41

Chapter 4

Acceleration
4.1 The position vector of a point is defined by the equation R = 4t t 3 3 j where R is i + 10

in mm and t is in seconds. Find the acceleration of the point at t = 2 s.

( ) R (t ) = ( 4 t 2 ) i
R ( t ) = 2t i 4.2

R ( t ) = 4t t 3 3 i + 10 j

R ( 2 s ) = 2 ( 2 ) i = 4 i mm/s 2

Ans.

Find the acceleration at t = 3 s of a point which moves according to the equation R = t 2 t3 6 i + t3 3 j . The units are meters and seconds.

) ( )

( ) ( ) j R ( t ) = ( 2t t 2 2 ) i + t 2
R (t ) = ( 2 t ) i + 2t j 4.3

R (t ) = t 2 t3 6 i + t3 3 j

R ( 3 s ) = ( 2 3) i + 2 ( 3) j = i + 6 j m/s 2

Ans.

The path of a point is described by the equation R = (t 2 + 4)e j t / 10 where R is in millimeters and t is in seconds. For t = 20 s, find the unit tangent vector for the path, the normal and tangential components of the points absolute acceleration, and the radius of curvature of the path.
R ( t ) = (t 2 + 4)e j t /10

R ( t ) = 2te j t /10

j 2 (t + 4)e j t /10 10

j t j t /10 j t j t /10 2 2 R (t ) = 2 e (t + 4)e j t /10 e 5 5 100 Noticing, at t = 20 s, that e j t /10 = e j 2 = 1.0 , we find that
R ( 20 s ) = (202 + 4) = 404 mm

42

R ( 20 s ) = 2 ( 20 )

j (202 + 4) = 40.00 j126.92 = 133.07 72.5 mm/s 10

j 20 j 20 2 (202 + 4) = 37.873 j 25.133 mm/s 2 R ( 20 s ) = 2 5 5 100 From the direction of the velocity we find the unit tangent and unit normal vectors = 1 72.5 = cos 72.5 i + sin 72.5 j = 0.30058 i 0.95376 j = k = sin 72.5i cos 72.5 j = 0.95376i 0.30058 j

Ans.

From these, the components of the points absolute acceleration are iR = 0.95376 An = i 0.30058 j i 37.873 i 25.133 j mm/s 2 = 43.676 mm/s 2

( )( ) iR = ( 0.30058 At = i 0.95376 j)i( 37.873 i 25.133 j mm/s 2 ) = 12.586 mm/s 2

R
2

Ans. Ans.

Then, from Eq. (4.2) or Eq. (4.14), the radius of curvature is = 405.4 mm Ans. 43.676 mm/s 2 An direction from the Where the negative sign indicates that the point is in the negative center of curvature of the points path.
4.4

(133.07 mm/s ) =

The motion of a point is described by the equations x = 4t cos t 3 and y = t 3 6 sin 2 t where x and y are in meters and t is in seconds. Find the acceleration of the point at t = 1.40 s . 3 3 R (t ) = 4t cos t i + ( t 6 ) sin 2 t j
3 3 3 3 2 R (t ) = 4 cos t 12 t sin t i + ( t 2 ) sin 2 t + ( t 3) cos 2 t j 2 3 2 5 3 2 2 2 R (t ) = 48 t sin t 36 t cos t i + t (1 2 t 3) sin 2 t + 2 t cos 2 t j

( )

R (1.40 s ) = 1 112.620 i 19.753 j = 1 112.796 1.0 ft/s 2 4.5

Ans.

Link 2 in the figure has an angular velocity of 2 = 120 rad/s ccw and an angular acceleration of 4800 rad/ s2 ccw at the instant shown. Determine the absolute acceleration of point A. t A A = A O2 + A n AO2 + A AO2
2 R R AO2 + 2k = 2 AO2 2 0.500 = (120 ) 0.500 i + 4 800k i

A A = 7 200 i + 2 400 j m/s 2 = 7 589161.6 m/s 2

Ans.

43

4.6

Link 2 is rotating clockwise as shown in the figure. Find its angular velocity and acceleration and the acceleration of its midpoint C.

t AB = A A + An BA + A BA Construct the acceleration polygon.

n ABA 178.38 m/s 2 = = 356.8 rad/s cw RBA 0.5 m

Ans.

Note the ambiguous sign of this square root. The sense of cannot be determined from the accelerations, but here is found from the problem statement. At 51.03 m/s 2 = BA = = 102.1 rad/s 2 cw Ans. RBA 0.5 m
A C = 92.7644.0 m/s 2 4.7 Ans.

For the data given in the figure, find the velocity and acceleration of points B and C.

