Conservation of Angular Momentum

If the resultant moment about a fixed point O of all forces

ADDIS ABABA UNIVERSITY
INSTITUTTE OF TECHNOLOGY
School of MIE
ENGINEERING MECHANICS II-DYNAMICS
3.6 Angular Impulse &Angular Momentum
Angular Momentum: If a particle about O is defined as the
particle’s linear momentum about O. It is also called the
“Moment of the Momentum”. It is given by the cross product
of the position vector and the momentum.
Ho=r×mv.
The Angular momentum is then a vector perpendicular to the
plane A defined by r and v.
acting on a particle is zero during an interval of time, the
angular momentum Ho about that point remain constant. In
this case the angular momentum of the particle is said to be
conserved.
PROBLEMS
1. The assembly of two 5kg sphere is rotating freely about
the vertical axis at 40 rev/min with θ=900 . If the force F
which maintains the given position is increases to raise the
base collar and reduce θ to 600 , determine the new angular
velocity ω. Also determine the work U done by force F in
changing the configuration of the system. Assume that the
mass of the arms and collars is negligible.

The scalar components of angular momentum may be obtained

Given: ωo=40 rev/m=4.19 rad/s, ms=5kg
from the expression:
Req: ω and U by F
Ho=r×mv=m(Vzy-Vyz)i+m(Vxz-Vzx)j+m(Vyx-Vxy)k
Solution:
For θ=900 ; 𝒓𝒓 = 𝟎. 𝟏 + 𝟐(𝟎. 𝟑)𝒄𝒄𝒄𝒄𝒄 =0.524 m
For θ=600 ; ro=0.1+2(0.3) cos 30= 0.620m
Momentum is conserved: ∆H=0
So that
2movoro=2mvr
ro(roωo)=r(rω)
𝑟𝑜2
Principle Angular Impulse and Momentum ω= ωo =3 rad/s……………………..(Ans)
𝑟2
To obtain the effect of the momentum ∑Mo on the angular
Work done U: U1-2=∆T+∆Vg
momentum of the particle over a finite period of time, we
1
integrate from t1 to time t2. = 2( m)(𝑣 2 -𝑣𝑣 2 )+2mg∆h
2

