ch4 PDF

Ch.
4: Plane Kinematics of Rigid Bodies

4.0 Outline
Introduction
Rotation
Absolute Motion
Relative Velocity
Instantaneous Center of Zero Velocity
Relative Acceleration
Motion Relative to Rotating Axes
4.0 Outline
Ch. 4: Plane Kinematics of Rigid Bodies
4.1 Introduction
4.1 Introduction
Kinematics of rigid bodies involves both linear and
angular quantities.
Usage
1. In designing the machines to perform the desired
motion.
2. To determine the motion resulting from the applied force.
A rigid body A system of particles for which the distance
between the particles remain unchanged. Thus there
will be no change in the position vector of any particle
measured from the body-fixed coordinate system.
4.1 Introduction
4.1 Introduction
Plane motion of a rigid body all parts of the body
move in parallel planes. The body then can be treated
as a thin slab with motion confined to the plane of motion;
plane that contains the mass center.
Translation motion in which every line in the body
remains parallel to its original position at all time. That is
there is no rotation of any line in the body. The motion
of the body is completely specified by the motion of
any point in the body, since all points have same motion.
Rectilinear translation all points in the body move in
parallel straight lines of the same distance
Curvilinear translation all points move on parallel curves
of the same distance
4.1 Introduction
Rotation motion in which all particles move in circular
paths about the axis of rotation. All lines in the body
which are perpendicular to the axis of rotation rotate
through the same angle in the same time. Circular
motion of a point helps describe the rotating motion.
General plane motion combination of translation and
rotation. Principle of relative motion helps describe
the general motion.
Approaches
1. Direct calculation of the absolute displacement,
velocity, and acceleration from the geometry
2. Use the principle of relative motion
4.2 Rotation
4.2 Rotation
Rotation of a rigid body is described by its angular motion,
which is dictated by the change in the angular position
(specified by angle measured from any fixed line)
of any line attached to the body.
2 1
2 1
2 1
2 1
All lines on a rigid body in its plane of motion have
the same angular displacement, the same angular velocity,
and the same angular acceleration

= +
=
=
=
` `
`` ``
4.2 Rotation
Angular motion relations
Pick up any line in the plane of motion and associated
it with the angular position coordinate . The angular
velocity and accelerationof a rigid body in plane
rotation are defined.
d d or d d

=
= =
= =
`
``
`
` ` ``
Analogies between the linear and angular motion
4.2 Rotation
Rotation about a fixed axis
All points other than those on the rotation axis move in
concentric circles about the fixed axis. Curvilinear
motion of a point A is related to the angular motion of
the rigid body by the familiar n-t coordinate kinematic
relationship.
t
2
2
n
v r , r constant
a v r
v
a r
r
= =
= =
= =
`
4.2 Rotation
( )
( )
n
t
by vector differentiation, constant
angular velocity of the vector
angular velocity of the rigid body
=
=
=

=
=
v = r = r r
r
a = v = r + r
a r
a r
`
`
Rotation about a fixed axis

4.2 Rotation
P. 5/21 The two V-belt pulleys form an integral unit and rotate about
the fixed axis at O. At a certain instant, point A on the belt
of the smaller pulley has a velocity v
A
= 1.5 m/s, and point B
on the belt of the larger pulley has an acceleration a
B
= 45 m/s
2
as shown. For this instant determine the magnitude of
the acceleration a
C
of point C and sketch the vector
in your solution.
4.2 Rotation
P. 5/21
[ ]
[ ]
[ ]
n
t
pulley A
pulley B
2
t
2 2 2
n C
2
t C
find from v
v r 1.5 0.075, 20 rad/s CW
find from a
a r 45 0.4 , 112.5 rad/s CCW
acceleration at C
a r a 0.36 20 144 m/s
a r a 0.36 112.5 40.5 m/s
a
= = =
= = =
= = =

= = =
n t
2 2 2
C C C
a a 149.6 m/s = + =
a
Cn
a
Ct
4.2 Rotation
P. 5/24 A V-belt speed-reduction drive is shown where pulley A drives
the two integral pulleys B which in turn drive pulley C. If A
starts from rest at time t = 0 and is given a constant angular
acceleration
1
, derive expressions for the angular velocity
of C and the magnitude of the acceleration of a point P
on the belt, both at time t.
4.2 Rotation
P. 5/24
( )
[ ]
n
t
n t
2
1 1
A 1 B 1 C 1
2 2
2
1 1
A 1 B 1 C 1
2 2
4
2
2
1
n P 2 1
2
2
1
t P 2 1
2
4
2
2 2
1 1
P P P 1
2 2
r r d
t, t, t
dt r r
r r
, ,
r r
r
a r a r t
r
r
a r a r
r
r r
a a a 1
r r

= = = =

= = =

= =

= =

= + = +

2 4
1
t
4.3 Absolute Motion
4.3 Absolute Motion
It is an approach to the kinematics analysis. It starts
with the geometric relations that define the configuration
involved. Then, the time derivatives of the relations are
done to obtain velocities and accelerations. The +/-
sense must be kept consistent throughout the analysis.
If the geometric configuration is too complex, resort to
the principle of relative motion is recommended.
4.3 Absolute Motion
SP. 5/4 A wheel of radius r rolls on a flat surface w/o
slipping. Determine the angular motion of the
wheel in terms of the linear motion of its center
O. Also determine the acceleration of a point
on the rim of the wheel as the point comes into
contact with the surface on which the wheel rolls.
SP. 5/4
O O
O
For ROLLING w/o SLIPPING only:
displacement of the center O arc length along the rim of the wheel
distance s arc C'A s r
time derivatives: v r and a r
v velocity of the of the wheel roll center O

=
= =
= =
= ing w/o slipping
angular velocity of the wheel rolling w/o slipping
DO NOT mix up the rolling motion with the rotation about a fixed axis
Set up a fixed coordinate system originated at
the point of cont
=
( ) ( )
act between the rim and the ground.
Trajectory of a point C on the rim is a cycloidal path.
x-y coordinates of point C at arbitrary position C' is
x s rsin r sin y r rcos r 1 cos
time derivatives:
= = = =
`
( ) ( )
( ) ( )
O O
2
O O O
2
O O O
2
x r 1 cos v 1 cos y r sin v sin
x v 1 cos v sin a 1 cos r sin
y v sin v cos a sin r cos
when point C comes to contact, 0
x 0, y 0, x 0, and y r