VBA = RBA = ( 24 rad/s )( 0.4 m ) = 9.6 m/s

VB = VA + VBA

Construct the velocity polygon. VB = 3.6270 m/s VC = 2.5112.1 m/s

t AB = A A + An BA + A BA

Ans. Ans.

n ABA = 2 RBA = ( 24 rad/s ) ( 0.4 m ) = 230.4 m/s 2 2

t ABA = RBA = (160 rad/s 2 ) ( 0.4 m ) = 64 m/s 2

Construct the acceleration polygon. A B = 118.53165 m/s 2 A C = 63240.3 m/s 2

Ans. Ans.

44

4.8

For the straight-line mechanism shown in the figure, 2 = 20 rad/s cw acceleration of link 3.

and

2 = 140 rad/s 2 cw . Determine the velocity and acceleration of point B and the angular

VAO2 = 2 RAO2 = ( 20 rad/s )( 0.100 m ) = 2.000 m/s

VA = VO2 + VAO2

VC = VA + VCA Construct the velocity polygon of link 3. VB = 3.864270 m/s

A A = A O2 + A
n AO2

Ans.

+A

t AO2
2

n 2 AAO = 2 RAO2 = ( 20 rad/s ) ( 0.100 m ) = 40.000 m/s 2 2

t AAO = 2 RAO2 = (140 rad/s 2 ) ( 0.100 m ) = 14.000 m/s 2 2

n A C = A A + A CA + A tCA
n 2 ACA = VCA RCA = ( 2.000 m/s )
2

( 0.100 m ) = 40.000 m/s 2

Ans. Ans.

Construct the acceleration polygon of link 3. A B = 6.34090 m/s 2

3 =

A 14.000 m/s = = 140 rad/s 2 cw 0.100 m RBA

t BA

4.9 In the figure, the slider 4 is moving to the left with a constant velocity of 2.0 m/s. Find the angular velocity and acceleration of link 2.

VA = VC + VAC = VO2 + VAO2 . Construct the velocity polygon of link 3.

2 =

VAO2 RAO2

3.864 m/s = 38.64 rad/s cw 0.100 m

Ans.

45

t n t A A = AC + A n AC + A AC = A O2 + A AO + A AO
2

n AC

=V

2 AC

/ RAC = ( 3.864 m/s ) / ( 0.100 m ) = 149.28 m/s 2

2
2

2 n AAO = VAO / RAO2 = ( 3.864 m/s ) / ( 0.100 m ) = 149.28 m/s 2 2 2

2 =
4.10

t AAO 2

RAO2

557.13 m/s 2 = 5 571.3 rad/s 2 cw 0.100 m

Ans.

Solve Problem 3.8, for the acceleration of point A and the angular acceleration of link 3.

Assume VB = constant. Therefore A B = 0 .

t A A = AB + An AB + A AB

n AB

(14.64 m/s ) = 535.9 m/s2 V2 = AB = RAB 0.400 m

2

A A = 757.915 m/s 2

Ans. Ans.

3 =
4.11

t AAB 535.9 m/s 2 = = 1 339.7 rad/s 2 cw 0.400 m RAB

For Problem 3.9, find the angular accelerations of links 3 and 4.

Assume 2 = constant. Therefore 2 = 0 .

t A A = A O2 + A n + A AO AO
2 2

n AO2

= RAO2 = ( 45 rad/s ) (100 mm ) = 2025 m/s 2

2 2 2

46

t n t AB = A A + An BA + A BA = A O4 + A BO + A BO
4

A = V / RBA = ( 358.5 mm/s ) / ( 250 mm ) = 514.09 mm/s 2

n BA 2 BA 2

(Ignore compared to other

parts.) 2 n 2 ABO = VBO / RBO4 = ( 4620 mm/s ) / ( 300 mm ) = 71148 mm/s 2 4 4

3 = 4 =
4.12

t ABA 140817.5 m/s 2 = = 563.3 rad/s 2 ccw RBA 250 mm t ABO 4

Ans. Ans.

RBO4

37102.5 in/s 2 = 123.7 rad/s 2 ccw 300 mm

For Problem 3.10, find the acceleration of point C and the angular accelerations of links 3 and 4.

Assume 2 = constant. Therefore 2 = 0 .

t A A = A O2 + A n + A AO AO
2 2

n AO2

= RAO2 = ( 60 rad/s ) ( 0.150 m ) = 540.0 m/s 2

2 2 2
4 4

t n t AB = A A + An BA + A BA = A O4 + A BO + A BO n BA 2 BA 2

A = V / RBA = (13.02 m/s ) / ( 0.300 m ) = 565.1 m/s 2

n 2 ABO = VBO / RBO4 = (11.36 m/s ) / ( 0.300 m ) = 430.1 m/s 2 4 4 2

Construct the acceleration polygon of link 3. A C = 209.610.6 m/s 2

Ans. Ans.
Ans.

