298 CHAPTER 16 Planar Kinematics of Rigid Bodies

Problems
16.19 At a certain instant, the velocity of end A of the bar AB is 4 m/s in the
B A
60
1 m
4 m/s
Fig. P16.19
direction shown. Knowing that the magnitude of the velocity of end B is 3 m/s,
determine the angular velocity of bar AB.
16.20 The wheel rolls without slipping. In the position shown, the vertical com-
C B
0.18 m
0
.
4
2

m
Fig. P16.20
ponent of the velocity of point B is 4 m/s directed upward. For this position,
calculate the angular velocity of the wheel and the velocity of its center C.
16.21 The disk rolls without slipping with the constant angular velocity .
For the position shown, nd the angular velocity of link AB and the velocity of
slider A.
B
R
A
C
R
45

Fig. P16.21
16.22 The pinion gear meshes with the two racks. If the racks are moving with
the velocities shown, determine the angular velocity of the gear and the velocity
of its center C.
C
90 mm
0.6 m/s
0.8 m/s
150 mm
O
R
B
v
O

Fig. P16.22 Fig. P16.23

16.23 The wheel rolls without slipping to the right with constant angular veloc-
ity. The velocity of the center of the wheel is v
O
. Determine the speed of point B
on the rim as a function of its angular position .
16.24 The arm joining the two friction wheels rotates with the constant angular
B
r
A
r
B
0
A

Fig. P16.24, P16.25

velocity
0
. Assuming that wheel A is stationary and that there is no slipping
between the wheels, determine the angular velocity of wheel B.
16.1916.39 Problems 299
16.25 Solve Prob. 16.24 if wheel A is rotating clockwise with the angular
velocity
A
= 2
0
.
16.26 Gear A of the planetary gear train is rotating clockwise at
A
= 8 rad/s.
Calculate the angular velocities of gear B and the armAB. Note that the outermost
gear C is stationary.
A
A
B
C
24 24 30
Dimensions in mm

B
A
L

Fig. P16.26 Fig. P16.27

16.27 The bar AB is rotating counterclockwise with the constant angular
speed
0
. (a) Find the velocities of ends A and B as functions of . (b) Differ-
entiate the results of part (a) to determine the accelerations of A and B in terms
of .
16.28 End A of bar AD is pushed to the right with the constant velocity
1 m
B
D
A
v
A

Fig. P16.28
v
A
=0.6 m/s. Determine the angular velocity of AD as a function of .
16.29 The angular speed of link AB in the position shown is 2.8 rad/s clockwise.
Compute the angular speeds of links BC and CD in this position.
D
C 60
B A
30
Dimensions in mm
6
0
2.8 rad/s
0.30 m 0.12 m
0
.
1
6

m
A
0.12 m
E
6 rad/s
D
B
Fig. P16.29 Fig. P16.30
16.30 The link AB of the mechanism rotates with the constant angular speed of
6 rad/s counterclockwise. Calculate the angular velocities of links BD and DE in
the position shown.
300 CHAPTER 16 Planar Kinematics of Rigid Bodies
16.31 When the mechanism is in the position shown, the velocity of slider D
375
125
2
2
5
1
5
0
v
D
B
A
D
Dimensions in mm
Fig. P16.31
is v
D
= 1.25 m/s. Determine the angular velocities of bars AB and BD at this
instant.
16.32 When the linkage is in the position shown, bar AB is rotating
counterclockwise at 16 rad/s. Determine the velocity of the sliding collar C in
this position.
B
C
0.40 m
16 rad/s
30
0
.
2
4

m
0
.
3
6

m A
Fig. P16.32
16.33 At the instant shown, end A of the bar ABC has a downward velocity of
C
A
B
0
.5
m
0
.5
m
30
20
Fig. P16.33
2 m/s. Find the angular velocity of the bar and the speed of end C at this instant.
16.34 Bar AB is rotating counterclockwise with the constant angular velocity
B D
A
E
0
30
0
.
2
8

m
0.25 m
0
.
1
4

m

Fig. P16.34

0
= 30 rad/s. Find the angular velocities of bars BD and DE in the position
shown.
16.35 The wheel is rolling without slipping. Its center has a constant velocity
of 0.6 m/s to the left. Compute the angular velocity of bar BD and the velocity of
end D when = 0.
D
0.6 m/s A
B
0
.
2

m
0
.
6

m

D
A
0.36 m
0
.
1
8

m
B
E

Fig. P16.35 Fig. P16.36

16.36 Crank AB rotates with a constant counterclockwise angular velocity of
16 rad/s. Calculate the angular velocity of bar BE when = 60

