Professional Documents
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Vy
Vx
y
v = vx i + vy j + vz k Ans.
Let = vx i + vy j.
Since vx and vy are independent of one another, they do not change their direction
or magnitude. Thus,
a = 0 + (vx i + vy j) * (vy k)
a = vy vx i - vx vz j Ans.
45
x y
v = v1 + v2
867
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A
1.4 m u 25
O y
V2, V2
Angular Velocity: The coordinate axes for the fixed frame (X, Y, Z) and rotating
frame (x, y, z) at the instant shown are set to be coincident. Thus, the angular
velocity of the satellite at this instant (with reference to X, Y, Z) can be expressed in
terms of i, j, k components.
Velocity and Acceleration: Applying Eqs. 203 and 204 with the v and a obtained
above and rA = {1.4 cos 25j + 1.4 sin 25k} m = {1.2688j + 0.5917k} m, we have
aA = a * rA + v * (v * rA)
868
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x y
v = v1 + v2
= (-2 cos 30i - 2 sin 30k) + (0.8k) * (16 cos 30i + 16 sin 30k)
For v1 , = 0.
(v1)XYZ = (v1)xyz + * v1
= (12k) + 0
= {12k} rad>s2
# # #
a = v = (v1)XYZ + (v2)XYZ
869
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S
80 mm
D
160 mm C
B
A
v = v1 + v2
2 1
vj - vk = 4k + v2 j
25 25
1
- v = 4 v = -8.944 rad>s
25
2
v2 = (-8.944) = -8.0 rad>s
25
2 1
Hence v = (-8.944)j - (-8.944)k = {-8.0j + 4.0k} rad>s Ans.
25 25
= 0 + (4k) * (-8j)
= {32i} rad>s2
For v1, = 0.
# #
(v1)XYZ = (v1)xyz + * v1 = 0 + 0 = 0
# # #
a = v = (v1)XYZ + (v2)XYZ
870
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vz 0.5 rad/s
150 mm
Angular Velocity: The coordinate axes for the fixed frame (X, Y, Z) and rotating
frame (x, y, z) at the instant shown are set to be coincident. Thus, the angular y
velocity of the disk at this instant (with reference to X, Y, Z) can be expressed in 300 mm
terms of i, j, k components. Since the disk rolls without slipping, then its angular
x
velocity v = vs + vz is always directed along the instantaneous axis of zero
velocity (y axis). Thus,
v = vs + vz
# #
a = v = (v)xyz + vz * v
Velocity and Acceleration: Applying Eqs. 203 and 204 with the v and a obtained
above and rA = {(0.3 - 0.3 cos 60)j + 0.3 sin 60k} m = {0.15j + 0.2598k} m, we
have
aA = a * rA + v * (v * rA)
871
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O y
h1
rC
C
vP = vk * (-rB j) = vrB i
Also,
i j k
vP = vA * (-rB j + h2k) = 3 vAx vAy vAz 3
0 -rB h2
Thus,
0 = vAx h2
0 = vAx rB
vAx = 0
i j k
vR = 0 = 3 0 vAy vAz 3 = ( -vAy h1 + vAz rC)i
0 -rC -h1
vAy = vAz a b
rC
h1
vrB = vAz c a b + rB d
rC h2
h1
vAy = a ba b
rB h1 v rC rB h1v
vAz = ;
rC h2 + rB h1 h1 rC h2 + rB h1
vA = a ba bj + a bk
rC rB h1 v rB h1v
Ans.
h1 rC h2 + rB h1 rC h2 + rB h1
872
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10 m
vy 0.3 rad/s
O
v y 0.2 rad/s2
u y
y
x u 0.4 rad/s
u 0.5 rad/s2
Angular Velocity: The coordinate axes for the fixed frame (X, Y, Z) and rotating
frame (x, y, z) at the instant shown are coincident. Thus, the angular velocity of the
frame at this instant is
#
v = u + vy = -0.4i + (0.3 cos 30j + 0.3 sin 30k)
A vy B xyz = ay = 0.2 cos 30j + 0.2 sin 30k = [0.1732j + 0.1k] rad>s2, we obtain
#
vy = A vy B xyz + * vy
# #
ac = a * roc + v * (v * roc)
= (-0.5i + 0.2332j - 0.003923k) * (10k) + (-0.4i + 0.2598j + 0.15k) * [(-0.4i + 0.2598j + 0.15k) * (10k)]
= [1.732i + 5.390j - 2.275k] m>s2
873
91962_11_s20_p0867-0924 6/8/09 5:06 PM Page 874
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O A
u
x B
1 ft
V2, V2
1 ft
y
Here, the solar panel rotates about a fixed point O. The XYZ fixed reference frame
is set to coincide with the xyz rotating frame at the instant considered. Thus, the
angular velocity of the solar panel can be obtained by vector addition of v1 and v2.
