Chapter 15 PDF

PROBLEM 15.
1
The motion of a cam is defined by the relation 9 = 4f3 - 12r2 +15,
where 9 is expressed in radians and t in seconds. Determine the angular
coordinate, the angular velocity, and the angular acceleration of the cam
when (a) t = 0, (b) t = 6 s.
SOLUTION
9 = (4t3 - 1212 + 15jradians
a) - = (l2r2 - 24r)rad/s
dt v >
a = = (241 - 24) rad/s2
(a) t = 0, 9 = 0 + 0 + 15 9 = 15.00 radians A
(o = 0 + 0
A
il
S
o
a = 0 - 24 a = -24.0 rad/s2 M
(b) t = 6 s, 9 = (4)(6)3 - (12)(6)2 +15 = 447 9 = 447 rad <
a> = (12)(6)2 - ( 2 4 ) ( 6 ) = 288 co = 288 rad/s -4
a - (24)(6) - 24 = 120 a = 120.0 rad/s2 4

PROBLEM 15.2
For the cam in Prob. 15.1, determine the time, angular coordinate, and
angular acceleration when the angular velocity is zero.
SOLUTION
6 = ^413 - 1212 + 15jradians
03 - = ( l i t 2 - 24f)rad/s
dt ' >
a = - (24r - 24)rad/s2
Set 0) - 0, and solve the quadratic equation for t. The roots are
t =0 and t =2s 0 and 2.00 s -4
At t = 0, 0 - 0 + 0 + 15 6 - 15.00 radians 4
a = 0 - 24 a = -24.0 rad/s2 4
At t = 2 s, 0 = (4)(2)3 - ( l 2 ) ( 2 ) 2 +15 = - l 6 = -1.000 radian 4
a = (24)(2) - 24 = 24 a - 24.0 rad/s2 4

PROBLEM 15.3
The motion of an oscillating flywheel is defined by the relation
9 = 9 0e~3xl cos4;rr, where 9 is expressed in radians and I in seconds.
Knowing that# 0 = 0.5 rad, determine the angular coordinate, the angular
velocity, and the angular acceleration o f the flywheel when (a) t = 0,
(b )t = 0.125 s.
SOLUTION
9 = 0.5 e~3xt cos4nt
a) = = 0.5(-3;re~3" cos4/rf - 4ne~3n' sin4^r/)

dt ' >
a = = 0.5(9/r2e 3,rl cosAnt + \2n2e~3xl sm4nt + \2n~e~3xt sin4^/ - 16;r2e 3x1cos4/rt j

dt v
= 0.5^24/r2<?"3" sin4nt - ln 1e~3" cos4/r/)
L*

9 = 0.500 rad 4
II
II
(o = (0.5)(-3;r) = -^4.71 O) = -4.11rad/s 4
a = (0.5)(-7/r2) = -34.5 a = -34.5 rad/s2 4
(b) t - 0.125 s, cos4;rr = cos = 0, sin4/rf = sin = 1

2 2
e~3xl = 0.30786
9 = (0.5)(0.30786)(0) = 0 9 =0 4
a) = (0.5)(0.30786)(-4;r) = -1.93437 o) = -1.934 rad/s 4
a = (0.5)(0.30786)(24^2) = 36.461 a = 36.5 rad/s2 4

PROBLEM 15.4
The motion of an oscillating flywheel is defined by the relation

9 - s\nAnty where 9 is expressed in radians and t in seconds.
Knowing that 9 0 = 0.4 rad, determine the angular coordinate, the angular
velocity, and the angular acceleration of the flywheel when
(a) t = 0.125 s, (b) t - oo.
SOLUTION
0 = 90e~lmlb sin Ant
d d = 6,
(0 =
dt
a
(
s\n4nt + 4ne~ln"b cos4/rt j
deo
a = = Or e lmlb sin 4rrt - ^ 71 e 7,0/6 cos 4 nt - e 1*"6 cos Ant - \6 n 2e~lm'(>sm Ant
dt 36 6 6
-lnt/6 ( 49 y 28 >
= - 9 0e 1 6 - 7t2 sin A n t ;r2cos4;rr
I 36.
(a) 90 = 0.4 rad, t = 0.125 s
e-7T(0.i25y6 _ 0.63245, 4;rf = , sin = 1, cos = 0

2 2 2
0 = (0.4)(0.63245)(1) = 0.25298 radians 9 = 0.253 rad A
o) = (0.4)(0.63245)| (l) = -0.92722 rad/s a) = -0.927 rad/s -4
a = -(0.4)(0.63245)fl6 - V 2(l) = -36.551 rad/s2 a = -36.6 rad/s2 A

V 36)
(b) t = oo, e~lK,lb = 0 9 = 0*4
to = 0 A
a = 0A
PROBLEM 15.5
The rotor o f a gas turbine is rotating at a speed o f 7200 rpm when the
turbine is shut down. It is observed that 5 min is required for the rotor to
coast to rest. Assuming uniformly accelerated motion, determine (a) the
angular acceleration, (b) the number of revolutions that the rotor executes
before coming to rest.
SOLUTION
2# (7200)
coQ- 7200 rpm = - - 240/r rad/s, cox = 0
t - 5 min = 300 s
co, - o)n 0 - 240;r 2

a - A2.51 rad/sz A
() a - ----- 2- = ------------- -0.8# rad/s ,
t 300
1 r2
(b) 9_ = a>4 + a
0 2
- (240#)(300) + -^(-0.8#)(300)2 = 36000# rad
= 6000;r - 18000 rev 6 = 18000 rev <

2#
PROBLEM 15.6
When the power to an electric motor is turned on the motor reaches its
rated speed of 2400 rpm in 4 s, and when the power is turned off the
motor coasts to rest in 40 s. Assuming uniformly accelerated motion,
determine the number of revolutions that the motor executes () in
reaching its rated speed, (b) in coasting to rest.
SOLUTION
(2400)(2;r)
ft), = 2400 rpm = - = 80/r rad/s, <un = 0, /, = 4 s
' 60 0 1
/ v 80;r *>
(a) ft>, = ft)0 + a t = at, a = = ------ = 20;r rad/s'
t 4
0, = <y0/ + ~ a/2 = 0 + -j(2 0 /r)(4 2) = 160tt rad = = 80 rev
9t = 80 rev A
(b) (a, = 80/r rad/s, co2 = 0 , /2 /, = 40 s
/ x ft)-, - ru, 0 - 80;r _ ,. >

ft)-, = ft), + ait-, - t, ), a = L= = - 2n rad/s'
V- 17 t2 - 1\ 40
92 6\ = ft), (r2 - r,) + ^ a (h ~ fi)~ = (80^)(40) + -j(-2 /r)(4 0 )'
= 1600;r radians = ^ = 800 rev 0-, - 6, = 800 rev A

2n
PROBLEM 15.7
The angular acceleration o f an oscillating disk is defined by the relation
a - -k9 . Determine (a) the value of k for which m - 12 rad/s when
9 - 0 and 9 = 6 rad when m = 0, (b) the angular velocity of the disk
when 9 = 3 rad.
SOLUTION
a = -k 9 co^- =-k9 codco = -k 9 d 9

d9
Integrating, |\codco = - k ^ 9 d 9
1?2 ( fd \
0 - = -k - 0
2 v2 J
(a) t - 4 -9 s- k = 9.00 s2 <

6
2co dm = -k^9 d 9
= - 9f - 0
2 2 l 2 /
(b) m2 = 122 - (9)(3)2 = 63 rad2/s2 m = 7.94 rad/s M

PROBLEM 15.8
The angular acceleration of a shaft is defined by the relation a - -0.5,
where a is expressed in rad/s2 and in rad/s. Knowing that at t = 0
the angular velocity of the shaft is 30 rad/s, determine (a) the number o f
revolutions the shaft will execute before coming to rest, (b) the time
required for the shaft to come to rest, (c) the time required for the angular
velocity of the shaft to reduce to 2 percent of its initial value.
SOLUTION
dco
0) a = -0.5, ---- = -0.5 dco = -0.5 d9
dd
Integrating, -30 = -0.5 9
0 - 60 radians = = 9.55 rev 6 = 9.55 rev <

2n
dco . . , .dco
(b) = -0.5 dt = - 2
dt co
Integrating, <* = - 2 ~
t = -2 In o = oo t = oo-4
30
(c) co = (0,02)(30) = 0.6 rad/s
i*- -26f
t = - 2 In - = 2 In 50 t = 7.82 s <
30
PROBLEM 15.9
The assembly shown consists of two rods and a rectangular plate BCDE
which are welded together. The assembly rotates about the axis AB with a
constant angular velocity of 10 rad/s. Knowing that the rotation is
counterclockwise as viewed from B, determine the velocity and
acceleration of comer E.
SOLUTION
rB/A = (500 m m)i - (225 mm) j + (300 m m )k = (0.5 m )i - (0.225 m) j + (0.3 m )k
lAB = yjo.52 + 0.2252 + 0.32 = 0.625 m
Angular velocity vector.
= rWA = ^ ^ - ( 0 .5 1 - 0.225j + 0.3k)

/M 0.625'
I = (8 rad/s)i - (3.6 rad/s) j + (4.8 rad/s)k
r E/B = (300 m m)k = -(0 .3 m )k
Velocity o f E.
i j k
v = to X rE/B = 8 -3.6 4.8 = 1.08i + 2.4j
0 0 -0.3
v E = (1.080 m/s)i + (2.40 m/s)j 4
Acceleration o f E.
i j k
a ,, = (D x v = 8 -3.6 4.8 = -11.52i + 5.184j + 23.088k
1.08 2.4 0
a = -^11.52 m/s2ji + ^5.18 m/s2) j + ^23.1 m/s2jk 4

PROBLEM 15.10
In Prob. 15.9, determine the velocity and acceleration of comer C,
assuming that the angular velocity is 10 rad/s and decreases at the rate of
20 rad/s2.
SOLUTION
t b /a = (500 m m )i - (225 mm) j + (300 m m)k = (0.5 m )i - (0.225 m) j + (0,3 m )k
lAB - Vo.52 + 0 2252 + 0.32 = 0.625 m

Angular velocity vector.
= ~ ~ rB!A = - ^ 7 ( 0 .5 1 - 0.225J + 0.3k)

IAB 0.625
= (8 rad/s)i - (3.6 rad/s) j + (4.8 rad/s)k
Angular acceleration vector.
a = rmA = ^ - ( 0 .5 i - 0.225j + 0.3k)

lAB BIA 0.625 J '
= -(1 6 rad/s2 )i + (7.2 rad/s2j j - (9.6 rad/sz )k
Velocity o f C. vc = x rc/B
rC/B = -(5 0 0 m m )i - -(0 .5 m )i
i j k
vr - 8 -3.6 4.8 -2.4j - 1.8k
-0.5 0 0
vc -- -(2 .4 0 m/s) j - (1.800 m/s)k ^
Acceleration o f C. ac = a x rc/B + x vc
i j k i j k
-16 7.2 -9.6 + 8 -3.6 4.8
-0 .5 0 0 0 -2 .4 -1.8
- 4.8j + 3.6k + 18i + 14.4j - 19.2k
= 18i + I9 .2 j-1 5 .6 k
c - (lB.OO m/s2)i + (19.20 m/s2) j - (15.60 m/s2) k 4

PROBLEM 15.11
The rectangular block shown rotates about the diagonal OA with a
constant angular velocity of 6.76 rad/s. Knowing that the rotation is
counterclockwise as viewed from A, determine the velocity and
acceleration of point B at the instant shown.
SOLUTION
r m0 = (100 mm)i + (624 m m )j + (240 m m)k = (0.1 m )i + (0.624 m )j + (0.24 m )k
rmo = (100 mm)i + (312 m m )j = (0.1 m )i + (0.312 m )j
lOA = y j( 0 .\f + (0.624 )2 + (0.24)2 = 0.676 m
Angular velocity.
co 6.76
co = - r = (0.1i + 0.624j + 0.24k)
lOA ^ 0.676
0) = (1.0 rad/s)i + (6.24 rad/s)j + (2.4 rad/s)k
Velocity o f point B.
v = (o x r BIO
i j k
V = 1.0 6.24 2.4 = -0.7488i + 0.24j - 0.312k
0.1 0.312 0
\ B = -(0.749 m/s)i + (0.240 m/s) j - (0.312 m/s)k 4
Acceleration o f point B.
aB = o x
i j k
1.0 6.24 2.4 = -2.5229i - 1.4851j + 4.9125k
-0.7488 0.24 -0.312
a fl = -^2.52 m/s2ji - ( l .485 m/s2)j + (4.91 m/s2jk A

PROBLEM 15.12
In Prob. 15.11, determine the velocity and acceleration of point B at the
instant shown, assuming that the angular velocity is 3.38 rad/s and
decreases at the rate of 5.07 rad/s2.
SOLUTION
rAio ~ 0 ^ 0 mm)i + (624 m m )j + (240 m m)k = (0.1 m )i + (0.624 m )j + (0.24 m )k
rBIO = (100 mm)i + (312 m m )j = (0.1 m )i + (0.312 m )j
lOA = y ] (0 .\f + (0.624)2 + (0.24)2 = 0.676 m
Angular velocity.
= rJUO= - ^ - ( O . l i + 0.624j + 0.24k)

lOA m 0.676V
to = (0.5 rad/s)i + (3.12 rad/s)j + (1.2 rad/s)k
- co x rB/0
i j k
Vfl = 0.5 3.121.2 = -0.3744i + 0.12 j-0 .1 5 6 k
0.1 0.312 0
vB = -(0.374 m/s)i + (0.1200 m/s) j - (0.1560 m/s)k A
Angular Acceleration.
o. = rAIO = - ^ - ( O . l i + 0.624j + 0.24k)

lOA m 0.676V
a = -(o.75 rad/s2ji - ^4.68 rad/s2j j - ( l .8 rad/s2)k

PROBLEM 15.12 CONTINUED
a B = a x rwo + to x v B
i j k i j k
ag - -0.75 -4.68 - 1.8 + 0.5 3.12 1.2
0.1 0.312 0 -0.3744 0.12 -0.156
= 0.5616i - 0.18j + 0.234k - 0.63072i - 0.37128j + 1.22813k
= -(o.0691 m/s2ji - (o.551 m/s2) j + ^1.462 m/s2jk

PROBLEM 15.13
The bent rod ABCDE rotates about a line joining points A and E with a
constant angular velocity o f 12 rad/s. Knowing that the rotation is
clockwise as viewed from E, determine the velocity o f comer C.
SOLUTION
A/E = -16i + 16j + 8k in. lAE = -Jw ' + 162 + 82 = 24 in.
Angular velocity.
(0 = = (-161 + 16j + 8k)

Iae 24 >
co = - ( 8 rad/s)i + (8 rad/s) j + (4 rad/s)k
rc/E = -(1 6 in.)i + (6 in.)j
Velocity o f C.
i j k
vc = x rCIE = -8 8 4 -24i - 64j + 80k
-1 6 6 0
vc = -(2 4 .0 in./s)i - (64.0 in./s) j + (80.0 in./s)k -4
Angular Acceleration. a - 0
Acceleration o f C.
i j k
ac = a x rc/E + ra x vc = 0 + - 8 8 4
-24 -6 4 80
= 8961+ 5 4 4 j+ 704k
ac = (896 in./s2)i + (544 in./s2j j + (704 in./s2 j k A

PROBLEM 15.14
In Prob. 15.13, determine the velocity and acceleration of comer B,
assuming that the angular velocity is 12 rad/s and increases at the rate of
60 rad/s2.
SOLUTION
A/E (16 in.)i + (16 in.) j + (8 in.)k lAE = >/l62 + 162 + 82 = 24 in.
Angular velocity.
= t ~ taie = "77(~16i + 16j + 8k)

lAE
(a = - ( 8 rad/s)i + (8 rad/s) j + (4 rad/s)k
Angular acceleration.
* = = + 16J + 8k^
a = - ( 4 0 rad/s| i + (40 rad/s2 Jj + (20 rad/s2 jk
r B/A = - ( 1 0 in-)J
Velocity ofB.
V = (O X f
B /A
v B = ( - 8 i + 8j + 4k) X (-1 0 j) = 40i + 80k
v B = (40.0 in./s)i + (80.0 in./s)k 4
Acceleration o f B.
aB = a x rB/A + a x vB
i j k
&B = (-401 + 40j + 20k) x ( -1 0 /) + -8 8 4
40 0 80
= 200i + 400k + 640i + 800j - 320k
= (840 in./s' j i + (800 in./s2j j + (80.0 in./s )k 4

PROBLEM 15.15
The earth makes one complete revolution on its axis in 23 h 56 min.
Knowing that the mean radius o f the earth is 6370 km, determine the
linear velocity and acceleration of a point on the surface o f the earth (a)
at the equator, (b) at Philadelphia, latitude 40 north, (c) at the North
Pole.
SOLUTION
23 h 56min = 23.933 h = 86.16 x 10 s, 1 rev = 2k rad
2k
co = - 72.925 x 106 rad/s
86.16 xlO 3
R = 6370 km = 6.37 x 106 m
co = ojj, r = R cos <pi + R sin j

v = co x r = -coRcos^k
= -(72.925 x 10"6)(6.37 x 106) cos^k = -(464.53 cos cp m/s) k
e> x y p = co\ x (-i?cos#>)i = - cd2R coscp\ - ( 53.876 x 10 3cos^>m/s2)i
(a) Equator. (<p = 0) cos cp = 1.000
v = -(4 6 5 m/s)k v - 465 m/s
a = -(33.9 x 10~3 m/s2 ji a = 0.0339 m/s2 4
(b) Philadelphia. {cp = 40) cos cp = 0.76604
v = -(464.52)(0.76604)k = -(3 5 6 m /s)k v = 356 m/s 4
a - -{33.876 x 103)(0.76604)i
= -(0.273 x 103 m/s2ji a = 0.0259 m/s2 4
(c) North Pole. {cp = 90) cos^J = 0
v = 0
a = 04
PROBLEM 15.16
The earth makes one complete revolution around the sun in 365.24 days.
Assuming that the orbit of the earth is circular and has a radius of
93,000,000 mi, determine the velocity and acceleration of the earth.
SOLUTION
93,000,000 mi = 491.04 x 109 ft
365.24 days = 31.557 x 106 s, 1 rev = I n rad
Angular velocity.
co = ------ -----t = 199.11 x 10 9 rad/s

31.557 xlO 6
Velocity o f the earth.
v = rco = (491.04 x 109)(l99.11 x 10-9) = 97.77 x 103 ft/s
v = 66.7 x 103 mi/h 4
Acceleration o f the earth.
a = rco1 = (97.77 x 103) ( l 99.11 x 10-9) = 19.47 x 103 ft/s2
a = 19.47 x 103 ft/s2 4

PROBLEM 15.17
The belt shown moves over two pulleys without slipping. At the instant
shown the pulleys are rotating clockwise and the speed o f point B on the
belt is 4 m/s, increasing at the rate of 32 m/s2. Determine, at this instant,
(a) the angular velocity and angular acceleration of each pulley, (b) the
acceleration of point P on pulley C.
SOLUTION
Let vB and aB be the belt speed and acceleration. These are given as vB = 4 m/s and aB = 32 m/s2.
These are also the speed and tangential acceleration of periphery of each pulley provided no slipping occurs.
(a) Angular velocity and angular acceleration o f each pulley.
Pulley A. rA = 160 mm = 0.160 m
Vi Vn 4
o). = = = ------- = 25 rad/s atA = 25.0 rad/s J M
rA rA 0.160
aA = = = ^ = 200 rad/s2 a A = 200 rad/s2 J A

rA rA 0.160
Pulley C. rc = 100 mm = 0.100 m
vr v 4
(oc = = = ------- = 40 rad/s coc = 40.0 rad/s J A
rc rc 0.100
Oc au 32 ... .. 5
ac = = = ------- = 320 rad/s" a c = 320 rad/s2 J) A
rc rc 0.100
(b) Acceleration o f point P on pulley C. p c = 100 mm = 0.100 m
(aP)t = aB = 32 m/s2 j
( ,) = 4 = 4 = W 2 . 160m/s= _
Pc Pc 0100
aP = ^ {a Pft + ( a P f n = >/322 + 1602 = 163.2 m/s2
tan/? = B = 11.31
160
aP = 163.2 m/s2 11.31^

PROBLEM 15.18
The belt shown moves over two pulleys without slipping. Pulley A starts
from rest with a clockwise angular acceleration defined by the relation
a = 120 - 0.002<y2, where a is expressed in rad/s2 and co is expressed
in rad/s. Determine, after one-half revolution of pulley A, (a) the
magnitude of the acceleration of point B on the belt, (b) the acceleration
of point P on pulley C.
SOLUTION
rev = n radians, rA = 160 mm = 0.160 m, rc = 100 mm = 0.100 m
AAA- 2 dco coda) 500coda) ,

a = 120 - 0.002&T = co , T= --------------- T = d d
dO 120 - 0.002<u 60000 - co1
Integrating and applying initial condition co = 0 at 6 = 0 and noting that 0 = n radians at the final state,
gJO O adco _ _250 ,n / 60000 _ ^ 2 _ p de _ n

Annnn_ / 2 V /o J
60000 - co2
-2 5 0 [in (60000 - co2) - In 60000J = -250 In
60000 " *
60000 - 0)~ _ e-x/250

60000
co2 = 60000[l - e_jr/250l = 749.26 rad2/s2
co = 27.373 rad/s )
a = 120 - 0.002 co2 = 120 - (0.002)(749.26) = 118.50 rad/s )
() Tangential velocity and acceleration o f point B on the belt.
vB = vA = rAco = (0.160)(27.373) = 4.3797 m/s
aB = a A = rAa = (0.160) (l 18.50) = 18.96 m/s2
aR = 18.96 m/s2 -4
() Acceleration o f point P on pulley C. p c = 0.100 m
vP = vB = 4.3797 m/s
(a P) = = 4-3797 = 191.82 m/s2

v pc 0 .1 0 0
(aP)t = aB = 18.96m/s2 |
aP = ^ ( ^ l ^ ) 2 +(18.96)2 = 192.8 m/s2
tan/? - p = 5.64
191.82
a P = 192.8 m/s2 T 7 5.64

