Dynamics Solns Ch06

Solutions Manual
Engineering Mechanics: Dynamics

1st Edition
Gary L. Gray
The Pennsylvania State University
Francesco Costanzo
The Pennsylvania State University
Michael E. Plesha
University of WisconsinMadison
With the assistance of:
Chris Punshon
Andrew J. Miller
Justin High
Chris OBrien
Chandan Kumar
Joseph Wyne
Version: August 10, 2009
The McGraw-Hill Companies, Inc.
Copyright 20022010
Gary L. Gray, Francesco Costanzo, and Michael E. Plesha
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It
may be used and/or possessed only by permission of McGraw-Hill, and must be surrendered upon
request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without
the permission of McGraw-Hill, is prohibited.
Dynamics 1e 3
Important Information about
this Solutions Manual
Even though this solutions manual is nearly complete, we encourage you to visit
http://www.mhhe.com/pgc
often to obtain the most up-to-date version. In particular, as of July 30, 2009, please note the following:
: The solutions for Chapters 1 and 2 have been accuracy checked and have been edited by us. They are
in their nal form.
: The solutions for Chapters 4 and 7 have been accuracy checked and should be error free. We will be
adding some additional detail to these solutions in the coming weeks.
: The solutions for Chapters 3, 6, 8, and 9 are being accuracy checked and the accuracy checked versions
should be available by the end of August 2009. We will be adding some additional detail to these
solutions in the coming weeks.
: The solutions for Chapter 10 should be available in their entirety by the end of August 2009.
All of the gures in Chapters 610 are in color. Color will be added to the gures in Chapters 15 over the
coming weeks.
Contact the Authors
If you nd any errors and/or have questions concerning a solution, please do not hesitate to contact the
authors and editors via email at:
dyn_solns@email.esm.psu.edu
We welcome your input.
August 10, 2009
4 Solutions Manual
Accuracy of Numbers in Calculations
Throughout this solutions manual, we will generally assume that the data given for problems is accurate to
3 signicant digits. When calculations are performed, all intermediate numerical results are reported to 4
signicant digits. Final answers are usually reported with 3 signicant digits. If you verify the calculations in
this solutions manual using the rounded intermediate numerical results that are reported, you should obtain
the nal answers that are reported to 3 signicant digits.
August 10, 2009
Dynamics 1e 755
Chapter 6 Solutions
Problem 6.1
Letting 1
= 7.2 in. and 1

B
= 4.6 in., and assuming that the belt does not slip relative to pulleys and
T, determine the angular velocity and angular acceleration of pulley T when pulley rotates at 340 rad,s
while accelerating at 120 rad,s
2
.
Solution
Let Q be a point on the periphery of pulley and let 1 be a point on the periphery of pulley T. The no slip
condition between the pulleys and the belt requires
Q
=
1
= 1
= 1
B
o
B
= o
B
=
1
1
B
o
. (1)
Substituting in given data, we obtain:
o
B
= 532

k rad,s .
Differentiating Eq. (1) with respect to time, we obtain
B
=
1
1
B
.
which, upon substituting in given data gives

B
= 188

k rad,s
2
.
August 10, 2009
756 Solutions Manual
Problem 6.2
Letting 1
= 8 in., 1
B
= 4.2 in., and 1
C
= 6.5 in., determine the angular velocity of gears T and C
when gear has an angular speed [o
[ = 945 rpm in the direction shown.

Solution
Using a vector approach with the component system shown in the gure below, we dene points G and J as
the points on gears and T, respectively, that are in contact at this instant. We also dene points Q and 1 as
the points on gears T and C, respectively, that are in contact at this instant.
For
G
and
T
we have

G
= o
r
G{
= o

k 1
( t) = o
.

T
= o
B
r
T{B
= o
B

k 1
B
t = o
B
1
B
.
Since
G
=
T
,
o
= o
B
1
B
= o
B
=
1
1
B
o
= o
B
= 1800

k rpm.
Similarly, we can nd
Q
and
1
using

Q
= o
B
r
Q{B
=
1
1
B
o

k 1
B
( t) = 1
.

1
= o
C
r
1{C
= o
C

k 1
C
t = o
C
1
C
.
Since
Q
=
1
, we have
1
= o
C
1
C
= o
C
=
1
1
C
o
= o
B
= 1160

k rpm.
August 10, 2009
Dynamics 1e 757
Problem 6.3
Letting 1
= 203 mm, 1
B
= 107 mm, 1
C
= 165 mm, and 1
T
= 140 mm, determine the angular
acceleration of gears T, C, and D when gear has an angular acceleration with magnitude [
[ =
47 rad,s
2
in the direction shown. Note that gears T and C are mounted on the same shaft and they rotate
together as a unit.
Solution
We let O and H be the centers of gears and T respectively. Because
the gears can not slip relative to each other, we can enforce the no
slip condition
1{Q
=

0 between the contact points 1 and Q. Using
the rigid body velocity equation for gear A we have

1
=
O
o

k r
1{O
=
1
= o
.
Doing the same for gear B we have

Q
=
1
o
B

k r
Q{1
=
Q
= o
B
1
B
.
Enforcing the no slip condition we must have

1
=
Q

1{Q
=
1
=
Q
= o
= o
B
1
B
= o
B
=
1
1
B
o
. (1)
Differentiating Eq. (1) with respect to time we get
B
=
1
1
B
Plugging in known values we get

B
= 89.2

k rad,s
2
.
Because gears T and C are mounted on the same shaft, we have

C
= 89.2

k rad,s
2
.
Next, by considering gears C and D with contact points J and G and proceeding as we did for gears and
T, we get
T
=
1
C
1
T
C
. (2)

T
= 105

k rad,s
2
.
August 10, 2009
Problem 6.4
The bevel gears and T have nominal radii 1
= 20 mm and 1
B
= 5 mm,
respectively, and their axes of rotation are mutually perpendicular. If the angular
speed of gear is o
= 150 rad,s, determine the angular speed of gear T.

Solution
Since the gears do not slip over their nominal circles relative to one another, we can write
o
= o
B
1
B
= o
B
=
1
1
B
o
= 600 rad,s.
August 10, 2009
Dynamics 1e 759
Problem 6.5
A rotor with a xed spin axis identied by point O is accelerated from rest with
an angular acceleration
O
= 0.5 rad,s
2
. If the rotors diameter is J = 15 ft,
determine the time it takes for the points at the outer edge of the rotor to reach
a speed
0
= 300 ft,s. Finally, determine the magnitude of the acceleration of
these points when the speed
0
is achieved.
Solution
Points on the outer edge of the rotor have a speed =
d
2
o, where o is the angular
speed of the rotor. Letting o
0
be the angular speed corresponding to
0
, we must have
0
=
1
2
Jo
0
= o
0
=
2
0
J
.
If the angular acceleration is constant, and t
0
is the time taken to go from rest to o
0
, we have
O
t
0
= o
0
=
2
0
J
= t
0
=
2
0
O
J
.
The angular acceleration of points a distance
d
2
from O is
a
d
=
O
r
d{O
o
2
0
r
d{O
= a
d
=
O

k
1
2
J u
i

2
2
0
J
u
i
= a
d
=
2
2
0
J
u
i

1
2
O
J u
0
.
a
d
=
_
4
4
0
J
2

2
O
J
2
4
= 12.000 ft,s
2
.
August 10, 2009
Problem 6.6
Do points and T on the surface of the bevel gear (bg), which rotates with angular velocity o
bg
, move
relative to each other? At what rate does the distance between and T change?
Solution
Points and T move relative to one another in the sense that the velocity of is different from the velocity
of T. The difference between the velocity of and the velocity of T arises from the fact that points and T
are at different distances from the axis of rotation. As far as the distance between and T is concerned, if
we model the gear as a rigid body, then that distance must remain constant.
August 10, 2009
Dynamics 1e 761
Problem 6.7
A Pelton turbine (a type of turbine used in hydroelectric power generation) is spinning at 1100 rpm when
the water jets acting on it are shut off, thus causing the turbine to slow down. Assuming that the angular
deceleration rate is constant and equal to 1.31 rad,s
2
, determine the time it takes for the turbine to stop. In
addition, determine the number of revolutions of the turbine during the spin-down.
Solution
Letting o and be the angular velocity and angular acceleration of the turbine respectively, we have
= 1.31 rad,s
2
, and at t = 0, o(0) = 1100 rpm. Since the angular acceleration is constant we must have
o(t ) = o(0) t . (1)
At the stop time o = 0, so we have o(t
stop
) = 0. Plugging this into Eq. (1) we have
t
stop
=
o(0)
= 87.9 s.
August 10, 2009
Problem 6.8
The velocities of points and T on a disk, which is undergoing planar motion,
are such that [
[ = [
B
[. Is it possible for the disk to be rotating about a xed
axis going through the center of the disk at O? Explain.
Solution
The answer is no. The reason is that if the disk were spinning about a xed axis perpendicular to the plane of
the gure, the velocity of T would have been perpendicular to the segment OT. However, the gure shows
that the velocity vector of T is not perpendicular to OT and therefore the motion of the disk cannot be a
rotation about a xed axis perpendicular to the plane of the gure.
August 10, 2009
Dynamics 1e 763
Problem 6.9
The velocity of a point and the acceleration of a point T on a disk undergoing
planar motion are shown. Is it possible for the disk to be rotating about a xed
axis going through the center of the disk at O? Explain.
Solution
Yes, it is possible that the motion of the disk is a xed-axis rotation about O. The velocity vector of point
is perpendicular to the segment O, which does not guarantee that the motion of the disk is a xed-axis
rotation, but it does not exclude it either.
August 10, 2009
Problem 6.10
Assuming that the disk shown is rotating about a xed axis going through
its center at O, determine whether the disks angular velocity is constant,
increasing, or decreasing.
Solution
The angular velocity of the disk is decreasing. In fact, if the angular velocity were constant, then the
acceleration of point T would be directed toward the center O. Since the gure indicates that this is not the
case, we know that the angular velocity of the disk must either be increasing or decreasing. With this in mind,
notice that the the vector a
B
has a component that is opposite to the vector
B
= o
O
r
B{O
. This in turn
indicates that the speed of point T is decreasing and therefore that the spin rate of the disk as a whole is
slowing down.
August 10, 2009
Dynamics 1e 765
Problem 6.11
The sprinkler shown consists of a pipe T mounted on a hollow vertical shaft. The water comes in the
horizontal pipe at O and goes out the nozzles at and T, causing the pipe to rotate. Letting J = 7 in.,
determine the angular velocity of the sprinkler o
x
, and [ a
B
[, the magnitude of the acceleration of T, if T
is moving with a constant speed
B
= 20 ft,s. Assume that the sprinkler does not roll on the ground.
Solution
Because the arms of the sprinkler are modeled as rigid bodies, we
know that

B
= o
S

k r
B{O
.
Dening the position vector from O to T as shown to the right, we
also have

B
= o
S

k (J u
T
h u
;
) = Jo
S
u
0
= Jo
S
=
B
.
Plugging in known values and solving, we have
o
S
=

B
J
= 34.3 u
;
rad,s.
Since O is not in the plane of motion of B, we have
a
B
= o
S
( o
S
r
B{O
) = o
2
S
J u
i
= [ a
B
[ =

2
B
J
.
Plugging in known values we have
[ a
B
[ = 686 ft,s
2
.
August 10, 2009
Problem 6.12
In a carnival ride, two gondolas spin in opposite directions about a xed axis. If = 4 m, determine the
maximum constant angular speed of the gondolas if the magnitude of the acceleration of point is not to
exceed 2.5g.
Solution
Under the stated conditions, point would be moving in uniform circular motion. Therefore, we would have
= o
2
O
_ 2.5g = o
O
_
_
2.5g,.
Using the given numerical value of , we therefore have
(o
O
)
max
= 2.48 rad,s.
August 10, 2009
Dynamics 1e 767
Problem 6.13
The tractor shown is stuck with its right track off the ground, and therefore the track is able to move without
causing the tractor to move. Letting the radius of sprocket be J = 2.5 ft and the radius of sprocket T be
= 2 ft, determine the angular speed of wheel T if the sprocket is rotating at 1 rpm.
Solution
Because the track does not slip relative to the sprocket we must have
o
J
2
= o
B
2
= o
B
= o
.
o
B
= 1.25 rpm.
August 10, 2009
Problem 6.14
A battering ram is suspended in its frame via bars D and TC, which are identical and pinned at their
endpoints. At the instant shown, point 1 on the ram moves with a speed
0
= 15 m,s. Letting H = 1.75 m
and 0 = 20
, determine the magnitude of the angular velocity of the ram at this instant.
Solution
Since bars D and TC are identical and parallel to one another, we must conclude that the velocities of
points and T are equal to one another. Since point and T are coplanar and distinct, then we must
conclude that the ram is simply translating, which implies that
[ o
ram
[ = 0.
August 10, 2009
Dynamics 1e 769
Problem 6.15
A battering ram is suspended in its frame via bars O and OT, which are
pinned at O. At the instant shown, point G on the ram is moving to the right
with a speed
0
= 15 m,s. Letting H = 1.75 m, determine the angular velocity
of the ram at this instant.
Solution
The ram and its supports O and OT form a single rigid body,
therefore we must have

G
= o
ram

k
G{O
= o

k (H) = o
ram
H t.
We are told that [
G
[ =
0
. which means that
o
ram
H =
0
.
o
ram
=

0
H
k = 8.57

k rad,s .
August 10, 2009
Problems 6.16 and 6.17
The hammer of a Charpy impact toughness test machine has the geometry
shown, where G, is the mass center of the hammer head. Use Eqs. (6.8)
and (6.13) and write your answers in terms of the component system shown.
Problem 6.16 Determine the velocity and acceleration of G, assuming
= 500 mm, h = 65 mm, J = 25 mm,

0 = 5.98 rad,s, and

0 =
8.06 rad,s
2
.
Problem 6.17 Determine the velocity and acceleration of G as a function of
the geometric parameters shown,

0, and

0.
Solution to 6.16
Modeling the system as rigid and observing that point O is xed, we have

1
=
O
o
]
r
1{O
= o
]
r
1{O
. (1)
where the vectors o
]
and r
1{O
are given by
o
]
=

0

k = 5.98

k rad,s and r
1{O
= ( h) u
i
J u
0
= (0.565 m) u
i
(0.025) u
0
. (2)
Substituting the expressions in Eqs. (2) into Eq. (1) and carrying out the cross product, we have

1
= (0.15 u
i
3.38 u
0
) m,s.
Again recalling that O is a xed point, for the acceleration, we have
a
1
=
]
r
1{O
o
2
]
r
1{O
. (3)
where
]
=

0

k = 8.06

k rad,s is the angular acceleration of the pendulum. Using this expression for
]
and the expression for r
1{O
in the last of Eqs. (2), after simplifying, we have
a
1
= (20.4 u
i
3.66 u
0
) m,s
2
.
August 10, 2009
Dynamics 1e 771
Solution to 6.17
Modeling the system as rigid and observing that point O is xed, we have

1
=
O
o
]
r
1{O
= o
]
r
1{O
. (4)
where the vectors o
]
and r
1{O
are given by
o
]
=

0

k and r
1{O
= ( h) u
i
J u
0
. (5)
Substituting the expressions in Eqs. (5) into Eq. (4) and carrying out the cross product, we have

1
=

0J u
i

0( h) u
0
.
Again recalling that O is a xed point, for the acceleration, we have
a
1
=
]
r
1{O
o
2
]
r
1{O
. (6)
where
]
=

0

k is the angular acceleration of the pendulum. Using this expression for
]
and the expression
for r
1{O
in the second of Eqs. (5), after simplifying, we have
a
1
=
_
0J

0
2
( h)
_
u
i

_
0( h)

0
2
J
_
u
0
.
August 10, 2009
Problem 6.18
At the instant shown the paper is being unrolled with a speed
]
= 7.5 m,s and an acceleration a
]
=
1 m,s
2
. If at this instant the outer radius of the roll is r = 0.75 m, determine the angular velocity o
x
and
acceleration
x
of the roll.
Solution
Referring to the gure shown to the right, the spool is in a xed
axis rotation about its center O. It is assumed that the paper is just
coming off the spool does not slip relative to the paper that is still
on the spool. Let 1 be a point on the outmost layer of paper that is
just coming off the spool and let Q be the point on the paper layer
immediately below the outmost layer and on the same radial line as
1. Due to the no slip assumption, we have
1
=
Q
, i.e.,

1
=
1
t =
Q
= o
x
r
Q{O
. (1)
where o
x
= o
x

k is the angular velocity of the spool and r
Q{O
= r . Substituting these expressions in
Eq. (1) and solving for o
x
we have
o
x
= (
1
,r)

k .
Enforcing the no slip condition for the acceleration gives that a
Q
t = a
1
t, that is, the components of the
accelerations of Q and 1 are the equal in the direction tangent to the contact. Now, observe that
a
1
= a
1
t and a
Q
=
x
(r ) o
2
x
(r ) =
x
r t

2
1
r
. (2)
Using the expressions in Eq. (2) to enforce the no slip condition we have
x
r = a
1
, which can be solved
for
x
to obtain

x
= (a
]
,r)

k .
August 10, 2009
Dynamics 1e 773
Problem 6.19
At the instant shown, the propeller is rotating with an angular velocity o
]
= 400 rpm in the positive z
direction and an angular acceleration
]
= 2 rad,s
2
in the negative z direction, where the z axis is also
the spin axis of the propeller. Consider the cylindrical coordinate system shown, with origin O on the z
axis and unit vector u
T
pointing toward point Q on the propeller which is 14 ft away from the spin axis.
Compute the velocity and acceleration of Q. Express your answer using the component system shown.
Solution
The propeller is a rigid body, so we must have

Q
= o
1
r
Q{O
= o
1
u
;
1
Q
u
T
= o
1
1
Q
u
0
where o
1
= 400
2t
60
= 41.89 rad,s and 1
Q
= 14 ft. Plugging in known values we get

Q
= 586 u
0
ft,s.
Similarly for a
Q
we get
a
Q
= o
2
1
r
Q{O

1

k r
Q{O
= o
2
1
1
Q
u
T
1

k 1
Q
= o
2
1
1
Q
u
T
1
1
Q
u
0
.
a
Q
= 24.610
3
u
T
28.0 u
0
| ft,s
2
.
August 10, 2009
Problem 6.20
The wheel , with diameter J = 5 cm, is mounted on the shaft of the motor shown and is rotating with
a constant angular speed o
= 250 rpm. The wheel T, with center at the xed point O, is connected to
with a belt, which does not slip relative to or T. The radius of T is 1 = 12.5 cm. At point C the
wheel T is connected to a saw. If point C is at distance = 10 cm from O, determine the velocity and
acceleration of C when 0 = 20
. Express your answers using the component system shown.

Solution
Since the belt does not slip relative to or T, we have
o
J
2
= o
B
1 = o
B
=
J
21
o
. (1)
Next, observing that the crank is in a xed axis rotation about O, we have

C
= o
B
r
C{O
. (2)
where the
o
B
=
Jo
21
k and r
C{O
= (cos 0 t sin 0 ). (3)
Substituting Eqs. (3) into Eq. (2), after simplifying we obtain

C
=
Jo
21
(sin 0 t cos 0 ) = (0.179 t 0.492 ) m,s.
Recalling that the angular velocity of the wheel T is constant and that O is a xed point, we have
a
C
= o
2
B
r
C{O
. (4)
Hence we have
a
C
=
J
2
o
2
41
2
(cos 0 t sin 0 ) = (2.58 t 0.938 ) m,s
2
.
August 10, 2009
Dynamics 1e 775
Problem 6.21
In a contraption built by a fraternity, a person is sitting at the center of a swinging
platform with length 1 = 12 ft that is suspended via two identical arms each of
length H = 10 ft. Determine the angle 0 and the angular speed of the arms if
the person is moving upward and to the left with a speed
]
= 25 ft,s at the
angle = 33
.
Solution
The platform and its rider are undergoing a curvilinear translation. Therefore, the velocity vector of the
person,
1
, is equal to the velocity vectors of points C and D.

C
=
1
=
T
= = 0 = 0 = 33.0
.
Also, we must have
1
= [o
B
[H = [o
CT
[H.
[o
B
[ = [o
CT
[ =

1
H
= 2.50 rad,s.
August 10, 2009
Problem 6.22
A geosynchronous equatorial orbit is a circular orbit above the Earths equator
that has a period of 1 day (these are sometimes called geostationary orbits).
These geostationary orbits are of great importance for telecommunications
satellites because a satellite orbiting with the same angular rate as the rotation
rate of the Earth will appear to hover in the same point in the sky as seen by a
person standing on the surface of the Earth. Using this information, modeling a
geosynchronous satellite as a rigid body, and noting that the satellite has been
stabilized so that the same side always faces the Earth, determine the angular
speed o
x
of the satellite.
Solution
The motion of the satellite is a xed-axis rotation about the center of the Earth where the axis is perpendicular
to the plane of the satellites orbit. For the satellite to be geosynchronous, the satellites angular velocity must
be such that it moves through 2 radians every day
o
x
=
2 rad
24 h
1 h
3600 s
= 72.710
6
rad,s.
August 10, 2009
Dynamics 1e 777
Problem 6.23
The bucket of a backhoe is being operated while holding the arm O xed. At the instant shown, point
T has a horizontal component of velocity
0
= 0.25 ft,s and is vertically aligned with point . Letting
= 0.9 ft, n = 2.65 ft, and h = 1.95 ft, determine the velocity of point C. In addition, assuming that, at
the instant shown, point T is not accelerating in the horizontal direction, compute the acceleration of point
C. Express your answers using the component system shown.
Solution
Since the bucket is in a xed axis rotation about point , we have

B
= o
B

k r
B{
=
0
t = o
B

k =
0
t = o
B
t =
0
t
= o
B
=
= 0.2778 rad,s.
where o
B
is the angular velocity of the bucket. Since T is not accelerating in the horizontal direction,
B
= 0 and we have

C
= o
B

k r
C{
= o
B
n t (h ) | =
C
= (h )o
B
t o
B
n .
Upon substituting in given quantities, we have

C
= (0.292 t 0.736 ) ft,s.
Since
B
= 0, a
C
= o
2
B
r
C{
=
2
0
n t (h ) |, which means that
a
C
= (0.204 t 0.0810 ) ft,s
2
.
August 10, 2009
Problem 6.24
Wheels and C are mounted on the same shaft and rotate together. Wheels
and T are connected via a belt and so are wheels C and D. The axes of rotation
of all the wheels are xed, and the belts do not slip relative to the wheels they
connect. If, at the instant shown, wheel has an angular velocity o
= 2 rad,s
and an angular acceleration
= 0.5 rad,s
2
, determine the angular velocity
and acceleration of wheels T and D. The radii of the wheels are 1
= 1 ft,
1
B
= 0.25 ft, 1
C
= 0.6 ft, and 1
T
= 0.75 ft.
Solution
Since the belts do not slip relative to the wheels they connect, we must have that
o
= o
B
1
B
.
=
B
1
B
.
o
C
1
C
= o
T
1
T
.
C
1
C
=
T
1
T
.
where
o
= o
C
. and
=
C
.
Using the given quantities, we have
o
B
=
1
1
B
o

k = 8.00

k rad,s .

B
=
1
1
B

k = 2.00

k rad,s
2
.
o
T
=
1
C
1
T
o
C

k = 2.50

k rad,s .

T
=
1
C
1
T
C

k = 0.0625

k rad,s
2
.
August 10, 2009
Dynamics 1e 779
Problem 6.25
An acrobat lands at the end of a board and, at the instant shown, point has a downward vertical
component of velocity
0
= 5.5 m,s. Letting 0 = 15
, = 1 m, and J = 2.5 m, determine the vertical

component of velocity of point T at this instant if the board is modeled as a rigid body.
Solution
Letting the pivot of the board point be O, and modeling the board
as a rigid body, we know that

= o
B
r
{O
= o
B

k (cos 0 t sin 0 )
= o
B
(sin 0 t cos 0 ).
Looking at the y component of
we have
,
=
0
= o
B
cos 0 = o
B
=

0
cos 0
.
Similarly, for point B we know that

B
= o
B

k r
B{O
=

0
cos 0
k (J cos 0 t J sin 0 ) =
0
J
tan 0 t

0
J
.
Plugging known values into the , component of
B
we have
B,
=

0
J
= 13.8 m,s .
August 10, 2009
Problem 6.26
At the instant shown, is moving upward with a speed
0
= 5 ft,s and acceleration
a
0
= 0.65 ft,s
2
. Assuming that the rope that connects the pulleys does not slip relative to
the pulleys and letting = 6 in. and J = 4 in., determine the angular velocity and angular
acceleration of pulley C.
Solution
We can dene the length of the rope as
1 = ,
T
2,
.
Taking two time derivatives of this equation, and remembering that the overall length is
constant because the rope is inextensible, we have
0 = ,
T
2 ,
= ,
T
= 2 ,
= 2
0
0 = ,
T
2 ,
= ,
T
= 2 ,
= 2a
0
Because the point Q is contacting the rope, and the rope is not slipping, point Q has the
same velocity and vertical component of acceleration as D.
Q
=
T
= 2
0
= o
C
2
= o
C
= 4
= 40.0

k rad,s .
a
Q,
= a
T
= 2a
0
=
C
2
=
C
= 4
a
0
= 5.20

k rad,s
2
.
August 10, 2009
Dynamics 1e 781
Problem 6.27
At the instant shown, the angle = 30
, [
[ = 292 ft,s, and the turbine is rotating clockwise. Letting

O = 1, OT = 1,2, 1 = 182 ft, and treating the blades as being equally spaced, determine the velocity
of point T at the given instant and express it using the component system shown.
Solution
At the instant shown = 30
, so the positions of and T in the given cartesian coordinate system are

r
= r
{O
= 1(sin t cos )
r
B
= r
B{O
=
1
2
t.
Because the windmill is being treated as a rigid body, we also know

= o
T
r
{O
= o
T

k r
{O
= o
T
1(cos t sin ) =
= [o
T
[1 = 292 ft,s
where o
T
is the angular velocity of the turbine and
is the speed of . Solving for o

T
we have
o
T
=
1
because the turbine is rotating clockwise. The velocity of point T is then

B
= o
T
r
B{O
=
k
1
2
t

B
=

2
= 146 ft,s.
August 10, 2009
Problem 6.28
At the instant shown, the angle = 30
, the turbine is rotating clockwise, and

a
B
= (70.8 t 12.8 ) m,s
2
. Letting O = 1, OT = 1,2, 1 = 55.5 m,
and assuming the blades are equally spaced, determine the angular velocity and
angular acceleration of the turbine blades as well as the acceleration of point
at the given instant.
Solution
At the instant shown = 30
, so the positions of and T in the given cartesian coordinate system are

r
= r
{O
= 1(sin t cos )
r
B
= r
B{O
=
1
2
t.
Because the windmill is being treated as a rigid body, we also know
a
B
= o
2
T
r
B{O

T

k r
B{O
= o
2
T

1
2
t
T

k
_
1
2
_
t
= o
2
T
1
2
t
T
1
2
= a
Bx
t a
B,
.
Therefore,
o
T
=
_
2a
Bx
1
k = 1.60

k rad,s.