= m(𝑟 2 𝜔2 -𝑟𝑟 2 𝜔𝑜2)+ 2mg∆h

But Δh=2b(sin45-cos30)=0.1243m.
• Angular impulse (∫∑Mo dt) - It is determined by integrating 2
with respect to the moments of all the forces acting on the U1-2= 5([0.62 × 3]2 -[0.524 × 4.19] ) +2×5×9.81 ×0.1243
particle over the time period t1 to t2. = -6.85+12.19 =5.34 J ……………..ANS
• States that the initial angular momentum of the particle
plus the angular impulse applied to it equals to its angular
momentum.
2. A Pendulum consists of two 3.2kg concentrated
masses positioned as shown on a light but rigid bar.
The pendulum is swinging through the vertical
position with a clockwise angular velocity ω=6rad/s
when a 50g bullet traveling with velocity v=300m/s in
the direction shown strikes the lower mass and
becomes embedded in it. Calculate the angular
velocity ω’ which the pendulum has immediately after
impact and find the maximum angular deflection θ of
the Pendulum.
Given: mp=3.2kg Req: a) ω’ after impact.
mb=50g b) θmax
Vb=300m/s
ωP=6rad/s
Solution:
A. System angular momentum is conserved during
impact:
+ Ho1=Ho2
(mbVb)rb-mp(Vp)(r)-
mP2(Vp2)(rP2)=(mb+mp)V(r)+mpV(rp)
Where VP=ωr
(mbVb)rb-mp1 ω(𝑟𝑟1)2 -mP2ω(𝑟𝑟2)2 =(mb+mp)
ω(𝑟)2 +mpω(𝑟𝑟1)2
(0.05)(300)(0.4cos20) - 3.2(0.22 )(6) -3.2(0.42 )(6)
=(0.05+3.2)(0.42 )ω’+3.2(0.22 )ω’
ω’=2.77rad/s………….ANS
B. Energy consideration after Impact:
T’+V’ (Energy during Impact) = T+V (Energy after
Impact)
Energy during Impact:
Kinetic Energy: Lower pendulum and the Bullet
𝟏 unchanged. Thus, we can apply the conservation of
T’= (0.05+3.2)(𝟎. 𝟒(𝟐. 𝟕𝟕))𝟐 =1.995J
𝟐
Upper Pendulum
𝟏
T’= (3.2)(𝟎. 𝟐(𝟐. 𝟕𝟕))𝟐 =0.4911J
𝟐
Potential Energy: The Datum line is at the pivot point O
Lower pendulum and the Bullet Together:
V= (3.2+0.05)(9.81)(0.4)=-12.753J
Upper pendulum, V= (3.2)(9.81)(0.2)=6.2784J
Energy after Impact
Kinetic Energy: The final state should have a zerovelocity.
T=0
Potential Energy:
Lower pendulum and the Bullet
V=mgh=(3.2+0.05)(9.81)(-0.2cosθ)=-6.3765cosθ
Upper pendulum
V=mgh=(3.2)(9.81)(0.2cosθ)=6.2784cosθ
Therefore,
1.995+0.4911-12.753+6.2784=0-6.3765cosθ + 6.2784cosθ
θ=𝟓𝟓. 𝟏𝟎 ……………………………….ANS
IMPACT
Is the collision between two bodies and is characterized by
the generation of relatively large contact forces which act
over a very short interval of time.
The Principle of impulse and Momentum is applied.
Direct Central Impact
• Two spheres having masses m1 and m2 traveling with
v1 and v2. If V1 is greater than v2, collision occurs with
the contact forces directed along the line of centers. This is
called DIRECT CENTRAL IMPACT.
• A period of restoration occurs during which the contact
area decreases to zero.
• Then, the velocities will be V1’ and V2’ where V1’ must be
less than V2’.
• If the impact is not overly severe and if the spheres are
highly elastic, they will regain their original shape
following the restoration. With a more severe impact and
with less elastic bodies, a permanent deformation may
result.
• Because the contact forces are equal and opposite during
impact, the linear momentum of the system remains
Momentum
m1v1+m2v2=m1v1’+m2v2’
Coefficient of Restitution
• We have v1’ and v2’ unknown, therefore, we need