PROBLEM 15.19
The belt sander shown is initially at rest. If the driving drum B has a
constant angular acceleration of 120 rad/s2 counterclockwise, determine
the magnitude of the acceleration of the belt at point C when
(a) t = 0.5 s, (b) t = 2 s.
SOLUTION
r = 1.00 in., a = 120 rad/s2
o) = at, a, = ra \, a = rco2 a = y]af + a2
(a) t = 0.5 s, co = (120)(0.5) = 6 0 rad/s, a, = ( l.00) ( l20) = 120in./s2 J
an = (1.00)(60)2 = 3600 in./s2
a = yj(l20)2 + (3600)2 = 3602 in./s2,
a = 300 ft/s2 <
(b) t = 2 s, co = (120)(2.0) = 240 rad/s, a, = (1.00)(120) = 120in./s2
an = (1.00)(240)2 = 57600 in/s2
a = yj(\20)2 + (57600)2 = 57600 in./s2,
a = 4800 ft/s2 <

PROBLEM 15.20
The rated speed of drum B of the belt sander shown is 2400 rpm. When
the power is turned off, it is observed that the sander coasts from its rated
speed to rest in 10 s. Assuming uniformly decelerated motion, determine
the velocity and acceleration of point C of the belt, (a) immediately
before the power is turned off, (b) 9 s later.
SOLUTION
(2400)(2*)
a),, = 2400 rpm = ------ - = 80* rad/s, r = 1.00 in.
60
= 0, /, = 10 s
(a) Before power is turned off, a =0
vc = r<y = (l.00)(80/r) = 251.33 in./s, vr = 20.9 ft/s ^
v2 251.332 . /2
a,, = = ----------- = 63165 in./s
r 1.00
a, = ra = 0, ac = 63165 in./s2, ac = 5260 ft/s2 A
(b) Uniformly decelerated motion. (O\=co0 + at\
<y, - <y0 0 - 80* 2

a = ------- = ------------= -8 * rad/s
r, 10
At 9 s, co = o)0 + a t = 80* - (8*)(9) = 8* rad/s
vc = rco= (l.00)(8*) = 25.133 in./s, vc = 2.09 ft/s A
, V Vc 25.1332 ,2
(ar ) = = ----------- = 631.65 in./s
v 1 rc 1 .0 0
(a c \ = rc a = (l.0 0 )(-8 * ) = -25.133 in./s2
ac = y]a; + a2 = ^631.652 + (25.133)2 = 632.15 in./s2
ac = 52.7 ft/s2 <

PROBLEM 15.21
A series of small machine components being moved by a conveyor belt
passes over a 120-mm-radius idler pulley. At the instant shown, the
velocity of point A is 300 mm/s to the left and its acceleration is
180 mm/s2 to the right. Determine (a) the angular velocity and angular
acceleration of the idler pulley, (b) the total acceleration o f the machine
component at B.
SOLUTION
v B = vA = 300 mm/s rB = 120 mm
( a B )t - aA = 180 mm/s
Vo 300 _ . .. x
(a ) Vo = <yr, a - = ------- = 2.5 rad/s ' (0 = 2.50 rad/s ^ A
B rB 120 '
tM \, = < * rB, a = M l = 180 =

. <
1.5 rad/s y a = 1.500 rad/s2 y A
Yd 1ZU
(b ) ( ) = W 2 = ( 120) (2-5)2 = 750 mm/s2 {
<*b = J ( b )? + M \ = \/( 180)2 + (750)2 = 771 mm/s2
750
tan/? = ------- , /? = 76.5 a , = 771 mm/s2 ^ 7 6 .5 ^
180 *
PROBLEM 15.22
A series of small machine components being moved by a conveyor belt
passes over a 120-mm-radius idler pulley. At the instant shown, the
angular velocity of the idler pulley is 4 rad/s clockwise. Determine the
angular acceleration of the pulley for which the magnitude of the total
acceleration of the machine component at B is 2400 mm/s2.
SOLUTION
(0 ^ = 4 rad/s y, rH = 120 mm
(") = rB)l = ( l20)(4)2 = 1920 mm/s2
aH = 2400 mm/s2
(aB)t = <Ja2 = \l24002 - 19202 = 1440 mm/s2
/ ^ ( a fl), 1440 2
\(a )
b ),
= ra,
b 12Q
a = - = --------- = 12 rad/s
12.00 rad/s2 ^ or j A
PROBLEM 15.23
A gear reduction system consists of three gears A, B, and C. Knowing
that gear A rotates clockwise with a constant angular velocity
coA = 600 rpm, determine (a) the angular velocities of gears B and C,
(6) the accelerations of the points on gears B and C which are in contact.
SOLUTION
(600)(2;r)
(a) co , = 600 rpm - ------ - = 20-r rad/s.
60
Let points A, B, and C lie at the axles of gears A, B, and C, respectively.
Let D be the contact point between gears A and B.
vD = raA(oA = (50)(20;r) = 1000^ mm/s }
toa - = 10^ - = 10;r rad/s = 10;r = 300 rpm ^

rnB 100 2k
a>B - 300 rpm ^ 4
Let E be the contact point between gears B and C.
v = rEJB0)B ~ ( 50)( 1Ott) = 500;r mm/s |
vr 500# ,, / _____^ 60
coc = = -------- = 3.333# rad/s = (3.333#) = 100 rpm j
C rEIC 150 V ; 2# y
coc = 100 rpm j A
(b) Accelerations at point E.
v2 (500#)2 , /2
On gear B: aB = ------- = 49.3 x 10 mm/s"
r EIB 50
aB = 49.3 m/s2
v2 (500#)2 , 7
On gear C: ac = = ------ = 16.45 x 10 mm/s"
e ic *50
ac = 16.45 m/s2
PROBLEM 15.24
A gear reduction system consists o f three gears A, B, and C. Gear A starts
50 mm
C from rest at time t = 0 and rotates clockwise with constant angular
acceleration. Knowing that the angular velocity of gear A is 600 rpm at
time t = 2 s, determine (a) the angular accelerations of gears B and C, (b)
the accelerations of the points on gears B and C which are in contact
when t - 0.5 s.
50 mm 100 mm 150 mm
SOLUTION
(a) At time t = 2 s, coA = 600 rpm = _ 20# rad/s J)
&A = a At, aA = = 10/r rad/s" )

t
Let D be the contact point between gears A and B.
{aD) t = rD /A a A = (50)(l0#) = 500tt mm/s |
_ M l_ 5 0 0 ^ _ ^ ^ /c2>
ccR = = 5k rad/s . a R - 15.71 rad/s2 ") 4
' DIB 100 '
Let E be the contact point between gears B and C.
(%), ~ rE /B a B = (50)(5tf) = 250^-mm/s2 f
M t 250* _ ,
(Xc 16667n rad/s a c = 5.24 rad/s j 4
'E IC 150
(b) At t = 0.5 s. For gear B , cob = a Bt = (5#)(0.5) = 2.5* rad/s x;
(a:) = r EiBC0B = (50)(2.5*j' = 3.0843 x 103 mm/s2 = 3.0843 m/s2 *
(a )( = 250*m m /s;f = 785.40 mm/s2 f = 0.785 m/'s
aE = \j{aE)2 + ( % j f = V3.08432 + 0.78542 = 3.18m/s2
tan/7 = - 4 , fi - 14.29 a = 3.18 m/s2 ^ 14.29 4

3.0843
For gear C, coc = a ct = (1.6667tt)(0.5) = 0.83333;r rad/s J
(aE)n = rE/co)2c = (l50)(0.83333;r)2 = 1.02808 x 103 mm/s2 = 1.02808 m/s2*-
(aE)t = 0.7854m/s |
aE = y jM l + = Vl-028082 + 0.78542 = 1.294 m/s2
tan ji = 0,7854 = 37.4, a = 1.294 m/s2 ^ 37.4 A

1.02808 E
PROBLEM 15.25
Ring B has an inner radius r2 and hangs from the horizontal shaft A as
shown. Knowing that shaft A rotates with a constant angular velocity coA
and that no slipping occurs, derive a relation in terms of rlt r2, r3, and
0)A for (a) the angular velocity of ring B, (b) the acceleration o f the
points of shaft A and ring B which are in contact.
SOLUTION
(a) Let point C be the point of contact between the shaft and the ring.
vc = rx(oA
(O n = r2
_ vc _ r\a>A
r2
(O n = r,(0A ^
- ^ 4
(b) On shaft A : aA = r,<oA
a A ~ r \M A
( \
On ring B: Wl
aB ~ r2B ~ r2
V r2 J
2 2
_
a d r\ <A
PROBLEM 15.26
Ring B has an inner radius r2 and hangs from the horizontal shaft A as
shown. Shaft A rotates with a constant angular velocity of 25 rad/s and no
slipping occurs. Knowing that r, = 0.5 in., r2 = 2.5 in., and r3 = 3.5
in., determine (a) the angular velocity o f ring B, (b) the acceleration of
the points of shaft A and ring B which are in contact, (c) the magnitude of
the acceleration of a point on the outside surface of ring B.
SOLUTION
(a) Let point C be the point of contact between the shaft and the ring.
vc = ria)A = (0.5)(25) = 12.5 in./s
coB = = = 5.0 rad/s coB = 5.00 rad/s A

r2 2.5
(b) On shaft A: aA = rxofA = (0.5)(25)'
= 312.5 in./s2, a 4 = 26.0 ft/s2 J A
On ring B: aB = r2a)2B = (2.5)(5.0)
= 62.5 in./s2, as = 5.21 ft/s2 J A
(c) At a point on the outside of the ring, r = r3 = 3.5 in.
a = rcol = (3.5)(5.0)2 = 87.5 in./s2 a = 7.29 ft/s2 A

PROBLEM 15.27
Cylinder A is moving downward with a velocity of 3 m/s when the brake
is suddenly applied to the drum. Knowing that the cylinder moves 6 m
downward before coming to rest and assuming uniformly accelerated
motion, determine (a) the angular acceleration of the drum, (b) the time
required for the cylinder to come to rest.
250 m ni
SOLUTION
(vA\ = 3 m/s, (v ,), = 0, (^ ), - ( 4 = 6m
\2 / \2
/1_
2 2
\2 / \2
-0.75 m/s
2 [ ( ^ ) 1 - ( ^ ) 0] (2)(6)
(a) On the surface o f the drum, r = 250 mm = 0.25 m
a. 0.75 . ,,2
a. = ra a = = = -3.00 rad/s
r 0.25
a = 3.00 rad/s2 J 4
( vA = 12 rad/s
ib) (Or,
r 0.25
cox = 0 = o + a t
( = f t i a s 0 ;1 2
t = 4.00 s
a -3.00
PROBLEM 15.28
The system shown is held at rest by the brake-and-drum system shown.
After the brake is partially released at t = 0, it is observed that the
cylinder moves 5 m in 4.5 s. Assuming uniformly accelerated motion,
determine (a) the angular acceleration of the drum, (b) the angular
velocity of the drum at t = 3.5 s.
250 nun
SOLUTION
(a) Assume uniformly accelerated motion. ^ = ~ a /(f2
2 = ( ^ K |) = o 49383 ^ 2 I
I2 4.5 *
For the drum. a, = aA = 0.49383 m/s2, r = 250 mm = 0.25 m
a. 0.49383
a. = r a , a = = ----------
r 0.25
= 1.97531 rad/s2, a = 1.975 rad/s2 ^ A
(b) a) = a>0 + a t = 0 + (l .97531)(3.5)
= 6.91 rad/s, co = 6.91 rad/s ^ A

PROBLEM 15.29
Two blocks and a pulley are connected by inextensible cords as shown.
The relative velocity of block A with respect to block B is 2.5 ft/s to the
& left at time t = 0 and 1.25 ft/s to the left when t = 0.25 s. Kmowing that the
angular acceleration of the pulley is constant, find (a) the relative
acceleration of block A with respect to block B, (b) the distance block A
moves relative to block B during the interval 0 < t <, 0.25 s.
SOLUTION
(a) For the pulley. r = \ d' rA = - j ( 12) = 6 i n = | ft
rB = - j ( 8 ) = 8 in . = j ft
va = W vb = W vm b = v a ~ v b = ( r A - rB ) (O
VAIB
(0 =
rA ~ rB
At t = 0, co0 = -jj- = 15 rad/s

2 ~ 3
1-25 .. ^
At t = 0.25 s, a), = -j j = 7.5 rad/s ,
2 ~ 3
un 7.5-15
a - = -30 rad/s' , = 30 rad/s j
t 0.25
aA = r A a = \ - (30) = 15 ft/s2
B = r Ba = ( j ) ( 3 0 ) = 10ft/s2_
a .-lIB ~ a A a B ~ 5 ft/S a .A!B = 5 00 ft/S 2 -
(b) l A/B ~ ( v .4/)0 * +
= (-2.5)(0.25) + -(5 )(0 .2 5 ) = -0.46875 ft
\ A/B = 5.63 in.-

PROBLEM 15.30
The relative velocity of b lo ck s with respect to block B is 3 ft/s to the left
at time t = 0 and 1.5 ft/s to the left after one-half revolution of the pulley.
12 in . 8 in .
Knowing that the angular acceleration of the pulley is constant, find
(a) the relative acceleration of block A with respect to block B, (b) the
distance block A moves relative to block B during the interval
0 < / < 0.3 s.
SOLUTION
For the pulley, r = ^d, rA = ^(12) = 6 in. = ft
rB = | ( 8) = 4 in- = ^ ft
vA = rA(0 , vB = rBco Vaib = (rA - rB)co
CO =----- VA!B
rA ~ rB
At 6 = 0, co0 = | 3 = 18 rad/s
2 ~ 3
At 6 = rev = * radian, co = , = 9 rad/s

2 1_1
2 3
dco dco Q
a = ---- = co codco = a d d
dt dO
j^gcodco = dO ^ = (a )(* ) a = -3 8 .6 7 5 rad/s2
a = 38.7 rad/s2 )
aA = r Aa = ^ ( -3 8 .6 7 5 ) = -1 9 .3 3 7 3 ft/s2 or 19.3373 ft/s2
a fl = ^ a = i ( - 3 8 . 6 7 5 ) = -1 2 .8 9 1 6 ft/s2 or 12.8916 ft/s2
(a) = aA - ag = -6 .4 4 5 8 ft/s2 or 6.4458 ft/s2 -
a A/B = 6.45 ft/s2 A
(b) x A/B - ( V A/B ) 0 t + ^ ( ^ A / b ) 12
= (3 )(0 .3 ) + ^ ( -6 .4 4 5 8 ) ( 0 .3 )2 = 0.60994 ft
x^ b = 7.32 in . A
PROBLEM 15.31
Disk B is at rest when it is brought into contact with disk A which is
rotating freely at 450 rpm clockwise. After 6 s of slippage, during which
each disk has a constant angular acceleration, disk A reaches a final
angular velocity of 140 rpm clockwise. Determine the angular
acceleration of each disk during the period of slippage.
I 60 in m \
SOLUTION
M o = 450 J) = = 15* rad/s )
{coa )\ = *40 rpm y = ( _ 4 6667a racj/s

60
+) = {<a \ + - 4.6667a = -1 5 a + a A( 6)
a A = 5.41 rad/s2 A
Let C be the contact point between the two gears.
At t = 6 s, vc = rA(o)A) = (60)(4.6667a) - 280a mm/s {
/ \ vr 280a _D ,. x
(cOf. ), = = -------- = 2.8/r rad/s ;
1 rB 100 J
+) (^)i = M 0 + aB<\ 2.8a- - 0 + a B( 6)
2.8a
aB
R -= ------ a B = 1.466 rad/s2 A
6
PROBLEM 15.32
A simple friction drive consists of two disks A and B. Initially, disk A has
a clockwise angular velocity o f 500 rpm and disk B is at rest. It is known
that disk A will coast to rest in 60 s with constant angular acceleration.
However, rather than waiting until both disks are at rest to bring them
^ together, disk B is given a constant angular acceleration of 2.5 rad/s2
60mm\ I counterclockwise. Determine (a) at what time the disks can be brought
together if they are not to slip, (b) the angular velocity of each disk as
contact is made.
SOLUTION
(coA)Q = 500 rpm J = ( ^ ^ X ^ O _ 52.36O rad/s

60
Assume uniform angular deceleration of disk A during coasting.
+/ 0 = + a At = -52.360 + a A( 60)
a A = 0.87266 rad/s2 }
coA = ( g>a )0 + a At = -52.360 + 0.87266/
Let C be the contact point between the gears.
For gear A, vc = rAcoA = (60)(52.360 - 8.7266/) |
vc = (3141.6 - 52.360/)mm/s J
For gear B, a H = 2.5 rad/s2 ^
coB = a Bt = 2.5 /
vc = rBcoB = (l00)(2.5/) = 250/ mm/s }
(a) For condition at no slip, equate the two expressions for vc .
250/ = 3141.6 52.360/ / = 10.39 s ^
vc = 250 / = 2597.6 mm/s
(b) Corresponding angular velocities.

vr 2597.6 ,.
co. = = ---------- = 43.293 rad/s
* r, 60
coA = 413 rpm j) A
vr 2597.6 _ ,
coB = = ---------- = 25.976 rad/s
" r 100
coB = 248 rpm ^ -4

PROBLEM 15.33
Two friction disks A and B are to be brought into contact without slipping
when the angular velocity of disk A is 240 rpm counterclockwise. Disk A
starts from rest at time / = 0 and is given a constant angular acceleration
of magnitude a. Disk B starts from rest at time t = 2 s and is given a
constant clockwise angular acceleration, also o f magnitude a. Determine
(a) the required angular acceleration magnitude a, (b) the time at which
the contact occurs.
SOLUTION
When contact is made, coA = 240 rpm = 8/r rad/s ^
Let C be the contact point between the two gears.
vc = rAcoA - (6)(8;r) = 48;r in./s-
vc 48* ,, y
coB = = ----- = on rad/s j
rB 8
coA = &7T = a t rad/s
(oB = 671 = a ( t - 2) rad/s
Subtracting, 27i - (a )(2 ) a - 7i rad/s2
(a) a = 3.14 rad/s2 A

*1
C/>
00
n
t = 8.00 s A
>*
II
II
(b)
PROBLEM 15.34
Two friction disks A and B are brought into contact when the angular
velocity of disk A is 240 rpm counterclockwise and disk B is at rest. A
period o f slipping follows and disk B makes 2 revolutions before reaching
its final angular velocity. Assuming that the angular acceleration of each
disk is constant and inversely proportional to the cube o f its radius,
determine (a) the angular acceleration of each disk, (b) the time during
which the disks slip.
SOLUTION
(coA)0 = 240 rpm = 8/r rad/s ^ { 0} a ) \ = 8/r - a A t
f \3
1 2 I .2 1 6'
e H = 4* = - # ' i =
1!
1 <N
a A t1 ,( 'f
J*; ,8 ,
'g
a At] = (8/r) | = 59.574 radians
\6 y
j (" ), = a'i = I g I a a (l = 0.421875a,,/,
Let vc be the velocity at the contact point.
vc = rAcoA = (6)(8^ - a Atx) = 48n - 6a.,/,
and vc = rH(oH = (8)(0.421875a,/,) = 3.375a,,/,
Equating the two expressions for vr ,

48/r - 6 a , / , = 3375aA /, or a At\ = 16.0850 rad/s
_ a , /f _ 59.574
Then, t, = = 3.7037 s
a A<\ 16.0850
16.0850 , ... ,, 2 x
(a) a A= - _ = 4.3429 rad/s ^ a , = 4.34 rad/s" j A
3.7037
x3
6
a = I - (4.3429) = 1.83218 rad/s a B = 1.832 rad/s2 J) A
8
(b) From above, t, = 3.70 s A

PROBLEM 15.35
In a continuous printing process, paper is drawn into the presses at a
constant speed v . Denoting by r the radius of the paper roll at any given
time and by b the thickness o f the paper, derive an expression for the
angular acceleration of the paper roll.
SOLUTION
Let one layer of paper be unrolled.
vAt = 2n r and t o = -b
Ar_ -bv dr
to 2nr dt
dco d V 1 dv d v dr
a =
~dt dt t o J ~ ~r~dt + V~dt toJ o--v
r dt
-bv bv2 bv2

a =
( - t f 2n r J 271r ' 27irTV
PROBLEM 15.36
Television recording tape is being rewound on a VCR reel which rotates
with a constant angular velocity co 0. Denoting by r the radius of the reel
at any given time and by b the thickness of the tape, derive an expression
for the acceleration of the tape as it approaches the reel.
SOLUTION
Let one layer of tape be wound and let v be the tape speed.
= 2nr and Ar = b
Ar bv bco
At 2n r 2n
v'j 1 dv d '1
For the reel:
II
S-1
rj r dt Vd t { r
a v dr a v bco
r 2 dt r 2 2n
bco~
a =0
271
2n
PROBLEM 15.37
Rod AB can slide freely along the floor and the inclined plane. At the
instant shown the velocity of end A is 1.4 m/s to the left. Determine
(a) the angular velocity of the rod, (b) the velocity of end B of the rod.
31)0 nun
125 mil)
PROBLEM 15.38
Rod AB can slide freely along the floor and the inclined plane. At the
instant shown the angular velocity of the rod is 4.2 rad/s
counterclockwise. Determine (a) the velocity of end A of the rod, (b) the
velocity of end B o f the rod.
SOLUTION
Geometry.
03
sin/? = , /? = 36.87
0.5
0.5
0.3
tan# = G = 67.38
0.125
Velocity analysis.
a)AB = 4.2 rad/s 's)
y B/A = = (-5)(4-2) = 2.1 m/s N /?
v . = v.
Plane motion = Translation with A + Rotation about A.
V fl = V A + ' S / A
Draw velocity vector diagram.
tp = 180 - 9 - (90 - /? ) = 59.49
Law of sines.
VA _ VB VB/A
o
sin^j sin(90 - 0 ) sin#
vbia sin <P 2.1 sin 59.49