T
=
2a
B,
1
k = 0.461

k rad,s
2
.
The negative root is chosen for o
T
because the turbine is rotating clockwise. The acceleration of is
a
= o
2
T
r
{O

T

k r
{O
= o
2
T
1(sin t cos )
T

k 1(sin t cos )
= 1(o
2
T
sin
T
cos ) t 1(
T
sin o
2
T
cos ) .
Plugging in the known values of 1. o
T
.
T
. and we get
a
= (93.0 t 110 ) m,s

2
.
August 10, 2009
Dynamics 1e 783
Problems 6.29 through 6.31
A bicycle has wheels 700 mm in diameter and a gear set with the dimensions
given in the table below.
Crank
Sprocket C1 C2 C3
No. of Cogs 26 36 48
Radius (mm) 52.6 72.8 97.0
Cassette (9 speeds)
Sprocket S1 S2 S3 S4 S5 S6 S7 S8 S9
No. of Cogs 11 12 14 16 18 21 24 28 34
Radius (mm) 22.2 24.3 28.3 32.3 36.4 42.4 48.5 56.6 68.7
Problem 6.29 If a cyclist has a cadence of 1 Hz, determine the angular speed
of the rear wheel in rpm when using the combination of C3 and S2. In addition,
knowing that the speed of the cyclist is equal to the speed of a point on the tire
relative to the wheels center, determine the cyclists speed in m,s.
Problem 6.30 If a cyclist has a cadence of 68 rpm, determine which com-
bination of chain ring (a sprocket mounted on the crank) and (rear) sprocket
would most closely make the rear wheel rotate with an angular speed of 127 rpm.
Having found a chain ring/sprocket combination, determine the wheels exact
angular speed corresponding to the chosen chain ring/sprocket combination and
the given cadence.
Problem 6.31 If a cyclist is pedaling so that the rear wheel rotates with an
angular speed of 16 rad,s, determine all possible (rear) sprocket/chain ring
(crank-mounted sprocket) combinations that would allow him or her to pedal
with a frequency within the range 1.001.25 Hz.
Solution to 6.29
Using C3 and S2, 1
C
= 97.0 mm. 1
S
= 24.3 mm. and 1
W
= 0.7 m where the subscripts C. S. and W
denote the crank, sprocket and wheel respectively. We let o
C
. o
S
. o
W
be the angular velocities of the crank,
sprocket, and wheel. The sprocket is xed to the wheel, so
o
S
= o
W
.
Since the chain does not slip relative to the crank or sprocket, we have
o
S
1
S
= o
C
1
C
= o
S
= o
W
=
1
C
1
S
o
C
.
Because the cyclists cadence is 1 Hz. o
C
= 2 rad,s. Plugging in known values, we get
o
W
= 25.1 rad,s = 240 rpm.
We are also told that
cyclist
=
1{O
where
1{O
is the velocity of a point on the rim of the wheel relative to
the wheels center O. From this, we have

1{O
= o
W
r
1{O
=
cyclist
=
1{O
= o
W
1
W
.
August 10, 2009
cyclist
=
1
C
1
S
1
W
o
C
= 17.6 m,s.
August 10, 2009
Dynamics 1e 785
Solution to 6.30
We let o
C
. o
W
. and o
S
be the angular velocities and 1
C
. 1
W
and 1
S
be the radii of the crank, wheel, and
sprocket respectively. The chain does not slip with respect to the crank or sprocket, so we must have
o
C
1
C
= o
S
1
S
.
Given o
C
= 68 rpm, we are asked to pick a sprocket and crank combination such that o
S
is close to 128 rpm.
In other words,
T
C
T
S
must be close to
o
S
o
C
=
127
68
= 1.868.
By trial and error we nd that pairing C1 with S3 gives
1
C
1
S
=
52.6 mm
28.3 mm
= 1.86.
which is the closest pairing to the desired ratio. For this choice of gears and the given cadence,
o
W
= o
S
=
1
C
1
S
o
C
=
52.6 mm
28.3 mm
68 rpm = 126 rpm.
August 10, 2009
Solution to 6.31
We let o
C
. o
W
. and o
S
be the angular velocities and 1
C
. 1
W
. and 1
S
be the radii of the crank, wheel, and
sprocket respectively. The chain does not slip with respect to the crank or sprocket, and o
S
= o
W
so we
must have
o
S
1
S
= o
W
1
S
= o
C
1
C
= o
C
= o
W
1
S
1
C
. (1)
We need to nd the combinations of crank and sprocket such that
2 rad,s _ o
C
_ 2.5 rad,s (2)
Plugging Eq. (1) into Eq. (2) we must have that
0.393 _
1
S
1
C
_ 0.491.
By trial and error we nd that all possible combinations include:
S1 and C1:
1
S
1
C
= 0.422
S2 and C1:
1
S
1
C
= 0.460
S4 and C2:
1
S
1
C
= 0.444
S6 and C3:
1
S
1
C
= 0.437.
August 10, 2009
Dynamics 1e 787
Problem 6.32
A carrier is maneuvering so that, at the instant shown, [
[ = 25 knots (1 kn is exactly equal to 1.852 km,h)

and = 33
. Letting the distance between and T be 220 m and 0 = 22
, determine
B
at the given
instant if the ships turning rate at this instant is

0 = 2
,s clockwise.
Solution
Since and T are on the same rigid body, we must have

B
=
o
carrier
r
B{
(1)
where

(sin t cos ). (2)

o
carrier
= o

k = (2
,s)

k = (0.03491 rad,s)

k. (3)
and
r
B{
= T(cos 0 t sin 0 ). (4)
Substituting Eqs. (2)(4) into Eq. (1) we have

B
=
(sin t cos ) o

k T(cos 0 t sin 0 )
= (
sin oT sin 0) t (
cos oT cos 0) .
Substituting in known values we get

B
= (9.88 t 3.67 ) m,s.
August 10, 2009
Problem 6.33
At the instant shown, the pinion is rotating between two racks with an angular
velocity o
1
= 55 rad,s. If the nominal radius of the pinion is 1 = 4 cm and if
the lower rack is moving to the right with a speed
1
= 1.2 m,s, determine the
velocity of the upper rack.
Solution
We dene 1 and Q to be the contact points between the pinion and the
top and bottom racks, respectively. Then we have

Q
=
1
= (1.2 m,s) t.
Because Q and 1 are points on the same rigid body, we must also have

1
=
Q
o
1
r
1{Q
=
1
t o
1

k (21)
= (
1
21o
1
) t.
Substituting known values we get

1
= 3.2 t m,s.
August 10, 2009
Dynamics 1e 789
Problem 6.34
At the instant shown the lower rack is moving to the right with a speed of
1
= 4 ft,s, while the upper rack is xed. If the nominal radius of the pinion is
1 = 2.5 in., determine o
1
, the angular velocity of the pinion, as well as the
velocity of point O, i.e., the center of the pinion.
Solution
We dene 1 and Q to be the contact points between the pinion and the
top and bottom racks, respectively. Then we have

Q
=
1
= (1.2 m,s) t and
1
=

0.
Because Q and 1 are points on the same rigid body, we must also have

Q
= o
1
r
Q{1
=
1
= o
1

k (21) =
1
= 21o
1
t =
1
= o
1
=

1
21
. (1)
o
1
= 9.60

k rad,s.
Points O and 1 are also on the same rigid body, so we also must have

O
= o
1
r
O{1
= o
1

k (1) = o
1
1 t. (2)
Substituting Eq. (1) into Eq. (2) we have

O
= 2.00 t ft,s.
August 10, 2009
Problem 6.35
A bar of length 1 = 2.5 m is pin-connected to a roller at . The roller is moving along a horizontal rail as
shown with
= 5 m,s. If at a certain instant 0 = 33
and

0 = 0.4 rad,s, compute the velocity of the
bars midpoint C.
Solution
Because C and are points on the same rigid body, we must have

C
=
o
C
r
C{
. (1)
where

t. o
C
=

0

k. r
C{
=
1
2
(sin 0 t cos 0 ). (2)
Plugging Eqs. (2) into Eq. (1) we have

C
=
t o
C

k
1
2
(sin 0 t cos 0 )
= (
1
2
o
C
cos 0) t o
C
1
2
sin 0 .

C
= (5.42 t 0.272 ) m,s.
August 10, 2009
Dynamics 1e 791
Problem 6.36
If the motion of the bar is planar, what would the speed of need to be for
C
to be perpendicular to the
bar T? Why?
Solution
The kinematic relation between points C and is

C
=
o
C
r
{C
.
For
C
to be perpendicular to r
{C
in planar motion, we must have

=

0 =
= 0.
August 10, 2009
Problem 6.37
Points and T are both on the trailer part of the truck. If the relative velocity of point T with respect to
is as shown, is the body undergoing a planar rigid body motion?
Solution
For the motion to be a planar rigid body motion,
B{
must be perpendicular to the vector r
B{
. The gure
indicates that
B{
and r
B{
are not perpendicular. Therefore, the motion of the trailer is not a planar rigid
body motion.
August 10, 2009
Dynamics 1e 793
Problem 6.38
A truck is moving to the right with a speed
0
= 12 km,h while the pipe section with radius 1 = 1.25 m
and center at C rolls without slipping over the trucks bed. The center of the pipe section C is moving to
the right at 2 m,s relative to the truck. Determine the angular velocity of the pipe section and the absolute
velocity of C.
Solution
We let o
1
be the angular velocity of the pipe. Because C and Q can be considered points
on the same rigid body, we must have

C
=
Q
o
1
r
C{Q
(1)
where
o
1
= o
1

k.
Q
=
T
=
0
t. and r
C{Q
= 1 . (2)
Substituting Eqs. (2) into Eq. (1) we have

C
= (
0
o
1
1) t. (3)
We are also told that

C{Q
= o
1
r
C{Q
=
pipe/truck
t = o
1
1 t = 2.000 t m,s.
Plugging in known values we have o
1
= 1.600. which to three signicant gures is
o
1
= 1.60

k rad,s.
Plugging the unrounded value for o
1
and all known values into Eq. (3), and rounding to three signicant
gures we have

C
= 5.33 t m,s.
August 10, 2009
Problem 6.39
A wheel W of radius 1
W
= 7 mm is connected to point O via the rotating arm OC, and it rolls without
slip over the stationary cylinder S of radius 1
S
= 15 mm. If, at the instant shown, 0 = 47
and
o
OC
= 3.5 rad,s, determine the angular velocity of the wheel and the velocity of point Q, where point Q
lies on the edge of W and along the extension of the line OC.
Solution
Points C and O are two points on the arm, which is a rigid body, so we must
have

C
=
O
o
OC
r
C{O
. (1)
where
o
OC
= o
OC

k and r
C{O
= (1
S
1
W
) u
i
. (2)

C
= (1
S
1
W
)o
OC
u
0
. (3)
We let 1 be the contact point between cylinder S and wheel W , so
T
=

0, and

C
=
T
o
W
r
C{T
= o
W

k 1
W
u
i
= o
W
1
W
u
0
. (4)
Equating Eqs. (3) and (4) we have
o
W
1
W
u
0
= o
OC
(1
S
1
W
) u
0
= o
W
=
(1
S
1
W
)
1
W
o
OC
.
o
W
= 11.0

k rad,s.
Because Q is a point on the same rigid body as 1, we also must have

Q
=
T
o
W

k 21
W
u
i
= 21
W
o
W
u
0
= 2(1
S
1
W
)o
OC
u
0
.

Q
= 0.154 u
0
m,s.
August 10, 2009
Dynamics 1e 795
Problem 6.40
For the slider-crank mechanism shown, let 1 = 20 mm, 1 = 80 mm, and
H = 38 mm. Use the concept of instantaneous center of rotation to determine
the values of 0, with 0
_ 0 _ 360
, for which
B
= 0. Also, determine the
angular velocity of the connecting rod at these values of 0.
Solution
When
B
= 0, T is the instantaneous center of rotation of T, and
must
be perpendicular to the line T. However,
must also be perpendicular

to the line O, since O is the center of rotation of the crank. Therefore, O,
, and T must be collinear. The two cases where this happens are shown
to the left. In the rst, case we have that
(1 1) cos 0
1
= H = 0
1
= cos
1
H
1 1
= 0
1
= 67.7
.
In the second case we have that
(1 1) cos 0
2
= H = 0
2
= 180
cos
1
H
1 1
= 0
2
= 231
.
August 10, 2009
Problem 6.41
At the instant shown bars T and TC are perpendicular to each other, and bar TC is rotating counter-
clockwise at 20 rad,s. Letting 1 = 2.5 ft and 0 = 45
, determine the angular velocity of bar T as well

as the velocity of the slider C.
Solution
Because 0 = 45
, the instantaneous center of rotation of bar TC is point .

Therefore,
C
=
_
21o
BC
= 70.7 ft,s
Because C is constrained to move along the guide with vector ( t ), and
is moving up and to the right, we have

C
= (50.0 t 50.0 t) ft,s.
A is also the center of rotation of bar T. Therefore, in the present congura-
tion
B
= o
B
1 = o
BC
1 = o
B
= o
BC
= o
B
= 20.0

k rad,s.
August 10, 2009
Dynamics 1e 797
A ball of radius 1
= 3 in. is rolling without slip in a stationary spherical bowl of radius 1

B
= 8 in.
Assume that the balls motion is planar.
Problem 6.42 If the speed of the center of the ball is
= 1.75 ft,s and if the ball is moving down and

to the right, determine the angular velocity of the ball.
Problem 6.43 If the angular speed of the ball [o
[ = 4 rad,s is counterclockwise, determine the velocity

of the center of the ball.
Solution to 6.42
Converting 1
to feet we have 1
= 0.2500 ft. Since the ball rolls without slip over a stationary surface, the
point of contact between the ball and the bowl is the instantaneous center of rotation of the ball. Therefore,
= [ o
[1
= o
= o
= 7.000 rad,s
Observing that the ball will be rotating counterclockwise and given that

k = u
i
u
0
, to three signicant
gures we have
o
= 7.00

k rad,s.
August 10, 2009
Solution to 6.43
Since the ball rolls without slip over a stationary surface, the point of contact between the ball and the bowl is
the instantaneous center of rotation of the ball. Therefore,
= [ o
[1
= 41
= 12 u
0
in,s.
August 10, 2009
Dynamics 1e 799
Problem 6.44
One way to convert rotational motion into linear motion and vice versa is via the use of a mechanism
called a Scotch yoke, which consists of a crank C that is connected to a slider T via a pin . The pin
rotates with the crank while sliding within the yoke, which, in turn, rigidly translates with the slider. This
mechanism has been used, for example, to control the opening and closing valves in pipelines. Letting the
radius of the crank be 1 = 1.5 ft, determine the angular velocity o
C
of the crank so that the maximum
speed of the slider is
B
= 90 ft,s.
Solution
Calling the center of the wheel the origin, from the geometry of the problem we
have
r
= 1(cos 0 t sin 0 ). (1)

By construction, the velocity of the slider is equal to the horizontal component of
the velocity of point . We can get
by taking the derivative of Eq. 1 with respect to time. Doing so we

have

= 1
0(sin 0 t cos 0 ) =
B
= 1
0 sin 0 t.
Because 1
0 sin 0 varies as a function of 0, with its maximum value equal to 1[
0[, for (
B
)
nox
we have
(
B
)
max
= 1[
0[ = 1o
C
= o
C
=
(
B
)
max
1
= o
C
= 60.0

k rad,s.
August 10, 2009
The system shown consists of a wheel of radius 1 = 14 in. rolling on a
horizontal surface. A bar T of length 1 = 40 in. is pin-connected to the
center of the wheel and to a slider that is constrained to move along a vertical
guide. Point C is the bars midpoint.
Problem 6.45 If, when 0 = 72
, the wheel is moving to the right so that
B
= 7 ft,s, determine the angular velocity of the bar as well as the velocity of
the slider .
, the slider is moving downward with a speed
= 8 ft,s, determine the velocity of points T and C.

Problem 6.47 If the wheel rolls without slip with a constant counterclockwise
angular velocity of 10 rad,s, determine the velocity of the slider when 0 =
45
.
Solution to 6.45
Converting units on known values, we have
1 = 1.167 ft 1 = 3.333 ft.
We are told the wheel is moving to the right. Therefore, using the component system shown

B
= 7 t ft,s. (1)
In addition, the slider must be moving down, so we have
. and the angular velocity of the bar is

o
B
= o
B

k. Also, the position vector of T with respect to is r
B{
= 1(cos 0 t sin 0 ). From rigid
body kinematics, we must have

B
=
o
B
r
B{
=
o
B

k 1(cos 0 t sin 0 )
= o
B
1cos 0 t (o
B
1sin 0
) . (2)
Equating Eq. (1) and Eq. (2) we have
B
= o
B
1sin 0 = o
B
=

B
1sin 0
. (3)
= o
B
1cos 0. (4)
Plugging known values into Eq. (3) we get
o
B
= 2.208 rad,s.
To three signicant gures this is
o
B
= 2.21

k rad,s.
Plugging the unrounded value for o
B
into Eq. (4) we get
= 2.27 ft,s =
= 2.27 ft,s.
August 10, 2009
Dynamics 1e 801
Solution to 6.46
1 = 1.167 ft 1 = 3.333 ft.
We are told the slider is moving down. Therefore, using the component
system shown,

= 8 ft,s.
In addition, because the slider is moving down, the the wheel must be
moving to the right, so we have
B
=
B
t. o
B
= o
B

k, and o
W
=
o
W

k. Also, the position vector of T relative to is r
B{
= 1(cos 0 t
sin 0 ). and of T relative to Q is r
B{Q
= 1 . From rigid body kinematics
we must have

B
=
o
B
r
B{
=
o
B

k 1(cos 0 t sin 0 )
= o
B
1cos 0 t (o
B
1sin 0
) . (5)
We must also have

B
=
Q
o
W
r
B{Q
= o
W

k 1
= o
W
1 t. (6)
Equating components of Eq. (5) with those of Eq. (6) we have
o
W
1 = o
B
1sin 0. (7)
= o
B
1cos 0. (8)
Solving Eq. (8) gives o
B
= 3.988 rad,s. Plugging o
B
into Eq. (7) gives o
W
= 9.100 rad,s. Plugging
o
W
into Eq. (6) gives

B
= 10.6 t ft,s.
Realizing that the position vector from to C is r
C{
=
E i
B=A
2
, from rigid body kinematics we have

C
=
o
B
r
C{
=
o
B

k
1
2
(cos 0 t sin 0 )
= o
B
1cos 0 t (o
B
1sin 0
) . (9)
Plugging all known values into Eq. (9) gives

C
= (5.31 t 4 ) ft,s.
August 10, 2009
Solution to 6.47
1 = 1.167 ft 1 = 3.333 ft.
We are told that the wheel spins counterclockwise at 10 rad,s, so we have
o
W
= 10

k rad,s. (10)
In addition, because the wheel is turning counterclockwise, the slider is
moving up, and T is moving to the left, we must have

.
B
=
B
t. and o
B
= o
B

k. (11)
Also, the position vector of T relative to is r
B{
= 1(cos 0 t sin 0 ). and of T relative to Q is
r
B{Q
= 1 . From rigid body kinematics we must have

B
=
o
B
r
B{
=
o
B

k 1(cos 0 t sin 0 )
= o
B
1cos 0 t (o
B
1sin 0
) . (12)
We must also have

B
=
Q
o
W
r
B{Q
= o
W

k 1 = o
W
1 t = 11.67 t ft,s. (13)
Equating components of Eq. (12) with those of Eq. (13) we have
11.67 = o
B
1sin 0. (14)
= o
B
1cos 0. (15)
Solving Eq. (14) gives o
B
= 4.952 rad,s. Substituting this value for o
B
into Eq. (15), we have

= 11.7 ft,s.
August 10, 2009
Dynamics 1e 803
Problem 6.48
At the instant shown, the lower rack is moving to the right with a speed of
2.7 m,s while the upper rack is moving to the left with a speed of 1.7 m,s.
If the nominal radius of the pinion O is 1 = 0.25 m, determine the angular
velocity of the pinion, as well as the position of the pinions instantaneous
center of rotation relative to point O.
Solution
From the no slip condition at points U and Q we know that

U
= 1.7 t m,s (1)
and

Q
= 2.7 t m,s. (2)
From rigid body kinematics we have

U
=
Q
o
1
r
U{Q
=
1
t o
1

k 21 =
1
t 21o
1
t. (3)
where o
1
is the angular speed of the pinion. Comparing Eq. (3) with Eq. (1) component by component, we
have
1.7 =
1
21o
1
= o
1
=

1
1.7
21
= o
1
= 8.800 rad,s.
In vector form, and to three signicant gures this is
o
1
= 8.80

k rad,s.
We also know that

JC
=
Q
o
1
r
JC{Q
0 =
1
t o
1

k (J
JC{Q
)
x
t (J
JC{Q
)
,
|
0 =
1
(J
JC{Q
)
,
o
1
| t (J
JC{Q
)
x
o
1
. (4)
Breaking Eq. (4) into two scalar equations by components we have
0 =
1
(J
JC{Q
)
,
o
1
= (J
JC{Q
)
,
=

1
o
1
.
0 = (J
JC{Q
)
x
o
1
= (J
JC{Q
)
x
= 0.
Substituting known values we have
r
JC{Q
= 0.307 rad,s.
August 10, 2009
Problem 6.49
A carrier is maneuvering so that, at the instant shown, [
[ = 22 kn, = 35
, [
B
[ = 24 kn (1 kn is equal
to 1 nautical mile (nml) per hour or 6076 ft,h). Letting 0 = 19
and the distance between and T be

720 ft, determine the ships turning rate at the given instant if the ship is rotating clockwise.
Solution
We let
(sin t cos ), o
= o

k, and r
B{
= J
B
(cos 0 t sin 0 ). From rigid body
kinematics we know

B
=
o
B
r
B{
=
(sin t cos ) o
B

k J
B
(cos 0 t sin 0 )
= (
sin o
B
J
B
sin 0) t (
cos o
B
J
B
cos 0) . (1)
Taking the magnitude of both sides of Eq. (1) we have
2
B
= (
sin o
B
J
B
sin 0)
2
(
cos o
B
J
B
cos 0)
2
. (2)
All values in Eq. (2) are known except for o
B
. Solving, we have o
B
= 0.06805 rad,s. Since we are
told that the ship is turning clockwise, using the component system shown we must have
o
B
= 0.0681

k rad,s.
August 10, 2009
Dynamics 1e 805
For the slider-crank mechanism shown, let 1 = 1.9 in., 1 = 6.1 in., and H = 1.2 in. Also, at the instant
shown, let 0 = 27
and o
B
= 4850 rpm.
Problem 6.50 Determine the velocity of the piston at the instant shown.
Problem 6.51 Determine

and the velocity of point D at the instant shown.
Solution to 6.50
We let r
B{
= 1(cos 0 t sin 0 ) and o
B
= o
B

k. Converting all given values to ft or rad,s we have
1 = 0.1583 ft. 1 = 0.5083 ft. H = 0.1000 ft. and o
B
= 507.9 rad,s.

B
=
o
B
r
B{
= o
B

k 1(cos 0 t sin 0 ) = o
B
1sin 0 t o
B
1cos 0 . (1)
If we let o
BC
= o
BC

k, r
C{B
= 1(sin t cos ), and
C
=
C
, then we have

C
=
C
=
B
o
BC
r
C{B
.
=
B
o
BC

k 1(sin t cos )
=
B
o
BC
1cos t o
BC
1sin . (2)
Substituting Eq. (1) for
B
in Eq. (2) we get
C
= (o
B
1sin 0 o
BC
1cos ) t (o
B
1cos 0 o
BC
1sin ) . (3)
From the geometry of the problem we also have
1sin = 1cos 0 = = sin
1
_
1
1
cos 0
_
. (4)
Substituting Eq. (4) for in Eq. (3) we have
C
=
_
o
B
1sin 0 o
BC
1cos
_
sin
1
_
1
1
cos 0
___
t 21cos 0(o
B
o
BC
) . (5)
August 10, 2009
Breaking Eq. (5) into two scalar equations by components we have
0 = o
B
1sin 0 o
BC
cos
_
sin
1
_
1
1
cos 0
__
(6)
C
= 21cos 0(o
B
o
BC
). (7)
Eqs. (6) and (7) are two equations in
C
, o
BC
, and known values. Solving these equations for
C
we get

C
= 61.1 ft,s.
August 10, 2009
Dynamics 1e 807
Solution to 6.51
We let r
B{
= 1(cos 0 t sin 0 ) and o
B
= o
B

k. Converting all given values to ft,s or rad,s we have
1 = 0.1583 ft. 1 = 0.5083 ft. H = 0.1000 ft. and o
B
= 507.9 rad,s.

B
= o
B
r
B{
= o
B

k 1(cos 0 t sin 0 ) = o
B
1sin 0 t o
B
1cos 0 . (8)
If we let o
BC
= o
BC

k, r
C{B
= 1(sin t cos ), and
C
=
C
, then from rigid body kinematics we
have

C
=
C
=
B
o
BC
r
C{B
.
=
B
o
BC

k 1(sin t cos )
=
B
o
BC
1cos t o
BC
1sin . (9)
Substituting Eq. (8) into Eq. (9) we get
C
= (o
B
1sin 0 o
BC
1cos ) t (o
B
1cos 0 o
BC
1sin ) . (10)
From the geometry of the problem we also have
1
_
1
1
cos 0
_
. (11)
C
=
_
o
B
1sin 0 o
BC
1cos
_
sin
1
_
1
1
cos 0
___
t 21cos 0(o
B
o
BC
) . (12)
Equating components of Eq. (12) we have
0 = o
B
1sin 0 o
BC
cos
_
sin
1
_
1
1
cos 0
__
(13)
C
= 21cos 0(o
B
o
BC
). (14)
C
, o
BC
, and known values. Solving these equations for o
BC
, we
get
o
BC
= 74.76 rad,s.
Because measures the angle of TC with respect to the horizontal axis,

= o
BC
. Therefore,
= 74.8 rad,s.
We let r
T{B
= H(sin t cos ). Therefore, from rigid body kinematics we have

T
=
B
o
BC
r
T{B
=
B
o
BC

k H(sin t cos )
=
B
o
BC
H cos t o
BC
H sin . (15)
Substituting Eq. (8) into Eq. (15) we get

T
= (o
B
1sin 0 o
BC
H cos ) t (o
B
1cos 0 o
BC
H sin ) . (16)
August 10, 2009
Combining Eq. (11) with Eq. (16) to eliminate gives

T
=
_
o
B
1sin 0 o
BC
H cos
_
sin
1
_
1
1
cos 0
___
t
_
1cos 0
_
o
B
o
BC
H
1
__
. (17)
Substituting all known values into Eq. (17) we get

T
= (29.3 t 69.6 ) ft,s.
August 10, 2009
Dynamics 1e 809
Problem 6.52
W
= 7 mm is connected to point O via the rotating
arm OC, and it rolls without slip over the stationary cylinder S of radius
1
S
= 15 mm. If, at the instant shown, 0 = 63
and o
W
= 9 rad,s, determine
the angular velocity of the arm OC and the velocity of point 1, where point 1
lies on the edge of W and is vertically aligned with point C.
Solution
Let E be the contact point between W and S. From the no slip condition,

T
=

0. We let o
W
= o
W

k and from the geometry of the problem
r
C{T
= 1
W
(cos 0 t cos 0 ). From rigid body kinematics we have

C
=
T
o
W
r
C{T
= o
W

k 1
W
(cos 0 t sin 0 )
= o
W
1
W
(sin 0 t cos 0 ). (1)
Points C and O are also points on the arm where
r
C{O
= (1
S
1
W
)(cos 0 t sin 0 ). Therefore, we must have

C
=
O
o
OC
r
C{O
= o
OC

k (1
S
1
W
)(cos 0 t sin 0 )
= o
OC
(1
S
1
W
)(sin 0 cos 0 ). (2)
o
W
1
W
= o
OC
(1
S
1
W
) = o
OC
=
1
W
1
S
1
W
o
W

k = 2.86

k rad,s.
Points 1 and C are both points on the wheel with r
1{C
= 1
W
. Therefore, we must have

1
=
C
o
W
r
1{C
.
Substituting in Eq. (1) for
C
we have

1
= o
W
1
W
(sin 0 t cos 0 ) o
W

k 1
W

= o
W
1
W
(sin 0 1) t cos 0 |. (3)
Substituting known values into Eq. (3) we get

1
= (0.119 t 0.0286 ) m,s.
August 10, 2009
Problem 6.53
At the instant shown, the center O of a spool with inner and outer radii r = 1 m
and 1 = 2.2 m, respectively, is moving up the incline at speed
O
= 3 m,s.
If the spool does not slip relative to the ground or relative to the cable C,
determine the rate at which the cable is wound or unwound, that is, the length
of rope being wound or unwound per unit time.
Solution
From the no slip condition,
Q
=

0. We also know
O
=
O
t ,
r
O{Q
= 1 , and o
S
= o
S

k. From rigid body kinematics we have

O
=
Q
o
S
r
O{Q
=
O
t = o
S

k 1
= o
S
=
O
1
.
We also know that r
T{O
= r , and
C
=
T
. From rigid body
kinematics we have

T
=
O
o
S
r
T{O

C
=
O
t o
S

k r

C
= (
O
o
S
r) t =
C
=
O
_
1
r
1
_
t.
Since
C
and
O
are in the same direction, and
C
>
O
, the cord is being unwound at a rate of
[
C

O
[ =
r
1
O
= 1.36 m,s.
August 10, 2009
Dynamics 1e 811
Problem 6.54
At the instant shown, the center O of a spool with inner and outer radii r = 3 ft
and 1 = 7 ft, respectively, is moving down the incline at a speed
O
=
12.2 ft,s. If the spool does not slip relative to the rope and if the rope is xed
at one end, determine the velocity of point C (the point on the spool that is in
contact with the incline) as well as the ropes unwinding rate, that is, the length
of rope being unwound per unit time.
Solution
We let point be the point where the rope is losing contact with the spool.
Because the end of the rope not around the spool is xed, the speed of
the rope is 0, and therefore
= 0. We also know that

O
= 12.2 t ft,s.

O
=
o
O
r
O{
O
t = o
O

k r
O
t = ro
O
t = o
O
=
O
r
.
We must also have

C
=
o
O
r
C{
=
O
r
k (r 1)
=

O
(r 1)
r
.

C
= 16.3 t ft,s.
Since
=

0, the rope is being unwound, and its rate is
[
O

[ = 12.2 ft,s.
August 10, 2009
Problem 6.55
The bucket of a backhoe is the element T of the four-bar linkage system TCD. As-
sume that the points and D are xed and that, at the instant shown, point T is ver-
tically aligned with point , point C is horizontally aligned with point T, and point T
is moving to the right with a speed
B
= 1.2 ft,s. Determine the velocity of point C
at the instant shown, along with the angular velocities of elements TC and CD. Let h = 0.66 ft,
e = 0.46 ft, l = 0.9 ft, and n = 1.0 ft.
Solution
Point C is a point on both bar TC and bar CD, and therefore can be related to both points T and D through
rigid body kinematics. We have that

C
=
T
o
CT
r
C{T
= o
CT

k (n h) t (e ) | = o
CT
(e ) t o
CT
(n h) (1)
Since
B
=
B
t, we ahve

C
=
B
o
BC
r
C{B
=
B
t o
BC
(n) t =
B
t o
BC
n . (2)
Equating Eqs. (1) and (2) component by component we have
o
CT
(e ) t =
B
t and o
CT
(n h) = o
BC
n . (3)
Solving Eqs. (3) we have
o
CT
=

B
e
and o
BC
=
o
CT
(n h)
n
= o
BC
=

B
e
n h
n
. (4)
Substituting known values into Eq. (4), we have
o
CT
= 0.882

k rad,s. o
BC
= 0.300

k rad,s.

