Problem 15.

256

Y
1 Rod BC of length 24 in.
i is connected
B A by ball-and-socket joints to a rotating
arm AB and to a collar C that slides
4 in on the fixed rod DE. Knowing that
16 in length of arm AB is 4 in. and that it
E rotates at a constant rate
4 in 1 = 10 rad/s,
rad/s determine the velocity
of collar C when = 90o.
X
Z C
D

Y Problem 15.256
1 Solving Problems on Your Own
B A Rod BC of length 24 in. is connected
by ball-and-socket joints to a rotating
4 in
arm AB and to a collar C that slides
16 in on the fixed rod DE. Knowing g that
E length of arm AB is 4 in. and that it
4 in rotates at a constant rate
X 1 = 10 rad/s, determineo the velocity
Z C of collar C when = 90 .
D
1. Determine velocities in a body rotating about a fix axis:
In vector form, the velocity of a point y v=r
in the body is given by:
v=xr
r
Where v , , and r are the velocity of the
point, the angular velocity of the body, and x
the position vector from the axis to the point.
 Y Problem 15.256
1 Solving Problems on Your Own
B Rod BC of length 24 in. is connected
A
by ball-and-socket joints to a rotating
4 in arm AB and to a collar C that slides
on the fixed rod DE. Knowing that
16 in
E length of arm AB is 4 in. and that it
4 in rotates at a constant rate
= 10 rad/s, determine the velocity
X of1 collar C when = 90o.
Z C
D 2. Determine velocities in general motion of a rigid body:
Y
vB = vA + x rB/A
Where vB is the velocity of point B, vA is rB/A B
y A
the (known) velocity of point A, is the
angular velocity of the body with respect Z X
to a fixed frame of reference, and rB/A rA
is the position vector of B relative to A. z x

Y Problem 15.256 Solution

1 Determine velocities in a body
B A rotating about a fix axis.
4 in

16 in Determine the velocity of point B

E when = 90o:
4 in
X
Z C
Y 1 = 10 k rad/s
D
A 1 rB/A = - 4 j in
vB = 1 x rB/A
B vB
vB = 10 k x (- 4 j )
vB = ( 40 in/s) i
Z X
 Y Problem 15.256 Solution
A 1 Determine velocities in general
motion of a rigid body.
B Consider rod BC:
24 in vB = ( 40 in/s) i
E 12 in vC = vC k
4 in = x i + y j + z k
20.4 in X rC/B = 4 i - 12 j + 20.4 k
Z C
D
vC = vB + x rC/B
i j k
vC k = ( 40 in/s) i + x y z
4 -12 20.4

vC k = (40) i + (20.4y + 12z)i + (-20.4x+ 4z)j + (-12x - 4y)k

Y Problem 15.256 Solution

A 1
vC k = (40) i + (20.4y + 12z)i
B
24 in
+ (-20.4x+ 4z)j + (-12x - 4y)k

E 12 in Equate coefficients of i, j, k :
4 in
0 = 40 + 20.4y + 12z
20.4 in X
Z C 0 = -20.4x+ 4z
D
vC = -12x - 4y
Solve for vC : (First eliminate z and then eliminate (3x + y). )

vC = 7.84 in/s vC = 7.84 k in/s