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.

1658. A bowling ball is cast on the alley with a /  10 rads

backspin of /  10 rads while its center O has a forward
velocity of V/  8 ms. Determine the velocity of the
contact point A in contact with the alley.
O VO  8 ms
v!  v/  v!/ 120 mm


   v!  8  10(0.12)
A
v!  9.20 ms  Ans.

Also,

v!  v/  /
r!/

v! i  8i  (10k)
( 0.12j)


  v!  9.20 ms  Ans.

1659. Determine the angular velocity of the gear and the A

velocity of its center O at the instant shown.
0.9 ms
O
General Plane Motion: Applying the relative velocity equation to points B and C
0.45 m 0.225 m
and referring to the kinematic diagram of the gear shown in Fig. a, 1.2 ms

v"  v#  /
r"#

0.9i  1.2i  ( /k)

(0.675j)

0.9i  (0.675/ 1.2)i

Equating the i components yields

0.9  0.675/ 1.2 (1)

v"  1.2 ms
/  3.111 rads Ans. (2)

0.45  0.45
For points O and C, 0.675 m
sin 45
 0.768 m
v/  v#  /
r/#
0.45 m
 1.2i  ( 3.111k)
(0.45j) v#  1.2 ms
0.45 cos 45  0.318 m
 [0.2i] ms

Thus,

v/  0.2 ms  Ans.

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*1660. Determine the velocity of point ! on the rim of A

the gear at the instant shown.
45 0.9 ms
O
0.45 m 0.225 m
1.2 ms

General Plane Motion: Applying the relative velocity equation to points B and C
and referring to the kinematic diagram of the gear shown in Fig. a,

v"  v#  /
r"#

0.9i  1.2i  ( /k)

(0.675j)
v"  1.2 ms
0.9i  (0.675/ 1.2)i

Equating the i components yields 0.45  0.45

sin 45 0.675 m
0.9  0.675/ 1.2 (1)  0.768 m

/  3.111 rads (2) 0.45 m

v#  1.2 ms
0.45 cos 45  0.318 m
For points A and C,

v!  v#  /
r!#

(v!)X i  (v!)Y j  1.2i  ( 3.111k)

( 0.318i  0.768j)

(v!)X i  (v!)Y j  1.1892i  0.9893j

Equating the i and j components yields

(v!)X  1.1892 ms (v!)Y  0.9893 ms

Thus, the magnitude of v! is

v!   (v!)X2  (v!)Y2  1.18922  0.98932  1.547 ms Ans.

and its direction is

(v!)Y 0.9893
.  tan 1   tan 1 @ H  39.76 Ans.
(v!)X 1.1892

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1661. The rotation of link AB creates an oscillating

C
movement of gear F. If AB has an angular velocity of 100 mm
vAB = 6 rad>s, determine the angular velocity of gear F at
the instant shown. Gear E is rigidly attached to arm CD and
pinned at D to a fixed point. B 30

150 mm
75 mm
vAB 
6 rad/s
25 mm
A
D F

Kinematic Diagram: Since link AB and arm CD are rotating about the fixed points 100 mm
A and D respectively, then vB and vC are always directed perpendicular their their E
respective arms with the magnitude of yB = vAB rAB = 6(0.075) = 0.450 m>s and
yC = vCD rCD = 0.15vCD. At the instant shown, vB and vC are directed toward
negative x axis.

Velocity Equation: Here, rB>C = {-0.1 cos 30i + 0.1 sin 30j} m = {-0.08660i
+ 0.05j} m. Applying Eq. 1616, we have

vC = vB + vBC * rC>B

-0.450i = -0.15vCD i + (vBCk) * (0.08660i + 0.05j)

-0.450i = -(0.05vBC + 0.15vCD)i + 0.08660vBCj

Equating i and j components gives

0 = 0.08660vBC vBC = 0

-0.450 = -[0.05(0) + 0.15vCD] vCD = 3.00 rad>s

Angular Motion About a Fixed Point: The angular velocity of gear E is the same
with arm CD since they are attached together. Then, vE = vCD = 3.00 rad>s. Here,
vE rE = vF rF where vF is the angular velocity of gear F.

rE 100
vF = v = a b (3.00) = 12.0 rad>s Ans.
rF E 25

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1662. Piston P moves upward with a velocity of 7.5 ms VP  7.5 ms
at the instant shown. Determine the angular velocity of the
crankshaft AB at this instant. P

125 mm
G
From the geometry: 68.75 mm
30
36.25 sin 30
cos .  .  81.66 B
125

For link BP A
36.25 mm
v0  {7500j} mms v"  2" cos 30i  2" sin 30j /  /"0k

r0"  { 125 cos 81.66i  125 sin 81.66j} mm

v0  v"  /
r0"

7500j  ( 2" cos 30i  2" sin 30j)  ( /"0k)

( 125 cos 81.66i  125 sin 81.66j)

7500j  ( 2" cos 30i  125 sin 81.66 /"0)i  (2" sin 30  125 cos 81.66 /"0)j

Equating the i and j components yields:

125 mm
0  2" cos 30  125 sin 81.66 /"0 (1)

7500  2" sin 30  125 cos 81.66 /"0 (2)

Solving Eqs. (1) and (2) yields:

36.25 sin 30 mm
/"0  83.76 rads 2"  11962.5 mms  11.96 ms
36.25 mm
For crankshaft AB: Crankshaft AB rotates about the fixed point A. Hence

2"  /!" R!"

VP  7500 mms
11962.5  /!"(36.25)
/!"  330 rads d Ans.

125 mm

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1663. Determine the velocity of the center of gravity G VP  7.5 ms

of the connecting rod at the instant shown. Piston 0 is
moving upward with a velocity of 7.5 ms. P

From the geometry:

36.25 sin 30
cos .  .  81.66
125
125 mm
G
For link BP
68.75 mm
30
v0  {7500j} mms v"  2" cos 30i  2" sin 30j /  /"0k
B
r0"  { 125 cos 81.66i  125 sin 81.66j} mm

v0  v"  /
r0" A

7500j  ( 2" cos 30i  2" sin 30j)  ( /"0k)

( 125 cos 81.66i  125 sin 81.66j) 36.25 mm

7500j  ( 2" cos 30  125 sin 81.66 /"0)i  (2" sin 30  125 cos 81.66 /"0)j

Equating the i and j components yields:

0  2" cos 30  125 sin 81.66 /"0 (1)

7500  2" sin 30  125 cos 81.66 /"0 (2)

Solving Eqs. (1) and (2) yields:

/"0  83.76 rads 2"  11962.5 mms  11.96 ms 125 mm

v0  {7500j} mms /  { 83.76k} rads

r'0  {56.25 cos 81.66i 56.25 sin 81.66j} mm

36.25 sin 30 mm
v'  v0  /
r'0
36.25 mm
 7500j  ( 83.76k)
(56.25 cos 81.66i 56.25 sin 81.66j)

 { 4661.67i  6816.61j} mms

2'  ( 4661.67)2  (6816.61)2  8258.2 mms  8.26 ms Ans.

VP  7500 mms
6816.61
.  tan 1 2 3  55.6  Ans.
4661.67 56.25 mm

125 mm

560

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*1664. The planetary gear system is used in an automatic 40 mm

transmission for an automobile. By locking or releasing vR
certain gears, it has the advantage of operating the car at P
different speeds. Consider the case where the ring gear R is
held fixed, vR = 0, and the sun gear S is rotating at
vS = 5 rad>s. Determine the angular velocity of each of the R vS
planet gears P and shaft A.