additional equation to find v1’ and v2’.
• This equation must reflect the capacity of the contacting
bodies to recover from the impact and can be expressed
by the ration e of the magnitude of the restoration
impulse to the magnitude of the deformation impulse.
This ratio is called the Coefficient of restitution.
• Let Fr and Fd represent the magnitudes of the contact
forces during the restoration and deformation periods,
respectively.
Given: e=0.75
For particle 1,
𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅 𝐼𝐼𝐼𝐼𝐼𝐼𝐼 VA= 6m/s to the right
• e=
𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷 𝐼𝐼𝐼𝐼𝐼𝐼𝐼
VB= 10m/s at 300
Req: a) Velocity magnitude of the Pucks after impact
b) The percentage loss in kinetic Energy
Solution:
A) The y-components of the velocity of puck A after and
before Impact is zero: VAy=V’Ay=0
V’By=VBy=10sin30=5m/s (Conserved)
mAVAx+mBVBx=mAVAx’+mBVBx’
-2.66=6-10cos30=VAx’+VBx’ ……………..Eq 1
The coefficient of Restitution, e
𝑣 ′ −𝑣 ′ 𝑣 ′ −𝑣 ′
e= 𝑣𝐵𝐵 𝐴𝐴 𝐵𝐵 𝐴𝐴
=>0.75=6−(−10𝑐𝑐𝑐30)
𝐴𝐴 −𝑣𝐵𝐵
For Particle 2:
We have therefore, 10.995=𝑣𝐵𝐵 ′ − 𝑣𝐴𝐴 ′ …………..Eq 2
Solving Eq 1 and 2 gives
-2.66=VAx’+VBx’
10.995=-VAx’+VBx’
Eliminating vo gives between the two expressions for VBx’=4.1675m/s and =-6.83m/s) ……….ANS
e gives us
The Magnitudes:
𝑣 ′ −𝑣 ′ |𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑜𝑜 𝑠𝑠𝑠𝑠𝑠𝑎𝑡𝑡𝑡𝑡|
e= 𝑣2 −𝑣1 = 2
|𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑜𝑜 𝑎𝑎𝑎𝑎𝑎𝑎𝑎ℎ|
1 2
VA’=�𝑉𝑉𝑉’2 + 𝑉𝑉𝑉’ =6.83m/se, θA=180º
Note:
• e=1 means the capacity of the two 2
VB’=�𝑉𝑉𝑉’2 + 𝑉𝑉𝑉’ =6.51m/se, θB=tan-
particles to recover equals their
tendency to deform. This is called ¹(5/4.1675)=50.2º
Elastic impact with no energy loss. B) Initially: The kinetic Energy before Impact
• e=0 is called in elastic or plastic 1
T1= m (62 + 102 )=68m
deformation where the particles cling 2
together after collision i.e maximum Final(After impact):
energy loss. 1
PROBLEMS T2= m (6.832 + 6.512)=44.5m
2
The percentage loss in kinetic Energy
1. Two identical hockey pucks moving with initial
𝑇2 44.5𝑚
velocities VA and VB collide as shown. If the η=1- =1- =34.6% ……………ANS
𝑇1 68𝑚
coefficient of restitution is e=0.75, determine the
velocity (magnitude and direction θ wrt the positive 3. 2. Sphere A collides with sphere B as shown in the figure.
x-axis) of each puck just after impact. Also calculate If the coefficient of restitution is e=0.5, determine the x-and
y-components of the velocity of each sphere immediately
the percentage loss n of system kinetic energy.
after impact. Motion is confined to the x-y plane.
Given: e=0.5 Req: VAx’and VBx’ and VAy’+VBy’
mA=10kg
mB=2kg
Solution:
VAt’ =VAt=3sin45=2.12 m/s
1. ROTATION
VBt’ =VBt=-12sin30=-6m/s
mAVAn+mBVBn=mAVAn’+mBVBn’ There are three types of planar rigid body motion.
10(3cos45)+2(-12cos30)=10VAn’+2VBn’
1. Translation: Translation occurs if every line segment
21.21320.785=10VAn’+2VBn’=0.428……Eq 1 on the body remains parallel to its original direction
The coefficient of Restitution, e during the motion.
′ −𝑣 ′ ′ −𝑣 ′ When all points move along straight lines, the motion is
𝑣 𝑣
e= = 𝑣𝐵𝐵 −𝑣𝐴𝐴 =>0.5=3𝑐𝑐𝑐45−(−12𝑐𝑐𝑐30)
𝐵𝐵 𝐴𝐴
called rectilinear translation.
𝐴𝐴 𝐵𝐵