If we set the xyz frame to have an angular velocity of = v1 = [15k] rad>s, then
the direction of v2 will remain constant with respect to the xyz frame, which is along
the y axis. Thus,
# #
v2 = (v2)xyz + v1 * v2 = 1.5j + (15k * 6j) = [-90i + 1.5j] rad>s2
Thus,
a = 3k + (-90i + 1.5j)
and
aB = a * rOB + v * (v * rOB)
= (-90i + 15j + 3k) * (-1i + 6j) + (6j + 15k) * [(6j + 15k) * (-1i + 6j)]
874
91962_11_s20_p0867-0924 6/8/09 5:07 PM Page 875
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x B
1 ft
V2, V2
1 ft
y
The XYZ translating reference frame is set to coincide with the xyz rotating frame
at the instant considered. Thus, the angular velocity of the solar panel at this instant
can be obtained by vector addition of v1 and v2.
If we set the xyz frame to have an angular velocity of = v1 = [15k] rad>s, then
the direction of v2 will remain constant with respect to the xyz frame, which is along
the y axis. Thus,
# #
v2 = (v2)xyz + v1 * v2 = 1.5j + (15k * 6j) = [-90i + 15j] rad>s2
Thus,
a = 3k + (-90i + 1.5j)
When u = 90, rB>O = [-1i + 6j] ft. Since the satellite undergoes general motion,
then
and
aB = aO + a * rB>O + v * (v * rB>O)
= 50i + (-90i + 1.5j + 3k) * (-1i + 6j) + (6j + 15k) * [(6j + 15k) * (-1i + 6j)]
= [293i - 1353j + 1.5k] ft>s2 Ans.
875
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80 mm
Angular Velocity: The coordinate axes for the fixed frame (X, Y, Z) and rotating
frame (x, y, z) at the instant shown are set to be coincident. Thus, the angular
velocity of the disk at this instant (with reference to X, Y, Z) can be expressed in
terms of i, j, k components. Since the disk rolls without slipping, then its angular
velocity v = vs + vz is always directed along the instantaneuos axis of zero
velocity (y axis). Thus,
v = vs + vz
Velocity and Acceleration: Applying Eqs. 203 and 204 with the v and a obtained
above and rA = {0.16 cos 45k} m = {0.1131k} m, we have
aA = a * rA + v * (v * rA)
876
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300 mm C 6 m/s
The xyz rotating frame is set parallel to the fixed XYZ frame with its origin attached 3 m/s2
to point A, Fig. a. Thus, the angular velocity and angular acceleration of this frame B
with respect to the XYZ frame are
#
= v1 = [3k] rad>s v = [1.5k] rad>s2
Since point A rotates about a fixed axis (Z axis), its motion can be determined from
= (-6k) + 6j * (-0.3k)
Since
# = v2 has a constant direction with respect to the xyz frame, then
# #
= v2 = [3j] rad>s2. Taking the time derivative of (rC>A)xyz,
Thus,
vC = vA + * rC>A + (vC>A)xyz
and
#
aC = aA + * rC>A + * ( * rC>A) + 2 * (vC>A)xyz + (aC>A)xyz
= (-0.45i - 2.7j) + 1.5k * ( -0.3k) + (3k) * [(3k) * (-0.3k)] + 2(3k) * (-1.8i - 6k) + (-72.9i + 7.8k)
877
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x v2 0.4 rad/s
= {0.25 k} rad>s
878
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150 mm
B
A
vA
vDE 10 rad/s
150 mm
Since gear C rotates about the fixed axis (zaxis), the velocity of the contact point P
between gears B and C is
Here, gear B spins about its axle with an angular velocity of (vB)y and precesses about
shaft DE with an angular velocity of (vB)z. Thus, the angular velocity of gear B is
vB = (vB)y j + (vB)z k
vP = vB * rFP
Since gear A is held fixed, vB will be directed along the instantaneous axis of zero
velocity, which is along the line where gears A and B mesh. From the geometry of Fig. a,
(vB)z
= tan 45 (vB)z = (vB)y (2)
(vB)y
Thus,
879
91962_11_s20_p0867-0924 6/8/09 5:09 PM Page 880
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150 mm
B
A
vA
Since gears A and C rotate about the fixed axis (z axis), the velocity of the contact
point P between gears B and C and point P between gears A and B are
vDE 10 rad/s
vP = vDE * rC = (10k) * ( -0.15j) = [1.5i] m>s E
and 150 mm
Gear B spins about its axle with an angular velocity of (vB)y and precesses about
shaft DE with an angular velocity of (vB)z. Thus, the angular velocity of gear B is