= = = =
= + = +
= + = +
=
= = = =
` `
`
`
`` `
`
`` `
` ` `` ``
4.3 Absolute Motion
SP. 5/5 The load L is being hoisted by the pulley and cable arrangement
shown. Each cable is wrapped securely around its respective
pulley so it does not slip. The two pulleys to which L is attached
are fastened together to form a single rigid body. Calculate the
velocity and acceleration of the load L and the corresponding
angular velocity and angular acceleration of the double
pulley under the following conditions:
Case (a) Pulley 1:
1
= 0,
1
= 0
(pulley at rest)
Pulley 2:
2
= 2 rad/s
2
= -3 rad/s
2
Case (b) Pulley 1: 1 = 1 rad/s
1
= 4 rad/s
2
Pulley 2:
2
= 2 rad/s
2
= -2 rad/s
2
4.3 Absolute Motion
SP. 5/5
( )
displacement, velocity, and acceleration of
a point on the rim of the wheel equal the corresponding
motion of the points on the wrapped no-slip, inextensible cable.
a During time dt, line AB
Tangential
( )
( )
( )
2
B D 2 2 B D 2 2
t
A
on the integral pulley
moves to AB' through angle d . New tangential position
of point A and B are determined from the motion induced by the cable.
v v r 0.2 m/s and a a r 0.3 m/s
ds 0
= = = = = =
=
( )
B B B
t
O O O
left cable does not move
ds d v a
AB' maintains straight and point O has absolute motion in vertical direction:
ds d v a
0.2/ 0.3 2/3 rad/s CCW, 0.3/ 0.3 1
AB AB AB
AO AO AO

= = =
= = =
= = = =
2
2
O O
rad/s CW
v 0.1 2/3 0.0667 m/s and a 0.1 1 0.1 m/s = = = =
4.3 Absolute Motion
SP. 5/5
( )
( )
( )
2
A C 1 1 A C 1 1
t
B D
b During time dt, line AB moves to A'B' through angle d .
New tangential position of point A and B are determined
from the motion induced by the cable.
v v r 0.1 m/s and a a r 0.4 m/s
v v
= = = = = =
=
( )
( ) ( )
( )
( ) ( )
2
2 2 B D 2 2
t
B A B A B A
t t
O A O A O A
t
2
O
r 0.2 m/s and a a r 0.2 m/s
ds ds d v v a a
ds ds d v v a a
0.2 0.1 /0.3 1/3 rad/s CCW, 0.2 0.4 /0.3 2 rad/s CW
v 0.1 0.1 1/3 0.133
AB AB AB
AO AO AO

= = = = =
= = =
= = =
= = = =
= + =
2
O
m/s and a 0.4 0.1 2 0.2 m/s = + =
4.3 Absolute Motion
P. 5/28 The telephone-cable reel rolls w/o slipping on the horizontal
surface. If point A on the cable has a velocity v
A
= 0.8 m/s
to the right, compute the velocity of the center O and the
angular velocity of the reel. (Be careful not to make the
mistake of assuming that the reel rolls to the left.)
4.3 Absolute Motion
P. 5/28
O
rolling w/o slipping: velocity at the contact point 0
no slippage at the inner hub: velocity of the rim velocity of the wrapped cable
OC remains straight and determines the angular motion
v 0.8
,
0.9 0.6
=
=
=
[ ]
O
O
v 1.2 m/s
1.2
v r 1.333 rad/s CW
0.9

=
= = =
C
Vo
Va = 0.8 m/s
4.3 Absolute Motion
P. 5/40 The cable from drum A turns the double wheel B, which rolls
on its hubs w/o slipping. Determine the angular velocity
and angular acceleration of drum C for the instant when
the angular velocity and angular acceleration of A are 4 rad/s
and 3 rad/s
2
, respectively, both in the CCW direction.
4.3 Absolute Motion
P. 5/40
[ ]
[ ] ( )
( )
A
2
t A
t
2
B B
C
2
C
t
2
C C
v r v 0.2 4 0.8 m/s
a r a 0.2 3 0.6 m/s
0.8 0.6
4/3 rad/s CW 1 rad/s CW
0.6 0.6
v 4/3 0.2 0.267 m/s
a 1 0.2 0.2 m/s
0.267 0.2
4/3 rad/s CCW 1 rad/s
0.2 0.2

= = =
= = =
= = = =
= =
= =
= = = = CCW
Va
Vc
4.3 Absolute Motion
P. 5/44 The rod OB slides through the collar pivoted to
the rotating link at A. If OA has an angular
velocity = 3 rad/s for an interval of motion,
calculate the angular velocity of OB when
= 45.
y
4.3 Absolute Motion
P. 5/44
given: 45 , 3 rad/s, 0.2 m/s
geometric relation:
ysin sin 0 and cos ycos 0.4
solve for y 0.2947 m and 28.675
diff w.r.t. time:
ysin y cos cos 0
sin ycos y sin 0
y
CA
CA CA
CA
CA

= = =
= + =
= =
+ =
+ =
`
` `
`
` `
`
` 0.576 m/s and 0.572 rad/s = =
`
4.3 Absolute Motion
P. 5/52 Show that the expressions v = rand a
t
= rhold for the
motion of the center O of the wheel which rolls on the concave
or convex circular arc, where and are the absolute
angular velocity and acceleration, respectively, of the wheel.
(Hint: Follow the sample problem and allow the wheel to roll
a small distance. Be very careful to identify the correct
absolute angle through which the wheel turns in each case
in determining its angular velocity and angular acceleration.)
4.3 Absolute Motion
P. 5/52
( ) ( )
( )
( ) ( )
( )
( )
t
concave arc
geometry: angular motion of the wheel
rolling distance R r 1
motion of the center O s R r
rearrange 1 to give R r r
v s R r r r
a v R r r r
convex arc
geometry: a
=
= = +
= =
=
= = = =
= = = =
=
` `
`
``
` `
( ) ( )
( )
( ) ( )
( )
( )
t
ngular motion of the wheel
rolling distance R r 2
motion of the center O s R r
rearrange 2 to give R r r
v s R r r r
a v R r r r
independent of the curvature, R, of the terrain!

= =
= = +
+ =
= = + = =
= = + = =
` `
`
``
` `
4.3 Absolute Motion

P. 5/53 The Geneva wheel is a mechanism for producing intermittent
rotation. Pin P in the integral unit of wheel A and locking plate
B engages the radial slots in wheel C thus turning wheel C
one-fourth of a revolution for each revolution of the pin. At the
engagement position shown, = 45. For a constant CW
angular velocity
1
= 2 rad/s of wheel A, determine the
corresponding CCW angular velocity
2
of the wheel C
for = 20. (Note that the motion during engagement is
governed by the geometry of triangle O
1
O
2
P with changing .)
4.3 Absolute Motion

P. 5/53
1 2
1
1 2 1
2
2
triangle OO P:
1
sin
sin
2
tan
1
cos
1 cos
2
1 1 1 1
1 cos cos sin sin
2 2 2 2
sec
1
1 cos
2
given: 20 , 2 rad/s, 0
35.783 , 1.923 rad/s
O P
OO O P

= =

= = =
= =
` `
`
` ``
`
4.3 Absolute Motion
P. 5/54 The rod AB slides through the pivoted collar
as end A moves along the slot. If A starts from
rest at x = 0 and moves to the right with a
constant acceleration of 0.1 m/s
2
, calculate
the angular acceleration of AB at the instant
when x = 150 mm.
0.15 m
4.3 Absolute Motion