C
=
B
t

B
e
(n h) . (5)
Substituting known values into Eq. (5) we have

C
= (1.20 t 0.300 ) ft,s.
August 10, 2009
Dynamics 1e 813
Problem 6.56
Bar T is rotating counterclockwise with an angular velocity of 15 rad,s.
Letting 1 = 1.25 m, determine the angular velocity of bar CD when 0 = 45
.
Solution
Because bar T is rotating about the xed point , at the given instant point T is only moving in the t
direction, and we have

B
= o
B
1 t.
Points T and C are both on the bar TC so we have

C
=
B
o
BC
r
C{B
= o
B
1 t o
BC

k 1 t = o
B
1 t o
BC
1 . (1)
Points C and D are also both on the bar CD so we have

C
=
T
o
CT
r
C{T
= o
CT

k
1
2
(cos 0 t sin 0 ) =
1
2
o
CT
(sin 0 t cos 0 ). (2)
Equating the t components of Eqs. (1) and (2) we have
o
B
1 =
1
2
o
CT
sin 0 = o
CT
=
2o
B
sin 0
.
Substituting in known values we have
o
CT
= 42.4

k rad,s.
August 10, 2009
Problem 6.57
At the instant shown, bars T and CD are vertical and point C is moving to the left
with a speed of 35 ft,s. Letting 1 = 1.5 ft and H = 0.6 ft, determine the velocity
of point T.
Solution
From the concept of instantaneous center of rotation, we see that lines T and CD are parallel, so the
instantaneous center of rrotation of bar TC is at innity, so o
BC
= 0. Therefore, from rigid body kinematics
we have
B
=
C
, which gives us

C
= 35 t ft,s.
August 10, 2009
Dynamics 1e 815
Problem 6.58
Collars and T are constrained to slide along the guides shown and are
connected by a bar with length 1 = 0.75 m. Letting 0 = 45
, determine
the angular velocity of the bar T at the instant shown if, at this instant,
B
= 2.7 m,s.
Solution
From rigid body kinematics, we must have

=
B
o
B
r
{B
.
where
,
B
=
B
t, and r
{B
=
1
p
2
t
1
p
2
. Plugging these values in we have
=
B
t o
B

k
_
1
_
2
t
1
_
2

_
=
B
t o
B
1
_
2
t o
B
1
_
2
. (1)
From the t component of Eq. (1) we have
B
= o
B
1
_
2
= o
B
=

B
1
_
2.
o
B
= 5.09

k rad,s.
August 10, 2009
Problem 6.59
At the instant shown, an overhead garage door is being shut with point T
moving to the left within the horizontal part of the door guide at a speed of
5 ft,s, while point is moving vertically downward. Determine the angular
velocity of the door and the velocity of the counterweight C at this instant if
1 = 6 ft and J = 1.5 ft.
Solution
Using the concept of instantaneous center of rotation we have
B
= o
B
J. (1)
= o
B
_
1
2
J
2
. (2)
Solving Eq. (1) for o
B
we have
o
B
=

B
J
= o
B
= 3.333 rad,s.
In vector form and to three signicant gures we have
o
B
= 3.33

k rad,s.
Substituting all known values into Eq. 2 we have
=

B
J
_
1
2
J
2
= 19.35 ft,s.
Given the geometry of the pulley system,
C
=
. In vector form, we have

C
= 19.4 ft,s.
August 10, 2009
Dynamics 1e 817
Problem 6.60
A spool with inner radius 1 = 1.5 m rolls without slip over a horizontal rail as shown. If the cable on the
spool is unwound at a rate
= 5 m,s in such a way that the unwound cable remains perpendicular to the
rail, determine the angular velocity of the spool and the velocity of the spools center O.
Solution
We let 1 be the contact point between the rope and the spool. By
the no slip condition, the component of
1
is equal to
. Also,
Q
= 0 because it is the contact point between the spool and the
rail. From rigid body kinematics we then have

1
=
Q
o
spool
r
1{Q
= o
spool

k (1 t 1 )
= 1o
spool
( t ).
Equating
1,
to
we have
= 1o
spool
= o
spool
=
1
= 3.33 rad,s.
In vector form this is
o
spool
= 3.33

k rad,s.
We must also have

O
=
Q
o
spool
r
O{Q
= o
spool

k 1 = o
spool
1 t =
O
= 5.00 t rad,s.
August 10, 2009
Problem 6.61
In the four-bar linkage system shown, the lengths of the bars T and CD are
1
B
= 46 mm and 1
CT
= 25 mm, respectively. In addition, the distance
between points and D is J
T
= 43 mm. The dimensions of the mechanism
are such that when the angle 0 = 132
, the angle = 69
. For 0 = 132
and
0 = 27 rad,s, determine the angular velocity of bars TC and CD as well as

the velocity of the point 1, the midpoint of bar TC. Note that the gure is
drawn to scale and that bars TC and CD are not collinear.
Solution
We let point D be the origin. From the geometry of the problem we have
r
= J
T
t = 0.04300 t m.
r
B{
= 1
B
(cos 0 t sin 0 ) = (0.03078 t 0.03418 ) m.
r
B
= r
r
B{
= (0.01222 t 0.03418 ) m.
r
C
= 1
CT
(cos t sin ) = (0.008959 t 0.02334 ) m.
and
r
C{B
= r
C
r
B
= (1
CT
cos J
T
1
B
cos 0) t
(1
CT
sin 1
B
sin 0) = (0.003261 t 0.01085 ) m.

B
=
o
B
r
B{
.
= o
B

k 1
B
(cos 0 t sin 0 )
= o
B
1
B
(sin 0 t cos 0 ) = (0.9230 t 0.8311 ) m,s.
We must also have

C
=
B
o
BC
r
C{B
= o
B
1
B
(sin 0 t cos 0 ) o
BC

k (1
CT
cos J
T
1
B
cos 0) t
(1
CT
sin 1
B
sin 0)
= o
BC
(1
B
sin 0 1
CT
sin ) o
B
1
B
sin 0| t
o
BC
(1
CT
cos J
T
1
B
cos 0) o
B
1
B
cos 0| . (1)
Point C is also on bar CD where r
C{T
= 1
CT
(cos t sin ). From rigid body kinematics we then have

C
=
T
o
CT
r
C{T
= o
CT
1
CT
(sin t cos ). (2)
o
BC
(1
B
sin 0 1
CT
sin ) o
B
1
B
sin 0 = o
CT
1
CT
sin (3)
and
o
BC
(1
CT
cos J
T
1
B
cos 0) o
B
1
B
cos 0 = o
CT
1
CT
cos . (4)
August 10, 2009
Dynamics 1e 819
Eqs. (3) and (4) are two equations in o
BC
and o
CT
. Dividing the left hand side of Eq. (3) by the left hand
side of Eq. (4) and the right hand side of Eq. (3) by the right hand side of Eq. (4) and switching the sides of
the result we have
tan =
o
BC
(1
B
sin 0 1
CT
sin ) o
B
1
B
sin 0
o
BC
(1
CT
cos J
T
1
B
cos 0) o
B
1
B
cos 0
=
o
B
1
B
(sin 0 tan cos 0) = o
BC
(1
B
sin 0 1
CT
sin )
tan (1
CT
cos J
T
1
B
cos 0)|
= o
BC
=
o
B
1
B
(sin 0 tan cos 0)
1
B
sin 0 1
CT
sin tan (1
CT
cos J
T
1
B
cos 0)
. (5)
Substituting known values into Eq. (5) we get
o
BC
= 1310

k rad,s.
CT
we have
o
CT
=
o
B
1
B
sin 0 o
BC
(1
B
sin 0 1
CT
sin )
1
CT
sin
. (6)
Substituting Eq. (5) for o
BC
in Eq. (6) we have
o
CT
=
o
B
1
B
sin 0
1
CT
sin
o
B
1
B
(sin 0 tan cos 0)(1
B
sin 0 1
CT
sin )
1
B
sin 0 1
CT
sin tan (1
CT
cos J
T
1
B
cos 0)1
CT
sin
(7)
o
CT
= 571

k rad,s.
We can calculate
T
from the rigid body kinematics of bar TC, where r
T{B
=
1
2
r
C{T
. We have

T
=
B
o
BC

k r
T{B
=
Bx
t
B,
o
BC

k
1
2
r
C{T
=
Bx
t
B,

o
BC
2
k (r
C{B
)
x
t (r
C{B
)
,
|
=
Bx

o
B
1
B
(sin 0 tan cos 0)
21
B
sin 0 1
CT
sin tan (1
CT
cos J
T
1
B
cos 0)|
(r
C{B
)
,
| t
B,

o
B
1
B
(sin 0 tan cos 0)
21
B
sin 0 1
CT
sin tan (1
CT
cos J
T
1
B
cos 0)|
(r
C{B
)
x
| . (8)
Substituting all known values into Eq. (8) we have

T
= (6.20 t 2.97 ) m,s.
August 10, 2009
Problem 6.62
A person is closing a heavy gate with rusty hinges by pushing the gate with car . If n = 24 m and
= 1.2 m,s, determine the angular velocity of the gate when 0 = 15
.
Solution
From the geometry of the problem, we have
,
1
= ntan 0. (1)
Taking the rst derivative of Eq. (1) we have
,
1
=
n
cos
2
0
0.
Realizing that ,
1
=
we have
=
n
cos
2
0
0.
Solving for

0 we are left with
0 =
cos
2
0
n
. (2)
Finally, substituting known values into Eq. (2) we have
0 = 0.0467 rad,s.
August 10, 2009
Dynamics 1e 821
In the four-bar linkage system shown, let the circular guide with center at O be xed and such that, when
0 = 0
, the bars T and TC are vertical and horizontal, respectively. In addition, let 1 = 2 ft, 1 = 3 ft,
and H = 3.5 ft.
Problem 6.63 When 0 = 0
, the collar at C is sliding downward with a speed of 23 ft,s. Determine the

angular velocities of the bars T and BC at this instant.
, = 25.07
, ; = 78.71
, and the collar is sliding clockwise with a speed
C
= 23 ft,s. Determine the angular velocities of the bars T and TC.
Problem 6.65 Determine the general expression for the angular velocities of bars T and TC as a
function of 0, , ;, 1, 1, H, and

0.
Solution to 6.63
Because point T is the instantaneous center of rotation of bar CT,
it has zero velocity. Point is pinned and cannot move, so bar T
cannot be moving. Therefore we have
o
B
=

0.
From the instantaneous center of rotation method, we then have
C
= 1o
BC
= o
BC
=

C
1
= 7.667 rad,s.
Following the given component system, in vector form, and to three signicant gures we have
o
BC
= 7.67

k rad,s.
August 10, 2009
Solution to 6.64
From the geometry of the problem, we have the following position
vectors:
r
C{O
= 1(cos 0 t sin 0 ).
r
B{C
= 1(cos t sin .
r
B{
= H(cos ; t sin ; ).
and the velocity vector

C
=
C
(sin 0 t cos 0 ).
We also dene o
BC
= o
BC

k and o
B
= o
B

k. Points T and C are both on bar TC so from rigid body
kinematics we have

B
=
C
o
BC

k r
B{C
=
C
(sin 0 t cos 0 ) o
BC
1(sin t cos )
= (
C
sin 0 o
BC
1sin ) t (o
BC
1cos
C
cos 0) . (1)
Also, because points and T are both on bar T, we have

B
=
o
B
r
B{
= o
B
H(sin ; t cos ; ). (2)
Equating Eq. (1) with Eq. (2) component by component we have
C
sin 0 o
BC
1sin = o
B
H sin ; (3)
o
BC
1cos
C
cos 0 = o
B
H cos ;. (4)
B
and o
BC
. To solve them we divide the left hand side of Eq. (3) by
the left hand side of Eq. (4) and the right hand side of Eq. (3) by the right hand side of Eq. (4). We have
C
sin 0 o
BC
1sin
o
BC
1cos
C
cos 0
= tan ; =
C
sin 0 o
BC
1sin = tan ;(o
BC
1cos
C
cos 0)
= o
BC
=
C
sin 0 tan ; cos 0
1(tan ; cos sin )
.
Substituting in known values, we have
o
BC
= 7.210 rad,s.
To three signicant gures, and in vector form we have
o
BC
= 7.21

k rad,s.
B
we have
o
B
=
C
sin 0 o
BC
1sin
H sin ;
.
Plugging in known values, we have
o
B
= 8.58

k rad,s.
August 10, 2009
Dynamics 1e 823
Solution to 6.65
1sin H sin ; = H 1sin 0 and 1sin H cos ; = 1(1 cos 0) 1. (5)
Taking the rst derivative with respect to time of Eqs. (5) we have
1
cos H ; cos ; = 1
0 cos 0 (6)
1
sin H ; sin ; = 1
0 sin 0. (7)
Eqs. (6) and (7) can be viewed as two equations in

and ;. Realizing that

= o
BC
and ; = o
B
tells us that solving these two equations for

and ; will give us the angular velocities of the two bars as a
function of the specied terms. Solving these equations we have
o
BC
=
=
1
0
1cos
_
cos 0
cos 0 tan sin 0
tan tan ;
_
and
o
B
= ; =
1
0
H
sin 0 tan cos 0
cos ; tan sin ;
.
Simplifying these we end up with
o
BC
=
1
0
1
csc ( ;) sin (; 0)

k
and
o
B
=
1
0
H
csc ( ;) sin ( 0)

k.
August 10, 2009
Problem 6.66
At the instant shown, the arm OC rotates counterclockwise with an angular
velocity of 35 rpm about the xed sun gear S of radius 1
S
= 3.5 in. The planet
gear 1 with radius 1
1
= 1.2 in. rolls without slip over both the xed sun gear
and the outer ring gear. Finally, notice that the ring gear is not xed and it rolls
without slip over the sun gear. Determine the angular velocity of the ring gear
and the velocity of the center of the ring gear at the instant shown.
Solution
Points C and O are both on the bar OC, so from rigid body kinematics
we must have

C
=
O
o
OC
r
C{O
= o
OC

k (1
S
1
1
) t
= o
OC
(1
S
1
1
) . (1)
Point C is also on the planetary gear with point Q, so we must have

C
=
Q
o
1
r
C{Q
= o
1

k 1
1
t
= o
1
1
1
. (2)
(1
S
1
1
)o
OC
= 1
1
o
1
= o
1
=
1
S
1
1
1
1
o
OC
.
Point is also on the planetary gear, so we must have

=
Q
o
1
r
{Q
=
1
S
1
1
1
1
o
OC

k 21
1
t
= 2(1
S
1
1
)o
OC
. (3)
Points and T are both points on the ring gear, so we must have

=
B
o
T
r
{B
= o
T

k 2(1
S
1
1
) t
= 2o
T
(1
S
1
1
) . (4)
2(1
S
1
1
)o
OC
= 2o
T
(1
S
1
1
) = o
T
= o
OC
.
August 10, 2009
Dynamics 1e 825
In vector form this is
o
T
= 35.0

k rpm.
Calling the center of the ring point D we must have

T
=
B
o
T
r
T{B
= o

k (1
S
1
1
) t = (1
S
1
1
)o
OC
. (5)

T
= 17.2 in.,s.
August 10, 2009
Problem 6.67
The crank T is rotating counterclockwise at a constant angular velocity of
12 rad,s while the pin T slides within the slot in the bar CD, which is pinned
at C. Letting 1 = 0.5 m, h = 1 m, and J = 0.25 m, determine the angular
velocity of CD at the instant shown (with points , T, and C vertically aligned)
as well as the velocity of the horizontal bar to which bar CD is connected.
Solution
If we let be the distance between T and C, then from the geometry of
the problem we have the constraint equation
1sin 0 = sin .
Differentiating this constraint with respect to time we have
1
0 cos 0 =

sin
cos . (1)
At the instant given in the problem, we have 0 = 0
. = 0
, and
= h1 =

= 0. Substituting these values into Eq. (1) we have
1
0 = (h 1)
=

=
1
h 1
0.
Making the observation that o
B
=

0 and o
CT
=
, we have
o
CT
=
1
h 1
o
B
= 12.00 rad,s = o
CT
= 12.0

k rad,s.
Points Q and C are both on the arm CD so from rigid body kinematics we must have

Q
=
C
o
CT
r
Q{C
= o
CT

k (J) = o
CT
J t.

Q
= 3.00 t m,s.
August 10, 2009
Dynamics 1e 827
For the slider-crank mechanism shown, let 1 = 20 mm, 1 = 80 mm, and
H = 38 mm.
Problem 6.68 If

0 = 1700 rpm, determine the angular velocity of the con-
necting rod T and the speed of the slider T for 0 = 90
.
Problem 6.69 Determine the angular velocity of the crank O when 0 = 20
and the slider is moving downward at 15 m,s.

Problem 6.70 Determine the general expression for the velocity of the slider
T as a function of 0,

0, and the geometrical parameters 1, H, and 1, using the
vector approach.
Problem 6.71 Determine the general expression for the velocity of the slider
T as a function of 0,

0, and the geometrical parameters 1, H, and 1, using
differentiation of constraints.
Problem 6.72 Plot the velocity of the slider C as a function of 0, for
0 _ 0 _ 360
, and for

0 = 1000 rpm,

0 = 3000 rpm, and

0 = 5000 rpm.
Solution to 6.68
Converting units on known values we have
1 = 20 mm = 0.020 m. 1 = 80 mm = 0.080 m. H = 38 mm = 0.038 m.
From the rigid body kinematics of the wheel, and letting o
O
=

0 we have

=
O
o
O
r
{O
=

0

k 1 =
01 t.
Fromthe rigid body kinematics of armT where r
B{
= H t
_
1
2
H
2
,
we have

B
=
o
B
r
B{
= 1
0 t o
B

k (H t
_
1
2
H
2
)
= (
01 o
B
_
1
2
H
2
) t o
B
H .
Because T is conned to move vertically in the slot,
Bx
= 0. From this we have
o
B
=
1
_
1
2
H
2
0.
In vector form, and plugging in known values we have
o
B
= 50.6

k rad,s.
From the , component of
B
we have

B
=
B,
= o
B
H =

0H
1
_
1
2
H
2
.
August 10, 2009

B
= 1.92 m,s.
August 10, 2009
Dynamics 1e 829
Solution to 6.69
1 = 20 mm = 0.020 m. 1 = 80 mm = 0.080 m. H = 38 mm = 0.038 m.
O
=

0 we have

=
O
o
O
r
{O
=

0

k 1(cos 0 t sin 0 ) =

01(sin 0 t cos 0 ).
From the rigid body kinematics of arm T where r
B{
= (H 1cos 0) t
_
1
2
(H 1cos 0)
2
, we
have

B
=
o
B
r
B{
= 1
0 t o
B

k
_
(H 1cos 0) t
_
1
2
(H 1cos 0)
2

_
=
_
01 o
B
_
1
2
(H 1cos 0)
2
_
t o
B
(H 1cos 0) .
Bx
0 =
o
B
_
1
2
(H 1cos 0)
2
1
. (1)
We also know that
B
= 15 m,s. From this we have
o
B
(H 1cos 0) = 15 = o
B
=
15
1cos 0 H
. (2)
0 =
15
_
1
2
(H 1cos 0)
2
1(1cos 0 H)
.
o
O
=

0

k = 877

k rad,s.
August 10, 2009
Solution to 6.70
O
=

0 we have

=
O
o
O
r
{O
=

0

k 1(cos 0 t sin 0 ) =

01(sin 0 t cos 0 ).
From the rigid body kinematics of arm T, where r
B{
= (H 1cos 0) t
_
1
2
(H 1cos 0)
2
, we
have

B
=
o
B
r
B{
= 1
0 t o
B

k
_
(H 1cos 0) t
_
1
2
(H 1cos 0)
2

_
=
_
01sin 0 o
B
_
1
2
(H 1cos 0)
2
_
t o
B
(H 1cos 0) 1
0 cos 0| . (3)
Bx
o
B
=
1
0 sin 0
_
1
2
(H 1cos 0)
2
. (4)
Plugging Eq. (4) into Eq. (3) we have

B
=
_
1
0 cos 0
1
0 sin 0(H 1cos 0)

_
1
2
(H 1cos 0)
2
_
.
August 10, 2009
Dynamics 1e 831
Solution to 6.71
.
B
= 1cos 0 1cos = H (5)
,
B
= 1sin 0 1sin .
Taking a time derivative of these two equations we have
1
0 sin 0 1
sin = 0 =

=
1
0 sin 0
1sin
(6)
B
= 1
0 cos 0 1
cos . (7)
B
= 1
0 cos 0 1
0 sin 0 cot . (8)

From Eq. (5) we know that
cos =
H 1cos 0
1
. (9)
and from the Pythagorean theorem, we know that
sin =
_
1
2
(H 1cos 0)
2
. (10)
Combining Eqs. (9) and (10) we have
cot =
H 1cos 0
1
_
1
2
(H 1cos 0)
2
. (11)
B
= 1
0 cos 0 1
0 sin 0
H 1cos 0
1
_
1
2
(H 1cos 0)
2
.
Knowing that T is conned to the direction, we have

B
=
_
1
0 cos 0
1
0 sin 0(H 1cos 0)

_
1
2
(H 1cos 0)
2
_
.
August 10, 2009
Solution to 6.72
1 = 0.020 m.
1 = 0.080 m.
H = 0.038 m.
O
=

0 we have

=
O
o
O
r
{O
=

0

k 1(cos 0 t sin 0 )
=

01(sin 0 t cos 0 ).
From the rigid body kinematics of arm T, where r
B{
= (H 1cos 0) t
_
1
2
(H 1cos 0)
2
, we
have

B
=
o
B
r
B{
= 1
0 t o
B

k
_
(H 1cos 0) t
_
1
2
(H 1cos 0)
2

_
=
_
01sin 0 o
B
_
1
2
(H 1cos 0)
2
_
t o
B
(H 1cos 0) 1
0 cos 0| . (12)
Bx
o
B
=
1
0 sin 0
_
1
2
(H 1cos 0)
2
. (13)
Plugging Eq. (13) into Eq. (12) we have

B
=
_
1
0 cos 0
1
0 sin 0(H 1cos 0)

_
1
2
(H 1cos 0)
2
_
.
The expression for
B
just derived can be reduced to a function of 0 and

0 by substituting in the
given parameters. For each of the required values of

0, the function can be plotted with software such as
Mathematica or MATLAB. The plots presented below were obtained using Mathematica with the following
code:
Parameters {R 0.02, L 0.08, H 0.038};
Velocity R dot Cos[]
R dot Sin[](HR Cos[])
L
2
(HR Cos[])
2
/. Parameters;
dotval
1
30
{1000, 3000, 5000};
Table]Plot]Velocity /. {dot i}, {, 0, 2}, AxesLabel ]"", "v
By
"),
Ticks {{0, , 2, 3}, Automatic}, {i, dotval}
Using the above code we obtain the following plots:
August 10, 2009
Dynamics 1e 833
2

2
1
1
2
v
By
2

8
6
4
2
2
4
6
v
By
2

10
5
5
10
v
By
August 10, 2009
Problem 6.73
Complete the velocity analysis of the slider-crank mechanism, using differenti-
ation of constraints that was outlined beginning on p. 478. That is, determine
the velocity of the piston C and the angular velocity of the connecting rod as a
function of the given quantities 0, o
B
, 1, and 1. Use the component system
shown for your answers.
Solution
One way to solve this problem is to write ,
C
as
,
C
= 1cos 0 1cos . (1)
where for cos and sin we will always use
sin =
1
1
sin 0 and cos =
_
1 sin
2
=
_
1
1
2
1
2
sin
2
0. (2)
Now we differentiate Eq. (1) with respect to time:
,
C
= 1
0 sin 0 1
sin . (3)
where

is found by differentiating the rst of Eq. (2) with respect to time:
cos =
1
1
0 cos 0 =

=
1
1
0
cos 0
cos
. (4)
Realizing that

= o
BC
and

0 = o
B
, we have
o
BC
= o
B
1
1
cos 0
cos
= o
BC
= o
B
1
1
cos 0
cos
k.
Also, noting that
C
= ,
C
, and substituting Eq. (4) for

in Eq. (3) we have
,
C
= 1
0 sin 0 1
_
1
0 cos 0
1cos
_
_
1sin 0
1
_
= 1
0 sin 0
1
2
0 sin 0 cos 0
1cos
. (5)
After substituting o
B
into Eq. (5), and putting it in vector form we have

C
=
_
1o
B
sin 0
1
2
o
B
sin 0 cos 0
1cos
_
.
August 10, 2009
Dynamics 1e 835
Problem 6.74
A truck on an exit ramp is moving in such a way that, at the instant shown, [ a
[ = 17 ft,s
2
,

0 = 0.3 rad,s,
and

0 = 0.1 rad,s
2
. If the distance between points and T is J
B
= 12 ft, 0 = 57
, and = 13
,
determine a
B
.
Solution
Based on the picture shown, we let a
= [ a
[(cos t sin ). o
B
=

0

k.
B
=

0

k. and r
B{
=
J
B
(cos 0 t sin 0 ). From the vector approach to acceleration analysis we have
a
B
= a

B
r
B{
o
2
B
r
B{
= [ a
[(cos t sin )

0

k J
B
(cos 0 t sin 0 )

0
2
J
B
(cos 0 t sin 0 )
= ([ a
[ cos

0J
B
sin 0

0
2
J
B
cos 0) t ([ a
[ sin

0J
B
cos 0

0
2
J
B
sin 0) .
which can be evaluated to obtain
a
B
= (17.0 t 5.38 ) ft,s
2
.
using the given values [ a
[ = 17 ft,s
2
,

0 = 0.3 rad,s,

0 = 0.1 rad,s
2
, J
B
= 12 ft, 0 = 57
, and
= 13
.
August 10, 2009
Let 1 = 4 ft, let point travel parallel to the guide shown, and let C be the
midpoint of the bar.
Problem 6.75 If point is accelerating to the right with a
= 27 ft,s
2
and

0 = 7 rad,s = constant, determine the acceleration of point C when
0 = 24
.
Problem 6.76 If point is accelerating to the right with a
= 27 ft,s
2
,
0 = 7 rad,s, and

0 = 0.45 rad,s
2
, determine the acceleration of point C
when 0 = 26
.
, is accelerating to the right with a
=
27 ft,s
2
and a
C
=

0, determine

0 and

0.
Solution to 6.75
We have a
= a
t. o
B
=

0

k.
B
=

0

k =

0. and r
C{
=
1
2
(sin 0 t cos 0 ). From the vector
approach to acceleration analysis we have
a
C
= a

B
r
C{
o
2
B
r
C{
= a
t
1
0
2
2
(sin 0 t cos 0 )
=
_
a
1
2
0
2
sin 0
_
t

0
2
1
2
cos 0 .
a
C
= (12.9 t 89.5 ) ft,s
2
.
using the given values 1 = 4 ft, a
= 27 ft,s
2
,

0 = 7 rad,s, and 0 = 24
.
August 10, 2009
Dynamics 1e 837
Solution to 6.76
We have a
= a
t. o
B
=

0

k,
B
=

0

k =

0, and r
C{
=
1
2
(sin 0 t cos 0 ). From the vector
approach to acceleration analysis we have
a
C
= a

B
r
C{
o
2
B
r
C{
= a
t

0

k
1
2
(sin 0 t cos 0 )
1
0
2
2
(sin 0 t cos 0 )
=
_
a

0
1
2
cos 0
1
2
0
2
sin 0
_
t
_
0
1
2
sin 0

0
2
1
2
cos 0
_
.
(16.8 t 87.7 ) ft,s
2
.
= 27 ft,s
2
,

0 = 7 rad,s,

0 = 0.45 rad,s
2
, and 0 = 26
.
August 10, 2009
Solution to 6.77
We have a
= a
t, o
B
=

0

k,
B
=

0

k =

0, and r
C{
=
1
2
. From the vector approach to
acceleration analysis we have
a
C
= a

B
r
C{
o
2
B
r
C{
0 = a
t

0

k
_
1
2
_

1
0
2
2

0 =
_
a

0
1
2
_
t

0
2
1
2
. (1)
Separating the components of Eq. (1) we have
0 = a

0
1
2
=

0 = a
2
1
= 13.5 rad,s
2
.
and
0 =

0
2
1
2
=

0 = 0.
= 27 ft,s
2
, a
C
= 0 ft,s
2
, and 0 = 0
.
August 10, 2009
Dynamics 1e 839
Problem 6.78
W
= 5 cm rolls without slip over the stationary cylinder
S of radius 1
S
= 12 cm, and the wheel is connected to point O via the arm
OC. If o
OC
= constant = 3.5 rad,s, determine the acceleration of point Q,
which lies on the edge of W and along the extension of the line OC.
Solution
Let E be the contact point between W and S. From the no slip condition,

T
=

0. We let o
W
= o
W

k and from the geometry of the problem
r
C{T
= 1
W
(cos 0 t cos 0 ). From rigid body kinematics of the wheel we
have

C
=
T
o
W
r
C{T
= o
W

k 1
W
u
i
= o
W
1
W
u
0
. (1)
Points C and O are also points on the arm where
r
C{O
= (1
S
1
W
) u
i
. From rigid body kinematics we must have