vB = (vB)y j + (vB)z k
vP = vB * rFP
so that
and
vP = vB * rFP
Thus,
Thus,
880
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The xyz rotating frame is set parallel to the fixed XYZ frame with its origin attached
6m
to point A, Fig. a. Thus, the angular velocity and angular acceleration of this frame O
with respect to the XYZ frame are B
x A
# # V2, V2 u
= v1 = [20k] rad>s v = v1 = [5k] rad>s2
Since point A rotates about a fixed axis (Z axis), its motion can be determined from y
and
#
aA = v1 * rOA + v1 * (v1 * rOA)
= 0 + (5i) * (6j)
= [30k] m>s
Since
# = v2 has a constant direction with respect to the xyz frame, then
# #
= v2 = [3i] rad>s2. Taking the time derivative of (rB>A)xyz,
Thus,
vB = vA + * rB>A + (vB>A)xyz
and
#
aB = aA + * rB>A + * ( * rB>A) + 2 * (vB>A)xyz + (aB>A)xyz
= ( -5i - 400j) + (5k) * (6j) + (20k) * C (20k) * (6j) D + 2(20k) * 30k + ( -150j + 18k)
881
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The xyz rotating frame is set parallel to the fixed XYZ frame with its origin attached
to point A, Fig. a. Thus, the angular velocity and angular acceleration of this frame 6m
O
with respect to the XYZ frame are B
x A
# # V2, V2
= v1 = [20k] rad>s v = v1 = [5k] rad>s2 u
Since point A rotates about a fixed axis (Z axis), its motion can be determined from y
and
#
aA = v1 * rOA + v1 * (v1 * rOA)
Since
# = v2 has a constant direction with respect to the xyz frame, then
# #
= v2 = 0. Taking the time derivative of (rB>A)xyz,
Thus,
vB = vA + * rB>A + (vB>A)xyz
and
#
aB = aA + * rB>A + * ( * rB>A) + 2 * (vB>A)xyz + (aB>A)xyz
= (-5i - 400j)+(5k)*(6 cos 30j + 6 sin 30 k)+(20k) * C (20k)*(6 cos 30 j + 6 sin 30k) D
882
91962_11_s20_p0867-0924 6/8/09 5:10 PM Page 883
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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.
The xyz rotating frame is set parallel to the fixed XYZ frame with its origin attached
to point A, Fig. a. Thus, the angular velocity and angular acceleration of this frame
with respect to the XYZ frame are
# #
= v1 = [20k] rad>s v = v1 = [5k] rad>s2
Since the body of the satellite undergoes general motion, the motion of points O
and A can be related using
and
#
aA = aO + v1 * rA>O + v1 * (v1 * rO>A)
Since
# = v2 has a constant direction with respect to the xyz frame, then
# #
= v2 = 0. Taking the time derivative of (rB>A)xyz,
883
91962_11_s20_p0867-0924 6/8/09 5:11 PM Page 884
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2018. Continued
Thus,
vB = vA + * rB>A + (vB>A)xyz
and
#
aB = aA + * rB>A + * ( * rB>A) + 2 * (vB>A)xyz + (aB>A)xyz
= (495i - 400j)+ (5k)*(6 cos 30j+6 sin 30 k) + (20k)* C (20k)*(6 cos 30 j + 6 sin 30k) D
884
91962_11_s20_p0867-0924 6/8/09 5:11 PM Page 885
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V1
50 ft 110 ft
V2 y
x
#
v = v1 + v2 = {0.2j + 0.15k} rad>s
v = v1 - v2
v = v = | v | + v1 * v2
i j k
vA = vA rA = 3 0 0.2 0.15 3
97.98 0 50
i j k i j k
aA = a + rA + v + vA = 3 -0.03 0 0 3 + 3 0 0.2 0.15 3
97.98 0 50 10 14.7 -19.6
885
91962_11_s20_p0867-0924 6/8/09 5:12 PM Page 886
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0.75 ft
O
A
If the bevel gear A spins about its axle with an angular velocity of vS, then its y
angular velocity is
B
v = vs + vp 1.5 ft
Since gear B rotates about the fixed axis (zaxis), the velocity of the contact point P
between gears A and B is
Since gear A rotates about a fixed point O then rOP = [1.5j] ft. Also,
vp = v * rOP
vs = 30 rad>s
Thus,
We will set the XYZ fixed reference frame to coincide with the xyz rotating
reference frame at the instant considered. If the xyz frame rotates with an angular
velocity of = vp = [-10k] rad>s, the direction of vs will remain constant with
respect to the xyz frame. Thus,
# #
vs = (vS)xyz + vp * vs
= [259.81i] rad>s2
vp = A vp B xyz + vp * vp = 0 + 0 = 0
# #
Thus,
# # #
a = v = vs + vp = (259.81i) + 0 = [260i] rad>s2 Ans.