(a) Vj = = 1.96 m/s
sin# sin 67.38
v , = 1.960 m/s - 4
Vb /a C0SP 2.1 cos 36.87

(b) vB = :- = - = 1.82 m/s
sin# sin 67.38
vB = 1.820 m/s ^ 67.4 4
PROBLEM 15.39
Collar A moves up with a velocity of 3.6 ft/s. At the instant shown when
6 = 25, determine (a) the angular velocity of rod AB, (b) the velocity of
collar B.
SOLUTION
- J + J *
V * V a / 8
A A $tvJ
VB = + VBM

p = 1 8 0 - 6 0 - 6 5 = 55
Law of sines.
2s
v/.4 _ v*
sin 60 sin 65 sin^J
^ sin 60 3.6 sin 60

A
sin<9 sin 55
SO* = 3.806 ft/s = 45.67 in./s
v b ia 45.67
(o) (y4/J = ----- = ---------= 2.28 rad/s
r BIA 20
a>AH = 2.28 rad/s j A
v> = v,sm 65 = 3.6si65 = 398ft/s

(b)
sin 55 sin 55
vs = 3.98 ft/s 30 ^
PROBLEM 15.40
Rod AB moves over a small wheel at C while end A moves to the right
with a constant velocity of 25 in./s. At the instant shown, determine
(a) the angular velocity of the rod, (b) the velocity of end B of the rod.
SOLUTION
Slope angle of rod. tan# = = 0.7, d = 35
10
AC = = 12.2066 in. CB = 20 - AC = 7.7934 in.
cos#
Velocity analysis.
\ A = 25 in./s vc = vc 0
VC/A = ACcoab N #
VC = * A + Vc/A
Draw corresponding vector diagram.

vOA = v^sin# = 25 sin 35 = 14.34 in./s
VCIA 14.34
() 10AB ~ = 1.175 rad/s
AC 12.2066
toAB = 1.175 rad/s ^ -4
vc = v^cos# = 25 cos# = 20.479 in./s
va c = CB<oab = (7.7934)(1.175)
= 9.1551 in./s
vBIC has same direction as vc/A.
v fl = vc + y B/c
Draw corresponding vector diagram.
tan <p = = 9,1551, <p = 24.09

Vr 20.479
20.479
Va=vc
cos<p cos 24.09
= 22.4 in./s = 1.869 ft/s
(p + 6 = 59. l c
Vd = 1.869 ft/s 59.1 <

PROBLEM 15.41
The motion o f rod AB is guided by pins attached at A and B which slide
in the slots shown. At the instant shown, 0 = 40 and the pin at B moves
upward to the left with a constant velocity of 150 mm/s. Determine
(a) the angular velocity of the rod, (b) the velocity of the pin at end A.
SOLUTION
Velocity analysis.
v5 - 150 min/s ^ 15
= yA
v B/A = 500co V 50
Plane motion = Translation with B + Rotation about B.
Va = + Vrn
cp = 180 - 50 - 75 = 55
Law of sines.
VA/B - 14 - VB
sin 75 sin^s sin 50
vB sin75 150 sin75 1 o n i . ,

() vAm = --------- = ---------------- = 189.14 mm/s
A sin 50 sin 50
vm 189.14
co = ------ = - = 0.378 rad/s
l AB 500
co = 0.378 rad/s j A
vBsin 150sin55
(b) v4 = -2 c- ---------------= 160.4 mm/s
sin 50 sin 50
\ A = 160.4 mm/s | A
PROBLEM 15.42
The motion of rod AB is guided by pins attached at A and B which slide
in the slots shown. At the instant shown, 0 = 30 and the pin at A moves
downward with a constant velocity of 225 mm/s. Determine (a) the
angular velocity o f the rod, (b) the velocity of the pin at end B.
SOLUTION
Velocity analysis.
\ A = 225 mm/s j
V = VB ^ 15
v fl = * A + * B / A

 sin 45
v b ia 307.36 ..
a) = ----- = ----------- = 0.615 rad/s
Iab 500
(o = 0.615 rad/s ^ A
v. sin 60 225 sin 60 .

0b) Vo = ------------------------ = 276 mm/s
sin $9 sin 45
v H = 276 mm/s ^ 15-4

PROBLEM 15.43
The disk shown moves in the xy plane. Knowing that (v^) = -282 in./s,
v = ' ,j
(vB)x = -296 in./s, and (vc )x = -56 in./s, determine (a) the angular
velocity of the disk, (b) the velocity of point B.
* lV J ,j
\<5
S O L U T IO N
In units of in./s, y B/A = x rB/A = cok x ( 2 4 i + 2 4 j ) = -2 4 c o i + 24co\
y c/A ~ ^ x rc/A = x 4 8 i = 48<yj
+ v BIA
2 9 6 i + ( v f i ) j = (v ^ ) i - 2 8 2 j - 24co\ + 2 4 r y j
y x
Components. i : -2 9 6 = ( v ^ - 24w (1 )
J: ( v b ) >, = 2 8 2 + 2 4 co (2 )
y c = y A + y C/A
5 6 i + ( v c )^ = ( v ^ i - 2 8 2 j + 4& uj
Components. i: -5 6 = ( v ^ (3)
j: ( v c )y = - 2 8 2 + 4 8 ru (4 )
From (3), K ) , = -5 6 in./s
-2 9 6 - (-5 6 )
(a ) From ( 1 ), co = --------------- ---------- - 1 0 rad/s, co = 10.00rad/s') <
-2 4
From (2 ), ( v ^ , = -2 8 2 + (2 4 )(1 0 ) = -4 2 in./s
(b ) vB = -(2 9 6 in./s)i - ( 4 2 .0 in./s) j A

v., r B i * r ft
PROBLEM 15.44
vJ
In Prob. 15.43, determine (a) the velocity of point O, (b) the point of the
disk with zero velocity.
SOLUTION
In units of in./s, v B/A = <yk x rB/A = cokx (24i + 24j) = -24coi + 24a)\
y c/A = x rc/A = cok x 48i = 48<yj
yB = yA + y B!A
-296i + (vg )^ j = (v ^ ^ i - 282j - 24a>i + 24<yj
Components. i: -2 9 6 = (v^)^ - 24<y (1)
j: (vB)y = -282 + 24<u (2)
yc = yA + y C/A
-561 + (vc )^ = ( v ^ i - 282j + 48<aj
Components. i: -5 6 = (v^)^ (3)
j: (vc ) y = -2 8 2 + 4&y (4)
From (3), ( v^ )x = in-/s. y A = 56i - 282j
-296 - (-56)
From (l), (o= --------- -------- - = 10rad/s, to = (10.00 rad/s) k
(a) y o = y A + y o/A = y A + l 0 x Tqia = 10k x (24i)
= -56i - 282j + 240j = -56i - 42j
v 0 = -(5 6 .0 in./s)i - (42.0 in./s) j 4
(b) 0 = vG + to x (xi + yj)
0 = 561 - 42j + 10k x (xi + yj) = -56i - 42j + lOxj - lOyj
Components. i : 0 = -56 - lOy, y = -5.60 in. 4
j: 0 = -42 + 1Ox, x = 4.20in. 4

PROBLEM 15.45
The sheet metal form shown moves in the xy plane. Knowing that
(v^)r = 100 mm/s, (vH)v = -75 mm/s, and (vc )x - 400 mm/s,
determine (a) the angular velocity of the plate, (b) the velocity of point A.
'< r vl
7 5 nun
K p * '' >* >j |
SOLUTION
In units of mm/s. y B/A ~ x r B/A = <yk x (l25i + 75j) = -75<yi + 125<yj
vc'/a ~ x rc/A = x (50i + 150j) = -150<yi + 50<yj
(v/?), i ~ 75j = lOOi + (vA)y j - 75<ui + 125<uj
Components. i: (vfl)t = 100-75<y ( 1)
j: - 1 5 = (vA)y + \25co (2 )
\ r = yA. T+ v,
y C!A
400i + (vc ) j = lOOi + (vA)t. j - 150<yi + 50<yj
Components. i: 400 = 100 - 150<y (3)
j ; (vc )>, = ( ^ ) y + 125fi> (4)
(a) From (3), co - - 2 rad/s co = - ( 2 rad/s)k 4
(b) From (2), ( V/I) ( = - 7 5 - 125<y = - 7 5 - 1 2 5 (-2 ) = 175 mm/s
v^ = (100.0 mm/s)i + (175.0 mm/s) j 4

PROBLEM 15.46
In Prob. 15.45, determine the locus of points of the sheet metal form for
which the magnitude of the velocity is 200 mm/s.
SOLUTION
In units of mm/s, y B/A = <*>k x rB/A = w k x (l25i + 75j) = -IScoi + 125<wj
yc/A : x rC/A = x (50i + 150j) = - 150<yi + 50<yj
y B = y A + y B/A
(vgî - 75j = lOOi + (v/4)( j - 75<yi + 125ruj
Components. i: (vB )x = 1 0 0 - 75u> (1)
j: - 7 5 = (v<)^ + 125<y (2)
vc = y A + yCIA
400i + (vc )( j = lOOi + (v/4)( j - 150<yi + 50tyj
Components. i: 400 = 100 - 150 (4)
From (3), (o = -(2 rad/s)k
From (2 ), (V/()v = -75 - 125<y = -75 - 125(-2 ) = 175 m m /s
v^ = (100 mm/s)i + (175 mm/s)j
Find the point with zero velocity. Call it D. vD = 0
yD = + v d /a or 0 = 100i + 175j + (2k) x (jri + yj)
0 = 1OOi + 175 j + 2xj - 2yi = 0
Components. i: 0 = 100 - 2y, y = 50 m m
j: 0 = 175 + 2x, x = -87 m m
Radius of locus. r- '= ^ = ,0 0 m m

co 2
Circle of 100.0 m m radius centered at x = - 87.5 m m , y = 50.0 m m A

PROBLEM 15.47
In the planetary gear system shown, the radius of gears A, B, C, and D is
60 mm and the radius of the outer gear is 180 mm. Knowing that gear
has an angular velocity of 120 rpm clockwise and that the central gear has
an angular velocity of 150 rpm clockwise, determine (a) the angular
velocity of each planetary gear, (b) the angular velocity of the spider
connecting the planetary gears.
SOLUTION
Let a be the radius of the central gear A, and let b be the radius of the
planetary gears B, C, and D. The radius of the outer gear is a + 2b.
Label the contact point between gears A and B as 1, the center of gear B
as 2, and the contact point between gears B and as 3.
Gear A: v, = acoA \ (1)
Spider: v2 = (a + b)cos { (2)
Gear B: v2 = v, + b(oB { (3)
v3 = v2 + bcoB j (4)
Gear : v3 = (o + 2b)coE j (5)
From (4) and (5), v2 + b(oB = [a + 2b)( 0E (6)
From (1) and (3), v2 - bcoB = v, = acoA (7)
[(a + 2 b)coE + aco ^

Solving for v2 and coB, v, =
2
_ [(a + 2b)coE - aco*]

2b
_ [(a + 2b)coE + aa)A~\

From (2), (O r = co<
a +b 2(a + b)
Data: a = 60 mm, b = 60 mm, a + 2b = 180 mm, a + b = 120 mm
180ct)E - 60coa
() COo = - 1.5o)p - 0.5(O .
(2)(60)
= (1-5)(120) - (0.5)(150) = 105 rpm
coB = 105.0 rpm J A

180<yf + 60<y^
(b) cos = -77-r = 0.75 coE + 0.25 co,
s (2) ( 120) E A
= (0.75)(120) + (0.25)(150) = 127.5 rpm
6)s = 127.5 rpm ) <

PROBLEM 15.48
In the planetary gear system shown, the radius of the central gear A is a,
the radius of the planetary gears is b, and the radius of the outer gear E is
a + 2b. The angular velocity of gear A is a>A clockwise, and the outer
gear is stationary. If the angular velocity of the spider BCD is to be (oA / 5
clockwise, determine (a) the required value o f the ratio bta, (b) the
corresponding angular velocity of each planetary gear.
Let a be the radius of the central gear A, and let b be the radius of the
planetary gears B, C, and D. The radius of the outer gear E is a + 2b.
Label the contact point between gears A and B as 1, the center of gear B
as 2, and the contact point between gears B and as 3.
Gear ,4: Vi = ao)A | (1)
Spider: v2 = ( a + b)cos } (2)
Gear B: v2 = Vj + bcoB J (3)
v3 = v2 + bcoB | (4)
Gear E: v3 = (a + 2b)coE } (5)
From (4) and (5), v2 + bcoB = (a + 2b)a>E (6)
From (1) and (3), v2 - bcoB = Vj = ao)A (7)
Solving for v2 and 0)B
coB -
2b
PROBLEM 15.49
The outer gear C rotates with an angular velocity of 5 rad/s clockwise.
Knowing that the inner gear A is stationary, determine (a) the angular
velocity of the intermediate gear B, (b) the angular velocity of the arm
AB.
lA A /i
SOLUTION
Label the contact point between gears A and B as /, the center o f gear B
as 2, and the contact point between gears B and C as 3.
vi = (1)
v 2 = 4 . 5 c o AB\ (2 )
V, = v2 - 1.5<ys | (3)
v3 = v, + 3 coB | (4)
Gear C: v3 = 1.5coc J (5)
Data: <oA = 0, toc = 5 rad/s
From (1), v, = 0,
From (5), v3 = (7.5)(5) = 37.5 in./s |
From (3), v2 - 1.5<ys = 0 (6)
From (4), v2 + 3<wfl = 37.5 (7)
Solving (6) and (7) simultaneously,
37.5
(a) Oio = = 8.33 rad/s coB - 8.33 rad/s A
4.5
37.5
v2 = = 12.5 in./s
(b) From (2), coAB = ~~~ - 2-78 rad/s coAB = 2.78 rad/s ^ A
PROBLEM 15.50
The intermediate gear B rotates with an angular velocity of 20 rad/s
clockwise. Knowing that the outer gear C is stationary, determine {a) the
angular velocity of the inner gear A, (b) the angular velocity of the arm
AB.
SOLUTION
Label the contact point between gears A and B as I, the center of
gear B as 2, and the contact point between gears B and C as 3.
Gearv4: Vj = 3eoA | (1)
Arm AB: v2 = A.5a>AB\ (2)
Gear B: Vj = v2 - \.5coB \ (3)
v3 = v2 + 3 cob | (4)
Gear C: v3 = 7.5c | (5)
Data: coB - 20 rad/s, c = 0
From (5), v3 = 0.
From (4), v2 = - 3 a>B - -(3 )(2 0 )j = 60 in./s |
From (3), Vj = -60 - ( l .5)(20) = -9 0 J = 90 in./s f

From (1), coA - Vj/3 = -30 rad/s J
coA - 30.0 rad/s ^ M
From (2), 6 0 |= 4 .5 ^ B| a)AB - = -13.33 rad/s
a>AB = 13.33 rad/s ^ -4

PROBLEM 15.51
1$hmd, Arm ACB rotates about point C with an angular velocity o f 40 rad/s
counterclockwise. Two friction disks A and B are pinned at their centers
to arm ACB as shown. Knowing that the disks roll without slipping at
surfaces of contact, determine the angular velocity of (a) disk A,
(b) disk B.
r s
SOLUTION
Arm AC B: Fixed axis rotation.
ra/c = 24 mm, v A = rA/co AB = (24)(40) = 960 mm/s J
rB/c = 18 nun, v B - rB/ca>AB = (l8)(40) = 720 mm/s |

/# #/
Disk B: Plane motion = Translation with B + Rotation about B.
rB = 30 mm, vD = \ B - \ m
0 - 7201 + 30 a)B | mm/s
r coR
5
720 .. x
------ = 24 rad/s ;
30 ^
V = VS + v m
= 7201+ (30) (2 4 )|= 1440 mm/s I
D isk J: Plane motion = Translation with A + Rotation about A.

rA = 12 mm, \ E = v A - y BA
1 4 4 0 )= 9 6 0 ] + 12^ |
1440 + 960
coA = = 200 rad/s j
12
Answers, (a) coA = 200 rad/s ^ 4

0b) coR = 24.0 rad/s
J
4
PROBLEM 15.52
Arm ACB rotates about point C with an angular velocity of 40 rad/s
counterclockwise. Two friction disks A and B are pinned at their centers
to arm ACB as shown. Knowing that the disks roll without slipping at
surfaces of contact, determine the angular velocity of (a) disk A,
(b) disk B.
SOLUTION
Arm ACB. Fixed axis rotation.
A c R | *4 rA/c = 6 mm, \ A = rAJCo)AB | = (6)(40)|= 240 mm/s |
rB/c = 36 mm. y s = rBic>AB | = (36)(40) I = 1440 mm/s f

i////"
Disk B: Plane motion = Translation with B + Rotation about B.
rB = 12 mm, \ D = \ B - \ B/A
0 = 14401 + 12<yB|
0 1440 ,\
coB = ------- = 120 rad/s ;
r,w, 8 12 >
V = Vg + V/g
0
A.
= Q e+
Â *,A
= 14401 + (6)(l20)f = 2880 mm/sf
Disk A: Plane motion = Translation with A + Rotation about A.

rA = 30 mm, \ E = \ A - \ EIA
28801= 240J + 3 0 ^
2880 + 240 , A ^
co. = ---------------- = 104 rad/s
A 30 '
Answers. (a) eoA = 104.0 rad/s 'j A
(b) coB = 120.0 rad/s ; 4
PROBLEM 15.53
Gear A rotates with an angular velocity of 120 rpm clockwise. Knowing
that the angular velocity of arm AB is 90 rpm clockwise, determine the
corresponding angular velocity of gear B.
PROBLEM 15.54
Arm AB rotates with an angular velocity of 42 rpm clockwise. Determine
the required angular velocity of gear A for which (a) the angular velocity
of gear B is 20 rpm counterclockwise, (b) the motion of gear B is a
curvilinear translation.
70 m m
PROBLEM 15.55
Knowing that the disk has a constant angular velocity of 15 rad/s
clockwise, determine the angular velocity o f bar BD and the velocity of
collar D when (a) 9 = 0, (b) 9 = 90, (c) 9 = 180.
SOLUTION
Disk^f o)A = 15 rad/s y AB = 70 mm
Rotation about a fixed axis.
vB = (A B ) coa = (0.070)(15) = 1.05 m/s
(a) 9 = 0. \ B = 1.05 m /s
sin B = , 0 = 16.260
250
Bax BD : y D = y B + y D/B
vD\ = [1.05 ] + [vD/B ^ P\
1.05
V D/B ~ = 1.09375 m/s
cos/?
Vp/B _ 1.09375
m DB ~ o&
db = 4.38 rad/s ~) 4
DB ~ 0.250
vd = vb tan P> vp = 0.306 m/s 14

(b) 9 = 90 v B = 1.05 m/s |
140
sm B = B = 34.06
250
Bar BD : y D = y B + y D/B
vD | = [1.05 [ ] + \y UB N . p ]
Components: 4^ y D /B = 0
J: VD = yg
\ n = 1.050 m/s
70 nun
PROBLEM 15.56
The disk has a constant angular velocity of 20 rad/s clockwise,
(a) Determine the two values of the angle 9 for which the velocity of
collar D is zero. (b) For each of these values of 9, determine the
corresponding value of the angular velocity of bar BD.
SOLUTION
rA = 70 mm, lRD = 250 mm
From geometry, lBD sin p = rA + rA sin 6 (1)
v B is tangent to the circular path of B,
thus vfl r A( A 0
For rod BD vB/D = lR[/oBL) P
v = v 0 + ^ BID = 0 + V fi/D
y B/D = v
(a) For matching direction 9 = p or 9 - 180 + P
For p = 9, sin P = sin 9 so that lBD sin P = rA + rA sin P
r. 70
sin P = , P = 22.9, 9 = 22.9 <
lBD rA 250 70
For 9 = 180 + p , sin# = -sin /?,
lBDs \n p = rA - rAs\nP
r 7 0
sin p = d = ------ , p = 12.6 9 = 192.6 A
lBD + rA 250 + 70
(b) For matching magnitudes vDIB = vfi
1b d A> b d = r- ^ = ^7 ^ 2 0 ^ = 5.6 rad/s

/ BD 250
For 9 = 22.9, <yBD = 5.60 rad/s j) ^
For 9= 192.6, <ann = 5.60 rad/s

PROBLEM 15.57
In the engine system shown, / = 8 in. and b - 3 in. Knowing that the
crank AB rotates with a constant angular velocity o f 1000 rpm clockwise,
determine the velocity of piston P and the angular velocity of the
connecting rod when (a) 9 = 0, (b) 6 = 90.
SOLUTION
coAB = 1000 rpm J = _ j 04.72 rad/s )
(a) 9 - 0. Crank AB. (Rotation about A) rB/A = 3 in. |
v s = vBIAmAB = (3)(104.72) = 314.16 in./s
,r Rod BD. (Plane motion = Translation with B + Rotation about B)