When the paths of motion are curved lines, the motion is

VBn’-VAn’=0.5(1.061+4.243)=2.652 …………………Eq2 called curvilinear translation.

Solving Eq1 and Eq 2 gives

VBn’=5.25 m/sec
VAn’ =-1.007 m/sec
Then decomposing the Normal and Tangent to the x and y
directions:
VAx’=-(2.12sin20+1.007cos20) = -1.672 m/s
• Rotation about a fixed axis: In this case, all the
VAy’=2.12cos20-1.007sin20 =1.649 m/s (ANS)
particles of the body, except those on the axis of
VBx’=-(-6sin20) + 5.25cos20=6.99 m/s rotation, move along circular paths in planes
VBy’=-6cos20 + 5.25sin20=-3.84 m/s perpendicular to the axis of rotation.
3.Two identical balls A and B of mass m=2.5kg are
• General plane motion. In this case, the body
suspended from cords of length L/2 and L=1.2m, undergoes both translation and rotation.
respectively. Ball A is released from rest when Ф=90º and Translation occurs within a plane and rotation occurs
wings down to Ф=0º, where it strikes B. Determine the about an axis perpendicular to this plane.
speed of each ball just after impact and the maximum angle
θ through which B will swing. The coefficient of restitution Angular Motion Relations
between the ball is e=0.8. Angular velocity, ω, is obtained by taking the time
derivative of angular displacement:

ω = dθ dt [rad s ]
Similarly, angular acceleration is

d 2θ dω
α= 2 =
dt dt
=ω
dω
dθ
+ [rad s ]
2

• • ••
ωdω = αdθ or θ d θ = θ dθ
 = -800i+480j-360k m/s …………..Ans
For rotation with constant angular acceleration, the integral The acceleration, a =ώ×r+ω×V
become 𝑖 𝑗 𝑘
ω = ω o + αt =0+ 0 24 32
1 −800 480 −360
θ = θ o + ω 0 t + αt 2
2 = 1600(-15i-16j+12k) m/sec² …………………Ans
ω 2 = ωo2 + 2α (θ − θ o ) 2. The circular disk rotates about its center O. At a
certain instant point A has a velocity VA=0.8m/s
 and  are the initial values of the body’s angular position in the direction shown, and at the same instant the
o o
and angular velocity. Note these equations are very similar to tangent of the angle θ made by the total
the constant acceleration relations developed for the acceleration vector of any point B with its radial
rectilinear motion of a particle. line to O is 0.6. For this instant compute the
Rotation About a fixed Point angular acceleration α of the disk.
• All points on the body rotate in concentric
circle about a fixed axis.
v = rω
2
a n = rω 2 = v = vω
r
at = rα

PROBLEMS Given: VA=0.8 m/s Req: Angular acceleration α

tan θ=Tangent/Radial =rα/r𝜔2 =0.6
1. The circular disk rotates with a constant angular velocity
ω=40rad/s about its axis, which is inclined in the y-z Solution:
𝟑 We have VA=rA.ω
plane at the angle θ=𝒕𝒕𝒕−𝟏 (𝟒). Determine the vector
𝑉 0.8
expressions for the velocity and acceleration of point P, ω= 𝑟 𝐴 = =8 rad/sec
𝐴 0.1
whose position vector at the instant shown is r=15i+16j-
Thus, α=0.6 𝜔2 =0.6(82 ) =38.4 rad/s² ……………..Ans
12k m.

2. ABSOLUTE MOTION
We will make use of the geometric relations which define
the configuration of the body involved.

Then proceed to take the time derivatives of the defining

geometric relations to obtain Velocities and
Accelerations.

In rigid body motion, our defining geometric relations

include both Translation and Angular variables. Then the
time derivatives of these quantities will involve
Given: ω=40 rad/s Constant
Translation (Velocity and Acceleration) and Angular
θ= 𝑡𝑡𝑡−1(3/4) (Velocity and Acceleration).

r= (15i+16j-12k) m PROCEDURE OF ANALYSIS

Req: V and a in vector expressions
1. Position coordinate system equation
Solution:
3 4 2. Time derivatives
ω=The angular velocity=40 ( 𝑗 + k)=8(3j+4k) rad/s
5 5
𝑖 𝑗 𝑘
The velocity is V=ω×r = 0 24 32
15 16 −12
PROBLEMS 2. The block moves to the left with a constant
1. Crank AB rotates with a constant angular velocity of 5rad/s. velocity Vo. Determine the angular velocity and
Determine the velocity of block C and the angular velocity angular acceleration of the bar as a function of θ.
of link BC at the instant θ=300 .

