaching
and
in
copyright
Wide
vB = vBC rB>IC Dissemination
permitted.
World
vAB(1.5) = (1)(4.243)
States
instructors
not
the
of
is
vAB = 2.828 rad>s

learning.
on
United
use
and
by
the
student
work
for
Fig. c, then
(including
the
protected
of
a B = aAB * rB - vAB2rB
solely
work
is
assessing
= (aAB k) * (- 1.5 cos 45°i + 1.5 sin 45°j) - 2.8282( -1.5 cos 45°i + 1.5 sin 45°j)
this
work
and
of
integrity
provided
= (8.485 - 1.061aAB)i - (8.485 + 1.061aAB)j

This
is
the
part
courses
any
and
Using this result and applying the relative acceleration equation by referring to Fig. d,
of
destroy
their
aB = aC + aBC * rB>C - vBC2 rB>C

will
sale
(8.485 - 1.061aAB)i - (8.485 + 1.061aAB)j = - 1.5i + (aBCk) * (-3i) - 12( -3i)

(8.485 - 1.061aAB)i - (8.485 + 1.061aAB)j = 1.5i - 3aBC j
Equating the i and j components, yields

8.485 - 1.061aAB = 1.5 (1)
-(8.485 + 1.061aAB) = - 3aBC (2)

aAB = 6.59 rad>s2 Ans.
aBC = 5.16 rad>s2 Ans.
16–110.
At a given instant the wheel is rotating with the angular A

motions shown. Determine the acceleration of the collar at
A at this instant. 60°
ω = 8 rad/s 500 mm
α = 16 rad/s2
B 150 mm
SOLUTION 30°
Using instantaneous center method:

vB 8(0.15)
vAB = = = 4.157 rad>s
rB>IC 0.5 tan 30°
aA = aB + aA>B
aA = 2.4 + 9.6 + (4.157 )2(0.5) + a(0.5)
;
a60° c30° 60°d a60°
+ )
(: -aA = 2.4 cos 60° + 9.6 cos 30° - 8.65 cos 60° - a(0.5) sin 60°
( + c ) 0 = 2.4 sin 60° - 9.6 sin 30° - 8.65 sin 60° + a(0.5) cos 60°
a = 40.8 rad>s2 d
aA = 12.5 m>s2 ;
or
Ans.
laws
Web)
teaching
Also:
in
copyright
Wide
aA = aB + a * rA>B - v2 rA>B Dissemination
permitted.
World
States
instructors
aA i = (8)2(0.15)(cos 30°)i - (8)2(0.15) sin 30°j + (16)(0.15) sin 30°i + (16)(0.15) cos 30° j
not
the
of
is
learning.
on
United
use
+ (ak) * (0.5 cos 60°i + 0.5 sin 60°j) - (4.157 2) (0.5 cos 60°i + 0.5 sin 60°j)
and
by
the
student
aA = 8.314 + 1.200 - 0.433 a - 4.326

work
for
(including
the
protected
of
0 = - 4.800 + 2.0785 + 0.25a - 7.4935

solely
work
is
assessing
this
a = 40.8 rad s2 d
work
and
of
integrity
provided
This
is
the
aA = 12.5 m s2 ;
part
Ans.
courses
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and
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will
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16–111.
Crank AB rotates with the angular velocity and angular
acceleration shown. Determine the acceleration of the
0.4 m
slider block C at the instant shown. B
vAB ⫽ 4 rad/s
aAB ⫽ 2 rad/s2
30⬚ 30⬚
A
0.4 m
C
SOLUTION
Angular Velocity: Since crank AB rotates about a fixed axis, Fig. a,
vB = vAB rB = 4(0.4) = 1.6 m>s
figure,
rB>IC = 0.4 m
Then
vB 1.6
vBC = = = 4 rad>s
rB>IC 0.4
or
laws
Web)
teaching
in
Fig. a
copyright
Wide
aB = aAB * rB - vAB2rB Dissemination
permitted.
World
States
= (- 2k) * (0.4 cos 30°i + 0.4 sin 30°j) - 4 2(0.4 cos 30°i + 0.4 sin 30°j)
instructors
not
the
of
is
learning.
= [- 5.143i - 3.893j] m>s2

on
United
use
and
by
the
student
Using this result and applying the relative acceleration equation by referring to Fig. c,
work
for
(including
the
aC = aB + aBC * rC>B - vBC2 rC>B

protected
of
solely
work
is
assessing
aCi = (- 5.143i - 3.893j) + (aBCk) * (0.4 cos 30°i - 0.4 sin 30°j) - 42(0.4 cos 30°i - 0.4 sin 30°j)
this
work
and
of
integrity
provided
aCi = (0.2aBC - 10.69)i + (0.3464aBC - 0.6928)j

This
is
the
part
courses
any
and
Equating the i and j components, yields

of
destroy
their
aC = 0.2aBC - 10.69 (1)

will
sale
0 = 0.3464aBC - 0.6928 (2)

aBC = 2 rad>s2
aC = - 10.29 m>s2 = 10.3 m>s2 ; Ans.
*16–112.
The wheel is moving to the right such that it has an angular D

velocity v = 2 rad>s and angular acceleration a = 4 rad>s2
at the instant shown. If it does not slip at A, determine the
acceleration of point B. B
a 4 rad/s2 1.45 ft
v 2 rad/s 60
30 C
SOLUTION
Since no slipping
aC = ar = 4(1.45) = 5.80 ft>s2
aB = aC + aB>C A
aB = 5.80 + (2)2(1.45) + 4(1.45)

: c 30° g 30°
+ )
(: (aB)x = 5.80 + 5.02 + 2.9 = 13.72
(+ c ) (aB)y = 0 - 2.9 + 5.02 = 2.12
aB = 2(13.72)2 + (2.12)2 = 13.9 ft>s2
or
laws
2.123
u = tan - 1 a b = 8.80° a u Ans.
Web)
teaching
13.72
in
copyright
Wide
Also: Dissemination
permitted.
World
States
instructors
aB = aC + a * rB>C - v2rB>C
not
the
of
is
learning.
on
United
aB = 5.80i + (-4k) * ( - 1.45 cos 30°i + 1.45 sin 30°j) - (2)2( - 1.45 cos 30°i + 1.45 sin 30°j)
use
and
by
the
student
aB = {13.72i + 2.123j} ft>s2

work
for
(including
the
protected
aB = 2(13.72)2 + (2.123)2 = 13.9 ft>s2

of
Ans.
solely
work
is
assessing
this
2.123
work
u = tan - 1 a
and
b = 8.80° a u
of
integrity
Ans.
provided
13.72
This
is
the
part
courses
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and
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will
sale
16–113.
The disk is moving to the left such that it has an angular v ⫽ 3 rad/s
acceleration a = 8 rad>s2 and angular velocity v = 3 rad>s a ⫽ 8 rad/s2
at the instant shown. If it does not slip at A, determine the D
acceleration of point B.
30⬚ 45⬚
C
0.5 m
B
A
SOLUTION
aC = 0.5(8) = 4 m>s2
aB = aC + aB>C
aB = c 4 d + D (3)2 (0.5) T + D (0.5) (8 ) T

;
a 30° f 30°
+ B
A: (aB)x = -4 + 4.5 cos 30° + 4 sin 30° = 1.897 m>s2
A+cB (aB)y = 0 + 4.5 sin 30° - 4 cos 30° = -1.214 m>s2
aB = 2(1.897)2 + ( - 1.214)2 = 2.25 m>s2 Ans.
or
laws
1.214
u = tan - 1 a b = 32.6° c
Web)
Ans.
teaching
1.897
in
copyright
Wide
Dissemination
Also,
permitted.
World
States
instructors
aB = aC + a * rB>C - v2 rB>C
not
the
of
is
learning.
on
United
use
(aB)x i + (aB)y j = - 4i + (8k) * ( - 0.5 cos 30°i - 0.5 sin 30°j) - (3)2 (-0.5 cos 30°i - 0.5 sin 30°j)
and
by
the
student
+ B
work
A:
for
(aB)x = -4 + 8(0.5 sin 30°) + (3)2(0.5 cos 30°) = 1.897 m>s2

(including
the
protected
of
A+cB
solely
(aB)y = 0 - 8(0.5 cos 30°) + (3)2 (0.5 sin 30°) = - 1.214 m>s2
work
is
assessing
this
work
1.214
and
of
integrity
u = tan - 1 a b = 32.6° c Ans.

provided
1.897
This
is
the
part
courses
any
and
aB = 2(1.897)2 + ( - 1.214)2 = 2.25 m>s2 Ans.

of
destroy
their
will
sale
16–114.
The disk is moving to the left such that it has an angular v ⫽ 3 rad/s
acceleration a = 8 rad>s2 and angular velocity v = 3 rad>s a ⫽ 8 rad/s2
at the instant shown. If it does not slip at A, determine the D
acceleration of point D.
30⬚ 45⬚
C
0.5 m
B
A
SOLUTION
aC = 0.5(8) = 4 m>s2
aD = aC + aD>C
aD = c 4 d + D (3)2 (0.5 )T + D 8 (0.5) T

;
e 45° 45° b
+ B
A: (aD)x = - 4 - 4.5 sin 45° - 4 cos 45° = -10.01 m>s2
A+cB (aD)y = 0 - 4.5 cos 45° + 4 sin 45° = - 0.3536 m>s2
0.3536
u = tan - 1 a b = 2.02° d Ans.
10.01
or
laws
aD = 2( -10.01)2 + (- 0.3536)2 = 10.0 m>s2
Web)
teaching
Ans.
in
copyright
Wide
Also, Dissemination
permitted.
World
States
aD = aC + a * rD>C - v2 rD>C
instructors
not
the
of
is
learning.
on
(aD)x i + (aD)y j = - 4i + (8k) * (0.5 cos 45°i + 0.5 sin 45°j) - (3)2 (0.5 cos 45°i + 0.5 sin 45°j)
United
use
and
by
the
+ B
A: (aD)x = - 4 - 8(0.5 sin 45°) - (3)2(0.5 cos 45°) = - 10.01 m>s2
student
work
for
(including
the
A+cB (aD)y = +8(0.5 cos 45°) - (3)2 (0.5 sin 45°) = -0.3536 m>s2
protected
of
solely
work
is
assessing
this
0.3536
u = tan - 1 a
work
b = 2.02° d Ans.
and
of
integrity
provided
10.01
This
is
the
part
aD = 2( -10.01)2 + ( -0.3536)2 = 10.0 m>s2 Ans.

courses
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and
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16–115.
A cord is wrapped around the inner spool of the gear. If it is B
pulled with a constant velocity v, determine the velocities
and accelerations of points A and B. The gear rolls on the 2r
fixed gear rack.
A G
r
v
SOLUTION
Velocity analysis:
v
v =
r
v
vB = vrB>IC = (4r) = 4v : Ans.
r
A 2(2r)2 + (2r)2 B = 2 22v

v
vA = v rA>IC = a45° Ans.
r
Acceleration equation: From Example 16–3, Since aG = 0, a = 0
or
rB>G = 2r j rA>G = - 2r i
laws
Web)
teaching
aB = aG + a * rB>G - v2rB>G
in
copyright
Wide
v 2 2v2
= 0 + 0 - a b (2rj) = -
Dissemination
j
r r
permitted.
World
States
instructors
not
the
of
is
2v2
learning.
aB =
on
United
Ans.
use
T
r
and
by
the
student
work
for
a A = aG + a * rA>G - v2rA>G
(including
the
protected
of
solely
v 2 2v2
= 0 + 0 - a b ( - 2ri) =
work
is
i
assessing
r r
this
work
and
of
integrity
provided
2v2
This
is
the
part
aA = : Ans.
r
courses
any
and
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sale
*16–116.
At a given instant, the gear racks have the velocities and a 2 ft/s2
accelerations shown. Determine the acceleration of point A. v 6 ft/s
SOLUTION
Velocity Analysis: The angular velocity of the gear can be obtained by using the
method of instantaneous center of zero velocity. From similar triangles,
yD yC A
v = =
rD>IC rC>IC
0.25 ft
6 2
= (1) B
rD>IC rC>IC
Where
rD>IC + rC>IC = 0.5 (2)
a 3 ft/s2
Solving Eqs.(1) and (2) yields v 2 ft/s
rD>IC = 0.375 ft rC>IC = 0.125 ft
Thus, yD 6
v = = = 16.0 rad>s
rD>IC 0.375
or
laws
Acceleration Equation: The angular acceleration of the gear can be obtained by
Web)
teaching
analyzing the angular motion of points C and D. Applying Eq. 16–18 with
in
rD>C = { -0.5i} ft, we have
copyright
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Dissemination
aD = aC + a * rD>C - v2 rD>C
permitted.
World
States
instructors
not
(aD)ni + 2j = -(aC)ni - 3j + (- ak) * ( -0.5i) - 16.02 (-0.5i)

the
of
is
learning.
on
United
use
(aD)ni + 2j = -(aC)ni + (0.5a - 3)j + 128i

and
by
the
student
work
for
Equating the j components, we have

(including
the
protected
of
2 = 0.5 a - 3 a = 10.0 rad>s2

solely
work
is
assessing
this
The acceleration of point A can be obtained by analyzing the angular motion of

work
and
of
integrity
provided
points A and C. Applying Eq. 16–18 with rA>C = {- 0.25i} ft, we have
This
is
the
part
aA = aC + a * rA>C - v2 rA>C
courses
any
and
of
destroy
aAj = - (aC)ni - 3j + (-10.0k) * ( - 0.25i) - 16.02 (-0.25i)

their
will
sale
Equating the i and j components, we have
aA = 0.500 ft>s2 T Ans.
(aC)n = 64 m>s2 d
16–117.
At a given instant, the gear racks have the velocities and a ⫽ 2 ft/s2
accelerations shown. Determine the acceleration of point B. v ⫽ 6 ft/s
A
SOLUTION
0.25 ft
Angular Velocity: The method of IC will be used. The location of IC for the gear is
indicated in Fig. a. using the similar triangle, B
2 6
= rD>IC = 0.125 ft
rD>IC 0.5 - rD>IC
a ⫽ 3 ft/s2
Thus, v ⫽ 2 ft/s
vD 2
v = = = 16 rad>s b
rD>IC 0.125 ft
Acceleration and Angular Acceleration: Applying the relative acceleration

equation for points C and D by referring to Fig. b,
or
laws
aC = aD + A * rC>D - v2rC>D
Web)
teaching
in
(aC)ni + 2j = - (aD)ni - 3j + ( - ak) * ( -0.5i) - 162(-0.5i)
copyright
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Dissemination
(aC)ni + 2j = [128 - (aD)n]i + (0.5a - 3)j
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
2 = 0.5a - 3
by
the
student
work
for
(including
Using this result, the relative acceleration equation applied to points A and C, Fig. b,
the
protected
gives
of
solely
work
is
assessing
aC = aA + A * rC>A - v2rC>A
this
work
and
of
integrity
provided
(aC)ni + 2j = aAj + (- 10k) * ( -0.25i) - 162( -0.25i)