3 =
4 =

A 136.5 m/s = = 455.0 rad/s 2 ccw 0.300 m RBA

t ABO 4

t BA

RBO4

46.04 m/s 2 = 153.5 rad/s 2 cw 0.300 m

47

4.13

For Problem 3.11, find the acceleration of point C and the angular accelerations of links 3 and 4.

Assume 2 = constant. Therefore 2 = 0 .

t A A = A O2 + A n + A AO AO
2 2

n AO2

= RAO2
2 2

= ( 48 rad/s ) ( 200 mm ) = 18 432.0 in/s 2

2

t n t AB = A A + An BA + A BA = A O4 + A BO + A BO
4

A = V / RBA = ( 267.5 mm/s ) / ( 800 mm ) = 89.45 mm/s 2

n BA 2 BA 2

(Ignore compared to other

parts.) 2 n 2 ABO = VBO / RBO4 = ( 9365 mm/s ) / ( 400 mm ) = 219.26 m/s 2 4 4 Construct the acceleration polygon of link 4. A C = 931.35114.4 m/s 2 Ans. Ans. Ans.

3 = 4 =
4.14

A 1,393, 250 mm/s = = 1 741.6 rad/s 2 ccw 800 mm RBA

t ABO 4

t BA

RBO4

1, 222,300 mm/s 2 = 3 055.8 rad/s 2 ccw 400 mm

Using the data of Problem 3.13, solve for the accelerations of points C and D and the angular acceleration of link 4.

48

Assume 2 = constant. Therefore 2 = 0 .

t A A = A O2 + A n + A AO AO
2 2

n AO2

= RAO2 = (1.0 rad/s ) ( 0.300 m ) = 0.300 m/s 2

2 2 2
4 4

t n t AB = A A + An BA + A BA = A O4 + A BO + A BO

A = V / RBA = ( 0.263 5 m/s ) / ( 0.150 m ) = 0.462 9 m/s 2

n BA 2 BA 2
n 2 ABO = VBO / RBO4 = ( 0.227 0 m/s ) / ( 0.300 m ) = 0.171 8 m/s 2 4 4 2

Construct the acceleration polygon of link 3. A C = 0.515 4 119.8 m/s 2

Ans. Ans. Ans.

A D = 0.492 521.8 m/s 2

4 =
4.15

t ABO 4

RBO4

0.221 2 m/s 2 = 0.737 4 rad/s 2 cw 0.300 m

For Problem 3.14, find the acceleration of point C and the angular acceleration of link 4.

Assume 2 = constant. Therefore 2 = 0 .

t A A = A O2 + A n + A AO AO
2 2

n AO2

= RAO2 = ( 60.0 rad/s ) (150 mm ) = 540 m/s 2

2 2 2
4 4

t n t AB = A A + An BA + A BA = A O4 + A BO + A BO
n BA 2 BA 2

A = V / RBA = ( 4235 mm/s ) / (150 mm ) = 119.57 m/s 2

n 2 ABO = VBO / RBO4 = ( 7940 mm/s ) / ( 250 mm ) = 252.174 m/s 2 4 4 2

Construct the acceleration polygon of link 3. A C = 781.25 68.9 m/s 2

Ans. Ans.

4 =

t BO4

RBO4

373.75 m/s 2 = 1 495 rad/s 2 ccw 0.25 m

49

4.16

Solve Problem 3.16 for the acceleration of point C and the angular acceleration of link 4.

Assume 2 = constant. Therefore 2 = 0 .

t A A = A O2 + A n + A AO AO
2 2

n AO2

= RAO2 = ( 30.0 rad/s ) ( 75 mm ) = 67.5 m/s 2

2 2 2
4 4

t n t AB = A A + An BA + A BA = A O4 + A BO + A BO

A = V / RBA = ( 2250 mm/s ) / (125 mm ) = 40.5 m/s 2

n BA 2 BA 2
n 2 ABO = VBO / RBO4 = ( 0.0 mm/s ) / (125 mm ) = 0.0 m/s 2 4 4 2

Construct the acceleration polygon of link 3. A C = 148.5216.9 m/s 2

Ans. Ans.

4 =
4.17

t ABO 4

RBO4

108 m/s 2 = 720 rad/s 2 ccw 0.150 m

For Problem 3.17, find the acceleration of point B and the angular accelerations of links 3 and 6.