C
=
O
o
OC
r
C{O
= o
OC

k (1
S
1
W
) u
i
= o
OC
(1
S
1
W
) u
0
. (2)
o
W
1
W
= o
OC
(1
S
1
W
) = o
W
=
1
S
1
W
1
W
o
OC
.
Because C is undergoing a uniform circular motion with radius (1
S
1
W
) about O, we have
a
C
= o
2
OC
(1
S
1
W
) u
i
.
From the vector approach to acceleration analysis we have
a
Q
= a
C

W
r
Q{C
o
2
W
r
Q{C
= o
2
OC
(1
S
1
W
) u
i

_
1
S
1
W
1
W
_
2
o
2
OC
1
W
u
i
= o
2
OC
(1
S
1
W
)
_
1
1
S
1
W
1
W
_
u
i
= o
2
OC
(1
S
1
W
)
_
2
1
S
1
W
_
u
i
.
9.16 u
i
m,s
2
.
using the given values 1
W
= 5 cm = 0.05000 m, 1
S
= 12 cm = 0.1200 m, and o
OC
= 3.5 rad,s.
August 10, 2009
Problem 6.79
One way to convert rotational motion into linear motion and vice versa is via
the use of a mechanism called the Scotch yoke, which consists of a crank C
that is connected to a slider T via a pin . The pin rotates with the crank while
sliding within the yoke, which, in turn, rigidly translates with the slider. This
mechanism has been used, for example, to control the opening and closing of
valves in pipelines. Letting the radius of the crank be 1 = 25 cm, determine
the angular velocity o
C
and the angular acceleration
C
of the crank at the
instant shown if 0 = 25
and the slider is moving to the right with a constant

speed
B
= 40 m,s.
Solution
Choosing point O as the origin of the reference frame, from the geometry of the
problem we have
r
= 1(cos 0 t sin 0 ). (1)

By construction, the velocity of the slider is equal to the horizontal component of
the velocity of point . We can get
by taking the derivative of Eq. (1) with

respect to time. Doing so we have

= 1
0(sin 0 t cos 0 ) =
B
= 1
0 sin 0 t =

0 =

B
1sin 0
= 378.6 rad,s.
where we have used the given values 1 = 25 cm = 0.2500 m,
B
= 40 m,s, and 0 = 25
. Realizing that
o
C
=
0 we have
o
C
= 379

k rad,s.
Because we are told
B
= 0 we must have
J
Jt
B
= 1sin 0
0 1cos 0
0
2
= 0 =

0 =
0
2
tan 0
.
0 = 30710
3

k rad,s
2
.
August 10, 2009
Dynamics 1e 841
Problem 6.80
Collar C moves along a circular guide with radius 1 = 2 ft with a constant
speed
C
= 18 ft,s. At the instant shown, the bars T and TC are vertical
and horizontal, respectively. Letting 1 = 4 ft and H = 5 m, determine the
angular accelerations of the bars T and TC at this instant.
Solution
Note: The problem statement gives H = 5 m, which is incorrect. The solution will use H = 5 ft.
Realizing that T is the instantaneous center of rotation of bar T and is not moving, we must have
o
B
= 0. Because T is also the instantaneous center of rotation of bar TC, we must have
o
BC
=

C
1
= o
BC
=

B
1
k.
Since C moves in a uniform circular motion about O at constant speed, we have
a
C
=
2
C
1
t.
and from the vector approach to acceleration analysis where, r
B{C
= 1 t and
BC
=
BC

k, we have
a
B
= a
C

BC
r
B{C
o
2
BC
r
B{C
=
2
C
1
t
BC

k 1 t

2
C
1
2
1 t
=
2
C
1
_
1
1
1
_
t
BC
1 . (1)
Also from the vector approach to acceleration analysis where r
B{
= H and
B
=
B

k we have
a
B
= a

B
r
B{
o
2
B
r
B{
=
B

k H =
B
H t. (2)
Equating components of Eqs. (1) and (2) we have
2
C
1
_
1
1
1
_
=
B
H and
BC
1 = 0. (3)
Solving Eq. (3) for
B
and
BC
, we have
B
=

2
C
1
_
1
1
1
_
=
B
= 97.2

k rad,s
2
and
BC
=

0.
August 10, 2009
A ball of radius 1
= 5 in. is rolling without slip inside a stationary spherical

bowl of radius 1
B
= 17 in. Assume that the motion of the ball is planar.
Problem 6.81 If, at the instant shown, the center of the ball is traveling
counterclockwise with a speed
= 32 ft,s and such that
= 0, determine
the acceleration of the center of the ball as well as the acceleration of the point
on the ball that is contact with the bowl.
Problem 6.82 If, at the instant shown, the center of the ball is traveling
counterclockwise with a speed
= 32 ft,s and such that
= 24 ft,s
2
,
determine the acceleration of the center of the ball as well as the acceleration of
the point on the ball that is contact with the bowl.
Solution to 6.81
The center of the ball is making a uniform circular motion of radius
1
B
1
about O at constant speed, so we must have

a
=

2
1
B
1
u
i
(1)
Since the ball rolls without slip over a stationary surface, the point of
contact between the ball and the bowl, point Q, is the instantaneous
center of rotation of the ball. Therefore,
= [ o
[1
= o
.
Notice that
= 0 because o
is constant. From the vector approach to acceleration analysis where

r
Q{
= 1
u
i
we must have
a
Q
= a
r
Q{
o
2
r
Q{
=

2
1
B
1
u
i

2
1
2
u
i
=
2
_
1
1
B
1
1
1
_
u
i
(2)
Substituting given values
= 32 ft,s, 1
= 5 in. = 0.4167 ft, and 1

B
= 17 in. = 1.417 ft into
Eqs. (1) and (2) we have
a
= 1020 u
i
ft,s
2
.
a
Q
= 3480 u
i
ft,s
2
.
August 10, 2009
Dynamics 1e 843
Solution to 6.82
The center of the ball is moving in a uniform circular motion of
radius 1
B
1
about O, as well as accelerating in the 0 direction,

so we must have
a
=

2
1
B
1
u
i

u
0
(3)
= 32 ft,s,
= 24 ft,s
2
, 1
=
0.4167 ft, and 1
B
= 1.417 ft into Eq. (3), we have
a
= (1020 u
i
24.0 u
0
) ft,s
2
Since the ball rolls without slip over a stationary surface, the point of contact between the ball and the bowl,
point Q, is the instantaneous center of rotation of the ball. Therefore,
= [ o
[1
= o
.
From the no slip condition, a
Q0
= 0. From the vector approach to acceleration analysis where r
Q{
= 1
u
i
and

k we must have
a
Q
= a
r
Q{
o
2
r
Q{
=

2
1
B
1
u
i

u
0

u
0

2
1
2
u
i
=
2
_
1
1
B
1
1
1
_
u
i
(
) u
0
. (4)
However,
= 0, so we are left with

a
Q
=
2
_
1
1
B
1
1
1
_
u
i
. (5)
= 32 ft,s,
= 24 ft,s
2
, 1
= 0.4167 ft, and 1

B
= 1.417 ft into Eq. (5), we
have
a
Q
= 3480 u
i
ft,s
2
.
August 10, 2009
Problem 6.83
A bar of length 1 = 2.5 m is falling so that, when 0 = 34
= 3 m,s and
a
= 8.7 m,s
2
. At this instant, determine the angular acceleration of the bar
T and the acceleration of point D, where D is the midpoint of the bar.
Solution
We have r
B{
= 1(sin 0 t cos 0 ) and r
T{
=
1
2
(sin 0 t cos 0 ). From the vector approach to velocity
analysis where
and
B
=
B
t, we have

B
=
o
B
r
B{
=
B
t =
o
B

k 1(sin 0 t cos 0 )
=
B
t = (1o
B
cos 0) t (1o
B
sin 0
) . (1)
Equating the two sides of Eq. (1) component by component, we have
0 = 1o
B
sin 0
= o
B
=

1sin 0
. and
B
= 1o
B
cos 0. (2)
= 3 m,s, 1 = 2.5 m, and 0 = 34
into Eqs. (2), we have

o
B
= 2.146 rad,s and
B
= 4.448 m,s.
From the vector approach to acceleration analysis where a
= a
and a
B
= a
B
t, we have
a
B
= a

B
r
B{
o
2
B
r
B{
= a
B
t = a

B

k 1(sin 0 t cos 0 ) o
2
B
1(sin 0 t cos 0 )
= (
B
1cos 0 o
2
B
1sin 0) t (
B
1sin 0 o
2
B
1cos 0 a
) . (3)
From the component of Eq. (3) we have
B
1sin 0 o
2
B
1cos 0 a
= 0 =
B
=
a
o
2
B
1cos 0
1sin 0
. (4)
Substituting known values a
= 8.7 m,s
2
, 1 = 2.5 m, o
B
= 2.146 rad,s, and 0 = 34
into Eq. (4), we

have

B
= 0.604

k rad,s
2
.
For D we have
a
T
= a

B
r
T{
o
2
B
r
T{
= a

B

k
1
2
(sin 0 t cos 0 ) o
2
B
1
2
(sin 0 t cos 0 )
=
__
a
o
2
B
1cos 0
1sin 0
_
1
2
cos 0 o
2
B
1
2
sin 0
_
t
August 10, 2009
Dynamics 1e 845
__
a
o
2
B
1cos 0
1sin 0
_
1
2
sin 0 o
2
B
1
2
cos 0 a
_

=
_
1
2
(a
o
2
B
1cos 0) cot 0 o
2
B
1
2
sin 0
_
t
_
1
2
(a
o
2
B
1cos 0) o
2
B
1
2
cos 0 a
_
(5)
Substituting known values a
= 8.7 m,s
2
, 1 = 2.5 m, o
B
= 2.146 rad,s, and 0 = 34
into Eq. (5), we

have
a
T
= (3.84 t 4.35 ) m,s
2
.
August 10, 2009
Problem 6.84
A bar of length 1 = 8 ft and midpoint D is falling so that when 0 = 27
,
[
T
[ = 18 ft,s, and the vertical acceleration of point D is 23 ft,s
2
downward.
At this instant, compute the angular acceleration of the bar and the acceleration
of point T.
Solution
We have r
B{
= 1(sin 0 t cos 0 ) and r
T{
=
1
2
(sin 0 t cos 0 ). Realizing
that point H is the instantaneous center of rotation of the line HD, where the
distance between H and D is J
1T
=
1
2
, we have
o
B
=

T
1,2
= 4.500 rad,s.
From the vector approach to acceleration analysis where
B
=
B

k,
a
= a
and o
B
= o
B

k we have
a
T
= a

B
r
T{
o
2
B
r
T{
= a

B
1
2
cos 0 t
B
1
2
sin 0 o
2
B
1
2
(sin 0 t cos 0 )
= (
B
1cos 0 o
2
B
1sin 0) t
_
a
B
1
2
sin 0 o
2
B
1
2
cos 0
_
(1)
We also have
a
B
= a

B
r
B{
o
2
B
r
B{
= a

B

2
B
1(sin 0 t cos 0 )
= (
B
1cos 0 o
2
B
1sin 0) t (a
B
1sin 0 o
2
B
1cos 0) (2)
Recalling that a
T,
is given and a
B,
= 0, we have
a
B,
= 0 = a
B
1sin 0 o
2
B
1cos 0 (3)
a
T,
= 23.00 ft,s
2
= a
B
1
2
sin 0 o
2
B
1
2
cos 0 (4)
Solving Eq. (3) for a
and substituting into Eq. (4) we have

23.00 ft,s
2
=
_
B
1sin 0 o
2
B
1cos 0
_
B
1
2
sin 0 o
2
B
1
2
cos 0
=
B
1
2
sin 0 o
2
B
1
2
cos 0 =
B
=
46.00 ft,s
2
1sin 0
o
2
B
cot 0 (5)
August 10, 2009
Dynamics 1e 847
Substituting given values 1 = 8 ft, 0 = 27
, and o
B
= 4.500 rad,s into Eq. (3), we have
B
= 27.08 rad,s
2
=
B
= 27.1

k rad,s
2
.
Substituting known values 1 = 8 ft, 0 = 27
,
B
= 27.08 rad,s
2
, and o
B
= 4.500 rad,s into Eq. (3),
we have
a
= 45.99 ft,s
2
.
Substituting known values 1 = 8 ft, 0 = 27
,
B
= 27.08 rad,s
2
, o
B
= 4.500 rad,s, and a
=
45.99 ft,s
2
into Eq. (1) we have
a
T
= (133 t 23.0 ) ft,s
2
.
August 10, 2009
Problem 6.85
Assuming that, for 0
_ 0 _ 90
is constant, compute the expression for

the acceleration of point D, the midpoint of the bar, as a function of 0 and
.
Solution
Calling O the origin of the reference frame, from the geometry of the problem
we have
.
T
=
1
2
sin 0. ,
T
= 1
1
2
cos 0 . and ,
= 1cos 0. (1)
Observing that a
T
= .
T
t ,
T
, by taking time derivatives of Eqs. (1) we have
a
T
=
_
1
2
0
2
sin 0
1
2
0 cos 0
_
t
_
1
2
0
2
cos 0
1
2
0 sin 0
_
. (2)
,
= 1
0 sin 0 =
=

0 =

1sin 0
. =

0 =

1sin
2
0
cos 0
0 =

2
1
2
sin
3
0
cos 0 (3)
Substituting Eqs. (3) for

0 and

0 in Eq. (2) we have
a
T
=
_
21sin 0
1
2
1sin
3
0
cos
2
0
_
t
_

2
21sin
2
0
cos 0

2
21sin
2
0
cos 0
_

= a
T
=

2
21sin
3
0
t.
August 10, 2009
Dynamics 1e 849
Problem 6.86
A truck on an exit ramp is moving in such a way that, at the instant shown, [ a
[ = 6 m,s
2
and = 13
.
Let the distance between points and T be J
B
= 4 m. If, at this instant, the truck is turning clockwise,
0 = 59
, a
Bx
= 6.3 m,s
2
, and a
B,
= 2.6 m,s
2
, determine the angular velocity and angular acceleration
of the truck.
Solution
From the information given in the problem we have
r
B{
= J
B
(cos 0 t sin 0 ).
B
=
B

k. and a
= [ a
[(cos t sin ). (1)

a
B
= a

B
r
B{
o
2
B
r
B{
(2)
a
B
= [ a
[(cos t sin )
B

k J
B
(cos 0 t sin 0 ) o
2
B
J
B
(cos 0 t sin 0 )
= ([ a
[ cos
B
J
B
sin 0 o
2
B
J
B
cos 0) t
([ a
[ sin
B
J
B
cos 0 o
2
B
J
B
sin 0) (3)
Breaking Eq. (3) into components we have
a
Bx
= [ a
[ cos
B
J
B
sin 0 o
2
B
J
B
cos 0 (4)
a
B,
= [ a
[ sin
B
J
B
cos 0 o
2
B
J
B
sin 0 (5)
B
and o
B
. Solving them we have
o
B
=
_
[ a
[(cos cot 0 sin ) a

Bx
cot 0 a
B,
J
B
(cos 0 cot 0 sin 0)
. (6)
and
B
=
a
B,
cos 0[ a
[(sin cos 0 sin 0 cos ) a

Bx
sin 0|
J
B
. (7)
Substituting known values J
B
= 4 m, = 13
, 0 = 59
, a
Bx
= 6.3 m,s
2
, a
B,
= 2.6 m,s
2
, and
[a
[ = 6 m,s
2
into Eqs. (6) and (7) we have
o
B
= 0.4577 rad,s and
B
= 0.2582 rad,s.
August 10, 2009
In vector form, and to three signicant gure we have
o
B
= 0.458

k rad,s
B
= 0.258

k rad,s
2
.
August 10, 2009
Dynamics 1e 851
The system shown consists of a wheel of radius 1 = 1.4 m rolling without slip
on a horizontal surface. A bar T of length 1 = 3.7 m is pin-connected to the
center of the wheel and to a slider constrained to move along a vertical guide.
Point C is the bars midpoint.
Problem 6.87 If the wheel is rolling clockwise with a constant angular speed
of 2 rad,s, determine the angular acceleration of the bar when 0 = 72
.
Problem 6.88 If the slider is moving downward with a constant speed
3 m,s, determine the angular acceleration of the wheel when 0 = 53
.
Problem 6.89 Determine the general relation expressing the acceleration of
the slider as a function of 0, 1, 1, the angular velocity of the wheel o
W
, and
the angular acceleration of the wheel
W
.
Solution to 6.87
We assume the wheel does not leave the ground, hence T is constrained
to move in the horizontal direction, and from the rolling without slip
condition we have

B
=
B
t = 1o
W
t. (1)
Also, calling point O the origin of the reference frame, from the geometry
of the problem we have
.
B
= 1cos 0. (2)
Differentiating Eq. (2) with respect to time, and observing that
B
= .
B
we have
.
B
= 1sin 0
0 = 1o
W
=

0 =
1o
W
1sin 0
(3)
Taking a time derivative of Eq. (3) we have
0 =
1o
W
1
cos 0
sin
2
0
0 =

0 =
1
2
o
2
W
1
2
cos 0
sin
3
0
= 0.2057 rad,s
2
.
where we have substituted the known values o
B
= 2 rad,s, 1 = 1.4 m, 1 = 3.7 m, and 0 = 72
.
Observing that
B
=
0, in vector form and to three signicant gures, we have

B
= 0.206

k rad,s
2
.
August 10, 2009
Solution to 6.88
We assume the wheel does not leave the ground, hence T is con-
strained to move in the horizontal direction, and from the rolling without
slip condition, we have

B
=
B
t = 1o
W
t. (4)
Also, calling point O the origin of the reference frame, from the geometry
.
B
= 1cos 0 and ,
= 1 1sin 0. (5)
Differentiating Eqs. (5) with respect to time, and observing that
B
= .
B
and
= ,
, we have
,
= 1 1sin 0 = ,
= 1
0 cos 0 =

0 =

1cos 0
=

0 =
sin 0
1
2
cos 0
0 =

2
sin 0
1
2
cos
3
0
(6)
and
.
B
= 1sin 0
0 = 1o
W
= o
W
=

0
1
1
sin 0 =
1
1
sin 0
_
1cos 0
_
=
1
tan 0. (7)
Taking a time derivative of Eq. (7), we have
W
=
1cos 0
0
2
1
1sin 0
0
1
. (8)
Substituting the expressions for

0 and

0 in Eqs. (6) into Eq. (8), we have
W
=
1cos 0
_

A
1cos 0
_
2
1
1sin 0
_

2
A
sin 0
1
2
cos
3
0
_
1
=

2
11cos 0
sin
2
0
11cos
3
0
=
(1 tan
2
0)
11cos 0
. (9)
Substituting known values
= 3 m,s, 1 = 1.4 m, 1 = 3.7 m, and 0 = 53
W
= 7.971 =
W
= 7.97

k rad,s
2
August 10, 2009
Dynamics 1e 853
Solution to 6.89
We assume the wheel does not leave the ground, hence T is con-
strained to move in the horizontal direction, and from the rolling without
slip condition we have

B
=
B
t = 1o
W
t and a
B
= 1
W
t. (10)

=
B
o
B
r
{B
= 1o
W
o
B

k 1(cos 0 t sin 0 )
= (1o
W
1o
B
sin 0) t (1o
B
cos 0) . (11)
Because the slider is constrained to move in the slot,
x
= 0. Therefore,
setting the x component of the last of Eqs. (11), we have
o
B
= o
W
1
1sin 0
.
We must also have
a
= a
B

B
r
{B
o
2
B
r
{B
= 1
W
t
B

k 1(cos 0 t sin 0 ) o
2
W
1
2
1
2
sin
2
0
1(cos 0 t sin 0 )
=
_
1
W

B
1sin 0
1
2
o
2
W
1sin
2
0
cos 0
_
t
_
B
1cos 0 o
2
W
1
2
1sin 0
_
. (12)
Because the slider is constrained to move in the slot, a
x
= 0. Therefore, setting the x component of the last
of Eqs. (11), we have
B
=
1
1sin 0
_
1
2
o
2
W
1sin
2
0
cos 0 1
W
_
. (13)
B
in Eq. (12) we have
a
=
_
1
W
tan 0
1
2
o
2
W
cot
2
0
1sin 0
o
2
W
1
2
1sin 0
_
=
_
1
W
tan 0
1
2
o
2
W
cot
2
0 1
1sin 0
_

= a
=
_
1
W
tan 0
1
2
o
2
W
1sin
3
0
_
. (14)
August 10, 2009
For the slider-crank mechanism shown, let 1 = 0.75 m and H = 2 m, and let the length of bar TC be
1
BC
= 3.25 m.
Problem 6.90 Assume that

0 = 50 rad,s = constant and compute the angular acceleration of the slider
for 0 = 27
.
Problem 6.91 Assume that, at the instant shown, 0 = 27
,

0 = 50 rad,s, and

0 = 15 rad,s
2
. Compute
the angular acceleration of the slider at this instant as well as the acceleration of point C.
Problem 6.92 Assuming that

0 is constant, determine the expression of the angular acceleration of the
slider as a function of 0 and

0 (and the accompanying geometrical parameters).
Problem 6.93 Letting

0 = 300 rpm = constant, plot the angular acceleration of the slider as a
function of 0 for 0
_ 0 _ 360
. In addition, plot the speed of point C for the same range of 0.

Solution to 6.90
Observing that
BC
=
, we can use differentiation of constraints to nd an expression for

BC
. From the
geometry of the problem we have the constraint equations
J
BO
sin = 1sin 0 and J
BO
cos 1cos 0 = H. (1)
Solving Eqs. (1) for J
BO
and , we have
= tan
1
_
1sin 0
H 1cos 0
_
and J
BO
=
H sin 0
cos sin 0 cos 0 sin
. (2)
Using Eqs. (2) for 0 = 27
, we have
= 0.2503 rad and J
BO
= 1.375 m.
Taking time derivatives of Eqs. (1) we have
J
BO
sin J
BO

cos = 1
0 cos 0 and

J
BO
cos J
BO

sin 1
0 sin 0 = 0. (3)
Solving Eqs. (3) for

J
BO
and

we have
J
BO
= 1sin 0
0 and

=
1cos(0 )
0
J
BO
. (4)
Substituting known values 1 = 0.75 m, = 0.2503
0 = 27
,

0 = 50 rad,s, and J
BO
= 1.375 m into
Eqs. (4), we have
J
BO
= 24.77 m,s and

= 20.48 rad,s.
August 10, 2009
Dynamics 1e 855
Taking a time derivative of

from Eq. (4) and letting

0 = 0, we have
=
1cos (0 )
J
BO
0
J
2
BO
1sin (0 )
0(
0

)
J
BO
. (5)
,

= 20.48 rad,s, 0 = 27
,

0 = 50 rad,s, J
BO
=
1.375 m, and

J
BO
= 24.77 m,s into Eq. (5), we have
= 1639 rad,s
2
=
BO
= 1640

k rad,s
2
.
August 10, 2009
Solution to 6.91
Observing that
BC
=

BC
. From the
J
BO
sin = 1sin 0 and J
BO
cos 1cos 0 = H. (6)
Solving Eqs. (6) for J
BO
and we have
= tan
1
_
1sin 0
H 1cos 0
_
and J
BO
=
H sin 0
cos sin 0 cos 0 sin
. (7)
Using Eqs. (7) for 0 = 27
, we have
= 0.2503 rad and J
BO
= 1.375 m.
J
BO
sin J
BO

cos = 1
0 cos 0 and

J
BO
cos J
BO

sin 1
0 sin 0 = 0. (8)
Solving Eqs. (8) for

J
BO
and

we have
J
BO
= 1sin 0
0 and

=
1cos(0 )
0
J
BO
. (9)
0 = 27
,

0 = 50 rad,s, and J
BO
= 1.375 m into
Eqs. (9), we have
J
BO
= 24.77 m,s and

= 20.48 rad,s.
Taking a time derivative of

from Eq. (9), we have
=
1cos (0 )
J
BO
0
J
2
BO
1sin (0 )
0(
0

)
J
BO
1cos (0 )
0
J
BO
.
,

= 20.48 rad,s, 0 = 27
,

0 = 50 rad,s,

0 =
15 rad,s
2
, J
BO
= 1.375 m, and

J
BO
= 24.77 m,s into Eq. (5), we have
= 1632 rad,s
2
=
BO
= 1630

k rad,s
2
.
The acceleration of C can be found by applying rigid body kinematics. Observing that r
B{
= 1(sin 0 t
cos 0 ), o
B
=

0, and
B
=

0, we have
a
B
= a

B
r
B{
o
2
B
r
B{
=
B

2
B
1(sin 0 t cos 0 )
= (1
0
2
sin 0 1
0 cos 0) t (1
0
2
cos 0 1
0 sin 0)
= (841.2 t 1676s ) m,s
2
. (10)
where we have used the known values 1 = 0.75 m, 0 = 27
,

0 = 50 rad,s, and

0 = 15 rad,s
2
. Observing
that o
BC
=
,
BC
=
, and r
C{B
= 1(sin t cos ) we must also have
a
C
= a
B

OB
r
C{B
o
2
OB
r
C{B
August 10, 2009
Dynamics 1e 857
= (841.2 t 1676s ) m,s
2
(1632

k rad,s
2
) 1(sin t cos )
(20.48 rad,s)1(sin t cos )
= (848.2 t 7153 ) m,s.
where we have used the expression for a
B
from Eq. (), and known values 1 = 0.75 m, = 0.2503
= 20.48 rad,s,

= 1632 rad,s
2
. To three signicant gures we have
a
C
= (848 t 7150 ) m,s.
August 10, 2009
Solution to 6.92
Observing that
BC
=

BC
. From the
J
BO
sin = 1sin 0 and J
BO
cos 1cos 0 = H. (11)
Solving Eqs. (11) for we have
= tan
1
_
1sin 0
H 1cos 0
_
. (12)
Taking time derivatives of in Eq. (11) we have
=
1
0(H cos 0 1)
H
2
1
2
2H1cos 0
=
2H1
2
(1 H cos 0) sin 0
0
(H
2
1
2
2H1cos 0)
2

H1
0 sin 0
H
2
1
2
2H1cos 0
(13)
For
OB
, we then have

OB
=
_
2H1
2
(1 H cos 0) sin 0
0
(H
2
1
2
2H1cos 0)
2

H1
0 sin 0
H
2
1
2
2H1cos 0
_

k.
August 10, 2009
Dynamics 1e 859
Solution to 6.93
Observing that
BC
=

BC
. From the
J
BO
sin = 1sin 0 and J
BO
cos 1cos 0 = H. (14)
Solving Eqs. (14) for we have
= tan
1
_
1sin 0
H 1cos 0
_
. (15)
Taking time derivatives of in Eq. (14), we have
=
1
0(H cos 0 1)
H
2
1
2
2H1cos 0
(16)
=
2H1
2
(1 H cos 0) sin 0
0
(H
2
1
2
2H1cos 0)
2

H1
0 sin 0
H
2
1
2
2H1cos 0
.
For
OB
, we then have

OB
=
_
2H1
2
(1 H cos 0) sin 0
0
(H
2
1
2
2H1cos 0)
2

H1
0 sin 0
H
2
1
2
2H1cos 0
_

k.
We know the position of C can be expressed as
r
C
= (1sin 0 1sin ) t (1cos 0 1cos ) . (17)
For the velocity of C, we take a time derivative of Eq. (17), which gives us

C
= (1
0 cos 0 1
cos ) t (1
0 sin 0 1
sin ) . (18)
Substituting from Eq. (15) and

from Eq. (16) into Eq. (18), we have

C
=
_
1
0 cos 0 1
_
1
0(H cos 0 1)
H
2
1
2
2H1)
_
cos
_
tan
1
_
1sin 0
H 1cos 0
__
_
t
_
1
0 sin 0 1
_
1
0(H cos 0 1)
H
2
1
2
2H1
_
sin
_
tan
1
_
1sin 0
H 1cos 0
__
_
.
The expressions for
OB
and
C
just derived are reduced to functions of 0 and

0. The function can be
plotted with software such as Mathematica or MATLAB. The plots presented below were obtained using
Mathematica with the following code:
August 10, 2009
Parameters _R 0.75, L
BC
3.25, H 2, Dot 300
30
_;
OB

2HR
2
(HCos[] R)Sin[]Dot
[H
2
R
2
2HR Cos[]|
2

HR Dot Sin[]
H
2
R
2
2HR Cos[]
/. Parameters;
v
C

Sqrt_ R Dot Cos[] L
BC
R Dot (HCos[] R)
H
2
R
2
2HR
Cos_ArcTan_
R Sin[]
H R Cos[]
__
2
R Dot Sin[] L
BC
R Dot (HCos[] R)
H
2
R
2
2HR
Sin_ArcTan_
R Sin[]
H R Cos[]
__
2
_ /. Parameters;
Plot_
OB
, {, 0, 2}, AxesLabel {"", "
OB
"}, Ticks __0,

2
, ,
3
2
, 2_, Automatic__
Plot_v
C
, {, 0, 2}, AxesLabel {"", "v
C
"}, Ticks __0,

2
, ,
3
2
, 2_, Automatic__
Using the above code we obtain the following plots:
2

3
2
2
20
10
10
20
OB
2

3
2
2
60
80
100
v
C
August 10, 2009
Dynamics 1e 861
Problem 6.94
A spool with inner radius 1 = 5 ft is made to roll without slip over a horizontal rail as shown. If the cable
on the spool is unwound in such a way that the free or vertical portion of cable remains perpendicular
to the rail, determine the angular acceleration of the spool and the acceleration of the spools center O.
The vertical component of the velcocity of point is
= 12 ft,s, and the vertical component of its

acceleration is a
= 2 ft,s
2
.
Solution
We let point 1 be the contact point between the spool and rail, and
point Q be the contact point between the spool and rope. From the
no slip condition, we then have

1
=

0 and
Q,
=
. (1)

Q
=
1
o
spool
r
Q{1
= o
spool

k (1 t 1 )
= o
spool
1( t ). (2)
Equating the y component of
Q
in Eq. (2) with
Q,
in Eq. (1), we have
o
spool
1 =
= o
spool
=
1
.
Now that we have found the angular velocity of the spool, we look at the acceleration. From the no slip
condition we have
a
1x
= 0 = a
1
= a
1,
.
Also, because O can only move in the horizontal direction, we must have
a
O
= a
Ox
t.
a
O
= a
1

spool
r
O{1
o
2
spool
r
O{1
a
Ox
t = a
1,

spool

k 1
_
1
_
2
1
August 10, 2009
a
Ox
t =
spool
1 t
_
a
1,

2
1
_
. (3)
Writing Eq. (3) as two scalar equations we have
a
Ox
=
spool
1 and a
1,
=

2
1
= a
1
=

2
1
.
We now know the acceleration of two points on the spool, and we can relate them to nd the angular
acceleration. We have
a
Q
= a
1

spool
r
Q{1
o
2
spool
r
Q{1
=

2
1

spool

k 1( t )
_
1
_
2
1( t )
=
_
1

spool
1
_
t
spool
1 . (4)
From the rolling without slip condition at Q we have
a
Q,
= a
. (5)
Equating Eq. (4) with the expression for a
Q,
in Eq. (5), we have
spool
1 = a
=
spool
=
a
1
=
spool
= 0.400

k rad,s
2
.
where we have used the given values 1 = 5 ft and a
= 2 ft,s
2
. Substituting this expression for
spool
into
Eq. (3) we have
a
O
= a
t = a
O
= 2.00 t m,s
2
.
where we have used the given value a
= 2 ft,s
2
.
August 10, 2009
Dynamics 1e 863
Problem 6.95
At the instant shown, bars T and TC are perpendicular to each other while the slider C has a velocity
C
= 24 m,s and an acceleration a
C
= 2.5 m,s
2
in the directions shown. Letting 1 = 1.75 m and
0 = 45
, determine the angular acceleration of bars T and TC.