This
is
the
part
(aC)ni + 2j = 64i + (aA + 2.5)j

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2 = aA + 2.5 aA = - 0.5 ft>s2 = 0.5 ft>s2 T
Using this result to apply the relative acceleration equation to points A and B,
aB = aA + A * rB>A - v2rB>A
- (aB)ti + (aB)nj = - 0.5j + ( -10k) * ( - 0.25j) - 162(- 0.25j)
-(aB)ti + (aB)n j = - 2.5i + 63.5j
Equating i and j components,

(aB)t = 2.50 ft>s2 (aB)n = 63.5 ft>s2
Thus, the magnitude of aB is

aB = 2(aB)2t + (aB)2n = 22.502 + 63.52 = 63.55 ft>s2 Ans.
u = tan - 1 c d = tan - 1 a b = 87.7° ub

(aB)n 63.5
Ans.
(aB)t 2.50
16–118.
At a given instant gears A and B have the angular motions

vA ⫽ 4 rad/s
shown. Determine the angular acceleration of gear C and
5 in. aA ⫽ 8 rad/s2
the acceleration of its center point D at this instant. Note A
that the inner hub of gear C is in mesh with gear A and its
outer rim is in mesh with gear B. 20 in.
D
5 in.
10 in.
SOLUTION B C
aP = aP¿ + aP>P¿
vB ⫽ 1 rad/s
+ ) aB ⫽ 6 rad/s2
(: 120 = -40 + a(15)
a = 10.67 rad>s2 d Ans.
aP = aD + aP>D
+ )
(: 120 = (aD)t + (10.67)(10)
(aD)t = 13.3 in. >s2 :
vP = vP¿ + vP>P¿
+ )
(: 20 = -20 + v(15)
or
laws
Web)
v = 2.667 rad>s
teaching
in
copyright
Wide
vD = vP + vD>P Dissemination
permitted.
+ )
World
States
(; vD = -20 + 10(2.667)
instructors
not
the
of
is
learning.
on
vD = 6.67 in. >s

United
use
and
by
the
(6.67)2
student
work
for
(aD)n = = 4.44 in. >s2 c

(including
10
the
protected
of
solely
work
is
4.44
assessing
u = tan - 1 ( ) = 18.4°
this
work
13.3
and
of
integrity
provided
This
is
the
part
aD = (4.44)2 + (13.3)2 = 14.1 in. s2 Ans.

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16–119.
The wheel rolls without slipping such that at the instant

shown it has an angular velocity V and angular acceleration
A. Determine the velocity and acceleration of point B on A O
the rod at this instant. V, A
2a
a
B
SOLUTION
vB = vA + vB/A (Pin)
+ v = 1 1
; B Qv 22aR + 2av¿ a b
22 2
1 23
+c O = - Qv22aR + 2av¿ a b
22 2
v
v¿ =
23
vB = 1.58 va Ans.
a A = aO + aA/O (Pin)
or
laws
Web)
(a A)x + (aA)y = aa + a(a) + v2a
teaching
in
; T ; T :
copyright
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Dissemination
(a A)x = aa - v2a
permitted.
World
States
instructors
not
the
of
is
(a A)y = aa
learning.
on
United
use
and
by
a B = aA + aB/A (Pin)
the
student
work
for
(including
v 2 23
the
1
a B = aa - v2a + 2a(a¿)a b - 2a a b
protected
of
solely
2 2
work
23
is
assessing
this
work
2
v
and
2 1
of
integrity
O = -aa + 2aa¿ a b + 2a a b a b
provided
2
This
is
23 23
the
part
courses
any
and
a¿ = 0.577a - 0.1925v2
of
destroy
their
will
a B = 1.58aa - 1.77v2a Ans.

sale
*16–120.
The center O of the gear and the gear rack P move with the B
150 mm
velocities and accelerations shown. Determine the angular
acceleration of the gear and the acceleration of point B vO ⫽ 3 m/s
aO ⫽ 6 m/s2
located at the rim of the gear at the instant shown.
O
vP ⫽ 2 m/s
aP ⫽ 3 m/s2
A P
SOLUTION
Angular Velocity: The location of the IC is indicated in Fig. a. Using similar triangles,
3 2
= rO>IC = 0.09 m
rO>IC 0.15 - rO>IC
Thus,
vO 3
v = = = 33.33 rad>s
rO>IC 0.09
Acceleration and Angular Acceleration: Applying the relative acceleration

equation to points O and A and referring to Fig. b,
aA = aO + a * rA>O - v2rA>O
or
laws
-3i + (aA)n j = 6i + ( -ak) * (- 0.15j) - 33.332( -0.15j)
Web)
teaching
in
- 3i + (aA)n j = (6 - 0.15a)i + 166.67j
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Dissemination
permitted.
Equating the i components,
World
States
instructors
not
the
of
is
learning.
- 3 = 6 - 0.15a
on
United
use
and
by
the
a = 60 rad>s2 Ans.
student
work
for
(including
the
Using this result, the relative acceleration equation is applied to points O and B,
protected
of
solely
work
is
Fig. b, which gives

assessing
this
work
and
aB = aO + a * rB>O - v2rB>O
of
integrity
provided
This
is
the
part
(aB)ti - (aB)n j = 6i + ( - 60k) * (0.15j) - 33.332(0.15j)

courses
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destroy
(aB)ti - (aB)n j = 15i - 166.67j

their
will
sale
(aB)t = 15 m>s2 (aB)n = 166.67 m>s2
Thus, the magnitude of aB is
aB = 3(aB)t 2 + (aB)n 2 = 3152 + 166.672 = 167 m>s2 Ans.
u = tan-1 c d = tan-1 a b = 84.9° c

(aB)n 166.67
(aB)t 15
16–121.
The tied crank and gear mechanism gives rocking motion to

crank AC, necessary for the operation of a printing press. If
link DE has the angular motion shown, determine the C
respective angular velocities of gear F and crank AC at this F
instant, and the angular acceleration of crank AC. 100 mm
50 mm
75 mm v DE ⫽ 4 rad/s
B E
SOLUTION 100 mm D
aDE ⫽ 20 rad/s2
Velocity analysis: G
30
yD = vDErD>E = 4(0.1) = 0.4 m>s c
150 mm
vB = vD + vB>D A
yB = 0.4 + (vG)(0.075)
a 30° c T
+ )
(: yB cos 30° = 0, yB = 0
(+ c ) vG = 5.33 rad>s
Since yB = 0, yC = 0, vAC = 0 Ans.
or
laws
vFrF = vGrG
Web)
teaching
in
100
copyright
Wide
vF = 5.33 a b = 10.7 rad>s Ans.
Dissemination
50
permitted.
World
States
instructors
not
the
of
Acceleration analysis:
is
learning.
on
United
use
and
(aD)n = (4)2(0.1) = 1.6 m>s2 :

by
the
student
work
for
(aD)t = (20)(0.1) = 2 m>s2 c

(including
the
protected
of
solely
work
is
(aB)n + (aB)t = (aD)n + (aD)t + (aB>D)n + (aB>D)t

assessing
this
work
and
0 + (a B)t = 1.6 + 2 + (5.33)2(0.075) + aG (0.075)

of
integrity
provided
This
is
:
the
c :
part
a 30° c
courses
any
and
(+ c ) (aB)t sin 30° = 0 + 2 + 0 + aG (0.075)

of
destroy
their
+ )
will
(: (aB)t cos 30° = 1.6 + 0 + (5.33)2(0.075) + 0

sale
Solving,
(aB)t = 4.31 m>s2, aG = 2.052 rad>s2b
Hence,
(a B)t 4.31
aAC = = = 28.7 rad>s2b Ans.
rB>A 0.15
16–122.
Pulley A rotates with the angular velocity and angular 50 mm

acceleration shown. Determine the angular acceleration of
pulley B at the instant shown.
vA 40 rad/s
aA 5 rad/s2
SOLUTION
50 mm
Angular Velocity: Since pulley A rotates about a fixed axis,

B
vC = vA rA = 40(0.05) = 2 m>s c 125 mm
The location of the IC is indicated in Fig. a. Thus, E

vC 2
vB = = = 11.43 rad>s
rC>IC 0.175
Acceleration and Angular Acceleration: For pulley A,
(aC)t = aArA = 5(0.05) = 0.25 m>s2 c
or
laws
Using this result and applying the relative acceleration equation to points C and D
by referring to Fig. b,
Web)
teaching
in
aD = aC + aB * rD>C - vB 2rD>C
copyright
Wide
Dissemination
permitted.
(aD)n i = (aC)n i + 0.25j + ( -aB k) * (0.175i)-11.432(0.175i)
World
States
instructors
not
the
of
is
(aD)n i = [(aC)n - 22.86]i + (0.25 - 0.175aB)j

learning.
on
United
use
and
by
the
Equating the j components,

student
work
for
(including
the
0 = 0.25 - 0.175aB
protected
of
solely
work
is
assessing
aB = 1.43 rad>s2 Ans.

this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
will
sale
16–123.
Pulley A rotates with the angular velocity and angular 50 mm

acceleration shown. Determine the acceleration of block E at
the instant shown.
vA 40 rad/s
aA 5 rad/s2
SOLUTION
50 mm
Angular Velocity: Since pulley A rotates about a fixed axis,

B
vC = vArA = 40(0.05) = 2 m>s c 125 mm
The location of the IC is indicated in Fig. a. Thus, E

vC 2
vB = = = 11.43 rad>s
rC>IC 0.175
Acceleration and Angular Acceleration: For pulley A,
(aC)t = aA rA = 5(0.05) = 0.25 m>s2 c
or
laws
Using this result and applying the relative acceleration equation to points C and D
by referring to Fig. b,
Web)
teaching
in
aD = aC + aB * rD>C - vB 2rD>C
copyright
Wide
Dissemination
permitted.
(aD)n i = (aC)n i + 0.25j + ( - aBk) * (0.175i) - 11.432(0.175i)
World
States
instructors
not
the
of
is
(aD)n i = [(aC)n - 22.86]i + (0.25 - 0.175aB)j

learning.
on
United
use
and
by
the

student
work
for
(including
the
0 = 0.25 - 0.175a B
protected
of
solely
work
is
assessing
aB = 1.429 rad>s = 1.43 rad>s2

this
work
and
of
integrity
provided
This
is
the
Using this result, the relative acceleration equation applied to points C and E, Fig. b,
part
gives
courses
any
and
of
destroy
aE = aC + aB * rE>C - vB 2rE>C
their
will
sale
aE j = [(aC)n i + 0.25j] + (- 1.429k) * (0.125i) - 11.432(0.125i)
aE j = [(aC)n - 16.33]i + 0.0714j
aE = 0.0714 m>s2 c Ans.
*16–124.
At a given instant, the gear has the angular motion shown. B

Determine the accelerations of points A and B on the link
and the link’s angular acceleration at this instant.
60⬚
3 in.
v ⫽ 6 rad/s
a ⫽ 12 rad/s2 O 8 in.
2 in.
SOLUTION A
For the gear
yA = vrA>IC = 6(1) = 6 in.>s
aO = -12(3)i = { - 36i} in.>s2 rA>O = {- 2j} in. a = {12k} rad>s2
aA = a0 + a * rA>O - v2rA>O
= -36i + (12k) * ( -2j) - (6)2( - 2j)
= { -12i + 72j} in.>s2
aA = 2(- 12)2 + 722 = 73.0 in.>s2 Ans.
or
72
laws
u = tan-1 a b = 80.5° b Ans.
12
Web)
teaching
in
copyright
Wide
For link AB Dissemination
permitted.
World
States
The IC is at q , so vAB = 0, i.e.,

instructors
not
the
of
is
learning.
on
yA
United
use
6
and
vAB = = = 0
by
q
the
rA>IC
student
work
for
(including
aB = aB i aAB = - aAB k rB>A = {8 cos 60°i + 8 sin 60°j} in.

the
protected
of
solely
work
is
aB = aA + aAB * rB>A - v2 rB>A

assessing
this
work
and
of
integrity
aB i = (- 12i + 72j) + ( - aAB k) * (8 cos 60°i + 8 sin 60°j) - 0

provided
This
is
the
part
+ B
A: aB = - 12 + 8 sin 60°(18) = 113 in.>s2 :
courses
Ans.
any
and
of
destroy
(+ c)
their
0 = 72 - 8 cos 60°aAB aAB = 18 rad>s2 b Ans.

will
sale
16–125.
The ends of the bar AB are confined to move along the

paths shown. At a given instant, A has a velocity of B
vA = 4 ft>s and an acceleration of a A = 7 ft>s2. Determine
the angular velocity and angular acceleration of AB at this
instant. 2 ft
60
2 ft
SOLUTION
vA 4 ft/s A
vB = vA + vB>A aA 7 ft/s2
vB = 4+ v(4.788)
30° b T h 51.21°
+ )
(: -vB cos 30° = 0 - v(4.788) sin 51.21°
(+ c ) vB sin 30° = - 4 + v(4.788) cos 51.21°
vB = 20.39 ft>s 30° b
v = 4.73 rad>sd Ans.
a B = a A + a B>A
or
laws
at + 2 07.9 = 7 + 107.2 + 4.788(a)
Web)
teaching
30° b 60° d T d 51.21° h 51.21°
in
+ )
copyright
Wide
(; at cos 30° + 207.9 cos 60° = 0 + 107.2 cos 51.21° + 4.788a(sin 51.21°) Dissemination
permitted.
World
States
(+ c) at sin 30° - 207.9 sin 60° = - 7 - 107.2 sin 51.21° + 4.788a(cos 51.21°)
instructors
not
the
of
is
learning.
on
at(0.866) - 3.732a = -36.78

United
use
and
by
the
at (0.5) - 3a = 89.49
student
work
for
(including
the
at = - 607 ft>s2
protected
of
solely
work
is
assessing
a = -131 rad>s2 = 131 rad>s2b

this
Ans.
work
and
of
integrity
provided
This
is
the
part
Also:
courses
any
and
vB = vA = v * rB>A
of
destroy
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will
sale
-vB cos 30°i + vB sin 30°j = - 4j + (vk) * (3i + 3.732j)
-vB cos 30° = - v(3.732)
vB sin 30° = -4 + v(3)
v = 4.73 rad>sd Ans.
vB = 20.39 ft>s
a B = a A - v2rB>A + a * rB>A
(-at cos 30°i + at sin 30°j) + ( -207.9 cos 60°i - 207.9 sin 60°j) = - 7j - (4.732)2(3i + 3.732j)
+ (ak) * (3i + 3.732j)
-at cos 30° - 207.9 cos 60° = - (4.732)2(3) - a(3.732)
at sin 30° - 207.9 sin 60° = - 7 -(4.732)2(3.732) + a(3)
at = - 607 ft>s2
a = -131 rad>s2 = 131 rad>s2b Ans.