886
91962_11_s20_p0867-0924 6/8/09 5:12 PM Page 887
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x
2 ft y
vB = vA + v * rB>A
v # rB>A = 0
A vx i + vy j + vz k B # (4i + 2j - 4k) = 0
4vx + 2vy - 4vz = 0 [4]
Thus,
887
91962_11_s20_p0867-0924 6/8/09 5:13 PM Page 888
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x
2 ft y
vB = vA + v * rB>A
v # rB>A = 0
A vx i + vy j + vz k B # (4i + 2j - 4k) = 0
4vx + 2vy - 4vz = 0 [4]
aB = aA + a * rB>A + v * (v * rB>A)
888
91962_11_s20_p0867-0924 6/8/09 5:13 PM Page 889
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2022. Continued
a # rB>A = 0
A ax i + ay j + a2 k B # (4i + 2 - 4k) = 0
4ax + 2ay - 4az = 0 [8]
Thus,
889
91962_11_s20_p0867-0924 6/8/09 5:13 PM Page 890
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B
3 ft
2.5 ft y
2 ft
3 ft
3 4
vB = {8k} ft>s vB = - y i + yB k vAB = vx i + vy j + vz k
5 B 5
vB = vA + vAB * rB>A
i j k
3 4 3
- yB i + yBk = 8k + vx vy vz 3
5 5
1.5 -2 -1
Equating i, j, and k
3
-vz + 2vz = - y (1)
5 B
vz + 1.5vz = 0 (2)
4
v - 2vx - 1.5vx = y (3)
5 B
890
91962_11_s20_p0867-0924 6/8/09 5:15 PM Page 891
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B
3 ft
2.5 ft y
2 ft
3 ft
rB # A = {1.5i - 2j - 1k} ft
aAB = ax i + ay j + az k
3 4
aA = {4k} ft>s2 aB = - a i + aB k
5 B 5
3 4
- a i + aB k = 4k + (axi + ay j + az k) * (1.5i - 2j - 1k)
5 B 5
3
-ay + 2az - 5.3607 = - a (1)
5 B
4
7.5737 - 2ax - 1.5ay = a (3)
5
891
91962_11_s20_p0867-0924 6/8/09 5:16 PM Page 892
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5 3
4 ft
4
B
x 4 ft
y
Since rod AB undergoes general motion vA and vB can be related using the relative
velocity equation.
vB = vA + vAB * rB>A
4 3
Assume vB = vB i - vB k and vAB = (vAB)x i + (vAB)y j + (vAB)z k . Also,
5 5
rB>A = [-2i + 4j - 4k] ft. Thus,
4
v = 10 - 4(vAB)y - 4(vAB)z (1)
5 B
vAB # rB>A = 0
vB = -25 ft>s
Then,
4 3
vB = (-25)i - (-25)k = [-20i + 15k] ft>s Ans.
5 5
892
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5 3
4 ft
4
B
x 4 ft
y
For general motion, aA and aB can be related using the relative acceleration
equation.
Using the result of Prob. 19-17, vAB = [1.667i + 4.166j + 3.333k] rad>s.
4 3
Assume aB = a i - aB k and aAB = (aAB)x i + (aAB)y j + (aAB)z k. Also,
5 B 5
rB>A = [-2i + 4j - 4k] ft. Thus,
4
a = 64.5 - 4(aAB)y - 4(aAB)z (1)
5 B
3
- a = 4(aAB)x + 2(aAB)y + 125 (3)
5 B
aAB # rB>A = 0
aB = -1411.25 ft>s2
Then,
4 3
aB = ( -1411.25)i - ( -1411.25)k = [-1129i + 846.75k] ft>s Ans.
5 5
893
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300 mm
x 600 mm
B
Since rod AB undergoes general motion vA and vB can be related using the relative
velocity equation.
vB = vA + vAB * rB>A
vAB # rB>A = 0
vB = 1 m>s
Then,
vB = [1j]m>s Ans.
894
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300 mm
x 600 mm
B
For general motion, aA and aB can be related using the relative acceleration
equation.