- vn
V D = V B + VD/B
8 A 8
VD\ = [314.16---- ] + [ v ^ ]
Vr, = 0, vD/B = 314.16 in./s
v P = vD Yp = 0 4
V5 = 314.16
co,'BD o)BD - 39.3 rad/s ^ 4
I 8
(b) 6 = 90. Crank AB. (Rotation about A) B/A = 3 in.
4 v* = rB/AcoAB = (3)(104.72) = 314.16 in./s|
Rod BD. (Plane motion = Translation with B + Rotation about B.)
vD|= 314.16|+ [vD/a5 ^/7]
v D/ b = 0, vD = 314.16 in./s
VD/B
C0BD ~ BD 0
I
314..16 in./s | 26.2 ft/s 14
PROBLEM 15.58
In the engine system shown in Fig. P I5.57 and P I5.58, / = 8 in. and
b = 3 in. Knowing that the crank AB rotates with a constant angular
velocity of 1000 rpm clockwise, determine the velocity of piston P and
the angular velocity of the connecting rod when 9 = 60.
SOLUTION
coiB = 1000 rpm = (1000H27t) = 104.72 rad/s )

AB 60 ^
0 = 60, Crank AB. (Rotation about A) rWA = 3 in. ^30
vg = raAa)AB = (3)(l04.72) = 314.16 in./s ""v 60
Rod BD. (Plane motion = Translation with B + Rotation about B.)
Geometry. I sin P = r sin 0
r 3
sin B = sin 9 = sin60
/ 8
/3= 18.95
vd = v + V/j/b
[v/J| ] = [3 1 4 .1 6 ^ 6 0 ] + [v/>fl ~ y >9] Draw velocity vector diagram.
<p= 180 - 30 - (90 - 0) = 78.95
Law of sines.
vd _ vi>b _ vB
& sin <p sin 30 sin (9 0 -/? )
Vn= vscoss inp ^ _ 314.16 sin 78.95

cos 18.95
= 326 in./s
vP = v, \ P = 27.2 ft/s | A
vflsin30 314.16sin30 t n o . ,
/VB = --------- = -------------------- = 166.08 in./s
cos p cos 18.95
v d /h 166.08
o)BD = 20.8 rad/s ^ A
I 8
PROBLEM 15.59
In the eccentricity shown, a disk of 40-mm-radius revolves about shaft O
that is located 10 mm from the center A of the disk. The distance between
the center A of the disk and the pin at B is 160 mm. Knowing that the
angular velocity o f the disk is 900 rpm clockwise, determine the velocity
of the block when 6 = 30.
10 mm
SOLUTION
Geometry.
O (O A)s\n9 - (A S)sin/?
(u )to e = w * w
AB 160
Shaft and eccentric disk. (Rotation about O), <
x>o a = 900 rpm = 30# rad/s J
\ A = (OA) o)OA = (l0)(30#) = 300# mm/'s'T '
RodAB. (Plane motion = Translation with A + Rotation about A.)
^ = y A + v /j/a h ? ]= [va t 60] + \y m M /?]
Draw velocity vector diagram. 90 - (3 = 88.21
(p = 180 - 60 - 88.21 = 31.79
Law of sines.
VB VA
sin sin (90 - fi)
vA sin & (300#) sin 31.79

Vb = sin (90 - (3) ~ sin 88.21
= 497 mm/s
x B = 497 mm/s-. 4
PROBLEM 15.60
Determine the velocity of the block of Prob. 15.59 when 9 = 120.
SOLUTION
(O 4)sin(l80 - 9) = (zlfi)sinp
a (<9/l)sin(l80 - 9) 10sin60
sin P = ---- - A--------- = -------------- , P = 3.10
160
Shaft and eccentric disk. (Rotation about O) coOA = 900 rpm = 30tt rad/s ^
y A = (O A ) a)OA = (10)(30jt) = 300n mm/s
Rod AB. (Plane motion = Translation with A + Rotation about A.)
JA
A (W
V/i = v.^ + y aA [vB ] = [300tt ^ 3 0 ] + \y B/A \ / p \
Draw velocity vector diagram. 90 + /? = 93.10
tp = 180 - 30 - 93.10 = 56.90
Law of sines.
VB _
sin (p sin(90 + /?)
V=sinvA(90sin+tp0) _ (3007i) sin 56.90

~ sin 93.10
= 791 mm/s
\ R =791 mm/s - A
PROBLEM 15.61
A straight rack rests on a gear of radius r and is attached to a block B as
shown. Denoting by coD the clockwise angular velocity of gear D and by
6 the angle formed by the rack and the horizontal, derive expressions for
the velocity of block B and the angular velocity of the rack in terms of r,
9, and coD.
SOLUTION
Gear D: Rotation about D. Tooth E is in contact with rack AB.
v E =rcou ^ 9
Rack AB.
tan 9
Plane motion = Translation with E + Rotation about E.
v = v + v W [vB - ~ ] = [vfc ^ ; 0 | + [ v B/l / 0 ]
_ v _ ra)D
cos 9 cos 9
i 4Se
rco,D
v =
cos 9
v B/E = vt tan 9 = rcoD tan 9
vb /e r coD tan 9 2
co'AB = ------ = = con tan 9
lEB r!tan 9
coAB = coD tan2 9 ^ A

PROBLEM 15.62
A straight rack rests on a gear of radius r = 3 in. and is attached to a
block B as shown. Knowing that at the instant shown the angular velocity
of gear D is 15 rpm counterclockwise and 6 = 20, determine (a) the
velocity of block B, (b) the angular velocity of the rack.
SOLUTION
Gear D: Rotation about D. Tooth E is in contact with rack AB.
(I5)(2n)
= 15 rpm = - - = 1. 5708 in./s ^ 2 0
aD=
60
\ E = rcoD = (3)(0.5n) = 4.7124 in./s
3
Rack AB. h:B ~ = 8.2424 in.
tan 6 tan 20
Plane motion = Translation with E + Rotation about E.
v = v + yWE [vfi ] = [v ^ ^ ] + [ vb/d/ ^ ]
Vc 4.7124 , M ,
(a) V= cos^
20
---------- = 5.02 in./s
cos20
A C"
v = 5.02 in./s 4
0b) vB/E = v tan20 = 4.7124 tan 20
= 1.71517 in./s
Vfl/g _ 1.71517
ÂB -
lEB 8.2424
a)AB = 0.208 rad/s J) 4

PROBLEM 15.63
I'>11nun Bar AB is rotating clockwise and, at the instant shown, the magnitude of
the velocity of point G is 3.6 m/s. Determine the angular velocity of each
of the three bars at that instant.
SOLUTION
Rod AB. (Rotation about A) \ B= (A B ) coab = 0A2 coab '^Z45
RodDE. (Rotation about E) \ D= ( E D ) code = 0.15ft>/J^ 4 5 c
Rod BGD. Plane motion = Translation with B + Rotation about B.
&*/ i S/ _ B B
v
ft ft X
v0 = v + vWfl [v0 ^ 4 5 ] = [va T^45] + [viD/B
vi>b = V2v = 0.12>/2coAB
vd/b _ 0.\2\l2a)AB _
COAB
Ibd 0.24 2
y G /B ~ K c ^ b d ~ ~ ^ VI)/H ~ 0.06>/2(COAB
vc = v B + v G/B Draw vector diagram.

vg = vb sin 45 = .12 ^ sin 45
V,; 3.6
>AB =
coAB = 42.4 rad/s J, A
0.12 sin 45 0.12sin45
<BD ~ ' - J l 1(42.4), coBD = 30.0 rad/s ^ A
vD = vB = 0 A 2 coab = 5.0912 m/s
_ VD _
5.0912
01 d e ~ coOE - 33.9 rad/s j A
I ed 0.15
PROBLEM 15.64
if
7 5 mm
200 n
In the position shown, bar AB has an angular velocity of 4 rad/s

clockwise. Determine the angular velocity of bars BD and DE.
150 iron
L_
SOLUTION
Bar AB. Rotation about A
\ B = a AB x rWA = (-4 k ) x ( 0.25j) = (1.00 m/s)i
Bar ED. Rotation about
vo = <DEk x tue = DEk x (-0.075i - 0.15j) = 0.15<uD 1 - 0.075a>Dt-j
Bar BD. Translation with B + Rotation about B.
y D/B = MBDk x = <Bnk x 0.2i = 0.2<yfiDj
vO = vi + y D/B
0.15&>D/ri - 0.075coOE] = -l.OOi + 0.2a)BDj
Components:
i: 0.15caDE = -1.00, (oDE = -6.6667 rad/s coDE = 6.67 rad/s } 4
j: -0.015 o)de = 0.2a)BD
-(0.075) (-6.6667)
= 2.50 rad/s ^ 4
(bd = 02 0 )8 0
PROBLEM 15.65
SOLUTION
Bar AB. Rotation about A .
In units of in./s vB = aaAB Xrm = (-4 k ) X(101) = -40j

Bar ED. Rotation about E.
y D = DE x r D /E = Dk x (-61 + 2.4j) = -2Acode i - 6a)DEj
y D!B = BD X rD/B = i?Dk X (~4j) = ^ BDl
y D = y B + y D!f!
-2 A 0 DE%- 6o)de} = -40j + 4coBDi
Components:
j: - 6 Ode = 40 coDE = 6.6667 rad/s (Ode = 6-67 rad/s '*) A
i: 2AcoDE = 4coBD
(-2.4)(6.6667)
coBD = ------- ------- - = -4.00 rad/s 60bd = 4-00 rad/s A
PROBLEM 15.66
12 in .
2i> in
SOLUTION
Bar A B. Rotation about A .
vs =,ifi x t b ia = (~4k) x (161 - 32j) = -(128 in./s)i + (64 in./s) j
vo = x rn,F = (0Dk x (I6i - 20j) = 20(oDF i + \(xoDE\
v ixb = wbiM * rixB = ^bcM x (32i) = 32ryfl/Jj
vo = v + v/*s
2Q(oDl.i + \6 code] = 1281 + 64j + 2>2coHD\
Components:
i: 20(onE = -128, coDF = -6.4 rad/s a)DE = 6.40 rad/s j A
j: 1(xoDE = 64 + 22(0RD
16 64 __ _ , _ ,,
"so = ^ de " = 3.2 - 2 = -5.2 rad/s a>ttD = 5.20 rad/s j A
PROBLEM 15.67
At the instant shown, bar AB has a constant angular velocity of 25 rad/s
counterclockwise. Determine at that instant (a) the angular velocity of the
^ rectangular plate FBDH, (b) the velocity o f point F.
200 m m
400 linn
200 mm
_L
SOLUTION
Bar AB. Rotation about A. coAB = 25 rad/s ^
vs = rWA>AB = (-2)(25) = 5 m/s |
vd = v d v D = 0 .2 a )DE
Plate BDHF. Translation with B + Rotation about B.
v o = v/t + vzxs [VD ] = K f ] + [ v f l / 30]
_B
V _
VD/B ~ = 5.7735 m/s
cos30 cos30
v B,D 5.7735
a BDHF ~ = 14.4338 rad/s
^BD
(a) ^ bdhf ~~ 14.43 rad/s j ^
vF/B = ~BFcobdhf = (0.2)(14.4338) = 2.8868 m/s
Vf/s = 2.8868 m/s ^ 3 0
v F = y B + \ g/F = [5 m/s | ] + [2.8868 m /s '5v30]
(b) vF = 4.35 m/s ^ 5 4 . 9 ^

PROBLEM 15.68
, 200111111
At the instant shown, bar DE has a constant angular velocity o f 35 rad/s
clockwise. Determine at that instant (a) the angular velocity o f the
rectangular plate FBDH, (b) the point on the plate FBDH with zero
400 mm velocity.
SOLUTION
Rod DE. Rotation about E. (onE = 3 5 rad/s j
v o = r t>E>DE = (-2)(35) = 7 m/s *
Rod A B. Rotation about A .
v = vb I vb = Q^ ab
Plate BDHF. Translation with D + Rotation about D.
vfl =V/J+^ BID K i ] = h > ] + [ v/d / 3 0 ]
VD/B ~ = 14 m/s
sin 30 sin 30
vd /b 14 ,,
bd h f ~ ------- = 35 rad/s
1Db 0.4
(a) (Obdhf = 35.0 rad/s ' 4

Point of zero velocity lies above point D.
yciD = - = 0.2 m
10BDHF 35
(b) 200 mm above point D. 4

PROBLEM 15.69
The 4-in.-radius wheel shown rolls to the left with a velocity of 45 in./s.
Knowing that the distance AD is 2.5 in., determine the velocity o f the
collar and the angular velocity of rod AB when (a) fl = 0, (b) fl = 90.
SOLUTION
(a) p = 0 Wheel AD. vc = 0, vD = 45 in./s -
o).D = = = 11.25 rad/s

AD CD 4 '
CA = (CD) - (DA) = 4 - 2.5 = 1.5 in.
vA= (C A)ivAD = (1.5)(11.25) = 16.875 in./s
Rod AB. vB = \ A + \ B/A
[va - ] = [16.875 - ] + [va M N p] v s = 16.88 in./s A
vaB = 0 eoAB = 0 A
(b) p = 90 Wheel AD. \ c = 0, coAD = 11.25 rad/s ')
tany = y = 32.005
DC 4
DC
CA = = 4.7170 in.
cosy
vA = (CA) coad = (4.7170)(11.25) = 53.066 in./s
v A = [53.066 in./s V , 32.005]
Rod AB. = Vg
sin = , 0 = 18.663
12.5

y B = y A + y B/A [vB]=[vi<^r] +[ Vb /a f\^]

S = ISO0 - / - ( 9 0 + <p)
= 90 - 32.005 - 18.663 = 39.332
VB _ V B/A VA
sin<? siny sin(90 + ^ )
v^sinff (53.066)sin 39.332

sin (90 + (p) sin 108.663
- 35.5 in./s \ B = 35.5 in./s
_ vA siny _ (53.066)sin32.005c
Vr!A ~ sin (90 + <p) ~ sin 108.663
= 29.686 in./s
v b /a
a>AB = - = -
AB
29.686
12.5
= 2.37 rad/s coAB = 2.37 rad/s J) 4
PROBLEM 15.70
An automobile travels to the right at a constant speed of 80 km/h. If the
diameter of the wheel is 560 mm, determine the velocities of points B, C,
D, and E on the rim of the wheel.
SOLUTION
\ A = 80 km/h = 22.222 m/sj vr = 0 A
d = 560 mm r = = 280 mm = 0.28 m

2
v. 22.222
<y = = --------- = 79.364 rad/s ^
r 0.28
VB/A = VD/A = VE/A = rc0
= (0.28)(79.364) = 22.222 m/s
v U = v 4 + \ WA = [22.222 in./s] + [22.222 in./s]
\ H = 44.4 m/s - A
vD = \ A + \ aA = [22.222 in /s] + [22.222 in./s ^ 3 0 ]
vD = 42.9 m/s ^115.0
v = V.< + y E/A = [22.222 in /s] + [22.222 in./s | ]
\ E = 31.4 m/s ^ 4 5 .0
PROBLEM 15.71
A 5-m beam AE is being lowered by means of two overhead cranes. At
the instant shown it is known that the velocity of point D is 1 m/s
e
downward and the velocity o f point E is 1.5 m/s downward. Determine
i , ^ 11 (a) the instantaneous center o f rotation of the beam, (b) the velocity of
p o in ts.
SOLUTION
a> _ VE ~ VD _ 1 -5 -1 .0 _=
1 rad/s J)
lED 1.5 3
1Ce - - r~ - 3 m
co
() lAC = 1.5 + 2 - 3 = 0.5m C lies 0.500 m to the right of A -A
(b) v A = Ia c < = ( 0 -5 ) | -
- 0.1667 m/s vA = 0.1667 m/s j A
PROBLEM 15.72
A 5-m beam AE is being lowered by means of two overhead cranes. At
the instant shown it is known that the velocity of point A is 542 mm/s
downward and the velocity of point E is 292 mm/s upward. Determine
(o) the instantaneous center of rotation of the beam, (6) the velocity of
- 2 m - - 1.5 m -
point D.
SOLUTION
vE + vA 0.542 + 0.292 ,. r
co = = ------------------- = 0.1668 rad/s )
lAE 1.5 + 2 + 1.5 '
. vA 0.542 , _
(a) lAC = = r = 3.2494 m
co 0.1668
C lies 3.25 m to the right of A. A
I c d = 1a d ~ 1a c = 3-5 32494=-2506m
(b) vD = lcDco = (0.2506)(0.1668) = 0.0418 m /s|
v D = 41.8 mm/s j A
PROBLEM 15.73
At the instant shown during deceleration, the velocity of an automobile is
40 ft/s to the right. Knowing that the velocity of the contact point A of the
wheel with the ground is 5 ft/s to the right, determine (a) the
instantaneous center of rotation of the wheel, (b) the velocity of point B,
24 in. (c) the velocity of point D.
SOLUTION
<y = ^ ^ = 40 - 5 = 35 .
>a o I J
() lCA=LL = A = Ift
(o 7,5 1
= 1.714 in.
C lies 1.714 in. below A. 4
(b) I( = 2 + -? =
7 ft
15
vH = 1(Boj = ---- 35 = 75 ft/s
v = 75.0 ft/s 4
(c)
7 7
/8Y
IcD - + - \ =1.5186 ft
Vp = lclfi) = (1.5186)(35) = 53.2 ft/s
tan6> = ^ S . = - , $ = 41.2
lco 8
\ n = 53.2 ft/s ^ 4 1 .2 4
PROBLEM 15.74
At the instant shown during acceleration, the velocity of an automobile is
40 ft/s to the right. Knowing that the velocity of the contact point A of the
wheel with the ground is 5 ft/s to the left, determine (a) the instantaneous
center o f rotation of the wheel, (b) the velocity of point B, (c) the velocity
24 in . of point E.
PROBLEM 15.75
A 60-mm-radius drum is rigidly attached to a 100-mm-radius drum as
shown. One of the drums rolls without sliding on the surface shown, and
a cord is wound around the other drum. Knowing that end E of the cord is
pulled to the left with a velocity of 120 mm/s, determine (a) the angular
velocity of the drums, (6) the velocity of the center of the drums, (c) the
length of cord wound or unwound per second.
SOLUTION
Since the drum rolls without sliding, its instantaneous center lies at D.
v E = v B = 120 mm/s -
va = va/ d ( vb = rB lt&
(a )
_
co = VB _ 120
= 3 rad/s
v b /d 100 - 60
a) = 3.00 rad/s ^
0b) vA = (100)(3) = 300 mm/s
v . = 300 mm/s - A
Since is greater than vB, cord is being wound.
vA - vB = 300 - 120 = 180 mm/s
(c) Cord wound per second = 180.0 mm A

PROBLEM 15.76
a cord is wound around the other drum. Knowing that end E of the cord is
pulled to the left with a velocity of 120 mm/s, determine (a) the angular
velocity of the drums, (b) the velocity of the center of the drums, (c) the
length of cord wound or unwound per second.
SOLUTION
Since the drum rolls without sliding, its instantaneous center lie at B.
v = vD = 120 mm/s *
VA = r A J B ^ VD = r D/RC0
D 120
(a) CO -= -
= 3 rad/s
rD /B 1 0 0 -6 0
co = 3.00 rad/s J) -4
(b) vA = (60)(3.00) = 180 mm/s
vA = 180 mm/s - 4
Since is to the right and vD is to the left, cord is being unwound.
vA - v E = 180 + 120 = 300 mm/s
(c) Cord unwound per second =300 mm 4

PROBLEM 15.77
A double pulley is attached to a slider block by a pin at A. The 1.5-in.-
radius inner pulley is rigidly attached to the 3-in.-radius outer pulley.
Knowing that each of the two cords is pulled at a constant speed as
shown, determine (a) the instantaneous center of rotation of the double
pulley, (b) the velocity of the slider block, (c) the number of inches of
cord wrapped or unwrapped on each pulley per second.
PROBLEM 15.78
Solve Prob. 15.77, assuming that cord E is pulled upward at a speed of
8 in./s and cord F is pulled downward at a speed o f 10 in./s.
SOLUTION
\ n = 8 in./s j, v B = 10 in./s |
CO
Vn+Vn 8+ 10 = 4 rad/s
_ VD Z VB =
BD 4.5
CD = = = 2 in.
co 4
CA = 3 - 2 = 1 in.
C lies 1.000 in. to the right of A. A
vA = (l.000)<a = (1.000)(4) = 4 in./s
= 4.00 in./s | A
(c) y D ~ y A = 12 in./s |
Cord DE is unwrapped at 12.00 in./s. A
6 in./s |
Cord BF is unwrapped at 6.00 in./s. A

PROBLEM 15.79
Knowing that at the instant shown the angular velocity of bar DC is
18 rad/s counterclockwise, determine (a) the angular velocity of bar AB,
(b) the angular velocity of bar BC, (c) the velocity of the midpoint of bar
BC.
SOLUTION
Bar DC. (rotation about D)
vc = cocd(CD) = (18)(0.25)
= 4.5 m/s
vc = 4.5 m/s ^ 30
Bar AB. (rotation about A)
vs = / 30
Locate the instantaneous center (point I) of bar BC by noting that velocity directions at two points are known.
Extend lines AB and CD to intersect at I. For the given configuration, point / coincides with D.
IC = 0.25 m, IB = 0.25n/3 m
Vr
(0BC = -ft- = _ = 18 rad/s
IC 0.25
vB = ( IB)( obc = (0.25>/3)(l8) = 7.7942 m/s2
. . v 7.7942
(a) (oAB = = ---------- = 31.177 rad/s coAB = 31.2 rad/s j A
AB 0.25
(b) a>BC = 18.00 rad/s ^ A

(c) Locate point M, the midpoint of bar BC.
Triangle /CA/is an equilateral triangle. IM - 0.25 m
vM = ( IM )( obc = (0.25)(18) = 4.5 m/s \ M = 4.50 m/s ~ y 30 A

