Tutorial 3

PROBLEM 15.184

At the instant considered, the radar antenna shown rotates about the
origin of coordinates with an angular velocity   x i   y j 
z k. Knowing that (vA ) y  300 mm/s, (vB ) y  180 mm/s, and
(vB ) z  360 mm/s, determine (a) the angular velocity of the
antenna, (b) the velocity of Point A.

SOLUTION

rA  (0.3 m)i  (0.25 m)k

v A  (v A ) x i  (0.3 m/s) j  (v A ) z k
i j k
v A    rA : (v A ) x i  0.3j  (v A ) z k   x y z
0.3 0 0.25

(vA ) x i  0.3j  (vA ) z k  0.25y i  (0.3z  0.25x ) j  0.3y k

i: (vA ) x  0.25 y (1)

j: 0.3  0.3z  0.25x (2)

k: (vA ) z  0.3 y (3)

rB  (0.3 m)i  (0.25 m)j

v B  (vB ) x i  (0.18 m/s)j  (0.36 m/s)k

i j k
v B    rB : (vB ) x i  0.18 j  0.36k  x y z
0.3 0.25 0

(vB ) x i  0.18j  0.36k  0.25z i  0.3z j  (0.25x  0.3 y )k

i: (vB ) x  0.3z (4)

j: 0.18  0.3z (5)

k: 0.36  0.25x  0.3 y (6)

From Eq. (5), z  0.6 rad/s

1
From Eq. (2), x  (0.3  0.3z )
0.25
 0.48 rad/s
1
From Eq. (6), y   (0.36  0.25x )
0.3
 1.6 rad/s
(a) Angular velocity.   (0.480 rad/s)i  (1.600 rad/s)j  (0.600 rad/s)k 

From Eq. (1), (vA ) x  0.25 y

 0.400 m/s
From Eq. (3), (vA ) z  0.3 y
 0.480 m/s
(b) Velocity of Point A. v A  (0.400 m/s)i  (0.300 m/s)j  (0.480 m/s)k
or vA  (400 mm/s)i  (300 mm/s)j  (480 mm/s)k 

PROBLEM 15.191

In the system shown, disk A is free to rotate about the horizontal rod
OA. Assuming that disk B is stationary ( 2  0), and that shaft OC
rotates with a constant angular velocity  1 , determine (a) the angular
velocity of disk A, (b) the angular acceleration of disk A.

SOLUTION
Disk A (In rotation about O):
Since  y   1,
 A  x i  1 j  z k

Point D is point of contact of wheel and disk.

rD /O  rj  Rk
v D   A  rD /O
i j k
 x 1 z
0 r R
v D  ( R 1  r z )i  R 1 j  r x k

Since  2  0, v D  0.

Each component of v D is zero.

(vD ) z  rx  0; x  0
R
(vD ) x   R 1  rz  0; z     1
r
R
(a) Angular velocity.  A   1 j     1k 
r
(b) Angular acceleration. Disk A rotates about y axis at rate  1.

dA  R  R 2
A    y  ω A   1 j    1 j   1k  A   1i 
dt  r  r

PROBLEM 15.194 A gun barrel of length OP = 4 m is mounted on a

turret as shown. To keep the gun aimed at a moving target, the azimuth
angle 𝛽 is being increased at the rate d𝛽/dt = 30o /s and the elevation
angle 𝛾 is being increased at the rate d𝛾/dt. = 10o /s For the position 𝛽 =
90 o and 𝛾 = 30 o , determine (a) the angular velocity of the barrel, (b)
the angular acceleration of the barrel, (c) the velocity and acceleration
of Point P.
 PROBLEM 15.68

In the position shown, bar DE has a constant angular velocity of 10

rad/s clockwise. Knowing that h  500 mm, determine (a) the
angular velocity of bar FBD, (b) the velocity of Point F.