Solution
Because 0 = 45
, the instantaneous center of rotation of bar TC is point .

Therefore,
C
=
_
21o
BC
= o
BC
=

C
_
21
= 9.697 rad,s.
where we have used the given values
C
= 24 m,s and 1 = 1.75 m. Be-
cause C is constrained to move along the guide oriented by the unit vector
u
t
= ( t ),
_
2, and is moving up and to the right, we have

C
=
C
(cos 45
t sin 45
) = (16.97 t 16.97 t) ft,s (1)

and
a
C
= a
C
(cos 45
t sin 45
) = (1.786 t 1.786 ) ft,s

2
. (2)
where we have used the given values
C
= 24 m,s and a
C
= 2.5 m,s
2
. Point is also the center of rotation
of bar T. Therefore, in the present conguration
B
= o
B
1 = o
BC
1 = o
B
= o
BC
= 9.697 rad,s.
a
B
= a

B
r
B{
o
2
B
r
B{
=
B

k (1 ) o
2
B
1 = 1
B
t o
2
B
1 .
We must also have
a
C
= a
B

BC
r
C{B
o
2
BC
r
C{B
= (1
B
t o
2
B
1 )
BC

k 1 t o
B
1 t
= (
B
1 o
2
B
1) t (
BC
1 o
2
B
1) (3)
Equating the expressions for a
C
in Eqs. (2) and (3), on a component by component basis, we have
1.786 m,s
2
=
B
1 o
2
B
1 and 1.786 m,s
2
=
BC
1 o
2
B
1. (4)
August 10, 2009
Eqs. (4) are two equations in the two unknowns
B
and
BC
. Solving them we have
B
=
o
2
B
1 1.786 m,s
2
1
and
BC
=
(1.786 m,s
2
o
2
B
1)
1
.
Substituting in known values 1 = 1.75 m and o
B
= 9.697 rad,s, and putting the angular accelerations in
vector form, we have

B
= 93.0

k rad,s
2
and
BC
= 95.1

k rad,s
2
.
August 10, 2009
Dynamics 1e 865
Problem 6.96
A ood gate is controlled via the hydraulic cylinder T. If the length of the cylinder is increased with a
constant time rate of 2.5 ft,s, determine the angular acceleration of the gate when = 0
. Let = 10 ft,
h = 2.5 ft, and J = 5 ft.
Solution
At any position of the gate, we have the constraint equations
1
B
cos 0 = J cos and 1
B
sin 0 h = J sin . (1)
where 1
B
is the distance between points and T. For = 0, we
then have
0 = tan
1
_
h
J
_
and 1
B
=
_
h
2
( J)
2
. (2)
Substituting known values h = 2.5 ft, J = 5 ft, and = 10 ft into Eqs. (2), we have
0 = 0.4636 rad and 1
B
= 5.590 ft.
1
B
0 sin 0 = J

cos and 1
B
0 cos 0 = J

sin . (3)
Eqs. (3) are two equations in

0 and

. Solving them, we have
0 =
cot (0 )
1
B
1
B
and

=
csc (0 )
1
B
J
. (4)
Substituting known values 0 = 0.4636 rad, = 0 rad, J = 5 ft, 1
B
= 5.590 ft, and

1
B
= 2.5 ft,s into
Eqs. (4) we have
0 = 0.8946 rad,s and

= 1.118 rad,s.
Observing that
gate
=
, we take a time derivative of

from Eqs. (4), and remembering that

1
B
= 0,
we have
gate
=
=
cot (0 ) csc (0 )
1
B
_
_
J
Substituting in known values 0 = 0.4636 rad,

0 = 0.8946 rad,s, = 0 rad,

= 1.118 rad,s,

1
B
=
2.5 ft,s, and J = 5 ft, and expressing in vector form with three signicant gures, we have

gate
= 4.50

k rad,s
2
. (5)
August 10, 2009
Problem 6.97
The bucket of a backhoe is the element T of the four-bar linkage system TCD. Assume that the points
and D are xed and that the bucket rotates with a constant angular velocity o
B
= 0.25 rad,s. In
addition, suppose that, at the instant shown, point T is aligned vertically with point , and C is aligned
horizontally with T. Determine the acceleration of point C at the instant shown along with the angular
accelerations of the elements TC and CD. Let h = 0.66 ft, e = 0.46 ft, l = 0.9 ft, and n = 1.0 ft.
Solution
Point C is a point on both bar TC and bar CD, and therefore can be related to both points T and D through
rigid body kinematics. We have that

C
=
T
o
CT
r
C{T
= o
CT

k (n h) t (e ) | = o
CT
(e ) t o
CT
(n h) . (1)
Observing that is the instantaneous enter of rotation of T,
B,
= 0, and
B
=
Bx
t. We then have

C
=
B
o
BC
r
C{B
=
Bx
t o
BC
(n) t =
Bx
t o
BC
n . (2)
o
CT
(e ) t =
Bx
t and o
CT
(n h) = o
BC
n . (3)
Observing that is the instantaneous center of rotation of T, we also have
B
= [o
B
[. Solving Eqs. (3),
for o
CT
and o
BC
, we have
o
CT
(e ) = [o
B
[ = o
CT
=
[o
B
[
e
(4)
and
o
BC
=
o
CT
(n h)
n
= o
BC
=
[o
B
[
e
n h
n
. (5)
Substituting known values [o
B
[ = 0.25 rad,s, e = 0.46 ft, = 0.9 ft, h = 0.66 ft, and n = 1.0 ft into
Eqs. (4) and (5), we have
o
CT
= 0.1654

k rad,s. o
BC
= 0.05625

k rad,s.
From rigid body kinematics we must also have
a
B
= a

B
r
B{
o
2
B
r
B{
= o
2
B
. (6)
a
C
= a
B

BC
r
C{B
o
2
BC
r
C{B
= o
2
B

BC

k (n t)
_
o
B
e
n h
n
_
2
(n t)
August 10, 2009
Dynamics 1e 867
= n
_
o
B
e
n h
n
_
2
t (o
2
B

BC
) . (7)
and
a
C
= a
T

CT
r
C{T
o
2
CT
r
C{T
=
CT

k (e )
_
o
B
e
_
2
(e )
=
CT
(e ) t
(o
B
)
2
e
(8)
n
_
o
B
e
n h
n
_
2
=
CT
(e ) =
CT
=
o
B
(n h)|
2
(e )n
= 0.01749 rad,s
2
(9)
(o
2
B

BC
) =
(o
B
)
2
e
=
BC
=
o
2
B
e
o
2
B
=
BC
= o
2
B
_

e
1
_
= 0.004516 rad,s
2
. (10)
In vector form, we have

BC
= 0.0175 rad,s
2
and
CT
= 0.00452

k rad,s
2
.
Substituting known values n = 1.0 ft, = 0.9 ft, e = 0.46 ft, h = 0.66 ft, [o
B
[ = 0.25 rad,s, and
B
= 0.004516 rad,s
2
a
C
= (0.00316 t 0.0388 ) ft,s
2
.
August 10, 2009
Problem 6.98
At the instant shown, bar CD is rotating with an angular velocity 20 rad,s and with angular acceleration
2 rad,s
2
in the directions shown. Furthermore, at this instant 0 = 45
. Letting 1 = 2.25 ft, determine the

angular accelerations of bars T and TC.
Solution
Because bar T is rotating about the xed point , at the given instant point T is only moving in the t
direction, and we have

B
= o
B
1 t.
Points T and C are both on the bar TC so we have

C
=
B
o
BC
r
C{B
= o
B
1 t o
BC

k 1 t = o
B
1 t o
BC
1 . (1)
Points C and D are also both on the bar CD so we have

C
=
T
o
CT
r
C{T
= o
CT

k
1
2
(cos 0 t sin 0 ) =
1
2
o
CT
(sin 0 t cos 0 ). (2)
Equating Eqs. (1) and (2) component by component, we have
o
B
1 =
1
2
o
CT
sin 0 = o
B
=
o
CT
sin 0
2
(3)
o
BC
1 =
1
2
o
CT
cos 0 = o
BC
=
o
CT
cos 0
2
. (4)
Similarly for the accelerations, we have
a
B
= a

B
r
B{
o
2
B
r
B{
=
B

k (1 )
o
2
CT
sin
2
0
4
(1 )
= 1
B
t
1o
2
CT
sin
2
0
4
.
as well as
a
C
= a
B

BC
r
C{B
o
2
BC
r
C{B
=
_
1
B
t
1o
2
CT
sin
2
0
4

_
BC

k 1 t
o
2
CT
cos
2
0
4
1 t
August 10, 2009
Dynamics 1e 869
=
_
1
B

1o
2
CT
cos
2
0
4
_
t
_
1o
2
CT
sin
2
0
4
1
BC
_
. (5)
and
a
C
= a
T

CT
r
C{T
o
2
CT
r
C{T
=
CT

k
1
2
(cos 0 t sin 0 ) o
2
CT
1
2
(cos 0 t sin 0 )
=
_
CT
1
2
sin 0 o
2
CT
1
2
cos 0
_
t
_
CT
1
2
cos 0 o
2
CT
1
2
sin 0
_
. (6)
Equatings Eqs. (5) and (6) component by component we have
1
B

1o
2
CT
cos
2
0
4
=
_
CT
1
2
sin 0 o
2
CT
1
2
cos 0
_
=
B
= o
2
CT
cos
2
0
4

CT
sin 0
2
o
2
CT
cos 0
2
1o
2
CT
sin
2
0
4
1
BC
=
CT
1
2
cos 0 o
2
CT
1
2
sin 0
=
BC
=
o
2
CT
sin
2
0
4
CT
cos 0
2
o
2
CT
sin 0
2
.
Substituting known values o
CT
= 20 rad,s.
CT
= 2 rad,s
2
. 0 = 45
. and 1 = 2.25 ft. in vector form we

have

B
= 92.1

k rad,s
2
and
BC
= 191

k rad,s
2
.
August 10, 2009
W
= 2 in. rolls without slip over the stationary cylinder
S of radius 1
S
= 5 in., and the wheel is connected to point O via the arm
OC.
Problem 6.99 Determine the acceleration of the point on the wheel W that is
in contact with S for o
OC
= 7.5 rad,s = constant.
Problem 6.100 Determine the acceleration of the point on the wheel W that
is in contact with S for o
OC
= 7.5 rad,s and
OC
= 2 rad,s
2
.
Problem 6.101 If, at the instant shown, 0 = 63
, o
W
= 9 rad,s, and
W
= 1.3 rad,s
2
, determine the angular acceleration of the arm OC and the
acceleration of point 1, where 1 lies on the edge of W and is aligned vertically
with point C.
Solution to 6.99
We call the contact point between the wheel W and cylinder S point Q. From
the geometry of the problem, we have
r
C{O
= (1
S
1
W
) u
i
and r
C{Q
= 1
W
u
i
.

C
=
O
o
OC
r
C{O
= o
OC

k (1
S
1
W
) u
i
= o
OC
(1
S
1
W
) u
0
. (1)
Due to rolling without slip,
Q
=

0. Therefore, we must have

C
=
Q
o
W
r
C{Q
= o
W

k 1
W
u
i
= o
W
1
W
u
0
(2)
o
OC
(1
S
1
W
) = o
W
1
W
= o
W
=
(1
S
1
W
)
1
W
o
OC
. (3)
We must also have
a
C
= a
O

OC
r
C{O
o
2
OC
r
C{O
= o
2
OC
(1
S
1
W
) u
i
and
a
Q
= a
C

W
r
Q{C
o
2
W
r
Q{C
= o
2
OC
(1
S
1
W
) u
i

W

k (1
W
) u
i
o
2
W
1
W
u
i
= o
2
OC
(1
S
1
W
) o
2
W
1
W
| u
i
1
W
W
u
0
(4)
August 10, 2009
Dynamics 1e 871
From the no slip condition, we know that a
Q0
= 0. Substituting Eq. (3) for o
W
in Eq. (4) we have
a
Q
=
_
o
2
OC
(1
S
1
W
)
(1
S
1
W
)
2
1
W
o
2
OC
_
u
i
= o
2
OC
(1
S
1
W
)
_
1
S
1
W
1
W
1
_
u
i
. (5)
Substituting known values 1
W
= 2 in. = 0.1667 ft. 1
S
= 5 in. = 0.4167 ft. and o
OC
= 7.5 rad,s, we have
a
Q
= 82.0 u
i
ft,s
2
.
August 10, 2009
Solution to 6.100
r
C{O
= (1
S
1
W
) u
i
and r
C{Q
= 1
W
u
i
.

C
=
O
o
OC
r
C{O
= o
OC

k (1
S
1
W
) u
i
= o
OC
(1
S
1
W
) u
0
. (6)
Q
=


C
=
Q
o
W
r
C{Q
= o
W

k 1
W
u
i
= o
W
1
W
u
0
. (7)
o
OC
(1
S
1
W
) = o
W
1
W
= o
W
=
(1
S
1
W
)
1
W
o
OC
. (8)
We must also have
a
C
= a
O

OC
r
C{O
o
2
OC
r
C{O
=
OC

k (1
S
1
W
) u
i
o
2
OC
(1
S
1
W
) u
i
= o
2
OC
(1
S
1
W
) u
i
(1
S
1
W
)
OC
u
0
and
a
Q
= a
C

W
r
Q{C
o
2
W
r
Q{C
= o
2
OC
(1
S
1
W
) u
i
(1
S
1
W
)
OC
u
0
|
W

k (1
W
) u
i
o
2
W
1
W
u
i
= o
2
OC
(1
S
1
W
) o
2
W
1
W
| u
i
(1
S
1
W
)
OC
1
W
W
| u
0
. (9)
From the no slip condition, we know that
a
Q0
= 0 =
W
=
1
S
1
W
1
W
OC
. (10)
Substituting Eq. (8) for o
W
in Eq. (9) we have
a
Q
=
_
o
2
OC
(1
S
1
W
)
(1
S
1
W
)
2
1
W
o
2
OC
_
u
i
= o
2
OC
(1
S
1
W
)
_
1
S
1
W
1
W
1
_
u
i
. (11)
W
= 2 in. = 0.1667 ft. 1
S
= 5 in. = 0.4167 ft. and o
OC
a
Q
= 82.0 u
i
ft,s
2
.
August 10, 2009
Dynamics 1e 873
Solution to 6.101
r
C{O
= (1
S
1
W
) u
i
.
r
1{C
= 1
W
sin 0 u
i
cos 0 u
0
|.
and
r
C{Q
= 1
W
u
i
.

C
=
O
o
OC
r
C{O
= o
OC

k (1
S
1
W
) u
i
= o
OC
(1
S
1
W
) u
0
. (12)
Q
=


C
=
Q
o
W
r
C{Q
= o
W

k 1
W
u
i
= o
W
1
W
u
0
(13)
o
OC
(1
S
1
W
) = o
W
1
W
= o
OC
=
1
W
(1
S
1
W
)
o
W
. (14)
We must also have
a
C
= a
O

OC
r
C{O
o
2
OC
r
C{O
=
OC

k (1
S
1
W
) u
i
o
2
OC
(1
S
1
W
) u
i
= o
2
OC
(1
S
1
W
) u
i
(1
S
1
W
)
OC
u
0
and
a
Q
= a
C

W
r
Q{C
o
2
W
r
Q{C
= o
2
OC
(1
S
1
W
) u
i
(1
S
1
W
)
OC
u
0
|
W

k (1
W
) u
i
o
2
W
1
W
u
i
= o
2
OC
(1
S
1
W
) o
2
W
1
W
| u
i
(1
S
1
W
)
OC
1
W
W
| u
0
.
From the no slip condition, we know that
a
Q0
= 0 =
OC
=
1
W
1
S
1
W
W
. (15)
We must also have
a
1
= a
C

W
r
1{C
o
2
W
r
1{C
= o
2
OC
(1
S
1
W
) u
i
(1
S
1
W
)
OC
u
0

W

k 1
W
(sin 0 u
i
cos 0 u
0
)
o
2
W
1
W
(sin 0 u
i
cos 0 u
0
)
=
_
o
2
OC
(1
S
1
W
) 1
W
W
cos 0 o
2
W
1
W
sin 0
_
u
i
_
(1
S
1
W
)
OC
1
W
W
sin 0 o
2
W
1
W
cos 0
_
u
0
(16)
August 10, 2009
Substituting Eqs. (14) and (15) into Eq. (16) we have
a
1
=
_
1
2
W
(1
S
1
W
)
o
2
W
1
W
W
cos 0 o
2
W
1
W
sin 0
_
u
i
_
1
W
W
(1 sin 0) o
2
W
1
W
cos 0
_
u
0
(17)
W
= 2 in. = 0.1667 ft. 1
S
= 5 in. = 0.4167 ft. 0 = 63
. o
W
= 9 rad,s. and
W
= 1.3 rad,s
2
, into Eqs. (15) and (17), to three signicant gures we have

OC
= 0.371

k rad,s
2
and a
1
= (15.8 u
i
6.54 u
0
) ft,s
2
.
August 10, 2009
Dynamics 1e 875
Problem 6.102
At the instant shown, bars T and CD are vertical. In addition, point C is moving to the left with a speed
of 4 m,s, and the magnitude of the acceleration of C is 55 m,s
2
. Letting 1 = 0.5 m and H = 0.2 m,
determine the angular accelerations of bars T and TC.
Solution
Realizing that if C is moving left, o
CT
must be counterclockwise, from the concept of instantaneous center
of rotation, we have
o
CT
=

C
1
k = 8.000

k rad,s and
CT
=
a
C
1
k. (1)
Similarly, because the center of rotation of bar TC is at innity, we have
o
BC
=

0.
Therefore, the velocity of T is the same as the velocity of C, so we must have
o
B
=
C
1
k = 8.000

k rad,s. (2)
Observing that at the given instant we have the position vectors
r
B{
= 1 . r
B{C
= (H t 21 ). and r
C{T
= 1 .
then from rigid body kinematics we must have
a
C
= a
T

CT
r
C{T
o
2
CT
r
C{T
=
CT

k 1 o
2
CT
(1 ) = 1
CT
t

2
C
1
. (3)
a
B
= a

B
r
B{
o
2
B
r
B{
=
B

k (1) o
2
B
(1) = 1
B
t 1o
2
B
.
and
a
C
= a
B

BC
r
C{B
o
2
BC
r
C{B
= 1
B
t 1o
2
B

BC

k (H t 21 ) o
2
BC
(H t 21 )
= (1
B
21
BC
Ho
2
BC
) t (1o
2
B
H
BC
21o
2
BC
) . (4)
Equations (3) and (4) are two expressions for a
C
, and setting them equal component by component, we have
1
CT
= 1
B
21
BC
Ho
2
BC
August 10, 2009
and
2
C
1
= 1o
2
B
H
BC
21o
2
BC
.
which are two equations in
B
and
BC
. Solving them, we have
B
=
2
2
C
1
_
1
1
a
C
21o
2
B
_
_
H
2
41
2
_
o
2
BC
H1
BC
=
2
C
1
2
_
o
2
B
2o
2
BC
_
H1
.
where we have let
CT
=
o
C
1
. However, closer inspection, only the magnitude of a
C
is given in the
problem, so we must nd answers for both the positive and negative values. Choosing a
C
= 55 m,s
2
, and
substituting the given values
C
= 4 m,s, a
C
= 55 m,s
2
, 1 = 0.5 m, H = 0.2 m, o
B
= 8.000 rad,s,
and o
BC
= 8.000 rad,s, in vector forma and to three signicant gures, we have

B
= 84.4

k rad,s
2
and
BC
= 315

k rad,s
2
.
Choosing a
C
= 55 m,s
2
and substituting the given values
C
= 4 m,s, a
C
= 55 m,s
2
, 1 = 0.5 m,
H = 0.2 m, o
B
= 8.000 rad,s, and o
BC
= 8.000 rad,s, in vector forma and to three signicant gures,
we have

B
= 136

k rad,s
2
and
BC
= 315

k rad,s
2
.
August 10, 2009
Dynamics 1e 877
For the slider-crank mechanism shown, let 1 = 1.9 in., 1 = 6.1 in., and H = 1.2 in.
Problem 6.103 Assuming that o
B
= 4850 rpm and is constant, determine the angular acceleration of
the connecting rod TC and the acceleration of point C at the instant when 0 = 27
.
Problem 6.104 Assuming that o
B
= 4850 rpm and is constant, determine the acceleration of point D
at the instant when = 10
.
Problem 6.105 Assuming that, at the instant shown, 0 = 31
, o
B
= 4850 rpm, and
B
= o
B
=
280 rad,s
2
, determine the angular acceleration of the connecting rod and the acceleration of point C.
Problem 6.106 Determine the general expression of the acceleration of the piston C as a function of 1,
1, 0, o
B
=

0, and
B
=

0.
Solution to 6.103
From the geometry of the problem we have
r
B{
= 1(cos 0 t sin 0 ).
r
C{B
= 1(sin t cos ).
and
1
_
1
1
cos 0
_
.

B
=
o
B
r
B{
= o
B

k 1(cos 0 t sin 0 ) = 1o
B
sin 0 t 1o
B
cos 0
and

C
=
B
o
BC
r
C{B
= 1o
B
sin 0 t 1o
B
cos 0 o
BC

k 1(sin t cos )
= (1o
B
sin 0 1o
BC
cos ) t (1o
B
cos 0 1o
BC
sin ) .
August 10, 2009
Because C is constrained to move in the vertical direction, we have
1o
B
sin 0 1o
BC
cos = 0 = o
BC
=
1o
B
sin 0
1cos
.
Remembering that
B
= 0, we must also have
a
B
= a
o
2
B
r
B{
= o
2
B
1(cos 0 t sin 0 )
= 1o
2
B
cos 0 t o
2
B
sin 0
and
a
C
= a
B

BC
r
C{B
o
2
BC
r
C{B
= 1o
2
B
cos 0 t o
2
B
sin 0
BC

k 1(sin t cos ) o
2
BC
1(sin t cos )
=
_
1o
2
B
cos 0
_
1
2
o
2
B
sin
2
0
1cos
2
_
sin 1
BC
cos
_
t
_
1o
2
B
sin 0 1
BC
sin
_
1
2
o
2
B
sin
2
0
1cos
2
_
cos
_
(1)
1o
2
B
cos 0
_
1
2
o
2
B
sin
2
0
1cos
2
_
sin 1
BC
cos
=
BC
=
1o
2
B
cos 0
_
T
2
o
2
AB
sin
2
0
1cos
2
_
sin
1cos
(2)
Substituting known values 1 = 1.9 in. = 0.1583 ft. 1 = 6.1 in. = 0.5083 ft. H = 1.2 in. = 0.1000 ft.
0 = 27
. and o
B
= 4850 rpm = 507.9 rad,s into Eqs. (1) and (2), rounding to three signicant gures,
and putting in vector form we have
a
C
= 11000 ft,s
2
and
BC
= 72900

k rad,s
2
. (3)
August 10, 2009
Dynamics 1e 879
Solution to 6.104
r
B{
= 1(cos 0 t sin 0 ).
r
C{B
= 1(sin t cos ).
r
T{C
= (1 H)(sin t cos ).
and
1sin = 1cos 0 = 0 = cos
1
_
1
1
sin
_
= 56.17
.

B
=
o
B
r
B{
= o
B

k 1(cos 0 t sin 0 ) = 1o
B
sin 0 t 1o
B
cos 0
and

C
=
B
o
BC
r
C{B
= 1o
B
sin 0 t 1o
B
cos 0 o
BC

k 1(sin t cos )
= (1o
B
sin 0 1o
BC
cos ) t (1o
B
cos 0 1o
BC
sin ) .
1o
B
sin 0 1o
BC
cos = 0 = o
BC
=
1o
B
sin 0
1cos
.
Remembering that
B
= 0, we must also have
a
B
= a
o
2
B
r
B{
= o
2
B
1(cos 0 t sin 0 ) = 1o
2
B
cos 0 t o
2
B
sin 0
and
a
C
= a
B

BC
r
C{B
o
2
BC
r
C{B
= 1o
2
B
cos 0 t o
2
B
sin 0
BC

k 1(sin t cos ) o
2
BC
1(sin t cos )
=
_
1o
2
B
cos 0
_
1
2
o
2
B
sin
2
0
1cos
2
_
sin 1
BC
cos
_
t
_
1o
2
B
sin 0 1
BC
sin
_
1
2
o
2
B
sin
2
0
1cos
2
_
cos
_
. (4)
Because C is constrained to move in the vertical direction, a
Cx
= 0, and we have
1o
2
B
cos 0
_
1
2
o
2
B
sin
2
0
1cos
2
_
sin 1
BC
cos = 0
=
BC
=
1o
2
B
cos 0
_
T
2
o
2
AB
sin
2
0
1cos
2
_
sin
1cos
.
Substituting known values 1 = 1.9 in. = 0.1583 ft, 1 = 6.1 in. = 0.5083 ft, H = 1.2 in. = 0.1000 ft,
= 10
, 0 = 56.12
, and o
B
= 4850 rpm = 507.9 rad,s, we have
a
C
= 39070 ft,s
2
and
BC
= 42330

k rad,s
2
.
August 10, 2009
Finally, we must have
a
T
= a
C

BC
r
T{C
o
2
BC
r
T{C
= a
C

BC

k (1 H)(sin t cos ) o
2
BC
(1 H)(sin t cos )
=
_
1o
2
B
cos 0 1
B
sin 0
H1
2
o
2
B
sin
2
0 tan
1
2
cos
H
_
11o
2
B
cos 0 11
B
sin 0 1
2
o
2
B
sec sin 0
2
tan
_
1
2
_
t
_
1
B
cos 0 1o
2
B
sin 0
H1
2
o
2
B
sec sin 0
2
1
2
1
1
2
H tan
_
11o
2
B
cos 0 11
B
sin 0 1
2
o
2
B
sec sin 0
2
tan
_
_
(5)
Substituting known values 1 = 1.9 in. = 0.1583 ft, 1 = 6.1 in. = 0.5083 ft, H = 1.2 in. = 0.1000 ft,
= 10
, 0 = 56.12
, and o
B
= 4850 rpm = 507.9 rad,s into Eq. (5), and rounding to three signicant
gures, we have
a
T
= (31000 t 46100 ) ft,s
2
.
August 10, 2009
Dynamics 1e 881
Solution to 6.105
r
B{
= 1(cos 0 t sin 0 ). r
C{B
= 1(sin t cos ).
and
1
_
1
1
cos 0
_
.