S A

vA = 5(80) = 400 mm>s ;

80 mm

vB = 0

vB = vA + v * rB>A

0 = -400i + (vp k) * (80j) 40 mm

0 = -400i - 80vp i

vP = -5 rad>s = 5 rad>s Ans.

vC = vB + v * rC>B

vC = 0 + (-5k) * ( -40j) = -200i

200
vA = = 1.67 rad>s Ans.
120

1665. Determine the velocity of the center O of the spool A

when the cable is pulled to the right with a velocity of v. The
spool rolls without slipping.
O
r
Kinematic Diagram: Since the spool rolls without slipping, the velocity of the v
R
contact point P is zero. The kinematic diagram of the spool is shown in Fig. a.

General Plane Motion: Applying the relative velocity equation and referring to Fig. a,

vB = vP + v * rB>D

vi = 0 + (-vk) * C (R - r)j D

vi = v(R - r)i

Equating the i components, yields

v
v = v(R - r) v =
R - r

Using this result,

vO = vP + v * rO>P

v
= 0 + - k * Rj
R - r

v :
R
vO = Ans.
R - r

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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
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1666. Determine the velocity of point A on the outer rim A

of the spool at the instant shown when the cable is pulled to
the right with a velocity of v. The spool rolls without
slipping. O
r
v
R
Kinematic Diagram: Since the spool rolls without slipping, the velocity of the
contact point P is zero. The kinematic diagram of the spool is shown in Fig. a.

General Plane Motion: Applying the relative velocity equation and referring to Fig. a,

vB = vP + v * rB>D

vi = 0 + (-vk) * C (R - r)j D

vi = v(R - r)i

Equating the i components, yields

v
v = v(R - r) v =
R - r

Using this result,

vA = vP + v * rA>P

v
= 0 + - k * 2Rj
R - r

2R
= B vRi
R - r

Thus,

v :
2R
vA = Ans.
R - r

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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
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1667. The bicycle has a velocity V  1.2 ms, and at the

same instant the rear wheel has a clockwise angular velocity
/  3 rads, which causes it to slip at its contact point A.
Determine the velocity of point A.
1.2 ms

/  3 rads

v!  v#  v!# C

650 650 mm
 v!   1.2  2 3 (3) !
  1000
 A


v!  0.75 ms Ans.

Also,
v#  1.2 ms
v!  v#  /
r!#

650 650 mm
v!  1.2i  ( 3k)
2 j3
1000

v!  1.2i 1.95i  0.75i

v!  0.75 ms  Ans.

650 mm

650
32 3 ms
1000

*1668. If bar AB has an angular velocity /!"  4 rads,

determine the velocity of the slider block C at the instant C
shown.
30
For link AB: Link AB rotates about a fixed point A. Hence 200 mm

2"  /!" R!"  4(0.15)  0.6 ms B

150 mm
For link BC /AB  4 rads
60
v"  {0.6 cos 30i 0.6 sin 30j}ms v#  2#i /  /"# k A

r#"  { 0.2 sin 30i  0.2 cos 30j} m

v#  v"  /
r#"

2# i  (0.6 cos 30i 0.6 sin 30j)  (/"# k)

( 0.2 sin 30i  0.2 cos 30j)

2#i  (0.5196 0.1732/"#)i (0.3  0.1/"#)j

Equating the i and j components yields:

0  0.3  0.1/"# /"#  3 rads

2#  0.5196 0.1732( 3)  1.04 ms  Ans.

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1669. The pumping unit consists of the crank pitman

1.8 m 1.8 m
AB, connecting rod BC, walking beam CDE and pull rod F.
If the crank is rotating with an angular velocity of C
0.225 m E
/  10 rads, determine the angular velocity of the D
walking beam and the velocity of the pull rod EFG at the
instant shown.
2.25 m

/  10 rads .  75
F
B
A
1.2 m
Rotation About a Fixed Axis: The crank and walking beam rotate about fixed axes,
Figs. a and b. Thus, the velocity of points B, C, and E can be determined from G

v"  /
R"  ( 10k)
(1.2i)  [ 12j] ms

v#  /#$%
R$#  (/#$% k)
( 1.8i  0.225j)  0.225/#$% i 1.8/#$% j

v%  /#$%
R$%  (/#$% k)
(1.8i)  1.8/#$% j (1)

General Plane Motion: Applying the relative velocity equation and referring to the
kinematic diagram of link BC shown in Fig. c,

v#  v"  /"#
r#"

0.225/#$% i 1.8/#$% j  12j  (/"# k)

( 2.25 cos 75i  2.25 sin 75j) 1.2 m

0.225/#$% i 1.8/#$% j  2.1733/"# i (0.5823/"#  12) j

Equating the i and j components

0.225/#$%  2.1733/"# (2)

1.8/#$%  (0.5823/"#  12) (3)

Solving Eqs. (1) and (2) yields 1.8 m 1.8 m

/"#  0.714 rads /#$%  6.898 rads  6.90 rads Ans.

Substituting the result for /#$% into Eq. (1),

0.225 m
v%  1.8(6.898)  [12.42j] ms

Thus,

v%  12.42 ms C Ans.

2.25 m

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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
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1670. If the hydraulic cylinder shortens at a constant rate

of v#  0.6 ms, determine the angular velocity of link ACB
and the velocity of block B at the instant shown. A
B

General Plane Motion: Applying the relative velocity equation to points B and C 1.2 m
and referring to the kinematic diagram of link ABC shown in Fig. a, 60
1.2 m
.  60
v"  v#  /
r"# D
C
v" j  0.6i  ( /k)
( 1.2 cos 60i  1.2 sin 60j) v#  0.6 ms

v" j  (1.039/ 0.6)i  0.6/j

Equating the i and j components yields

0  1.039/ 0.6

v"  0.6/
1.2 m
Solving,

/  0.577 rads Ans.

v"  0.346 ms C Ans.

v#  0.6 ms

1671. If the hydraulic cylinder shortens at a constant rate

of v#  0.6 ms, determine the velocity of end A of link ACB
at the instant shown. A
B

General Plane Motion: First, applying the relative velocity equation to points B and 1.2 m
C and referring to the kinematic diagram of link ABC shown in Fig. a, 60
1.2 m
.  60
v"  v#  /
r"# D
C
v" j  0.6i  ( /k)
( 1.2 cos 60i  1.2 sin 60j) v#  0.6 ms
v" j  (1.039/ 0.6)i  0.6/j

Equating the i components yields

0  1.039/ 0.6 /  0.5774 rads

Then, for points A and C using the result of /,

v!  v#  /
r!#

(v!)X i  (v!)Y j  0.6i  ( 0.5774k)

(1.2 cos 60i  1.2 sin 60j)

(v!)X i  (v!)Y j  0.3464j

1.2 m 1.2 m
Equating the i and j components yields

(v!)X  0 (v!)Y  0.3464 ms  0.346 ms 4 v#  0.6 ms

Thus,

v!  (v!)Y  0.346 ms 4 Ans.

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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
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*1672. The epicyclic gear train consists of the sun gear A

which is in mesh with the planet gear B. This gear has an
inner hub C which is fixed to B and in mesh with the fixed
ring gear R. If the connecting link DE pinned to B and C is 100 mm
rotating at vDE = 18 rad>s about the pin at E, determine 600 mm A B
the angular velocities of the planet and sun gears. E C

D
200 mm
vDE  18 rad/s 300 mm

vD = rDE vDE = (0.5)(18) = 9 m>s c

The velocity of the contact point P with the ring is zero. R

vD = vP + v * rD>P

9j = 0 + (-vB k) * (-0.1i)

vB = 90 rad>s b Ans.