PROBLEM 15.80
Knowing that at the instant shown bar AB is rotating counterclockwise
and that the magnitude of the velocity of the midpoint of bar BC is
2.6 m/s, determine (o) the angular velocity of bar AB, (b) the angular
velocity of bar BC, (c) the angular velocity of bar DC.
SOLUTION
Bar AB. (rotation about A)

v H = v ^ 60
Bar CD. (rotation about D)

vr = vr
Bar BC. Locate its instantaneous center (point /) by noting that velocity directions at two points are known.
Extend lines AB and CD to intersect at /. For the given configuration, point I coincides with D.
Locate point M, the midpoint of bar BC. From geometry, triangle /CM is an equilateral triangle.
1M = AB = CD = 0.25 m, IB = 0.25>/3 m
- 1 - ^
^BC ~ = 10.4 rad/s J)
IM 0.25
() vB = (IB ) o)bc = (0.25V3)(10.4) = 4.5033 m/s
_ VB _ 4.5033 = 18.0133 rad/s (oAB = 18.01 rad/s ^ -4

)AB ~
AB 0.25
(b) coBC = 10.40 rad/s y 4
(c) vc = (IC)coBC = (0.25)(10.4) = 2.6 m/s
a)rn = = 10.4 rad/s coCD = 10.40 rad/s y 4

CD DC 0.25
PROBLEM 15.81
Knowing that at the instant shown the velocity of collar A is 45 in./s to
the left, determine (a) the angular velocity of rod ADB, (b) the velocity of
point B.
7 .5 in
S in ,
SOLUTION
Collar A. (Rectilinear motion) v A - 45 in./s
Rod DE. (Rotation about E) = v4

Locate the instantaneous center (point Q of bar ADB by noting that
velocity directions at points A and D are known. Draw AC perpendicular
to v , and DC perpendicular to vD.
vA _ 45 in./s
() coAD B coadb ~ 6-00 rad/s ^ A
AC ~ 7.5 in.
tan/> =
7.5
BF = 4 + 3 tan ft = 5.6 in.
CF = 3 in.
CF 3
tan<o = ------= , = 61.8
y B = 3 8 .1 in ./s ^ 6 1 .8 ^
PROBLEM 15.82
Knowing that at the instant shown the angular velocity o f rod DE is
2,4 rad/s clockwise, determine (a) the velocity o f collar A, (b) the velocity
of point B.
7,5 in.
3 iu.
SOLUTION
Rod DE. (Rotation about E) coDE - 2.4 rad/s )
v D - ( ED ) code = (6)(2.4) = 14.4m ./s|
Collar A. (Rectilinear motion) v a ~ va *
Locate the instantaneous center (point Q of bar ADB by noting that

velocity directions at points A and D are known. Draw A C perpendicular
to v A and DC perpendicular to v D.
vD 14.4in./s . >
<S>ABB = 7 ^ = r ------ = 3 6 rad/s A
CD 4 m.
() vA = (CA) coadb = (7.5)(3.6) = 27 in./s
v^ = 27.0 in./s * A
(b) tan B =
7.5
BE = 4 + 3 tan/? = 5.6 in.
CF = 3 in.
CF 3
tmrp = = <p = 28.2
RF 5.6
CB = \}{CF)2 + {B F f = V32 + 5.62
= 6.353 in.
vs = (CB)coadb = (6.353)(3.6) = 22.9 in./s
90 - cp = 61.8
\ B = 22.9 in./s ib61.80 M

PROBLEM 15.83
An overhead door is guided by wheels at A and B that roll in horizontal
and vertical tracks. Knowing that when 6 = 40 the velocity of wheel B
is 0.6 m/s upward, determine (a) the angular velocity o f the door, (b) the
velocity of end D of the door.
SOLUTION
6 - 40, \ B = 0.6 m/s |, v . = v.
Locate the instantaneous center (point C) by noting that velocity directions

at points A and B are known. Draw AC perpendicular to \ A and BC
perpendicular to vB.
BC = (A B )sin (9 = 2 sin 40 = 1.28557 m
0.6
() coABD = S - = = 0.46672 rad/s
BC 1.28557
coABD = 0.467 rad/s ^ 4
r D/C ~ r B/C + r D/B
= [1.28557 m ] + [2 m f \4 0 ]
= 2.9930 m ^ 3 0 .7 9
P = 30.79
(b) vd = r D /c C0A B D = (2.9930)(0.46672)
= 1.397 m/s
v D = 1.397 Vp
90 - p = 59.2
v D = 1.397 m/s ^ 5 9 .2 4
PROBLEM 15.84
Rod ABD is guided by wheels at A and B that roll in horizontal and
vertical tracks. Knowing that at the instant shown P = 60 and the
velocity of wheel B is 800 mm/s downward, determine (a) the angular
velocity of the rod, (b) the velocity of point D.
SOLUTION
\ B = 800 mm/s | v^ = vA -
Locate the instantaneous center of rod ABD by noting that velocity directions at points A and B are known.
D raw ^C perpendicular to \ A and BC perpendicular to \ B.
(a) (OAB D _ VB _ 800

= 3.0792 rad/s A
BC 300 cos 30
coadd = 3.08 rad/s } 4
lCD = yj(600cos30)2 +(300sin30)2 = 540.83 mm
300 sin 30
tany = y = 16.10 90 - y = 73.9
600cos30
(b) vd = k 'D ^ A B D = (540.83)(3.0792) = 1.665 x 10 mm/s
vp = 1.665 m/s ^ 7 3 .9 4
PROBLEM 15.85
Small wheels have been attached to the ends of bar AB and roll freely
along the surfaces shown. Knowing that the velocity o f wheel B is
2.5 m/s to the right at the instant shown, determine (a) the velocity o f end
A of the bar, (b) the angular velocity o f the bar, (c) the velocity o f the
midpoint of the bar.
SOLUTION
v< = vA ^ 4 5 , v B = 2.5 m/s
Locate the instantaneous center (point C) of rod AB by noting that velocity

directions at points A and B are known. Draw AC perpendicular to \ A and
BC perpendicular to vB.
Let I = AB = 600 mm = 0.6 m
Law of sines for triangle ABC.
- = - = - = 0.84853 m
sin 75 sin 60 sin 45
a = 0.73485 m, b = 0.81962 m
2.5
= 3.0502 rad/s
b 0.81962
(a) vA = aco = (0.73485)(3.0502) = 2.24 m/s
v A = 2.24 m/s ^ 4 5 .0 <4
(b) co - 3.05 rad/s ) <
(c) Let M be the midpoint of AB.

Law of cosines for triangle CMB.
l_
m =b + - 26cos 60
v2y 2
= (0.81962)2 + (0 .3 )2 -(2)(0.81962)(0.3)cos60
m = 0.71825 m
Law of sines.
sin/? sin60 . _ 0.3sin60
- sin ------------- , /? = 21.2
m 0.71825
vM =mco = (0.71825)(3.0502) = 2.19 m/s,
vM = 2.19 m/s ^21.2 ^

PROBLEM 15.86
At the instant shown, the angular velocity o f bar DE is 8 rad/s
counterclockwise. Determine (a) the angular velocity of bar BD, (b) the
angular velocity of bar AB, (c) the velocity of the midpoint of bar BD.
SOLUTION
Bar DE. VD = eru
ED
= (0.6)(8)
vD = 4.8 m/s
Bar AB. VB = = 0.2 COAg
= 0.2(0Ag ^ 30
Locate the instantaneous center (point C) of bar BD by noting that velocity

directions at points B and D are known. Draw BC perpendicular to v/;
and DC perpendicular to vD.
Let I = BD = 0.6 m.
Law of sines for triangle CBD.
b d I 0.6
= 1.2 m
sin 120 sin 30 sin 30 sin 30
b = 1.03923 m, d = 0.6 m
vD 4.8
(a) cogp = -r- = - = 8 rad/s Wgp - 8.00 rad/s y A
d 0.6
(b) vH = bcoBn = (1.03923)(8) = 8.3138 m/s
- 1 2 - - 8.3138 = 41.6 rad/s

<a b = a 0.2
(oAR = 41.6 rad/s ^ A
(c) Law of cosines for triangle CMD.
m2 = d 2 + | - - 2 d - cos 120
2) 2
= 0.62 + (0 .3 )2 - (2)(0.6)(0.3)cos 120

m = 0.793725 m
Law of sines.
sin B sin 120 . . (0.3)sinl20

sin p - v p = 19.1
{ m ' 0.79375
Velocity o f M. vM = mcoBD - (0.793725)(8) = 6.35 m/s
vw = 6.35 m /s ^ ! 9 .1 4
PROBLEM 15.87
Arm ABD is connected by pins to a collar at B and to crank DE. Knowing
that the velocity o f collar B is 16 in./s upward, determine (a) the angular
velocity of arm ABD, (b) the velocity of point A.
SOLUTION
Locate the instantaneous center (point C) of bar ABD by noting that velocity directions at points B and D are
known. Draw BC perpendicular to \ B and DC perpendicular to vf l .
f S_
CJ = (D y)tany = (6.4) = 2.6667 in.,
,12
CB = JB - C J = 12.8 - 2.6667 = 10.1333 in.

v 16
(fl) coABD = 1.57895 rad/s a)ABD = 1.579 rad/s ^ A
CB 10.1333
CK = CB + BK = 10.1333 + 7.2 = 17.3333 in.
KA 3.6
tan p = , P = 11.733, 90 - P - 78.3
CK 17.3333
CK 17.3333
AC = = 17.7032 in.
cos p cos 11.733
(b) vA = (A C ) o)abd = (l7.7032)(l .57895) = 28.0 in./s, v , = 28.0 i n . / s ^ 78.3 A

PROBLEM 15.88
5 in .
Arm ABD is connected by pins to a collar at B and to crank DE. Knowing

that the angular velocity of crank DE is 1.2 rad/s counterclockwise,
determine (a) the angular velocity of arm ABD, (b) the velocity of
point A.
1 2 in .
7 .2 in
SOLUTION
FF =
tan y = ------ 5
, n o n o
y = 22.620 , c r \ = -------
ED F D = --------
12
= i13-3 m.
DF 12 cosy cosy
vD = ( ED)(Oph: = (13)( 1.2) = 15.6 in./s v0 = 15.6 in./s s f v
v = vh |
Locate the instantaneous center (point Q of bar ABD by noting that velocity directions at points B and D are
known. Draw BC perpendicular to vs and DC perpendicular to vD.
DJ 6.4
CJ = (A /)ta n y = (6.4) = 2.6667 in., CD = = 6.9333 in.
12 cosy cosy
<*) M ABO = = = 2.25 rad/s ^ coABD = 2.25 rad/s ^ 4

CD 6.9333
CK = KJ - C J = 20 - 2.6667 = 17.3333 in.
AK 3.6
tan p = ------ = p = 11.733 9 0 - /? = 78.3
CK 17.3333
Ar, CK 17.3333
AC = ------- = ------------ = 17.7032 in.
COS P COS P
(b) vA = (A C ) coabd = (17.7032)(2.25) = 39.8 in./s v , = 39.8 in./s7p'78.3 4

PROBLEM 15.89
The pin at B is attached to member ABD and can slide freely along the
slot cut in the fixed plate. Knowing that at the instant shown the angular
velocity o f arm DE is 3 rad/s clockwise, determine (a) the angular
velocity o f member ABD, (b) the velocity of point A.
SOLUTION
(0 DF = 3 rad/s J)
VD - (D E) ^DE - (160)(3)
= 480 mm/s
vD is perpendicular to DE.
Vfl = v*J
Locate the instantaneous center (point C) of bar ABD by noting that velocity directions at points B and D are
known. Draw BC perpendicular to v B and DC perpendicular to vD.
BD = 120 mm, DK = (B D ) cos30 = 120cos30
cos/g = = 120cos30 p = 49.495, (p = 180 - 3 0 - / ? = 100.505

ED 160
Law of sines for triangle BCD.
CD BC BD
sin 30 sin#> sin p
(5D )sin30 120 sin 30

CD = A = ---------------= 78.911 mm
sin P sin p
sin p sin p
Law of cosines for triangle ABC. ( AC )2 = (B C 'f + (A B )2 - 2 (A B )(B C ) cos 150
(A C )2 = 155.1772 + 2002 - (2)(l55.177)(200)cosl50, AC = 343.27 mm
T . . sm y sinl50 . 200 sin 150

Law of smes. = srn r = ------------------, y = 16.9
AB AC 343.27
(a) a Ann - ~ ~ = 6.0828 rad/s ^

ABD CD 78.911 J
a>ABD = 6.08 rad/s ^ 4
(b) vA = (A C ) coabd = (343.27)(6.0828) = 2088 mm/s
\ A = 2.09 m/s ^ 7 3 .1 4
PROBLEM 15.90
Two identical rods ABF and DBE are connected by a pin at B. Knowing
that at the instant shown the velocity of point D is 200 mm/s upward,
determine the velocity o f (a) point E, (b) point F.
IS O m m '
SOLUTION
vB = (.AB)<uabf, vB = vb ^C 75
v D = 2 0 0 m m /s f
Locate the instantaneous center (point C) of bar DBE by noting that the velocity directions at points B and D
are known. Draw BC perpendicular to vBand DC perpendicular to vD.
CD BC BD
Law of sines for triangle BCD.
BC = BD = 180 mm CD = sinl50 = 347.73 mm

sin 15
coDBE_ = = 00 = 0.57515 rad/s )

CD 347.73
vB = ( B C ) cod be = (l 80)(0.57515) = 103.528 mm/s

vft 103.528 , x
= - 2 - = ----------- = 0.57515rad/s }
ABF AB 180 J
Vp = ( A F ) coabf = (300)(0.57515) = 172.546 mm/s
Law of cosines for triangle DCE. (CE)2 = (CD)2 + (DE f - 2 (CD) (D E ) cos 15
(CE)2 = 347.732 + 3002 - (2)(347.73)(300)cosl5, CE = 96.889 mm
EH = DE sin 15 = 300 sinl5
EH 300 sin 15
cos B = -----= B = 36.7
CE 96.889
(a) vE = (CE) cobcd = (96.889)(0.57515) = (55.7) mm/s,
\ E = 55.7 mm/s 36.7 A
(b) \ F = 172.5 mm/s ^ 7 5 .0 -4

PROBLEM 15.91
Two rods AB and BD are connected to three collars as shown. Knowing
that collar A moves downward with a velocity of 6 in./s, determine at the
instant shown (a) the angular velocity of each rod, (b) the velocity of
collar D.
SOLUTION
C
A
\3 o / j\
^ 1
\ Ylor D *
*1
vA = 6 in./s |, vfl = vb ^ 3 0
Locate the instantaneous center (point C) of rod AB by noting that velocity directions at points A and B are
known. Draw AC perpendicular to v ., and BC perpendicular to ve .
AC CB AB
Triangle A CB. Law of sines.
,_ __ 10sin30
AC = CB = ------------ = 5.7735 in.
sin 120
(a) co = = 1.03923 rad/s ^

AB AC 5.7735 '
<oAB = 1.039 rad/s ^ A
v B = ( CB)(Oab = (5.7735)(1.03923) = 6 i m / s ^ O 0
VD= vd '
Locate the Instantaneous center (point f) of rod BD by noting that velocity directions at points B and D
are known. Draw BI perpendicular to v B and DI perpendicular to vD .
_ . . Bl DI BD
Triangle BID. Law ot sines.
BJ = 10 sin 120 _ n 3205 jn DI = 10 in.

sin 30
o)nr\ = ----------- = 0.34641 rad/s )

BD BI 17.3205 ^
coBD = 0.346 rad/s
b) Vp = (D I)( obd = (l0)(0.3464l) = 3.46 in./s
\ D = 3.46 in./s A
PROBLEM 15.92
At the instant shown, the velocity of collar A is 1.4 fl/s to the right and
the velocity of collar B is 3.6 ft/s to the left. Determine (a) the angular
velocity of bar AD, (b) the angular velocity of bar BD, (c) the velocity of
point D.
SOLUTION
Method 1
j Assume v D has the direction indicated by the angle /? as shown. Draw

CD1 perpendicular to v D. Then, point C is the instantaneous center of
rod AD and point I is the instantaneous center of rod BD.
Geometry. AD = yj10.82 + 14.42 = 18 in.
BD = V7.22 + 5.42 = 9 in.
7.2
sin# = ^ = 0.6, sin = = 0.8
18 9
18 18
sin# sin (90 + /?) cos p sin ^ s in ( 9 0 - /? ) cos P
18sin# j _ 9sin^>
c =
cos p cos P
a = 14.4 - 10.8tanp b = 5.4 + 7.2tany6
Kinematics. vA = 1.4 ft/s = 16.8 in./s, vfl = 3.6 ft/s = 43.2 in./s
10A D -~ -
01BD ~
cVj dvH
Vn = --- =
cv, , 18sin# cos P 16.8.

a = b = ----------------- b = 0.583336
dvB cos P 9 sin $9 43.2
14.4 - 10.8tanp = 0.58333(5.4 + 7.2tan p )
11.25 = 15 tan p , tan p = 10.75, p = 36.87
a = 14.4 - (10.8)(0.75) = 6.3 in.

b = 5.4 + (7.2)(0.75) = 10.8 in.
e = MM = 13.5 in. d j n M = 9.0 in .

COS P COS P
(a) coAD = = = 2.6667 rad/s 0)AD = 2.67 rad/s'*) 4

a 6.3
A'J ^
w
(b) bd
coBn = b = = 4 rad/s 108 BO
coBD = 4.00 rad/s J y4
(c) vD = c o Ap = (13.5)(2.6667) = 36 in./s, \ D = 3.00 ft/s ^ 53.1 4
M ethod 2
Consider the motion using a frame of reference that is translating with
collar A. For motion relative to this frame.
v A = 1.4 ft/s = 16.8 in./s *
v B = 3.6 ft/s = 43.2 in./s -*
v A/ a = 0, y B/A = 60 in./s
10 8
tan# = Q = 36.87
14.4
14.4
AD = = 18 in.
cos 6
= 18coAD ^ #
Locate the instanteous center (point Q for the relative motion o f bar BD
by noting that the relative velocity directions at points B and D are
known. Draw BC perpendicular to \ BIA and DC perpendicular to \ D/A.
7.2
CD = ------- = 12 in.
sin#
BC = ( CD)cos# + 5.4 = 15 in.
VBIA 60 .
ioRD ------ = = 4 rad/s
BD CB 15
v d ia = ( C D ) b o = ( 1 2 ) ( 4 ) = 4 8 i n / s
(a) coAD = = coAD - 2.67 rad/s 4

AD AD 18 '
(b) coBD = 4.00 rad/s J) 4
(c) \ p = \ A + vp/A = [16.8 in./s ] + [48 in./s ^ #]
= 36 in./s ^ 53.13 \ D = 3 ft/s ^ 53.1 4

PROBLEM 15.93
Two rods AB and DE are connected as shown. Knowing that point D
moves to the left with a velocity of 800 mm/s, determine at the instant
shown (a) the angular velocity o f each rod, (b) the velocity of point A.
/y f 160Tmm
4
160 ini
_L
ISO mtn 160 mm I- 160 mm
SOLUTION
\ D = 800 mm/s
Locate the instantaneous center (point C) of rod DE. Draw DC

perpendicular to vD and EC perpendicular to v.
\c E CD = 320 mm,
\ / * (ft (a) vD 800 . ,

D -
~ ------ = 2.5 rad/s
CD 320
coDE = 2.50 rad/s ^ A
A D
vB = ( CB)(oab = 2.5 = 400\[2 mm/s,
\ B is perpendicular to CB. v , = v.
Locate the instantaneous center (point I) of rod AB. Draw BI

perpendicular to \ B and AI perpendicular to v^.
AI = 500 mm, BI = 250-^2 mm
Vb 400-^2
COa r = ~ = 1.17647 rad/s,
AB BI 340V2
a)AB = 1.176 rad/s } A
(b) vA = ( A I ) o)ab = (500)(1.17647) = 588 mm/s
v A = 588 mm/s - A
PROBLEM 15.94
Two rods AB and DE are connected as shown. Knowing that point B
T moves downward with a velocity o f 1.2 m/s, determine at the instant
160 m m
shown (a) the angular velocity of each rod, (b) the velocity of point E.
I fill m m
_L
i* 300 mm | j
120 m ill ISO m m
SOLUTION
B
\ B = 1200 mm/s { \ A = vA
Point C is the instantaneous center of bar ADB.
CB = 600 mm
Vd 1200 \
(o) coAB - = = 2 rad/s j coAB = 2.00 rad/s y 4
CB 600
160
tan /? = P = 28.072
300
CD = = 340 mm
COS P
vD = (C D ) coab = (340)(2) = 680 mm/s v0 = 680 mm/s / P
v,, = v.
Point / is the instantaneous center of bar DE.
DF 120
Dl = ------- = --------- = 136 mm
cos P cos P
vD 680 ,/ ^
co,.,- = = ------ = 5 rad/s , conE = 5.00 rad/s 4
Dl 136 '
FI = (D F)tan /? = 120 tan P - 64 mm
El = EF - F I = 160 - 64 = 96 mm
(b) vF = ( E I) code = 480 mm/s v f = 480 mm/s

PROBLEM 15.95
Two 20-in. rods AB and DE are connected as shown. Point D is the
midpoint of rod AB, and at the instant shown rod DE is horizontal.
Knowing that the velocity of point A is 1 ft/s downward, determine
(a) the angular velocity of rod DE, (b) the velocity of point E.
SOLUTION
v^ = 12 in./s |
v a = VB
Point C is the instantaneous center of bar AB.
_ vb _
12
to a b ~
AC 20 cos 30
= 0.69282 rad/s ^
CD = 10 in.
vD = ( C D ) coab = (10)(0.69282) = 6.9282 in./s
vp = 6.9282 in./s N 30
v = v 30
Point I is the instantaneous center of bar DE.
DI = 20cos30
(a)
_
topE ~
VD _ 6.9282
= 0.4 rad/s toDE = 0.400 rad/s A
DI 20cos30
v = (E I) q)de = (20sin30)(0.4) = 4 in./s v = 0.333 ft/s ^ 30 <

PROBLEM 15.96
At the instant shown, the angular velocity of bar AB is 4.5 rad/s
counterclockwise and the velocity of collar E is 28 in/s to the right.
Determine (a) the angular velocity of bar BD, (b) the angular velocity of
8 in .
bar DE, (c) the velocity of point D.
SOLUTION
v B = 8o)AB = (8)(4.5) = 36 in./s
Let point C be the instantaneous center of bar BD. Define angle /? and
c lengths a and b as shown.
b \ a Vg__ 36 N
>BD ~
b b J
nr* 3
8 i ? 36a /
n
V \e d V D = a (a BD = ~ r * P
s &
n i t
>
II
Uj
c
nre Let point I be the instantaneous center of bar DE. Define lengths c and d
as shown.
&de ~
vE = (8 - d)o)DE = = 28
be
10
a = c = = , b = 10 tan /?, c/ = 6 tan /?
COS P COS P c 6
18 - 6 tan/?
= 28 or 48 - 36 tan /? = 28 tan /?
lOtan p
48
tan /? = = 0.75 /? = 36.87 cos p = 0.8
64
a = = 12.5 in., b - 7.5 in., c = 7.5 in., d = 4.5 in.