.
16.6 Instant Center for Velocities 301
16.37 The hydraulic cylinder raises pin B at the constant rate of 30 mm/s.
Determine the speed of end D of the bar AD at the instant shown.
Hydraulic
cylinder
8
0

m
m
1
6
0

m
m
8
0

m
m
A
B
D
30
Fig. P16.37
16.38 In the position shown, the speeds of corners A and B of the right trian-
gular plate are v
A
= 3 m/s and v
B
= 2.4 m/s, directed as shown. Find (a) the
angle ; and (b) the speed of corner D.
4
2
0

m
m
6
4
0
m
m
D
A
B
v
A
v
B
20

B
D
E
A
0
35
0.60 m
0
.
5
0

m
0
.
3
0

m

Fig. P16.38 Fig. P16.39

16.39 Bar DE is rotating counterclockwise with the constant angular velocity

0
= 5 rad/s. Find the angular velocities of bars AB and BDin the position shown.
16.6 Instant Center for Velocities
The instant center for velocities of a body undergoing plane motion is dened to
be the point that has zero velocity at the instant under consideration.
*
This point
may be either in a body or outside the body (in the body extended). It is often
convenient to use the instant center of the body in computing the velocities of
points in the body.
*
Three centers are sometimes used in the kinematic analysis of plane motion: the instant center of
rotation for virtual motion (see Art. 10.6), the instant center for velocities, and the instant center for
accelerations. Each of these points is called simply the instant center when it is clear from the context
which center is being used. The discussion of instant center for velocities presented here parallels the
discussion of instant center of rotation for virtual motion in Art. 10.6.
308 CHAPTER 16 Planar Kinematics of Rigid Bodies
Problems
Note: The following problems are to be solved using instant centers for velocities.
16.40 The end of the cord that is wrapped around the hub of the wheel is pulled
to the right with the velocity v
0
= 0.7 m/s. Find the angular velocity of the wheel,
assuming no slipping.
v
0
0
.
4
5

m
A
0
.
2
4

m
Fig. P16.40
16.41 The wheel rolls without slipping with the angular velocity = 8 rad/s.
0
.
2
5

m
y
x
A

Fig. P16.41
Determine the coordinates of a point B on the wheel for which the velocity vector
is v
B
= 2.4i +0.7j m/s.
16.42 The unbalanced wheel rolls and slips along the horizontal plane. At the
Dimensions in mm
4
0
0
O
G
v
O
= 600 mm/s
= 2 rad/s
200

Fig. P16.42
instant shown, the angular velocity of the wheel and velocity v
O
of its center are
as indicated. Find the magnitude and direction of the velocity of G at this instant.
16.43 A 500-mm diameter wheel rolls and slips on a horizontal plane. The
angular velocity of the wheel is = 12 rad/s (counterclockwise), and the velocity
of the center of the wheel is 1.8 m/s to the left. (a) Find the instant center for
velocities of the wheel. (b) Calculate the velocity of the point on the wheel that is
in contact with the plane.
16.44 Determine the coordinates of the instant center for velocities of the bar
AB in (a) and (b).
90 mm
120 mm
A
B
x
y
(a)
O

B
A
y
x
450 mm
240 mm
(b)

