ME 274 – Spring 2009 SOLUTION

Examination No. 1
PROBLEM NO. 1 y

Given: The sliding collar moves vertically along the shaft

producing an oscillation in OA. At the instant
shown, AB and OA are horizontal and vertical, x
respectively, and the velocity of B is not changing.
B L A
vB
Find: For the instant shown, determine
a) the velocity of A. O
r
b) the angular acceleration of OA.

Velocity
AB: v A = v B + ! AB " r A/ B = #vB j + (! AB k ) " ( L i ) = ( #vB + L! AB ) j
OA: ( )
v A = vO + ! OA " r A/O = 0 + (! OA k ) " r j = ( #r! OA ) i
Equating and balancing coefficients:
i : ! OA = 0 " vA = 0
j : #vB + L! AB = 0 " ! AB = vB / L

Acceleration
AB: a A = a B + ! AB " r A/ B # $ AB
2
r A/ B = 0 + (! AB k ) " ( L i ) # $ AB
2
( L i ) = #L$ AB
2
i + L! AB j
OA: a A = aO + ! OA " r A/O # $ OA
2
( )
r A/O = 0 + (! OA k ) " r j # 0 = ( #r! OA ) i
Equating and balancing coefficients:
j : L! AB = 0 " ! AB = 0

L ( vB / L )
2
L$ AB
2
vB2
i: #L$ AB
2
= #r! OA " ! OA = = =
r r Lr

In summary,
vA = 0
" v2 %
! OA = $ B ' k
# Lr &
ME 274 – Spring 2009 SOLUTION
Examination No. 1
PROBLEM NO. 2

Given: The mechanism shown below is driven by a motor attached at B. The angular
velocity of ωAB is a constant 2 rad/s in the direction shown.

Find: For the position shown below, determine

a) the angular velocity of OC.
b) the velocity of A relative to an observer positioned at O and rotating
with OC.
c) the angular acceleration of OC.
Express your answers as vectors in terms of either their xyz or their XYZ components.
Y
Velocity
AB
v A = v B + ! AB " r A/ B B

( )
= 0 + ( #2k ) " #0.17 j = ( #0.34 i ) m / sec !AB
Also,
v A = vO + ( v A/O )rel + ! OC " r A/O y 30° 0.17 m

= 0 + vrel i + (! OC k ) " ( 0.1i )

x
= vrel i + 0.1! OC j

Equating and balancing coefficients: C

j : 0.1 ! OC = 0 " ! OC = 0 60° A

i : vrel = #0.34 m / sec " ( v A/O )rel = ( #0.34 i ) m / sec O 0.1 m

X
Acceleration
AB
a A = a B + ! AB " r A/ B # $ AB
2
( ) (
r A/ B = # ( #2 ) #0.17 j = 0.68 j m / sec 2
2
)
Also,
a A = aO + ( a A/O )rel + ! OC " r A/O + 2 # OC " ( v A/O )rel + # OC " (# OC " r A/O )
= arel i + (! OC k ) " ( 0.1i ) = arel i + 0.1! OC j

Equating and balancing coefficients:

j : 0.68 = 0.1! OC " ! OC = ( 6.8k ) rad / sec 2
i : arel = 0 " ( a A/O )rel = 0
ME 274 – Spring 2009 SOLUTION
Examination No. 1
PROBLEM NO. 3
Part (a) – 4 points

A wheel rolls without slipping as its center O

moves to the right with a constant speed of vO. vA
R
Point A is on the outer circumference of the
wheel. At the instant shown, A is located A vO = constant
directly to the left of O. At this instant (circle aA O
the correct answer),
a) the speed of A is decreasing. no slip
b) the speed of A is constant.
c) the speed of A is increasing. C
Projection of aA onto vA is
POSITIVE.
d) numerical values for the speed of O and the radius R of the wheel are needed in
order to determine if the speed of A is decreasing, constant or increasing.

Particle P travels on a path whose coordinates are given in polar

coordinates as r = 2 cos! , where r is in feet and θ is in radians. When
"
! = radians , it is known that !! = "3 rad / sec and !!! = 0 .
3

Part (b) – 2 points

At this instant (circle the correct answer),
a) r! < 0 .
r! = !2"! sin"
b) r! = 0 .
c) r! > 0 . ( )
= !2 ( !3) 3 / 2 = +3 3 ft / sec

Part (c) – 2 points

At this instant (circle the correct answer),
a) !!r <0.
b) !!r = 0. r = !2"!! sin" ! 2"! 2 cos"
!!
r >0.
c) !! = !2 ( !3) (1 / 2 ) = !9 ft / sec 2
2
PROBLEM NO. 3
Part (d) – 4 points

Particle P moves in the x-y plane with an acceleration of a P = aP i with

aP = 10 m / sec 2 = constant . At the instant shown below, P has a speed vP = 5 m / sec
with the velocity of P given by v P = vP cos! i + vP sin! j . Circle the angle θ below that
gives the SMALLEST radius of curvature ρ for the path of P:
a) ! = 0
y et
b) ! = 30°
vP2 vP
c) ! = 60° an = aP sin! = #
"
θ
d) ! = 90° vP2
"= = minimum when ! = 90° aP
e) ! = 120° aP sin! P
f) ! = 150° en x
g) ! = 180°
h) The radius of curvature ρ of the path of P is independent of the angle θ.
i) More information is needed about the path of P in order to assess the
dependence of ρ on θ.
PROBLEM NO. 3 2 ft 2 ft
Part (e) – 4 points E

Blocks A and B are connected by an

inextensible cable, with this cable being
wrapped around pulleys at A and E.
Assume the radii of the pulleys to be small.
sA
Block A moves downward with a speed of
vA . Let vB represent the speed of B for sB
s A > 0 . Circle the answer below that most
accurately describes the speed of B as
compared to the speed of A:
a) 0 < vB < 2vA A
b) vB = vA B

c) vB = 2vA
vA
d) vB > 2vA
e) More information is needed about s A and vA to assess the magnitude of vB as
compared to vA .

" s %
L = s B + 2 s A2 + 4 = constant ! vB = 2 $ A
' vA < 2vA for ALL s A > 0
$# s 2 + 4 '&
A

Part (f) – 4 points

Collar B, shown below, is free to move vertically and the rigid disk is free to rotate about
point O. At the instant shown, point A on the disk is on the same horizontal line as point
O. At this instant, the angular velocity of AB is:
a) counterclockwise
A ωOA
b) clockwise O
r
c) zero
L
d) indeterminate without explicit values for L,
r, and ωOA vA
B

The instant center for AB is at infinity.

Therefore, the angular velocity of AB is zero.
vB