PROBLEMS

The gear has the angular motion shown. Determine the angular velocity and angular
acceleration of the slotted link BC at this instant. The pin at A is fixed to the
gear.

A C

w=2 rad/s
2m
0.5 m
a=4 rad/s2
0.7 m O

B
PROBLEMS

Link 1, of the plane mechanism shown, rotates about the fixed point O
with a constant angular speed of 5 rad/s in the cw direction while
slider A, at the end of link 2, moves in the circular slot of link 1.
Determine the angular velocity and the angular acceleration of link 2 at
the instant represented where BO is perpendicular to OA. The radius
of the slot is 10 cm.
Take sin 37=06, cos 37=0.8
1

10 cm
2
37o
20 cm C
37o

B
w1=5 rad/s
O
BO OA

16 cm
PROBLEMS

For the instant shown, particle A has a velocity of 12.5 m/s towards point C
relative to the disk and this velocity is decreasing at the rate of 7.5 m/s each
second. The disk rotates about B with angular velocity w=9 rad/s and angular
acceleration a=60 rad/s2 in the directions shown in the figure. The angle b
remains constant during the motion. Telescopic link has a velocity of 5 m/s and an
acceleration of -2.5 m/s. Determine the absolute velocity and acceleration of
point A for the position shown.
Problem 7
Velocity Analysis

v A v B w r v rel

24 7 vB
v B 5 i j
25 25 b 25 7

v B 4.8 i 1.4 j
24
Velocity Analysis

2 2 2 2
yx 2
x
2
x m
9 3 9 3

2 2
w r 9k i j
3 3

w r -6 i 6 j
Velocity Analysis

2 2 2 2
yx 2
x
2
x m
9 3 9 3
dy 4
tan 2x
dx x 2 / 3 3

3 4
vrel

v rel 12.5 i j
5 5

5 4

3
v rel 7.5 i 10 j

v A 6.3 i 17.4 j
Acceleration Analysis

a A a B w w r a r 2w v rel a rel

aB
24 7
aB -2.5 i j
25 25 b 25
7

-2.4 i - 0.7 j
24
aB
Acceleration Analysis

2 2 2 2
yx 2
x
2
x m
9 3 9 3

2 2
w w r 9k 9k i j 9k - 6 i 6 j -54 i - 54 j
3 3
2 2
a r -60k i j 40 i - 40 j
3 3
Acceleration Analysis

2w v rel 2 9k 7.5 i 10 j

2w v rel -180 i 135 j
Acceleration Analysis
+n +t
vrel
(arel)n
5 4

3
(arel)t
2 3/ 2
dy
1
dy 4 d2y dx
2x 2 2.315 m
dx x 2 / 3 3 dx 2 d2y
dx 2
v 2rel 12.52
a rel n 67.49 m / s 2
2.315
4 3
a rel n 67.49 - i j -53.992 i 40.494 j
5 5
3 4
a rel t -7.5 i j -4.5 i - 6 j
5 5

a A -254.892 i 74.794 j
PROBLEMS

The pin A in the bell crank AOD is guided by the flanges of the collar
B, which slides with a constant velocity vB of 0.9 m/s along the fixed
shaft for an interval of motion. For the position =30o determine the
acceleration of the plunger CE, whose upper end is positioned by the
radial slot in the bell crank. .
Problem 8 vA
vA vrel
Velocity Analysis
30o
vB=(vA)x 129.9 mm

60o 30o
vB 0.9
vA 1.039 m / s
cos 30 cos 30
1.039
wAOD w 6.928 rad / s
0.15

vC -v C j (1)



v C v O w rC / O v rel -6.928k 0.225 i 0.13 j v rel cos 30 i sin 30 j


0

v C 0.9 i - 1.56 j 0.866v rel i 0.5v rel j (2)

vrel
(1)=(2) vrel=-1.039 m/s
vc=2.079 m/s
Acceleration Analysis
vrel
(aA)n VB=constant
aA 30o aA
So aA must be vertical.
(aA)t 60o 30o 129.9 mm

a A n w2 OA 6.9282 0.15 7.195 m / s 2

a A n
aA 8.308 m / s
2

cos 30
a A t a A sin 30 4.154 m / s 2 a A t a AOD AO
a AOD a 27.695 rad / s 2

aC aC j (3)