0.8
(a) >b d = = 4 8 ra d /s ) toBD = 4.80 rad/s j A
(36)(12.S)
(b) (oDE ~ v" 7w~ I = 8 rad/s (oDE = 8.00 rad/s ^ A
DE (7.5)(7.5)
(c) vD = (12.5)(4.8) = 60 in./s v c = 5.00 ft/s ^ 53.1 A

PROBLEM 15.97
Describe the space centrode and the body centrode of rod ABD of
Prob. 15.84. (Hint. The body centrode does not have to lie on a physical
portion of the rod.)
P f e i \ P
j\(tp \ 3(K) nun
\ 300 mm
SOLUTION
Draw x and y axes as shown with origin at the intersection o f the two
slots. These axes are fixed in space.
/ v . = v.
/ fB ~ vb 1
r / B
c / .
Locate the space centrode (point C) by noting that velocity directions at
/ &
I / ' points A and B are known. Draw AC perpendicular to \ A and BC
/
. 1 1 perpendicular to \ B.
A
ft A The coordinates of point C are xc = -/sin /7 and yc = / cosy?
xc + Tc = I2 = (300 m m )'
The space centrode is a quarter circle of 300 mm radius centered at O. A
Redraw the figure, but use axes x and y that move with the body. Place
origin at A.
xc = ( A C )cosP
= /cos2 fi = -j(l + cos i p )
yc = (/4C)sin p
= /cos/?sinP = sin2/7
Xc _ + y l = = (* c _ 1 5 0 )2 + yl = 1502
The body centrode is a semi circle of 150 mm radius centered

midway between A and B. A
PROBLEM 15.98
Describe the space centrode and the body centrode of the gear of Sample
Prob. 15.2 as the gear rolls on the stationary horizontal track.
SOLUTION
Let points A, B, and C move to A',B', and C as shown.
Since the instantaneous center always lies on the fixed lower rack, the space centrode is the lower rack.
space centrode: lower rack A
Since the point of contact of the gear with the lower rack is always a point on the circumference of the gear,
the body centrode is the circumference of the gear.
body centrode: circumference of gear A A
PROBLEM 15.99
Using the method of Sec. 15.7, solve Prob. 15.59.
10 m in 16 0 m m -
SOLUTION
coOA = 900 rpm = 30/r rad/s j
o It v A = ( O A ) cooa = (l0)(30zr) = 300/r mm/s
= *a j r 60, Vn=V.
Locate the instantaneous center (point C of bar BD by noting that
velocity directions at point B and A are known. Draw BC perpendicular to
vs and A C perpendicular to v^.
. (O/l) sin 30 10 sin 30

sin B = - = ----------- P = 1.79
AB 160
OB = (OA) cos30 + ( A B)cosP = 10cos30 + 160cos/?
= 168.582 mm
OB _ 168.582
AC = - OA = 10 = 184.662 mm
cos30 cos30
BC = (O B)tan 30 = 97.377 mm
_
toAB ~
VA _ VB
AC BC
('B C '! (97.377)(300ff)

= 497 mm/s,
( ac ) a 184.662
vg = 497 mm/s - A
PROBLEM 15.100
SOLUTION
vA = 80 km/h = 22.222 m/s
v(. = 0 4
d = 560 mm, r = d = 0.280 mm = 0.28 m

2
Point C is the instantaneous center.
22.222
(0 -= Id. - = 79.364 rad/s
r 0.28
CB = 2r = 0.56 m
v = (CB)co = (0.56)(79.364) = 44.4 m/s
x B = 44.4 m/s - 4
y = -(3 0 ) = 15
CD = 2rcosl5 = (2)(0.28)cosl5 = 0.54092 m
vD = ( CD)co = (0.54092)(79.364) = 42.9 m/s,
v 0 = 42.9 m/s ^ 15.0 4

CE = r j 2 = 0.28n/2 = 0.39598 m
vE = ( CE)co = (0.39598)(79.364) = 31.4 m/s,
x F = 31.4 m/s ' v 45.0 4

SOLUTION
vB = (AB)o) = (10)(4) = 40 in./s
= vB I
2.4
tan /? = p = 21.801c
! ZA i. y D = VD / \ P
E Locate the instantaneous center (point Q , noting that velocity directions
at points B and D are known. Draw BC perpendicular to x B and DC
perpendicular to v D.
4 CB
CB = = 10 in., CD = = 10.7703 in.
tan P cos P
vR 40 . ,.
a>BD - = 4 rad/s coBD = 4.00 rad/s j A
CD 10
vD = (CD) cobd = (10.7703)(4) = 43.081 in./s
6
DE = = 6.4622 in.
cos p
_ vD 43.081
03D E ~ = 6.67 rad/s 'j coDE = 6.67 rad/s ^ A
DE 6.4622
PROBLEM 15.102
r Using the method of Sec. 15.7, solve Prob. 15.66.

J
In.
i ]
in.
/
V
_ A
I*--- 18in .---------**--- 16in .-------- d
SOLUTION
Geometry.
BK 16
tan/5 =
AK 20 + 12
p = 26.565, 90 - (3 = 63.435
AB = = 35.777 in.
cos/?
KD 16
ta n r = =
KE 20
y = 38.66, 90 - y = 51.34
KF
DE = 25.613 in.
cosy
Velocity analysis. coAB = 4 rad/s J)
vB = = (35.777)(4) = 143.108 in./s
Vg = X A v0 = v0 Z 7
Locate the instantaneous center (point Q by noting that velocity
directions at points B and D are known. Draw BC perpendicular to \ B
and DC perpendicular to \ D.
Law o f sines for triangle BQD.
CB CD _ BD
s in ( 9 0 - y ) s in ( 9 0 - y ) sin(/? + y)
CB = 32sin51-34 g 27.52! in., CO = 32s.n63.435- =

sin 65.225 sin 65.225
vg 143.108 . .. .. x
'BD =
~ _ 5.2 i
- e - ~= ----------- = <*u/s j
rad/s gD = 5.20 rad/s 4 A
CB 27.521 '
vD = ( CD) cobd = (31.523)(5.2) = 163.92
vD 163.92 >
cOtjf
=~ = ----------= 6.64 rad/s j (Ode ~ 6-40 rad/s j A
DE D 25.613 y
PROBLEM 15.103
Collars B and D are pin-connected to bar ABD and can slide along fixed
rods. At the instant shown the angular velocity of bar ABD is zero and the
acceleration of point D is 24 ft/s2 to the right. Determine (a) the angular
acceleration o f the bar, (b) the acceleration of point B, (c) the acceleration
of point/I.
SOLUTION
to )abc ~~ =a a fl = aB N . 60, Up 24 ft/s' *
rB/D = L5 ft S ' 30, r^p = 3 ft 30
a B = a D + ( a B/o)f + ( a VB
[aB 60] = [24 ] + [1.5a ^ 60] + [(l.5 )(o 2) ^ 30]
Components.
- * : aBcos60 = 24 - (l.5cos60)a + 0 (1)
+|: a flsin60 = (l.5sin60)a aB = 1.5a
Substituting into (1), (l.5cos60)a = 24 - (l.5cos60)a
(a) a = ----- - = 16 rad/s2 a ABC = 16.00 rad/s2 ^ 4

3cos60
(b) From (2), aB - (l.5 )(l6 ) = 24 ft/s2 a fi = 24.0 ft/s2 ^ 60 4
(c ) *A = a D + ( a /4/o)f + ( a ^/o)n
= [24 ] + [3a 7 60] + [(3 )(o 2) ^ 30]
= [24 ] + [48 ^ 60] + [0] aA = 41.6 ft/s2 | 4

PROBLEM 15.104
Collars B and D are pin-connected to bar ABD and can slide along fixed
rods. At the instant shown the angular velocity o f bar ABD is zero and its
angular acceleration is 12 rad/s2 clockwise. Determine (a) the
acceleration o f point D, (b) the acceleration of point B, (c) the
acceleration o f point A.
SOLUTION
- ab c ~ a ABC ~ 1 2 ra d /s J ,
Collar B slides along a straight rod. las) - aB r ^0
Collar D slides along a straight rod. ao = d

rm = 1.5 ft ^ 30 xMD = 3 ft ^ 30
aJS - &D + ( &B !D )( + ( a & )
[aB - v 60] = [aD ] + [(1.5)(12) ^ 60] + [ (l.5)(0)2 ^ 30]
Components.
_*: aB cos 60 = aD + 18cos60 +0 (1 )
+| : - aBsin60 = 18sin60, ag = -1 8 ft/s2,
(a) From (1), aD = aB cos 60 - 18 cos 60 - - 3 6 cos 60 = -1 8 ft/s2
aD = 18.00 ft/s2 <
(b) aB = 18.00 ft/s2 ^ 60 A
(C) a A=D+{AJD)t +(Â/D)n
= [is ] + [(3)(12) ^ 60 ] + | (3)(0 )2 ^ 30
= [18 ] + [36 ^ 60] + [0] = 3 1 . 2 ft/s2 f ^

PROBLEM 15.105
A 5-m steel beam is lowered by means of two cables unwinding at the
same speed from overhead cranes. As the beam approaches the ground,
A B D E
the crane operators apply brakes to slow the unwinding motion. At the
instant considered the deceleration of the cable attached at B is 2.5 m/s2,
-1.5 in m\m 2 ni -
L
r
while that of the cable attached at D is 1.5 m/s2. Determine (a) the
angular acceleration of the beam, (b) the acceleration of points A and E.
SOLUTION
a =a (i) * 0, rD/B = 2 m
a = 2.5 m/s2 {, a D = 1.5 m/s2 f
9 a o = a H + ( a /> ), + ( a iH )n
I Jk>_
=r 1. 5t = [ 2 . 5 t M 2 a l ] + [(2 )(0 ): ]
(a) 1.5 = 2 . 5 - 2 a a = 0.500 rad/s2 j A
(b) aA = a fl + (a /t/fl)( + (*A/b \
"[2-5 | ] + [(l-5)(0-5) f ] + [0 ]
= 3.25 m/s2 |
aA = 3.25 m/s2 | A
lE =as +(aE/fl), +(*/)

= [2-5 t ] + [ ( 2 + 1.5)(0.5) I ] + [0 ]
= 0.75 m/s2 |
a t- = 0.750 m/s2 { A
PROBLEM 15.106
For a 5-m steel beamAE the acceleration of point A is 2 m/s2 downward

and the angular acceleration of the beam is 1.2 rad/s2 counterclockwise.
Knowing that at the instant considered the angular velocity of the beam is
I-i.5m-I- 2 m----- 4- 1 5... -I zero, determine the acceleration (a) of cable B, (b) of cable D.
SOLUTION
A = 2 m/s2 j, a = 1.2 rad/s2 ^
rBiA = 1.5 m , r,yA = 3.5 m

CL
r- ^ - COa 0
D
k J, ^ 8 E (a) aS = + (afl//f), + (8W/<)n
9>
= [ 2 | ] + [ ( l.5 ) ( U ) t ] + [(1.5)(0)2
= 0.2 m/s2 |
aa = 0.200 m/s2 { 4
(b) aD ~ a A + (a/<); + (*/*/<)
= [ 2 l ] + [ M O - 2 ) t ] + [(3.5)(0)! ]
= 2.2 m/s2 |
aD = 2.20 m/s2 { 4
PROBLEM 15.107
Bar BDE is attached to two links AB and CD. Knowing that at the instant
shown link AB rotates with a constant angular velocity o f 3 rad/s
clockwise, determine the acceleration (a) of point D, (b) of point E.
7 . 5 in .
7 .5 in .
o E
9 in .
SOLUTION
Velocity analysis. .-ib - 3 rad/s y <oCD - coCD y , toBDE - a)BD y
\g = (AB)coab = (12)(3) = 36 inis J, vD = [9coCD { ]
V0 V + V/>fl
9co I = [36 } ] + [7.5 coBD ]
Components:
Acceleration analysis.
a s = [{A B )a M | ] + [{AB)a>2M ] = (12)(0) [ + (12)(3)2 = 108 in./s2
a o = [(C>)aCD | ] + (CD)a)^D * ] = [9a CD [ ] + [^(9)(4) - J = 9aCD { + 144 in./s -
a o = a s + (3/vb), + ( a s/o)/i
(a fl), = \{B D )a BD J = 1,5aBD -
(a fl) = [{BD ) co\ d \ ] = (7.5)(0)2 | = 0
a0 = a5 + + (a fl)n
[9co j ] + [144 ] = [108 ] + [7.5aBD ] + [0]
Components: + 1: 9aCD - 0 aCD - 0
+*: 144 = 108 + 7.5a BD a BD = 4.8 rad/s2 y

a D = [(9 )(0 ) J ] + [1 4 4 - ] = 1 4 4 in ./s 2 a D = 1 2 .0 0 f t /s 2
( * e, d \ = [ ( D E ) a AD ] = [ (7 .5 ) (4 .8 ) ] = 3 6 in ./s 2
( HD)_ = [ ( D E )^t ] - [(0 .7 5 )(0 )2 | ] = 0
= a D + ( &f j d ) i +( )n
^ d /e
= [1 4 4 * - ] + [3 6 ] + [0 t ] = [ l 80 in./s2 ] a E = 1 5 .0 0 ft/s2
PROBLEM 15.108
12 in. Bar BDE is attached to two links AB and CD. Knowing that at the instant
shown link AB rotates with a constant angular velocity of 3 rad/s
clockwise, determine the acceleration (a) of point D, (b) o f point E.
7.5 in.
7.5 in.
SOLUTION
Velocity analysis. m AB - 3rac^s J CD -

CD a BD E ~ 00BD J
V* = {AB)m ab = (12)(3) = 36 in./s {, v D = [9 (oCD { ]
9<yco | = [36 { ] + [7.5 a)BD * ]
Components:
a , = [ (A B )a AB I ] + [{A B ) co2ba ] (12)(0) | + (12)(3)2 = 108 in./s2
a o = \{C D )aCD I ] + [ ( C D ) ^ o ] [9a CD | ] + [(9 )(4 )2 ' ] = 9a CD | + 144 in./s2
a o = a + (8/>'b)/ + (a s/o)n
(afl)( ~ [ ( BD) ocBq - ] = l.S a BD -
(a D/a)n = [( f iD ) fi;2D | ] = (7.5)(0)2 | = 0
aD = a + (a W), + (a D/fi)n
[9aCD i ] + [144 ] = [108 ] + [7.5afiD ] + [0]
Components: + |: 9a CD - 0 a CD - 0
i_ : 144 = -108 + 7.5a BD a BD = 33.6 rad/s2 y

j) aD = [(9)(0) [ ] + [144 ] = 144 in./s2 aa = 12.00 ft/s2
>) (//>), = [{D E )aAD ] = [(7.5)(33.6) ] = 252 in./s2 -
( ) . = [ ( ) ^ D t ] ' [ ( 7'5)(<>): ] - 0
a = a D + (3/d )( + (a /o)n
= [144 ] + [252 ] + 0 = 396 in./s2 * a = 33.0 ft/s2

PROBLEM 15.109
At the instant shown the angular velocity of the wheel is 2 rad/s
clockwise and its angular acceleration is 3 rad/s2 counterclockwise.
Knowing that the wheel rolls without slipping, determine the location of
the point on the wheel with zero acceleration at this instant.
SOLUTION
Let point C be the contact point.
vc = 0, (ac )r = 0 , (o = o ) ) , a = < 0
v G = vc + v0/c = 0 + bco - = bco-
Point O moves parallel to x-axis.
ar ~ ao + (ac/o), + (ac/o)fI
[ ( ac), ] + [( ac) t ] = [o * ] + [ba ] + [b<o2 | ]
0 + [("c ) I ] = ] + [b a ] + [b c o 2 | ]
From .v-component, aQ = - ba, aa = ba -

Acceleration of the point with coordinates ( x.y)
a = + [xa | ] + \y a ]+ [x(o2 ] + [.yco2 | ]
= [bo * ] + [xa f ] + [va * ] + [xco2 ] + [yco2 { ]
Set a = 0 and resolve into components.
JL : [b + y ) a + xco2= 0 (l)
+ f: x a - yco2 = 0 (2)
2 4
From (2), x = , From (l), (b + y ) a + -= 0
a a~
bco~ l a
y = - 4 X =
1 + *- 1+ 4
Data: b = 300 mm, co = 2 rad/s2 j , a = 3 rad/s2
6T = 4 ^ = 16 , ft/ _ 25
a 3 a2 9 a2 9
9
y = - (300) = -108 mm, x = -144.0 mm, y = -108.0 mm 4
PROBLEM 15.110
The motion of the 3-in.-radius cylinder is controlled by the cord shown.

Knowing that end E o f the cord has a velocity o f 12 in is and an
acceleration o f 19.2 in./s2, both directed upward, determine the
acceleration {a) of point A, (b) o f point B.
J
SOLUTION
Velocity analysis. Point A is the instantaneous center of rotation o f the cylinder. vc = vE = 12in./s.
vc = 2re> =i = = 2 rad O
Acceleration analysis. ran2 = (3)(2)2 = 12 in./s2
* A = [a A ~ ~ ] *C = [( c ), f ] + [( c ) ] = [ | ] + [ ( % ) ]
ac = aA + [ M , f j + [ ( % / , ) ' j
[* t ] + [ ( flc) ~ - ] = [a A ] + [2 r a f ] + [2 ]
[19-2 t ]'+ [ ( * ) . ] = h ] + I6 f ] + [24 ] (1)
From (l), Components + |: 19.2 = 6a, a = 3.2 rad/s2 J
*G = *A + (aG//i )f + (aG/^)
[ % | ] = [A ] + [r \ ] = [r( 2 ]
[% | ] = [a A * ] + [9.6 in./s2 | ] + [ l2 in./s2 ]
From which aG = 9.6 in./s2 and aA = 12 in is 2 aG = 9.6 in./s2 |
(a) aA = 12.00 in is2 * 4
(b) &b ~ aG + (as/6')r + (a/;/c)M
[9.6 ) ] + [ra ]+
= [ 9.6 in is2 I + [ 2.4 in./s2 ) J a fl = 9.90 in./s2 Z 7 14.0 4

PROBLEM 15.111
The motion of the 3-in.-radius cylinder is controlled by the cord shown.
Knowing that end E of the cord has a velocity of 12 in./s and an
acceleration of 19.2 in./s2, both directed upward, determine the
accelerations of points C and D of the cylinder.
SOLUTION
Velocity analysis. Point A is the instantaneous center of rotation of the cylinder. vc = vE = 12 in./s.
vr = 2rco co = = ^ = 2 rad/s
lr (2)(3)
Acceleration analysis. ro)2 = (3)(2)2 = 12 in./s2
a = l aA ^ ] *C = [(c), I ] + [(c) ] = [E | ] + [(% ) ]
ac = a [( < o a )i I] + [ ( ac u \ * ]
[<>E t ] + [(% ) ] = [<*a ] + [2ra I } + [ 2r<2 ]
[19-2 \] + [ M n ] + [ t ] + [24 ] ( 1)
From (1), Components + | : 19.2 = 6a, a = 3.2 rad/s2 *)
G = A + (*Gm), + {^G/A )n
[<*a \ ] = [aa ] + [ra | ] + [rco2 ]
[% I ] = ] + [ 9-6 in-/ s 2 1 ] + [ 12 in-/s2 ]
From which aa = 9.6 in./s2 and aA = 12 in./s2 a6- = 9.6 in./s2 |

From (1), Components ,+ : {ac ) = ~aA + 24 = -1 2 + 24 = 12 in./s'
Then ac = [l9.2 in./s2 f ] + [l2 in./s2 ] ac = 22.6 in./s2 ^ 58.0 <
aD = aG + \ aDiG^ + ( a D/Cr- ^
= [9.6 | ] + [ra ] + [rco1 ( j
= [9.6 1 3 + [9-6 ] + [ l 2 | ]
= [21.6 in./s 2 ! ] + [9.6 in./s 2 1 a 0 = 23.6 in./s 2 ^ 66.0 <

PROBLEM 15.112
A wheel rolls without slipping on a fixed cylinder. Knowing that at the
instant shown the angular velocity of the wheel is 10 rad/s clockwise and
its angular acceleration is 30 rad/s2 counterclockwise, determine the
acceleration of (a) point A, (b) point B, (c) point C.
SOLUTION
Velocity analysis. r = 0.04 m a) = 10 rad/s J)
Point C is the instantaneous center of the wheel.
v A = rco = (0.04)(10) = 0.4 m/s -
Acceleration analysis. a = 30 rad/s2 )
Point A moves on a circle of radius p = R + r = 0.16 + 0.04 = 0.2 m.
Since the wheel does not slip, ac = ac |
ac = aA + (<://(), + (aCM)n
..2
[c\] = [K ), ] + * 1 + [ra - ] + [r 2 | J
.p
(Q-4)2
1 + [(0.04)(30) * ] + [(0.04)(l0)2 | ]
0.2
= (-), + [-8 l ] + [l-2 ] + [ 4 | ]
Components. - ^ : ~{aA), + L2 = {aA\ = 1.2 m/s2
+ |: ac = -0.8 + 4.0 ac = 3.2 m/s2
(a) Acceleration o f point A.
aA = |j.2 m/s2 * ] + ^0.8 m/s2 j J a , = 1.442 m/s2 7 33.7 ^