P. 5/54
( )
2
2
2
2 2
x 0.1 m/s constant
x 0.1t x 0.05t
geometry: x 0.2tan
x 0.2 sec
x 0.2 sec 0.2 2 sec tan
at x 0.15 m, t 3 sec x 0.1 3 and x 0.1
at that posture, tan 3/ 4 sec 5/ 4
0.554 ra
=
= =
=
=
= +
= = = =
= =
=
``
`
`
`
`` ` `
``
` ``
`
2
d/s and 0.1408 rad/s =
``
4.3 Absolute Motion
P. 5/55 The punch is operated by a simple harmonic
oscillation of the pivoted sector given by
where the amplitude is
and the time for one complete
oscillation is 1 second. Determine the
acceleration of the punch when (a) = 0
and (b) = /12.
O
sin2 t =
( )
O
/12 rad 15 =
y
4.3 Absolute Motion
P. 5/55
( )
2
O O O
2 2 2
2
2
O
sin2 t, 2 cos2 t, 2 sin2 t
0.1 y 0.14 0.28ycos
0 2yy 0.28ycos 0.28y sin
0 2y 2yy 0.28ycos 0.28y sin
0.28y sin 0.28y sin 0.28y cos
when 0, t 0, 2

= = =
= +
= +
= + +
+ + +
= = =
` ``
`
` `
`
` `` `` `
` `` `
`
`
( )
2
2
O
2
, 0
y 0.24, 0.04
y 0, y 0.909 m/s
when /12, t 1/ 4, 0, 2
y 0.2284, 0.042
y 0, y 0.918 m/s

=
=
= =
= = = =
=
= =
``
` ``
` ``
` ``
4.3 Absolute Motion
P. 5/56 One of the most common mechanisms is the
slider-crank. Express the angular velocity
AB
and angular acceleration
AB
of the connecting
rod AB in terms of the crank angle for a given
constant crank speed
O
. Take
AB
and
AB
to be positive counterclockwise.
4.3 Absolute Motion

P. 5/56
O
O O
2
2
2
2 2
2
2 2 2
2
O
2
2
2
given: , 0
geometry: sin sin
diff w.r.t. time: cos cos
cos cos
cos
1 sin
cos sin cos sin
1
sin sin
sin
cos
1 sin
l r
l r
r r
l l
r
l
l l r r
r
r l r
l
l l
r
l

= =
=
=
= =
= =
` ``
` `
`
`` ` `` `
` `
``
3/2

4.3 Absolute Motion
4.4 Relative Velocity
Principle of relative motion is another way to solve the
kinematics problems. This method is usually suitable to
the complex motion as it is more scalable.
Velocity propagation in the rigid body
Refer to Chapter 2, the relative velocity equation using
the non-rotating reference frame is
Let the two points, A and B, are on the same rigid body.
The consequence of this choice is that the motion of
one point as seen by an observer translating with the
other point must be circular since the radial distance
to the observed point from the reference point does not
changed.
A B A/B
= + v v v
Movement of the rigid body is partitioned into two parts:
translation and rotation. In the figure, after the translation
of the rigid body, expressed by the motion of B, the body
appears to undergo fixed-axis rotation about B
with A executing circular motion as shown in (b). Hence
the relationship for circular motion describes the relative
portion of As motion.
A B A/B
A/B B/A
A/B
With B as the reference point, total displacement of A is
has the magnitude r as 0
** Relative linear motion is accompanied by the
absolute angular motion as seen fro

= +
=
r r r
r r
r
A B A/B
A/B
A/B A/B A/B A/B A/B
m the translating axes x'-y'.
If distance r between A and B is constant, is the velocity
of the circular motion. That is
v r
absolute angular velocit
AB
+
= =
=
v = v v
v
v r v
y of rigid body
translational
motion
rotational
motion
general
motion
Velocity propagation among rigid bodies
Refer to Chapter 2, the relative velocity equation using
the non-rotating reference frame is
This time point A and B are coincident points on different
rigid bodies for the instant. In this case, the distance
between two points are not constrained to be fixed,
even it is zero at the instant.
A B A/B
= + v v v
Point A is on the red linkage.
Point B is on the blue linkage.
They are, at the instant, coincided
and are at the position of the pin
in the slot.
Methods in solving the relative velocity equation
1. Vector algebra approach
2. Graphical analysis approach
3. Vector/Graphic approach
** Sketch of the vector polygon representing the vector
equation is helpful!
Vector algebra approach
Write each term in terms of i- and j-components two
scalar equations at most two unknowns.
A B A/B
= + v v v
Graphical analysis approach
Known vectors are constructed using a convenient scale.
Unknown vectors which complete the polygon are then
measured directly from the drawing. This is suitable when
the vector terms result in an awkward math expression.
Vector/Graphic approach
Scalar component equations may be written by projecting
the vectors along convenient directions. Simultaneous
equations may be avoided by a careful choice of
the projections.
SP. 5/7 The wheel of radius r = 300 mm rolls to the
right w/o slipping and has a velocity v
o
= 3 m/s
of its center O. Calculate the velocity of point
A on the wheel for the instant represented.
SP. 5/7
[ ]
[ ]
[ ]
[ ]
[ ]
A O A/O
A/O A/O
O
A C A/C
C
A/C A/C
A
v / r 3/0.3 10 rad/s CW
for rolling w/o slipping wheel
v 4.36 m/s 23.4

+
=
= = =
+
=
=
=
v = v v
v r
v = v v
v 0
v r
X

SP. 5/10 The power screw turns at a speed that gives
the threaded collar C a velocity of 0.25 m/s
vertically down. Determine the angular
velocity of the slotted arm when = 30.
SP. 5/10
A/B
A B A
point A on the slotted arm, point B on the collar
A and B coincide at 30
Because of the sliding contact constraint from the slot,
has the direction along the slot (away from O for CCW ).
=
+
v
v = v v
[ ]
/B A
A
v 0.25cos30 0.217
v / 0.417 rad/s CCW OA
= =
= =
Imagine B immobile,
A will be seen moving
radially outward from O
along the slot.
P. 5/72 The rotation of the gear is controlled by the horizontal motion
of end A of the rack AB. If the piston rod has a constant velocity
300 mm/s during a short interval of motion, determine the
angular velocity of the gear and the angular velocity of AB
at the instant when x = 800 mm.
P. 5/72
( )
C
C is the point on the rack AB at where
the line AB made a contact with the pitch of the gear
point C is constrained to have the same velocity
as the coincident point on the gear but not acceleration
v
[ ] ( )
1
C A C/A
C O O
2 2
C/A AB AB
sin 0.2/ 0.8 14.48
v 0.3cos 0.2 1.45 rad/s CW
v 0.3sin 0.8 0.2 0.0968 rad/s CCW
OC
= + = =
= = =
= = =
v v v
A
C
O
v
A
v
C
v
C/A

