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*1636. Rod CD presses against AB, giving it an angular

velocity. If the angular velocity of AB is maintained at
v = 5 rad>s, determine the required magnitude of the
velocity v of CD as a function of the angle u of rod AB.

v
D

2 ft

Position Coordinate Equation: From the geometry,

x =

2
= 2 cot u
tan u

Time Derivatives: Taking the time derivative of Eq. [1], we have

du
dx
= -2 csc2 u
dt
dt
However,

[1]

[2]

dx
du
= y and
= v = 5 rad>s, then from Eq. [2]
dt
dt
y = -2 csc2 u(5) =

A -10 csc2u B

Ans.

Note: Negative sign indicates that y is directed in the opposite direction to that of
positive x.

1637. The scaffold S is raised by moving the roller at A

toward the pin at B. If A is approaching B with a speed of
1.5 ft>s, determine the speed at which the platform rises as a
function of u. The 4-ft links are pin connected at their
midpoint.

S
D

Position Coordinate Equation:

y = 4 sin u

Time Derivatives:
#
#
x = -4 sin uu

However,

#
-1.5 = -4 sin uu

C
1.5 ft/s A

x = 4 cos u

4 ft

#
x = -yA = -1.5 ft>s
#
0.375
u =
sin u

#
0.375
#
b = 1.5 cot u
y = yy = 4 cos uu = 4 cos ua
sin u

Ans.

539

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1638. The block moves to the left with a constant

velocity v0. Determine the angular velocity and angular
acceleration of the bar as a function of u.

a
u
x

Position Coordinate Equation: From the geometry,

x =

a
= a cot u
tan u

[1]

Time Derivatives: Taking the time derivative of Eq. [1], we have

dx
du
= -a csc2 u
dt
dt
Since y0 is directed toward negative x, then

[2]

du
dx
= -y0. Also,
= v.
dt
dt

From Eq.[2],
-y0 = -a csc2 u(v)
v =

Here, a =

y0
2

a csc u

y0
sin2 u
a

Ans.

dv
. Then from the above expression
dt
a =

y0
du
(2 sin u cos u)
a
dt

However, 2 sin u cos u = sin 2u and v =

[3]

y0
du
=
sin2 u. Substitute these values into
a
dt

Eq.[3] yields

a =

y0
y0 2
y0
sin 2u a sin2u b = a b sin 2u sin2 u
a
a
a

Ans.

540

v0

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1639. Determine the velocity and acceleration of platform

P as a function of the angle u of cam C if the cam rotates with
a constant angular velocity V . The pin connection does not
cause interference with the motion of P on C. The platform is
constrained to move vertically by the smooth vertical guides.

C
u
r

Position Coordinate Equation: From the geometry.

y = r sin u + r

[1]

Time Derivatives: Taking the time derivative of Eq. [1], we have

dy
du
= r cos u
dt
dt
However y =

[2]

dy
du
and v =
. From Eq.[2],
dt
dt
Ans.

y = vr cos u
Taking the time derivative of the above expression, we have
du
dv
dy
= rcv(-sin u)
+ cos u d
dt
dt
dt
= racos u

However a =

dv
- v2 sin u b
dt

[4]

dy
dv
= 0. From Eq.[4],
and a =
dt
dt
a = -v2 r sin u

Ans.

Note: Negative sign indicates that a is directed in the opposite direction to that of
positive y.

541

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vA

*1640. Disk A rolls without slipping over the surface of

the fixed cylinder B. Determine the angular velocity of A if
its center C has a speed vC = 5 m>s. How many revolutions
will A rotate about its center just after link DC completes
one revolution?

vC 5 m/s
C
150 mm
A

As shown by the construction, as A rolls through the arc s = uA r, the center of the
disk moves through the same distance s = s. Hence,

150 mm

D
B

s = uA r
#
#
s = uA r
5 = vA (0.15)
Ans.

vA = 33.3 rad>s
Link
s = 2ruCD = s = uA r
2uCD = uA
Thus, A makes 2 revolutions for each revolution of CD.