Let P be the contact point between A and B.

vP = vP + v * rP>P

vP j = 0 + ( -90k) * (-0.4i)

vP = 36 m>s c

vP 36
vA = = = 180 rad>s d Ans.
rA 0.2

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1673. If link AB has an angular velocity of E

/!"  4 rads at the instant shown, determine the velocity
of the slider block E at this instant. Also, identify the type of
motion of each of the four links.
0.6 m
0.3 m D 30
B

0.6 m /AB  4 rads

0.3 m
C 30
Link AB rotates about the fixed point A. Hence
A
2"  /!" R!"  4(0.6)  2.4 ms

For link BD

v"  { 2.4 cos 60i 2.4 sin 60j} ms v$  2$ i /"$  /"$ k

r$"  {0.3i} m

v$  v"  /"$
r$"

2$ i  ( 2.4 cos 60i 2.4 sin 60j)  (/"$ k)

(0.3i)
0.3 m
2$ i  2.4 cos 60i  (0.3/"$ 2.4 sin 60)j
v"  2.4 ms

  2$  2.4 cos 60 2$  1.2 ms

C 0  0.3/"$ 2.4 sin 60 /"$  6.928 rads

For Link DE

v$  { 1.2i} ms /$%  /$% k v%  2%i

0.6 m
r%$  {0.6 cos 30i  0.6 sin 30j} m

v%  v$  /$%
r%$

2% i  1.2i  (/$% k)
(0.6 cos 30i  0.6 sin 30j)
v$  1.2 ms
2% i  ( 1.2 0.6 sin 30 /$%)i  0.6 cos 30 /$% j


  0  0.6 cos 30 /$% /$%  0

C 2%  1.2 0.6 sin 30(0) 2%  1.2 ms  Ans.

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1674. At the instant shown, the truck travels to the right at

3 m>s, while the pipe rolls counterclockwise at v = 8 rad>s
v
without slipping at B. Determine the velocity of the pipes G
center G. 1.5 m

vG = vB + vG>B B

B v GR = c 3 # d + C 1.5(8) D
: : ;

vG = 9 m>s ; Ans.

Also:

vG = vB + v * rG>B

vGi = 3i + (8k) * (1.5j)

vG = 3 - 12

vG = -9 m>s = 9 m>s ; Ans.

1675. At the instant shown, the truck travels to the right

at 8 m>s. If the pipe does not slip at B, determine its angular
v
velocity if its mass center G appears to remain stationary to G
an observer on the ground. 1.5 m

vG = vB + vG>B B

0 = c 8 d + c1.5v d
: ;

8
v = = 5.33 rad>s d Ans.
1.5

Also:

vG = vB + v * rG>B

0i = 8i + (vk) * (1.5j)

0 = 8 - 1.5v

8
v = = 5.33 rad>s d Ans.
1.5

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*1676. The mechanism of a reciprocating printing table

is driven by the crank AB. If the crank rotates with an
B 1m
angular velocity of v = 10 rad>s, determine the velocity of v  10 rad/s
point C at the instant shown. D

0.5 m 45 A
75 mm
C

Rotation About a Fixed Axis: Referring to Fig. a,

vB = v * rB

= (-10k) * (-0.5 cos 45 i + 0.5 sin 45j)

= [3.536i + 3.536j] m

General Plane Motion: Applying the law of sines to the geometry shown in Fig. b,

sin f sin 135

= f = 20.70
0.5 1

Applying the relative velocity equation to the kinematic diagram of link BC shown
in Fig. c,

vB = vC + vBC * rB>C

3.536i + 3.536j = vC i + (-vBC k) * (-1 cos 20.70 i + 1 sin 20.70 j)

3.536i + 3.536j = (vC + 0.3536vBC)i + 0.9354vBC j

Equating the i and j components yields,

3.536 = vC + 0.3536vBC

3.536 = 0.9354vBC

Solving,

vBC = 3.780 rad>s Ans.

vC = 2.199 m>s Ans.

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1677. The planetary gear set of an automatic

transmission consists of three planet gears A, B, and C,
mounted on carrier D, and meshed with the sun gear E and
A
ring gear F. By controlling which gear of the planetary set
D
rotates and which gear receives the engines power, the
automatic transmission can alter a cars speed and
direction. If the carrier is rotating with a counterclockwise
angular velocity of vD = 20 rad>s while the ring gear is E
rotating with a clockwise angular velocity of vF = 10 rad>s, 75 mm
determine the angular velocity of the planet gears and the
45 mm
sun gear. The radii of the planet gears and the sun gear are
45 mm and 75 mm, respectively. C B
F
Rotation About a Fixed Axis: Here, the ring gear, the sun gear, and the carrier
rotate about a fixed axis. Thus, the velocity of the center O of the planet gear and the
contact points P and P with the ring and sun gear can be determined from

vO = vD rO = 20(0.045 + 0.075) = 2.4 m>s ;

vP = vF rF = 10(0.045 + 0.045 + 0.075) = 1.65 m>s :

vP = vE rE = vE(0.075) = 0.075vE

General Plane Motion: First, applying the relative velocity equation for O and P
and referring to the kinematic diagram of planet gear A shown in Fig. a,

vO = vP + vA * rO>P

-2.4i = 1.65i + (-vA k) * (-0.045j)

-2.4i = (1.65 - 0.045vA)i

Thus,

-2.4 = 1.65 - 0.045vA

vA = 90 rad>s Ans.

Using this result to apply the relative velocity equation for P and P,

vP = vP + vA * rP>P

-0.075vEi = 1.65i + ( -90j) * (-0.09j)

-0.075vEi = -6.45i

Thus,

-0.075vE = -6.45 vE = 86 rad>s Ans.

570

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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
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1678. The planetary gear set of an automatic transmission

consists of three planet gears A, B, and C, mounted on carrier
D, and meshed with sun gear E and ring gear F. By
A
controlling which gear of the planetary set rotates and which
gear receives the engines power, the automatic transmission D
can alter a cars speed and direction. If the ring gear is held
stationary and the carrier is rotating with a clockwise angular
velocity of vD = 20 rad>s, determine the angular velocity of E
the planet gears and the sun gear. The radii of the planet 75 mm
gears and the sun gear are 45 mm and 75 mm, respectively.
45 mm

Rotation About a Fixed Axis: Here, the carrier and the sun gear rotate about a fixed C B
axis. Thus, the velocity of the center O of the planet gear and the contact point P F
with the sun gear can be determined from

vO = vD rD = 20(0.045 + 0.075) = 2.4 m>s

vP = vE rE = vE (0.075) = 0.075vE

General Plane Motion: Since the ring gear is held stationary, the velocity of the
contact point P with the planet gear A is zero. Applying the relative velocity
equation for O and P and referring to the kinematic diagram of planet gear A
shown in Fig. a,

vO = vP + vA * rO>P

2.4i = 0 + (vAk) * (-0.045j)

2.4i = 0.045vA i

Thus,

2.4 = 0.045vA

vA = 53.33 rad>s = 53.3 rad>s Ans.

Using this result to apply the relative velocity equation for points P and P,

vP = vP + vA * rP>P

0.075vE i = 0 + (53.33k) * (-0.09j)

0.075vE i = 4.8i

Thus,

0.075vE = 4.8 Ans.

vE = 64 rad>s Ans.

571

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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
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1679. If the ring gear D is held fixed and link AB rotates

with an angular velocity of vAB = 10 rad>s, determine the D
angular velocity of gear C.