P. 5/77 The flywheel turns CW with a constant speed of 600 rev/min,
and the connecting rod AB slides through the pivoted collar
at C. For the position of = 45, determine the angular
velocity of AB by using the relative velocity relations.
(Choose a point D on AB coincident with C as a reference
point whose direction of velocity is known.)
P. 5/77
[ ]
[ ] ( )
D C D/C D D/C
A D A/D A
A/D A AB
D point on linkage AB that coincides with pivot point C on collar
along the slot and pointing out of point A
v 0.2 600 2 / 60 12.566 m/s
v v sin59.63 10.84 0.56
=
= + =
= + = =
= = =
v v v v v
v v v
AB
19.36 rad/s CW =
O
A
D
0.2 m
0.4 m
0.56 m
14.63
v
D
v
A/D
v
A
P. 5/85 The Geneva mechanism is shown again here. By relative
motion principles, determine the angular velocity of wheel C
for = 20. Wheel A has a constant CW angular velocity
1
= 2 rad/s.
P. 5/85
( )
P Q P/Q P/Q 2
P
Q P 2 2
P is the point on wheel A at the knob
Q is the point on the wheel C, coincident with P when 20
along the slot pointing to O
v 2 0.2/ 2 0.283 m/s
v v sin34.355 0.083 1.

=
= +

= =
= = =
v v v v
924 rad/s CCW
O
1
O
2
P, Q
0.083 m
20
35.6
v
Q
v
P/Q
v
P
34.35
P. 5/88 At the instant represented, a = 150 mm and b =
125 mm, and the distance a+b between A and C
is decreasing at the rate of 0.2 m/s. Determine
the common velocity v of points B and D
for this instant.
53.13 67.38
P. 5/88
[ ]
[ ]
B A B/A
D C D/C
B D
A C
B B
constraint:
a b 0.2 block A and C become closer
and from the mechanism, A moves to the right and B to the left
0.2 m/s
from the velocity diagram
v v
0
tan22.62 tan36.87
= +
= +
=
+ =
=
+ =
v v v
v v v
v v
v v i
`
`
B
.2, 0.0536 m/s = v j
v
A
v
C
v
B
, v
D
v
B/A
v
D/C
P. 5/89 The wheel rolls w/o slipping. For the instant
portrayed, when O is directly under point C,
link OA has a velocity v = 1.5 m/s to the right
and = 30. Determine the angular velocity
of the slotted link.
15
124 mm
23.78
v
P/Q
v
P
v
Q
P. 5/89
[ ]
( )
O O O
P O
P Q P/Q P/Q
v r 1.5 0.1, 15 rad/s CW
v 2 0.1cos15 2.9 m/s
P is the point at the pin on the disk
Q is the coincident point on the slotted arm
directs along the slot outward po

= = =
= =
= +

v v v v
( )
Q P
C
int C
v v cos 15 23.78 2.26 m/s
2.26/ 0.124 18.23 rad/s CCW
= + =
= =
P. 5/90 Ends A and C of the connected links are controlled by the
vertical motion of the piston rods of the hydraulic cylinders.
For a short interval of motion, A has an upward velocity of
3 m/s, and C has a downward velocity of 2 m/s. Determine
the velocity of B for the instant when y = 150 mm.
36.87
60
P. 5/90
( ) ( )
B C B/C A B/A
B/C B/A
B/C B/A
2 2
2
B/C B/A B
B
from the velocity diagram
v v 5
sin60 sin96.87 sin23.13
v 5.732 m/s and v 2.268 m/s
v sin23.13 3 v cos83.13 v
v 3.97 m/s directed along the dotted arrow
= + = +
= =
= =
+ + =
=
v v v v v
23.13
96.87
3 m/s
2 m/s
v
C
v
A
v
B/A
v
B/C
v
B
4.5 Instantaneous Center of Zero Velocity (ICZV)
4.5 ICZV
Principle of relative motion find the velocity of a point
on a rigid body by adding the relative velocity, due to
rotation about a reference point, to the velocity of the
reference point. If the reference point has zero velocity
momentarily, the body may be considered to be in pure
rotation about an axis, normal to the plane of motion,
passing through this point. This point is called ICZV,
which aids in visualizing and analyzing velocity in plane
motion.
ICZV has zero velocity but not acceleration not ICZA
4.5 ICZV
Point A and B, instantaneously, have absolute circular motion about point C
C = ICZV = instantaneous center of rotation
C may not be on the body physically, visualized as lying on the extended body
ICZV is not a fixed point in the body nor a fixed point in the plane
= v
A
/r
A
= v
B
/r
B
, v
B
= (r
B
/r
A
)v
A
If the body translates only, ICZV is at infinity along the perpendicular line
to the velocity
P. 5/113 Vertical oscillation of the spring-loaded plunger F is controlled
by a periodic change in pressure in the vertical hydraulic
cylinder E. For the position = 60, determine the angular
velocity of AD and the velocity of the roller A in its horizontal
guide if the plunger F has a downward velocity of 2 m/s.
v
F
v
D
v
A
v
B
ICZV
4.5 ICZV
P. 5/113
B
A
D
D
D AD
is forced to move downward by the hydraulic
is forced to move horizontally by the guide
ICZV is at point C
plunger moves down 2 m/s
vertical component of is 2 m/s downward
v 2/ cos30 2
CD
= =
v
v
v
v
( )
( )
AD
A AD
0.1cos30 , 13.33 rad/s CW
v 0.2sin60 2.309 m/s, to the right
=
= =
4.5 ICZV
P. 5/116 Determine the angular velocity of the ram head AE of the
rock crusher in the position for which = 60. The crank
OB has an angular speed of 60 rev/min. When B is at the
bottom of its circle, D and E are on a horizontal line through F,
and lines BD and AE are vertical. The dimension are
OB = 100 mm, BD = 750 mm, and AE = ED = DF =375 mm.
Carefully construct the configuration graphically, and use
the method of Art. 5/5.
4.5 ICZV
P. 5/116
ICZV
BD
ICZV
DE
v
D
v
B
v
E
l
1
l
4
l
3
l
2
4.5 ICZV
P. 5/116
Home position of the machine
375
375 375
750
100
475
850
4.5 ICZV
P. 5/116
Graphical method is the best way for this problem!
Here we show the vector/graphic approach
from the initial and current posture,
between point O and F:
100sin60 750cos 375cos 375
100cos60 750sin 375si

+ =
+ + n 850
by the help of complex exponent, 85.85 , 23.9
between point O and A:
375cos 375cos 750cos 100sin60 375
375sin 375sin 750sin 100cos60 475
by the help of complex exponent, 81.04 , 21.4

=
= =
+ + =
+ + =
= = 9
4.5 ICZV
P. 5/116
1 2
1 2
1 2
3 4
4 4
3 4
find distance from ICZV to point of interest
sin30 100cos60 750sin sin
cos30 cos 750cos 100sin60
773.63 mm, 768.2 mm
cos cos 375cos
sin sin 375sin
435.8 mm, 317.8 mm
l l
l l
l l
l l
l l
l l