16–126.
At a given instant, the cables supporting the pipe have the v 5 ft/s v 6 ft/s
motions shown. Determine the angular velocity and angular
acceleration of the pipe and the velocity and acceleration
of point B located on the pipe.
a 1.5 ft/s2
SOLUTION a 2 ft/s2
O
vB = vA + vB>A B A
2 ft
( + T ) 5 = 6 - v (4)
v = 0.25 rad>s b Ans.
vB = 5.00 ft>s T Ans.
aB = aA + aB>A
1.5 + (aB)x = 2 + (aA)x + (a) (4) + (0.25) 2 (4)

T : c ; T :
(+ T ) 1.5 = - 2 + a(4)
or
laws
a = 0.875 rad>s2 d Ans.
Web)
teaching
in
aB = aO + aB>O
copyright
Wide
Dissemination
1.5 + (aB)x = aO + 0.875(2) + (0.25)2 (2)
permitted.
T : :
World
T
States
T
instructors
not
the
of
+ ) (a ) = (0.25)2(2) = 0.125 ft>s2

is
(:
learning.
on
United
B x
use
and
by
the
aB = 2(1.5)2 + (0.125)2 = 1.51 ft>s2 Ans.

student
work
for
(including
the
1.5
u = tan - 1 a
protected
b = 85.2°
of
Ans.
solely
cu
work
is
0.125
assessing
this
work
and
of
integrity
Also:
provided
This
is
the
part
5
courses
any
and
v = = 0.25 rad>s Ans.

of
20
destroy
their
will
sale
vB = 5.00 ft>s T Ans.
aB = aA + a * rB>A - v2rB>A
- 1.5j + (aB)x i = 2j - (aA)x i + (ak) * ( - 4i) - (0.25)2(- 4i)
- 1.5 = 2 - 4a
a = 0.875 rad>s2 d Ans.
aB = aO + a * rB>O - v2rB>O
- 1.5j + (aB)x i = -aO j + (ak) * ( - 2i) - (0.25)2 ( - 2i)
(aB)x = (0.25)2(2) = 0.125
aB = 2(1.5)2 + (0.125)2 = 1.51 ft>s2 Ans.
1.5
u = tan - 1 = 85.2° cu Ans.
0.125
16–127.
The slider block moves with a velocity of vB = 5 ft>s and an

acceleration of aB = 3 ft>s2. Determine the angular
acceleration of rod AB at the instant shown.
1.5 ft
A
vB 5 ft/s
30 aB 3 ft/s2
2 ft
B
SOLUTION
Angular Velocity: The velocity of point A is directed along the tangent of the
circular slot. Thus, the location of the IC for rod AB is indicated in Fig. a. From the
rB>IC = 2 sin 30° = 1 ft rA>IC = 2 cos 30° = 1.732 ft
Thus,
vB 5
vAB = = = 5 rad>s
rB>IC 1
Then
or
laws
vA = vAB rA>IC = 5(1.732) = 8.660 ft>s
Web)
teaching
in
copyright
Wide
Dissemination
Acceleration and Angular Acceleration: Since point A travels along the circular
permitted.
World
States
instructors
not
slot, the normal component of its acceleration has a magnitude of

the
of
is
vA 2 8.6602
learning.
on
(aA)n = = = 50 ft>s2 and is directed towards the center of the circular

United
use
and
r 1.5
by
the
slot. The tangential component is directed along the tangent of the slot. Applying
student
work
for
(including
the
the relative acceleration equation and referring to Fig. b,

protected
of
solely
work
is
assessing
aA = aB + aAB * rA>B - vAB 2 rA>B

this
work
and
of
integrity
provided
50i - (aA)t j = 3i + (aAB k) * ( - 2 cos 30°i + 2 sin 30°j) - 52(- 2 cos 30° i + 2 sin 30°j)
This
is
the
part
courses
50i - (aA)t j = (46.30 - aAB)i + (1.732aAB + 25)j

any
and
of
destroy
their
will

sale
50 = 46.30 - aAB
aAB = -3.70 rad>s2 = 3.70 rad>s2 b Ans.
*16–128.
The slider block moves with a velocity of vB = 5 ft>s and an

acceleration of aB = 3 ft>s2. Determine the acceleration of
A at the instant shown.
1.5 ft
A
vB 5 ft/s
30 aB 3 ft/s2
2 ft
B
SOLUTION
Angualr Velocity: The velocity of point A is directed along the tangent of the
circular slot. Thus, the location of the IC for rod AB is indicated in Fig. a. From the
rB>IC = 2 sin 30° = 1 ft rA>IC = 2 cos 30° = 1.732 ft
Thus,
vB 5
vAB = = = 5 rad>s
rB>IC 1
or
Then
laws
Web)
teaching
vA = vAB rA>IC = 5 A 1.732 B = 8.660 ft>s
in
copyright
Wide
Dissemination
permitted.
Acceleration and Angular Acceleration: Since point A travels along the circular
World
States
instructors
not
the
of
slot, the normal component of its acceleration has a magnitude of

is
learning.
on
vA 2
United
8.6602
use
A aA B n =
and
= = 50 ft>s2 and is directed towards the center of the circular

by
the
r 1.5
student
work
for
slot. The tangential component is directed along the tangent of the slot. Applying
(including
the
protected
of
the relative acceleration equation and referring to Fig. b,

solely
work
is
assessing
aA = aB + aAB * rA>B - vAB 2 rA>B

this
work
and
of
integrity
provided
50i - A aA B t j = 3i + A aAB k B * A -2cos 30°i + 2 sin 30°j B -52 A -2 cos 30°i + 2 sin 30°j B
This
is
the
part
courses
any
and
50i - A aA B t j = A 46.30 - aAB B i - A 1.732aAB + 25 B j

of
destroy
their
will
sale
50 = 46.30-aAB
- A aA B t = - A 1.732aAB + 25 B
Solving,
aAB = - 3.70 rad>s2
A aA B t = 18.59 ft>s2 T
Thus, the magnitude of aA is
aA = 4A aA B t 2 + A aA B n 2 = 218.592 + 502 = 53.3ft>s2 Ans.
A aA B t 18.59
u = tan-1 C S = tan-1 a b = 20.4° c Ans.
A aA B n 50
16–129.
Ball C moves along the slot from A to B with a speed of 3 ft>s, z

which is increasing at 1.5 ft>s2, both measured relative to the
circular plate. At this same instant the plate rotates with the v 6 rad/s
angular velocity and angular deceleration shown. Determine
the velocity and acceleration of the ball at this instant. a 1.5 rad/s2
B
SOLUTION
C
Reference Frames: The xyz rotating reference frame is attached to the plate and
coincides with the fixed reference frame XYZ at the instant considered, Fig. a. Thus, 2 ft
45
the motion of the xyz frame with respect to the XYZ frame is A
2 ft
# x
vO = aO = 0 v = [6k] rad>s v = a = [-1.5k] rad>s2 y
For the motion of ball C with respect to the xyz frame,
(vrel)xyz = (-3 sin 45°i - 3 cos 45°j) ft>s = [-2.121i - 2.121j] ft>s
(arel)xyz = ( -1.5 sin 45°i - 1.5 cos 45°j) ft>s2 = [- 1.061i - 1.061j] ft>s2
From the geometry shown in Fig. b, rC>O = 2 cos 45° = 1.414 ft. Thus,
or
laws
rC>O = (- 1.414 sin 45°i + 1.414 cos 45°j)ft = [-1i + 1j] ft
Web)
teaching
in
copyright
Velocity: Applying the relative velocity equation,
Wide
Dissemination
permitted.
vC = vO + v * rC>O + (vrel)xyz
World
States
instructors
not
the
of
is
= 0 + (6k) * (- 1i + 1j) + ( -2.121i - 2.121j)

learning.
on
United
use
and
by
= [-8.12i - 8.12j] ft>s

the
Ans.
student
work
for
(including
Acceleration: Applying the relative acceleration equation, we have

the
protected
of
#
solely
work
is
aC = aO + v * rC>O + v * (v * rC>O) + 2v * (vrel)xyz + (a rel)xyz

assessing
this
work
and
of
integrity
= 0 + (1.5k) * ( -1i + 1j) + (6k) * [(6k) * ( - 1i + 1j)] + 2(6k) * ( - 2.121i - 2.121j) + ( -1.061i - 1.061j)
provided
This
is
the
part
= [61.9i - 61.0j]ft>s2 Ans.

courses
any
and
of
destroy
their
will
sale
16–130.
The crane’s telescopic boom rotates with the angular

velocity and angular acceleration shown. At the same
instant, the boom is extending with a constant speed of
0.5 ft>s, measured relative to the boom. Determine the 60 ft
magnitudes of the velocity and acceleration of point B at
this instant. B
vAB 0.02 rad/s
aAB 0.01 rad/s2
SOLUTION 30 A
Reference Frames: The xyz rotating reference frame is attached to boom AB and
coincides with the XY fixed reference frame at the instant considered, Fig. a. Thus, the
motion of the xy frame with respect to the XY frame is
#
vA = aA = 0 vAB = [-0.02k] rad>s vAB = a = [-0.01k] rad>s2
For the motion of point B with respect to the xyz frame, we have
rB>A = [60j] ft (vrel)xyz = [0.5j] ft>s (arel)xyz = 0
vB = vA + vAB * rB>A + (v rel)xyz
or
laws
= 0 + ( -0.02k) * (60j) + 0.5j
Web)
teaching
in
= [1.2i + 0.5j] ft > s
copyright
Wide
Dissemination
permitted.
World
States
Thus, the magnitude of vB, Fig. b, is

instructors
not
the
of
is
learning.
vB = 21.22 + 0.52 = 1.30 ft>s Ans.

on
United
use
and
by
the
student
Acceleration: Applying the relative acceleration equation,

work
for
(including
#
the
aB = aA + vAB * rB>A + vAB * (vAB * rB>A) + 2vAB * (vrel)xyz + (a rel)xyz

protected
of
solely
work
is
assessing
= 0 + ( -0.01k) * (60j) + (- 0.02k) * [(-0.02k) * (60j)] + 2( -0.02k) * (0.5j) + 0

this
work
and
of
integrity
provided
= [0.62i - 0.024 j] ft>s2

This
is
the
part
courses
any
and
of
Thus, the magnitude of aB, Fig. c, is

destroy
their
will
sale
aB = 20.622 + ( - 0.024)2 = 0.6204 ft>s2 Ans.
16–131.
While the swing bridge is closing with a constant rotation of z

d O
0.5 rad>s, a man runs along the roadway at a constant speed
of 5 ft>s relative to the roadway. Determine his velocity and
acceleration at the instant d = 15 ft.
x y
v 0.5 rad/s
SOLUTION
Æ = {0.5k} rad>s
Æ = 0
rm>o = {-15 j} ft
(vm>o)xyz = {- 5j} ft>s
(am>o)xyz = 0
vm = vo + Æ * rm>o + (vm>o)xyz
vm = 0 + (0.5k) * ( -15j) - 5j
vm = {7.5i - 5j} ft>s Ans.
or
laws
am = aO + Æ * rm>O + Æ * (Æ * rm>O) + 2Æ * (vm>O)xyz + (am>O)xyz
Web)
teaching
in
am = 0 + 0 + (0.5k) * [(0.5k) * (-15j)] + 2(0.5k) * ( -5j) + 0
copyright
Wide
Dissemination
am = {5i + 3.75j} ft>s2

permitted.
Ans.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
will
sale
*16–132.
While the swing bridge is closing with a constant rotation of z

d O
0.5 rad>s, a man runs along the roadway such that when
d = 10 ft he is running outward from the center at 5 ft>s
with an acceleration of 2 ft>s2, both measured relative to the
roadway. Determine his velocity and acceleration at this x y
instant.
v 0.5 rad/s
SOLUTION
Æ = {0.5k} rad>s
Æ = 0
rm>o = {- 10 j} ft
(vm>O)xyz = {- 5j} ft>s
(am>O)xyz = {- 2j} ft>s2
vm = vo + Æ * rm>o + (vm>o)xyz
vm = 0 + (0.5k) * (- 10j) - 5j
vm = {5i - 5j} ft>s
or
Ans.
laws
#
Web)
teaching
am = aO + Æ * rm>O + Æ * (Æ * rm>O) + 2Æ * (vm>O)xyz + (am>O)xyz
in
copyright
Wide
am = 0 + 0 + (0.5k) * [(0.5k) * ( -10j)] + 2(0.5k) * ( -5j) - 2j Dissemination
permitted.
World
States
am = {5i + 0.5j} ft>s2

instructors
Ans. not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
will
sale
16–133.
Collar C moves along rod BA with a velocity of 3 m>s and an z

acceleration of 0.5 m>s2, both directed from B towards A and
measured relative to the rod. At the same instant, rod AB
rotates with the angular velocity and angular acceleration
shown. Determine the collar’s velocity and acceleration at
this instant.
0.5 m
B
x 3 m/s
v ⫽ 6 rad/s 0.5 m/s2
SOLUTION a ⫽ 1.5 rad/s2 C
Reference Frames: The xyz rotating reference frame is attached to rod AB and A
y
coincides with the XYZ reference frame at the instant considered, Fig. a. Thus, the
motion of the xyz frame with respect to the XYZ frame is
#
vB = aB = 0 vB = v = [6k] rad>s vAB = a = [1.5k] rad>s2
For the motion of collar C with respect to the xyz frame, we have
rC>B = [0.5j] m (vrel)xyz = [3j] m>s (arel)xyz = [0.5j] m>s2
or
laws
Web)
teaching
vC = vB + vAB * rC>B + (vrel)xyz
in
copyright
Wide
= 0 + (6k) * (0.5j) + 3j Dissemination
permitted.
World
States
= [ -3i + 3j] m>s Ans.

instructors
not
the
of
is
learning.
on
United
use

and
by
the
student
#
aC = aB + vAB * rC>B + vAB * (vAB * rC>B) + 2vAB * (vrel)xyz + (arel)xyz
work
for
(including
the
protected
of
= 0 + (1.5k) * (0.5j) + (6k) * (6k * 0.5j) + 2(6k) * (3j) + (0.5j)

solely
work
is
assessing
this
= [- 36.75i - 17.5j] m>s2 Ans.

work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
will
sale
16–134.
Block A, which is attached to a cord, moves along the slot of y x

a horizontal forked rod. At the instant shown, the cord is
pulled down through the hole at O with an acceleration of A
4 m>s2 and its velocity is 2 m>s. Determine the acceleration
of the block at this instant. The rod rotates about O with a O
V
constant angular velocity v = 4 rad>s.
100 mm
SOLUTION
Motion of moving reference.
vO = 0
aO = 0
Æ = 4k
#
Æ = 0
Motion of A with respect to moving reference.
rA>O = 0.1i
or
laws
vA>O = -2i
Web)
teaching
aA>O = -4i
in
copyright
Wide
Dissemination
Thus,
permitted.
World
States
#
instructors
not
aA = aO + Æ * rA>O + Æ * (Æ * rA>O) + 2Æ * (vA>O)xyz + (aA>O)xyz

the
of
is
learning.
on
United
use
and
= 0 + 0 + (4k) * (4k * 0.1i) + 2(4k * ( - 2i)) - 4i

by
the
student
work
for
a A = {- 5.60i - 16j} m>s2 Ans.