(b) Acceleration o f point B. afl = +

aA ( a B /A ){ + (aS//<)n
a B = [1.2 ] + [0.8 | ] + [ r a | ] + [r 2 - J
= [1-2 ] + [0.8 | ] + [(0.04)(30) | ] + [(0.04)(10)2 _
- |j2 .8 m /s' 2 ' ] + [2 m/s2 | ] afi = 3.44 m/s2 ^ 35.5 <
(c) Acceleration o f point C.. ac = ac a c = 3.20 m/s2 | A

PROBLEM 15.113
The 360-mm-radius flywheel is rigidly attached to a 30-mm-radius shaft
that can roll along parallel rails. Knowing that at the instant shown the
center of the shaft has a velocity of 24 mm/s and an acceleration of
10 mm/s2, both directed down to the left, determine the acceleration
(a) of point A, (b) of point B.
SOLUTION
S h aft ' V\ Velocity analysis.
Let point G be the center of the shaft and point C be the point of contact with the
rails. Point C is the instantaneous center of the wheel and shaft since that point
does not slip on the rails.
vG - rco, co = = = 0.8 rad/s "*)

G r 30 '
Since the shaft does not slip on the rails, ac = ac \J 20
Also, ac = ^10 mm/s2 T*' 20]
ac = aG + (ac/c), + (ac/c)n
[oc N 20] = [lO mm/s2 7 20] + [30a ^ 20] + [30<y2 N 20]
Components 7 ^ 20: 10 = -3 0 a a = 0.33333 rad/s2 ")
(a) Acceleration o f point A.
a A = a c + ( a -^ c )f + ( Â/G )n
= [10 7 20 ] + [360a ] + [360<y2 j ]
= [9.3969 ] + [3.4202 J ] + [120 ] + [230.4 [ ]
= [129.3969 ] + [233.4202 i ] aA = 267 mm/s2 7 ^ 61.0 <
(b) Acceleration o f point B.
aB = ac + (*5/0 ), + (a B/C)n
= [10 7 ^ 2 0 ]+ [360a ] + [360<y2 j ]
= [9.3969 ] + [3.4202 | ] + [120 - * ] + [230.4 | ]
= [110.6031 ] + [226.9798 { ] an = 252 mm/s2 ^ 64.0 <

PROBLEM 15.114
The 6-in.-radius drum rolls without slipping on a belt that moves to the
left with a constant velocity of 12 in./s. At an instant w h e n the velocity
.10 in s
L bl and acceleration of the center D of the drum are as shown, determine the
M accelerations of DOints A. B. and C of the drum.
r!
'.)fi IDJfi
c
12 in A
0
- - 1 -
SOLUTION
Velocity analysis. v D = 30 in./s - , vc = 12in./s * , co J
vc = vD + vc/D or [12 ] = [30 ] + [6co ]
-12 = 30 - 6co, co = = 7 rad/s )

6 y
Acceleration analysis. a 0 = 36 in./s2 , a (- = ac | , a J
ar = a 0 + (*0 0 ), + (ac/o)n
[ac I ] = [36 * ] + [6a - ] + [6<u2 f ]
Components: _*: 0 = 36 - 6# or = 6 rad/s2 J)
+ {: ac = (6)(7)2 = 294 in./s2 ac = 24.5 ft/s2 | A
a .1 = a D + ( a .- f/O ) , + (a ^/o)n
= [36 ] + [6a ] + [6<y2 | ] = [36 ] + [36

]+ [294 \]
= [72 in./s2 ] + [294 in./s2 1] aM =25.2 ft/s2 ^ 76.2 A
aB = aD + ( a fl/o), + (a A'o)n
= [36 - ] + [6a j ] + [6<y2 - J
= [36 ] + [36 | ] + [294 ]
= [258 in./s2 ] + [36 in./s2 j ] a s = 21.7 ft/s2 7 7.9 A

PROBLEM 15.115
a cord is wound around the other drum. Knowing that at the instant
shown end D of the cord has a velocity of 160 mm/s and an acceleration
of 600 mm/s2, both directed to the left, determine the accelerations of
points A, B, and C of the drums.
SOLUTION
Velocity analysis. \ D = v A = 160 mm/s -
Instantaneous center is at point B. vA = (AB)co, 160 = (100 - 60)&>
co = 4 rad/s ^
Acceleration analysis. a B = \a B j ] for no slipping a =a
a .4 = [600 mm/s2 ] + [ ( a ^ j ]
a o' = [a G - ]
a = aA + + (a M)n
[aB \ ] = [600 ]+ [( a/()n | ] + [(100 - 6 0 )a ] + [(100 - 60)co2 \ ]
Components J t * : 0 = -600 +40a a = 15 rad/s2 ^
a = aG + + (a fl/c)n
[a B \ ] = [oc ] + [100 *]+[lOOtU2 ] \
Components _*: 0 = - a G + 100a aG = 100a = 1500 mm/s2
+ j: a = (100)(4)' = 1600 mm/s2 aH = 1600 mm/s2 | 4

a A = aG+(aM G )t +(a^/G)
= [1500 * - ] + [60a ] + [602 f ]
= [1500 ] + [900 ] + [960 | ]
= j^600 mm/s2 * J + |^960 mm/s2 | ]
aA = 1132 mm/s2 58.0 <
aC=aG+(8C/g)(+(aC/G)n
= [1500 ] + [100a I ] + [lOO2 ]
= [1500 ] + [1500 | ] + [1600 ]
= |^3100 mm/s2 * J + [jl500 mm/s2 | ]}
ac = 3440 mm/s2 ^ 25.8 <

PROBLEM 15.116
a cord is wound around the other drum. Knowing that at the instant
shown end D of the cord has a velocity of 160 mm/s and an acceleration
of 600 mm/s2, both directed to the left, determine the accelerations of
points A, B, and C o f the drums.
SOLUTION
Velocity analysis. vD = x B = 160 mm/s
Instantaneous center is at points. vB = ( AB)co, 160 = (100 - 60)co
co = 4 rad/s )
Acceleration analysis. a, = [aA | ] for no slipping. a =a )
a = [600 mm/s2 ] + [ (a fl)n f ]
aG = ]
a .r = a + [ * a/ b \ + ( a .4/ )M
[aA \ ) = [600 ] + [{aB)n f ] + [(100 - 6 0 )a ] + [(100 - 60)<u2 | ]
Components _*: 0 = -600 + 40a a = 15 rad/s2 )
a 4 = a G + ( 3 /</c)( + ( a /</G)n
aA 1= [% ] + [60a ] + [60<y2 | ]
Components _*: 0 = % - 60a aG = 60a = 900 mm/s2
+ j: aA = 60co2 - (6 0 )(4 )' = 960 mm/s2 aA = 960 mm/s2 * A

aS=aG+ +(afi/C?)n
= [900 ] + [100a ] + [lOO2 ( ]
= [900 ] + [1500 ] + [1600 | ]
= |^600 mm/s2 - J + ^1600 mm/s2 f ]
as = 1709 mm/s2 ^ 69.4 <
ac = aG + (ac/c)f + (ac/c)n
= [900 ] + [100a | ] + [lOO2 ]
= [900 ] + [1500 | ] + [1600 ]
= |^700 mm/s2 - J + ^1500 mm/s2 { ]
ac = 1655 mm/s2 ^ 65.0 <

PROBLEM 15.117
Arm AB has a constant angular velocity of 16 rad/s counterclockwise. At
the instant when 9 = 0, determine the acceleration (a) of collar D,
(b) of the midpoint G of bar BD.
120 m m
SOLUTION
Geometry and velocity analysis. 9 =0
vB = (A B ) o = (60)(l6) = 960 mm/s
v g = 960 mm/s j , v = v
Instantaneous center of bar BD lies at C.
sin/? = = 0.6, cos /? = 0.8

200
P = 36.9 CB = 200 cos ft = 160 mm
0 )BD
_~ _ 960
VB
6 rad/s j
CB 160
Acceleration analysis. a AB =0
ag = [60a,g | ] + [ 6 0 * 4 ] - 0 + [(6 0 )(l6 )2 - = 15360 mm/s2
Point D moves on a straight line. aD = aD -
( d/b ), = [!20gD ] + [l60gD ) j
(aa B )n = [l60<y2D ] + [ l 2 0 4 D | j = [5760 ] + [4320 j ]
a 0 = a B + j agyg + (aD/g) . Resolve into components.
+ j: 0 = 0 + 160a BD - 4320 a BD - 27 rad/s2 )
() aD = -15360 - (120)(27) - 5760 = -24360 mm/s2 aD = 24.4 m/s
(a gib\ = [60agD ] + [80agD | ] = [1620 ] + [2160 f ]
( 3 g/b ) = [80co\D ] + [602D | ] = [2880 ] + [2160 ( ]
(b) a G aB + ( a G/js)f + ( a G/B ) n
= [15360 ] + [1620 ] + [2160 | ] - [2880 ] + [2160 ( ]
= 19860 mm/s2 a G = 19.86 m/s

PROBLEM 15.118
Arm AB has a constant angular velocity of 16 rad/s counterclockwise. At
the instant when 0 = 90, determine the acceleration (a) of collar D,
(b) of the midpoint G of bar BD.
SOLUTION
Geometry and velocity analysis. 9 = 90
sin/? = = 0.3, /? = 17.458

200
\ D and \ B are parallel, thus the instantaneous center lies at oo.
o)BD = 0
Acceleration analysis. a AB = 0, coAH = 16 rad/s, coBD = 0
aB = [60a AB | ] + [6 0 ^ | ] = 0 + [(6 0 )(l6 )2 { ] = 15360 mm/s2 |
Point D moves on a straight line. a D = aD
(" ), = [6 0 ] + [200cos/9agO | ]
( a w s) = [60 orBD j ] + [200cos/9|o ] = 0
a /j = a + (ayg) + (a />g) Resolve into components.
+ t: 0 = -15360 + 200cosP aBD, a BD = *3360 _ go.508 rad/s2 ")

1 200 cos/?
(a) +[ : a,j = 0 - 6 0 a Bn + 0 = -(6 0 )(8 0 .5 0 8 ) = - 4 8 3 1 m m /s 2
aD = 4 .8 3 m /s 2 * A
(* g ib \ = [3 0 a BD ] + [ l 0 0 c o s / f a flD | ] = [2 4 1 5 ] + [7 6 8 0 | ]
( a G7fl)n = [ 3 0 " D i ] + [ 1 0 0 COSy6 ( o \D ] = 0
(h) a<;=a+(a )(+(a/c)n b ig
= [ 1 5 3 6 0 | ] + [2 4 1 5 ] + [7 6 8 0 [ ] + 0
= [ 2 4 1 5 m m /s 2 - J + [ 7 6 8 0 m m /s 2 | J ac = 8 .0 5 m /s 2 7^ 7 2 .5 A
PROBLEM 15.119
Collar D slides on a fixed horizontal rod with a constant velocity of 4 ft/s
to the right. Knowing that at the instant shown x = 8 in., determine (a) the
angular acceleration of bar BD, (b) the angular acceleration o f bar AB.
SOLUTION
Geometry. Define angles 6 and p as shown.
lOcos/7 = 16 - lOcos# (1)
lOsin p = x + lOsin# (2)
Squaring, adding (1) and (2), and rearranging,
20* . 256 + x2
c o s t/ sint/ = (3)
320 320
20x
Let tan <p = (4)
320
Multiply (3) by cos (p.
v 256 + x2
D COS(6* + (p) = cos ^9 (5)
320
x + lOsin 6/
From (1) and (2), tan P - (6)
16 - lOcost/
For x = 8 in., tan cp = 0.5 cp = 26.565
From (5), cos ((9 + cp) = cos cp <9-0
8 4
From (6), tan /? = p = 53.13
1 6 -1 0 3
Velocity analysis. vD = 4 ft/s = 48 in./s

v B = 10 ^
VD = V * + V D/B
[48 * ] = [10(oAB ] + [10*>SD ^ / ? ]
Components: + |: 10<y/jDsin /? = 0, a>BD = 0
_^: 48 = 10coAB coAB = 4.8 rad/s J)
Acceleration analysis. aA = 0, aD = 0, a AB = a AB J ) , a BD = a BD
a B = *A + +(aS/^)
= 0 + [i0aAB ] + [lO2* 1 ] + [l0aAB ] + [230.4 J ]
aD ~ &B + (a O/fl), + (a>/s)n
0 = [lO a ^ ] + [230.4 J ] + [10ago ^ fi\ + [lO<o\D A f i \
= [10a AB ] + [230.4 | ] + [10a BD ^ fi\ + 0
(a) + |: 0 = 0 + 230.4 + 10oBflsin/?, a BD = -28.800 rad/s2
a BD = 28.8 rad/s2 ^ 4
(ib) 0 = lO o ^ + (l0)(-28.800)cos /?,
a AB = 17.28 rad/s2 ) 4
PROBLEM 15.120
Collar D slides on a fixed horizontal rod with a constant velocity o f 2 ft/s
to the right. Knowing that at the instant shown x = 0, determine (a) the
angular acceleration of bar BD, (b) the angular acceleration o f bar AB.
y B = [10 ^ <dLe]
= v B + v DiB
[24 ] = [10<oAB <_&] + [10mBD ^ f i ]
Components: J L : 24 - 10 ^ cos# + 10aDcos/?
+ |: 0= 10cy/iS sin# - 10BDsin /?
coAB = 1.5 rad/s j , coBD - 1.5 rad/s j
Acceleration analysis. aA = 0, aD= 0, ccAB = a AB J , a BD = a BD J
a B - a A + (a f iu ) f + \ a B /A ln
= 0 + [l0a^B ^ 0 ] + [ lO 4 \ e ]
= [10a AB ^ 0 ] + [22.5 K 6)
a>=aS+(aD/s)(+
0 = [lO o ^ ^ L 6 \ + [22.5 M ] + [l0 a eD ^ fi\ + [lO2D / \ 0 \
= [lO a ^ ^ 0] + [22.5 K #] + [l0 aBO ^ /?] + [22.5 / /?]
_*: lOaABcosO + 22,5 sin# + 10 aSDcos fi - 22.5sin/? = 0
+ |: lO a ^ s in # - 22.5cos 0 - 10 a SZ)sm/? - 22.5cos/? = 0
Solving simultaneously, a AB = 3 rad/s2, a BD = -3 rad/s2
(a) a BD = 3.00 rad/s2 >) A
(b) a AB - 3.00 rad/s2 J) A

PROBLEM 15.121
70 iiiiii
Collar D slides on a fixed vertical rod. Knowing that the disk has a
constant angular velocity of 15 rad/s clockwise, determine the angular
acceleration of bar BD and the acceleration of collar D when (a) 0 = 0,
(b) 6 = 90, (c) 9 = 180.
SOLUTION
Disk A. o)A = 15 rad/s j , a A = 0, AB = 70 mm
vB = ( A B ) o) a = (70)(15) = 1050 mm/s
aB = ( A B ) co2a= (70)(15)2 = 15750 mm/s2
(a) 9 = 0.
\g = 1050 mm/s - , v D = vD [
sin/7 = /? = 16.26
250
Instantaneous center of bar BD lies at point C.
Vr 1050 x
Ub d = ~ = 4.375 rad/s j
BC 250 cos p
aB = 15750 mm/s2 |, oD = aD a BD = a BD )
a D/B = [{D B )aBD ^ P ] + [(D B ) co\ d V P ]
= [250aflD ^ / 3 ] + [4785.16 \ / P \
a D = a /( + a m Resolve into components.
_+*: 0 = 0 - (250cosy9)aflD + 1339.83, a BD = -5.5826 rad/s2
+ {: aD = 15750 - (250sin/?)(5.5826) - 4593.76 = 10765 mm/s2
a BD = 5.58 rad/s J), a D = 10.77 m/s2 | A

(b) e = 90,
\ B = 1050 mm/s , \ D = |
140
sin/? = B - 34.06
250
Instantaneous center of bar BD lies at oo.
BD = 0
aB = 15750 mm/s * , aD = aD |
a D/B ~ [ ( D B )aBD + [{DB)co2bd IV p ] = 250a BD ^ fi
a D = a g + nD/B Resolve into components.
JL : 0 = -15750 - (250cos/?)agD a BD - -76.045 rad/s2
+ |: aD = 0 + 0 - (250)(-76.045)sin fi aD = 10647 mm/s2
a BD = ^6.0 rad/s" a D = 10.65 m/s2 | A
(c) 9 = 180.
\ B - 1050 mm/s - v^, = vD |
sin p = B = 16.26
250
Instantaneous center of bar BD lies at point C.
vB 1050 . ,, \
03bd ~ --------- = = 4.375 rad/s ;
BD cos p 250 cos p J
a s = 15750 mm/s f aD = aD |
a D/B = \(B iJ )a BD ^ P \ + \[B D ) g>Id V /?]
= [250a BD ^ p \ + [4785.16 / p]
ao ~ as + ao/B Resolve into components.
0 = -250aBDcosP + 1339.83 a BD = 5.5826 rad/s2
+(: aD = 15750+ (250)(5.5826)sin/? + 4593.16 = 20734 mm/s2
a BD = 5.58 rad/s j , aD - 20.7 m/s2 | A

PROBLEM 15.122
In the planetary gear system shown the radius of gears A, B, C, and D is
60 m m and the radius of the outer gear E is 180 m m . Kn o w i n g that gear
A has a constant angular velocity of 150 rp m clockwise and that the outer
gear E is stationary, determine the magnitude of the acceleration of the
tooth of gear D that is in contact with (a) gear A, (b) gear E.
SOLUTION
Velocity analysis.
coA = 150 rpm = 5k rad/s }
v, = 60coA = 300/r m m / s \
Point E is the instantaneous center for planetary gear D.
(On - T~tTf = 2-5;r rad/s 'y

( 2)(60) ^
vD = 60(0n = 150/r m m / s \
cos = -^2- = 1.25n rad/s )

s 120 y
a D = 120<y2 /
= M 7 .5 k 2 rad/s2 /
(a) Acceleration o f tooth in contact with gear A.
a, = a 0 + aVD = 187.5tt2 / + 60o)p /
= 187.5zr2 / + 375tr2 / = 187.5n 1 /
a, = 1 8 5 1 m m / s 2/ a, = 1.851 m/s2 / 4
(b) Acceleration o f tooth in contact with gear E.
a2 = ap + a^p = 187.5^2 / + 60co2

D /
= 187.5^2 / + 375 k 2 / = 562.5^2m m / s 2/
a : = 5552 m m / s 2 / a 2 = 5.55 m/s2 / 4

PROBLEM 15.123
Knowing that crank AB rotates about point A with a constant angular

velocity of 900 rpm clockwise, determine the acceleration of the piston P
when 6 - 60.
SOLUTION
sin (3 sin 60
Law of sines. , fi = 16.779
Velocity analysis. 6)Ab = 900 rpm = 30# rad/s J

v B = 2coAH = 60# i n . / s 't ; 60
rD toBD = co
+ y D/B
[vD 1 ] = [60# ^ 60] + [6coBD ^
Components _: 0 = 60# cos 60 - 6coBDcos p

B 60#cos60 1/1AC ,, x
CO'BD - ----------------= 16.4065 rad/s
6 cos p
Acceleration analysis. a AB = 0
* a = 2<ab = {2){3 n f = 17765.3 in./s2 ^ 30
aD ~ a D I a BD = a BD J
a D/fl " \â AB P\ + K P\
= [6a BD ^ _ p ] + [1615.04 \ p]
a D = a s + ( DIB) Resolve into components.
: 0 = -17765.3cos30 + 6aBDcos p + 1615.04sin p
a BD = 2597.0 rad/s2
+ (: aD = 17765.3sin30 - (6)(2597.0)sin>9 + 1615.04cos/7
= 5931 in./s2 aP = aD a P = 494 ft/s2 j *(

PROBLEM 15.124
Knowing that crank AB rotates about point A with a constant angular
velocity of 900 rpm clockwise, determine the acceleration of the piston P
when B = 120.
SOLUTION
sin P sin 120
Law of sines. , p = 16.779
2 6
P
Velocity analysis. a)AB = 900 rpm = 30/r rad/s j)
v fl = 20)AB = 60/r in./s ^ 60
V D = VD | = v
v tva = ba)Br> p
VD = VS + y t>B
[vD I ] = [60* 7 60] + [6<v bd ^ P]
Components _: 0 = -6 0 * cos 60 + 6fl cos P
60* cos 60
m bd ~ = 16.4065 rad/s J
6 cos p
Acceleration analysis. a AB = 0
a A = 2arAB = (2 )(30*)2 = 17765.3 in./s2 ^ 30
aD ~ aD I O-BD = BD J
*D/B ~ [ ^ S O P\ + /? ]
= [6aBD ^ /?] + [1615.04 N p]
a o = a B + a 0/B Resolve into components.
_: 0 = -17765.3cos30 + 6aBDcosP + 1615.04cos/7
a BD = 2597.0 rad/s 2
+ |: = 17765.3sin30 + (6)(2597.0)sin/? - 1615.04cos/7
= 11835 in./s2 aP = a 0 aP = 986 ft/s2 f 4

PROBLEM 15.125
Knowing that at the instant shown bar AB has a constant angular velocity
of 19 rad/s clockwise, determine (a) the angular acceleration of bar BGD,
(b) the angular acceleration of bar DE.
SOLUTION
Velocity analysis. coAR = 19 rad/s J)
A vB = ( A B ) coab = (0.2)(19) = 3.8 m/s
B ~ v O = vO |
ira
Instantaneous center of bar BD lies at C.
BO = = 4 ^ . - j 9 rad/s ^
SC 0.2
vD = ( CD)(obd = (0.48)(19) = 9.12 m/s
vn 9.12 _. ? N
% = - 2 - = ------= 24 rad/s" ,
Dt DE 0.38 v
Acceleration analysis. a AB = 0.
a fl = [{M )a>2AB | ] = [(0.2)(19)2 | ] = 72.2 m/s2 |
a o = [{D E )aDE } ] + [(D E ) o)2de ]
= [0.38aD {] + [218.88 m/s2 ]
(a )f = [0-48 bd | ] + [O ^DB * ]
(a w s)n = [0-^8bd ~ ] + [o.2) | ]
= [ l 73.28 m/s2 ] + [72.2 m/s2 | ]
a o = a B + (a /.yfi) + (ô/b) Resolve into components.
_*: 218.88 = 0 + 0.2aflD + 173.28
() a BD = 228 rad/s2 ^ A
+ J: 0.38aD = -72.2 + (0.48)(228) - 72.2,
(b) a DE = -92 rad/s a DE = 92.0 rad/s2 J) A

PROBLEM 15.126
Knowing that at the instant shown bar DE has a constant angular velocity
o f 18 rad/s clockwise, determine (a) the acceleration of point B, (b) the
acceleration of point G.
SOLUTION
Velocity analysis. mDE = 18 rad/s j
vD - ( D E )c o de = (0.38)(l8) = 6.84 m/s
Vn=VnT,Vfi =V
d = v d f>
Point C is the instantaneous center of bar BD.
vn
D 6.84
-
03 B D ~ = 14.25 rad/s J)
CD 0.48
Vg = ( CB) cobd = (0.2)(14.25) = 2.85 m/s
6).,, = = 3 ^ . = 14.25 rad/s ^

AB AB 0.2 *
Acceleration analysis. aDE = 0
aD = \[D E )( o2d
e ] = [(<X38)(l8)2 ] = [l23.12 m/s2 ]
= \[A B )a AB ] + \[A B ) co2ba f ]
= [0.2a AB ~ ] + [40.6125 m/s2 ( ]
( a z>/fl), = [0 - 4 8 a BD | ] + [ 0 .2 aBD * J
(ao/fi)n = [0-48o|d * ] + [o. 2cq\ d | J
= [97.47 m/s2 ] + [40.6125 m/s2 { ]
az> = as + (a o/fi)( + Resolve into components.

