Problem 15.9 Beer and Johnston 5th ed.

The assembly shown consists of the straight rod ABC which passes thru and is welded to the plate DEFH. The
assembly rotates about the axis A-C with a constant angular velocity of 9 rad/sec. Knowing that the motion,
when viewed from point C is counterclockwise, determine the velocity and acceleration of corner F.
x
y
z
A
C
when viewed from point C
motion is counterclockwise

F
H
D
E
B
100
mm
100
mm
100
mm
175
mm
175
mm
100
mm
Discussion: These three dimensional problems are difficult to visualize. Precisely for this reason it pays to
have a good understanding of how to apply the appropriate vector algebra techniques in order to solve them.

First : Recognize that the vector extends along the rod A-C. Since is constant the length of the vector is
constant. From the geometry details in the drawing, assuming the origin at A we can write an i-j-k type
equation representing a vector extending along the rod A-C.
15-9 3D motion bar-plate assembly.mcd
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B&J\15-9 3D motion bar-plate
assembly.mcd
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AXIS
AC
.35 i 0.2 j 0.2 k + = or AXIS
AC
.35
.2
.2

,
: It is important to realize that this vector is NOT . It is
simply a vector representation of rod A-C. In order to obtain the vector representing we first create the unit
vector along A-C. Then we multiply the unit vector times the magnitude of . .
i 1 : j 1 : k 1 : defined as 1 for use in vector notation
UNIT VECTOR, , FOR A-C

AXIS
AC
AXIS
AC
:
Here we simply create a vector with components that
sum vectorially to 1.0. This is the definition of a unit
vector.

0.778
0.444
0.444

Comment: The magnitude of AXIS

AC
is given by: AXIS .35
2
.2
2
+ .2
2
+ : or AXIS 0.45
The vector representing the angular velocity is obtained by multiplying the unit vector times the value of ,
9 rad/sec
9
rad
sec
:

7
4
4

,
sec
-1
This is the vector representation of the angular velocity vector. It is directed along A-C and
pointed toward C.
Now, we know the linear velocity of any point on the plate is equal to a position vector from the axis of
rotation, crossed with the angular velocity vector.
The position vector from point B to the corner at F is given by, from the drawing: r
FB
.175 i 0.1 k + = or
r
FB
.175
0
0.1

,
m :
15-9 3D motion bar-plate assembly.mcd
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B&J\15-9 3D motion bar-plate
assembly.mcd
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The linear velocity of point F relative to point B is then v
F
r
FB
: or v
F
0.4
1.4
0.7

,
msec
-1
. It is important to
note that the vector equation for ANY position vector extending from the axis of rotation to the point under
consideration (F) will work, and give the same answer. The "cross product" resolves the vectors into
perpendicular components, the person working the problem only has to come up with the equations for the
vectors.
Now determine the acceleration vector for point F. The appropriate equation is

0
0
0

,
rad
sec
2
:
a
FB
r
FB
( ) r
FB
( ) +

1
]
:
a
FB
8.4
3.3
11.4

,
msec
-2

In i-j-k notation: a
FB
8.4 i 3.3 j + 11.4 j ( )
m
sec
2
=
MORAL of the story - Eventually dynamics problems become difficult or impossible to visualize easily. Thus
one has to understand the principles well and rely on vector algebra techniques.
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