0.5 m
Rotation About a Fixed Axis: Since link AB rotates about a fixed axis, Fig. a, the
velocity of the center B of gear C is A
0.125 m
vB = vAB rAB = 10(0.375) = 3.75 m>s
vAB  10 rad/s
B
C
General Plane Motion: Since gear D is fixed, the velocity of the contact point P
between the gears is zero. Applying the relative velocity equation and referring to
the kinematic diagram of gear C shown in Fig. b,

vB = vP + vC * rB>P 0.375 m

-3.75i = 0 + (vC k) * (0.125j)

-3.75i = -0.125vCi

Thus,

-3.75 = -0.125vC

vC = 30 rad>s Ans.

*1680. If the ring gear D rotates counterclockwise with

an angular velocity of vD = 5 rad>s while link AB rotates D
clockwise with an angular velocity of vAB = 10 rad>s,
determine the angular velocity of gear C.
0.5 m
Rotation About a Fixed Axis: Since link AB and gear D rotate about a fixed axis, A
Fig. a, the velocity of the center B and the contact point of gears D and C is 0.125 m
vAB  10 rad/s
vB = vAB rB = 10(0.375) = 3.75 m>s B
C
vP = vD rP = 5(0.5) = 2.5 m>s

General Plane Motion: Applying the relative velocity equation and referring to the
kinematic diagram of gear C shown in Fig. b, 0.375 m

vB = vP + vC * rB>P

-3.75i = 2.5i + (vC k) * (0.125j)

-3.75i = (2.5 - 0.125vC)i

Thus,

-3.75 = 2.5 - 0.125vC

vC = 50 rad>s Ans.

572

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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
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1681. If the slider block A is moving to the right at

V!  2.4 ms, determine the velocity of blocks B and C at
the instant shown. Member CD is pin connected to
member ADB. C
B
0.6 m
0.6 m
Kinematic Diagram: Block B and C are moving along the guide and directed
30
towards the positive y axis and negative y axis, respectively. Then, v"  2" j and D
v#  2# j. Since the direction of the velocity of point D is unknown, we can 0.6 m
assume that its x and y components are directed in the positive direction of their 45
respective axis.
A
Velocity Equation: Here,rB>A
Equation:Here, = {1.2
r"!  {4cos 45i+ 1.2
cos45i  4sin 45j}mft={0.8485i
sin45j} {2.828i +0.8485j}
2.828j} mft
aand D>A =
nd r$!  {0.6
{2 cos 45i + 0.6
cos45i 2 sin 45j}ftm ={1.414i
sin45j} {0.4243i +1.414j}
0.4243j}
ft. m.
ApApplying
plying EqEq.
. 161616
16 to V!  2.4 ms
to link
link ADB,
ADB, wewe have
have

v"  v!  /!$"
r"!

2" j  2.4i  (/!$" k)

(0.8485i  0.8485j)

2" j  (2.4 0.8485/!$") i  0.8485/!$" j

Equating i and j components gives

0  2.4 0.8485/!$" [1]

2"  0.8485/!$" [2]

Solving Eqs. [1] and [2] yields V!  2.4 ms

/!$"  2.828 rads

2"  2.4 ms C Ans.

The x and y component of velocity of vD are given by

v$  v!  /!$"
r$! 1.20 ms
(2$ )X i  (2$ )Y j  2.4i  (2.828k)
(0.4243i  0.4243j)

(2$ )X i  (2$ )Y j  1.20i  1.20j 1.20 ms

Equating i and j components gives

(2$ )X  1.20 ms (2$ )Y  1.20 ms

H ere, rRC>D
Here, #$={-0.6 30i +0.6
{ 2 cos 30i m=
sin 30j} ft
2 sin { 1.732i + 0.3j}
 {-0.5196i 1j} ftm.
. AApplying Eq.
pplying Eq. 11616
616
to link CD, we have

v#  v$  /#$
r#$

2# j  1.20i  1.20j  (/#$ k)

( 0.5196i  0.3j)

2# j  (1.20 0.3/#$)i  (1.20 0.5196/#$) j

Equating i and j components gives

0  1.20 0.3/#$ [3]

2#  1.20 0.5196/#$ [4]

Solving Eqs. [3] and [4] yields

/#$  400 rads

2#  0.878 ms 4 Ans.

573

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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
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1682. Solve Prob. 1654 using the method of C

instantaneous center of zero velocity.

v#  4 rads (0.18 m)  0.72 ms Ans. A
/ 0.09 m

0.18 m

1683. Solve Prob. 1656 using the method of

instantaneous center of zero velocity. 0.3 m A V  0.6 ms

0.6 C
/   1.33 rads 0.15 m
0.45
B

v#  0.3(1.33)  0.4 ms Ans.

V!  0.6 ms

0.45 m
0.3 m

574

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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
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*1684. Solve Prob. 1664 using the method of 40 mm

instantaneous center of zero velocity. vR
P

vP = (80)(5) = 400 mm>s

400 R vS
vP = = 5 rad>s b Ans.
80

vC = (5)(40) = 200 mm>s S A

80 mm
200
vA = = 1.67 rad>s d Ans.
(80 + 40)

40 mm

1685. Solve Prob. 1658 using the method of v  10 rad/s

instantaneous center of zero velocity.

8
rOI>C = = 0.8 m O vO  8 m/s
10
120 mm
vA = 10(0.8 + 0.120) = 9.20 m>s Ans.

575

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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.

1686. Solve Prob. 1667 using the method of

instantaneous center of zero velocity.

1.2 ms

/  3 rads

650 mm
1.2
R#)#   0.4 m A
3

R!)#  0.650 m 0.4 m  0.250 m


v!  3(0.250)  0.75 ms Ans.

V#  1.2 ms

0.650 m

1687. Solve Prob. 1668 using the method of

instantaneous center of zero velocity. C

v"  4(0.150)  0.6 ms 30

200 mm
R#)# 0.2
 B
sin 120 sin 30

R#)#  0.34641 m 150 mm

/AB  4 rads
R" )# 0.2 60
 A
sin 30 sin 30

R")#  0.2 m

0.6
/   3 rads
0.2

v#  0.34641(3)  1.04 ms  Ans.

576

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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.

*1688. The wheel rolls on its hub without slipping on the

horizontal surface. If the velocity of the center of the wheel B 25 mm
is V#  0.6 ms to the right, determine the velocities of points
A
A and B at the instant shown. B 12.5 mm

v#  /R#)#
200 mm
75
0.6  / 2 3 V#  0.6 ms C
1000 A
75 mm
/  8 rads


275
v"  /R")#  8 2 3  2.2 ms Ans.
1000

75 2
v!  /R!)#  8 @ H  0.849 ms Ans. V#  0.6 ms
1000

75
.!  tan 1 2 3  45  Ans. 275 mm
75

75 mm

752 mm

1689. If link CD has an angular velocity of

/#$  6 rads, determine the velocity of point E on link BC
and the angular velocity of link AB at the instant shown. 0.3 m 0.3 m
B C
v#  /#$ (R#$)  (6)(0.6)  3.60 ms
E
v# 3.60
/"#    10.39 rads 0.6 m
R#)# 0.6 tan 30
/CD 6 rads
30 D
0.6 A
v"  /"# R")#  (10.39)2 3  7.20 ms
cos 30

v" 7.20
/!"    6 rads d Ans.
R!" 0.6
2 3
sin 30

v%  /"# R%)#  10.39(0.6 tan 30)2  (0.3)2  4.76 ms Ans.

0.3
.  tan 1 2 3  40.9  Ans.
0.6 tan 30

577

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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
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1690. At the instant shown, the truck travels to the right at

3 m>s, while the pipe rolls counterclockwise at v = 6 rad>s G 1.5 m
without slipping at B. Determine the velocity of the pipes 3 m/s
center G.
B

Kinematic Diagram: Since the pipe rolls without slipping, then the velocity of point
B must be the same as that of the truck, i.e; yB = 3 m>s.