Assume 2 = constant. Therefore 2 = 0 .

t A A = A O2 + A n + A AO AO
2 2

n AO2

= RAO2 = (10.0 rad/s ) ( 63 mm ) = 6300 mm/s 2

2 2 2

t A B = A A + An BA + A BA

n 2 ABA = VBA / RBA = ( 468.75 mm/s ) / ( 250 mm ) = 878.9 mm/s 2 2

50

A B = 5022.50 mm/s 2

Ans.
2

3 =

A 4372.5 mm/s = = 17.49 rad/s 2 ccw RBA 250 mm

t BA

Ans.

n + A tCA = A B + A n + A tCB Construct the acceleration polygon of link 3, or A C = A A + A CA CB t n t A D = AC + A n DC + A DC = A O6 + A DO + A DO

6 6

n DC

=V

2 DC

/ RDC = (15 mm/s ) / (100 mm ) = 2.25 mm/s 2

2

(Ignore compared to other

parts.) 2 n 2 ADO = VDO / RDO6 = ( 604.5 mm/s ) / (150 mm ) = 2436.13 mm/s 2 6 6

6 =
4.18

t ADO 6

RDO6

1621.954 mm/s 2 = = 10.81 rad/s 2 cw 150 mm

Ans.

For the data of Problem 3.18, what angular acceleration must be given to link 2 for the position shown to make the angular acceleration of link 4 zero?

t A B = A O4 + A n + A BO BO
4

n BO4

=V

2 BO4

/ RBO4 = ( 5.764 m/s ) / ( 0.400 m ) = 83.056 m/s 2

2
2 2

t n t A A = AB + An AB + A AB = A O2 + A AO + A AO

n AB

= V / RAB = ( 5.004 m/s ) / ( 0.425 m ) = 58.93 m/s 2

2 AB 2 2 t AAO 2

n 2 AAO = VAO / RAO2 = ( 5.600 m/s ) / ( 0.35 m ) = 89.60 m/s 2 2 2

2 =

RAO2

18.54 m/s 2 = = 52.98 rad/s 2 ccw 0.350 m

Ans.

51

4.19

For the data of Problem 3.19, what angular acceleration must be given to link 2 for the angular acceleration of link 4 to be 100 rad/ s2 cw at the instant shown?

A B = A O4 + A n + A tBO BO
4

t ABO = 4 RBO4 = (100 rad/s 2 ) ( 200 mm ) = 20 m/s 2 4

t n t A A = AB + An AB + A AB = A O2 + A AO + A AO
2

n BO4

=V

2 BO4

/ RBO4 = ( 5070 mm/s ) / ( 200 mm ) = 128.52 m/s 2

2

n AB

= V / RAB = ( 646.75 mm/s ) / ( 200 mm ) = 2091.43 mm/s 2 (Ignorable compared to other

2 AB 2

parts.) 2 n 2 AAO = VAO / RAO2 = ( 4500 mm/s ) / (125 mm ) = 162 m/s 2 2 2

2 =
4.20

t AAO 2

RAO2

522575 mm/s 2 = 4 180.7 rad/s 2 ccw 125 mm

Ans.

Solve Problem 3.20 for the acceleration of point C and the angular acceleration of link 3.

Assume 2 = constant. Therefore 2 = 0 .

t A A = A O2 + A n + A AO AO
2 2

n AO2

= RAO2 = ( 8.0 rad/s ) ( 0.150 m ) = 9.600 m/s 2

2 2 2
4 4

t n t AB = A A + An BA + A BA = A O4 + A BO + A BO

A = V / RBA = ( 3.783 9 m/s ) / ( 0.250 m ) = 57.270 m/s 2

n BA 2 BA 2
n 2 ABO = VBO / RBO4 = ( 3.483 7 m/s ) / ( 0.250 m ) = 48.544 m/s 2 4 4 2

Construct the acceleration polygon of link 3. A C = 63.41 22.9 m/s 2

Ans. Ans.

3 =

A 15.647 m/s = = 62.59 rad/s 2 cw 0.250 m RBA

t BA

52

4.21

For Problem 3.21, find the acceleration of point C and the angular acceleration of link 3.

Assume Therefore 2 = 0 .
t A A = A O2 + A n + A AO AO
2 2

2 = constant.

n AO2

= RAO2 = ( 56.0 rad/s ) ( 0.150 m ) = 470.4 m/s 2

2 2 2
4 4

t n t AB = A A + An BA + A BA = A O4 + A BO + A BO
n BA 2 BA 2

A = V / RBA = ( 6.966 m/s ) / ( 0.250 m ) = 194.09 m/s 2

n 2 ABO = VBO / RBO4 = (11.380 m/s ) / ( 0.250 m ) = 518.06 m/s 2 4 4 2

Construct the acceleration polygon of link 3. A C = 450.6255.6 m/s 2

Ans. Ans.

3 =
4.22

t ABA 18.52 m/s 2 = = 74.08 rad/s 2 cw 0.250 m RBA

Find the accelerations of points B and D of Problem 3.22.