Solution:
Given: ω=5rad/s, θ=300
Req: a)V and b)ωBD Step 1: Position coordinate Equation
Solution: X=a/tanθ=acotθ ……………………..(1)
Step 1: Position coordinate equation
Step 2: Time derivative
X=0.6cosθ+0.3cosβ ………Eq 1.
The time derivative of Eq(1) gives
Again from the geometry,
dX/dt=-Vo= −𝑎𝑎𝑎𝑎 2θ.dθ/dt where
0.6sinθ=0.15+0.3sinβ……….Eq 2. −1
(cot)’=−𝑐𝑐𝑐 2θ= 2 𝜃
𝑠𝑠𝑠
2
-Vo= = 𝑎𝑎𝑎𝑎 θ ω
ω=Vo/ 𝒂𝒂𝒂𝒂𝟐 θ = (Vo/a) 𝒔𝒔𝒔𝟐 θ ………. (Ans i)
𝑑 𝑉𝑉 𝑉𝑉
And, α=dω/dt= ( 𝑠𝑠𝑠2θ)= (2sinθcosθ).dθ/dt
𝑑𝑑 𝑎 𝑎
𝑉𝑉 𝑉0
α= (2sinθcosθ)( 𝑠𝑠𝑠2 θ)
From trigonometry, 𝑎 𝑎
𝑽𝑽
𝑐𝑐𝑐 2 𝛽 + 𝑠𝑠𝑠2 β=1 = ( )²(𝒔𝒔𝒔𝒔𝜽. 𝒔𝒔𝒔𝟐 θ) …………………...(Ans ii)
𝒂