Ans.

542

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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

1641. Crank AB rotates with a constant angular

velocity of 5 rad>s. Determine the velocity of block C and
the angular velocity of link BC at the instant u = 30.

Position Coordinate Equation: From the geometry,

x = 0.6 cos u + 0.3 cos f

[1]

0.6 sin u = 0.15 + 0.3 sin f

[2]

Eliminate f from Eqs. [1] and [2] yields

x = 0.6 cos u + 0.322 sin u - 4 sin2 u + 0.75

[3]

Time Derivatives: Taking the time derivative of Eq. [3], we have

0.15(2 cos u - 4 sin 2u)
dx
du
= B -0.6 sin u +
R
2
dt
22 sin u - 4 sin u + 0.75 dt
However,

[4]

dx
du
= yC and
= vAB, then from Eq.[4]
dt
dt
yC = B -0.6 sin u +

0.15(2 cos u - 4 sin 2u)

22 sin u - 4 sin2u + 0.75

R vAB

[5]

At the instant u = 30, vAB = 5 rad>s. Substitute into Eq.[5] yields

yC = B -0.6 sin 30 +

0.15(2 cos 30 - 4 sin 60)

22 sin 30 - 4 sin2 30 + 0.75

R (5) = -3.00 m>s

Ans.

Taking the time derivative of Eq. [2], we have

0.6 cos u

However,

df
du
= 0.3 cos f
dt
dt

[6]

df
du
= vBC and
= vAB, then from Eq.[6]
dt
dt
vBC = a

2 cos u
bvAB
cos f

[7]

At the instant u = 30, from Eq.[2], f = 30.0. From Eq.[7]

vBC = a

300 mm

600 mm
5 rad/s

2 cos 30
b(5) = 10.0 rad>s
cos 30.0

Ans.

Note: Negative sign indicates that yC is directed in the opposite direction to that of
positive x.

543

150 mm

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2010 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

1642. The pins at A and B are constrained to move in the

vertical and horizontal tracks. If the slotted arm is causing A
to move downward at vA, determine the velocity of B as a
function of u.

90

vA

B
x

Position Coordinate Equation:

tan u =

d
h
=
x
y

h
x = a by
d
Time Derivatives:
h #
#
x = a by
d
h
yB = a byA
d

Ans.

544

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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

1643. End A of the bar moves to the left with a constant

velocity vA. Determine the angular velocity V and angular
acceleration A of the bar as a function of its position x.

,
vA

r
u
x

Position Coordinate Equation: From the geometry.

x =

r
sin u

[1]

Time Derivatives: Taking the time derivative of Eq.[1], we have

dx
r cos u du
= dt
r sin2 u dt

[2]

Since y0 is directed toward positive x, then

dx
du
= yA. Also,
= v. From the
dt
dt

geometry, sin u =

2x2 - r2
r
and cos u =
. Substitute these values into Eq.[2], we
x
x

have
yA = -
v = -

r A 2x2 - r2>x B
(r>x)2
r
x2x2 - r2

yA

Ans.

Taking the time derivative of Eq. [2], we have

d2x
r
1 + cos2 u du 2
d2u
= B
=
a b - cos u 2 R
2
2
sin u
dt
dt
sin u
dt
Here,

[3]

d2x
d2u
and
=
a
=
0
= a. Substitute into Eq.[3], we have
dt2
dt2
0 =

r
1 + cos2 u 2
B
v - a cos u R
2
sin u
sin u
a =

1 + cos2 u 2
v
sin u cos u

[4]

r
r
2x2 - r2
, cos u =
and v = -
yA. Substitute
x
x
x2x2 - r2
these values into Eq.[4] yields
However, sin u =

a = B

r(2x2 - r2)
x2(x2 - r2)3>2

R y2A

Ans.

545