= +
= +
= =
= +
=
= =
( )
B 1 BD BD
D BD 2 3 DE DE
E DE 4 AE AE
v 60 100 100 , 6.868 rev/min CW
v 5276 mmrev/min , 12.1 rev/min CW
v 375, 10.26 rev/min 1.07 rad/s CW
l
l l
l

= = + =
= = = =
= = = =
-
4.5 ICZV
P. 5/117 The shaft at O drives the arm OA at a clockwise speed of
90 rev/min about the fixed bearing at O. Use the method of
ICZV to determine the rotational speed of gear B (gear teeth
not shown) if (a) ring gear D is fixed and (b) ring gear D
rotates CCW about O with a speed of 80 rev/min.
4.5 ICZV
P. 5/117
( )
gear link
gearA gearB
gearA gearD
A A
C C
D D
Motion of gear A is constrained by
1. motion of link OA at point A: v v
2. motion of the leftmost point on the rim: v v
3. motion of the rightmost point on the rim: v v
a
=
=
=
( )
( )
A
C B B
A D
C B B
ring gear D is fixed
v 90a
v 2 90a a/2, 360 rev/min CW
b ring gear D rotates 80 rev/min CCW
3a
v 90a , v 80 120a
2
10/7
v 90a a/2, 600 rev/min CW
3/7

=
= = =

= = =

= = =
90a
90a
120a
4.5 ICZV
P. 5/118 The large roller bearing rolls to the left on its outer race with
a velocity of its center O of 0.9 m/s. At the same time the
central shaft and inner race rotate CCW with an angular
speed of 240 rev/min. Determine the angular velocity of
each of the rollers.
0.9 m/s
0.3566 m/s
0.18 m/s
x
4.5 ICZV
P. 5/118
[ ]
O
i
O
v 0.9 m/s
240 rev/min 8 rad/s CCW
0.9
v r ICZV of the inner race is m lower to point O
8
velocity of the point on the roller contacting w/ inner race
0.9
8 0.05 0.3566 m/s
8
0.9
0.125

=
= =
=

= =

=
roller
7.2 rad/s CCW
velocity fo the point on the roller contacting w/ the outer race
7.2 0.025 0.18 m/s
0.18 x
by similar triangle, , x 16.77 mm
0.3566 0.05 x
0.18/ x 10.732 rad/s CW
=
= =
= =
= =
4.5 ICZV
4.6 Relative Acceleration
Relative acceleration relationship with nonrotating
reference axes can be obtained from differentiating
the relative velocity relation w.r.t. time:
is the acceleration that A appears to have to a
nonrotating observer moving with B.
If A and B are two points on the same rigid body in plane
motion, the distance between them remains constant
so that the observer moving with B perceives A to have
circular motion about B.
A B A/B
= + a a a
A/B
a
Therefore, relative acceleration term can be partitioned
into the normal component, directed from A toward B
due to the change of direction of , and the tangential
component, perpendicular to AB due to change in
magnitude of .
( ) ( )
( ) ( ) ( )
( ) ( )
A B A/B A/B
n t
2 2
A/B A/B A/B
n n
A/B A/B A/B
t t
, a r v / r
, a r v

= + +
= = =
= = =
a a a a
a r
a r
`

A/B
v
A/B
v
Methods in solving the relative acceleration equation
1. Vector algebra approach
2. Graphical analysis approach
3. Vector/Graphic approach
** Sketch of the vector polygon representing the vector
equation is helpful!
Vector algebra approach
Write each term in terms of i- and j-components two
scalar equations at most two unknowns.
A B A/B
= + a a a
Graphical analysis approach
Known vectors are constructed using a convenient scale.
Unknown vectors which complete the polygon are then
measured directly from the drawing. This is suitable when
the vector terms result in an awkward math expression.
Vector/Graphic approach
Scalar component equations may be written by projecting
the vectors along convenient directions. Simultaneous
equations may be avoided by a careful choice of
the projections.
Because a
n
depend on velocities, normally it is required
to solve for the velocities before the acceleration
calculation can be made.
P. 5/140 If the wheel in each case rolls on the circular surface w/o
slipping, determine the acceleration of the point C on the
wheel momentarily in contact with the circular surface.
The wheel has an angular velocity and an angular
acceleration .
P. 5/140
[ ] ( )
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
C
C O C/O O O
t
C O O C/O C/O
t n t n
2 2
2 2
2 2
C
C O O C/O C/O
t n t n
2 2
v 0 because no slipping
and r , r
a
r R
r r r r
R r R r
R
r r
R r
b
r
r
R r

=
= + = =
= + + +

=

= >

= + + +
=
+
a a a v i a i
a a a a a
i + j i + j = j
a
a a a a a
i j
2 2
2 2
C
R
r r r
R r
R
r r
R r

+

= <

+

i + j = j
a
P. 5/144 The simplified clam-shell bucket is shown. With the block
at O considered fixed and with the constant velocity of the
control cable at C equal to 0.5 m/s, determine the angular
acceleration of the right-hand bucket jaw when = 45
as the bucket jaws are closing.
P. 5/144
ICZV
574.24 mm
67.5
62.155
50.345
sketch diagram
0.2604
(a
B/C
)
t
(a
B
)
t
0.0782
50.345
22.5
correct diagram
P. 5/144
( )
BC
B BC
BO B
B
velocity analysis use ICZV
locate ICZV of the right jaw: tan50.345 692.78 mm
0.5/ 0.7212 rad/s CW closing
v /cos50.345 0.2165 m/s
v / 0.361 rad/s CCW
acceleration analysis
CD CO
CD
CO BO
BO
= =
= =
= =
= =
a
[ ] ( ) ( ) ( ) ( )
( ) ( )
( ) ( )
( )
C B/C B B B/C B/C
n t n t
2 2 2 2
B/C BC B BO
n n
B/C B
t t
B/C
t

a 0.2604 m/s a 0.0782 m/s
horizontal direction:
0.2604cos22.5 a sin22.5 a cos50.345 0.0782sin50.345 0
vertical direction:
0.2604sin22.5 a cos22
BC BO
= + + = +
= = = =
+ =
a a a a a a
( )
( ) ( ) ( )
B
t
2 2
B/C B
t t
2
BC
.5 a sin50.345 0.0782cos50.345 0
a 0.049 m/s wrong direction a 0.2532 m/s
0.049/0.5 0.098 rad/s CW
+ =
= =
= =
P. 5/145 The mechanism where the flexible band F attached to the
sector at E is given a constant velocity of 4 m/s as shown.
For the instant when BD is perpendicular to OA, determine
the angular acceleration of BD.
P. 5/145
[ ]
OA
A OA
D A D/A D A D
D/A A D/A
BD D
point E moves in circular path about O with velocity 4 m/s
4
20 rad/s CCW
0.2
v 0.125 2.5 m/s
velocity analysis
v / v 3/ 4, v 1.875 m/s
v / v 5/ 4, v 3.125 m/s
v / 0.25 7.5
= =
= =
= + = =
= =
= =
v v v
[ ]
( )
( )
( ) ( )
AD D/A
2 2
D A D/A A
2 2
D/A
n
2 2
D
n
D/A D
t t
rad/s CCW, v / 0.25 12.5 rad/s CCW
a 0.125 20 50 m/s
a 0.25 12.5 39.0625 m/s
a 0.25 7.5 14.0625 m/s
and
from the polygon,
39.062
AD BD
= =
= + = =
= =
= =

a a a
a a
( ) ( )
( ) ( ) ( )
( ) ( )
2
D/A D/A
t t
2
D/A D D
t t t
D/A D 2 2 t t
AD BD
3 4
5 a 14.0625 0, a 11.72 m/s
5 5
4 3
39.0625 a a 50 0, a 11.72 m/s
5 5
a a
46.875 rad/s CCW, 46.875 rad/s CW
0.25 0.25