Fig. P16.44
16.4016.60 Problems 309
16.45 Find the coordinates of the instant center for velocities of bar AB in
(a) and (b).
84 mm
B A
y
x
45 60
40 mm
(a)
A
3R
B
R R
No slipping
x
y
(b)
Fig. P16.45
16.46 The arm connected between the centers of gears A and B is rotating
counterclockwise with the angular velocity of 4.8 rad/s. At the same time, A is
rotating at 24 rad/s, also counterclockwise. Determine the angular velocity of B.
B A
1
2
0

m
m
8
0

m
m
Fig. P16.46
16.47 The pinion gear meshes with the two racks. If the racks are moving with
C
90 mm
0.6 m/s
0.8 m/s
150 mm
Fig. P16.47
the velocities shown, determine the angular velocity of the gear and the velocity
of its center C. (Note: This problem was solved as Prob. 16.22 by the method of
relative velocity.)
16.48 Bar AB is rotating counterclockwise at the constant angular velocity of
A
B C
D
0.24 m
0
.
1
2

m
0
.
1
8

m
60
Fig. P16.48
6 rad/s. Determine the angular velocity of bar CD when the mechanism is in the
position shown.
16.49 Sketch the locus of the instant center of velocities of bar AB in
Fig. P16.44(a) as varies from 0

to 90

. (This curve is called a space centrode.)

16.50 The 3-m wooden plank is tumbling as it falls in the vertical plane.
When the plank is in a horizontal position, the velocities of ends A and B are
as shown in the gure. For this position, determine the location of the instant
310 CHAPTER 16 Planar Kinematics of Rigid Bodies
center for velocities, the angular velocity of the plank, and the velocity of the
midpoint G.
3 m
y
x
A
G B
5 m/s
2 m/s
Fig. P16.50
16.51 For the triangular plate undergoing plane motion, v
A
and the direction of
30
30
6
0

m
m
60 mm
6
0

m
m
v
A
= 3 m/s
v
B
B
A
C
Fig. P16.51
v
B
are known. Calculate the angular speed of the plate and the speeds of corners
B and C.
16.52 At the instant shown, the angular velocity of the cylinder, which is rolling
without slipping, is 2 rad/s, counterclockwise. Find the velocity of end B of the
rod that is pinned to the cylinder at A.
A
45
y
x
B
30
0
.
3

m
L
A
B
50
30
Fig. P16.52 Fig. P16.53
16.53 When bar AB is in the position shown, end B is sliding to the right with
a velocity of 0.8 m/s. Determine the velocity of end A in this position.
16.54 Slider C of the mechanism has a constant downward velocity of 0.8 m/s.
A
C
B
0
.
1
8

m
0
.
3
6

m
45
Fig. P16.54
Determine the angular velocity of crank AB when it is in the position shown.
16.55 Bar BC of the linkage slides in the collar D. If bar AB is rotating clock-
wise with the constant angular velocity of 12 rad/s, determine the angular velocity
of BC when it is in the horizontal position shown.
A
B
C
D
60
0.81 m
12 rad/s
0
.
4
5

m
Fig. P16.55
16.4016.60 Problems 311
16.56 Bar BC of the linkage slides in the collar D. If bar AB is rotating clock-
wise with the constant angular velocity of 12 rad/s, determine the angular velocity
of bar BC in the position shown.
A B
C
D
0.30 m
0.40 m
0.35 m
12 rad/s
Fig. P16.56
16.57 When the mechanism is in the position shown, the angular velocity of bar
AB is 72 rad/s, clockwise. For this position, compute the angular velocity of the
plate BCD and the velocity of corner D.
72 rad/s
35
C
D
B
9
0
0

m
m
6
0
0

m
m
6
0
0

m
m
5
0
0

m
m
A
Fig. P16.57
16.58 The crank AB of the mechanism rotates counterclockwise at 8 rad/s.
Calculate the velocities of sliders C and D at the instant shown.
D
B
600 mm
45
60
30
8 rad/s
A C
Fig. P16.58
312 CHAPTER 16 Planar Kinematics of Rigid Bodies
16.59 Bar AB of the mechanism rotates clockwise with the angular velocity
0
.
Compute the angular velocities of bars BD and DE for the position shown.
70
D
A
B
E
b
45
0
b