SOLUTION

Bar DE: (Rotation about E) DE  10 rad/s  (10 rad/s)k

rD/E  (0.1 m)i  (0.2 m)j
vD  DE  rD/E  (10k )  (0.1i  0.2 j)
 (1 m/s)j  (2 m/s)i
Bar FBD: (Plane motion  Translation with D  Rotation about D.)
BD  BDk rB/D  (0.3 m)i  (0.1 m)j
vB  vD   BD  rB/D
 j  2i  (BD k )  (0.3i  0.1j)
 j  2i  0.3BD j  0.1BD i
Bar AB: (Rotation about A)
 AB  ABk rB/A  (0.42 m)j
vB   AB  rB/A  (ABk )  (0.42j)  0.42AB i

Equating components of the two expressions for vB ,

(a) j: 1  0.3BD  0 BD  3.3333 rad/s BD  3.33 rad/s 
i: 2  0.1BD  0.42AB 2  (0.1)(3.3333)  0.42AB
AB  3.9683 rad/s AB  3.97 rad/s
h  0.3
Bar FBD: rF/D  CrB/D where C 
0.3
vF  vB   BD  rF/D
 j  2i  C (0.3BD j  0.1BD i)
 j  2i  C ( j  0.33333i)
0.8
With h  500 mm  0.5 m, C   2.6667
0.3
vF  j  2i  2.6667 j  0.88889i
(b) vF  (1.11111 m/s)i  (1.66667 m/s)j vF  2.00 m/s 56.3 

PROBLEM 15.171

The human leg can be crudely approximated as two rigid bars (the
femur and the tibia) connected with a pin joint. At the instant shown
the veolcity and acceleration of the ankle is zero. During a jump, the
velocity of the ankle A is zero, the tibia AK has an angular velocity of
1.5 rad/s counterclockwise and an angular acceleration of 1 rad/s2
counterclockwise. Determine the relative angular velocity and
angular acceleration of the femur KH with respect to AK so that the
velocity and acceleration of H are both straight up at the instant
shown.

SOLUTION
Units: mm, mm/s, mm/s2
Unit vectors: i 1 , j 1 , k 1

Relative positions: rK /A  (300 mm)i  (300 mm) j

rH /K  (350 mm)i  (350 mm) j
rH /A  rK /A  rH /K  (50 mm)i  (650 mm) j

Use a frame of reference moving with the lower leg AK with angular velocity
  1.5 rad/s  (1.5 rad/s)k

and angular acceleration   1.0 rad/s  (1.0 rad/s2 )k

The motion of the hip H relative to this frame is a rotation about the knee K with angular velocity
ω  k
and angular acceleration α  k
Both  and  are measured relative to the lower leg AK.
Motion of Point H  in the frame coinciding with H.
v H   Ω  rH /A  1.5k  ( 50i  650 j)
 (975 mm/s)i  (75 mm/s) j
a H   Ω  rH /A   2rH /A
 (1.0k )  ( 50i  650 j)  (1.5) 2 ( 50i  650 j)
 650i  50 j  112.5i  1462.5 j
 (537.5 mm/s 2 )i  (1512.5 mm/s 2 ) j

Motion of H relative to the frame.

v H/AK   k  rH/K   k  ( 350i  350 j)
 350i  350 j
a H/AK  k  rH/K   2rH /K
 k  ( 350i  350 j)   2 ( 350i  350 j)
 350 i  350 j  350 2i  350 2 j

Velocity of H. vH  vH  vH j
v H  v H   v H/AK
vH j  975i  75j  350i  350 j
Resolve into components.
975
i: 0  975  350   2.7857 rad/s
350
j: vH  75  350 vH  900 mm/s

Relative angular velocity: ω  (2.79 rad/s)k  2.79 rad/s 

Coriolis acceleration: 2Ω  v H /AK  (2)(1.5k )  ( 350i  350 j)
 1050i  1050 j  (2925 mm/s2 )i  (2925 mm/s 2 ) j

Acceleration of H. a H  aH  aH j
a H  a H   a H/AK  2Ω  v H /AK
aH j  537.5i  1512.15j  350i  350 j  350 2i  350 2 j  2925i  2925j
Resolve into components.
i: 0  537.5  350  (350)( 2.7857) 2  2925
  2.1327 rad/s2

j: aH  1512.6  (350)( 2.1327)  (350)( 2.7857) 2  2925

 557.1 mm/s2
Relative angular acceleration: α  (2.13 rad/s2 )k  2.13 rad/s 2 