B
=
o
B
r
B{
= o
B

k 1(cos 0 t sin 0 ) = 1o
B
sin 0 t 1o
B
cos 0
and

C
=
B
o
BC
r
C{B
= 1o
B
sin 0 t 1o
B
cos 0 o
BC

k 1(sin t cos )
= (1o
B
sin 0 1o
BC
cos ) t (1o
B
cos 0 1o
BC
sin ) .
1o
B
sin 0 1o
BC
cos = 0 = o
BC
=
1o
B
sin 0
1cos
.
We must also have
a
B
= a

B
r
B{
o
2
B
r
B{
=
B

k 1(cos 0 t sin 0 ) o
2
B
1(cos 0 t sin 0 )
= (1
B
sin 0 1o
2
B
cos 0) t (1
B
cos 0 o
2
B
sin 0)
and
a
C
= a
B

BC
r
C{B
o
2
BC
r
C{B
= (1
B
sin 0 1o
2
B
cos 0) t (1
B
cos 0 o
2
B
sin 0)
BC

k 1(sin t cos ) o
2
BC
1(sin t cos )
=
_
1
B
sin 0 1o
2
B
cos 0
_
1
2
o
2
B
sin
2
0
1cos
2
_
sin 1
BC
cos
_
t
_
1
B
cos 0 1o
2
B
sin 0 1
BC
sin
_
1
2
o
2
B
sin
2
0
1cos
2
_
cos
_
. (6)
Because C is constrained to move in the vertical direction we have
1
B
sin 0 1o
2
B
cos 0
_
1
2
o
2
B
sin
2
0
1cos
2
_
sin 1
BC
cos = 0
=
B
=
1o
2
B
cos 0
_
T
2
o
2
AB
sin
2
0
1cos
2
_
sin 1
BC
cos
1sin 0
(7)
Substituting known values 1 = 1.9 in. = 0.1583 ft. 1 = 6.1 in. = 0.5083 ft. H = 1.2 in. = 0.1000 ft.
0 = 31
.
B
= 280 rad,s
2
and o
B
= 4850 rpm = 507.9 rad,s into Eqs. (6) and (7), rounding to three
signicant gures, and putting it in vector form, we have

BC
= 69400

k rad,s
2
and a
C
= 15200 ft,s
2
.
August 10, 2009
Solution to 6.106
Letting the origin of the reference frame be at , at the indicated instant, we
have that the vertical distance from to C, ,
C
, is
,
C
= 1sin 0 1cos .
We also know that
1sin = 1cos 0.
Hence, ,
C
can be rewritten as
,
C
= 1sin 0 1
_
1
_
1
1
cos 0
_
2
.
Because C is constrained to move vertically, have

C
= ,
C
= 1
0 cos 0
_
_
_
1
1sin 0
1
_
1
T
2
cos
2
0
1
2
_
_

and differentiating again with respect to time, we have
a
C
=
_
_
_
1
_
_
_
1
2
cos
2
0
0
2
1
2
_
1
T
2
cos 0
2
1
2
1
4
cos
2
0 sin
2
0
0
2
1
4
_
1
T
2
cos
2
0
1
2
_
3{2
_
_
_
_
_
_
1
2
sin 0
2
0
2
1
2
_
1
T
2
cos
2
0
1
2
1
2
cos 0 sin 0
0
1
2
_
1
T
2
cos
2
0
1
2
_
_
_
1
_
sin 0
0
2
cos 0
0
_
_
_
.
August 10, 2009
Dynamics 1e 883
In the four-bar linkage system shown, let the circular guide with center at O be
xed and such that, for 0 = 0
, the bars T and TC are vertical and horizontal,

respectively. In addition, let 1 = 0.6 m, 1 = 1 m, and H = 1.25 m.
, = 25.07
, and ; = 78.71
, assume
collar C is sliding clockwise with a speed 7 m,s. Assuming that, at the instant
in question, the speed is increasing and that [ a
C
[ = 93 m,s
2
, determine the
angular accelerations of the bars T and TC.
Problem 6.108 Use the method of differentiation of constraints to
derive expressions for the angular accelerations of bars T and TC as a
function of 0,

0, and

0. Finally, Let 0 = (0.3 rad,s
2
)t
2
and plot the angular
accelerations of T and TC for 0 _ t _ 1 s.
Solution to 6.107
From the geometry of the problem, we have the following position
vectors:
r
C{O
= 1(cos 0 t sin 0 ).
r
B{C
= 1(cos t sin .
r
B{
= H(cos ; t sin ; ).
and the velocity vector

C
=
C
(sin 0 t cos 0 ).
We also dene o
BC
= o
BC

k and o
B
= o
B

k. Points T and C are both on bar TC so from rigid body
kinematics we have

B
=
C
o
BC

k r
B{C
=
C
(sin 0 t cos 0 ) o
BC
1(sin t cos )
= (
C
sin 0 o
BC
1sin ) t (o
BC
1cos
C
cos 0) . (1)
Also, because points and T are both on bar T, we have

B
=
o
B
r
B{
= o
B
H(sin ; t cos ; ). (2)
Equating Eq. (1) with Eq. (2) component by component we have
C
sin 0 o
BC
1sin = o
B
H sin ; (3)
o
BC
1cos
C
cos 0 = o
B
H cos ;. (4)
B
and o
BC
. To solve them we divide the left hand side of Eq. (3) by
the left hand side of Eq. (4) and the right hand side of Eq. (3) by the right hand side of Eq. (4). We have
C
sin 0 o
BC
1sin
o
BC
1cos
C
cos 0
= tan ; =
C
sin 0 o
BC
1sin = tan ;(o
BC
1cos
C
cos 0)
= o
BC
=
C
sin 0 tan ; cos 0
1(tan ; cos sin )
.
August 10, 2009
Substituting in given values
C
= 7 m,s, 0 = 37
, ; = 78.71
, = 25.07
, and 1 = 1 m, we have
o
BC
= 22.09 rad,s.
B
and substituting in known values
C
= 7 m,s, o
BC
= 22.09 rad,s, 0 = 37
,
; = 78.71
, = 25.07
, H = 1.25 m, and 1 = 1 m, we have

o
B
=

C
sin 0 o
BC
1sin
H sin ;
= 13.36 rad,s.
We can now begin to look at the acceleration analysis. For the slider we have
a
C
= a
O

OC
r
C{O
o
2
OC
r
C{O
=
OC

k 1(cos 0 t sin 0 )

2
C
1
2
1(cos 0 t sin 0 )
=
_
1
OC
sin 0

2
C
1
cos 0
_
t
_
1
OC
cos 0

2
C
1
sin 0
_
. (5)
Taking the magnitude of a
C
and solving for
OC
we have
a
2
C
=
_
1
OC
sin 0

2
C
1
cos 0
_
2
_
1
OC
cos 0

2
C
1
sin 0
_
2
=
OC
=
_
a
2
C
1
2

4
C
1
4
(6)
Because the speed is increasing, the angular acceleration must be clockwise, and we choose the negative
solution for
OC
. Substituting in known values 1 = 0.6 m. 1 = 1 m. H = 1.25 m. 0 = 37
.
= 25.07
. and ; = 78.71
we have
OC
= 74.15 rad,s
2
.
a
B
= a
C

BC
r
B{C
o
2
BC
r
B{C
=
_
1o
2
BC
cos

2
C
cos 0
1
1
BC
sin 1
OC
sin 0
_
t
_
1
BC
cos 1
OC
cos 0 1o
2
BC
sin

2
C
sin 0
1
_
(7)
and
a
B
= a

B
r
B{
o
2
B
r
B{
= (Ho
2
B
cos ; H
B
sin ;) t (H
B
cos ; Ho
2
B
sin ;) . (8)
Setting Eqs. (7) and (8) equal and solving for
B
and
BC
we have
B
=
csc ( ;)
H1
H1o
2
B
cos ( ;)
2
C
cos ( 0) 1
_
1o
2
BC
1
OC
sin ( 0)
__
.
BC
=
csc ( ;)
11
11o
2
BC
cos ( ;)
2
C
cos (; 0) 1
_
Ho
2
B
1
OC
sin (; 0)
__
.
Substituting in known values as designated above, rounding to three signicant gures, and putting in vector
form, we have

B
= 1090

k rad,s
2
and
BC
= 1190

k rad,s
2
.
August 10, 2009
Dynamics 1e 885
Solution to 6.108
To solve the problem we rst assume that and ; are known functions of 0 (and of the geometric parameters
1, 1, and H). Then we proceed to determine and ; as functions of 0.
Let
B
=
B

k and
BC
=
BC

k denote the angular accelera-
tions of bars T and TC, respectively, and therefore we have
B
= ; and
BC
=
. (9)
Hence, the answer to the problem is found by providing expressions
for

and ; as a function of the angle 0 and its time derivatives.
To do so, we observe that, using trigonometry, the motion of the
mechanism is subject to the following two constraint equations:
1sin H sin ; = H 1sin 0. (10)
1cos H cos ; = 1 1 1cos 0. (11)
Differentiating the above equations with respect to time, we have
1
cos H ; cos ; = 1
0 cos 0. (12)
1
sin H ; sin ; = 1
0 sin 0. (13)
Equations (12) and (13) can be viewed as a system of 2 equations in the 2 unknowns

and ; whose solution
is
=
1
0 sin(; 0)
1sin( ;)
and ; =
1
0 sin( 0)
H sin( ;)
. (14)
where we have used the following trigonometric identities: sin(. ,) = sin . cos , cos . sin , and
sin(. ,) = sin . cos , cos . sin ,. Differentiating the rst of Eqs. (14) with respect to time we obtain
=
1
0 sin(; 0)
1sin( ;)
0
_
( ;

0) cos(; 0) sin( ;) (
;) sin(; 0) cos( ;)
_
1sin
2
( ;)
=
1
0 sin(; 0)
1sin( ;)
0
_
0 cos(; 0) sin( ;) ; sin( 0)

sin(; 0) cos( ;)
_
1sin
2
( ;)
. (15)
where we have used the trigonometric identity sin(. ,) = sin . cos , cos . sin ,. Next, substituting
Eqs. (14) into Eq. (15), simplifying, and recalling that
BC
=
, we have
BC
=
1
0 sin(; 0)
1sin( ;)
0
2
_
cos(; 0) sin
2
( ;)
T
1
sin
2
( 0)
T
1
sin
2
(; 0) cos( ;)
_
1sin
3
( ;)
. (16)
Repeating similar steps, i.e., differentiating with respect to time the second of Eqs. (14) to obtain an expression
for ; in terms of 0,

0,

0,

and ;, recalling that
B
= ;, and nally using Eqs. (14) again to replace the
expressions for

and ;, after simplication, we have
B
=
1
0 sin( 0)
H sin( ;)
0
2
_
cos( 0) sin
2
( ;)
T
1
sin
2
(; 0)
T
1
sin
2
( 0) cos( ;)
_
H sin
3
( ;)
. (17)
August 10, 2009
We now need to provide and ; as functions of 0. This can be done in (at least) two ways. The time
interval of the needed plots is 0 _ t _ 1 s, which corresponds to 0 _ 0 _ 0.3 rad. Hence, we can use
numerical software to obtain and ; for 0 _ 0 _ 0.3 rad and then plot the results. A second but challenging
approach, is to nd analytical expressions of and ; as functions of 0. We will explore both approaches.
Determination of and via a numerical approach. We begin by going back to Eqs. (10) and (11),
which we now differentiate with respect to 0 to obtain
1
0
cos H;
0
cos ; = 1cos 0. (18)
1
0
sin H;
0
sin ; = 1sin 0. (19)
where
0
= J,J0 and ;
0
= J;,J0. The above equations can be solved for
0
and ;
0
to obtain
0
=
1sin(; 0)
1sin( ;)
and ;
0
=
1sin( 0)
H sin( ;)
. (20)
Now observe that for 0 = 0, = 0 and ; = ,2. Hence, we can obtain and ; by numerically solving
the system of rst order differential equations in Eqs. (20) subject to the initial conditions (0) = 0 and
;(0) = ,2. Once this is done, recalling that H = 1.25 m, 1 = 1 m, and 1 = 0.6 m, 0 = (0.3 rad,s
2
)t
2
,
0 = (0.6 rad,s
2
)t , and

0 = 0.6 rad,s
2
, we can then plot the expressions for
B
and
BC
found earlier. The
plots in question are shown below.
0.0 0.2 0.4 0.6 0.8 1.0
0.0
0.1
0.2
0.3
0.4
t s
A
B
r
a
d
s
2
Angular Acceleration of AB
0.0 0.2 0.4 0.6 0.8 1.0
0.360
0.358
0.356
0.354
0.352
0.350
0.348
t s
B
C
r
a
d
s
2
Angular Acceleration of BC
These plots and the operations needed to generated them, can be obtained with appropriate mathematical
software. The plots given below were obtained using Mathematica using the code below.
Parameters ]R 0.6, L 1., H 1.25, dddtdt 0.6, ddt 0.6 t, 0.3 t
2
);
AB
R dddtdt Sin[]
HSin[]

R ddt
2
HSin[]
3
Cos[]Sin[]
2
R
L
Sin[]
2
R
H
Sin[]
2
Cos[] ;
BC
R dddtdt Sin[]
LSin[]

R ddt
2
LSin[]
3
Cos[]Sin[]
2
R
H
Sin[]
2
R
L
Sin[]
2
Cos[] ;
DifEqandICs _'[]
R
L
Sin[[]]
Sin[[][]]
, '[]
R
H
Sin[[]]
Sin[[][]]
, [0] 0, [0]
2
_ /.
{R 0.6, L 1., H 1.25};
Solution NDSolve[DifEqandICs, {, }, {, 0, 0.3}];
Plot]AB /. ([] /. Solution) /. ([] /. Solution) /. Parameters, {t, 0, 1},
Frame True, GridLines Automatic, AspectRatio 1, FrameLabel ]"t (s)", "
AB
(rad/s
2
)"),
PlotLabel "Angular Acceleration of AB"
Plot]BC /. ([] /. Solution) /. ([] /. Solution) /. Parameters, {t, 0, 1},
Frame True, GridLines Automatic, AspectRatio 1, FrameLabel ]"t (s)", "
BC
(rad/s
2
)"),
PlotLabel "Angular Acceleration of BC"
August 10, 2009
Dynamics 1e 887
Determination of and via a purely analytical approach. To determine and ; in terms of 0
analytically, for convenience, we begin by dividing Eqs. (10) and (11) by 1 and then rewriting them as
follows:
sin k sin ; = = sin = k sin ; and k sin ; = sin . (21)
cos k cos ; = T = cos = T k cos ; and k cos ; = T cos . (22)
where the terms k, , and T are
k =
H
1
. =
H
1
1
1
sin 0. and T =
1
1
(1 cos 0) 1. (23)
Squaring the second of Eqs. (21) and (22) and summing, we have
sin
2
cos
2
= (k sin ;)
2
(Tk cos ;)
2
= 1 =
2
T
2
k
2
2k sin ; 2Tk cos ;. (24)
where we have used the identity sin
2
. cos
2
. = 1. The last of Eqs. (24) can then be rewritten as
sin ; T cos ; =

2
T
2
k
2
1
2k
. (25)
We now introduce the following denition:
tan [ =
T
= sin [ =
T
_
2
T
2
and cos [ =

_
2
T
2
. (26)
where we observe that, since and T are known functions of 0, the angle [ is also a known function of 0.
Then, dividing Eqs. (25) through by
_
2
T
2
, and using the last two of Eqs. (26), we have
sin ; cos [ cos ; sin [ =

2
T
2
k
2
1
2k
_
2
T
2
= sin(; [) =

2
T
2
k
2
1
2k
_
2
T
2
. (27)
where we have used the following trigonometric identity: sin(. ,) = sin . cos , cos . sin ,. Finally,
solving Eq. (27) for ; and recalling that transcendental equations admit innite solutions, we have
; =
_
_
sin
1
_
2
CB
2
Ck
2
1
2k
p
2
CB
2
_
2n
1
tan
1
_
B
_
n
2
. or
sin
1
_
2
CB
2
Ck
2
1
2k
p
2
CB
2
_
2n
1
tan
1
_
B
_
n
2
.
(28)
where n
1
= 0. 1. 2. . . ., n
2
= 0. 1. 2. . . . and where it is understood that ranges of the inverse sine and inverse
tangent functions are
t
2
.
t
2
| and (
t
2
.
t
2
), respectively. To select the solution that pertains to our problem,
we observe that for 0 = 0, we must have ; =
t
2
rad. In addition, we observe that, for 0 = 0, we have
sin
1
_
2
T
2
k
2
1
2k
_
2
T
2
_
0D0
= 0.8961 rad and tan
1
_
T
0D0
= 0.6630 rad. (29)
where we have used the denitions in Eq. (23) and the following numerical data: H = 1.25 m, 1 = 1 m,
and 1 = 0.6 m. Therefore, in order for us to obtain ; =
t
2
rad = 1.571 rad using the results in Eqs. (29) we
must choose the solution for ; given by the lower expression in Eq. (28) and with n
1
= n
2
= 0. That is, the
correct expression for ; in our problem is
; = sin
1
_
2
T
2
k
2
1
2k
_
2
T
2
_
tan
1
_
T
_
. (30)
August 10, 2009
Proceeding in a similar manner, we can obtain an expression for the angle . That is, squaring the last of
Eqs. (21) and (22) and summing them we have
k
2
=
2
T
2
1 2sin 2T cos = sin T cos =

2
T
2
1 k
2
2
= sin cos [ cos sin [ =

2
T
2
1 k
2
2
_
2
T
2
= sin( [) =

2
T
2
1 k
2
2
_
2
T
2
. (31)
which can be solved for to obtain
=
_
_
sin
1
_
2
CB
2
C1k
2
2
p
2
CB
2
_
2n
3
tan
1
_
B
_
n
4
.
sin
1
_
2
CB
2
C1k
2
2
p
2
CB
2
_
2n
3
tan
1
_
B
_
n
4
.
(32)
Then, in order for us to obtain = 0 when 0 = 0, we must choose the upper formula in Eq. (32) with
n
3
= n
4
= 0. In summary, recalling the denitions in Eqs. (26), we have
; = sin
1
_
H
2
1(1 1) 1(1 1) cos 0 H1sin 0
H
_
(1 1 1cos 0)
2
(H 1sin 0)
2
_
tan
1
_
1 1 1cos 0
H 1sin 0
_
.
= sin
1
_
1
2
1(1 1) 1(1 1) cos 0 H1sin 0
1
_
(1 1 1cos 0)
2
(H 1sin 0)
2
_
tan
1
_
1 1 1cos 0
H 1sin 0
_
.
Combining the above equations with the expressions for
B
and
BC
found earlier, and recalling that
H = 1.25 m, 1 = 1 m, and 1 = 0.6 m, 0 = (0.3 rad,s
2
)t
2
,

0 = (0.6 rad,s
2
)t , and

0 = 0.6 rad,s
2
, using
mathematical software we obtain precisely the same plots given earlier. However, this time we have used the
Mathematica code given below.
Parameters ]R 0.6, L 1., H 1.25, dddtdt 0.6, ddt 0.6 t, 0.3 t
2
);
AB
R dddtdt Sin[]
HSin[]

R ddt
2
HSin[]
3
Cos[]Sin[]
2
R
L
Sin[]
2
R
H
Sin[]
2
Cos[] ;
BC
R dddtdt Sin[]
LSin[]

R ddt
2
LSin[]
3
Cos[]Sin[]
2
R
H
Sin[]
2
R
L
Sin[]
2
Cos[] ;
ArcSin_
L
2
LR R
2
R (LR)Cos[]HR Sin[]
L (LR R Cos[])
2
(HR Sin[])
2
_ArcTan_
LR R Cos[]
HR Sin[]
_;
ArcSin_
H
2
R (LR)R (LR)Cos[]HR Sin[]
H (LR R Cos[])
2
(HR Sin[])
2
_ArcTan_
LR R Cos[]
HR Sin[]
_;
Plot]AB /. Parameters, {t, 0, 1}, Frame True, GridLines Automatic, AspectRatio 1,
FrameLabel ]"t (s)", "
AB
(rad/s
2
)"), PlotLabel "Angular Acceleration of AB"
Plot]BC /. Parameters, {t, 0, 1}, Frame True, GridLines Automatic, AspectRatio 1,
FrameLabel ]"t (s)", "
BC
(rad/s
2
)"), PlotLabel "Angular Acceleration of BC"
August 10, 2009
Dynamics 1e 889
Problem 6.109
Complete the acceleration analysis of the slider-crank mechanism using differ-
entiation of constraints that was outlined beginning on p. 498. That is, determine
the accleration of the piston C and the angular acceleration of the connecting
rod as a function of the given quantities 0, o
B
, 1, and 1. Assume that o
B
is
constant, and use the component system shown for your answers.
Solution
We have that the vertical distance from to C, ,
C
is
,
C
= 1sin 0 1cos .
We also know that
1sin = 1cos 0. (1)
Hence, from the trigonometry of , ,
C
can be rewritten as
,
C
= 1sin 0 1
_
1
_
1
1
cos 0
_
2
.
Because C is constrained to move vertically, we know that

C
= ,
C
= 1
0 cos 0
_
_
_
1
1sin 0
1
_
1
T
2
cos
2
0
1
2
_
_

and
a
C
=
_
_
_
1
_
_
_
1
2
cos
2
0
0
2
1
2
_
1
T
2
cos 0
2
1
2
1
4
cos
2
0 sin
2
0
0
2
1
4
_
1
T
2
cos
2
0
1
2
_
3{2
_
_
_
_
_
_
1
2
sin 0
2
0
2
1
2
_
1
T
2
cos
2
0
1
2
1
2
cos 0 sin 0
0
1
2
_
1
T
2
cos
2
0
1
2
_
_
_
1
_
sin 0
0
2
cos 0
0
_
_
_
.
Furthermore, taking two time derivatives of Eq. (1), we have
1
cos = 1
0 sin 0 =

=
1
0 sin 0
1cos
(2)
=
1(
0
2
cos 0

0 sin 0)
1cos
2
tan . (3)
August 10, 2009

in Eq. (3), we have
=
1(
0
2
cos 0

0 sin 0)
1cos
_
1
0 sin 0
1cos
_
2
tan
=
11cos (
0
2
cos 0

0 sin 0) 1
2
0
2
sin
2
0 tan
1
2
cos
2
. (4)
Realizing that

0 = o
B
,

0 = 0, and from Eq. (1), = sin
1
_
T
1
cos 0
_
, Eq. (4) becomes
=
11o
2
B
cos
_
sin
1
_
T
1
cos 0
__
cos 0 1
2
o
2
B
sin
2
0 tan
_
sin
1
_
T
1
cos 0
__
1
2
cos
2
_
sin
1
_
T
1
cos 0
__ .
Realizing that
BC
=

, in vector form we have

BC
=
11o
2
B
cos
_
sin
1
_
T
1
cos 0
__
cos 0 1
2
o
2
B
sin
2
0 tan
_
sin
1
_
T
1
cos 0
__
1
2
cos
2
_
sin
1
_
T
1
cos 0
__

k.
August 10, 2009
Dynamics 1e 891
Problem 6.110
Obtain the acceleration of point 1 using the information from the mini-example
on p. 522; that is, obtain Eq. (6.71), using polar coordinates.
Solution
We let ., be a rotating reference frame with origin at O that rotates with the disc. For the acceleration of 1,
we have
a
1
= a
O
a
1rel
2

1rel
r
1{O

(

r
1{O
) (1)
where
a
O
=

0. r
1{O
= s t.
1rel
= s t. a
1rel
= s t.

= o
0

k. and

=
0

k. (2)
Substituting Eqs. (2) into Eq. (1), we have
a
1
= s t 2o
0

k s t
0

k s t o
0

k
_
o
0

k s t
_
= s t 2o
0
s
0
s o
0

k (so
0
)
= s t 2o
0
s
0
s so
2
0
t
a
1
=
_
s so
2
0
_
t (2o
0
s
0
s) .
August 10, 2009
Problem 6.111
The reciprocating rectilinear motion mechanism consists of a disk pinned at
its center at that rotates with a constant angular velocity o
B
, a slotted arm
CD that is pinned at C, and a bar that can oscillate within the guides at 1 and
J. As the disk rotates, the peg at T moves within the slotted arm, causing it to
rock back and forth. As the arm rocks, it provides a slow advance and a quick
return to the reciprocating bar due to the change in distance between C and T.
For the position shown, determine
(a) The angular velocity of the slotted arm CD and the velocity of the bar
(b) The angular acceleration of the slotted arm CD and the acceleration of the
bar
Evaluate your results for o
B
= 120 rpm, 1,h = 0.5, and J = 0.12 m.
Solution
Part (a). Given a xed reference frame XY and a rotating reference frame
., attached to the bar CD with origin at point C, we have the relationships
1 = cos t sin and

J = sin t cos . (1)
From rigid body kinematics, we have

B
=
o
B
r
B{
= o
B

k 1

1
= 1o
B

J
= 1o
B
(sin t cos ). (2)
Relating point T to point C, we must also have

B
=
C

Brel

r
B{C
= r
B{C
o
CT

k r
B{C
= r
B{C
o
CT
t r
B{C
. (3)
where we have used the fact that
C
=

0. Equating Eqs. (2) and (3) component by component, we have
o
CT
= 1o
B
sin
r
B{C
= 1o
B
sin
h
2
1
2
=
1
2
o
B
h
2
1
2
=

2
o
B
1
2
(4)
and
r
B{C
= 1o
B
cos . (5)
where we have let
T
h
= . From the geometry of the problem at this instant, we have that
tan =
1
h
. sin =
1
_
h
2
1
2
. and cos =
h
_
h
2
1
2
. (6)
r
B{C
=
1ho
B
_
h
2
1
2
.
August 10, 2009
Dynamics 1e 893
In vector form, for o
CT
, we have
o
CT
=

2
o
B
1
2
k. (7)
Because there is no slip between arm CD and the bar,
bar
= o
CT
J, and so we have

bar
=

2
o
B
1
2
J

1. (8)
Substituting the given values o
B
= 120 rpm = 12.57 rad,s, = 0.5, and J = 0.12 m into Eqs. (7) and (8),
we have
o
CT
= 2.51

k rad,s and
bar
= 0.302

1 m,s.
Part (b). Obtaining the acceleration of point T by relating it to point , we must have
a
B
= a

B
r
B{
o
2
B
r
B{
= 1o
2
B

1 = 1o
2
B
(cos t sin ). (9)
where we have used the fact that o
B
is constant, so
B
= 0. Relating the acceleration of T to C using the
rotating reference frame, for a
B
we must also have
a
B
= a
C
a
Brel
2 o
CT

Brel

CT
r
B{C
o
2
CT
r
B{C
= r
B{C
2o
CT

k r
B{C

CT

k r
B{C
o
2
CT
r
B{C

= r
B{C
2
2
o
B
1
2
k
1ho
B
_
h
2
1
2

CT

k
_
h
2
1
2

_
2
o
B
1
2
_
2
_
h
2
1
2

=
_
2
_
2
o
B
1
2
__
1ho
B
_
h
2
1
2
_
CT
_
h
2
1
2
_
t
_
r
B{C

_
2
o
B
1
2
_
2
_
h
2
1
2
_
. (10)
where we have substituted in for o
CT
from Eq. (4). Equating Eqs. (9) and (10), solving for
CT
, and
substituting the relationships from Eqs. (6), we have
1o
2
B
cos =
_
2
_
2
o
B
1
2
__
1ho
B
_
h
2
1
2
_
CT
_
h
2
1
2
_
CT
=
1
_
h
2
1
2
_
1o
2
B
cos 2
_
2
o
B
1
2
__
1ho
B
_
h
2
1
2
__
=
1h(h
2
1
2
)o
2
B
(h
2
1
2
)
2
=
T
h
_
1
T
2
h
2
_
o
2
B
_
1
T
2
h
2
_
2
=
CT
=

_
1
2
_
o
2
B
_
1
2
_
2
k. (11)
August 10, 2009
Because there is no slip between arm CD and the bar, a
bar
= J
CT
, and we can write
a
bar
= J
_
1
2
_
o
2
B
_
1
2
_
2
k. (12)
B
we have

CT
= 37.9

k rad,s
2
and a
bar
= 4.55

1 m,s
2
.
August 10, 2009
Dynamics 1e 895
Problem 6.112
B
, a slotted arm
bar
B
= 90 rpm, 1,h = 0.5, and J = 0.12 m.
Solution
Part (a). Given a xed coordinate system XY and a rotating coordinate
system ., attached to the bar CD at point C, we have the relationships
1 = t and

J = . (1)

B
=
o
B
r
B{
= o
B

k 1

J = 1o
B

1 = 1o
B
t (2)

B
=
C

Brel

r
B{C
= r
B{C
o
CT

k r
B{C

= r
B{C
o
CT
t r
B{C
. (3)
C
=

o
CT
=
1o
B
r
B{C
=
1
h 1
o
B
=

1
o
B
and r
B{C
= 0. (4)
where we have left =
T
h
. In vector form, for o
CT
, we have
o
CT
=

1
o
B

k. (5)
Because there is no slip between arm CD and the bar, we have
bar
= o
CT
J, and so

bar
=

1
o
B
J

1. (6)
Substituting the given values o
B
we have
o
CT
= 7.07

k rad,s and
bar
= 0.848

1 m,s.
August 10, 2009
a
B
= a

B
r
B{
o
2
B
r
B{
= 1o
2
B

J = 1o
2
B
. (7)
Relating the acceleration of T to C using rotating reference frames, for a
B
we must also have
a
B
= a
C
a
Brel
2 o
CT

Brel

CT
r
B{C
o
2
CT
r
B{C
= r
B{C
2o
CT

k r
B{C

CT

k r
B{C
o
2
CT
r
B{C

= r
B{C

CT

k (h 1)
_

1
o
B
_
2
(h 1) . (8)
Setting Eqs. (7) and (8) equal, and solving for
CT
, we have
1o
2
B
=
CT
(h 1) t
_
_