a C a O w w r a r 2w v rel a rel

0







a C -6.928k - 6.928k 0.225 i 0.13 j 27.695k 0.225 i 0.13 j




2 - 6.928k - 1.039 cos 30 i - 1.039 sin 30 j arel cos 30 i sin 30 j

a C -21.58 i 12.464 j 0.866a rel i 0.5a rel j (4)
(3)=(4)
arel=24.92 m/s2
aC=27.92 m/s2
PROBLEMS
1. The uniform 30-kg bar OB is secured to the accelerating frame in the
30o position from the horizontal by the hinge at O and roller at A. If the
horizontal acceleration of the frame is a=20 m/s2, compute the force FA on
the roller and the x- and y-components of the force supported by the pin
at O.
PROBLEMS
2. The block A and attached rod have a combined mass of 60 kg and are
confined to move along the 60o guide under the action of the 800 N applied
force. The uniform horizontal rod has a mass of 20 kg and is welded to the
block at B. Friction in the guide is negligible. Compute the bending moment M
exerted by the weld on the rod at B.
SOLUTION
Kinetic Diagram
FBD
mTax=60ax
x
x

N

60o

W=60(9.81) N Fx ext. forces max 800 - 60(9.81) sin 60 60a x

a x 4.84 m / s 2

By FBD of rod KD of rod

m1ax=20ax
Bx
M

W1=20(9.81) N M B ma x d M - 20 (9.81)0.7 (20 )( 4.94 )( 0.7 sin 60 )

M 196 m / s 2
PROBLEMS
3. The parallelogram linkage shown moves in the vertical plane with the
uniform 8 kg bar EF attached to the plate at E by a pin which is welded both to
the plate and to the bar. A torque (not shown) is applied to link AB through its
lower pin to drive the links in a clockwise direction. When reaches 60o, the
links have an angular acceleration an angular velocity of 6 rad/s2 and 3 rad/s,
respectively. For this instant calculate the magnitudes of the force F and
torque M supported by the pin at E.
PROBLEMS
4. The uniform 100 kg log is supported by the two cables and used as a
battering ram. If the log is released from rest in the position shown, calculate
the initial tension induced in each cable immediately after release and the
corresponding angular acceleration a of the cables.
SOLUTION
FBD +n KD
+n
TA TB
ma n

+t
mat
+t
W=100(9.81) N
When it starts to move, v=0, w=0 but a0 an w 2 r 0
Fn ext. forces 0 TA TB - mg cos 30 0 TA TB 849.57
*
Ft ext. forces mat mg sin 30 mat at 4.905 m / s 2

4.905
at ar a 2.45 rad / s 2
2
Length of the cables
The motion of the log is curvilinear translation.

M G d .k . 0 TA sin 60 (1.5) - TB sin 60 (0.5) 0 3TA TB

*
TA 212 .39 N TB 637 .17 N
PROBLEMS
5. An 18 kg triangular plate is supported by cables AB and CD. When the plate
is in the position shown, the angular velocity of the cables is 4 rad/s ccw. At
this instant, calculate the acceleration of the mass center of the plate and the
tension in each of the cables.

A C 24 cm

D
60 B 60
10 cm
G

Answer:
20 cm 20 cm a 6.23 m / s 2
TAB 143 .11 N TCD 78 .93 N
PROBLEMS
6. The uniform 8 kg slender bar is hinged about a horizontal axis through O
and released from rest in the horizontal position. Determine the distance b
from the mass center to O which will result in an initial angular acceleration of
16 rad/s2, and find the force R on the bar at O just after release.
PROBLEMS
7. The spring is uncompressed when the uniform slender bar is in the vertical
position shown. Determine the initial angular acceleration a of the bar when it
is released from rest in a position where the bar has been rotated 30o
clockwise from the position shown. Neglect any sag of the spring, whose mass
is negligible.
SOLUTION
Unstrecthed length of the spring: 5
lo (2l / 4) 2 l 2 l
2
3
When =30o , length of the spring: l spring l
2
5 3 5 3
When =30o , spring force: Fspring k l- l kl -
2 2 2 2

(in compression)

M O Ia mat
l l 1 l
- mg cos 60 Fspring ml 2 a m at
4 2 12 4
30o l
W a
. Fspring 4
+t k g
60o +t mat a 0.864 - 0.857

lspring m l
Ot +n G G
Ia
60o 30o +n
l
O l man mw 2 0
4
On