Using the result of Prob. 19-22, vAB = [0.6122i + 1837j + 4.082k] rad>s
aBj = - c0.3(aAB)y + 0.6(aAB)z + 3.5816 di + C 0.3(aAB)x + 0.2(aAB)z - 12.2449 D j + c0.6(aAB)x - 0.2(aAB)y + 6.1224 dk
aAB # rB>A = 0
aB = -16.5 m>s2
Then,
aB = [-16.5j]m>s2 Ans.
895
91962_11_s20_p0867-0924 6/8/09 5:19 PM Page 896
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1000 mm
x VBC, VBC
B
Here, rC>B = [-0.3i] m and vBC = [6k] rad>s. Since crank BC rotates about a fixed C
y
axis, then 300 mm
Since rod AB undergoes general motion vA and vB can be related using the relative
velocity equation.
vA = vB + vAB * rA>B
vAB # rA>B = 0
vA = 2.25 m>s
Then,
vA = [2.25k]m>s Ans.
896
91962_11_s20_p0867-0924 6/8/09 5:20 PM Page 897
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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.
1000 mm
x VBC, VBC
B
C
y
Here, rCB = [-0.3i] m and aBC = [1.5k] rad>s2. Since crank BC rotates about a 300 mm
fixed axis, then
aB = aBC * rCB + vBC * (vBC * rCB) = (1.5k) * (-0.3i) + 6k * [(6k) * (-0.3i)]
For general motion, aA and aB can be related using the acceleration equation.
Using the result of Prob. 20-29, vAB = [-2.133i + 0.3902j - 0.3121k] rad>s.
aAk = C 0.8(aAB)y + (aAB)z + 12.24 D i + C 4.349 - 0.8(aAB)x - 0.3(aAB)z D j + C 0.3(aAB)y - (aAB)x - 3.839 D k
aAB # rA>B = 0
aA = -13.9 m>s2
Then,
aA = [-13.9k]m>s2 Ans.
897
91962_11_s20_p0867-0924 6/8/09 5:20 PM Page 898
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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.
vA 15 ft/s
A
y
3 ft
x
B
vA = {15i} ft>s vB = yBk vAB = vx i + vy j + vz k
vB = vA + vAB * rB>A
i j k
yBk = 15i + 3 vx vy vz 3
-2 6 -3
15 - 3 vy - 6vz = 0 (1)
3 vx - 2 vz = 0 (2)
Note: vB can be obtained by solving Eqs. (1)-(3) without knowing the direction of v
898
91962_11_s20_p0867-0924 6/8/09 5:21 PM Page 899
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3 ft
x
aAB = ax i + ay j + az k
aA = { 2i } ft>s2 aB = aB k
Note: aB can be obtained by solving Eqs. (1)-(3) without knowing the direction of a
899
91962_11_s20_p0867-0924 6/8/09 5:21 PM Page 900
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1m
y
1.5 m B
2m
x
vB = vA + v * rB>A
0.8 yB = vx [2]
0 = 2 vx - 3 [3]
v # rB>A = 0
( vx i + vy j + vz k) # (2j - 1k) = 0
2vy - vz = 0 [4]
900
91962_11_s20_p0867-0924 6/8/09 5:22 PM Page 901
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y
1.5 m B
2m
x
vB = vA + v * rB>A
0.8 yB = vx [2]
0 = 2vx - 3 [3]
v # rB>A = 0
A vx i + vy j + vz k B # (2j - 1k) = 0
2vy - vz = 0 [4]
Thus,
901
91962_11_s20_p0867-0924 6/8/09 5:22 PM Page 902
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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.
2034. Continued
aB = aA + a * rB>A + v * (v * rB>A)
ax = -0.2515 rad>s2
Negative sign indicates that aB is directed in the opposite direction to that of the
above assumed direction
Note: In order to determine ay and az. one should obtain another equation by
pacifying the direction of a which acts perpendicular to the axis of rod AB.
902
91962_11_s20_p0867-0924 6/8/09 5:23 PM Page 903
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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.
4 ft A y
u
vB = -5 sin 60i + 5 cos 60j 2.5 ft
B
= {-4.33i + 2.5j} ft>s
x
vC = (vC)x i + (vC)z k
vB = v * rB>A
i j k
-4.33i + 2.5j = 3 vx vy vz 3
1.25 2.165 0
vC = v * rC>A
i j k
(vC)x i + (vC)zk = 3 vx vy 23
3 0 4
(vC)x = 4vy
(vC)z = -3vy
Solving,
vy = 2.5981 rad>s
Thus,
903
91962_11_s20_p0867-0924 6/8/09 5:24 PM Page 904
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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.