Instantaneous Center: rB>IC must be determined first in order to locate the the
instantaneous center of zero velocity of the pipe.

yB = vrB>IC

3 = 6(rB>IC)

rB>IC = 0.5 m

Thus, rG>IC = 1.5 - rB>IC = 1.5 - 0.5 = 1.00 m. Then

yG = vrG>IC = 6(1.00) = 6.00 m>s ; Ans.

1691. If the center O of the gear is given a velocity of

vO = 10 m>s, determine the velocity of the slider block B at
the instant shown. A 0.6 m
0.125 m
O 0.175 m B
vO  10 m/s
30
30

General Plane Motion: Since the gear rack is stationary, the IC of the gear is located
at the contact point between the gear and the rack, Fig. a. Here, rO>IC = 0.175 m and
rA>IC = 0.6 m. Thus, the velocity of point A can be determined using the similar
triangles shown in Fig. a,

vA vO
vg = =
rA>IC rO>IC

vA 10
=
0.3 0.175

vA = 17.143 m>s :

The location of the IC for rod AB is indicated in Fig. b. From the geometry shown in
Fig. b,

rA>IC = 0.6 m

rB>IC = 2(0.6 cos 30) = 1.039 m

Thus, the angular velocity of the gear can be determined from

vA 17.143
vAB = = = 28.57 rad>s
rA>IC 0.6

Then,

vB = vAB rB>IC = 28.57(1.039) = 29.7 m>s Ans.

578

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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
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*1692. If end A of the cord is pulled down with a velocity

of vA = 4 m>s, determine the angular velocity of the spool
and the velocity of point C located on the outer rim of
the spool.

General Plane Motion: Since the contact point B between the rope and the spool is
at rest, the IC is located at point B, Fig. a. From the geometry of Fig. a,

rA>IC = 0.25 m 250 mm

O B
rC>IC = 20.252 + 0.52 = 0.5590 m

0.25 500 mm
f = tan - 1 a b = 26.57
0.5 C
vA  4 m/s
A
Thus, the angular velocity of the spool can be determined from

vA 4
v = = = 16rad>s Ans.
rA>IC 0.25

Then,

vC = vrC>IC = 16(0.5590) = 8.94m>s Ans.

and its direction is

u = f = 26.6 b Ans.

1693. If end A of the hydraulic cylinder is moving with a B

velocity of vA = 3 m>s, determine the angular velocity of
rod BC at the instant shown.
0.4 m 0.4 m

Rotation About a Fixed Axis: Referring to Fig. a, 45

C
A
vB = vBC rB = vBC (0.4) vA  3 m/s

General Plane Motion: The location of the IC for rod AB is indicated in Fig. b. From
the geometry shown in this figure, we obtain

0.4
rA>IC = rA>IC = 0.5657 m
cos 45

rB>IC = 0.4 tan 45 = 0.4 m

Thus, the angular velocity of rod AB can be determined from

vA 3
vAB = = = 5.303 rad>s
rA>IC 0.5657

Then,

vB = vAB rB>IC

vBC (0.4) = 5.303(0.4)

vBC = 5.30 rad>s Ans.

579

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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
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1694. The wheel is rigidly attached to gear A, which is in

mesh with gear racks D and E. If D has a velocity of D
V$  1.8 ms to the right and wheel rolls on track C without
V$  1.8 ms
slipping, determine the velocity of gear rack E.
0.45 m
A
General Plane Motion: Since the wheel rolls without slipping on track C, the IC is O
0.225 m
located there, Fig. a. Here,
C
C
vE
R$)#  0.675 m R%)#  0.225 m
E

Thus, the angular velocity of the gear can be determined from

v$ V$  1.8 ms
1.8
/    2.667 rads
R$)# 0.675
0.675 m

Then,

v%  /R%)#  2.667(0.225)  0.6 ms 

0.225 m
Ans.

1695.
1695. The wheel is rigidly attached to gear A, which is in
mesh with gear racks D and E. If the racks have a velocity D
of Vv$
D= 1.8 andV%vE= 10
m>sand
6 fts fts, show
3 m>s, show that
that it is necessary for
V$  1.8 ms
the wheel to slip on the fixed track C. Also find the angular
0.45 m
velocity of the gear and the velocity of its center O.
A
O
General Plane Motion: The location of the IC can be found using the similar 0.225 m
C
C
triangles shown in Fig. a, vE
R$)# 0.9 R$)# E
 R$)#  0.3375 m
1.8 3

Thus,

R/)#  0.45 R$)#  0.45 0.3375  0.1125 m

R&)#  0.675 R$)#  0.675 0.3375  0.3375 m

V$  1.8 ms

Thus, the angular velocity of the gear is

v$ 1.8
/    5.333 rads  5.33 rads Ans.
R$)# 0.3375
0.9 R$)#

The velocity of the contact point F between the wheel and the track is

v&  /R&)#  5.333(0.3375)  1.8 ms 

V%  3 ms

Since v& : 0, the wheel slips on the track (Q.E.D.)

The velocity of center O of the gear is

v/  /R/)#  5.333(0.1125)  0.6 ms  Ans.

580

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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
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*1696. If C has a velocity of vC = 3 m>s, determine the

0.15 m
angular velocity of the wheel at the instant shown. A
45

0.45 m

C
vC  3 m/s
Rotation About a Fixed Axis: Referring to Fig. a,

vB = vWrB = vW(0.15)

General Plane Motion: Applying the law of sines to the geometry shown in Fig. b,

sin f sin 45
= f = 13.63
0.15 0.45

The location of the IC for rod BC is indicated in Fig. c. Applying the law of sines to
the geometry of Fig. c,
rC>IC 0.45
= rC>IC = 0.5434 m
sin 58.63 sin 45
rB>IC 0.45
= rB>IC = 0.6185 m
sin 76.37 sin 45

Thus, the angular velocity of rod BC is

vC 3
vBC = = = 5.521 rad>s
rC>IC 0.5434

and

vB = vBC rB>IC

vW(0.15) = 5.521(0.6185)

vW = 22.8 rad>s Ans.

581

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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
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1697. The oil pumping unit consists of a walking beam 2.7 m 2.7 m
AB, connecting rod BC, and crank CD. If the crank rotates 0.45 m
at a constant rate of 6 rads, determine the speed of the rod E
hanger H at the instant shown. Hint: Point B follows a A
B 2.7 m
circular path about point E and therefore the velocity of B
is not vertical.
0.9 m 3m

6 rads

D H
C

0.45
Kinematic Diagram: From the geometry, .  tan 1 2
3  9.462 and
2.7
R"%  2.72  0.452  2.737 m. Since crank CD and beam BE are rotating about
fixed points D and E, then vC and vB are always directed perpendicular to crank CD
and beam BE, respectively. The magnitude of vC and vB are
2#  /#$ R#$  6(0.9)  5.4 ms and 2"  /"% R"%  2.737/"% . At the instant 0.45 m
shown, vC is directed vertically while vB is directed with an angle 9.462 with the 2.7 m
vertical.

Instantaneous Center: The instantaneous center of zero velocity of link BC at the

instant shown is located at the intersection point of extended lines drawn V"  2.737/"%
perpendicular from vB and vC. From the geometry

3
R")#   18.249 m
sin 9.462

3 /"#
R#)#   18.00 m
tan 9.462
3m

The angular velocity of link BC is given by

2# 5.4
/"#    0.300 rads
R#)# 18.00

Thus, the angular velocity of beam BE is given by

V#  5.4 ms
2"  /"# R")#

2.737/"%  0.300(18.249)

/"%  2.00 rads

The speed of rod hanger H is given by

2(  /"%R%!  2.00(2.7)  5.4 ms Ans.

