EM220/221

MEC420 Dynamics
Faculty of Mechanical Engineering
Universiti Teknologi MARA

Name:
SID:

Tutorial Set No. 4: Kinematics of Rigid Bodies in Plane Motion

4.1

A rigid rod PQS is connected to

sliders at Q and S and is constrained
to slide freely along the two
horizontal rods which are aligned in
the vertical plane as shown. Knowing
that the sliders move with a constant
velocity of 0.5 m/s in the rightward
direction, what is the velocity and
acceleration of point P after 5 s?

P
80 cm
Q

110 cm

Figure T 4.1
4.2

Rod AB is rigidly welded to rod CDE

at C to form a moving frame as
shown. The motion of this frame is
guided by two small wheels that can
roll freely in the inclined slot cut.
Knowing that the wheels accelerate
downward constantly at 2 m/s2,
determine the acceleration of points
A, C, and D after 5 s. What is the
corresponding velocity of these
points? Assume that the system is
initially at rest.

B
E
C
110

30

100
D

Figure T 4.2
4.3

For the rigid welding arm OABC

rotating at a constant angular velocity
of 5 rad/s in the clockwise direction
as shown, determine the velocity and
the acceleration of points A, B, and
C. All dimensions are in mm.

100

O
A

160

C
240

80

Figure T 4.3
4.4

A disc is rotating with a constant angular velocity of 10 rad/s counter clockwise.

Determine (a) the velocity of the collar B and its acceleration at the instant when =
90o. What is the angular velocity and angular acceleration of the coupler AB at this
same instant? The length of the coupler is 520 mm.

O
150 mm
B

360 mm

Figure T 4.4
4.5

Two discs connected with a rigid rod roll on the flat surface without slipping as shown
in the figure. Knowing that the angular velocity of disc 1 is 2 rad/s in the clockwise
direction, determine at the instant shown (a) the angular velocity of the rod, (b) the
angular velocity of disc 2, and (c) the velocity of the center of disc 2.

Disc 2

Disc 1
1.5 m

4m

A 1m

D
B

Figure T 4.5
4.6

For the mechanism shown, collar C

has a velocity of 1.2 m/s directed
upward and a deceleration of 1 m/s2
at the instant when rod BC is
horizontal. Determine the angular
velocity and acceleration of link AB at
this instant.

0.2 m

90

0.4 m
60O

A A

Figure T 4.6
4.7

The wire cutting mechanism is as

shown. If the driver ABC rotates
counter clockwise at a constant rate
of 15 rad/s, determine (a) the velocity
of point C, and (b) the angular
velocity of the connecting rod CD.
What is the velocity of the tip E of the
cutter?

50 mm

70 mm

C
90 mm
120 mm
A
D

Figure T 4.7

4.8

A motion of pin P on the pivoted rigid

link AB in one of the machine
components is controlled by a
vertical arm CD which moves to the
left at a constant speed of 50 mm/s.
Knowing that the arm is initially at the
farther end of the section (x = r = 420
mm), determine (a) the velocity and
acceleration of pin P, and (b) the
angular velocity and acceleration of
the arm AB at instant when y = 100
mm. What is the position of the pin P
after 1 s?

D
y
x
B
r
P
y
x
A

Figure T 4.8
At the instant shown in
the figure, rod OA is
horizontal, and slider B is
moving with a velocity of
20 cm/s to the left and
acceleration of 10 cm/s2
to the right. Determine
the
velocity
and
acceleration of point A.
Determine
also
the
angular acceleration of
rods OA and AB.

40 cm

50
c

40 cm

4.9

Figure T 4.9

4.10 The motion of nozzle C is controlled

by arm ABD as shown in the figure.
Knowing that at the instant shown,
the arm is rotating at = 2 rad/s
clockwise and is increasing at a rate
of 3 rad/s2. and that portion DC (with
the nozzle) is being extended at the
rate of c = 5 m/s and is increasing at
10 m/s2 relative to the arm.
Determine at this instant,
(a) the velocity of the nozzle C, and
(b) the acceleration of the nozzle C.

c = 5 m/s

c = 10 m/s2

80

240

C
D

60

B
All dimensions in mm

Figure T 4.10

4.11 An automatic switching element has the

components as shown in Figure Q2.2. If the
vertical control rod has a constant
downward velocity of 1.5 m/s when = tan
1
(4/3) and roller C is in continuous contact
with the horizontal surfaces, determine the
velocity and acceleration of roller C at this
instant.
(a) the angular velocity of rod CD, and
(b) the angular acceleration of rod CD.

120 mm

B
C
120 mm

Figure T 4.11
4.12 A robot manipulator which consists of a slider A and a control rod PQ is constrained to
move on horizontal tract as shown in Figure Q1. Knowing that at the instant shown the
slider A moves at a constant speed of 0.5 m/s to the right and that the control rod PQ
retracts at a constant speed of 1.5 m/s while at the same time rotates at a constant
rate of 10 rad/s about point P, determine the velocity and acceleration of end Q.

Q
q
Figure T 4.12
4.13 Roller E slides in a circular slot of
radius r = 550 mm which is rigidly
attached to the rotating arm ABC at the
speed e = 5 m/s and is decreasing at
10 m/s2 relative to the slot. Knowing
that the entire assembly rotates about
the
pivot
point
A
in
the
counterclockwise direction at p = 2
rad/s and is increasing at 5 rad/s2 and
that arm ABC extends at the rate b = 2
m/s and is increasing at 20 m/s2,
determine the absolute velocity and
acceleration of roller E at the instant
when (a) = 0o and (b) = 90o. Given
L = 800 mm. Also sketch the various
components of the velocity and
acceleration of roller E on the figure.

O
A

E
p

b
B

D
r

Figure T 4.13