B
vB = -4.33i + 2.5j
x
(aB)t = 3(2.5) = 7.5 ft>s2
aB = -7.5 sin 60i + 7.5 cos 60j - 10 cos 60i - 10 sin 60j
aB = -11.4952i - 4.91025j
aB = a * rB>A + v * vB>A
i j k i j k
-11.4952i - 4.91025j = 3 ax ay az 3 + 3 1.5 2.5981 23
1.25 2.165 0 -4.33 2.5 0
-11.4952 = -2.165az - 5
az = 3 rad>s2
aC = a * rC>A + v * vC>A
i j k i j k
aC = (aC)x i + (aC)zk = 3 ax ay az 3 + 3 1.5 2.5981 2 3
3 0 4 10.39 0 -7.794
ax = 10.369 rad>s2
ay = 29.96 rad>s2
904
91962_11_s20_p0867-0924 6/8/09 5:25 PM Page 905
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y
200 mm
v 10 rad/s
C
A
500 mm
100 mm
x
vB = vC + vBC * rB>C
i j k
3
-vB = 1i + vx vy vz 3
-0.2 0.6 0.3
Then
905
91962_11_s20_p0867-0924 6/8/09 5:25 PM Page 906
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vB = vC + vBC * rB>C
i j k
-vBj = 1i + 3 vx vy vz 3
-0.2 0.6 0.3
Also,
i j k
rB>C * rD>C = 3 -0.2 0.6 0.3 3 = {0.18i + 0.12k} m2
-0.2 0 0.3
0.18i + 0.12k
n = = 0.8321i + 0.5547k
20.182 + 0.122
u = j * n = j * (0.8321i + 0.5547k) = 0.5547i - 0.8321k
Then
906
91962_11_s20_p0867-0924 6/8/09 5:26 PM Page 907
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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.
rB = {-0.5k} m
vB = {2j} m>s
Relative to xyz, let x y z be coincident with xyz and be fixed to BD. Then
# # #
xyz = v1 + v2 = {4i + 5k} rad>s vxyz = v1 + v2 = {1.5i - 6k} rad>s2
(rC>B)xyz = {0.2j} m
# #
(vC>B)xyz = (rC>B)xyz = (rC>B)xyz + (v1 + v2) * (rC>B)xyz
(aC>B)xyz = C 2j + (4i + 5k) * 3j D + C (1.5i - 6k) * 0.2j D + C (4i + 5k) * ( -1i + 3j + 0.8k) D
vC = vB + * rC>B + (vC>B)xyz
= 2j + 0 + (-1i + 3j + 0.8k)
907
91962_11_s20_p0867-0924 6/8/09 5:27 PM Page 908
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# #
Relative to XYZ, let x y z be concident with XYZ and have = v1 and = v1
# # #
v = v1 + v2 = {4i + 5k} rad>s
v = v1 + v2 = c a v1 b + v1 * v1 d + c av2 b + v1 * v2 d
# # # #
xyz xyz
= (1.5i + 0) + C -6k + (4i) * (5k) D = {1.5i - 20j - 6k} rad>s2
rB = {-0.5k} m
vB = rB = arB b
# #
+ v1 * rB = 0 + (4i) * (-0.5k) = {2j} m>s
xyz
aB = rB = c a rB b + v1 * a rB b d + v1 * rB + v1 * rB
# $ # # #
xyz xyz
= 0 + 0 + C (1.5i) * (-0.5k) D + (4i * 2j) = {0.75j + 8k} m>s2
a rC>B b = {0.2j} m
xyz
(vC>B)xyz = {3j} m>s
vC = vB + * rC>B + (vC>B)xyz
= (0.75j + 8k) + C (1.5i - 20j - 6k) * (0.2j) D + (4i + 5k) * C (4i + 5k) * (0.2j) D + 2 C (4i + 5k) * (3j) D + 2j
908
91962_11_s20_p0867-0924 6/8/09 5:28 PM Page 909
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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.