582

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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.

1698. If the hub gear H and ring gear R have angular vR

velocities vH = 5 rad>s and vR = 20 rad>s, respectively,
determine the angular velocity vS of the spur gear S and the
angular velocity of arm OA. 50 mm
250 mm
A

5 0.75 H S
=
0.1 - x x
vS
O
x = 0.01304 m 150 mm

0.75 vH
vs = = 57.5 rad>s d Ans.
0.01304
R
vA = 57.5(0.05 - 0.01304) = 2.125 m>s

2.125
vOA = = 10.6 rad>s d Ans.
0.2

1699. If the hub gear H has an angular velocity vR

vH = 5 rad>s, determine the angular velocity of the ring
gear R so that the arm OA which is pinned to the spur gear
S remains stationary (vOA = 0). What is the angular 50 mm
250 mm
velocity of the spur gear? A
H S

vS
O
The IC is at A. 150 mm

0.75 vH
vS = = 15.0 rad>s Ans.
0.05
R
0.75
vR = = 3.00 rad>s Ans.
0.250

583

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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
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*16100. If rod AB is rotating with an angular velocity C

/!"  3 rads, determine the angular velocity of rod BC at
the instant shown. 3m
4m
B
2m
/AB  3 rads 45 60
D
A

4 sin 60 2 sin 45
Kinematic Diagram: From the geometry, .  sin 1 2 3  43.10.
3
Since links AB and CD is rotating about fixed points A and D, then vB and vC are always
directed perpendicular to links AB and CD, respectively. The magnitude of vB and vC
are 2"  /!" R!"  3(2)  6.00 ms and 2#  /#$R#$  4/#$ . At the instant
shown, vB is directed at an angle of 45 while vC is directed at 30. 3m 4 sin 60 m

4m
Instantaneous Center: The instantaneous center of zero velocity of link BC at the 2m
instant shown is located at the intersection point of extended lines drawn
perpendicular from vB and vC. Using law of sines, we have
2 sin 45 m
R")# 3
 R")#  3.025 m
sin 103.1 sin 75
R#)# 3
 R#)#  0.1029 m
sin 1.898 sin 75

The angular velocity of link BC is given by

2" 6.00
/"#    1.983 rads  1.98 rads Ans. V"  6.00 ms
R")# 3.025 3m

584

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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
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16101. If rod AB is rotating with an angular velocity C

/!"  3 rads, determine the angular velocity of rod CD at
the instant shown. 3m
4m
B
2m
/AB  3 rads 45 60
D
A

4sin 60 2 sin 45
Kinematic Diagram: From the geometry. .  sin 1 2 3  43.10.
3
Since links AB and CD is rotating about fixed points A and D, then vB and vC are
always directed perpendicular to links AB and CD, respectively. The magnitude of vB
and vC are 2"  /!" R!"  3(2)  6.00 ms and 2#  /#$ R#$  4/#$. At the
instant shown, vB is directed at an angle of 45 while vC is directed at 30.

Instantaneous Center: The instantaneous center of zero velocity of link BC at the 3m 4 sin 60 m
instant shown is located at the intersection point of extended lines drawn
perpendicular from vB and vC. Using law of sines, we have 4m
2m
R")# 3
 R")#  3.025 m
sin 103.1 sin 75
2 sin 45 m
R#)# 3
 R#)#  0.1029 m
sin 1.898 sin 75

The angular velocity of link BC is given by

2" 6.00
/"#    1.983 rads
R")# 3.025

Thus, the angular velocity of link CD is given by

V"  6.00 ms
2#  /"#R#)# 3m

4/#$  1.983(0.1029)

/#$  0.0510 rads Ans.

585

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16102. The mechanism used in a marine engine consists

of a crank AB and two connecting rods BC and BD.
D
Determine the velocity of the piston at C the instant the
45 60
crank is in the position shown and has an angular velocity of
5 rad>s. C
0.4 m 30
45

vB = 0.2(5) = 1 m>s :
0.4 m
B
0.2 m
Member BC:
5 rad/s
rC>IC 0.4 A
=
sin 60 sin 45

rC>IC = 0.4899 m
rB>IC 0.4
=
sin 75 sin 45

rB>IC = 0.5464 m

1
vBC = = 1.830 rad>s
0.5464

vC = 0.4899(1.830) = 0.897 m>s Q Ans.

16103. The mechanism used in a marine engine consists

of a crank AB and two connecting rods BC and BD.
D
Determine the velocity of the piston at D the instant the
crank is in the position shown and has an angular velocity of 45 60
5 rad>s. C
0.4 m 30
45

vB = 0.2(5) = 1 m>s :
0.4 m
B
Member BD: 0.2 m
5 rad/s
rB>IC 0.4 A
=
sin 105 sin 45

rB>IC = 0.54641 m
rD>IC 0.4
=
sin 30 sin 45

rD>IC = 0.28284 m

1
vBD = = 1.830 rad>s
0.54641

vD = 1.830(0.28284) = 0.518 m>s R Ans.

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*16104. If flywheel A is rotating with an angular velocity

of vA = 10 rad>s, determine the angular velocity of wheel vA  10 rad/s
B at the instant shown. C
0.6 m
0.15 m

A 30 B
D

0.1 m
Rotation About a Fixed Axis: Referring to Figs. a and b,

vC = vA rC = 10(0.15) = 1.5 m>s :

vD = vBrD = vB(0.1) T

General Plane Motion: The location of the IC for rod CD is indicated in Fig. c. From
the geometry of this figure, we obtain

rC>IC = 0.6 sin 30 = 0.3 m

rD>IC = 0.6 cos 30 = 0.5196 m

Thus, the angular velocity of rod CD can be determined from

vD 1.5
vCD = = = 5 rad>s
rC>IC 0.3

Then,

vD = vCD rD>IC

vB(0.1) = 5(0.5196)

vB = 26.0 rad>s Ans.

587

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16105. If crank AB is rotating with an angular velocity 0.6 m

of vAB = 6 rad>s, determine the velocity of the center O of B C
the gear at the instant shown. 0.1 m
0.4 m O
0.1 m
vAB  6 rad/s
60
A

Rotation About a Fixed Axis: Referring to Fig. a,

vB = vAB rB = 6(0.4) = 2.4 m>s

General Plane Motion: Since the gear rack is stationary, the IC of the gear is located
at the contact point between the gear and the rack, Fig. b. Thus, vO and vC can be
related using the similar triangles shown in Fig. b,

vC vO
vg = =
rC>IC rO>IC

vC vO
=
0.2 0.1

vC = 2vO

The location of the IC for rod BC is indicated in Fig. c. From the geometry shown,

0.6
rB>IC = = 1.2 m
cos 60

rC>IC = 0.6 tan 60 = 1.039 m

Thus, the angular velocity of rod BC can be determined from

vB 2.4
vBC = = = 2 rad>s
rB>IC 1.2

Then,

vC = vBC rC>IC

2vO = 2(1.039)

vO = 1.04 m>s : Ans.

588

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16106. The square plate is constrained within the slots at D

A and B. When u = 30, point A is moving at vA = 8 m>s.
Determine the velocity of point C at this instant. 0.3 m

0.3 m
rA>IC = 0.3 cos 30 = 0.2598 m
B
8
v = = 30.792 rad>s
0.2598
C
rC>IC = 2(0.2598)2 + (0.3)2 - 2(0.2598)(0.3)cos 60 = 0.2821 m

vC = (0.2821)(30.792) = 8.69 m>s Ans. u  30

sin f sin 60 A
= vA  8 m/s
0.3 0.2821

f = 67.09

u = 90 - 67.09 = 22.9 g Ans.