Assume 2 = constant. Therefore 2 = 0 .

t A A = A O2 + A n + A AO AO
2 2

n AO2

= RAO2 = ( 42.0 rad/s ) ( 50 mm ) = 88.2 m/s 2

2 2 2
n 2 ABA = VBA / RBA = (1066 mm/s ) / ( 250 mm ) = 4.54 m/s 2 2

t A B = A A + An BA + A BA

A B = 84.680 in/s 2 Ans. n t n Construct the acceleration polygon of link 3, or A C = A A + A CA + A CA = A B + A CB + A tCB

t A D = AC + A n DC + A DC n 2 ADC = VDC / RDC = (1541.5 mm/s ) / ( 200 mm ) = 11.88 m/s 2 2

53

A D = 40.490 m/s 2 4.23

Find the accelerations of points B and D of Problem 3.23.

Ans.

Assume 2 = constant. Therefore 2 = 0 .

t A A = A O2 + A n + A AO AO
2 2

n AO2

= RAO2 = ( 209.4 rad/s ) ( 50 mm ) = 2.19 m/s 2

2 2 2 n 2 ABA = VBA / RBA = ( 5468.75 mm/s ) / (150 mm ) = 199.38 m/s 2 2

t A B = A A + An BA + A BA

A B = 732.17240 m/s 2 Ans. n t n Construct the acceleration polygon of link 3, or A C = A A + A CA + A CA = A B + A CB + A tCB

t A D = AC + A n DC + A DC n 2 ADC = VDC / RDC = ( 6725 mm/s ) / (125 mm ) = 361.8 m/s 2 2

A D = 1.209120 m/s 2 4.24

Ans.

to 4.30 The nomenclature for this group of problems is shown in the figure, and the dimensions and data are given in the accompanying table. For each problem, determine 3 , 4 , 3 , 4 , 3 , and 4 . The angular velocity 2 is constant for each problem, and a negative sign is used to indicate the clockwise direction. The dimensions are given in millimeters.
This group of problems was solved on a programmable calculator. The position solution values were found from Eqs. (2.25) through (2.32). The velocity values were found from Eqs. (3.22). The acceleration values were found from Eqs. (4.31) and (4.32).

Prob. 4.24 4.25 4.26 4.27 4.28 4.29 4.30

3 , deg
105.29 171.01 45.57 28.32 24.17 38.42 73.16

4 , deg
159.60 195.54 91.15 55.88 63.73 155.60 138.51

3 , rad/s
0.809 3 70.452 7 -4.000 0 -0.632 6 -1.516 7 -6.855 2 -0.505 1

4 , rad/s
0.525 0 47.566 8 -4.000 0 -2.155 7 1.712 9 -1.234 5 7.275 3

3 , rad/s 2
0.230 28 3 196.657 49 -1.120 22 7.822 40 41.414 93 62.500 44 -206.384 28

4 , rad/s 2
0.008 09 3 330.841 37 54.890 98 6.704 18 74.975 93 -96.514 21 -94.122 01

54

4.31

Crank 2 of the system shown in the figure has a speed of 60 rev/min ccw. Find the velocity and acceleration of point B and the angular velocity and acceleration of link 4.

2 = 60

VA2O2 = 2 RA2O2 = ( 6.283 rad/s )(175 mm ) = 1.099 m/s Construct the velocity polygon. V 910.75 mm/p 4 = A4O4 = RA4O4 138.57 mm

rad 1 min rev 2 rev 60 s min = 6.283 rad/s VA2 = VO2 + VA2O2 = VA4 + VA2 / 4

4 = 6.572 rad/s cw
VB = VO4 + VBO4

Ans.

VBO4 = 4 RBO4 = ( 6.572 rad/s )( 700 mm )

VB = 4.6 19.1 m/s

Ans.

Since we know the path of A2 on link 4, we write t c n t n t A A2 = A O2 + n A2O2 + A2O2 = A A4 + A A2 A4 + A A2 / 4 + A A2 / 4 ; A A4 = A O4 + A4O4 + A4O4
2 Ac A2 A4 = 24 VA2 / 4 = 2 ( 6.572 rad/s )( 616 mm/s ) = 8.09619.1 m/s 2 n AA = 2 RA2O2 = ( 6.283 rad/s ) (175 mm ) = 6.9 m/s 2 2 O2 2

n A2 / 4

VA22 / 4

A /4
2

( 616 mm/s ) =

=0

Construct the acceleration polygon. t AA 11969.5 mm/s 2 4O4 4 = = = 86.38 rad/s 2 ccw RA4O4 138.57 mm Construct the acceleration image of link 4. A B = 67.57187.5 m/s 2

Ans.

Ans.

4.32

The mechanism shown in the figure is a marine steering gear called Rapsons slide. O2 B is the tiller, and AC is the actuating rod. If the velocity of AC is 3 m/min to the left, find the angular acceleration of the tiller.

