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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
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:
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
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
r r
r
r
vC v A rC / A
400
244.13
j:
140
0.5735vC 0.2
vC
then
0.2
0.3487
0.5735
200
arctan(
140
) 34.99o
200
0.5
1.17rad / s
0.4257
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
r r
r
r
vD v A A rD / A
r
vD 0 ( 4 k 0.06i) 0.754 j m / s
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
or 70 rpm clockwise.
r
rB / A 3i 0 j in
r
rD / B 8i 6 j in
r
r
r
r
vB v A AB rB / A
r
vB 0 (16.76k 3i) 50.28 j in / s
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
r
rD / B 91i 3 j in
r
vB 0 (16.76k 3 j ) 50.28i in / s
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