(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
will
sale
16–135.
A girl stands at A on a platform which is rotating with a

constant angular velocity v = 0.5 rad>s. If she walks at a
constant speed of v = 0.75 m>s measured relative to the
platform, determine her acceleration (a) when she reaches
point D in going along the path ADC, d = 1 m; and (b) when
she reaches point B if she follows the path ABC, r = 3 m. O y
A d
C
r
D
SOLUTION
(a) B
#
aD = aO + Æ * rD>O + Æ * (Æ * rD>O) + 2Æ * (vD>O)xyz + (aD>O)xyz (1) x
Motion of Motion of D with respect

moving reference to moving reference
aO = 0 rD>O = {1i} m
Æ = {0.5k} rad>s (vD>O)xyz = {0.75j} m>s

#
Æ = 0 (aD>O)xyz = 0
Substitute the data into Eq.(1):
or
laws
aB = 0 + (0) * (1i) + (0.5k) * [(0.5k) * (1i)] + 2(0.5k) * (0.75j) + 0
Web)
teaching
in
= { -1i} m>s2 Ans.
copyright
Wide
Dissemination
permitted.
(b)
World
States
instructors
not
#
the
of
is
aB = aO + Æ * rB>O + Æ * (Æ * rB>O) + 2Æ * (vB>O)xyz + (aB>O)xyz

learning.
(2)
on
United
use
and
by
the
Motion of Motion of B with respect

student
work
for

(including
the
protected
of
solely
ao = 0 rB>O = {3i} m
work
is
assessing
this
Æ = {0.5k} rad>s (vB>O)xyz = {0.75j} m>s

work
and
of
integrity
provided
This
is
the
part
Æ = 0 (aB>O)xyz = -(aB>O)n i + (aB>O)t j

courses
any
and
2
of
= -(0.75
destroy
3 )i
their
will
sale
= {-0.1875i} m>s
aB = 0 + (0) * (3i) + (0.5k) * [(0.5k) * (3i)] + 2(0.5k) * (0.75j) + (- 0.1875i)
= { -1.69i} m>s2 Ans.
*16–136.
A girl stands at A on a platform which is rotating with an

angular acceleration a = 0.2 rad>s2 and at the instant shown
has an angular velocity v = 0.5 rad>s. If she walks at a
constant speed v = 0.75 m>s measured relative to the
platform, determine her acceleration (a) when she reaches
point D in going along the path ADC, d = 1 m; and (b) when O y
she reaches point B if she follows the path ABC, r = 3 m. A d
C
r
D
SOLUTION
(a) B
#
aD = aO + Æ * rD>O + Æ * (Æ * rD>O) + 2Æ * (vD>O)xyz + (aD>O)xyz (1) x

aO = 0 rD>O = {1i} m
Æ = {0.5k} rad>s (vD>O)xyz = {0.75j} m>s

#
Æ = {0.2k} rad>s2 (aD>O)xyz = 0
or
laws
aB = 0 + (0.2k) * (1i) + (0.5k) * [(0.5k) * (1i)] + 2(0.5k) * (0.75j) + 0
Web)
teaching
in
= {-1i + 0.2j} m>s2 Ans.
copyright
Wide
Dissemination
permitted.
(b)
World
States
instructors
not
#
the
of
is
aB = aO + Æ * rB>O + Æ * (Æ * rB>O) + 2Æ * (vB>O)xyz + (aB>O)xyz

learning.
(2)
on
United
use
and
by
the
Motion of Motion of B with respect

student
work
for

(including
the
protected
of
solely
aO = 0 rB>O = {3i} m
work
is
assessing
this
work
Æ = {0.5k} rad>s (vB>O)xyz = {0.75j} m>s

and
of
integrity
provided
#
This
is
the
part
Æ = {0.2k} rad>s2 (aB>O)xyz = -(aB>O)n i + (a B>O)t j

courses
any
and
of
= - A 0.75
3 B i
2
destroy
their
will
sale
= {-0.1875i} m>s
aB = 0 + (0.2k) * (3i) + (0.5k) * [(0.5k) * (3i)] + 2(0.5k) * (0.75j) + ( -0.1875i)
= {-1.69i + 0.6j} m s2 Ans.
16–137.
At the instant shown, rod AB has an angular velocity vAB 3 rad/s

vAB = 3 rad>s and an angular acceleration aAB = 5 rad>s2. A aAB 5 rad/s2
rod CD at this instant. The collar at C is pin-connected to 60
CD and slides over AB. C
0.75 m
SOLUTION 0.5 m
rC>A = (0.75 sin 60°)i - (0.75 cos 60°)j

D
rC>A = {0.6495i - 0.375j} m
vC = vCD * rC>D
= (vCDk) * (0.5j)
= { -0.5vCDi} m>s
a C = aCD * rCD - v2CD rCD
= (aCDk) * (0.5j) - v2CD(0.5j)
aC = { -0.5 aCDi - v2CD(0.5)j} m>s2
or
laws
vC = vA + Æ * rC>A + (vC>A)xyz
Web)
teaching
in
copyright
Wide
-0.5vCDi = 0 + (3k) * (0.6495i - 0.375j) + vC>A sin 60°i - vC>A cos 60°j Dissemination
permitted.
World
-0.5vCD = 1.125 + 0.866vC>A

States
instructors
not
the
of
is
learning.
0 = 1.9485 - 0.5vC>A
on
United
use
and
by
the
vC>A = 3.897 m>s

student
work
for
(including
the
vCD = - 9.00 rad>s = 9.00 rad>sb Ans.

protected
of
solely
work
is
#
assessing
a C = a A + Æ * rC>A + Æ * (Æ * rC>A) + 2Æ * (vC>A)xyz + (a C>A)xyz

this
work
and
of
integrity
provided
a C = 0 + (5k) * (0.6495i - 0.375j) + (3k) * [(3k) * (0.6495i - 0.375j)]

This
is
the
part
courses
any
and
+ 2(3k) * [3.897(0.866)i - 0.5(3.897)j] + 0.866a C>A i - 0.5a C>A j

of
destroy
their
will
0.5 aCD i - ( -9.00)2(0.5)j = 0 + 1.875i + 3.2475j - 5.8455i + 3.375j + 11.6910i

sale
+ 20.2488j + 0.866a C>A i - 0.5a C>A j
0.5 aCD = 7.7205 + 0.866a C>A
-40.5 = 26.8713 - 0.5aC>A
aC>A = 134.7 m>s2
aCD = 249 rad>s2b Ans.
16–138.
Collar B moves to the left with a speed of 5 m>s, which is

increasing at a constant rate of 1.5 m>s2, relative to the A v ⫽ 6 rad/s
hoop, while the hoop rotates with the angular velocity and a ⫽ 3 rad/s2
angular acceleration shown. Determine the magnitudes of
the velocity and acceleration of the collar at this instant.
450 mm
SOLUTION
200 mm
Reference Frames: The xyz rotating reference frame is attached to the hoop and
coincides with the XYZ fixed reference frame at the instant considered, Fig. a. Thus,
the motion of the xyz frame with respect to the XYZ frame is B
#
vA = aA = 0 v = [ -6k] rad>s v = a = [- 3k] rad>s2
For the motion of collar B with respect to the xyz frame,
rB>A = [- 0.45j] m
(vrel)xyz = [- 5i] m>s

(vrel)xyz2 52
The normal components of (arel)xyz is [(arel)xyz]n = = = 125 m>s2. Thus,
r 0.2
or
laws
(arel)xyz = [- 1.5i + 125j] m>s
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
vB = vA + v * rB>A + (vrel)xyz
World
States
instructors
not
the
of
is
= 0 + ( -6k) * ( -0.45j) + ( - 5i)

learning.
on
United
use
and
by
the
= [- 7.7i] m>s
student
work
for
(including
the
Thus,
protected
of
solely
work
is
assessing
vB = 7.7 m>s ; Ans.

this
work
and
of
integrity
provided
This
is

the
part
courses
any
and
#
aB = aA + v * rB>A + v * (v * rB>A) + 2v * (vrel)xyz + (arel)xyz
of
destroy
their
will
= 0 + (- 3k) * (- 0.45j) + ( - 6k) * [( -6k) * ( -0.45j)] + 2( - 6k) * (- 5i) + ( - 1.5i + 125j)

sale
= [ - 2.85i + 201.2j] m>s2
Thus, the magnitude of aB is therefore
aB = 32.852 + 201.22 = 201 m>s2 Ans.
16–139.
Block B of the mechanism is confined to move within the D

slot member CD. If AB is rotating at a constant rate of
vAB = 3 rad>s, determine the angular velocity and angular 100 mm
acceleration of member CD at the instant shown.
SOLUTION A B
Coordinate Axes: The origin of both the fixed and moving frames of reference are vAB 3 rad/s
located at point C. The x, y, z moving frame is attached to and rotates with rod CD
since peg B slides along the slot in member CD.
vCD, aCD
Kinematic Equation: Applying Eqs. 16–24 and 16–27, we have
200 mm
30
vB = vC + Æ * rB>C + (vB>C)xyz (1)
#
aB = aC + Æ * rB>C + Æ * (Æ * rB>C) + 2Æ * (vB>C)xyz + (aB>C)xyz (2)
C
Motion Motion of C with respect
of moving reference to moving reference
vC = 0 rB>C = {0.2i} m
aC = 0 (vB>C)xyz = (vB>C)xyz i
Æ = -vCD k (a B>C)xyz = (a B>C)xyz i
or
laws
#
Web)
teaching
Æ = -aCD k
in
copyright
Wide
Dissemination
The velocity and acceleration of peg B can be determined using Eqs. 16–9 and 16–14
permitted.
with rB>A = {0.1 cos 60°i - 0.1 sin 60°j} m = {0.05i - 0.08660j} m.
World
States
instructors
not
the
of
is
learning.
vB = vAB * rB>A = -3k * (0.05i - 0.08660j)

on
United
use
and
by
the
= {- 0.2598i - 0.150j} m>s

student
work
for
(including
the
aB = aAB * rB>A - v2ABrB>A = 0 - 32 (0.05i - 0.08660j)

protected
of
solely
work
is
assessing
= {- 0.450i + 0.7794j} m>s

this
work
and
of
integrity
provided
This
is
Substitute the above data into Eq.(1) yields

the
part
courses
any
and
vB = vC + Æ * rB>C + (vB>C)xyz
of
destroy
their
will
-0.2598i - 0.150j = 0 + (-vCDk) * 0.2i + (vB>C)xyz i

sale
-0.2598i - 0.150j = (vB>C)xyzi - 0.2vCD j
Equating i and j components, we have
(vB>C)xyz = - 0.2598 m>s
vCD = 0.750 rad>s Ans.

#
aB = aC + Æ * rB>C + Æ * (Æ * rB>C) + 2Æ * (vB>C)xyz + (aB>C)xyz
-0.450i + 0.7794j = 0 + ( -aCDk) * 0.2i + ( -0.750k) * [( -0.750k) * 0.2i]
+ 2(- 0.750k) * (-0.2598i) + (aB>C)xyz i
-0.450i + 0.7794j = C (aB>C)xyz - 0.1125 D i + (0.3897 - 0.2aCD)j
(a B>C)xyz = - 0.3375 m>s2

aCD = -1.95 rad>s2 = 1.95 rad>s2 Ans.

*16–140.
At the instant shown rod AB has an angular velocity vAB 4 rad/s

vAB = 4 rad>s and an angular acceleration aAB = 2 rad>s2. A aAB 2 rad/s2
rod CD at this instant.The collar at C is pin connected to CD
60 0.5 m
and slides freely along AB.
0.75 m
C D
B
SOLUTION
Coordinate Axes: The origin of both the fixed and moving frames of reference are
located at point A. The x, y, z moving frame is attached to and rotate with rod AB
since collar C slides along rod AB.
Kinematic Equation: Applying Eqs. 16–24 and 16–27, we have
vC = vA + Æ * rC>A + (vC>A)xyz (1)

#
aC = aA + Æ * rC>A + Æ * (Æ * rC>A) + 2Æ * (v C>A)xyz + (a C>A)xyz (2)
Motion of moving reference Motion of C with respect to moving reference

vA = 0 rC>A = 50.75i6m
aA = 0
or
(vC>A)xyz = (yC>A)xyz i
laws
Æ = 4k rad>s
# (a C>A)xyz = (aC>A)xyz i
Web)
teaching
Æ = 2k rad>s2
in
copyright
Wide
Dissemination
permitted.
The velocity and acceleration of collar C can be determined using Eqs. 16–9 and World
States
instructors
16–14 with rC>D = { -0.5 cos 30°i - 0.5 sin 30°j }m = { -0.4330i - 0.250j} m.
not
the
of
is
learning.
on
United
vC = vCD * rC>D = -vCDk * ( -0.4330i - 0.250j)

use
and
by
the
student
= -0.250vCDi + 0.4330vCDj
work
for
(including
the
protected
aC = a CD * rC>D - v2CD rC>D

of
solely
work
is
assessing
this
= -aCD k * ( -0.4330i - 0.250j) - v2CD( -0.4330i - 0.250j)

work
and
of
integrity
provided
This
is
the
= A 0.4330v2CD - 0.250 aCD B i + A 0.4330aCD + 0.250v2CD B j

part
courses
any
and
of
destroy

their
will
sale
v C = vA + Æ * rC>A + (vC>A)xyz
-0.250 vCD i + 0.4330vCDj = 0 + 4k * 0.75i + (yC>A)xyz i
-0.250vCD i + 0.4330vCD j = (yC>A)xyz i + 3.00j
Equating i and j components and solve, we have
(yC>A)xyz = - 1.732 m>s
vCD = 6.928 rad>s = 6.93 rad>s Ans.
16–140. continued

#
aC = aA + Æ * rC>A + Æ * (Æ * rC>A) + 2Æ * (vC>A)xyz + (aC>A)xyz
C 0.4330 A 6.9282 B - 0.250 aCD D i + C 0.4330aCD + 0.250 A 6.9282 B D j

= 0 + 2k * 0.75i + 4k * (4k * 0.75i) + 2 (4k) * ( -1.732i) + (aC>A)xyz i
(20.78 - 0.250aCD)i + (0.4330 aCD + 12)j = C (aC>A)xyz - 12.0 D i - 12.36j
(aC>A)xyz = 46.85 m>s2
aCD = - 56.2 rad>s2 = 56.2 rad>s2 d Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
will
sale
16–141.
The “quick-return” mechanism consists of a crank AB, D

slider block B, and slotted link CD. If the crank has the
angular motion shown, determine the angular motion of the
slotted link at this instant. 100 mm B
vAB 3 rad/s 30
aAB 9 rad/s2
A
SOLUTION
vB = 3(0.1) = 0.3 m>s 300 mm
30
(aB)t = 9(0.1) = 0.9 m>s 2
(aB )n = (3)2 (0.1) = 0.9 m>s2 C

vCD, aCD
0.3 cos 60°i + 0.3 sin 60°j = 0 + (vCDk) * (0.3i) + vB>C i
vB>C = 0.15 m>s
vCD = 0.866 rad>s d Ans.