55

VA4 =

( 3 m/min ) = 50 mm/s ( 60 s/min )

VA2 = VO2 + VA2O2 = VA4 + VA2 / 4

Construct the velocity polygon. Assume VA4 = constant. Therefore AA4 = 0 . Since we know the path of A4 on link 2, we write t c n t A A2 = A O2 + n A2O2 + A2O2 ; and A A4 = A A2 + A A4 A2 + A A4 / 2 + A A4 / 2
A
n A2O2 c A4 A2

VA22O2 RA2O2

( 43.3 mm/s ) =
2078.5 mm
2

= 0.9 mm/s 2

= 22 VA4 / 2 = 2 ( 0.020 83 rad/s )( 25 mm/s ) = 1.04230.0 mm/s 2 VA24 / 2

n = AA 4 /2

A /2
4

( 25 mm/s )

=0

Construct the acceleration polygon. t AA 1.042 mm/s 2 2O2 2 = = = 0.000 50 rad/s 2 cw RA2O2 2078.5 mm

Ans.

4.33

Determine the acceleration of link 4 of Problem 3.26.

Assume 2 = constant. Therefore 2 = 0 . Since we know the path of A2 on link 4, we write t c n t A A2 = A O2 + n A2O2 + A2O2 = A A4 + A A2 A4 + A A2 / 4 + A A2 / 4
2 n AA = 2 RA2O2 = ( 36.0 rad/s ) ( 0.250 m ) = 324.0 m/s 2 2 O2 2 n Ac A4 A2 = 2 4 VA2 / 4 = 2 ( 0.0 rad/s )( 6.588 m/s ) = 0 ; AA4 / 2 =

VA22 / 4

A /4
2

( 6.588 in/s )

=0

Construct the acceleration polygon. A A4 = 290.5180.0 m/s 2

Ans.

56

4.34

For Problem 3.27, find the acceleration of point E.

Assume 2 = constant. Therefore 2 = 0 .

t A A = A O2 + A n + A AO AO
2 2

n AO2

= RAO2 = ( 72.0 rad/s ) ( 38 mm ) = 196.99 m/s 2

2 2 2
4 4

t n t AB = A A + An BA + A BA = A O4 + A BO + A BO
n BA 2 BA 2

A = V / RBA = ( 3780 mm/s ) / ( 263 mm ) = 54.33 m/s 2

n 2 ABO = VBO / RBO4 = (1800 mm/s ) / (125 mm ) = 25.92 m/s 2 4 4 2

Construct the acceleration polygon of link 3. Since we know the path of C3 on link 6, we write n t c n t A C3 = A C6 + A C + AC + AC and A C6 = A O6 + C + C 3C6 3 /6 3 /6 6 O6 6 O6
VC23 / 6

c AC = 26 VC3 / 6 = 2 ( 9.673 rad/s )(1253.75 mm/s ) = 24.255 m/s 2 ; 3C6

n C3 / 6

= =

C / 6
3

(1253.75 mm/s ) =

=0
2

n C6O6

2 C6O6

RC6O6

(1076.75 mm/s ) =
111.325 mm

= 10.41 m/s 2

Construct the acceleration polygon of link 6. A E = 180.82252.8 m/s 2

Ans.

4.35

Find the acceleration of point B and the angular acceleration of link 4 of Problem 3.24. Assume 2 = constant. Therefore 2 = 0 .
t A A = A O2 + A n + A AO AO
2 2

n AO2

= RAO2 = ( 24.0 rad/s ) ( 200 mm ) = 115.2 m/s 2

2 2 2

57

Since we know the path of P3 on link 4, we write t c n t A P3 = A A3 + n P3 A3 + P3 A3 = A P4 + A P3 P4 + A P3 / 4 + A P3 / 4

2 Ac P3 P4 = 24 VP3 / 4 = 2 ( 6.159 rad/s )( 2592.5 mm/s ) = 31.934 102.4 m/s

n AP = VP2 / RP3 A3 = ( 4045 mm/s ) / ( 656.75 mm ) = 24.91 m/s 2 3 A3 3 A3 2

n P3 / 4

VP2 3 /4

P / 4
3

( 2592.5 mm/s ) =

=0

Construct the acceleration polygon of link 3. A B = 123.765 25.7 m/s 2 Since links 3 and 4 remain perpendicular, t AP 30070 mm/s 2 4 = 3 = 3 A3 = = 45.78 rad/s 2 ccw RP3 A3 656.75 mm

Ans.

Ans.

4.36

For Problem 3.25, find the acceleration of point B and the angular acceleration of link 3.

58

Assume VA = constant. Therefore A A = 0 . Since we know the path of P3 on link 4, we write t c n t A P3 = A A3 + n P3 A3 + P3 A3 = A P4 + A P3 P4 + A P3 / 4 + A P3 / 4

2 Ac P3 P4 = 24 VP3 / 4 = 2 ( 0.3039 rad/s )( 307.75 mm/s ) = 187 102.8 mm/s

n AP = VP2 / RP3 A3 = ( 68.375 mm/s ) / ( 225 mm ) = 20.78 mm/s 2 3 A3 3 A3 2

n P3 / 4

VP2 3 /4

P / 4
3

( 307.75 mm/s ) =

=0

Construct the acceleration polygon of link 3. A B = 505.75 102.1 mm/s 2 t AP 280.5 mm/s 2 3 A3 3 = = = 1.247 rad/s 2 cw RP3 A3 225 mm

Ans. Ans.