16107. The square plate is constrained within the slots at D

A and B. When u = 30, point A is moving at vA = 8 m>s.
Determine the velocity of point D at this instant. 0.3 m

0.3 m
rA>IC = 0.3 cos 30 = 0.2598 m
B
8
v = = 30.792 rad>s
0.2598
C
rB>IC = 0.3 sin 30 = 0.15 m

rD>IC = 2(0.3)2 + (0.15)2 - 2(0.3)(0.15) cos 30 = 0.1859 m u  30

vD = (30.792)(0.1859) = 5.72 m>s Ans. A

vA  8 m/s
sin f sin 30
=
0.15 0.1859

f = 23.794

u = 90 - 30 - 23.794 = 36.2 b Ans.

589

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*16108. The mechanism produces intermittent motion of

vs  6 rad/s
link AB. If the sprocket S is turning with an angular velocity B
of vS = 6 rad>s, determine the angular velocity of link BC
at this instant. The sprocket S is mounted on a shaft which is
separate from a collinear shaft attached to AB at A. The pin 150 mm
at C is attached to one of the chain links. A 15
30
S C
175 mm

Kinematic Diagram: Since link AB is rotating about the fixed point A, then vB is
always directed perpendicular to link AB and its magnitude is
50 mm
yB = vAB rAB = 0.2vAB. At the instant shown, vB is directed at an angle 60 with D
the horizontal. Since point C is attached to the chain, at the instant shown, it moves
vertically with a speed of yC = vS rS = 6(0.175) = 1.05 m>s.

Instantaneous Center: The instantaneous center of zero velocity of link BC at the

instant shown is located at the intersection point of extended lines drawn
perpendicular from vB and vC. Using law of sines, we have
rB>IC 0.15
= rB>IC = 0.2898 m
sin 105 sin 30
rC>IC 0.15
= rC>IC = 0.2121 m
sin 45 sin 30

The angular velocity of bar BC is given by

yC 1.05
vBC = = = 4.950 rad>s Ans.
rC>IC 0.2121

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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
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16109. The disk is moving to the left such that it has an v  3 rad/s
angular acceleration a = 8 rad>s2 and angular velocity a  8 rad/s2
v = 3 rad>s at the instant shown. If it does not slip at A, D
determine the acceleration of point B.
30 45
C
0.5 m
B
A

aC = 0.5(8) = 4 m>s2

aB = aC + aB>C

aB = c 4 d + D (3)2 (0.5)T + D (0.5) (8 ) T

;
a 30 f 30

A :
:B
+ (aB)x = -4 + 4.5 cos 30 + 4 sin 30 = 1.897 m>s2

A+cB (aB)y = 0 + 4.5 sin 30 - 4 cos 30 = -1.214 m>s2

aB = 2(1.897)2 + (-1.214)2 = 2.25 m>s2 Ans.

1.214
u = tan - 1 a b = 32.6 c Ans.
1.897

Also,

aB = aC + a * rB>C - v2 rB>C

(aB)x i + (aB)y j = -4i + (8k) * (-0.5 cos 30i - 0.5 sin 30j) - (3)2 (-0.5 cos 30i - 0.5 sin 30j)

A :
:B
+ (aB)x = -4 + 8(0.5 sin 30) + (3)2(0.5 cos 30) = 1.897 m>s2

AA ++qc BB (aB)y = 0 - 8(0.5 cos 30) + (3)2 (0.5 sin 30) = -1.214 m>s2

1.214
u = tan - 1 a b = 32.6 c Ans.
1.897

aB = 2(1.897)2 + (-1.214)2 = 2.25 m>s2 Ans.

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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
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16110. The disk is moving to the left such that it has an v  3 rad/s
angular acceleration a = 8 rad>s2 and angular velocity a  8 rad/s2
v = 3 rad>s at the instant shown. If it does not slip at A, D
determine the acceleration of point D.
30 45
C
0.5 m
B
A

aC = 0.5(8) = 4 m>s2

aD = aC + aD>C

aD = c 4 d + D (3)2 (0.5 )T + D 8 (0.5) T

;
e 45 45 b

A :
:B
+ (aD)x = -4 - 4.5 sin 45 - 4 cos 45 = -10.01 m>s2

A+cB (aD)y = 0 - 4.5 cos 45 + 4 sin 45 = -0.3536 m>s2

0.3536
u = tan - 1 a b = 2.02 d Ans.
10.01

aD = 2(-10.01)2 + (-0.3536)2 = 10.0 m>s2 Ans.

Also,

aD = aC + a * rD>C - v2 rD>C

(aD)x i + (aD)y j = -4i + (8k) * (0.5 cos 45i + 0.5 sin 45j) - (3)2 (0.5 cos 45i + 0.5 sin 45j)

A :
:B
++ (aD)x = -4 - 8(0.5 sin 45) - (3)2(0.5 cos 45) = -10.01 m>s2

A+cB (aD)y = +8(0.5 cos 45) - (3)2 (0.5 sin 45) = -0.3536 m>s2

0.3536
u = tan - 1 a b = 2.02 d Ans.
10.01

aD = 2(-10.01)2 + (-0.3536)2 = 10.0 m>s2 Ans.

592

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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
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16111. The hoop is cast on the rough surface such that it v  4 rad/s
A
has an angular velocity v = 4 rad>s and an angular
acceleration a = 5 rad>s2. Also, its center has a velocity a  5 rad/s2
vO = 5 m>s and a deceleration aO = 2 m>s2. Determine the
acceleration of point A at this instant. aO  2 m/s2 O
45 vO  5 m/s
0.3 m
aA = aO + aA>O
B
2
aA = c 2 d + B (4) (0.3) R + c5( 0 .3) d
; T :

aA = c0.5 d + B 4. 8 R
; T

aA = 4.83 m>s2 Ans.

4.8
u = tan - 1 a b = 84.1 d Ans.
0.5

Also,

aA = aO - v2 rA>O + a * rA>O

aA = -2i - (4)2(0.3j) + (-5k) * (0.3j)

aA = {-0.5i - 4.8j} m>s2

aA = 4.83 m>s2 Ans.

4.8
u = tan - 1 a b = 84.1 d Ans.
0.5

*16112. The hoop is cast on the rough surface such that it A v  4 rad/s
has an angular velocity v = 4 rad>s and an angular
acceleration a = 5 rad>s2. Also, its center has a velocity of a  5 rad/s2
vO = 5 m>s and a deceleration aO = 2 m>s2. Determine the
acceleration of point B at this instant. aO  2 m/s2 O
45 vO  5 m/s
0.3 m
aB = aO + aB>O
B

aB = c 2 d + C 5 (0.3) S + C (4)2 (0.3) S

; d b

aB = C 6.4548 D + c2.333 d
; c

aB = 6.86 m>s2 Ans.

2.333
u = tan - 1 a b = 19.9 b
6.4548

Also:

aB = aO + a * rB>O - v2 rB>O

aB = -2i + (-5k) * (0.3 cos 45i - 0.3 sin 45j) - (4)2(0.3 cos 45i - 0.3 sin 45j)

aB = {-6.4548i + 2.333j} m>s2

aB = 6.86 m>s2 Ans.