= =
+ + = =
= = = =
v
A
(4)
v
D/A
(5)
v
D
(3)
P. 5/147 Elements of the switching device are shown. If the velocity v
of the control rod is 0.9 m/s and is slowing down at the rate
of 6 m/s
2
when = 60, determine the magnitude of the
acceleration of C.
ICZV
v
B
v
A
P. 5/147
acceleration diagram
60
P. 5/147
[ ]
( )
AB
A B A/B
A/B
t
velocity analysis by ICZV of linkage ABC
0.9
13.856 rad/s CCW
0.075cos30
see the acceleration diagram
vertical direction:
6 14.4sin30 a sin60 0
horizontal directi
= =
= +
+ =
a a a
( )
( )
( )
[ ] ( ) ( )
( ) ( )
A A/B
t
2 2
A/B A
t
A/B
2
t
AB
2 2
C B C/B C/B C/B
t n
C
on:
a 14.4cos30 a cos60
a 15.242 m/s a 20.09 m/s
a
203.227 rad/s CW
a 15.242 m/s a 14.4 m/s
14.4cos30 15.242cos60 6 14.4sin30 15.242sin60
20.09 12.0
AB
= +
= =
= =
= + = =
= + +
a a a
a i + j
= i +
2
C
, a 23.4 m/s = j
P. 5/149 An oil pumping rig is shown in the figure. The flexible pump
rod D is fastened to the sector at E and is always vertical as
it enters the fitting below D. The link AB causes the beam
BCE to oscillate as the weighted crank OA revolves. If OA
has a constant CW speed of 1 rev every 3 s, determine the
acceleration of the pump rod D when the beamand the crank
OA are both in the horizontal position shown.
P. 5/149
ICZV
v
A
v
B
P. 5/149
78.1
= 11.9 16.7
= 16.7
P. 5/149
( )
OA
A OA
AB A
B AB
CE
2 2 2 2
1/3 rev/s 2 /3 rad/s CW const
velocity analysis
v 0.4 m/s
find the ICZV of linkage AB see the figure
v /10.1 0.04 rad/s CW
v 9.92
0.398 rad/s CW
0.9 3 0.9 3
acceleration ana
OA

= =
= =
= =
= = =
+ +
[ ]
( ) ( )
( ) ( )
( )
B A B/A
B/A B
t t
B/A B
t t
B/A
lysis
see the acceleration polygon
horizontal direction:
2.632 0.046cos78.1 a cos11.9 a sin16.7 0.496cos16.7 0
vertical direction:
0.046sin78.1 a sin11.9 a cos16.7 0.496sin16.7 0
a
= +
=
+ + =
a a a
( )
( )
( )
2 2
B
t t
B 2 t
CE
2 2
2
D E CE
t
2.036 m/s a 0.54 m/s
a
0.1724 rad/s CW
0.9 3
a a 3.3 0.569 m/s
= =
= =
+
= = =
P. 5/150 An intermitten-drive mechanism for perforated tape F consists
of the link DAB driven by the crank OB. The trace of the
motion of the finger at D is shown by the dotted line.
Determine the acceleration of D at the instant shown when
both OB and CA are horizontal if OB has a constant CW
rotational velocity of 120 rev/min.
P. 5/150
P. 5/150
[ ]
OB
OB
A
AC
2
B
A B A/B B
2
120 4 rad/s CW const
60
from the velocity direction of point A and B, ICZV is at
linkage AB translates downward with velocity 0.628 m/s
v
5.0265 rad/s CW
v
a 7
OB
AC
OB
= =
= =
= =
= + = = a a a
( )
( )
( ) ( )
( )
[ ] ( )
( )
2
2
2
A
A
n
A/B
n
2
A/B
t
A/B 2 t
AB
D B D/B D/B
n
D/B AB
t
.896 m/s
v
a 3.158 m/s
a 0 no rotation at this moment
a 7.896 3.158 / cos14.4775 4.893 m/s
a
24.467 rad/s CW
a 0 no rotation at this moment
a
AC
AB
B
= =
=
= =
= =
= + =
=
a a a
( ) ( )
2
D
2 2
D
7.34 m/s
7.896 7.34cos14.4775 7.34sin14.4775
0.789 1.835 m/s a 1.997 m/s
D =
= +
+ =
a i + j
= i j
4.7 Motion Relative to Rotating Axes
So far, and are measured from nonrotating
reference axes. However, there are many situations
where motion is generated within or observed from a
system that itself is rotating. In these cases, the solution
is greatly facilitated by the use of rotating reference axes.
An example is the motion of the fluid particle along the
curved vane of a rotating pump.
Consider two particles A and B moving independently
in plane motion. Motion of A is observed from a moving
reference frame x-y that goes with B, and that rotates
with an angular velocity .
A/B
a
A/B
v
=
`
( )
( )
A B A/B B
A B A/B
A B A/B rel
x y
and are not constant since their directions change
d d
and
dt dt
x y
or

= + +
= =
+ +
= + +
r r r = r i + j
i j
i j
i = j j = i
r = r r i + j
v v r v
` ` ` `


Relative Velocity
A B A/B rel
= + + v v r v
A
B
A/B
A/B rel
rel
velocity of the particle A
velocity of the particle B
velocity of A relative to B
velocity of A as seen from the observer
x y
velocity of A as seen from an obs
=
=
=
= +
=
v
v
v
r v
v i + j
=
` `
( )
( )
A/B rel
rel
A/B
erver
fixed to the rotating x-y axes
observed from nonrotating x-y
observed from rotating x-y
If we use nonrotating axes, there will be no term
at anywhere
=
r v
v
r
rel A/B
A/B rel A/B
.
This makes , which means the velocity seen by
the observer is the velocity of A relative to B.
If B coincides with A, . This makes ,
which means the velocity seen by the observe
=
= =
v v
r 0 v v
r is the
velocity of A relative to B, even the observer is rotating.
P B P/B B A/B
= + = + v v r v r
Visualization of Relative Velocity Equation
Physically, there are two
particles A and B, which may
be on different rigid bodies.
Imagine there is a rotating plate
on which particle B is located.
On this plate, imagine the
virtual point P currently coincident
with point A. Relationship between
v
P
and v
B
is indicated by
Since point A is on the different body, v
A
v
P
. The
velocity of A as seen from P (actually from any point
fixed to the rotating plate) is v
rel
and is tangent to
the path (slot) fixed in the rotating plate.
s
`
Visualization of Relative Velocity Equation
In other words, the slot is the
trajectory seen by the observer
fixed to the rotating plate.
It is not the absolute path of A
(which must be measured by
the fixed observer).
The magnitude of v
rel
, or the relative
speed, is .
From the velocity of v
A
and v
P
, it is concluded that
that is, the velocity of A seen by the rotating B or P
is the same, and is equal to the velocity of A
relative to P (not to B)
rel A/P
= v v
Summary of Relative Velocity
A B rel
A B A/B
A B P/B A/P
A P A/P