Fig. P16.59
16.60 When the mechanism is in the position shown, the velocity of the
60 mm
8
0

m
m
O
A
B
1
6
0

m
m
Fig. P16.60
center O of the disk is 0.4 m/s to the right. Assuming that the disk rolls without
slipping, calculate the velocity of the collar B in this position.
16.7 Method of Relative Acceleration
In Arts. 16.5 and 16.6, we analyzed the velocities of points in a rigid body under-
going plane motion. Two methods were presented: the method of relative velocity
and instant centers for velocities. In this article, we introduce the method of rela-
tive acceleration, which employs the equation a
B
= a
A
+ a
B/ A
for two points in
the same rigid body.
Figure 16.12(a) shows a rigid body that is undergoing general plane motion.
The angular velocity and angular acceleration vectors of the body are and ,
respectively. Letting A and B be two points in the body, the acceleration of B with
respect to A is, according to Eqs. (16.8),
a
B/ A
= (a
B/ A
)
n
+(a
B/ A
)
t
(16.14a)
where the normal and tangential components of the relative acceleration are
(a
B/ A
)
n
= ( r
B/ A
) [(a
B/ A
)
n
= r
B/ A

2
]
(a
B/ A
)
t
= r
B/ A
[(a
B/ A
)
t
= r
B/ A
]
(16.14b)
(16.14c)
Substituting Eqs. (16.14) into a
B
= a
A
+a
B/ A
gives
a
B
= a
A
+ ( r
B/ A
) + r
B/ A
(16.15)
322 CHAPTER 16 Planar Kinematics of Rigid Bodies
Problems
16.61 At a given instant, the endpoints of the bar AB have the accelerations
30
8 m/s
2
6 m/s
2
30
2
0
0

m
m
A
B
Fig. P16.61
shown. Determine the angular velocity and angular acceleration of the bar at this
instant.
16.62 The wheel rolls on its 0.36 m-radius hub without slipping. The angular
A
D
0.60 m
0.36 m
Fig. P16.62
velocity of the wheel is 3 rad/s. Determine the acceleration of point D on the rim
of the wheel if the angular acceleration of the wheel is (a) 6.75 rad/s
2
clockwise;
and (b) 6.75 rad/s
2
counterclockwise.
16.63 A string is wrapped around the hub of the spool. A pull at the end of
the string causes the spool to roll on the horizontal plane without slipping. At a
certain instant, the angular velocity and angular acceleration of the spool are as
shown in the gure. For this instant, nd (a) the acceleration of point D on the
spool; (b) the acceleration of point B; and (c) the acceleration a
0
of the end of the
string.
16.64 A string is wrapped around the hub of the spool. A pull at the end of the
string causes the spool to roll and slip on the horizontal plane. At a certain instant,
the angular velocity and angular acceleration of the spool are as shown in the
gure, while the velocity and acceleration of the end of the string are v
0
= 1 m/s
and a
0
=2 m/s
2
, respectively. For this instant, nd the acceleration of (a) point D
on the spool; (b) point A; and (c) point B.
y
x
0.15 m
= 6 rad/s
v
0
, a
0
0.06 m
B
A
D
= 15 rad/s
2

B
A
1
.
2

m

Fig. P16.63, P16.64 Fig. P16.65

16.65 When =30

, the angular velocity of the bar is 2 rad/s counterclock-

A
v
A
, a
A
B 2 m
50 50
Fig. P16.66
wise, and the acceleration of slider B is 8 m/s
2
, directed to the right. Calculate the
acceleration of slider A at this instant.
16.66 When the rod AB is in the horizontal position shown, the velocity and
acceleration of collar A are v
A
=2 m/s and a
A
=6 m/s
2
, directed as shown. Cal-
culate the acceleration of collar B and the angular acceleration of the rod in this
position.
16.6116.82 Problems 323
16.67 The crank AB is rotating clockwise with the constant angular velocity of
20 rad/s. Determine the acceleration of piston C when = 90

.
A
B
C
0
.
1
5

m
0
.
3
0

m

A
B
C
1.5 m
1
.
5

m
1
m
Fig. P16.67 Fig. P16.68
16.68 In the position shown, the angular velocity and angular acceleration
of the bar AB are
AB
=3 rad/s CW and
AB
=12 rad/s
2
CCW. Calculate the
acceleration of roller C in this position.
16.69 When the mechanism is in the position shown, bar AB is rotating with the
angular velocity and angular acceleration , both counterclockwise. Determine
the angular acceleration of bar BC and the acceleration of roller C in this position.
B
C
b
2b
,
A