2.333
u = tan - 1 a b = 19.9 b
6.4548

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16113. At the instant shown, the slider block B is A

traveling to the right with the velocity and acceleration
shown. Determine the angular acceleration of the wheel at 125 mm 500 mm
this instant.
B

V"  0.15 ms

a"  0.075 ms2

Velocity Analysis: The angular velocity of link AB can be obtained by using the
method of instantaneous center of zero velocity. Since vA and vB are parallel,
R!)#  R")#  Q. Thus, /!"  0. Since /!"  0, 2!  2"  0.15 ms. Thus, the
2! 0.15
angular velocity of the wheel is /7    1.20 rads.
R/! 0.125
V"  0.15 ms
Acceleration Equation: The acceleration of point A can be obtained by analyzing
the angular motion of link OA about point O. Here, r/!  {0.125j} m.

a!  7
r/! /27 r/!

 ( 7 k)
(0.125j) 1.202 (0.125j)

 {0.1257 i 0.18j} ms2

Link AB is subjected to general plane motion. Applying Eq. 1618 with

r"!  {0.5 cos 30i 0.5 sin 30j} m  {0.433i 0.25j} m, we have

a"  a!  !"
r"! /2!" r"!
a"  0.075 ms2
0.075i  0.1257 i 0.18j  !" k
(0.433i 0.25j) 0

0.075i  (0.25!"  0.1257)i  (0.433!" 0.18)j

Equating i and j components, we have

0.075  0.25!"  0.1257 [1]

0  0.433!" 0.18 [2]

Solving Eqs. [1] and [2] yields

!"  0.4157 rads2

7  0.2314 rads2  0.231 rads2 d Ans.

594

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16114.
16114. The ends of bar AB are confined to move along
the paths
pathsshown.
shown.AtAta given instant,
a given A has
instant, A ahas
velocity of 8 fts
a velocity of
and an and
2.4 m>s acceleration of 3 ftsof2. 0.9
an acceleration m>s2. Determine
Determine the angular
the
velocity
angular and angular
velocity andacceleration of AB at this
angular acceleration of instant.
AB at this 1.2 m
instant. 30

30
1.2 m
2.4
/   2 rads b Ans.
1.2
V!  2.4 ms
v"  1.2(2)  2.4 ms A a!  0.9 ms2

(2.4)2
(A")N   4.8 ms2
1.2
a"  a!  a"!

 4.8 !   (A") T !   0.9 !    (1.2) !   (2)2 (1.2) !

30  30 4
60  60


  4.8 sin 30  (A")T cos 30  0  (1.2) sin 60  4.8 cos 60
1.2 m
C 4.8 cos 30 (A")T sin 30  0.9  (1.2) cos 60 4.8 sin 60
r")#  1.2 m
  7.68 rads2 b Ans.

(A")T  9.21 ms2

r!)#  1.2 m
Also,
V!  2.4 ms
a"  a!  !"
r"! /2r"!
(a")N  4.8 ms2
(2.4)2 (2.4)2
(A")T cos 30i (A")T sin 30j  2 3 sin 30i  2 3 cos 30j  0.9j
1.2 1.2

(k)
( 1.2 sin 30i  1.2 cos 30j) (2)2( 1.2 sin 30i  1.2 cos 30j)


  (A")T cos 30  2.4  1.039  2.4

C (A")T sin 30  4.1569  0.9  0.6 4.1569 1.2 m

  7.68 rads2 b Ans.

(A")T  9.21 ms2

a!  0.9 ms2

(a"!)N  /2r"!
 22(1.2) ms2

(a"!)T  r"!
 (1.2)
1.2 m

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16115. Rod AB has the angular motion shown. B

Determine the acceleration of the collar C at this instant.
2m
/AB  5 rads
R")# 2.5 AB  3 rads2 2.5 m

sin 30 sin 135
A 45
R")#  1.7678 m

10
/   5.66 rads d 60
1.7678

(A")N  25(2)  50 ms2 C

a#  a"  a#"

4 A # 5   6 !   50 "  (5.66)2 (2 .5)"    (2. 5) "


45  45   60  30
10 ms

  A#  6 cos 45 50 cos 45  80 cos 60  (2.5) cos 30

C 0  6 sin 45 50 sin 45  80 sin 60 (2.5)sin 30

2.5 m
  30.5 rads2 d

A#  66.5 ms2  Ans.

Also, v"  /!" r!"

 5(2)  10 ms
v"  5(2)  10 ms

v#  v"  v#"

v# i  10 cos 45i  10 sin 45j  /k

( 2.5 sin 30i 2.5 cos 30j)

C 0  10 sin 45 2.5 / sin 30 2.5 m

/  5.66 rads

(a")T  !" r!"

a#  a"  
r#" / r#" 2  3(2)  6 ms2

(10)2 (10)2
A# i  cos 45i sin 45j 6 cos 45i  6 sin 45j (a")N  /2!" r!"
2 2
 52(2)
 50 ms2
 (k)
( 2.5 cos 60i 2.5 sin 60j) (5.66)2 ( 2.5 cos 60i 2.5 sin 60j)


  A#  35.355 4.243  2.165  40 2.5 m

C 0 35.355  4.243 1.25  69.282

  30.5 rads2 d

A#  66.5 ms2  Ans.

2.5 m

(a#")N  /2r#"
 5.662(2.5) ms

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*16116. At the given instant member AB has the angular B

motions shown. Determine the velocity and acceleration of
the slider block C at this instant.

0.7 m

3 rads
2 rads2
A

v"  3(0.7)  2.1 ms 

0.5 m
v#  v"  /
r#"
C
4 3
v# 2 3 i v# 2 3j  2.1i  /k
( 0.5i 1.2j)
5 5 0.5 m
5
3


   0.8v#  2.1  1.2/ 4

C 0.6v#  0.5/

Solving: v"  2.1 ms

/  1.125 rads

v#  0.9375 ms  0.938 ms Ans.

(A")N  (3)2(0.7)  6.3 ms2 4

(A")T  (2)(0.7)  1.4 ms2 

a#  A"  
r#" /2 r#"

4 3
A# 2 3i A# 2 3 j  1.4i 6.3j  (k)
( 0.5i 1.2j) (1.125)2( 0.5i 1.2j)
5 5


  0.8A#  1.4  1.2  0.6328

C 0.6A#  6.3 0.5  1.51875

A#  5.465 ms2 Ans.

(a")T  1.4 ms2
2
  3.00 rads

(a")N  6.3 ms2

597

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16117. The hydraulic cylinder D extends with a velocity

16117.
of vVB" = 1.2 m>s and
4 fts and an acceleration ofofaBA"= 0.45
an acceleration fts2.
1.5 m>s 0.3 m
Determine the acceleration of A at the instant shown. C

B
0.6 m
v"  1.2 ms
a"  0.45 ms2
A
30

Angular Velocity: The location of the IC for rod AB is indicated in Fig. a. From the
geometry of this figure,
v"  1.2 ms
R")#  0.6 cos 30  0.5196 m

Thus,

v" 1.2
/!"    2.309 rads
R")# 0.5196

Acceleration and and Angular

AngularAcceleration:
Acceleration: Here, rA>B r=
Here, 0.6 cos 30i- 0.62 sin 30
30i
2 cos 30jj 0.6 m
!"
= [0.5196i
[1.732i - 1j]
0.3j]
ft. m. Applying
Applying thetherelative
relativeacceleration
accelerationequation
equation andand referring
referring to
Fig. b,

a!  a"  !"
r!" /!" 2 r!"

A!i  0.45j  ( !" k)

(0.5196i 0.3j) 2.3092(0.5196i 0.3j)

A!i  (0.3!"  2.770)i  (2.049 0.5196!")j a"  0.45 ms2

Equating the i and j components,

A!  (0.3!"  2.770) (1)

0  2.049 0.5196!" (2)

0.6 m
Solving Eqs. (1) and (2) yields

!"  3.94 rads2

A!  3.95 ms2  Ans.

598

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