= +
= +
= +
= +
v v r + v
v v v
v v v + v
v v v
_
_
Observers moving with different velocities (different v

B
)
on the same rotating x-y see the same v
rel
.
Observers moving with same velocity, but are on different
rotating x-y frames (different ), see different v
rel
.
Nonrotating observer sees the resultant of circular motion
plus relative velocity.
Vector differentiation
Change of a vector w.r.t. time as seen from a general
reference frame depends on the intrinsic change of the
vector itself and the change of the vector induced by
the motion of the reference frame, whether it be the
translation or rotation. Here the interested frame is
constrained not to translate, but rotate around its origin.
An arbitrary vector has the time derivative
x y
V V V = i + j
( ) ( )
x y x y
XY
XY xy
d
V V V V
dt
d d
dt dt

= +

= +

V
i + j i + j
V V
V
` ` ` `

This expression means the time derivative of V when
measured in the fixed frame (total time derivative) is
equal to the time derivative of V as measured in the
rotating frame plus the compensation due to rotation
of the reference frame.
More insights can be seen from the vector diagram.
Vector V changes in both direction and magnitude to V.
x-y changes by rotating with angular velocity while
X-Y is fixed. During time dt, the observer in rotating x-y
see the change in magnitude of V, , plus the change
in direction, , due to relative rotation of V to x-y.
The change the observer recognized is (dV)
xy
. What he
did not notice is the rotation of V induced by the rotation
of x-y, . Imagine that V is fixed to x-y. Hence its
direction changes by the rotation of x-y, which is not
known to the observer rotating together.
dV
Vd
Vd
Relative Acceleration
Differentiating the relative velocity equation results in
the relative acceleration equation:
A B A/B A/B rel
A/B rel A/B
rel rel rel
xy XY xy
Recall the vector differentiation relation,
d d d
,
dt dt dt
angular acceleration observed in fixed frame t
= + + +
= +
= +

= + =

=
a a r r v
r v r
v a v
` ` `
`
`
`

( )
( )
A/B rel rel
rel rel
A B A/B A/B rel rel
hat observed in the rotating frame
Note: x y x y x y
and velocity and acceleration seen by the rotating observer
2
= = =
=
= + + + +
r i + j v i + j a i + j
v a
a a r r v a
` ` `` ``
`

V
Visualization of Relative Acceleration Equation
Imagine a plate rotating with the same rate as x-y frame.
P is the point on the plate coincident with A. Therefore
P is seen to have circular motion about nonrotating
observer at B.
( )
P B A/B A/B
A P A/P A/P rel rel rel rel
rel
rel
, 2 and
acceleration of A seen by the rotating observer
as moving along the relative path (slot)
rate of change of
= + +
= + = +
=
=
a a r r
a a a a v a a v
a
v
`
`

rel

Treat the relative path as absolute, thedirection of will always point
to the side where the center of curvature of the relative path is located.
The n-t coordina
as observed in the rotating frame
a
( )
( )
rel
t
2
rel rel
n
te system seems most appropriate.
a s tangent to the relative path
a v / toward the center of curvature of the relative path
=
=
``
( ) ( )
rel
A/P rel A/P rel rel
XY xy
2 Coriolis acceleration
difference between the acceleration of A relative to P
as measured from nonrotating and from rotating axes
2 2
N
=
=
= + = +
v
a v a v a

( ) ( ) ( )
( )
( ) ( ) ( )
( ) ( ) ( ) ( )
A/P A/P rel A P A/P P rel P A/P
XY xy xy
A/P A/P rel rel
XY xy xy
A/P A/P A/P rel rel A/P rel rel rel
XY XY XY XY
rel rel A/P
ote:
2 but
, , and are all three different q
= = = + = + = +
= =
= + = = +
v v v v v v v 0 + v v v
a a a v
v a a v a v v v a
a v a
`
` ` `
`

rel rel
rel rel rel
A/P
uantities
, the simplest to visualize, is the change of observed in rotating frame
, one step more difficult, is the change of observed in fixed frame -- differ by
, the mos

a v
v v v
a
`
rel
t difficult to imagine, is the acceleration of A relative to P -- differ by 2 v
( )
( ) ( )
rel rel
rel A/B A/B rel
xy
rel
One comes from change of due to rotation of x-y.
The other is from change of due to
If A is seen moving in the rotating coordinate frame ,
there will be Cori
v v
v r r v
v
`
rel
olis acceleration that the observer will be unaware of.
** rotating observer will see A moving with acceleration .
**Nonrotating observer will see the resultant of normal, tangential (circular m
Any a
( )
A B A/B A/B rel rel
A B P/B A/P
A
otion),
Coriolis, and relative acceleration.
Summary of Acceleration Equations
2

= + + + +
= + +
=
a a r r v a
a a a a
a
`
_
_
_

P A/P
A B A/B
+
= +
a a
a a a
P. 5/174 The crank OA revolves CW with a constant angular velocity
of 10 rad/s within a limited arc of its motion. For the position
= 30, determine the angular velocity of the slotted link
CB and the acceleration of A as measured relative to the slot
in CB.
P. 5/174
[ ]
[ ]
A P A/P A
P CB CB
rel
A C CB CB A/C CB A/C CB rel rel
2
A
CB CB A/C CB rel A
rel
v 0.2 10 2 m/s
v 2cos30 2 0.2cos30 , 5 rad/s CW
v 2sin30 1 m/s
2
v
8.66, 2 10, a 20
from diagram, a 20co
OA

= + = =
= = =
= =
= +
= = = =
=
v v v
a a r + r + v +a
r v
`

2
CB A/C CB
s30 8.66 8.66 m/s along the slot towards C
20cos60 10 0, 0
=
= = = r ` `
v
A
= 2
v
P
v
A/P
30
velocity diagram
P. 5/174
|xxr| = 8.66
|2xxv| = 10
a
rel
a
A
30
P. 5/175 Determine the angular acceleration
2
of
wheel C for the instant when = 20.
Wheel A has a constant CW angular velocity
of 2 rad/s.
P. 5/175
[ ]
2
A P rel A
P A 2 2
A/P A
geometry analysis:
200
sin20
2
tan , 35.78 and 82.7 mm
200
200 cos20
2
velocity analysis:
v 2 0.2/ 2 0.283 m/s
v v cos55.78 0.159 0.0827, 1.923 rad/s CCW
v v sin55.78 0.234
PO