1
o
B
_
2
(h 1)
_
=
CT
(h 1) = 0
=
CT
=

0 rad,s
2
.
Because there is no slip between arm CD and the bar, and the bar is conned to move in the horizontal
direction, a
bar
= J
CT

1, so we must have
a
bar
=

0 m,s
2
.
August 10, 2009
Dynamics 1e 897
Problem 6.113
B
, a slotted arm
bar
B
= 60 rpm, 1,h = 0.5, and J = 0.12 m.
Solution
1 = t and

J = . (1)

B
=
o
B
r
B{
= o
B

k (1)

J = 1o
B

1 = 1o
B
t (2)
Relating point T to point , we must also have

B
=
C

Brel

r
B{C
= r
B{C
o
CT

k r
B{C

= r
B{C
o
CT
t r
B{C
. (3)
o
CT
=
1o
B
r
B{C
=
1
h 1
o
B
=

1
o
B
and r
B{C
= 0. (4)
CT
, we have
o
CT
=

1
o
B

k. (5)
From the concept of instantaneous center of rotation,
bar
= o
CT
J. Observing that if o
CT
> 0 then
bar
> 0, we have

bar
=

1
o
B
J

1. (6)
B
= 60 rpm = 6.283 rad,s, = 0.5, and J = 0.12 m into Eqs. (5) and (6), we
have
o
CT
= 6.28

k rad,s and
bar
= 0.754

1 m,s.
August 10, 2009
a
B
= a

B
r
B{
o
2
B
r
B{
= 1o
2
B

J = 1o
2
B
. (7)
Using the idea of moving reference frames, for a
B
we must also have
a
B
= a
C
a
Brel
2 o
CT

Brel

CT
r
B{C
o
2
CT
r
B{C
= r
B{C
2o
CT

k r
B{C

CT

k r
B{C
o
2
CT
r
B{C

= r
B{C

CT

k (h 1)
_

1
o
B
_
2
(h 1) . (8)
CT
, we have
1o
2
B
=
CT
(h 1) t
_
r
B{C

_

1
o
B
_
2
(h 1)
_
=
CT
(h 1) = 0
=
CT
=

0 rad,s
2
.
Because there is no slip between the arm CD and the bar, and the bar is conned the move in the horizontal
direction, a
bar
= J
CT
, so we must have
a
bar
=

0 m,s
2
.
August 10, 2009
Dynamics 1e 899
Problem 6.114
B
, a slotted arm
For the arbitrary position shown, determine
bar
as functions of 0, = 1,h, J, and o
B
Solution
1 = cos t sin and

J = sin t cos . (1)

B
=
o
B
r
B{
= o
B

k 1(cos 0

1 sin 0

J)
= 1o
B
sin 0

1 1o
B
cos 0

J
= 1o
B
sin 0(cos t sin )
1o
B
cos 0(sin t cos )
= (1o
B
sin 0 cos 1o
B
cos 0 sin ) t (1o
B
cos 0 cos 1o
B
sin 0 sin )
(2)

B
=
C

Brel

r
B{C
= r
B{C
o
CT

k r
B{C
= r
B{C
o
CT
t r
B{C
. (3)
Equating Eqs. (2) and (3) component by component, from the t component we have
r
B{C
o
CT
= (1o
B
sin 0 cos 1o
B
cos 0 sin )
o
CT
= 1o
B
sin 0 cos cos 0 sin
r
B{C
= 1o
B
sin 0 cos cos 0 sin
_
h
2
1
2
2h1sin 0
(4)
where we have replaced r
B{C
by its equivalent expression from the Law of Cosines. Also from the geometry
tan =
1cos 0
h 1sin 0
. and we also have the trig identities
August 10, 2009
sin =
tan
_
1 tan
2
and cos =
1
_
1 tan
2
. (5)
o
CT
=
1o
B
(1 h sin 0)
_
h
2
1
2
2h1sin 0
=
o
B
( sin 0)
1
2
2 sin 0
(6)
and
r
B{C
= 1o
B
(sin 0 sin cos 0 cos ). (7)
From the geometry of the problem, we have that Substituting Eqs. (5) into Eq. (7) we have
r
B{C
=
1ho
B
cos 0
_
h
2
1
2
21h sin 0
.
CT
, we have
o
CT
=
o
B
( sin 0)
1
2
2 sin 0
k.
Because the arm CD doesnt slip relative to the bar, we have
bar
= o
CT
J, which gives us

bar
=
o
B
( sin 0)
1
2
2 sin 0
J

1.
a
B
= a

B
r
B{
o
2
B
r
B{
= 1o
2
B
(cos 0

1 sin 0

J)
= 1o
2
B
(cos 0 cos sin 0 sin ) t 1o
B
(cos 0 sin sin 0 cos ) . (8)
B
we must also have
a
B
= a
C
a
Brel
2 o
CT

Brel

CT
r
B{C
o
2
CT
r
B{C
= r
B{C
2o
CT

k r
B{C

CT

k r
B{C
o
2
CT
r
B{C

= r
B{C
2
_
o
B
( sin 0)
1
2
2 sin 0
_

k
1ho
B
cos 0
_
h
2
1
2
21h sin 0

CT

k
_
h
2
1
2

_
o
B
( sin 0)
1
2
2 sin 0
_
2
_
h
2
1
2

=
_
2
_
o
B
( sin 0)
1
2
2 sin 0
_
1ho
B
cos 0
_
h
2
1
2
21h sin 0
_
t
CT
_
h
2
1
2
r
B{C

_
o
B
( sin 0)
1
2
2 sin 0
_
2
_
h
2
1
2
_
. (9)
CT
, and substituting the relationships from Eqs. (5), we have
1o
2
B
(cos 0 cos sin 0 sin ) =
_
2
_
o
B
( sin 0)
1
2
2 sin 0
_
1ho
B
cos 0
_
h
2
1
2
21h sin 0
_
August 10, 2009
Dynamics 1e 901
1o
2
B
(cos 0 sin sin 0 cos ) =
_
CT
_
h
2
1
2
r
B{C

_
o
B
( sin 0)
1
2
2 sin 0
_
2
_
h
2
1
2
_
CT
=
1h(h
2
1
2
)o
2
B
cos 0
(h
2
1
2
21h sin 0
2
=
T
h
_
1
T
2
h
2
_
o
2
B
cos 0
_
1
T
2
h
2
2
T
h
sin 0
_
2
=
CT
=

_
1
2
_
o
2
B
cos 0
_
1
2
2 sin 0
_
2
k.
Because the arm CD doesnt slip relative to the bar, we have a
bar
= J
CT
, and so we have
a
bar
= J
_
1
2
_
o
2
B
cos 0
_
1
2
2 sin 0
_
2
k.
August 10, 2009
Problem 6.115
B
, a slotted arm
Determine the angular velocity and angular acceleration of the slotted arm CD
as functions of 0, = 1,h, J, and o
B
. After doing so, plot the velocity and
acceleration of the bar as a function of the disk angle 0 for one full cycle of the
disks motion and for o
B
= 90 rpm, J = 0.12 m, and
(a) = 1,h = 0.1
(b) = 1,h = 0.3
(c) = 1,h = 0.6
(d) = 1,h = 0.9
Explain why this mechanism is often referred to as a quick return mechanism.
Solution
Given a xed coordinate system XY and a rotating coordinate system .,
attached to the bar CD at point C, we have the relationships
1 = cos t sin .

J = sin t cos . and

k =

1. (1)

B
=
o
B
r
B{
= o
B

k 1(cos 0

1 sin 0

J)
= 1o
B
sin 0

1 1o
B
cos 0

J
= 1o
B
sin 0(cos t sin )
1o
B
cos 0(sin t cos )
= (1o
B
sin 0 cos 1o
B
cos 0 sin ) t
(1o
B
cos 0 cos 1o
B
sin 0 sin ) . (2)

B
=
C

Brel

r
B{C
= r
B{C
o
CT

k r
B{C
= r
B{C
o
CT
t r
B{C
. (3)
C
=

0. Equating the . components of Eqs. (2) and (3), we have
r
B{C
o
CT
= (1o
B
sin 0 cos 1o
B
cos 0 sin )
o
CT
= 1o
B
sin 0 cos cos 0 sin
r
B{C
August 10, 2009
Dynamics 1e 903
= 1o
B
sin 0 cos cos 0 sin
_
h
2
1
2
2h1sin 0
. (4)
where we have replaced r
B{C
by its equivalent expression from the law of cosines. Also from the geometry
tan =
1cos 0
h 1sin 0
. sin =
tan
_
1 tan
2
. and cos =
1
_
1 tan
2
. (5)
o
CT
=
1o
B
(1 h sin 0)
_
h
2
1
2
2h1sin 0
=
o
B
( sin 0)
1
2
2 sin 0
(6)
and
r
B{C
= 1o
B
(sin 0 sin cos 0 cos ). (7)
r
B{C
=
1ho
B
cos 0
_
h
2
1
2
21h sin 0
.
CT
, we have
o
CT
=
o
B
( sin 0)
1
2
2 sin 0
1 .
Because the arm CD does not slip relative to the bar, we have
bar
= o
CT
J, which gives us

bar
=
o
B
( sin 0)
1
2
2 sin 0
J

1 .
Obtaining the acceleration of point T by relating it to point , we must have
a
B
= a

B
r
B{
o
2
B
r
B{
= 1o
2
B
(cos 0

1 sin 0

J)
= 1o
2
B
(cos 0 cos sin 0 sin ) t 1o
2
B
(cos 0 sin sin 0 cos ) . (8)
B
we must also have
a
B
= a
C
a
Brel
2 o
CT

Brel

CT
r
B{C
o
2
CT
r
B{C
= r
B{C
2o
CT

k r
B{C

CT

k r
B{C
o
2
CT
r
B{C

= r
B{C
2
_
o
B
( sin 0)
1
2
2 sin 0
_

k
1ho
B
cos 0
_
h
2
1
2
21h sin 0

CT

k
_
h
2
1
2

_
o
B
( sin 0)
1
2
2 sin 0
_
2
_
h
2
1
2

=
_
2
_
o
B
( sin 0)
1
2
2 sin 0
_
1ho
B
cos 0
_
h
2
1
2
21h sin 0
_
t
CT
_
h
2
1
2
r
B{C

_
o
B
( sin 0)
1
2
2 sin 0
_
2
_
h
2
1
2
_
. (9)
August 10, 2009
CT
, and substituting the relationships from Eqs. (5), we have
1o
2
B
(cos 0 cos sin 0 sin ) =
_
2
_
o
B
( sin 0)
1
2
2 sin 0
_
1ho
B
cos 0
_
h
2
1
2
21h sin 0
_
1o
2
B
(cos 0 sin sin 0 cos ) =
_
CT
_
h
2
1
2
r
B{C

_
o
B
( sin 0)
1
2
2 sin 0
_
2
_
h
2
1
2
_
CT
=
1h(h
2
1
2
)o
2
B
cos 0
(h
2
1
2
21h sin 0
2
=
T
h
_
1
T
2
h
2
_
o
2
B
cos 0
_
1
T
2
h
2
2
T
h
sin 0
_
2
=
CT
=

_
1
2
_
o
2
B
cos 0
_
1
2
2 sin 0
_
2
1.
Because the arm CD does not slip relative to the bar, we have a
bar
= J
CT
, and so we have
a
bar
= J
_
1
2
_
o
2
B
cos 0
_
1
2
2 sin 0
_
2
1 .
The expressions for
bar
and a
bar
just derived is a function of 0 when o
B
, J, and are specied. For each
of the several values of , the function can be plotted with software such as Mathematica or MATLAB. Using
Mathematica, the following code was used, with the value for changed for each part:
Parameters { 0.1, d 0.12,
AB
9.425};
v
bar

AB
( Sin[])
1
2
2Sin[]
/. Parameters;
a
bar
d
[1
2
|
AB
2
Cos[]
[1
2
2Sin[]|
2
/. Parameters;
Plot[v
bar
, {, 0, 2}, PlotLabel "v
bar
", Frame True,
FrameLabel {"(rad)", "v
bar
(m/s)"}, ImageSize Medium]
Plot]a
bar
, {, 0, 2}, PlotLabel "a
bar
", Frame True,
FrameLabel ]"(rad)", "a
bar
(m/s
2
)"), ImageSize Medium
August 10, 2009
Dynamics 1e 905
Part (a). We let = 0.1. Using the above code we obtain the following plots:
0 1 2 3 4 5 6
1.0
0.5
0.0
0.5
rad
v
b
a
r
v
bar
0 1 2 3 4 5 6
1.0
0.5
0.0
0.5
1.0
rad
a
b
a
r
s
2
a
bar
Part (b). We let = 0.3. Using the above code we obtain the following plots:
0 1 2 3 4 5 6
4
3
2
1
0
1
2
rad
v
b
a
r
v
bar
0 1 2 3 4 5 6
4
2
0
2
4
rad
a
b
a
r
s
2
a
bar
Part (c). We let = 0.6. Using the above code we obtain the following plots:
0 1 2 3 4 5 6
10
5
0
rad
v
b
a
r
v
bar
0 1 2 3 4 5 6
20
10
0
10
20
rad
a
b
a
r
s
2
a
bar
Part (d). We let = 0.9. Using the above code we obtain the following plots:
August 10, 2009
0 1 2 3 4 5 6
3
2
1
0
1
2
3
4
rad
v
b
a
r
v
bar
0 1 2 3 4 5 6
6
4
2
0
2
4
6
rad
a
b
a
r
s
2
a
bar
August 10, 2009
Dynamics 1e 907
Problem 6.116
The reciprocating rectilinear motion mechanism of Probs. 6.1116.115 is often
referred to as a quick return mechanism since it can move much more quickly
in one direction than the other. To see this, we will determine the velocity of
the bar in each of the two positions shown (position 1 when T is farthest from
C and position 2 when T is closest to C) under the assumption that the disk,
whose center is at , rotates with a constant angular velocity o
B
= 120 rpm.
Find the velocity of the bar in positions 1 and 2 for J = 0.12 m and for
(a) 1,h = 0.3
(b) 1,h = 0.8
Comment on which of the two 1,h values would provide a better quick return
and why.
Solution
Position 1 Given a xed coordinate system
XY and a rotating coordinate system ., at-
tached to the bar CD at point C, we have the
relationships
1 = t.

J = . and

1 =

k.

B
=
o
B
r
B{
= o
B

k 1

J
= 1o
B

1
= 1o
B
t (1)

B
=
C

Brel

r
B{C
= r
B{C
o
CT

k r
B{C
= r
B{C
o
CT
t r
B{C
. (2)
C
=

o
CT
=
1o
B
r
B{C
=
1
h 1
o
B
=

1
o
B
and r
B{C
= 0. (3)
where we have let =
T
h
. In vector form, for o
CT
, we have
o
CT
=

1
o
B

k.
Because there is no slip between arm CD and the bar, we have
bar
= o
CT
J, and so

bar
=

1
o
B
J

1 .
August 10, 2009
Position 2 Given a xed coordinate system XY and a rotating coordinate system ., attached to the bar
CD at point C, we have the relationships
1 = t.

J = and

1 =

k.

B
=
o
B
r
B{
= o
B

k (1)

J = 1o
B

1 = 1o
B
t (4)
Relating point T to point , we must also have

B
=
C

Brel

r
B{C
= r
B{C
o
CT

k r
B{C
= r
B{C
o
CT
t r
B{C
. (5)
o
CT
=
1o
B
r
B{C
=
1
h 1
o
B
=

1
o
B
and r
B{C
= 0.
CT
, we have
o
CT
=

1
o
B

k.
From the concept of instantaneous center of rotation,
bar
= o
CT
J. Observing that if o
CT
> 0 then
bar
> 0, we have

bar
=

1
o
B
J

1 .
Part (a) For
T
h
= 0.3 and o
B
bar
= 2.90 m,s at position 1 and
bar
= 5.39 m,s at position 2.
Part (b) For
T
h
= 0.8 and o
B
bar
= 5.59 m,s at position 1 and
bar
= 50.3 m,s at position 2.
The bar is moving through the return phase when it is in position 2. Therefore, the
T
h
value from Part (b)
would provide a better quick return because it is moving back into position faster than the
T
h
value from Part
(a).
August 10, 2009
Dynamics 1e 909
Problem 6.117
The Pioneer 3 spacecraft was a spin-stabilized spacecraft launched on December
6, 1958, by the U.S. Army Ballistic Missile agency in conjunction with NASA.
It was designed with a despin mechanism consisting of two equal masses
and T that could be spooled out to the end of two wires of variable length
(t ) when triggered by a hydraulic timer. As a prelude to Probs. 7.64, 7.65,
and 8.77, we will nd the velocity and acceleration of each the two masses.
To do this, assume that masses and T are initially at positions
0
and T
0
,
respectively. After the masses are released, they begin to unwind symmetrically,
and the length of the cord attaching each mass to the spacecraft of radius 1 is
(t ). Given that the angular velocity of the spacecraft at each instant is o
x
(t ),
determine
(a) The velocity of mass
(b) The acceleration of mass
in components expressed in the rotating reference frame whose origin is at Q,
as well as 1, (t ), and o
x
(t ). Note that the rotating frame is always aligned
with the unwinding cord, and Q is the point on the cord that is about to unwind
at time t .
Solution
We let 0 be the unwind angle of the rope relative to the satellite. As stated, we will use a rotating reference
frame attached at Q, as indicated on the diagram. For the velocity of , we have

=
Q

j
rel
o
OQ
j
{Q
(1)
where

Q
= (o
S

0)1 t.

j
rel
=
t. o
OQ
= (o
S

0)

k. j
{Q
= t. and 0 =

1
=

0 =
1
. (2)
Substituting Eqs (2) into Eq. (1), we have

= 1
_
o
S

1
_
t

t
_
o
S

1
_

k () t
=
= 1o
S
(t ) t (t )
_
o
S
(t )
(t )
1
_
. (3)
For the acceleration we have
a
= a
Q

j
rel
2 o
OQ

j
rel

OQ
j
{Q
o
2
OQ
j
{Q
. (4)
where
a
Q
= 1(o
S

0)
2
1( o
S

0) t.

j
rel
=
t.
OQ
= ( o
S

0). and

0 =
k (5)
August 10, 2009
a
= 1(o
S

0)
2
1( o
S

0) t

t 2(o
S

0)

k (
t) ( o
S

0)

k ( t)
(o
S

0)
2
( t)
a
=
_
(t )
1
2
(
(t ) 1o
S
(t ))
2
1 o
S
(t )
_
t
_
(t )
1
(t )
(t )
2
1
1o
S
(t )
2
o
S
(t )
_
.
August 10, 2009
Dynamics 1e 911
Problem 6.118
Let frames and T be the frames with origins at points and T, respectively. Point T does not move
relative to point . The velocity and acceleration of point 1 relative to frame T are

1rel
= (6.14 t
B
23.7
B
) ft,s and a
1rel
= (3.97 t
B
4.79
B
) ft,s
2
.
Knowing that, at the instant shown, frame T rotates relative to frame at a constant angular velocity
o
B
= 1.2 rad,s, that the position of point 1 relative to frame T is r
1{B
= (8 t
B
4.5
B
) ft, and that
frame is xed, determine the velocity and acceleration of 1 at the instant shown and express the results
using the frame component system.
Solution
From the kinematic equations for the velocity of a point relative to a rotating reference frame we have

1
=
B

1rel

r
1{B
=

1
rel
o
B

k r
1{B
. (1)
We have known values

1
rel
= (6.14 t
B
23.7
B
) ft,s, o
B
= 1.2

k
B
rad,s, and r
1{B
= (8 t
B
4.5
B
) ft,
but they must be transformed from the T component system to the component system where t
B
=
cos 23
sin 23
and
B
= sin 23
cos 23
. Therefore, in the component system, our

known values are
1
rel
= (14.91 t
19.42
). r
1{B
= (5.606 t
7.268
) ft. and o
B
= 1.2

k
rad,s.
Substituting these known values into Eq. (1) we have

1
= (23.6 t
26.1
) ft,s.
Similarly, for the acceleration of point 1 we have
a
1
= a
B
a
1rel
2

1rel
r
1{B

(

r
1{B
)
=

1
rel
2o
B

k

1
rel
o
B

k r
1{B
o
B

k (o
B

k r
B{1
). (2)
We must also transform

1
rel
into the component system. Doing so we have
1
rel
= (2.103 t
6.447
) ft,s
2
. (3)
August 10, 2009
Substituting this value, as well as the known values

1
rel
= (14.91 t
19.42
). r
1{B
= (5.606 t
7.268
) ft. and o
B
= 1.2

k
rad,s into Eq. (2), we have

a
1
= (52.9 t
40.3
) ft,s
2
.
August 10, 2009
Dynamics 1e 913
Problem 6.119
Repeat Prob. 6.118, but express the results using the component system of frame T.
Solution
From the kinematic equations for the velocity of a point relative to a rotating reference frame we have

1
=
B

1rel

r
1{B
=

1
rel
o
B

k r
1{B
. (1)

1
rel
= (6.14 t
B
23.7
B
) ft,s, o
B
= 1.2

k rad,s, and r
1{B
= (8 t
B
4.5
B
) ft

1
= (11.5 t
B
33.3
B
) ft,s.
Similarly, for the acceleration of point 1 we have
a
1
= a
B
a
1rel
2

1rel
r
1{B

(

r
1{B
)
=

1
rel
2o
B

k

1
rel
o
B

k r
1{B
o
B

k (o
B

k r
B{1
) (2)
Substituting the known values

1
rel
= (6.14 t
B
23.7
B
) ft,s,

1
rel
= (3.97 t
B
4.79
B
) ft,s
2
, o
B
=
1.2

k rad,s, and r
1{B
= (8 t
B
4.5
B
) ft into Eq. (2), we have
a
1
= (64.4 t
B
16.4
B
) ft,s
2
.
August 10, 2009
Problem 6.120
A vertical shaft has a base T that is stationary relative to an inertial reference frame with vertical axis
7. Arm O is attached to the vertical shaft and rotates about the 7 axis with an angular velocity
o
O
= 5 rad,s and an angular acceleration
O
= 1.5 rad,s
2
. The z axis is coincident with the 7 axis
but is part of a reference frame that rotates with the arm O. The . axis of the rotating reference frame
coincides with the axis of the arm O. At the instant shown, the , axis is perpendicular to the page and
directed into the page. At this instant, the collar C is sliding along O with a constant speed
C
= 5 ft,s
and is at a distance J = 1.2 ft from the z axis. Compute the inertial acceleration of the collar, and express
it relative to the rotating coordinate system.
Solution
Using the idea of rotating reference frames, we have

C
=
O
r
C{O

r
C{O
=
C
to
O

kJ t =
C
tJo
O
.
O
= 0. For the acceleration, we then have
a
C
= a
O
a
C{O
2

OC

C{O

OC
r
C{O

OC
(

OC
r
C{O
)
= 2o
O

k
C
t
O

k J t o
O

k (o
O

k J t)
= 2o
O
C
J
O
o
O

k Jo
O

= Jo
2
O
t (2o
O
C
J
O
) . (1)
where we have used the fact that a
O
= 0,
C
= constant,

OC
= o
O

k, and

OC
=
O

k. Substituting
the given values J = 1.2 ft,
C
= 5 ft,s, o
O
= 5 rad,s, and
O
= 1.5 rad,s
2
into Eq. (1), and rounding
to three signicant gures, we have
a
C
= (30.0 t 51.8 ) ft,s
2
.
August 10, 2009
Dynamics 1e 915
Problem 6.121
A vertical shaft has a base T that is stationary relative to an inertial reference frame with vertical axis
7. Arm O is attached to the vertical shaft and rotates about the 7 axis with an angular velocity
o
O
O
= 1.5 rad,s
2
. The z axis is coincident with the 7
axis but is part of a reference frame that rotates with the arm O. The . axis of the rotating reference
frame coincides with the axis of the arm O. At the instant shown, the , axis is perpendicular to the
page and directed into the page. At this instant, the collar C is sliding along O with a constant speed
C
= 3.32 m,s and is rotating with a constant angular velocity o
C
= 2.3 rad,s relative to the arm O.
At the instant shown, point D happens to be in the .z plane and is at a distance = 0.05 m from the
. axis and at a distance J = 0.75 m from the z axis. Compute the inertial acceleration of point D, and
express it relative to the rotating reference frame.
Solution
Using the idea of rotating reference frames, we have

T
=
O

r
T{O

r
T{O
= (
C
t o
C
) (o
C
t o
O

k) J t
=
C
t (Jo
O
o
C
) .
O
= 0 and D is making a circular motion about the bar O, and moving
out of the page at the instant shown. For the acceleration, we then have
a
T
= a
O
a
T{O
2

T{O

r
T{O

_

r
T{O
_
= 2
_
o
C
t o
O

k
_
(
C
t o
C
)
O

k
_
J t

k
_
_
o
C
t o
O

k
_
__
o
C
t o
O

k
_
J t
_
= 2o
2
C
k 2o
O
(
C
o
C
t) J
O

_
o
C
t o
O

k
_
(Jo
O
)
=
_
2o
C
o
O
Jo
2
O
_
t (J
O
2
C
o
O
)
_
o
2
C
_

k (1)
O
= 0,
C
= constant, o
C
= constant, D is making a circular
motion about the bar O, and moving out of the page at the instant shown,

=
_
o
C
t o
O

k
_
, and
OC
=
O

k. Substituting the given values J = 0.75 m, = 0.05 m,
C
= 3.32 m,s, o
C
= 2.3 rad,s,
August 10, 2009
o
O
= 5 rad,s, and
O
= 1.5 rad,s
2
into Eq. (1), and rounding to three signicant gures, we have
a
C
=
_
17.6 t 34.3 0.264

k
_
m,s
2
.
August 10, 2009
Dynamics 1e 917
Problem 6.122
The wheel D rotates with a constant angular velocity o
T
= 14 rad,s about the xed point O, which is
assumed to be stationary relative to an inertial frame of reference. The ., frame rotates with the wheel.
Collar C slides along the bar T with a constant velocity
C
= 4 ft,s relative to the ., frame. Letting
= 0.25 ft, determine the inertial velocity and acceleration of C when 0 = 25
. Express the result with

respect to the ., frame.
Solution
From the geometry of the problem, we have r
C{O
= ( cot 0 t ). From the concept of rotating
reference frames, we have

C
=
O

C{O

r
C{O
=
C
t o
T

k ( cot 0 t ) = (
C
o
T
) t o
T
cot 0 . (1)
O
= 0 and

= o
T

k. Substituting known values = 0.25 ft,
o
T
= 14 rad,s,
C
= 4 ft,s, 0 = 25
into Eq. (1), and rounding to three signicant gures we have

C
= (7.50 t 7.51 ) ft,s.
For the acceleration, we then have
a
C
= a
O
a
C{O
2

C{O

r
C{O

_

r
C{O
_
= 2o
T

k
C
t o
T

k
_
o
T

k ( cot 0 t )
_
=
_
o
2
T
cot 0
_
t
_
2
C
o
T
o
2
T
_
. (2)
O
= 0,

= o
T

k,

=

0. Substituting the known values = 0.25 ft,
o
T
= 14 rad,s,
C
= 4 ft,s, 0 = 25

a
C
= (105 t 161 ) ft,s
2
.
August 10, 2009
Problem 6.123
The wheel D rotates without slipping over a at surface. The XY frame shown is inertial, whereas the .,
frame is attached to D at O and rotates with it at a constant angular velocity o
T
= 14 rad,s. Collar C
slides along the bar T with a constant velocity
C
= 4 ft,s relative to the ., frame. Letting = 0.25 ft
and 1 = 1 ft, determine the inertial velcity and acceleration of C when 0 = 25
and the ., frame is

parallel to the XY frame as shown. Express your result in both the ., and XY frames.
Solution
C{O

C
=
O

C{O

r
C{O
= (1o
T

C
) t o
T

k ( cot 0 t )
= (1o
T

C
o
T
) t o
T
cot 0 . (1)
O
= 1o
T
t and

= o
T

k. Substituting known values 1 = 1 ft,
= 0.25 ft, o
T
= 14 rad,s,
C
= 4 ft,s, 0 = 25
into Eq. (1), and rounding to three signicant gures we

have

C
= (21.5 t 7.51 ) ft,s.
a
C
= a
O
a
C{O
2

C{O

r
C{O

_

r
C{O
_
= 2o
T

k
C
t o
T

k
_
o
T

k ( cot 0 t )
_
=
_
o
2
T
cot 0
_
t
_
2
C
o
T
o
2
T
_
. (2)
O
= 0,

= o
T

k,

=

0. Substituting the known values = 0.25 ft,
o
T
= 14 rad,s,
C
= 4 ft,s, 0 = 25

a
C
= (105 t 161 ) ft,s
2
.
August 10, 2009
Dynamics 1e 919
Problem 6.124
The wheel D rotates without slipping over a at surface. The XY frame shown is inertial whereas the .,
frame is attached to D and rotates with it at a constant angular velocity o
T
. Collar C slides along the bar
T with a velocity
C
relative to the ., frame. Suppose that , 0, and 1 are given and that we want to
determine the inertial acceleration of C when the ., frame is parallel to the XY frame as shown. Would
the expression of the inertial acceleration of the collar in the two frames be different or the same?
Solution
At the instant shown, the two reference frames are coincidental, i.e. t =