#
aB = aC + Æ * rB>C + Æ * (Æ * rB>C) + 2Æ * (vB>C)xyz + (aB>C)xyz
or
laws
Web)
0.9 cos 60°i - 0.9 cos 30°i + 0.9 sin 60°j + 0.9 sin 30°j = 0 + (aCD k) * (0.3i)
teaching
in
copyright
Wide
+(0.866k) * (0.866k * 0.3i) + 2(0.866k * 0.15i) + aB>C i Dissemination
permitted.
World
States
-0.3294i + 1.2294j = 0.3aCD j - 0.225i + 0.2598j + aB>C i

instructors
not
the
of
is
learning.
on
aB>C = - 0.104 m>s2

United
use
and
by
the
aCD = 3.23 rad>s2 d

student
Ans.
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
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destroy
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will
sale
16–142.
At the instant shown, the robotic arm AB is rotating 125 mm

y
counter clockwise at v = 5 rad>s and has an angular
C
acceleration a = 2 rad>s2. Simultaneously, the grip BC is B 15°
rotating counterclockwise at v¿ = 6 rad>s and a¿ = 2 rad>s2, 300 mm
both measured relative to a fixed reference. Determine the
ω ,α
velocity and acceleration of the object heldat the grip C.
30°
x
SOLUTION ω, α
A
vC = vB + Æ * rC>B + (vC>B)xyz (1)

#
aC = aB + Æ * rC>B + Æ * (Æ * rC>B) + 2Æ * (vC>B)xyz + (aC>B)xyz (2)
Motion of Motion of C with respect

rC>B = {0.125 cos 15°i + 0.125 sin 15°j} m
Æ = {6k} rad>s (vC>B)xyz = 0

#
Æ = {2k} rad>s2 (aC>B)xyz = 0
Motion of B:
or
laws
vB = v * rB>A
Web)
teaching
in
= (5k) * (0.3 cos 30°i + 0.3 sin 30°j)
copyright
Wide
Dissemination
= {- 0.75i + 1.2990j} m>s

permitted.
World
States
instructors
not
the
of
is
aB = a * rB>A - v2rB>A
learning.
on
United
use
and
by
= (2k) * (0.3 cos 30°i + 0.3 sin 30°j) - (5)2(0.3 cos 30°i + 0.3 sin 30°j)
the
student
work
for
(including
= { -6.7952i - 3.2304j} m>s2

the
protected
of
solely
work
is
assessing
Substitute the data into Eqs. (1) and (2) yields:

this
work
and
of
integrity
provided
vC = (- 0.75i + 1.2990j) + (6k) * (0.125 cos 15°i + 0.125 sin 15°j) + 0

This
is
the
part
courses
= { -0.944i + 2.02j} m>s

any
and
Ans.
of
destroy
their
aC = (- 6.79527i - 3.2304j) + (2k) * (0.125 cos 15°i + 0.125 sin 15°j)

will
sale
+ (6k) * [(6k) * (0.125 cos 15°i + 0.125 sin 15°j)] + 0 + 0
= { -11.2i - 4.15j} m s2 Ans.
16–143.
Peg B on the gear slides freely along the slot in link AB. If 150 mm B
the gear’s center O moves with the velocity and
vO 3 m/s
acceleration shown, determine the angular velocity and aO 1.5 m/s2 600 mm
angular acceleration of the link at this instant.
O
150 mm
SOLUTION A
Gear Motion: The IC of the gear is located at the point where the gear and
the gear rack mesh, Fig. a. Thus,
vO 3
v = = = 20 rad>s
rO>IC 0.15
Then,
vB = vrB>IC = 20(0.3) = 6 m>s :
aO 1.5
Since the gear rolls on the gear rack, a = = = 10 rad>s. By referring to Fig. b,
r 0.15
aB = aO + a * rB>O - v2 rB>O
(aB)t i - (aB)n j = 1.5i + ( - 10k) * 0.15j - 202(0.15j)
(aB)t i - (aB)n j = 3i - 60j

Thus,
(aB)t = 3 m>s2 (aB)n = 60 m>s2
or
laws
Reference Frame: The x¿y¿z¿ rotating reference frame is attached to link AB and
Web)
teaching
coincides with the XYZ fixed reference frame, Figs. c and d. Thus, vB and aB with
in
respect to the XYZ frame is
copyright
Wide
Dissemination
vB = [6 sin 30°i - 6 cos 30° j] = [3i - 5.196j] m>s
permitted.
World
States
instructors
not
aB = (3 sin 30° - 60 cos 30°)i + (-3 cos 30° - 60 sin 30°)j

the
of
is
learning.
on
United
use
and
= [ -50.46i - 32.60j] m>s2

by
the
student
work
For motion of the x¿y¿z¿ frame with reference to the XYZ reference frame,
for
(including
the
#
vA = aA = 0 vAB = -vABk vAB = - aAB k
protected
of
solely
work
is
assessing
For the motion of point B with respect to the x¿y¿z¿ frame is

this
work
and
of
integrity
provided
rB>A = [0.6j]m (vrel)x¿y¿z¿ = (vrel)x¿y¿z¿ j (arel)x¿y¿z¿ = (arel)x¿y¿z¿ j

This
is
the
part

courses
any
and
of
destroy
vB = vA + vAB * rB>A + (vrel)x¿y¿z¿

their
will
sale
3i - 5.196j = 0 + ( -vABk) * (0.6j) + (vrel)x¿y¿z¿ j
3i - 5.196j = 0.6vAB i + (vrel)x¿y¿z¿j

Equating the i and j components yields
3 = 0.6vAB vAB = 5 rad>s Ans.
(vrel)x¿y¿z¿ = - 5.196 m>s

Acceleration: Applying the relative acceleration equation.
#
aB = aA + vAB * rB>A + vAB * (vAB * rB>A) + 2vAB * (vrel)x¿y¿z¿ + (a rel)x¿y¿z¿
-50.46i - 32.60j = 0 + ( - aABk) * (0.6j) + ( -5k) * [(- 5k) * (0.6j)] + 2( -5k) * ( -5.196j) + (arel)x¿y¿z¿j
-50.46i - 32.60j = (0.6aAB - 51.96)i + C (arel)x¿y¿z¿ - 15 D j
- 50.46 = 0.6a AB - 51.96
aAB = 2.5 rad>s2 Ans.
*16–144.
The cars on the amusement-park ride rotate around the y

axle at A with a constant angular velocity vA>f = 2 rad>s,
measured relative to the frame AB. At the same time the
frame rotates around the main axle support at B with a
constant angular velocity vf = 1 rad>s. Determine the D
velocity and acceleration of the passenger at C at the
instant shown. 8 ft
8 ft
A
x
SOLUTION
C 15 ft
vC = vA + Æ * rC>A + (vC>A)xyz (1) vA/f ⫽ 2 rad/s
#
aC = aA + Æ * rC>A + Æ * (Æ * rC>A) + 2Æ * (vC>A)xyz + (aC>A)xyz (2) 30
B
vf ⫽ 1 rad/s
Motion of Motion of C with respect
moving refernce to moving reference
Æ = {3k} rad>s rC>A = {- 8i} ft

#
Æ = 0 (vC>A)xyz = 0
(a C>A)xyz = 0
or
Motion of A:
laws
Web)
teaching
vA = v * rA>B
in
copyright
Wide
= (1k) * ( - 15 cos 30°i + 15 sin 30°j) Dissemination
permitted.
World
States
= {- 7.5i - 12.99j} ft>s

instructors
not
the
of
is
learning.
on
aA = a * rA>B - v2 rA>B
United
use
and
by
the
= 0 - (1)2(- 15 cos 30°i + 15 sin 30°j)

student
work
for
(including
the
= {12.99i - 7.5j} ft>s2

protected
of
solely
work
is
assessing
this
Substitute the data into Eqs.(1) and (2) yields:

work
and
of
integrity
provided
This
is
the
part
vC = ( - 7.5i - 12.99j) + (3k) * ( -8i) + 0

courses
any
and
= {-7.5i - 37.0j }ft>s

of
Ans.
destroy
their
will
sale
aC = (12.99i - 7.5j) + 0 + (3k) * [(3k) * (-8i) + 0 + 0]
= {85.0i - 7.5j}ft>s2 Ans.
16–145.
The cars on the amusement-park ride rotate around the axle y

at A with a constant angular velocity vA>f = 2 rad>s, measured
relative to the frame AB. At the same time the frame rotates
around the main axle support at B with aconstant angular D
velocity vf = 1 rad>s. Determine the velocity and acceleration
of the passenger at D at the instant shown. 8 ft
8 ft
A
x
SOLUTION C
ωA = 2 rad/s
15 ft
/f
vD = vA + Æ * rD>A + (vD>A)xyz (1) 30°
B
# ω f = 1 rad/s
aD = aA + v * rD>A + Æ * (Æ * rD>A) + 2Æ * (vD>A)xyz + (aD>A)xyz (2)

rD>A = {8j} ft
Æ = {3k} rad>s (vD>A)xyz = 0

#
Æ = 0 (aD>A)xyz = 0
Motion of A:
or
laws
vA = v * rA>B
Web)
teaching
in
= (1k) * (-15 cos 30°i + 15 sin 30°j)
copyright
Wide
Dissemination
= {- 7.5i - 12.99j} ft>s

permitted.
World
States
instructors
not
the
of
is
aA = a * rA>B - v2rA>B
learning.
on
United
use
and
by
= 0 - (1)2(-15 cos 30°i + 15 sin 30°j)

the
student
work
for
(including
= {12.99i - 7.5j} ft>s2

the
protected
of
solely
work
is
assessing
Substitute the data into Eqs. (1) and (2) yields:

this
work
and
of
integrity
provided
vD = ( -7.5i - 12.99j) + (3k) * (8j) + 0

This
is
the
part
courses
= { -31.5i - 13.0j} ft>s

any
and
Ans.
of
destroy
their
aD = (12.99i - 7.5j) + 0 + (3k) * [(3k) * (8j)] + 0 + 0

will
sale
= {13.0i - 79.5j} ft s2 Ans.
16–146.
If the slotted arm AB rotates about the pin A with a

constant angular velocity of vAB = 10 rad>s, determine the
angular velocity of link CD at the instant shown. B
D
600 mm
vAB ⫽ 10 rad/s
SOLUTION 450 mm
30⬚
A 45⬚
Reference Frame: The xyz rotating reference frame is attached to link AB and C
the motion of the xyz frame with respect to the XYZ frame is
vA = 0 vAB = [10k] rad>s

#
vAB = 0
For the motion of point D relative to the xyz frame, we have
rD>A = [0.6i] m (vrel)xyz = (vrel)xyz i
Since link CD rotates about a fixed axis, vD can be determined from
vD = vCD * rD
or
laws
= (vCD k) * (0.45 cos 15° i + 0.45 sin 15° j)
Web)
teaching
in
= - 0.1165vCD i + 0.4347vCD j
copyright
Wide
Dissemination
permitted.
Velocity: Applying the relative velocity equation, we have
World
States
instructors
not
the
of
is
vD = vA + vAB * rD>A + (vrel)xyz

learning.
on
United
use
and
by
the
- 0.1165vCD i + 0.4347vCD j = 0 + (10k) * (0.6i) + (vrel)xyz i

student
work
for
(including
the
- 0.1165vCD i + 0.4347vCD j = (vrel)xyzi + 6j

protected
of
solely
work
is
assessing
Equating the i and j components

this
work
and
of
integrity
provided
- 0.1165vCD = (vrel)xyz
This
is
the
part
courses
any
and
0.4347vCD = 6
of
destroy
their
will
Solving,
sale
vCD = 13.80 rad>s = 13.8 rad>s Ans.
(vrel)xyz = - 1.608 m>s
16–147.
At the instant shown, boat A travels with a speed of 15 m>s,

which is decreasing at 3 m>s2, while boat B travels with a
speed of 10 m>s, which is increasing at 2 m>s2. Determine 30 m
the velocity and acceleration of boat A with respect to boat
B at this instant.
15 m/s
50 m 50 m
A B
SOLUTION 10 m/s
3 m/s2 2 m/s2
Reference Frame: The xyz rotating reference frame is attached to boat B and
coincides with the XYZ fixed reference frame at the instant considered, Fig. a. Since
boats A and B move along the circular paths, their normal components of
vA 2 152 vB 2 102
acceleration are (aA)n = = = 4.5 m>s2 and (aB)n = = = 2 m>s2.
r 50 r 50
Thus, the motion of boats A and B with respect to the XYZ frame are
vA = [15j] m>s vB = [-10j] m>s
aA = [ -4.5i - 3j] m>s2 aB = [2i - 2j] m>s2
or
laws
Also, the angular velocity and angular acceleration of the xyz reference frame with
Web)
teaching
in
respect to the XYZ reference frame are
copyright
Wide
Dissemination
vB 10
v = = = 0.2 rad>s v = [0.2k] rad>s
permitted.
World
States
r 50
instructors
not
the
of
is
learning.
# #
on
(aB)t 2
United
use
v = = = 0.04 rad>s2 v = [0.04k] rad>s2

and
by
r 50
the
student
work
for
(including
the
And the position of boat A with respect to B is

protected
of
solely
work
is
rA>B = [-20i] m
assessing
this
work
and
of
integrity
provided

This
is
the
part
courses
any
vA = vB + v * rA>B + (vrel)xyz
and
of
destroy
their
15j = - 10j + (0.2k) * ( - 20i) + (vrel)xyz

will
sale
15j = - 14j + (vrel)xyz
(vrel)xyz = [29j] m>s Ans.

#
aA = aB + v * rA>B + v * (v * rA>B) + 2v * (vrel)xyz + (arel)xyz
(- 4.5i - 3j) = (2i - 2j) + (0.04k) * (-20i) + (0.2k) * C (0.2k) * ( -20i) D + 2(0.2k) * (29j) + (arel)xyz
-4.5i - 3j = - 8.8i - 2.8j + (arel)xyz
(arel)xyz = [4.3i - 0.2j] m>s2 Ans.
*16–148.
At the instant shown, boat A travels with a speed of 15 m>s,

which is decreasing at 3 m>s2, while boat B travels with a
speed of 10 m>s, which is increasing at 2 m>s2. Determine 30 m
the velocity and acceleration of boat B with respect to boat
A at this instant.
15 m/s
50 m 50 m
A B
SOLUTION 10 m/s
3 m/s2 2 m/s2
Reference Frame: The xyz rotating reference frame is attached to boat A and
coincides with the XYZ fixed reference frame at the instant considered, Fig. a. Since
boats A and B move along the circular paths, their normal components of
vA 2 152 vB 2 102
acceleration are (aA)n = = = 4.5 m>s2 and (aB)n = = = 2 m>s2.
r 50 r 50
Thus, the motion of boats A and B with respect to the XYZ frame are
vA = [15j] m>s vB = [-10j] m>s
aA = [-4.5i - 3j] m>s2 aB = [2i - 2j] m>s2
or
laws
Also, the angular velocity and angular acceleration of the xyz reference frame with
Web)
teaching
in
respect to the XYZ reference frame are
copyright
Wide
Dissemination
vA 15
v = = = 0.3 rad>s v = [0.3k] rad>s
permitted.
World
States
r 50
instructors
not
the
of
is
learning.
# #
on
(aA)t 3
United
use
v = = = 0.06 rad>s2 v = [-0.06k] rad>s2

and
by
r 50
the
student
work
for
(including
the
And the position of boat B with respect to boat A is

protected
of
solely
work
is
rB>A = [20i] m
assessing
this
work
and
of
integrity
provided

This
is
the
part
courses
any
vB = vA + v * rB>A + (vrel)xyz
and
of
destroy
their
-10j = 15j + (0.3k) * (20i) + (vrel)xyz

will
sale
- 10j = 21j + (vrel)xyz
(vrel)xyz = [-31j] m>s Ans.