= = =
= + = =
= = = =
= =
v v v
2
A O 2 2 A/O 2 A/O 2 rel rel
2 A/O
2
2 A/O 2
m/s
acceleration analysis:
2
consider in direction
0.9 0.5656cos34.22, 16.54 rad/s CCW

= +

= + =
a a r + r + v +a
r
r
`
`
` `

141.4 mm
82.7 mm
20
P. 5/175
velocity diagram
v
A
v
P
v
A/P
35.78
20
|xxr| = 0.306
20
35.78
|2xv| = 0.9
a
rel
|xr|
34.22
a
A
= 0.5656
P. 5/177 The space shuttle A is in an equatorial circular orbit of 240-km
altitude and is moving from west to east. Determine the
velocity and acceleration which it appears to have to
an observer B fixed to and rotating with the earth at the equator
as the shuttle passes overhead. Use R = 6378 km for the
radius of the earth. Also use Fig. 1/1 for the appropriate value
of g and carry out your calculations to 4-figure accuracy.
P. 5/177
[ ]
A B e A/B rel
e B e
A rel
from appendix, 0.7292E-4 rad/s v 6378E3 465.084 m/s
465.084 0.7292E-4 240E3

normal acceleration of the shuttle is g towards the cen

= +
= = =
= + +

v v r + v
v v
( )
[ ]
2
2
2
A
A A
n
rel
A B e e A/B e A/B e rel rel
ter of the earth
v R
a g , g 9.814 m/s , v 7766.79 m/s
R h R h
v 7284.205 m/s 26223 km/h
2
assume the shuttle orbits with constant velocity in circula

= = = =

+ +

= =
= + a a r + r + v +a
`

( )
( ) ( )
( )
A A
n
2
B e B e
n t
2
rel
r path
the observer's acceleration is governed by the rotation of the earth
a 6378E3 33.9E-3 a 0 0
9.115 33.9E-3 0.7292E-4 6378E3 2 0.7292E-4 7284.205

=
= = = =
= + + +

a a
a
`
2
rel

a 8.018 m/s

=
P. 5/171 (3
rd
ed.) The figure shows the vanes of a centrifugal-pump
impeller which turns with a constant CW speed of 200 rev/min. The fluid
particles are observed to have an absolute velocity whose component
in the r-direction is 3 m/s at discharge from the vane. Furthermore, the
magnitude of the velocity of the particles measured relative to the vane is
increasing at the rate of 24 m/s
2
just before they leave the vane. Determine
the magnitude of the total acceleration of a fluid particle an instant before
it leaves the impeller. The radius of curvature of the vane at its end
is 8 inch.
P. 5/171 (3
rd
ed.)
[ ]
( )
( ) ( )
[ ]
( )
A P rel
P A
r
rel A
A P rel rel
2
2
A
2
v 200 0.15 rad/s , v 3 m/s
60
v 3 2 m/s and v 3 m/s
2
3 2
20 20
0.15 2 3 2 24
3 3 0.2

13

= +
= = =
= =
= +

= + + +

=
v v v
a a v +a
a
_ `
2
2
A
.187 45.04 m/s
a 46.93 m/s
=
i j
45
v
P
(v
A
)
r
(v
A
)
v
rel
velocity diagram
P. 5/176 (3
rd
ed.) The mechanism shown is a device to produce
high torque in the shaft at O. The gear unit, pivoted at C, turns the right-
handed screw at a constant speed N = 100 rev/min in the direction shown
which advances the threaded collar at A along the screw toward C.
Determine the time rate of change of the angular velocity of AO as
it passes the vertical position shown. The screw has 3 single threads
per centimeter of length.
AO
`
403 mm
29.745
P. 5/176 (3
rd
ed.)
[ ]
A/P
A P rel
A OA OA
P P
P PC
rel
Rotation of the screw causes relative translation of collar A.
100
3 rev 1 cm v cm/min 1/180 m/s
3
1/180
v 0.2, 0.032 rad/s CCW
cos29.745
v v
tan29.745, v 0.0032 m/s,
v CP

= = =
= +
= = =
= = = =
v v v
[ ]
( )
( )
A P PC rel rel
rel
2 2
A OA
n
2 2
A PC
n
2
PC rel
0.00788 rad/s CCW
2
screw turns at constant rate
a 0.2 204.8E-6 m/s
a 25.41E-6 m/s
2 87.556E-6 m/s
in vertical direction:
204.8E-6 25.41E-6 sin29.745
AC
= +
=
= =
= =
=
=
a a v +a
a 0
v
( )
( )
( ) ( )
P
t
2
P
t
A OA
t
OA
87.556E-6 cos29.745 a cos29.745
a 133.8E-6 m/s
in horizontal direction:
a 0.2 25.41E-6 cos29.745 87.556E-6 133.8E-6 sin29.745
438.8E-6 rad/s CW
+ +
=
= = + +
=
`
`
velocity diagram
29.745
v
P
v
A
v
A/P
P. 5/176 (3
rd
ed.)
(a
P
)
n
= 25.41E-6
(a
A
)
n
= 204.8E-6
(a
P
)
t
29.745
(a
A
)
t
|2xv| = 87.556E-6
P. 5/178 (3
rd
ed.) Determine the angular acceleration of link EC in
the position shown, where and when .
Pin A is fixed to link EC. The circular slot in link DO has a radius of
curvature of 150 mm. In the position shown, the tangent to the slot at
the point of contact is parallel to AO.
2 rad/s = =
`
2
6 rad/s =
``
60 = =
P. 5/178 (3
rd
ed.)
[ ]
[ ]
( ) ( )
A P rel P
rel P
rel A
P
AC
A P OA rel rel
A rel
t t
v 2 0.15 0.3 m/s
v v
tan60, v 0.5196 m/s and v 0.6 m/s
v cos60
0.6/ 0.15 4 rad/s CW
2 refer to the diagram
unknown: a and a
consider the direction
= + = =
= = = =
= =
= +
v v v
a a v +a
( )
( )
( )
rel
t
A
t
2
A EC EC
t
normal to a
a cos60 2.4cos30 0.9 2.0784 1.8
a 1.8 0.15 , 12 rad/s CCW
+ + = +
= = =
v
P
v
rel
v
A
60
30
velocity diagram
P. 5/178 (3
rd
ed.)
(a
A
)
t
(a
rel
)
t
30
30
30
60
30 30
(a
rel
)
n
= 1.8
|2xv
rel
| = 2.0784
(a
P
)
n
= 0.6
(a
P
)
t
= 0.9

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Ch.

4: Plane Kinematics of Rigid Bodies

Rotation about a fixed axis

4.3 Absolute Motion

4.3 Absolute Motion

4.3 Absolute Motion

4.3 Absolute Motion

4.4 Relative Velocity

4.4 Relative Velocity

Ch. 4: Plane Kinematics of Rigid Bodies

Observers moving with different velocities (different v

Ch. 4: Plane Kinematics of Rigid Bodies

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