B C
x
A
Vs y
Vs 150 mm
The xyz rotating frame is set parallel to the fixed XYZ frame with its origin attached
to point A, Fig. a. The angular velocity and angular acceleration of this frame with
respect to the XYZ frame are
# #
= vp = [6k] rad>s v = vp = [3k] rad>s2
Since point A rotates about a fixed axis (Z axis), its motion can be determined from
= 0 + (12i) * (0.15k)
= [-1.8j] m>s
Thus,
vC = vA + * rC>A + (vC>A)xyz
909
91962_11_s20_p0867-0924 6/8/09 5:29 PM Page 910
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B C
x
The xyz rotating frame is set parallel to the fixed XYZ frame with its origin attached
to point A, Fig. a. The angular velocity and angular acceleration of this frame with A
respect to the XYZ frame are Vs y
Vs 150 mm
# #
= vp = [6k] rad>s v = p = [3k] rad>s2
Since point A rotates about a fixed axis (Z axis), its motion can be determined from
aA = vp * rOA + vp * A vp * rOA B
#
= 0 + (12i) * (0.15k)
= [-1.8j] m>s
Since
# = vs has a constant direction with respect to the xyz frame, then
# #
= vs = [6i] rad>s2. Taking the time derivative of (rC>A)xyz,
(aC>A) = (rC>A)xyz = C (rC>A)xyz + vs * (rC>A)xyz D + vs * (rC>A)xyz + vs * (rC>A)xyz
$ $ # # #
Thus,
#
aC = aA + * rC>A + * ( * rC>A) + 2 * (vC>A)xyz + (aC>A)xyz
910
91962_11_s20_p0867-0924 6/8/09 5:34 PM Page 911
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C
O
rO = 0, vO = 0, aO = 0
Thus,
911
91962_11_s20_p0867-0924 6/8/09 5:34 PM Page 912
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vO = {2j} m>s
aO = {1j} m>s2
Thus,
912
91962_11_s20_p0867-0924 6/8/09 5:34 PM Page 913
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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.
O
1.5 m B 6m
x
v2 0.2 rad/s
8m
y
Coordinate Axes: The rotating x, y, z frame and fixed X, Y, Z frame are set with the
origin at point B and O respectively.
aB = rB = C (rB)xyz + * (rB)xyz D + * rB + * rB
$ $ # # #
Motion# of A# with Respect to B: Let xyz axis rotate at xyz = v2 = {-0.2i} rad>s
and xyz = v2 = 0. Here, rA>B = {8j + 6k} m.
# #
(vA>B)xyz = rA>B = (rA>B)xyz + xyz * rA>B = 0 + (-0.2i) * (8j + 6k) = {1.20j - 1.60k} m>s
= (-0.540j) + 0 + 0.6k * [0.6k * (8j + 6k)] + 2(0.6k) * (1.20j - 1.60k) + (-0.320j - 0.240k)
913
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O
1.5 m B 6m
x
v2 0.2 rad/s
8m
y
Coordinate Axes: The rotating x, y, z frame and fixed and fixed X, Y, Z frame are set
with the origin at point B and O respectively.
aB = rB = C (rB)xyz + * (rB)xyz D + * rB + * rB
$ $ # # #
Motion of A with Respect to B: Let xyz axis rotate at xyz = v2 = {-0.2i} rad>s
#
and xyz = v2 = {-0.3i} rad>s2. Here, rA>B = {8j + 6k} m
# #
(vA>B)xyz = rA>B = (rA>B)xyz + xyz * rA>B = 0 + ( -0.2i) * (8j + 6k) = {1.20j - 1.60k} m>s
914
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Since point A rotates about a fixed axis (Z axis), its motion can be determined from
= [-2.7j] m>s2
= (-6k) + 6j * (-0.3k)
Since
# = v2 has a constant direction with respect to the xyz frame, then
# #
= v2 = 0. Taking the time derivative of (rC>A)xyz,
Thus,
vC = vA + * rC>A + (vC>A)xyz
and
#
aC = aA + * rC>A + * ( * rC>A) + 2 * (vC>A)xyz + (aC>A)xyz
915
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aB = rB = c(rB)xyz + * a rB b d + * rB + * rB
# $ # #
xyz
= C 2k + 0 D + 0 + C (0.9k) * ( -18i + 4k) D
Thus,
vF = vB + * rP>B + (vP>B)xyz
916
91962_11_s20_p0867-0924 6/8/09 5:35 PM Page 917
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u 60
B
x
Coordinate Axis: The rotating x, y, z frame is set to be coincident with the fixed X, Y,
Z frame with origin at point B.
aB = vB = 0
#
# of A$ with Respect2 to B: Let xyz axis rotate at xyz = u = {0.4j} rad>s
Motion
and xyz = u = {0.6j} rad>s . Here.
rA>B = {40 cos 60i + 40 sin 60k} m = {20.0i + 34.64k} m.