#
aB = aA + v * rB>A + v(v * rB>A) + 2v * (vrel)xyz + (arel)xyz
(2i - 2j) = ( -4.5i - 3j) + ( - 0.06k) * (20i) + (0.3k) * C (0.3k) * (20i) D + 2(0.3k) * ( -31j) + (arel)xyz
2i - 2j = 12.3i - 4.2j + (arel)xyz
(arel)xyz = [-10.3i + 2.2j] m>s2 Ans.
16–149.
If the piston is moving with a velocity of vA = 3 m>s and vA ⫽ 3 m/s

acceleration of aA = 1.5 m>s2, determine the angular aA ⫽ 1.5 m/s2
velocity and angular acceleration of the slotted link at the
instant shown. Link AB slides freely along its slot on the
fixed peg C. A 30⬚
C
0.5 m
SOLUTION B
Reference Frame: The xyz reference frame centered at C rotates with link AB and
the motion of the xyz frame with respect to the XYZ frame is
vC = aC = 0 vAB = - vABk aAB = - aABk
The motion of point A with respect to the xyz frame is
rA>C = [ -0.5i] m (vrel)xyz = (vrel)xyz i (arel)xyz = (arel)xyzi
The motion of point A with respect to the XYZ frame is
vA = 3 cos 30°i + 3 sin 30°j = [2.598i + 1.5j] m>s
or
aA = 1.5 cos 30°i + 1.5 sin 30°j = [1.299i + 0.75j] m>s
laws
Web)
teaching
in
copyright
Wide
vA = vC + vAB * rA>C + (vrel)xyz Dissemination
permitted.
World
States
instructors
not
2.598i + 1.5j = 0 + (- vAB k) * ( -0.5i) + (vrel)xyz i

the
of
is
learning.
on
United
use
and
2.598i + 1.5j = (vrel)xyzi + 0.5vAB j

by
the
student
work
for

(including
the
protected
of
solely
work
is
(vrel)xyz = 2.598 m>s

assessing
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work
and
of
0.5vAB = 1.5 vAB = 3 rad>s Ans.

integrity
provided
This
is
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part

courses
any
and
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#
aA = aC + vAB * rA>C + vAB * (vAB * rA>C) + 2vAB * (vrel)xyz + (arel)xyz
their
will
sale
1.299i + 0.75j = 0 + (- aABk) * (- 0.5i) + (- 3k) * [( -3k) * ( - 0.5i)] + 2(- 3k) * (2.598i) + (arel)xyzi
1.299i + 0.75j = C 4.5 + (arel)xyz D i + (0.5aAB - 15.59)j
0.75 = 0.5aAB - 15.59
aAB = 32.68 rad>s2 = 32.7 rad>s2 Ans.
16–150.
The two-link mechanism serves to amplify angular motion. B

Link AB has a pin at B which is confined to move within the
D 150 mm
slot of link CD. If at the instant shown, AB (input) has an
angular velocity of vAB = 2.5 rad>s, determine the angular
velocity of CD (output) at this instant.
C
30
A
45
SOLUTION
vAB 2.5 rad/s
rBA 0.15 m
=
sin 120° sin 45°
rBA = 0.1837 m
vC = 0
aC = 0
Æ = -vDCk
#
Æ = -aDCk
rB>C = {- 0.15 i} m
or
laws
(vB>C)xyz = (yB>C)xyzi
Web)
teaching
in
(aB>C)xyz = (aB>C)xyzi
copyright
Wide
Dissemination
vB = vAB * rB>A = ( -2.5k) * ( -0.1837 cos 15°i + 0.1837 sin 15°j)

permitted.
World
States
instructors
not
the
of
is
= {0.1189i + 0.4436j} m>s

learning.
on
United
use
and
by
the
student
work
for
(including
0.1189i + 0.4436j = 0 + (- vDCk) * ( - 0.15i) + (vB>C)xyz i

the
protected
of
solely
work
is
0.1189i + 0.4436j = (vB>C)xyz i + 0.15vDC j

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Solving:
This
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(vB>C)xyz = 0.1189 m>s

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vDC = 2.96 rad>s b Ans.

will
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16–151.
The gear has the angular motion shown. Determine the A C

angular velocity and angular acceleration of the slotted
link BC at this instant. The peg at A is fixed to the gear.
v ⫽ 2 rad/s
2 ft 0.5 ft a ⫽ 4 rad/s2
O
0.7 ft
SOLUTION
B
yA = (1.2)(2) = 2.4 ft>s ;
aO = 4(0.7) = 2.8 ft>s2
a A = a O + a A>O
aA = 2.8 + 4(0.5) + (2)2(0.5)

; ;
T
a A = 4.8 + 2
; T
vA = vB + Æ * rA>B + (vA>B)xyz
4 3
or
-2.4i = 0 + (Æk) * (1.6i + 1.2j) + yA>B a b i + yA>B a b j
laws
5 5
Web)
teaching
in
-2.4i = 1.6Æj - 1.2Æi + 0.8yA>B i + 0.6yA>B j
copyright
Wide
Dissemination
-2.4 = -1.2Æ + 0.8yA>B
permitted.
World
States
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the
of
0 = 1.6Æ + 0.6yA>B
is
learning.
on
United
use
and
by
the
Solving,
student
work
for
(including
vBC = Æ = 0.720 rad>sd

the
Ans.
protected
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solely
work
is
yA>B = -1.92 ft>s

assessing
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work
and
of
integrity
a A = a B + Æ * rA>B + Æ * (Æ * rA>B) + 2Æ * (vA>B)xyz + (a A>B)xyz

provided
This
is
the
part
#
-4.8i - 2j = 0 + (Æ k) * (1.6i + 1.2j) + (0.72k) * (0.72k) * (1.6i + 1.2j))
courses
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and
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+2(0.72k) * [- (0.8)(1.92)i - 0.6(1.92)j] + 0.8aB>A i + 0.6aB>A j

will
sale
# #
-4.8i - 2j = 1.6Æ j - 1.2Æ i - 0.8294i - 0.6221j - 2.2118j + 1.6589i + 0.8aB>A i + 0.6aB>A.
#
-4.8 = -1.2Æ - 0.8294 + 1.6589 + 0.8aB/A
#
-2 = 1.6Æ - 0.6221 - 2.2118 + 0.6aB/A
#
-4.6913 = - Æ + 0.667aB/A
#
0.5212 = Æ + 0.357a B/A
#
aBC = Æ = 2.02 rad/s2 d Ans.
aB/A = -4.00 ft>s2
*16–152.
The Geneva mechanism is used in a packaging system to vB 4 rad/s

convert constant angular motion into intermittent angular
motion. The star wheel A makes one sixth of a revolution
for each full revolution of the driving wheel B and the
attached guide C. To do this, pin P, which is attached to B, B
C
slides into one of the radial slots of A, thereby turning P
wheel A, and then exits the slot. If B has a constant angular
velocity of vB = 4 rad>s, determine V A and AA of wheel A
at the instant shown.
A 4 in.
SOLUTION u 30
The circular path of motion of P has a radius of
rP = 4 tan 30° = 2.309 in.
Thus,
vP = - 4(2.309)j = -9.238j
aP = -(4)2(2.309)i = - 36.95i
Thus,
or
laws
vP = vA + Æ * rP>A + (vP>A)xyz
Web)
teaching
in
- 9.238j = 0 + (vA k) * (4j) - vP>A j
copyright
Wide
Dissemination
permitted.
Solving,
World
States
instructors
not
the
of
is
vA = 0 Ans.
learning.
on
United
use
and
by
vP>A = 9.238 in.>s

the
student
work
#
for
(including
aP = aA + Æ * rP>A + Æ * (Æ * rP>A) + 2Æ * (vP>A)xyz + (aP>A)xyz

the
protected
of
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is
- 36.95i = 0 + (aAk) * (4j) + 0 + 0 - aP>A j

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Solving,
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-36.95 = -4aA
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aA = 9.24 rad>s2 d Ans.

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aP>A = 0
17–1.
Determine the moment of inertia Iy for the slender rod. The z

rod’s density r and cross-sectional area A are constant.
Express the result in terms of the rod’s total mass m.
l y
SOLUTION A
x
Iy = x 2 dm
LM
l
= x 2 (r A dx)
L0
1
= r A l3
3
m = rAl
Thus,
or
laws
1
Iy = m l2 Ans.
Web)
teaching
3
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
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work
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(including
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is
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17–2.
z
The solid cylinder has an outer radius R, height h, and is
made from a material having a density that varies from its
center as r = k + ar2, where k and a are constants. R
Determine the mass of the cylinder and its moment of
inertia about the z axis.
SOLUTION
Consider a shell element of radius r and mass
dm = r dV = r(2p r dr)h
R
m = (k + ar2)(2p r dr)h
L0
kR2 aR4
m = 2p h( + )
2 4
aR2
m = p h R2(k + ) Ans.
2
dI = r2 dm = r2(r)(2p r dr)h
or
laws
R
Web)
teaching
Iz = r2(k + ar2)(2p r dr) h
in
L0
copyright
Wide
Dissemination
permitted.
Iz = 2ph (k r3 + a r5) dr
World
States
instructors
L0
not
the
of
is
learning.
on
United
k R4 aR6
use
and
Iz = 2ph[ + ]
by
the
4 6
student
work
for
(including
p h R4 2 aR2
the
Iz = [k +
protected
] Ans.
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17–3.
Determine the moment of inertia of the thin ring about the y

z axis. The ring has a mass m.
R
x
SOLUTION
2p
Iz = r A(R du)R2 = 2p r A R3
L0
2p
m = r A R du = 2p r A R
L0
Thus,
I z = m R2 Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
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States
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of
is
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*17–4.
Determine the moment of inertia of the semiellipsoid with

respect to the x axis and express the result in terms of the
y x2 y2
mass m of the semiellipsoid. The material has a constant ⫹ 2⫽1
a 2 b
density r.
SOLUTION
y2dm a
dIx =
2
m = rdV
Lv
a 2
rpb a 1 - b dx
2 x
=
L0
2
a
2
= rpab2
3
a 2
x 2
b a1 - 2 b dx
1 4
Ix = rp
or
2 L0 a
laws
Web)
teaching
4
in
= rpab4
15
copyright
Wide
Dissemination
permitted.
Thus,
World
States
instructors
not
the
of
is
learning.
2
on
mb2
United
Ix = Ans.
use
and
5
by
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17–5.
The sphere is formed by revolving the shaded area around y

the x axis. Determine the moment of inertia Ix and express x2 + y2 = r2
the result in terms of the total mass m of the sphere. The
material has a constant density r.
SOLUTION
y2 dm
dIx =
2
dm = r dV = r(py2 dx) = r p(r2 - x2) dx
1
dIx = r p(r2 - x2)2 dx
2
r
1 2 2 2
Ix = r p(r - x ) dx
L- r 2
8
= pr r5
15
or
laws
r
2 2
m = r p(r - x ) dx
Web)
teaching
L- r
in
copyright
Wide
4 Dissemination
= r p r3
permitted.
World
3
States
instructors
not
the
of
is
learning.
on
Thus,
United
use
and
by
the
2
student
work
Ix =
for
m r2 Ans.
(including
5
the
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17–6.
Determine the mass moment of inertia Iz of the cone

formed by revolving the shaded area around the z axis. The
z
density of the material is r. Express the result in terms of
the mass m of the cone.
z ⫽ hr (r ⫺ y)
SOLUTION
h
Differential Element: The mass of the disk element shown shaded in Fig. a is
ro 2
z. Thus, dm = rp aro - zb dz. The
ro
dm = r dV = rpr2dz. Here, r = y = ro -
h h
mass moment of inertia of this element about the z axis is y
1 1 1 1 ro 4
dIz = dmr2 = (rpr2dz)r2 = rpr4dz = rparo - zb dz
2 2 2 2 h
x r
Mass: The mass of the cone can be determined by integrating dm. Thus,
h
ro 2
m = dm = rparo - z b dz
L L0 h
ro 3 h
= rpc aro - z b a - b d 2 = rpro2h
1 h 1
3 h ro 0 3
or
laws
Mass Moment of Inertia: Integrating dIz, we obtain
Web)
teaching
h
ro 4
rp aro - z b dz
1
in
Iz = dIz =
L L0 2 h
copyright
Wide
Dissemination
ro 3 h
rpc aro - z b a - b d 2 =
permitted.
1 1 h 1 World
rpro4h
States
instructors
= not
2 5 h ro 10
the
of
0
is
learning.
on
United
From the result of the mass, we obtain rpro2h = 3m. Thus, Iz can be written as
use
and
by
A rpro2h B ro2 = (3m)ro2 = mro2

the
1 1 3
student
Iz = Ans.
work
for
10 10 10
(including
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of
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17–7.
y
The solid is formed by revolving the shaded area around the
y axis. Determine the radius of gyration ky . The specific
weight of the material is g = 380 lb>ft3.
3 in.
y3 9x
x
SOLUTION
3 in.
The moment of inertia of the solid : The mass of the disk element
1
dm = rpx2 dy = 81 rpy6 dy.
1
dIy = dmx2
2
1
= A rpx2 dy B x2
2
1 1
= rpx4 dy = rpy12 dy
2 2(94)
3
1
Iy = dIy = y12 dy
or
rp
laws
L 2(94) L0
Web)
teaching
= 29.632r
in
copyright
Wide
Dissemination
The mass of the solid:
permitted.
World
States
instructors
not
3
the
of
1
is
m = dm = y6 dy = 12.117r
learning.
rp
on
United
Lm L0
use
81
and
by
the
student
Iy 29.632r
work
for
ky = = = 1.56 in. Ans.

