You are on page 1of 6

EGR 232 Lecture 23 Homework

Fall 2013
Chap. 15, Problem 40
Small wheels have been attached to the ends of rod AB and roll freely along
the surfaces shown. Knowing that wheel A moves to the left with constant
velocity of 1.5 m/s determine a) the angular velocity of the rod b) the
velocity of the end B of the rod.
Solution:
r
v A 1.5i

r
vB vB cos 60o i vB sin 60o j

Set up the relative motion


equation:
r
r r
vB v A v B / A

r r
r r
vB v A rB / A
vB cos 60o i vB sin 60o j 1.5i k (0.75cos 20o i 0.75sin 20o j )
vB cos 60o i vB sin 60o j 1.5i 0.7048 j 0.2565i

i:

vB cos 60o 1.5 0.2565

vB sin 60o 0.7048

j:
vB

0.7048
0.8138
sin 60o

then
(0.8138 ) cos 60o 1.5 0.2565
0.4069 1.5 0.2565
1.5 0.6634

vB 0.8138(2.26) 1.84m / s

2.26rad / s

and

EGR 232 Lecture 23 Homework


Fall 2013
Chap. 15, Problem 43
Rod AB moves over a small wheel at C while end A moves to the right with
a constant velocity of 500 mm/s. At the instant shown, determine a) the
angular velocity of the rod. b) the velocity of end B of the rod.
Solution:
r
v A 0.5i

r
vC vC u AC

u AC

r
rC / A 200i 140 j

0.8192i 0.5735 j
rC / A
244.13

r
vC 0.8192vC i 0.5735vC j

Relative motion equation:


r
r r
vC v A vC / A

r r
r
r
vC v A rC / A

0.8192vC i 0.5735vC j 0.5i k (0.2i .14 j )


0.8192vC i 0.5735vC j 0.5i 0.2 j .14i

Separate out the vector equations:


i:

0.8192vC 0.5 0.14

400
244.13

j:

140

0.5735vC 0.2
vC

then

0.2
0.3487
0.5735

200

arctan(

140
) 34.99o
200

0.8192(0.3487 ) 0.5 0.14

0.2857 0.5 0.14

0.5
1.17rad / s
0.4257

To find the velocity of B:

r r
r
r r
r
vB v A vB / A v A rB / A
r
vB 0.5i k (0.4 cos i 0.4sin j )
r
vB 0.5i .3834 j 0.2684i
r
vB 0.2316i .3834 j m / s

EGR 232 Lecture 23 Homework


Fall 2013
Chap. 15, Problem 50
Gear A rotates with an angular velocity of 120 rpm clockwise. Knowing that
the angular velocity of arm AB is 90 rpm clockwise, determine the
corresponding angular velocity of gear B.
----------------------------------------------------y
Solution:
vA=0
A=120 rpm clockwise = 4 rad/s
AB=90 rpm clockwise = 3 rad/s
D
B = ?
for rigid body Gear A:
r
r r
vD v A vD / A

r r
r
r
vD v A A rD / A

r
vD 0 ( 4 k 0.06i) 0.754 j m / s

For link AB:

r
r r
vB v A v B / A

r
r
r
r
vB v A AB rB / A
r
vB 0 (3 k 0.15i) 1.414 j m / s

For Gear B:

r
r r
vB vD vB / D
r r
r
r
vB vD B rB / D
r
vB 0.754 j (B k 0.09i) ( 0.754 0.09 B ) j

Equating the two equation for velocity of B.


1.414 j (0.754 0.09B ) j

0.09 B 1.414 0.754 0.66

B 0.66 0.09 7.33rad / s 70 rpm

or 70 rpm clockwise.

EGR 232 Lecture 23 Homework


Fall 2013
Chap. 15, Problem 55
Knowing that crank AB has a constant angular velocity of 160 rpm
counterclockwise, determine the angular velocity of rod BD and the velocity
of collar D when a) = 0, b) =90 deg
--------------------------------------------------------Solution:

AB=160 rpm CCW = 16.76 rad/s


------------------------------------------------for 0 degrees:

r
rB / A 3i 0 j in

r
rD / B 8i 6 j in

For Link AB:


r
r r
vB v A v B / A

r
r
r
r
vB v A AB rB / A
r
vB 0 (16.76k 3i) 50.28 j in / s

For Link BD:


r
r r
vD vB vD / B

r
r
r
r
vD vB BD rD / B
r
r
vD i vB (BD k (8i 6 j )) vB 8BD j 6BD i

therefore:
vDi 50.28 j 8BD j 6 BDi

i:

j:

0 50.28 8BD

vD 6BD

BD 6.29 rad / s
vD 6BD 6(6.29) 37.74 in / s

-------------------------------------------------------------------------For angle of 90 degrees:


r
rB / A 0i 3 j in

r
rD / B 91i 3 j in

For Link AB:

r
vB 0 (16.76k 3 j ) 50.28i in / s

For Link BD:


r
r
vD i vB (BD k ( 91i 3 j )) vB 91BD j 3 BD i

then:
vD i 50.28i 91BD j 3 BD i
vD 50.28 3BD

i:

BD 0

0 91BD

j:

vD 50.28 50.8in / s

You might also like