Cosβ=�1 − (2𝑠𝑠𝑠𝜃 − 0.5)2 3. RELATIVE VELOCITY

Consider a rigid body in general plane motion. From the
=√2𝑠𝑠𝑠𝜃 − 4𝑠𝑠𝑠2 𝜃 + 0.75 ........................Eq 3 figure
Substituting Eq 3 into Eq1 gives:
B – B’ = A – A’’ : translating only
X=0.6cosθ+0.3�𝟐𝟐𝟐𝟐𝜽 − 𝟒𝒔𝒔𝒔𝟐 𝜽 + 𝟎. 𝟕𝟕
A’’ – A’ = rotation about B’ only, With B as the
Step 2: Time Derivative reference point the total displacement of A is:
0.15(2𝑐𝑐𝑐𝜃−4(2𝑠𝑠𝑠𝜃𝑐𝑐𝑐𝜃))
Vc=dX/dt = [-0.6sinθ+ ].dθ/dt → → →
√2𝑠𝑠𝑠𝜃−4𝑠𝑠𝑠2 𝜃+0.75 ∆ r A = ∆ r B + ∆ r A/ B
0.15(2𝑐𝑐𝑐𝜃−4(2𝑠𝑠𝑠2𝜃)
= [-0.6sinθ+
√2𝑠𝑠𝑠𝜃−4𝑠𝑠𝑠2 𝜃+0.75
].ωAB Dividing the above equation by t and taking the limit
→ → →
At the instant θ=30º, ωAB=5rad/sec
v A = v B + v A/ B
Vc=-3.00m/sec ……………………….(Ans A)
Where
→
Taking the time derivative of equation 2 gives,
∆ r A/ B
→
 r∆θ 
0.6cosθ.dθ/dt=0.3cosβ.dβ/dt ……where dβ/dt=ωBC, dθ/dt=ωAB ∆ r A / B = r∆θ ⇒ lim = lim   = vA/ B
∆t →0 ∆t ∆t →0
 ∆t 
Therefore, ωBC= (2cosθ/cosβ) ωAB
v A / B = rω AB
From Equation 2,
v A / B = ω AB × r
(0.6sinθ-0.15)=sinβ …….[θ=30º]
Note: V is always perpendicular to the line joining
1-0.5=sinβ=0.5 B/A
point A and B.In relative general motion analysis we
Β=30º can use
(𝟐𝟐𝟐𝟐𝟐𝟐) 1. Vector algebra method
Then, ωBC= .(5rad/s)=10 rad/s……(ANS B)
(𝟐𝟐𝟐𝟐𝟐𝟐)/ 2. Scalar method
3. Graphical method
In both of the above cases it is a good practice to sketch Given: ωOA= 10rad/sec Req: a) ωAB
a vector polygon. r=(-60i+80j)mm b) ωBC
The choice of method to be used depends on the Solution: VA=VB+VA/B
particular problem at hand. Where VA=ωAo×rAO = 10k×(-0.06i+0.08j) =(-0.6j-0.8i)
m/sec
4. RELATIVE ACCELERATION
VB= ωBC×rA/B= ωBC k×0.18j=(-0.18 ωBC i)
From relative velocity analysis we have
m/sec
→ → →
v A = v B + v A/ B VA/B=ωAB×rA/B=ωABk×(-0.24i-0.1j)
=(-0.24ωABj+0.1ωABi)m/s
Differentiating this equation with respect to time
→ → → We have therefore,
d v A d v B d v A/ B
= + (-0.6j-0.8i) =(-0.18 ωBC i) +(-0.24ωABj+0.1ωABi)
dt dt dt
→ → → Equating the i and j terms gives,
a A = a B + a A/ B
-0.6=-0.24ωAB => ωAB=2.5rad/sec ………..(Ans a)
From circular motion, we have
Putting ωAB=2.5rad/sec in the equation of the i terms
→
→  → 
a A/ B =  a A/ B  +  a A/ B  -0.8=-0.18ωBC+0.1(2.5)
 n  t
Where =>ωBC=5.833rad/sec……(Ans b)
 →
 → →
 →
 a A / B  = ω×  ω× r  Acceleration Analysis
 n  
→  → → We have aB=aA+aB/A ………………Eq1
 a A/ B  = α × r
 t aB=ωBC×(ωBC×rB/C)+αBC×rB/C
In scalar form,
  =5.83k×(5.83k×0.18j)+(αBC×0.18j)
 a A / B  = rω
2

 n =-6.125j-0.18 αBCi m/s2…………………………….…A

 
 a A / B  = rα aA=ωo×( ωo×rA/o)=10k×(10k×(-0.06i+0.08j))
 t
It is important to observe that the relative acceleration =6i-8j m/s2 (αOA=0 since ωo is constant)…………B
terms depend on the respective absolute angular
acceleration and angular velocity. (aB/A) n=ωAB×( ωAB ×rB/A)= 2.5k×( 2.5k ×(0.24i+0.1j))
PROBLEMS
= (-1.5i-0.625j)m/s2……………………………C
1. In the four-bar linkage shown, control link OA
(aB/A) t=αABk×(0.24i+0.1j)=-0.1αABi+0.24αABj…..D
has a counterclockwise angular velocity
ωo=10rad/s during a short interval of motion. Substitute a, b, c and d in to eq1gives:
When link CB passes the vertical position
shown, point A has coordinates x=-60mm and -6.125j-0.18αBCi=6i-8j+(-1.5i-0.625j)+-0.1αABi+0.24αABj
y=80mm. By means of vector algebra determine
Equating the j and i term coefficients gives
the angular velocities and angular acceleration of
AB and BC.
-6.125=-8-0.625+0.24αAB=> αAB=10.42k rad/s2

0.1(10.42k)-0.18αBC=4.5

αBC = -19.21rad/s2………………..………..ANS
5. INSTANTANEOUS CENTER OF ZERO VELOCITY
 
This method provides us an alternative way for solving
problems involving the velocities of various points of a body
v A = ω × rA / C
in plane motion.  
vB = ω × rB / C
In this article we will solve the problem by choosing a unique
reference point that momentarily has zero velocity.