(including
Am A 12.117r
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*17–8.
The concrete shape is formed by rotating the shaded area y

about the y axis. Determine the moment of inertia Iy . The
specific weight of concrete is g = 150 lb>ft3.
4 in.
6 in.
2 2 8 in.
y 9x
x
SOLUTION
1 1
d Iy = (dm)(10)2 - (dm)x2
2 2
1 1
= [pr(10)2 dy](10)2 - prx2 dyx2
2 2
8 8
1 9 2
Iy = pr B (10)4 dy - a b y2dy R
2 L0 L0 2
1
2 p(150)
2
9 1
= 3 B (10)4(8) - a b a b (8)3 R
32.2(12) 2 3
= 324.1 slug # in2
or
Iy = 2.25 slug # ft 2
laws
Ans.
Web)
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in
copyright
Wide
Dissemination
permitted.
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17–9.
Determine the moment of inertia Iz of the torus. The mass of z

the torus is m and the density r is constant. Suggestion: Use a
shell element.
R
SOLUTION a
dm = 2p(R - x)(2z¿r dx)
dlz = (R - x)2 dm
= 4pr[(R3 - 3R2 x + 3Rx2 - x3) 2a2 - x2 dx]

a a a a
3
Iz = 4pr[R3 2a2 - x2 dx - 3R 2 x3 2a 2 - x 2 dx + 3R 2a 2 - x 2 dx - x 2a 2 - x 2
L-a L-a L-a L-a
3 2
= 2p2 rRa2 (R2 + a)
4
Since m = rV = 2pRrpa2
or
laws
3 2
Iz = m(R2 + a ) Ans.
Web)
teaching
4
in
copyright
Wide
Dissemination
permitted.
World
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is
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on
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17–10.
Determine the mass moment of inertia of the pendulum O

about an axis perpendicular to the page and passing through
point O. The slender rod has a mass of 10 kg and the sphere
has a mass of 15 kg.
450 mm
SOLUTION
A
Composite Parts: The pendulum can be subdivided into two segments as shown in
Fig. a. The perpendicular distances measured from the center of mass of each
segment to the point O are also indicated. 100 mm
Moment of Inertia: The moment of inertia of the slender rod segment (1) and the B
sphere segment (2) about the axis passing through their center of mass can be
1 2
computed from (IG)1 = ml2 and (IG)2 = mr2. The mass moment of inertia of
12 5
each segment about an axis passing through point O can be determined using the
parallel-axis theorem.
IO = ©IG + md2
= c (10)(0.452) + 10(0.2252) d + c (15)(0.12) + 15(0.552) d

1 2
12 5
or
= 5.27 kg # m2
laws
Ans.
Web)
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in
copyright
Wide
Dissemination
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States
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17–11.
The slender rods have a weight of 3 lb>ft. Determine the

moment of inertia of the assembly about an axis A
perpendicular to the page and passing through point A.
2 ft
1 ft
SOLUTION
1.5 ft 1.5 ft
d(2)2 = 2.17 slug # ft2
1 3(3) 1 3(3) 3(3)
IA = c d (3)2 + c d(3)2 + c Ans.
3 32.2 12 32.2 32.2
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
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*17–12.
Determine the moment of inertia of the solid steel assembly 0.25 ft

about the x axis. Steel has a specific weight of
0.5 ft
gst = 490 lb>ft3. x
2 ft 3 ft
SOLUTION
1 3 3
Ix = m (0.5)2 + m (0.5)2 - m (0.25)2
2 1 10 2 10 3
1 3 1 3 1 490
= c p(0.5)2(3)(0.5)2 + a b p(0.5)2 (4)(0.5)2 - a bp(0.25)2(2)(0.25)2 d a b
2 10 3 10 2 32.2
= 5.64 slug # ft2 Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
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17–13.
The wheel consists of a thin ring having a mass of 10 kg and

four spokes made from slender rods, each having a mass of
2 kg. Determine the wheel’s moment of inertia about an
axis perpendicular to the page and passing through point A. 500 mm
SOLUTION
A
IA = Io + md3
1
= c2 c (4)(1)2 d + 10(0.5)2 d + 18(0.5)2
12
= 7.67 kg # m2 Ans.
or
laws
Web)
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in
copyright
Wide
Dissemination
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17–14.
If the large ring, small ring and each of the spokes weigh
100 lb, 15 lb, and 20 lb, respectively, determine the mass 4 ft
moment of inertia of the wheel about an axis perpendicular
to the page and passing through point A.
1 ft
O
SOLUTION
A
Composite Parts: The wheel can be subdivided into the segments shown in Fig. a.
The spokes which have a length of (4 - 1) = 3 ft and a center of mass located at a
3
distance of a1 + b ft = 2.5 ft from point O can be grouped as segment (2).
2
Mass Moment of Inertia: First, we will compute the mass moment of inertia of the
wheel about an axis perpendicular to the page and passing through point O.
100 1 20 20 15
IO = a b (4 2) + 8c a b(32) + a b(2.52) d + a b(12)
32.2 12 32.2 32.2 32.2
= 84.94 slug # ft2
or
laws
The mass moment of inertia of the wheel about an axis perpendicular to the page
Web)
teaching
and passing through point A can be found using the parallel-axis theorem
in
100 20 15
copyright
IA = IO + md 2, where m = + 8a b + = 8.5404 slug and d = 4 ft.
Wide
32.2 32.2 32.2 Dissemination
Thus,
permitted.
World
States
instructors
IA = 84.94 + 8.5404(42) = 221.58 slug # ft2 = 222 slug # ft2

not
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of
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Ans.
learning.
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17–15.
Determine the moment of inertia about an axis perpendicular

to the page and passing through the pin at O. The thin plate
O
has a hole in its center. Its thickness is 50 mm, and the
material has a density r = 50 kg>m3.
150 mm
SOLUTION
1 1 1.40 m 1.40 m
IG = C 50(1.4)(1.4)(0.05) D C (1.4)2 + (1.4)2 D - C 50(p)(0.15)2(0.05) D (0.15)2
12 2
= 1.5987 kg # m2
IO = IG + md2
m = 50(1.4)(1.4)(0.05) - 50(p)(0.15)2(0.05) = 4.7233 kg
IO = 1.5987 + 4.7233(1.4 sin 45°)2 = 6.23 kg # m2 Ans.
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*17–16.
Determine the mass moment of inertia of the thin plate

about an axis perpendicular to the page and passing
through point O. The material has a mass per unit area of O 200 mm
200 mm
20 kg>m2.
SOLUTION
Composite Parts: The plate can be subdivided into two segments as shown in Fig. a.
200 mm
Since segment (2) is a hole, it should be considered as a negative part. The
perpendicular distances measured from the center of mass of each segment to the
point O are also indicated.
Mass Moment of Inertia: The moment of inertia of segments (1) and (2) are computed
as m1 = p(0.2 2)(20) = 0.8p kg and m2 = (0.2)(0.2)(20) = 0.8 kg. The moment of
inertia of the plate about an axis perpendicular to the page and passing through point
O for each segment can be determined using the parallel-axis theorem.
IO = ©IG + md2
1 1
= c (0.8p)(0.22) + 0.8p(0.22) d - c (0.8)(0.22 + 0.22) + 0.8(0.22) d
or
2 12
laws
= 0.113 kg # m2
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17–17.
The assembly consists of a disk having a mass of 6 kg and 0.8 m 0.5 m D

slender rods AB and DC which have a mass of 2 kg/m.
Determine the length L of DC so that the center of mass
0.2 m
is at the bearing O. What is the moment of inertia of the L
assembly about an axis perpendicular to the page and A O B
passing through O?
C
SOLUTION
Measured from the right side,
6(1.5) + 2(1.3)(0.65)
y = = 0.5
6 + 1.3(2) + L(2)
L = 6.39 m Ans.
1 1 1
IO = (6)(0.2)2 + 6(1)2 + (2)(1.3)(1.3)2 + 2(1.3)(0.15)2 + (2)(6.39)(6.39)2 + 2(6.39)(0.5)2
2 12 12
IO = 53.2 kg # m2 Ans.
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17–18.
The assembly consists of a disk having a mass of 6 kg and 0.8 m 0.5 m D

slender rods AB and DC which have a mass of 2 kg/m. If
L = 0.75 m, determine the moment of inertia of the
0.2 m
assembly about an axis perpendicular to the page and L
passing through O. A O B
SOLUTION
1 1 1
IO = (6)(0.2)2 + 6(1)2 + (2)(1.3)(1.3)2 + 2(1.3)(0.15)2 + (2)(0.75)(0.75)2 + 2(0.75)(0.5)2
2 12 12
IO = 6.99 kg # m2 Ans.
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17–19.
The pendulum consists of two slender rods AB and OC 0.4 m 0.4 m

which have a mass of 3 kg>m. The thin plate has a mass of A B
12 kg>m2. Determine the location y of the center of mass G
O
of the pendulum, then calculate the moment of inertia of
the pendulum about an axis perpendicular to the page and _
y
passing through G.
1.5 m
G
SOLUTION
1.5(3)(0.75) + p(0.3)2(12)(1.8) - p(0.1)2(12)(1.8)
y = C
1.5(3) + p(0.3)2(12) - p(0.1)2(12) + 0.8(3)
0.1 m
= 0.8878 m = 0.888 m Ans.
0.3 m
1
IG = (0.8)(3)(0.8)2 + 0.8(3)(0.8878)2
12
1
+ (1.5)(3)(1.5)2 + 1.5(3)(0.75 - 0.8878)2
12
1
+ [p(0.3)2(12)(0.3)2 + [p(0.3)2(12)](1.8 - 0.8878)2
2
or
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1
- [p(0.1)2(12)(0.1)2 - [p(0.1)2(12)](1.8 - 0.8878)2
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2
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IG = 5.61 kg # m2
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*17–20.
The pendulum consists of two slender rods AB and OC 0.4 m 0.4 m

which have a mass of 3 kg/m. The thin plate has a mass of A B
12 kg>m2. Determine the moment of inertia of the
O
pendulum about an axis perpendicular to the page and
passing through the pin at O. –y
1.5 m
G
SOLUTION
1 1 1
Io = [3(0.8)](0.8)2 + [3(1.5)](1.5)2 + [12(p)(0.3)2](0.3)2 C
12 3 2
0.1 m
1
+ [12(p)(0.3)2](1.8)2 - [12(p)(0.1)2](0.1)2 - [12(p)(0.1)2](1.8)2
2 0.3 m
= 13.43 = 13.4 kg # m2 Ans.
Also, from the solution to Prob. 17–16,
m = 3(0.8 + 1.5) + 12[p(0.3)2 - p(0.1)2] = 9.916 kg
Io = IG + m d2
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= 5.61 + 9.916(0.8878)2
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= 13.4 kg # m2
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17–21.
The pendulum consists of the 3-kg slender rod and the

5-kg thin plate. Determine the location y of the center of O
mass G of the pendulum; then calculate the moment of
inertia of the pendulum about an axis perpendicular to the
page and passing through G.
y
2m
G
SOLUTION
0.5 m
© ym 1(3) + 2.25(5)
y = = = 1.781 m = 1.78 m Ans.
©m 3 + 5 1m
IG = ©IG + md 2
1 1
= (3)(2)2 + 3(1.781 - 1)2 + (5)(0.52 + 12) + 5(2.25 - 1.781)2
12 12
= 4.45 kg # m2 Ans.
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17–22.
20 mm
Determine the moment of inertia of the overhung crank 30 mm
about the x axis. The material is steel having a destiny of
r = 7.85 Mg>m3. 90 mm
50 mm
x 180 mm
20 mm
SOLUTION x¿
mc = 7.85(10 ) A (0.05)p(0.01) B = 0.1233 kg

3 2 30 mm
20 mm 30 mm
mr = 7.85(103)((0.03)(0.180)(0.02)) = 0.8478 kg 50 mm
Ix = 2 c (0.1233)(0.01)2 + (0.1233)(0.06)2 d
1
2
+ c (0.8478) A (0.03)2 + (0.180)2 B d

1
12
= 0.00325 kg # m2 = 3.25 g # m2 Ans.
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17–23.
20 mm
Determine the moment of inertia of the overhung crank 30 mm
about the x¿ axis. The material is steel having a destiny of
r = 7.85 Mg>m3. 90 mm
50 mm
x 180 mm
20 mm
SOLUTION x¿
mc = 7.85 A 10 B A (0.05)p(0.01) B = 0.1233 kg

3 2 30 mm
mp = 7.85 A 103 B A (0.03)(0.180)(0.02) B = 0.8478 kg

20 mm 30 mm
50 mm
Ix = c (0.1233)(0.01)2 d + c (0.1233)(0.02)2 + (0.1233)(0.120)2 d

1 1
2 2
+ c (0.8478) A (0.03)2 + (0.180)2 B + (0.8478)(0.06)2 d

1
12
= 0.00719 kg # m2 = 7.19 g # m2 Ans.
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*17–24.
The door has a weight of 200 lb and a center of gravity at G. 6 ft 6 ft

Determine how far the door moves in 2 s, starting from rest, A B
if a man pushes on it at C with a horizontal force F = 30 lb.
Also, find the vertical reactions at the rollers A and B.
C G 12 ft
F
SOLUTION
5 ft
3 ft
+ ©F = m(a ) ; 200
: x G x 30 = ( )a
32.2 G
aG = 4.83 ft>s2
200
a+©MA = ©(Mk)A; NB(12) - 200(6) + 30(9) = ( )(4.83)(7)
32.2
NB = 95.0 lb Ans.
+ c ©Fy = m(aG)y ; NA + 95.0 - 200 = 0
NA = 105 lb Ans.
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1 2
teaching
+ )
(: s = s0 + v0t + a t
in
2 G
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s = 0 + 0 + (4.83)(2)2 = 9.66 ft
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17–25.
The door has a weight of 200 lb and a center of gravity at G. 6 ft 6 ft

Determine the constant force F that must be applied to the A B
door to push it open 12 ft to the right in 5 s, starting from
rest. Also, find the vertical reactions at the rollers A and B.
C G 12 ft
F
SOLUTION
5 ft
3 ft
+ )s = s + v t + 1 a t2
(: 0 0 G
2
1
12 = 0 + 0 + aG(5)2
2
ac = 0.960 ft>s2
+ ©F = m(a ) ; 200
: x G x F = (0.960)
32.2
F = 5.9627 lb = 5.96 lb Ans.
200
or
a + ©MA = ©(Mk)A ; NB(12) - 200(6) + 5.9627(9) = (0.960)(7)
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32.2
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NB = 99.0 lb
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17–26.
The uniform pipe has a weight of 500 lb/ft and diameter of