1 and =

J. Therefore, a vector
will have exactly the same representation with respect to the two frames.
August 10, 2009
Problem 6.125
At the instant shown, the wheel D rotates without slipping over a at surface with an angular velocity
o
T
T
= 1.1 rad,s
2
. The XY frame shown is inertial whereas
the ., frame is attached to D. At the instant shown, the collar C is sliding along the bar T with a
velocity
C
= 4 ft,s and acceleration a
C
= 7 ft,s
2
, both relative to the ., frame. Letting = 0.25 ft and
1 = 1 ft, determine the inertial velocity and acceleration of C when 0 = 25
and the ., frame is parallel

to the XY frame as shown. Express your result in both the ., and the XY frames.
Solution
C{O

C
=
O

C{O

r
C{O
= (1o
T

C
) t o
T

k ( cot 0 t )
= (1o
T

C
o
T
) t o
T
cot 0 . (1)
O
= 1o
T
t and

= o
T

= 0.25 ft, o
T
= 14 rad,s,
C
= 4 ft,s, 0 = 25

have

C
= (21.5 t 7.51 ) ft,s.
a
C
= a
O
a
C{O
2

C{O

r
C{O

_

r
C{O
_
= 3o
T

k
C
t
T

k ( cot 0 t ) o
T

k
_
o
T

k ( cot 0 t )
_
=
_
a
C

T
1
T
o
2
T
cot 0
_
t
_
2
C
o
T
o
2
T

T
cot 0
_
. (2)
O
= 0,

= o
T

k,

= 1
T
t. Substituting the known values 1 = 1 ft,
= 0.25 ft, o
T
= 14 rad,s,
T
= 1.1 rad,s
2
,
C
= 4 ft,s, 0 = 25
into Eq. (2), and rounding to three

signicant gures we have
a
C
= (113 t 160 ) ft,s
2
.
August 10, 2009
Dynamics 1e 921
Problem 6.126
A oodgate is controlled by the motion of the hydraulic cylinder T. If the gate TC is to be lifted with a
constant angular velocity o
BC
= 0.5 rad,s, determine

J
B
and

J
B
, where J
B
is the distance between
points and T when = 0. Let = 10 ft, h = 2.5 ft, and J = 5 ft.
Solution
We dene a xed reference frame XY such that X is horizontal and
pointing to the right, and Y is vertical and pointing up, and a rotating
reference frame ., attached at that rotates with the bar. We are
asked to nd

J
B
and

J
B
, which correspond to the t component of
r
B{
and r
B{
, respectively. If we write the velocity of T using the
rotating reference frame, we have

B
=

B{

r
B{
=

J
B{
t o
B

k
_
( J)
2
h
2
t
=

J
B{
t o
B
_
( J)
2
h
2
. (1)
where we used the fact that
= 0 and r
B{
=
_
( J)
2
h
2
. We must also have

B
=
C

B{C

r
B{C
= o
BC

k (J)

1 = Jo
BC

J = Jo
BC
sin 0 t Jo
BC
cos 0 .
(2)
where we used the fact that
C
= 0, r
B{
=
_
( J)
2
h
2
, and

J = sin 0 t cos 0 . Setting Eqs. (1)
and (2) equal component by component, we have
J
{B
= Jo
BC
sin 0. (3)
o
B
_
( J)
2
h
2
= Jo
BC
cos 0 = o
B
=
Jo
BC
cos 0
_
( J)
2
h
2
. (4)
Substituting the known values J = 5 ft, o
BC
= 0.5 rad,s, and 0 = tan
1
_
h
Id
_
= 26.57
into Eq. (3), we

have
J
B
= 1.12 ft,s.
Similarly for the acceleration we have
a
B
= a
a
B{
2

B{
r
B{

(

r
B{
)
August 10, 2009
=

J
B{
2o
B

k

J
B{
t
B

k J
B{
o
B

k (o
B

k J
B{
t)
=
_
J
B
o
2
B
_
( J)
2
h
2
_
t
_
B
_
( J)
2
h
2
2Jo
BC
o
B
sin 0
_
(5)
= 0, = o
B
,

=
B

k, and J
B
= o
B
. We must also have
a
B
= a
C
a
B{C
2

B{C

r
B{C

(

r
B{C
)
= o
BC

k
_
o
BC
(r
B{C
)
1
_
= o
2
BC
r
B{C

1
= Jo
2
BC
(sin 0 t cos 0 )
= Jo
2
BC
sin 0 t Jo
2
BC
cos 0 . (6)
where we have used = o
BC
and

1 = cos 0 t sin 0 . Setting the , components of Eqs. (5) and (6) equal
to each other, we have
J
B
= Jo
2
BC
sin 0 o
2
B
_
( J)
2
h
2
(7)
Substituting the expression for o
B
J
B
= Jo
2
BC
sin 0
_
Jo
BC
cos 0
_
( J)
2
h
2
_
2
_
( J)
2
h
2
= Jo
2
BC
sin 0
(Jo
BC
cos 0)
2
_
( J)
2
h
2
(8)
Substituting the known values h = 2.5 ft, J = 5 ft, = 10 ft, o
BC
= 0.5 rad,s, and 0 = tan
1
_
h
Id
_
=
26.57
into Eq. (8) and rounding to three signicant gures, we have
J
B
= 2.01 ft,s
2
.
August 10, 2009
Dynamics 1e 923
Problem 6.127
The manually operated road barrier shown has a total length l = 15.7 ft and has a counterweight C whose
position is identied by the distances J = 2.58 ft and = 1.4 ft. The barrier is pinned at O and can move
in the vertical plane. Suppose that the barrier is raised and then released so that the end T of the barrier
hits the support with a speed
B
= 1.5 ft,s. Determine the speed of the counterweight C when T hits .
Solution
The barrier rotates about the xed point O. Since both points T and C are on the barrier, ie.e, belong to the
same rigid body, we must have
o
barrier
=

B
J
and o
barrier
=

C
=
C
=
B
J
. (1)
Substituting given values = 1.4 ft, = 15.7 ft, J = 2.58 ft, and
B
= 1.5 ft,s into the last of Eqs. (1), we
have
C
= 0.160 ft,s.
August 10, 2009
Problem 6.128
A slender bar T of length 1 = 1.45 ft is mounted on two identical disks D and 1 pinned at and T,
respectively, and of radius r = 1.5 in. The bar is allowed to move within a cylindrical bowl with center at
O and diameter J = 2 ft. At the instant shown, the center G of the bar is moving with a speed = 7 ft,s.
Determine the angular velocity of the bar at the instant shown.
Solution
By construction, the bar rotates about the xed point O. Therefore, its
angular speed is given by [ o
bar
[ =

h
, where h is the vertical distance
between G and O. From the geometry of the problem we have that
h =
_
_
J
2
r
_
2
1
2
4
.
Given the direction of , G is moving clockwise about O, so we must
have
o
bar
=

_
_
d
2
r
_
2
1
2
4
k
Substituting in the known values = 7 ft,s, J = 2 ft, r = 1.9 in. = 0.1583 ft, and 1 = 1.45 ft, we have
o
bar
= 14.3

k rad,s .
August 10, 2009
Dynamics 1e 925
Problem 6.129
Assuming that the rope does not slip relative to any of the pulleys in the system,
determine the velocity and acceleration of and D, knowing that the angular velocity
and acceleration of pulley T are o
B
= 7 rad,s and
B
= 3 rad,s
2
, respectively. The
diameters of pulleys T and C are J = 25 cm and = 34 cm, respectively.
Solution
We let Q be the point of contact between pulley T and the cord to the right of
pulley T. This cord is not moving because it is xed to the wall, so from the no slip
condition at Q, we must have
= o
B
J
2
and a
=
B
J
2
.
Substituting given values J = 25 cm = 0.25 m, o
B
= 7 rad,s, and
B
= 3 rad,s
2
,
we have
= 0.8750 m,s and a
= 0.3750 m,s
2
. (1)
Using the directions shown in the problem statement, in vector form and with three
signicant gures, we have

= 0.875 m,s and a
= 0.375 m,s
2
.
By pulley kinematics, we have
,
T
2,
B
= constant = ,
T
= 2 ,
B
and ,
T
= 2 ,
B
= ,
T
= 2
and ,
T
= 2a
B
. (2)
where we have used that fact that and T must have the same velocity and acceleration. Substituting the
values from Eqs. (1) into Eqs. (2), for D we have

T
= 1.75 m,s and a
T
= 0.750 m,s
2
.
August 10, 2009
Problem 6.130
At the instant shown, the hammer head H is moving to the right with a speed
1
= 45 ft,s and the angle
0 = 20
. Assuming that the belt does not slip relative to wheels and T and assuming that wheel
is mounted on the shaft of the motor shown, determine the angular velocity of the motor at the instant
shown. The diameter of wheel is J = 0.25 ft, the radius of wheel T is 1 = 0.75 ft, and point C is at a
distance = 0.72 ft from O, which is the center of the wheel . Finally, let CD have a length 1 = 2 ft,
and assume that, at the instant shown, = 25
.
Solution
From the geometry of the problem, we have the geometrical
constraints
.
T
= cos 0 1cos and 1sin = sin 0 h. (1)
where h is the vertical distance between O and D. Taking the
rst time derivative of Eqs. (1), we have
.
T
=
1x
=
_
0 sin 0 1
sin
_
(2)
and
1cos =

0 cos 0 =

=

0
cos 0
1cos
. (3)
Substituting the expresion for

1x
=

0
cos
(sin 0 cos sin cos 0) =

0
cos
sin (0 ) =

0 =

1x
cos
sin (0 )
Since the belt does not slip, and because o
is indicated as being clockwise, we have

Jo
= 21o
B
= o
=
21
J
1x
cos
sin (0 )
k. (4)
where we have used the fact that o
B
=

0. Subsituting given values 1 = 0.75 ft, J = 0.25 ft, = 0.72 ft,
1x
= 45 ft,s, = 25
, and 0 = 20

o
= 481

k rad,s.
August 10, 2009
Dynamics 1e 927
An overhead fold-up door with height H = 30 ft consists of two identical
sections hinged at C. The roller at moves along a horizontal guide, whereas
the rollers at T and D, which are the midpoints of sections C and C1, move
along a vertical guide. The doors operation is assisted by a counterweight 1.
Express your answers using the component system shown.
Problem 6.131 If at the instant shown, the angle 0 = 55
and 1 is moving
upward with a speed
1
= 15 ft,s, determine the velocity of point 1 as well as
the angular velocities of sections C and C1.
Problem 6.132 If at the instant shown, 0 = 45
, and is moving to the right

with a speed
= 2 ft,s while decelerating at a rate of 1.5 ft,s

2
, determine the
acceleration of point 1.
Solution to 6.131
From the geometry of the problem, we have the constraints
.
=
H
4
cos 0. .
T
= .
. and ,
T
= H sin 0. (1)
Taking a time derivative of .
from the rst of Eq. (1) and observing that .
=
1
, we have
=
H
4
0 sin 0 =
1
=

0 =
4
1
H sin 0
. (2)
Observing that o
C
=

0, and o
C
= o
CT
by symmetry, substituting given values
1
= 15 ft,s,
H = 30 ft, and 0 = 55
gives us
0 = 2.442 rad,s = o
C
= 2.44

k rad,s and o
CT
= 2.44

k rad,s.
For the position of 1, we have
r
T
=
H
4
cos 0 t H
_
1 cos
2
0 (3)
Taking a time derivative of Eq. (3), we have

T
=
H
4
0 sin 0 t H

0 cos 0 =
1
t
4
1
tan 0
.
1
= 15 ft,s and 0 = 55
, we have

T
= (15.0 t 42.0 ) ft,s.
August 10, 2009
Solution to 6.132
From the geometry of the problem, we have the constraints
.
T
= .
=
H
4
cos 0 = 5.303 ft and ,
T
= ,
T
= H sin 0.
For the position of 1, we have
r
T
=
H
4
cos 0 t H
_
1 cos
2
0 (4)
Taking two time derivatives of Eq. (4), we have

T
=
T
=
H
4
0 sin 0 t H

0 cos 0 =
1
t
4
1
tan 0
.
and
a
T
= a
t H
_
_
_
_
_
256.
2
H
4
_
1
16x
2
A
1
2
_
3{2

16
2
H
2
_
1
16x
2
A
1
2
16.
H
2
_
1
16x
2
A
1
2
_
_
_
_
_
.
Substituting known values .
= 5.303 ft,
= 2 ft,s, a
= 1.5 ft,s
2
, and 0 = 45
, we have
a
T
= (1.50 t 0.320 ) ft,s
2
.
August 10, 2009
Dynamics 1e 929
Problem 6.133
At the instant shown, bar T rotates with a constant angular velocity o
B
= 24 rad,s. Letting 1 = 0.75 m
and H = 0.85 m, determine the angular acceleration of bar TC when bars T and CD are as shown, i.e.,
parallel and horizontal.
Solution
From the concept of instantaneous center of rotation, we know that the center of rotation of bar TC is at
innity, so
o
BC
= 0.
Therefore, the velocity of T is the same as that of C, so we have
o
CT
= o
B
= o
CT
= 24

k rad,s.
From rigid body kinematics, we know that
a
B
= a

B
r
B{
o
2
B
r
B{
= 1o
2
B
t 1
B

= 0. We must also have

a
C
= a
B

BC
r
C{B
o
2
BC
r
C{B
= 1o
2
B
t 1
B

BC

k (21 t H ) o
2
BC
(21 t H )
= (1o
2
B
H
BC
) t (21
BC
1
B
) . (1)
We must also have
a
C
= a
T

CT
r
C{T
o
2
CT
r
C{T
= 1o
2
B
t 1
CT
. (2)
Eqsuations (1) and (2) are both expressions for a
C
, and equating them component by component yields
1o
2
B
H
BC
= 1o
2
B
=
BC
=
21o
2
B
H
(3)
21
BC
1
B
= 1
CT
=
CT
=
B

41o
2
B
H
.
Substituting known values 1 = 0.75 m, o
B
= 24 rad,s, and H = 0.85 m, in vector form to three signicant
gures, we have

BC
= 1020

k rad,s
2
.
August 10, 2009
Problem 6.134
The bucket of a backhoe is the element T of the four-bar linkage system TCD. The buckets motion
is controlled by extending or retracting the hydraulic arm 1C. Assume that the points , D, and 1 are
xed and that the bucket is made to rotate with a constant angular velocity o
B
= 0.25 rad,s. In addition,
suppose that, at the instant shown, point T is vertically aligned with point and point C is horizontally
aligned with T. Letting J
TC
denote the distance between points 1 and C, determine

J
TC
and

J
TC
at
the instant shown. Let h = 0.66 ft, e = 0.46 ft, l = 0.9 ft, n = 1.0 ft, J = 4.6 ft, and q = 3.2 ft.
Solution
Because point is stationary, it is the center of rotation of bar T, and therefore we have

B
= o
B
t.
Then, for point C, we must have

C
=
B
o
BC
r
C{B
= o
B
t o
BC

k (n) t = o
B
t no
BC
. (1)
and also

C
=
T
o
CT
r
C{T
= o
CT

k (h n) t ( e) | = ( e)o
CT
t (h n)o
CT
. (2)
Equations (1) and (2) are two equations in o
BC
and o
CT
, and when solved give
o
BC
=
(n h)o
B
n(e )
and o
CT
=
o
B
e
. (3)
Substituting o
BC

C
= o
B
t
(n h)o
B
(e )
= (0.2250 t 0.05625 ) ft,s. (4)
where we have used the given values = 0.9 ft, n = 1.0 ft, e = 0.46 ft, h = 0.66 ft, and o
B
= 0.25 rad,s.
Similarly for the accelerations, we have
a
B
= a

B
r
B{
o
2
B
r
B{
= o
2
B
. (5)
=
B
= 0. Relating point C to point T gives us
a
C
= a
B

BC
r
C{B
o
2
BC
r
C{B
= o
2
B

BC

k(n) t o
2
BC
(n) t
August 10, 2009
Dynamics 1e 931
= n
_
(n h)o
B
n(e )
_
2
t (o
2
B
n
BC
)
=

2
(n h)
2
o
2
B
n(e )
2
t (o
2
B
n
BC
) . (6)
Similarly, relating point C to point D we can have
a
C
= a
T

CT
r
C{T
o
2
CT
r
C{T
=
CT

k (h n) t (e ) | o
2
CT
(h n) t (e ) |
=
_
e
CT

CT

2
(h n)o
2
B
(e )
2
_
t
_
h
CT
n
CT

2
o
2
B
e
_
. (7)
Equations (6) and (7) are two equations in
BC
and
CT
, which when solved give
BC
=
h
3
2h
2
n e(e )
2
n hn
2
|o
2
B
(e )
3
n
2
(8)
and
CT
=
h
2
(n h)o
2
B
(e )n
. (9)
Substituting
BC
a
C
=

2
(n h)
2
o
2
B
n(e )
2
t
_
o
2
B

h
3
2h
2
n e(e )
2
n hn
2
|o
2
B
(e )
3
n
_

= (0.003164 t 0.03876 ) ft,s
2
. (10)
where we have used the given values = 0.9 ft, n = 1.0 ft, e = 0.46 ft, h = 0.66 ft, and o
B
= 0.25 rad,s.
Now that the motion of both ends of the hydraulic arm 1C is known, we can determine its time rate of
change in length. We begin by dening the horizontal distance from 1 to C as .
TC
, and the vertical distance
from 1 to C as ,
TC
. The distance between 1 and C is then
J
TC
=
_
.
2
TC
,
2
TC
. (11)
where .
TC
= J h n = 4.260 ft and ,
TC
= q = 3.200 ft. Taking two time derivatives of Eq. (11) we
have
J
TC
=
2.
TC
.
TC
2,
TC
,
TC
2
_
.
2
TC
,
2
TC
and
J
TC
=
(2.
TC
.
TC
2,
TC
,
TC
)
2
4
_
.
2
TC
,
2
TC
_
3{2

2 .
2
TC
2 ,
2
TC
2.
TC
.
TC
2,
TC
,
TC
2
_
.
2
TC
,
2
TC
. (12)
Observing that .
TC
=
Cx
= 0.2250 ft,s, ,
TC
=
C,
= 0.05625 ft,s, .
TC
= a
Cx
= 0.003164 ft,s
2
,
and ,
TC
= a
C,
= 0.03876 ft,s
2
, we have
J
TC
= 0.214 ft,s and

J
TC
= 0.0192 ft,s
2
.
August 10, 2009
Problem 6.135
Let frames and T have their origins at points and T, respectively. Point
T does not move relative to point . The velocity and acceleration of point 1
relative to frame , which is xed, are

1
= (14.9 t
19.4
) ft,s and a
1
= (1.78 t
5.96
) ft,s
2
.
Knowing that frame T rotates relative to frame at a constant angular velocity
o
B
= 1.2 rad,s and that the position of point 1 relative to frame T is r
1{B
=
(8 t
B
4.5
B
) ft, determine the velocity and acceleration of 1 relative to frame
T at the instant shown and express the results using the frame component
system.
Solution
Given the two reference frames in the problem statement, we have the following relationships between them:
t
B
= cos 23
sin 23
and
B
= sin 23
cos 23
. (1)
From the concept of rotating reference frames, we have

1
=
B

1ieI

r
1{B
=
1x
t
1,

=
1xB
t
B

1,B

B
o
B

k (8 t
B
4.5
B
)
=
1x
t
1,

=
1xB
(cos 23
sin 23
)
1,B
(sin 23
cos 23
)
o
B

k (8(cos 23
sin 23
) 4.5(sin 23
cos 23
))
= (14.9 t
19.4
) = (
1xB
cos 23

1,B
sin 23
8o
B
sin 23
4.5o
B
sin 23
) t
(
1xB
sin 23
1,B
cos 23
8o
B
cos 23
4.5o
B
sin 23
.
(2)
where weve used the fact that
B
= 0. Solving Eq. (2) for
1xB
and
1,B
using the known value
o
B
1xB
= 6.178 ft,s and
1,B
= 12.67 ft,s =
1rel
= (6.18 t
12.7
) ft,s.
Similarly for the acceleration, we have
a
1
= a
B
a
1rel
2

1rel
r
1{B

(

r
1{B
)
= (1.78 t
5.96
) ft,s
2
= a
1xB
t
B
a
1,B
t
B
2o
B

k (6.18 t
12.7
)
o
B

k o
B

k (8 t
B
4.5
B
)|
= (1.78 t
5.96
) ft,s
2
= a
1xB
t
B
a
1,B
t
B
(25.4o
B
t
o
B
12.36
)
o
B

k (4.5o
B
t
B
8o
B

B
). (3)
Substituting Eqs. (1) and the given value o
B
= 1.2 rad,s into Eq. (3), and solving for a
1xB
and a
1,B
, we
have
a
1xB
= 40.27 ft,s
2
and a
1,B
= 31.25 ft,s
2
= a
1rel
= (40.3 t
31.3
).
August 10, 2009
Dynamics 1e 933
Problem 6.136
A vertical shaft has a base T that is stationary relative to an inertial reference frame with vertical axis 7.
Arm O is attached to the vertical shaft and rotates about the 7 axis with an angular velocity o
O
and an
angular acceleration
O
. The z axis is coincident with the 7 axis but is part of a reference frame that
rotates with the arm O. The . axis of the rotating reference frame coincides with the axis of the arm O.
At the instant shown, the , axis is perpendicular to the page and directed into the page. At this instant,
the collar C is at a distance J from the 7 axis, is sliding along O with a constant speed
C
(relative to
the arm O), and is rotating with a constant angular velocity o
C
(relative to the .,z frame). Point D is
attached to the collar and is at a distance from the . axis. At the instant shown, point D happens to be in
the plane that is rotated by an angle from the .z plane. Compute the expression of the inertial velocity
and acceleration of point D at the instant shown in terms of the parameters given, and express it relative to
the rotating coordinate system.
Solution
Using the concept of rotating reference frames, we have

T
=
O

TieI

r
T{O
. (1)
where

O
=

0.
TieI
=
C
t o
C
cos o
C
sin

k.

= o
O

k. (2)
and
r
T{O
= J t (sin cos

k). (3)

T
=
C
t o
C
cos o
C
sin

k o
O

k J t (sin cos

k)|.
(4)
which can be simplied to read

T
= (
C
o
O
sin ) t (Jo
O
o
C
cos ) o
C
sin

k.
Similarly, for the accelerations, we have
a
T
= a
O
a
Trel
2

Trel
r
T{O

(

r
T{O
). (5)
August 10, 2009
where
a
O
=

0.
Trel
=
C
t o
C
cos o
C
sin

k. a
Trel
= o
2
C
sin o
2
C
cos

k.
= o
O

k.

=
O

k. and r
T{O
= J t (sin cos

k). (6)
a
T
= o
2
C
sin o
2
C
cos

k 2o
O

k
C
t o
C
cos o
C
sin

k|
O

k J t (sin cos

k)| o
O

k o
O

k (J t sin cos

k)|.
which can be simplied to read
a
T
= (Jo
2
O
2o
O
o
C
cos
O
sin ) t (J
O
(o
2
C
o
2
O
) sin 2o
O
C
)
o
2
C
cos

k.
August 10, 2009
Dynamics 1e 935
Problem 6.137
The wheel D rotates without slip over a curved cylindrical surface with constant radius of curvature
1 = 1.6 ft and center at the xed point 1. The XY frame is attached to the rolling surface, and it is inertial.
The ., frame is attached to D at O and rotates with it at a constant angular velocity o
T
= 14 rad,s.
Collar C slides along the bar T with a constant velocity
C
= 4 ft,s relative to the ., frame. At the
instant shown, points O and 1 are vertically aligned. Letting = 0.25 ft and 1 = 1 ft, determine the
inertial velocity and acceleration of C at the instant shown when 0 = 25
and the ., frame is parallel to

the XY frame. Express your result in the ., and XY frames.
Solution
C{O
= cot 0 t . From the concept of rotating reference
frames, we have

C
=
O

C{O

r
C{O
= (1o
T

C
) t o
T

k ( cot 0 t )
= (1o
T

C
o
T
) t o
T
cot 0 . (1)
O
= 1o
T
t and

= o
T

= 0.25 ft, o
T
= 14 rad,s,
C
= 4 ft,s, 0 = 25

have

C
= (21.5 t 7.51 ) ft,s.
a
C
= a
O
a
C{O
2

C{O

r
C{O

_

r
C{O
_
=
1
2
o
2
T
1 1
2o
T

k
C
t
T

k ( cot 0 t ) o
T

k
_
o
T

k ( cot 0 t )
_
=
_
o
2
T
cot 0
_
t
_
2
C
o
T
o
2
T

1
2
o
2
T
1 1
_
. (2)
O
= 0,

= o
T

k,

=
T

k =

0, and a
O
=
T
2
o
2
D
1T
. Substituting
known values = 0.25 ft, o
T
= 14 rad,s,
C
= 4 ft,s, 0 = 25

a
C
= (105 t 166 ) ft,s
2
.
August 10, 2009
August 10, 2009
Dynamics 1e 937
Problem 6.138
The wheel D rotates without slip over a curved cylindrical surface with constant radius of curvature
1 = 1.6 ft and center at the xed point 1. The XY frame is attached to the rolling surface, and it is
inertial. The ., frame is attached to D at O and rotates with it at an angular velocity o
T
= 14 rad,s
and an angular acceleration
T
= 1.3 rad,s
2
. Collar C slides along the bar T with a constant velocity
C
= 4 ft,s relative to the ., frame. Letting = 0.25 ft and 1 = 1 ft, determine the inertial velocity
and acceleration of C, at the instant shown, when 0 = 25
and the ., frame is parallel to the XY frame.

Express your result in the ., and XY frames.
Solution
C{O
= cot 0 t . From the concept of rotating reference
frames, we have

C
=
O

C{O

r
C{O
= (1o
T

C
) t o
T

k ( cot 0 t )
= (1o
T

C
o
T
) t o
T
cot 0 . (1)
O
= 1o
T
t and

= o
T

= 0.25 ft, o
T
= 14 rad,s,
C
= 4 ft,s, 0 = 25

have

C
= (21.5 t 7.51 ) ft,s.
a
C
= a
O
a
C{O
2

C{O

r
C{O

_

r
C{O
_
=
1
2
o
2
T
1 1
2o
T

k
C
t
T

k ( cot 0 t ) o
T

k
_
o
T

k ( cot 0 t )
_
=
_
T
o
2
T
cot 0
_
t
_
2
C
o
T
o
2
T

1
2
o
2
T
1 1
T
cos 0
_
. (2)
O
= 0,

= o
T

k,

=
T

k, and a
O
=
T
2
o
2
D
1T
. Substituting
known values = 0.25 ft, o
T
= 14 rad,s,
C
= 4 ft,s, 0 = 25

a
C
= (107 t 166 ) ft,s
2
.
August 10, 2009

Dynamics Solns Ch06

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Dynamics Solns Ch06

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Solutions Manual

Engineering Mechanics: Dynamics

= 7.2 in. and 1

[ = 945 rpm in the direction shown.

Plugging in known values we get

= 150 rad,s, determine the angular speed of gear T.

. Express your answers using the component system shown.

, = 1 m, and J = 2.5 m, determine the vertical

[ = 292 ft,s, and the turbine is rotating clockwise. Letting

, so the positions of and T in the given cartesian coordinate system are

is the speed of . Solving for o

, the turbine is rotating clockwise, and

, so the positions of and T in the given cartesian coordinate system are

= (93.0 t 110 ) m,s

[ = 25 knots (1 kn is exactly equal to 1.852 km,h)

. Letting the distance between and T be 220 m and 0 = 22

(sin t cos ). (2)

= 5 m,s. If at a certain instant 0 = 33

must also be perpendicular

, determine the angular velocity of bar T as well

, the instantaneous center of rotation of bar TC is point .

= 3 in. is rolling without slip in a stationary spherical bowl of radius 1

= 1.75 ft,s and if the ball is moving down and

[ = 4 rad,s is counterclockwise, determine the velocity

= 1(cos 0 t sin 0 ). (1)

by taking the derivative of Eq. 1 with respect to time. Doing so we

0 sin 0 varies as a function of 0, with its maximum value equal to 1[

, the wheel is moving to the right so that

, the slider is moving downward with a speed

= 8 ft,s, determine the velocity of points T and C.

. and the angular velocity of the bar is

and the distance between and T be

= 0. We also know that

. In vector form, we have

0 = 27 rad,s, determine the angular velocity of bars TC and CD as well as

= 1.2 m,s, determine the angular velocity of the gate when 0 = 15

, the collar at C is sliding downward with a speed of 23 ft,s. Determine the

, and the collar is sliding clockwise with a speed

and the slider is moving downward at 15 m,s.

0 sin 0(H 1cos 0)

0 sin 0 cot . (8)

0 sin 0(H 1cos 0)

0 sin 0(H 1cos 0)

, is accelerating to the right with a

and the slider is moving to the right with a constant

= 1(cos 0 t sin 0 ). (1)

by taking the derivative of Eq. (1) with

= 5 in. is rolling without slip inside a stationary spherical

= 32 ft,s and such that

= 32 ft,s and such that

about O at constant speed, so we must have

is constant. From the vector approach to acceleration analysis where

= 5 in. = 0.4167 ft, and 1

about O, as well as accelerating in the 0 direction,

= 0, so we are left with

= 0.4167 ft, and 1

= 3 m,s, 1 = 2.5 m, and 0 = 34

into Eqs. (2), we have

into Eq. (4), we

into Eq. (5), we

and substituting into Eq. (4) we have

is constant, compute the expression for

[(cos t sin ). (1)

[(cos cot 0 sin ) a