# #
(vA>B)xyz = rA>B = (rA>B)xyz + xyz * rA>B = 0 + 0.4j * (20.0i + 34.640k) = {13.86i - 8.00k} m>s
# #
Motion of Point A: Here, = v1 = {2k} rad>s and = v1 = {3k} rad>s2. Applying
Eqs. 2011 and 20-12. we have
vA = vB + * rA>B + (vA>B)xyz = 0 + 2k * (20.0i + 34.64k) + (13.86i - 8.00k)
= 0 + 3k * (20.0i + 34.64k) + 2k * [2k * (20.0i + 34.64k)] + 2(2k) * (13.86i - 8.00k) + 17.58i - 17.54k
917
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u 30
y
v2 5 rad/s
Coordinate Axis: The rotating x, y, z frame is set to be coincident with the fixed X, Y,
Z frame with origin at point A.
aA = vA = 0
Motion of B with Respect to A: Let xyz axis rotate at xyz = v2 = {5i} rad>s and
# #
xyz = v2 = 0. Here, rB>A = {3 cos 30j + 3 sin 30k} m = {2.5981j + 1.50k} m,
#
(rB>A)xyz = {7 cos 30j + 7 sin 30k} m>s = {6.0621j + 3.50k} m>s and
$
(rB>A)xyz = {2 cos 30j + 2 sin 30k} m>s2 = {1.7321j + 1k} m>s2.
# #
(vB>A)xyz = rB>A = (rB>A)xyz + xyz * rB>A
= 6.0621j + 3.50k + 5i * (2.5981j + 1.50k) = {-1.4378j + 16.4903k} m>s
918
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u 30
y
v2 5 rad/s
Coordinate Axis: The rotating x, y, z frame is set to be coincident with the fixed X, Y,
Z frame with origin at point A.
aA = vA = 0
Motion of B with Respect to A: Let xyz axis rotate at xyz = v2 = {5i} rad>s and
# #
xyz = v2 = 0. Here, rB>A = {3 cos 30j + 3 sin 30k} m = {2.5981j + 1.50k} m
#
and (rB>A)xyz = {7 cos 30j + 7 sin 30k} m>s = {6.0621j + 3.50k} m>s.
# #
(vB>A)xyz = rB>A = (rB>A)xyz + xyz * rB>A
919
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O u y
A
V2, V2
The xyz rotating frame is set parallel to the fixed XYZ frame with its origin attached
to point A, Fig. a. The angular velocity and angular acceleration of this frame with
respect to the XYZ frame are
# #
= v1 = [1.5k] rad>s = v1 = 0
Since point A rotates about a fixed axis (Z axis), its motion can be determined from
= [-3.375j] m>s2
Since
# = v2 has a constant direction with respect to the xyz frame, then
# #
= v2 = 0. Taking the time derivative of (rA>B)xyz,
Thus,
vB = vA + * rB>A + (vB>A)xyz
and
#
aB = aA + * rB>A + * ( * rB>A) + 2 * (vAB)xyz + (aAB)xyz
= ( -3.375j) + 0 + 1.5k * C (1.5k) * (12 cos 30 j + 12 sin 30 k) D + 2(1.5k) * (-3j + 5.196k) + (-2.598j - 1.5k)
920
91962_11_s20_p0867-0924 6/8/09 5:35 PM Page 921
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O u y
A
V2, V2
The xyz rotating frame is set parallel to the fixed XYZ frame with its origin attached
to point A, Fig. a. Thus, the angular velocity and angular acceleration of this frame
with respect to the XYZ frame are
#
= v1 = [1.5k] rad>s = [0.5k] rad>s2
Since point A rotates about a fixed axis (Z axis), its motion can be determined from
Since
# = v2 has a constant direction with respect to the xyz frame, then
# #
= v2 = [0.25i] m>s2. Taking the time derivative of (rB>A)xyz,
921
91962_11_s20_p0867-0924 6/8/09 5:36 PM Page 922
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2053. Continued
Thus,
vB = vA + * rB>A + (vB>A)xyz
and
#
aB = aA = * rB>A + * ( * rB>A) + 2 * (vB>A)xyz + (aB>A)xyz
= (-0.75i - 3.375j) + 0.5k * (12 cos 30j + 12 sin 30 k) + (1.5k) * C (1.5k) * (12 cos 30 j + 12 sin 30 k) D
922
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0.5 m
C
Y
v1 4 rad/s
v 1 3 rad/s2
vB = 0
aB = 0
xyz = {8j} rad>s, xyz = 0 ( xyz does not change direction relative to xyz.)
Thus,
923
91962_11_s20_p0867-0924 6/8/09 5:36 PM Page 924
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0.5 m
C
Y
v1 4 rad/s
v 1 3 rad/s2
vB = 0
aB = 0
xyz = {8j} rad>s, xyz = {2j} rad>s2 ( does not change direction relative
to xyz.)
Thus,
924