This technique, in particular, is graphical and more visual,

and some problems will be more accessible this way.

The idea behind the “instantaneous center” approach is to ask,

“Can we find a position A such that
     
v A → 0 so that vB = v A + ω × rB / A = ω × rB / A
• If the magnitudes of velocities approach equality, the
HOW DO WE FIND THE IC OF ZERO VELOCITY? instantaneous center C moves farther away from the
The position of the instantaneous center can be defined in two body and approaches infinity. The body only
ways: translates.
 If the direction of the velocities of two particles A and B • The instantaneous center of a body in plane motion
of the body are known and if they are different, the can be located either on the body or outside.
instantaneous center is obtained by drawing the • If it lies outside the body it may be visualized as lying
perpendicular to v through A and the perpendicular to on the body extended.
A
• However, it should be noted that the instantaneous
v through B and determining the point in which these
B center of rotation is valid only at a given instant.
two lines intersect. • Thus, the particle of the body which coincides
with the instantaneous center at time t will
generally not coincide with the instantaneous
  center at time t+t.
v A = ω × rA / C • In general, the particle does not have zero
  acceleration.
vB = ω × rB / C
PROBLEMS

1. For the instant represented, when crank OA passes the

horizontal position, determine the velocity of the
center G of link AB by the method of this
article.(CLASS WORK)

 If the velocities v and v of two particles A and B

A B
are perpendicular to the line AB and if their
magnitudes are known, the instantaneous center can
be found by intersecting the line AB with the line
joining the extremities of the vectors v and v .
A B
 If the instantaneous center C would be at an infinite 2. The hydraulic cylinder produces a limited
distance and  would be zero; and all points on the horizontal motion of point A. If VA=4m/s when
body would have the same velocities. θ=𝟒𝟒𝟎 , determine the magnitude of the velocity
of D and the angular velocity ω of ABD for this
position.
 Given: VA=4m/s θ=450
Req: a) VD b) ωABD
Solution:
C Given: VD=0.6m/sec Req:VA

θ=300

Solution:
VDD Locate the Instantaneous center C
VB VA
E
B

β 450
A O
VA
a) By applying sine law, we can find angle β:i.e
250 400
=
𝑠𝑠𝑠𝑠 𝑠𝑠𝑠45
Sinβ=0.442: β=26.230
𝐶𝐶
To find VD=VA. : We need to have go through
𝐶𝐶 First let us find β
dimension calculations
i. Find AO=400cos26.23 + 250cos45=358.81+176.78 800sin300=700sinβ
=535.59mm
ii. AC=AOtan45=535.59mm Sinβ=4/7…….β=34.80
iii. ED=(400+200)COS26.23=538.22mm Find the length of DC
iv. CE=AC-AE=535.59-600sin26.230=270.4mm
Therefore, CD=√𝐸𝐸 2 + 𝐶𝐶 2 =√538.222 + 270.42 700cos34.80= (400+DC) sin600
=602.33mm
So we have, DC=263mm
𝐶𝐶 602.33
VD=VA. =4× =4.5m/sec ………………….ANS And velocity of point B collar is
𝐶𝐶 535.59
b) The ABD angular velocity, ωABD is 800 8
ωABD=(VA/CA)=4/0.5356 =7.47 rad/sec …………ANS VB= VD= (0.6/cos300)=0.462 m/s
1200 12

And what remains is:

3. In the design of the mechanism shown, collar A is to slide AC=700Sin34.8 + (400+263) cos60=732mm
along the fixed shaft as angle θ increases. When θ=30º, the
control link at D is to have a downward component of Therefore, finally we have
velocity of 0.6m/s. Determine the corresponding velocity of 𝑉𝑉 𝑉𝑉
collar A by the method of this article. = ;VA=VB(AC/BC)=0.462(732/(400+263))
𝐴𝐴 𝐵𝐵

=0.509 m/sec ………….ANS