0.5 ft/s2
2 ft. If it is hoisted as shown with an acceleration of 0.5 ft>s2,
determine the internal moment at the center A of the pipe
due to the lift.
5 ft
A
1 ft
5 ft 5 ft 5 ft 5 ft
SOLUTION
Pipe:
10 000
+ c ©Fy = m ay ; T-10 000 = (0.5)
32.2
T = 10 155.27 lb
Cables:
+ c ©Fy = 0; 10 155.27 - 2P cos 45° = 0
P = 7 180.867 lb
1
Px = Py = 7 180.867( ) = 5 077.64 lb
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22
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-5000
in
a + ©MA = ©(Mk)A ; MA + 5000(5) - 5077.64(5) - 5077.64(1) = (0.5)(5)
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17–27.
The drum truck supports the 600-lb drum that has a center
of gravity at G. If the operator pushes it forward with a
horizontal force of 20 lb, determine the acceleration of the
truck and the normal reactions at each of the four wheels. 20 lb
Neglect the mass of the wheels.
G
4 ft
2 ft
SOLUTION
A B
+ ©F = m(a ) ; 600
; x G x 20 = ( )a
32.2 G 0.5 ft 1 ft
aG = 1.0733 ft>s2 = 1.07 ft>s2 Ans.
600
a + ©MA = ©(Mk)A ; 20(4) - 600(0.5) + 2NB (1.5) = (1.0733)(2)
32.2
NB = 86.7 lb Ans.
+ c ©Fy = m(aG)y ; 2NA + 2(86.7) - 600 = 0
NA = 213 lb Ans.
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*17–28.
1 ft
If the cart is given a constant acceleration of a = 6 ft>s2 up 2 ft
the inclined plane, determine the force developed in rod AC
and the horizontal and vertical components of force at pin B. P
The crate has a weight of 150 lb with center of gravity at G, a
G
and it is secured on the platform, so that it does not slide. 1 ft B
Neglect the platform’s weight.
C
30⬚
SOLUTION
Equations of Motion: FAC can be obtained directly by writing the moment equation A
of motion about B,
+ ©MB = ©(Mk)B; 30⬚
150(2) - FAC sin 60°(3) = - a b (6) cos 30°(1) - a b(6) sin 30°(2)
150 150
32.2 32.2
FAC = 135.54 lb = 136 lb Ans.
Using this result and writing the force equations of motion along the x and y axes,
135.54 cos 60° - Bx = a b (6) cos 30°

+ ©F = m(a ) ; 150
: x G x
32.2
Bx = 43.57 lb = 43.6 lb Ans.
or
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150
+ c ©Fy = m(aG)y; By + 135.54 sin 60° - 150 = (6) sin 30°
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32.2
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By = 46.59 lb = 46.6 lb Ans.
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17–29.
1 ft
If the strut AC can withstand a maximum compression 2 ft
force of 150 lb before it fails, determine the cart’s maximum
permissible acceleration. The crate has a weight of 150 lb P
with center of gravity at G, and it is secured on the platform, a
G
so that it does not slide. Neglect the platform’s weight. 1 ft B
30⬚
SOLUTION
Equations of Motion: FAC in terms of a can be obtained directly by writing the A
moment equation of motion about B.
+ ©MB = ©(Mk)B; 30⬚
150(2) - FAC sin 60°(3) = - a b a cos 30°(1) - a ba sin 30°(2)

150 150
32.2 32.2
FAC = (3.346a + 115.47) lb
Assuming AC is about to fail,

FAC = 150 = 3.346a + 115.47
a = 10.3 ft>s2 Ans.
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17–30.
The drop gate at the end of the trailer has a mass of 1.25 Mg
and mass center at G. If it is supported by the cable AB and A
30⬚
hinge at C, determine the tension in the cable when the truck B G
begins to accelerate at 5 m>s2. Also, what are the horizontal 1m
C
and vertical components of reaction at the hinge C? 1.5 m
45⬚
SOLUTION
a + ©MC = ©(Mk)C ; T sin 30°(2.5) - 12 262.5(1.5 cos 45°) = 1250(5)(1.5 sin 45°)
T = 15 708.4 N = 15.7 kN Ans.

+ ©F = m(a ) ;
; - Cx + 15 708.4 cos 15° = 1250(5)
x G x
Cx = 8.92 kN Ans.
+ c ©Fy = m(aG)y ; Cy - 12 262.5 - 15 708.4 sin 15° = 0
Cy = 16.3 kN Ans.
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17–31.
The pipe has a length of 3 m and a mass of 500 kg. It is

attached to the back of the truck using a 0.6-m-long chain B
AB. If the coefficient of kinetic friction at C is mk = 0.4,
A
determine the acceleration of the truck if the angle u = 10° 3m 1m
with the road as shown. θ = 10°
C
SOLUTION
0.4791
f = sin - 1 ¢ ≤ = 52.98°
0.6
+ ©F = m(a ) ;
: T cos 52.98° - 0.4NC = 500aG
x G x
+ c ©Fy = m(aG)y ; NC - 500(9.81) + T sin 52.98° = 0
a + ©MC = ©(Mk)C; - 500(9.81)(1.5 cos 10°) + T sin (52.98° - 10°)(3) = -500aG(0.2605)
T = 3.39 kN
NC = 2.19 kN
aG = 2.33 m>s2 Ans.
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*17–32.
The mountain bike has a mass of 40 kg with center of mass

at point G1, while the rider has a mass of 60 kg with center G2
of mass at point G2. Determine the maximum deceleration
when the brake is applied to the front wheel, without
causing the rear wheel B to leave the road. Assume that the
front wheel does not slip. Neglect the mass of all the wheels. 1.25 m
G1
0.4 m
A B
SOLUTION 0.4 m 0.4 m
0.2 m
Equations of Motion: Since the rear wheel B is required to just leave the road,
NB = 0. Thus, the acceleration a of the bike can be obtained directly by writing the
moment equation of motion about point A.
+ ©MA = (Mk)A; - 40(9.81)(0.4) - 60(9.81)(0.6) = - 40a(0.4) - 60a(1.25)

a = 5.606 m>s2 = 5.61 m>s2 Ans.
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17–33.
The mountain bike has a mass of 40 kg with center of mass

at point G1, while the rider has a mass of 60 kg with center G2
of mass at point G2. When the brake is applied to the front
wheel, it causes the bike to decelerate at a constant rate of
3 m>s2. Determine the normal reaction the road exerts on
the front and rear wheels. Assume that the rear wheel is free 1.25 m
to roll. Neglect the mass of all the wheels. G1
0.4 m
A B
SOLUTION
0.4 m 0.4 m
Equations of Motion: NB can be obtained directly by writing the moment equation 0.2 m
of motion about point A.
+ ©MA = (Mk)A;
NB(1) - 40(9.81)(0.4) - 60(9.81)(0.6) = - 60(3)(1.25) - 40(3)(0.4)
NB = 237.12 N = 237 N Ans.
Using this result and writing the force equations of motion along the y axis,
+ c ©Fy = m(aG)y; NA + 237.12 - 40(9.81) - 60(9.81) = 0

NA = 743.88 N = 744 N Ans.
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17–34.
The trailer with its load has a mass of 150 kg and a center of
mass at G. If it is subjected to a horizontal force of
P = 600 N, determine the trailer’s acceleration and the
normal force on the pair of wheels at A and at B. The
wheels are free to roll and have negligible mass. G
1.25 m P 600 N
0.25 m 0.25 m 0.5 m
B A
SOLUTION
1.25 m
0.75 m
Equations of Motion: Writing the force equation of motion along the x axis,
+ ©F = m(a ) ;
: 600 = 150a a = 4 m>s2 : Ans.
x G x
Using this result to write the moment equation about point A,
a + ©MA = (Mk)A ; 150(9.81)(1.25) - 600(0.5) - NB(2) = -150(4)(1.25)
NB = 1144.69 N = 1.14 kN Ans.
Using this result to write the force equation of motion along the y axis,
+ c ©Fy = m(a G)y ; NA + 1144.69 - 150(9.81) = 150(0)
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NA = 326.81 N = 327 N Ans.
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17–35.
At the start of a race, the rear drive wheels B of the 1550-lb

car slip on the track. Determine the car’s acceleration and 0.75 ft
the normal reaction the track exerts on the front pair of G
wheels A and rear pair of wheels B. The coefficient of kinetic A B
friction is mk=0.7, and the mass center of the car is at G.
6 ft 4.75 ft
The front wheels are free to roll. Neglect the mass of all
the wheels.
SOLUTION
Equations of Motion: Since the rear wheels B are required to slip, the frictional
force developed is FB = msNB = 0.7NB.
+ ©F = m(a ) ; 1550
; x G x 0.7NB = a (1)
32.2
+ c ©Fy = m(aG)y; NA + NB - 1550 = 0 (2)
a + ©MG = 0; NB(4.75) - 0.7NB(0.75) - NA(6) = 0 (3)
Solving Eqs. (1), (2), and (3) yields
NA = 640.46 lb = 640 lb NB = 909.54 lb = 910 lb a = 13.2 ft>s2 Ans.
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*17–36.
Determine the maximum acceleration that can be achieved

by the car without having the front wheels A leave the track 0.75 ft
or the rear drive wheels B slip on the track. The coefficient G
of static friction is ms = 0.9. The car’s mass center is at G, A B
and the front wheels are free to roll. Neglect the mass of all 6 ft 4.75 ft
the wheels.
SOLUTION
Equations of Motion:
+ ©F = m(a ) ; 1550
; x G x FB = a (1)
32.2
+ c ©Fy = m(a G)y; NA + NB - 1550 = 0 (2)
a + ©MG = 0; NB(4.75) - FB(0.75) - NA(6) = 0 (3)
If we assume that the front wheels are about to leave the track, NA = 0. Substituting
this value into Eqs. (2) and (3) and solving Eqs. (1), (2), (3),
NB = 1550 lb FB = 9816.67 lb a = 203.93 ft>s2
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Since FB 7 (FB)max = msNB = 0.9(1550) lb = 1395 lb, the rear wheels will slip.
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Solving Eqs. (1), (2), (3), and (4) yields

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NA = 626.92 lb NB = 923.08 lb
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a = 17.26 ft>s2 = 17.3 ft>s2 Ans. ,

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17–37.
If the 4500-lb van has front-wheel drive, and the coefficient

of static friction between the front wheels A and the road is
G
ms = 0.8, determine the normal reactions on the pairs of
2.5 ft
front and rear wheels when the van has maximum
acceleration. Also, find this maximum acceleration. The rear A
B
wheels are free to roll. Neglect the mass of the wheels. 6 ft
3.5 ft
SOLUTION
Equations of Motion: The maximum acceleration occurs when the front wheels are
about to slip. Thus, FA = msNA = 0.8 NA. Referring to the free-body diagram of the
van shown in Fig. a, we have
0.8NA = a ba
+ ©F = m(a ) ; 4500
: x G x (1)
32.2 max
+ c ©Fy = m(aG)y; NA + NB - 4500 = 0 (2)
+ ©MG = 0; NA(3.5) + 0.8NA(2.5) - NB(6) = 0 (3)
NA = 2347.82 lb = 2.35 kip NB = 2152.171 lb = 2.15 kip Ans.
or
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amax = 13.44 ft>s2 = 13.4 ft>s2 Ans.
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17–38.
If the 4500-lb van has rear-wheel drive, and the coefficient

of static friction between the front wheels B and the road is
G
ms = 0.8, determine the normal reactions on the pairs of
2.5 ft
front and rear wheels when the van has maximum
acceleration. The front wheels are free to roll. Neglect the A
B
mass of the wheels. 6 ft
3.5 ft
SOLUTION
Equations of Motion: The maximum acceleration occurs when the rear wheels are
about to slip. Thus, FB = msNB = 0.8 NB. Referring to Fig. a,
0.8NB = a ba
+ ©F = m(a ) ; 4500
: x G x (1)
32.2 max
NA + NB - 4500 = a b(0)
4500
+ c ©Fy = m(aG)y; (2)
32.2
+ ©MG = 0; NA(3.5) + 0.8NB(2.5) - NB(6) = 0 (3)
NA = 2.40 kip NB = 2.10 kip amax = 12.02 ft>s2 = 12.0 ft>s2 Ans.
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17–39.
a
The uniform bar of mass m is pin connected to the collar, A
which slides along the smooth horizontal rod. If the collar is
given a constant acceleration of a, determine the bar’s
inclination angle u. Neglect the collar’s mass.
u
L
SOLUTION
Equations of Motion: Writing the moment equation of motion about point A,
b = ma cos u a b
L L
+ ©MA = (Mk)A; mg sin ua
2 2
u = tan-1 a b
a
Ans.
g
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*17–40.
The lift truck has a mass of 70 kg and mass center at G. If

it lifts the 120-kg spool with an acceleration of 3 m>s2 ,
determine the reactions on each of the four wheels. The
loading is symmetric. Neglect the mass of the movable
arm CD. 0.7 m
SOLUTION
C D
a + ©MB = ©(Mk)B ; 70(9.81)(0.5) + 120(9.81)(0.7) - 2NA(1.25) G
= -120(3)(0.7) 0.4 m
A B
NA = 567.76 N = 568 N Ans.

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15–149.

The chain has a total length L 6 d and a mass per unit

when v = 0, y = h, so that C = - gh3

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

The angular velocity of the disk is defined by A

vA = vr = 3.25(0.8) = 2.60 m>s Ans.

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

A flywheel has its angular speed increased uniformly from

a t = ar = (0.5625)(1) = 0.562 ft/s2 Ans.

a n = v2r = (60)2(1) = 3600 ft/s2 Ans.

v2 = v20 + 2ac (u - u0)

(60)2 = (15)2 + 2(0.5625)(u-0)

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

The disk is originally rotating at v0 = 8 rad>s. If it is V0 8 rad/s

v = rv; vA = 2(11) = 22 ft>s Ans.

at = ra; (aA)t = 2(6) = 12.0 ft>s2 Ans.

an = v2r; (aA)n = (11)2(2) = 242 ft>s2 Ans.

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

The disk is originally rotating at v0 = 8 rad>s. If it is V0 8 rad/s

vB = vr = 14.66(1.5) = 22.0 ft>s Ans.

(aB)t = ar = 6(1.5) = 9.00 ft>s2 Ans.

(aB)n = v2r = (14.66)2(1.5) = 322 ft>s2 Ans.

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

vC = vB r = 3.523(2.5) = 8.81 in.>s

(aC)t = aB r = 3.9712(2.5) = 9.928 in.>s2

(aC)n = v2B r = (3.523)2 (2.5) = 31.025 in.>s2

= 32.6 in.>s2 Ans.

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

A wheel has an initial clockwise angular velocity of 10 rad>s

(15)2 = (10)2 + 2(3)(u- 0)

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

If gear A rotates with a constant angular acceleration of

Gear B is in mesh with gear A. Thus,

vD2 = (vD)0 2 + 2aD [uD - (uD)0]

= 34.9 rev Ans.

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

If gear A rotates with an angular velocity of vA =

aA duA = (uA + 1) d(uA + 1)

aA duA = (uA + 1) duA

mesh with gear C. Thus,

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

v2 = v20 + 2ac (u - u0)

vA = vrA = 3.545(20) = 70.9 ft>s Ans.

(at)A = arA = 0.5(20) = 10.0 ft>s2

(an)A = v2 rA = A 3.5452 B (20) = 251.33 ft>s2

(at)B = arB = 0.5(10) = 5.00 ft>s2

(an)B = v2 rB = A 3.5452 B (10) = 125.66 ft>s2

The magnitude of the acceleration of points A and B are

(a)A = 2(at)2A + (an)2A = 210.02 + 251.332 = 252 ft>s2 Ans.

(a)B = = (at)2B + (an)2B = 5.002 + 125.662 = 126 ft s2

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

v = v0 + ac t = 0 + 0.5(4) = 2.00 rad>s

vA = vrA = 2.00(20) = 40.0 ft>s Ans.

vB = vrB = 2.00(10) = 20.0 ft>s Ans.