Fig. P16.69
16.70 Rod AB of the mechanism is sliding to the right with a constant velocity
B
C
A
30
1
6
0

m
m
Fig. P16.70
of 4 m/s. Determine the acceleration of roller C in the position shown.
16.71 When the mechanism is in the position shown, the velocity of the sliding
collar is v
A
= 2 m/s, and it is increasing at the rate of 1.2 m/s
2
. For this position,
calculate the angular accelerations of bars AB and BC.
A
B C 0.6 m
0
.
5

m
0.4 m
v
A
Fig. P16.71
324 CHAPTER 16 Planar Kinematics of Rigid Bodies
16.72 As the hydraulic cylinder elongates, it raises pin B of the mechanism.
30
1
6
0

m
m
8
0

m
m
8
0

m
m
A
E
B
D
Hydraulic
cylinder
Fig. P16.72
When the system is in the position shown, the velocity of pin B is 40 mm/s
upward, and it is increasing at the rate of 80 mm/s
2
. For this instant, determine
the angular accelerations of bars AD and AE.
16.73 Bar AB is rotating clockwise with the constant angular velocity of
20 rad/s. For the position shown, determine the angular accelerations of bars BD
and DE.
0.3 m
0.8 m
0.4 m
E D
B
A
20 rad/s
Fig. P16.73
16.74 The wheel rolls without slipping with the constant clockwise angular
velocity of 0.8 rad/s, as end B of bar AB slides on the ground. Calculate the
acceleration of B in the position shown.
0
.
6

m
O
A
0.8 rad/s
B
1
.5
m
Fig. P16.74
16.75 Bar BC of the mechanism rotates clockwise with the constant angular
velocity of 24 rad/s. Determine the angular accelerations of bars AB and CD in
the position shown.
B C
A D
45 45
0.75 m
0
.
3

m
0
.
3

m
Fig. P16.75
16.76 In the position shown, the angular velocity and angular acceleration of
A
B
C
D
45
0
.
5

m
0.3 m
0
.
3

m
45
Fig. P16.76
bar CD are 6 rad/s and 20 rad/s
2
, respectively, both counterclockwise. Compute
the angular accelerations of bars AB and BC in this position.
16.77 Bar AB of the mechanism rotates with the constant angular velocity of
0.3 m 0.12 m
0
.
1
6

m
A
0.12 m
E
3 rad/s
D
B
Fig. P16.77
3 rad/s counterclockwise. For the position shown, calculate the angular accelera-
tions of bars BD and DE.
16.6116.82 Problems 325
16.78 The wheel rolls without slipping on the horizontal surface. In the posi-
0.6 m
0.8 m
0
.
3

m
A
O
B
G
Fig. P16.78
tion shown, the angular velocity of the wheel is 4 rad/s counterclockwise, and its
angular acceleration is 5 rad/s
2
clockwise. Find the angular acceleration of rod AB
and the acceleration of slider B in this position.
16.79 The disk is rotating counterclockwise with the constant angular speed
of 2 rad/s. For the position shown, nd the angular accelerations of bars AB
and BD.
B
0
.
3

m
2 rad/s
D
A
0.9 m 0.3 m
O
Fig. P16.79
16.80 The arm joining the friction wheels A and B is rotating with the angular
B
A
r
A
= 60 mm
r
B
= 25 mm

Fig. P16.80
velocity = 5 rad/s and the angular acceleration = 12.5 rad/s
2
, both coun-
terclockwise. Assuming that wheel A is stationary and that there is no slipping,
determine the magnitude of the acceleration of the point on the rim of B that is in
contact with A.
16.81 When the mechanism is in the position shown, the angular velocity of the
gear is 2 rad/s clockwise, and its angular acceleration is 4 rad/s
2
counterclockwise.
Determine the angular accelerations of bars AB and BD in this position.
30
O
6
0
A
1
5
0
B
D
60
150
Dimensions in mm
Fig. P16.81
16.82 Bar AB of the mechanism rotates with the constant angular velocity
0
.
6

m
D B
y
x
45
A
E
0
.
8

m
0.5 m
1.2 rad/s
Fig. P16.82
1.2 rad/s clockwise. For the position shown, (a) verify that the angular velocities
of the other two bars are
BD
= 1.358 rad/s counterclockwise and
DE
= 1.131
rad/s clockwise; and (b) determine the acceleration vector of point D.