4.37

Assuming that both links 2 and 3 of Problem 3.28 are rotating at constant speed, find the acceleration of point P4 .

Since 2 = constant and 3 = constant, 2 = 3 = 0 . Since we know the paths of P4 on link 2 and on link 3, we write t t A P2 = A O2 + A n + AP A P3 = A O3 + A n + AP ; PO O PO O
2 2 2 2 3 3 3 3

n P2O2

= RP2O2 = ( 30.0 rad/s ) ( 0.054 9 m ) = 49.410 m/s .

2 2 2 2

n AP = 32 RP3O3 = ( 20.0 rad/s ) ( 0.102 6 m ) = 41.039 m/s 2 3O3 2

n t c n t A P4 = A P2 + A c P4 P2 + A P4 / 2 + A P4 / 2 = A P3 + A P4 P3 + A P4 / 3 + A P4 / 3

2 Ac P4 P2 = 2 2 VP4 / 2 = 2 ( 30.0 rad/s )(1.683 m/s ) = 100.98 30.0 m/s 2 Ac P4 P3 = 2 3 VP4 / 3 = 2 ( 20.0 rad/s )(1.155 m/s ) = 46.22225.0 m/s

n P4 / 2

VP2 4 /2

P / 2
4

(1.683 m/s ) =

= 0;

n P4 / 2

VP2 4 /2

P / 2
4

(1.155 m/s ) =

=0

Construct the acceleration polygon. A P4 = 125.73 66.6 m/s 2

Ans.

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4.38

Solve Problem 3.32, for the accelerations of points A and B.

Assume 2 = constant. Therefore 2 = 0 . Since we know the path of F2 on link 3, we write t c n t n t A F2 = A E2 + n F2 E2 + F2 E2 = A F3 + A F2 F3 + A F2 / 3 + A F2 / 3 and A F3 = A G3 + A F3G3 + A F3G3
2 n AF = 2 RF2 E2 = ( 25.0 rad/s ) ( 25 mm ) = 15.625 m/s 2 2 E2 2 n AF = 3G3

VF23G3 RF3G3

(102.75 mm/s )
152 mm
2

= 69.46 m/s 2

2 Ac F2 F3 = 23 VF2 / 3 = 2 ( 0.676 rad/s )( 616.5 mm/s ) = 833.5 80.5 mm/s

n F2 / 3

VF22 / 3

F / 3
2

( 616.5 mm/s ) =

=0

Construct the acceleration polygon of link 3. t t A A = AC + A n and AB = AD + An AC + A AC BD + A BD

2 n AAC = VAC / RAC = (195.175 mm/s ) / (150 mm ) = 253.95 mm/s 2 2

A A = 42300 mm/s 2
n 2 ABD = VBD / RBD = (190.55 mm/s ) / (150 mm ) = 242.1 mm/s 2 2

Ans. Ans.

A B = 20.1520 m/s 2 4.39

For Problem 3.33, determine the acceleration of point C4 and the angular acceleration of link 3 if crank 2 is given an angular acceleration of 2 rad/ s2 ccw.
t AB = A A + An BA + A BA
2 n ABA = 2 RBA = (10.0 rad/s ) ( 75 mm ) = 7500 mm/s 2 2 t ABA = 2 RBA = ( 2.0 rad/s 2 ) ( 75 mm ) = 150 mm/s 2 n t A D4 = A r D4 /1 = A B + A DB + A DB 2 n ADB = VDB / RDB = ( 750 mm/s ) / ( 25 mm ) = 225 m/s 2 2

60

Draw the acceleration image of link 4. A C4 = 1591.1 m/s 2

Ans.

r n A C3 = A C4 + A C = A A + A CA + A tCA 3 /4 2 n ACA = VCA / RCA = (1500 mm/s ) / ( 50 mm ) = 45 m/s 2 2

Draw the acceleration image of link 3. t AC 300 mm/s 2 3 = 3 A3 = = 6.0 rad/s 2 ccw RC3 A3 50 mm

Ans.

4.40

Determine the angular accelerations of links 3 and 4 of Problem 3.30.

Assume 2 = constant. Therefore 2 = 0 . Since we know the path of D4 on link 2, we write t A D2 = A A2 + A n D2 A2 + A D2 A2

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2 n AD = 2 RD2 A2 = (15.0 rad/s ) ( 31 mm ) = 6975 mm/s 2 . 2 A2 2 n t n t A D4 = A D2 + A c D4 D2 + A D4 / 2 + A D4 / 2 = A E4 + A D4 E4 + A D4 E4

2 Ac D4 D2 = 22 VD4 / 2 = 2 (15.0 rad/s )(1235.25 mm/s ) = 37.0580.8 m/s 2 n AD = VD D4 / 2 = (1235.25 mm/s ) 4 /2 4 /2 2 n AD = VD RD4 E4 4 E4 4 E4

( 62.5 mm ) = 24.413 m/s 2 2 = ( 381 mm/s ) ( 88 mm ) = 1.65 m/s 2

2

Draw the acceleration images of links 2 and 4. t AD 8810 mm/s 2 4 = 4 E4 = = 100.1 rad/s 2 ccw RD4 E4 88 mm
r n t A C3 = A C2 + A C = A D3 + A C + AC 3 /2 3 D3 3 D3 n AC = VC23 D3 RC3 D3 = (1047.7 mm/s ) 3 D3 2

Ans.

(13 mm ) = 84.45 m/s2

Ans.

3 =
4.41

t AC 3 D3

RC3 D3

5792.5 mm/s 2 = 445.6 rad/s 2 ccw 13 mm

For Problem 3.31, determine the acceleration of point G and the angular accelerations of links 5 and 6.

Assume 2 = constant. Therefore 2 = 0 .

t AB = A A + An + A BA BA 2 n ABA = 2 RBA = (10 rad/s ) ( 25 mm ) = 2.5 m/s 2 2

n n A C = A B + A CB + A tCB = A D + A CD + A tCD
2 n ACB = VCB / RCB = ( 333.25 mm/s ) / (100 mm ) = 1.11 m/s 2 2

n 2 ACD = VCD / RCD = (166.5 mm/s ) / ( 50 mm ) = 0.56 m/s 2 2

Construct the acceleration image of link 3. Since we know the path of E3 on link 6, we write n t n t A E3 = A E6 + A c E3 E6 + A E3 / 6 + A E3 / 6 and A E6 = A H 6 + E6 H 6 + E6 H 6

2 Ac E3 E6 = 26 VE3 / 6 = 2 ( 3.774 rad/s )( 272.25 mm/s ) = 2.05104.5 m/s ;

62

n AE = VE23 / 6 / E3 / 6 = ( 272.25 mm/s ) / = 0 3 /6 2

n AE = VE26 H 6 RE6 H 6 = (121.5 mm/s ) 32.25 mm = 457.74 mm/s 2 6 H6 2

Construct the acceleration image of link 6. A G = 8785 64.5 mm/s 2

Ans. Ans.

6 =

t AE 6 H6

RE6 H 6

3547.5 mm/s 2 = 110 rad/s 2 cw 32.25 mm

2

n t A F5 = A F6 + A r F5 / 6 = A E5 + A F5 E5 + A F5 E5

n AF = VF25 E5 RF5 E5 = ( 319.5 mm/s ) 5 E5

(13 mm ) = 7.85 m/s2

Ans.

5 =
4.42

t AF 5 E5

RF5 E5

0 in/s 2 = =0 13 mm

Find the inflection circle for motion of the coupler of the double-slider mechanism shown in the figure. Select several points on the centrode normal and find their conjugate points. Plot portions of the paths of these points to demonstrate for yourself that the conjugates are indeed the centers of curvature.

63

4.43

Find the inflection circle for motion of the coupler relative to the frame of the linkage shown in the figure. Find the center of curvature of the coupler curve of point C and generate a portion of the path of C to verify your findings.

Since point C is on the inflection circle; its center of curvature is at infinity; and its point path is a straight line in the vicinity of the position shown.

64

4.44

For the motion of the coupler relative to the frame, find the inflection circle, the centrode normal, the centrode tangent, and the centers of curvature of points C and D of the linkage of Problem 3.13. Choose points on the coupler coincident with the instant center and inflection pole and plot their paths.

65

4.45

On 450- by 600-mm paper, draw the linkage shown in the figure in full size, placing A at 150 mm from the lower edge and 175 mm from the right edge. Better utilization of the paper is obtained by tilting the frame through about 15 as shown. (a) Find the inflection circle. (b) Draw the cubic of stationary curvature. (c) Choose a coupler point C coincident with the cubic and plot a portion of its coupler curve in the vicinity of the cubic. (d) Find the conjugate point C . Draw a circle through C with center at C and compare this circle with the actual path of C. (e) Find Balls point. Locate a point D on the coupler at Balls point and plot a portion of its path. Compare the result with a straight line.

Drawn with a precise CAD system above, the circle around center C matches the coupler curve near C within better than visual comparison can detect for the 30 of crank rotation shown. Similarly, Balls point D follows an almost perfect straight line over the same range as shown.