+ |: 0 = 40.6125 - 0.48a BD + 40.6125,
a BD = 169.21875 rad/s2
+. : 123.12 - 0.2a^B + (0.2)(l69.21875) + 97.47
a AB = -40.69875 rad/s2
{a) aB = [(0.2)(-40.69875) ] + [40.6125 m/s2 f ]
= [8.19375 m/s2 ] + [40.6125 m/s2 J ],
a B = 41.4 m/s2 ^ 7 8 .6 ^
(b) (aG/5 ) &B +2

~ Z a D/B
-8.19375 + 123.12 40.6125

t
= [57.463 m/s2 ] - + [20.306 m/s2 f ]
2iG = 60.9 m/s2 ^ 19.5 <

SOLUTION
Velocity analysis. coAB = 6 rad/s j
\ = ( AB ) coab = (4.5)(6) = 27 in./s
vfl= v B , v 0 = v0
The instantaneous center of bar BDE lies at oo.

Then, coHD - 0 and vD = vB = 27 in./s
vD 27 , j, >
rn = = = 3 rad/s ,
CD CD 9 y
Acceleration analysis. a 0
a f l = ( ^ ) 2f i = [(4 .5 )(6 )2 { ] = 162in./s2 |
a o = [ ( C D )aco ] + [(CD)<o2c
d | ] = [9aro ] + [(9)(3)2 | ]
= [9 a ) ] + [ 81 in-/s2 | ]
aV8 = \^-$a BD ] + [l l-25aBD | ]
+ [ll.25 2D ] + [4.52d | ]
= [4.5a BD ] + [ll.2 5 a a D f ]
a /j = a /j + a B Resolve into components.
+ f: -81 = -162 + 11.25aBD, a BD = 7.2 rad/s2 ^
JL : 9aCD = 0 + (4.5)(7.2), a CD = 3.6 rad/s2 ^
*0 - [ 1 1 + [(4 S)(7.2) ] + [(11.25)(7.2) f ]
= |^32.4 in./s2 - 1 + [81 in./s2 | J
a D = 87.2 in./s2 T5" 68.2 A

PROBLEM 15.128
Knowing that at the instant shown rod AB has a constant angular velocity
of 6 rad/s clockwise, determine (a) the angular acceleration of member
BDE, (b) the acceleration of point E.
I U S m.
SOLUTION
Velocity analysis. coAB = 6 rad/s y
x B = ( AB)(oab = (4.5)(6) = 27 in./s
V =Vd ' vo - vo
The instantaneous center of bar BDE lies at oo.
Then, (Oun = 0 and vn = v = 27 in./s
a)CD - _ VD _ 27
= = 3 rad/s
CD
Acceleration analysis. a AB ~ 0
aB = { A B ) co2ab = [(4.5)(6)2 | ] = 162 in./s2 {
aD = [( CD)aco ] + [{CD)o)2
cd } ] = [9aCD ] + [(9)(3)2 | ]
= [ 9 c d * ] + [ 81 *n./s2 i ]
ao/B = " ]+ L25arSD | ]
+ [ll.25a]D ] + [4.5<y2D { ]
= [4.5aBD ] + [ll.2 5 a fl0 | ]
a o ~ a B + at>B Resolve into components.
+ f: -81 = -162 + 11,25aBD, a BD = 7.20rad/s2 A
a E/B = [9 a BD ] + [22.5a BD { ] + [22.5<y|D * J + [9<yBD |J
= [(9)(7.2) ] + [(22.5)(7.2) | ] + [0 ] + [0 {]
= [64.8 in./s2 - J + [l 62 in./s2 f J
aE = aB + a B/E = [l62 in./s2 | J + [64.8 in./s2 J+ [l62 in./s2 | J
= 64.8 in./s2 - aA =64.8 in./s2 * A

PROBLEM 15.129
110mmi io mm At the instant shown the angular velocity of bar DE is 4 rad/s clockwise
j- -j 220mm-H ancj jts anguiar acceleration is 10 rad/s2 counterclockwise. Determine
* *, ;A- (a) the angular acceleration of bar BGD, (b) the acceleration of point G.
SOLUTION
Velocity analysis. coDF = 4 rad/s j
vD = ( DE)(ode = (220)(4) - 880 mm/s

------------- L
D
* VD= VD |. vB = v0 ^ 45
A
/////// Instantaneous center of bar BD lies at point B. vB = 0
coBD = = 4 rad/s ^
BD 220 '
coAB =
Vo = 0
AB
Acceleration analysis. aDE = 10 rad/s2 oj\b = 16(rad/s)~
aD - \ { D E ) a DE 1] + [(^)6,D * ]
- [(220)(10) 1 ] + [(220)(16) ]
= ^2200 mm/s2 | J + [3520 mm/s2 -
a s /o = \{D B )a BD | ] + ^[DB)(obd J
= [220aBD | ] + [(220)(4)2 ]
= [220aBD {] + [3520 mm/s2 ]
aB = [ { M ) a AB ^ 4 5 ] + [{A B ) co2ba 7 45]
= [220a AB ^ 4 5 ] + 0
aB =a o + a o /B Resolve into components.

_+*: -2 2 0 cos 45**^ = 3520 + 3520, a AB = -45.255 rad/s2 )
+ (: (220sin45)(-45.255) = -2200 - 220a BD
(a) a BD = 22.0 rad/s2
* g /d ~ \ [ D G ) a BD J ]+[{D G ) b d *]
= [ ( 1 1 0 ) ( 2 2 ) l] + [ (ll0 ) ( 4 ) 2 ]
= j^2420 mm/s2 J J + |^1760 mm/s2 J
(b) aG = aD + a G/D = j^4620 mm/s2 | ] + [j>280 mm/s2 J
= 7016 mm/s2 ^ 41.2
an = 7.02 m/s2 ^ 41.2 4

PROBLEM 15.130
E At the instant shown rod AB has a constant angular velocity of 8 rad/s

clockwise. Knowing that / = 12 in., determine the acceleration o f the
c midpoint C o f member BD.
SOLUTION
Velocity analysis. coAB = 8 rad/s j)
Acceleration analysis. a AB = 0, co2AB = 64(rad/s)2
a a = \ { A B ) a AB ]+ [ { a b ) >2a b |]
= 0 + [(12)(64) { ] = 768 in./s2 J

a D/B =
[ ^ a BD \ ] + [â BD ]+[ " ]+ ] \
=
[24ocb d | ]+[12sd ]+0 =[24 | ]+[l2aSD ] a BD
a D = [{DE)<zde ] + [ ( DE)(o2d e | ]
= [ 1 2 ] + [(12)(64) | ]
= [l2arD ] + [768 rad/s2 | J
a D = a s + & d /b Resolve into components.
+ |: 768 = -768 + 24 a BD a BD = 64 rad/s2
ac/a = T a D/a = [12ctBD | ] + [6aflD ]
= [768 in./s2 | ] + [384 in./s2 ]
ac = a fl + uc/B = [768 J]+ [768 | ]+ [384 ]

ac- = 384 in./s2 A
PROBLEM 15.131
of 4 rad/s clockwise, determine the angular acceleration (a) of bar BD,
(b) of bar DE.
100 m m
120 m m
SOLUTION
60 120
tan/? = p = 26.565, DE = 134.164 mm
120 cos p
Velocity analysis. coAB = 4 rad/s j
vB = ( A B ) coab = (200)(4) = 800 mm/s *>
y B = Vb \ D = vD ^ P
Point C is the instantaneous center o f bar BD.
BC = j fD _ _ J 6 0 _ = 32Q ^
tan P tan p
BC
CD = -------- = 357.77 mm
COS P
Vn 800 . , ,, x
n = - 2 - = -----= 2.5 rad/s j
BC 320 /
vD = ( CD) cobd = (357.77)(2.5) = 894.425 mm/s
vr, 894.425 c ,, \\
03 D E - DE
- ~ -------------= 6.6667 rad/s
134.164
Acceleration analysis. a AB = 0, coAB = 4 rad/s J
a ff = [ { ^ ) a AB ] +[ ( | j
= 0 + [(200)(4)2 f ] = 3200 mm/s2 f

* D tB ~ \ i P ^ ) a B D f] +[(^)SD ]
= [l60aSD ] + [(160)(2.5)2 t ]
= [l60as/J | ] + [ 1000 mm/s2 * j

a D = [{DE)ccde ^ Z P ] + [{DE)co2d e [ / 0 ]
= [l34.164aOE X 0 \ + [5961.5 j / p]
a D = a s + a DAg Resolve into components.
_: 134.164aDEcosp + 5961.5sinP = 0 - 1000
a DE = -30.55 rad/'s
+(: -(I3 4 .1 6 4 )(-3 0 .5 5 )sin ^ + 5961.5cos^ = 3200 + 160a BD
(a) a BD = 24.8 rad/s2 ^ -4
(b) a DE = 30.6 rad/s2 V

PROBLEM 15.132
of 4 rad/s clockwise, determine the angular acceleration (a) of bar BD,
(b) o f bar DE.
&d/b = \B D a gn * ] + [(# D ) orBD | J
= [5so ] + [(5 )(4 )2 t ]
= [5a BD - ] + j^80 in./s2 | J
aD = [{D E )aDE A f i] + [(D E ) o>2de ^ 0]
= [8.0777aD A p \ + [(8.0777)(6.6667)2 ^ 7?]
= [8.0777aD A p \ + [359 in./s2 ^ /?]
a z> = aB + * d/b Resolve into components.
+ f: -i.0 1 1 1 a DE cos/9 - 359sinp = 0 + 80
a DE = -28.444 rad/s2
- ( 8 . 0 m ) a DE sin p + 359cos p = -200 + 5a BD
a BD = 123.73 rad/s2
(a) a BD = 123.7 rad/s2 ^ A
(b) a DE = 28.4 rad/s2 J -4

PROBLEM 15.133
Solve the problem indicated making full use of the vector approach as
h done in Sample Prob. 15.8.
Prob. 15.131.
. A
SOLUTION
Relative position vectors. r WA = -(200 mm)j, raB = (160 m m ) i
td /e = _ (60 m m ) i - (120 m m ) j
Velocity analysis. (i)AB = -(4 rad/s)k
v B = toAB x r BIA = (-4k) x (-200j) = -(800 mm/s)i
y MB = x r D/B = 01B lM x l^ O i z 160ft> S D j
v e = a>D + raE = a)DEk x (601 - 120j) = 120<uDi - 60coDEj
v D = y H + \ D/B Resolve into components,
i: 120(onE = -800 + 0 coDE = -6.6667 rad/s
j: -60co!)E = 160o)BD + 0 coBD = 2.5 rad/s
Acceleration analysis. a AB = 0, coAB = (4 rad/s )k
a = a AB x rB!A - <ABrB/A = 0 (4)2(-200j) = (3200 m m / s 2)j
an/B = a BD X rD/B ~ (0Br>rBID = a BD^- X (l601) - (2.5) (1601)
= \60aBDj - (lOOO m m / s 2 ji
ao = a nF. x rD/E d e ^d /e = a DE^ x (~60i 120j) - (6.6667) ( 601 - 120j)
= 120aw i - 60crDj + (2666.7 m m / s 2 ji + (5333.3 m m / s 2 jj
ao = a B + a o/s Resolve into components,
i:120a DE + 2666.7 = 0 - 1 0 0 0 a DE = -30.556 rad/s2
j: - 6 0 a D + 5333.3 = 160aflO + 3200 a BU = 24.792 rad/s2
(a) a BU = 24.8 rad/s2 ^ A
(b) a DE = 30.6 rad/s2 j A

SOLUTION
Relative position vectors =O2-5in)*>

r BIA r D/B = (5in-)J
r D /E = C7-5in'/s)+(3in-)J
Velocity analysis. a)AB = - ( 4 rad/s) k
V= 0>AB X =M*1)X12-5i =-(50in-/s)j

r B!A
y BID ~ 10BD X x( ^j) = *

r D/B = M BD ^- $ 0 ) BD
v,j = C0D X rW = (0DEk X (7.5i + 3j) = -3<yDi - 7.5a>Dj
vo = v + vOT Resolve into components,
j: -7.5(oDE = -5 0 + 0 coDE = 6.6667 rad/s
i: -3 <y0 = 0 + 5<yfl) a)BD = - 4 rad/s
Acceleration analysis. a AB=0, 0)AB = - ( 4 rad/s)k
a = * A B X r M - ( 2
A Br BIA = 0 ~ ( 4 ) 2 ( 1 2 -5 i ) = " 2 0 ^ S 2 i
a B/D = a D x rD/B eoBD r BID = x (- ^j) - (4) ( 5j)
= 5aBE)i + [80 in./s2)j
ao = a DF. x r/J/ - "DrW = Dk x (~7-5i + 3j) (6.6667)2(-7.51 + 3j)
= - 3 a 0i - 7.5aDj + [333.33 in./s2ji - ^133.333 in./s2jj
a D = a B + a W Resolve into components,
j: -7 .5 a DE - 133.333 = 0 + 80 a DE = -28.444 rad/s2
i: - 3 a DE + 333.33 = -200 + 5a BD a BD = 123.733 rad/s2
(a) a BD = 123.7 rad/s2 ^ 4
(b) a DE =2^-4ra^s2 ^
y
PROBLEM 15.135
Denoting by rA the position vector of point A of a rigid slab that is in

plane motion, show that (a) the position vector r(- of the instantaneous
center of rotation is
fflx v -
rC ~ rA + 2
CO
where co is the angular velocity of the slab and v A is the velocity of

point A, (b) The acceleration of the instantaneous center of rotation is
zero if, and only if,
*A = ~ V A + 0 ) X y A
CO
where a = a k is the angular acceleration of the slab.
SOLUTION
(a) At the instantaneous center C, vc = 0
v , = vc + co x rAC = (o x r^c
co x \ A = x (co x v a c ) = - o r r ^ c
1 0 X V , x v .
r A!C ~
CO
2 = ~ rO A or rC!A = r1
CO '
o ix v , MX\ A
rc - r A = jA- rc = rA+ ------ -
CO' CO
(b) aA = ac + a x r^ c + co x V/1/c
. * v . , s
= ac - ark x + co x - vc j
(O '
= ac aa-),k x ((.k x v 4l\ + cox

CO
a
co
Set ar = 0. a a = v A + co x \ 4 4
co
SOLUTION
From horizontal distances,
Ismcp = 6(1 + sin#)
/ cos (pep = bcos 99
b cos 9 l
(p = ----------9
I cos <p
From vertical distances,
y = Icostp - bcos9
y = -Isintpcp + 6sin##
= - ( / s in y ) COS^ 9 + 6sin##
I cos 
j^/2 - 62(l + sin#)2J
6(1 + sin#)cos#
Substituting into (1), vn = bco sin# - r >-il/2 H
I / 2 - b2(l + s in # )'J
PROBLEM 15.137
Collar D slides on a fixed vertical rod. The disk rotates with a constant
clockwise angular velocity co. Using the method of Sec. 15.9, derive an
expression for the angular acceleration of rod BD in terms of #, co, b,
and I.
SOLUTION
From horizontal distances, I sin cp = b (l + sin 6 )
lcos<p<p = b cos 69
b cos# a
<p = ----------6
I cos cp
Set 9 - co - constant.
bco cos 9
I cos cp
b a cos(p\ - sin##I - c o s# (-sin
 I cos cp cos cp
bco2 b c o s '# sin <p sin#

/ cos3 cp cos cp 0)
Now, ip = a BD J
From geometry, sin#? y(l +sin#)

1/2
cos 97 = [l - sin" cp | = i I2 - b z ( 1 + sin#) j
Substituting into (1),
bco1 bcos2 9b(l + sin # )/ /sin #

a BD ~ 3/2 -1I/2
I2 - b L(\ + sin # )' I1 - b 2(\ + sin#)
b3cos2# (l + sin#) Z/sin#

a BD = co 3/2 1/2 )<
I2 - b2 (1 + sin #) I2 - b2 (1 + sin #)
PROBLEM 15.138
The drive disk of the Scotch crosshead mechanism shown has an angular
velocity to and an angular acceleration a, both directed
counterclockwise. Using the method of Sec. 15.9, derive expressions for
the velocity and acceleration of point B.
PROBLEM 15.140
Rod AB moves over a small wheel at C while end A moves to the right
with a constant velocity v^. Using the method of Sec. 15.9, derive
expressions for the horizontal and vertical components o f the velocity of
point B.
PROBLEM 15.141
A disk o f radius r rolls to the right with a constant velocity v. Denoting
by P the point o f the rim in contact with the ground at t = 0, derive
expressions for the horizontal and vertical components o f the velocity of
P at any time t.
SOLUTION
xa = r#> yA = r
xP = xA - r s m 9
= rd - r sin 0
y p = y A - rcosd
- r - r cos#
xA = v, y A = 0, 9 =-
vt
x = vt, 9 =
vt
in = vv = r9 - rcosOO = r 1 - cos
vt
v = v)111 - cos
r j
vt
yp - v = r sin 99 = r sin
v r
vt ^4
v = vsin
r
PROBLEM 15.142
At the instant shown, rod AB rotates with a constant angular velocity co
and an angular acceleration a , both clockwise. Using the method of
Sec. 15.9, derive expressions for the velocity and acceleration of point C.
SOLUTION
p Place the origin at the fixed point A.
xc = 21 cos 6
o
ii
e
xc = -21 sin 00

II
xc = -21 sin 96 - 21 cos 962

ll
9 = co, 9 =a
{vc)x = *c (vc), = ~2lcosm 9

2
2

n
II
_
vc = -21 cosin 6 - A
(ac)* = *c [ac)x = - 2 /( a s in # + co2cos9 j

o
II
ii

ac = -2 l[ a s m 9 + n rc o s # ) A
PROBLEM 15.143
At the instant shown, rod AB rotates with a constant angular velocity a
and an angular acceleration a , both clockwise. Using the method of
Sec. 15.9, derive expressions for the horizontal and vertical components
of the velocity and acceleration of point D.
SOLUTION
Place the origin at the fixed point A.
xD = 3/cos#
y D = /sin #
xD = - 3 /sin##
y D = / cos##
xD = - 3 /sin## - 3/cos##"
y D = /cos## - / sin##2
6 = 0), 6 =a
( vd )x = ( vd )x = -3/6>sin#
= yD M y = to c o s #
vD = -(3tosin#)i + (tocos#) j -4
{d )x = *d (a o)x = - 3 / (or sin# + nrcos#)
M y = yo M y = / ( cos# - <u2sin#)
aD = -^ 3 /a s in # + 3to2cos#Ji + [ la cos# - t o 2s in # )j -4
PROBLEM 15.144
Crank AB rotates with a constant clockwise angular velocity co. Using
the method of Sec. 15.9, derive expressions for the angular velocity of
rod BD and the velocity of the point on the rod coinciding with point E in
terms of 9, co b, and /.
SOLUTION
Law of cosines for triangle ABE.
u2 = l 2 + b 2 - 2bl cos (180 - 9 )
= I2 + b2 + 2blcos9
I + bcos9
COS ^3 =
u
bsin9
tan cp =
I + bcos9
d , 2 _ + b co s9 )(b co s9 )9 + (& sin#)(6cos#)#

- ( t a n cp) - sec cpcp = (/ + bcos0 )2
(cos2^)|j> /cos# + b2{cos2 9 + sin2# )J #
(/ + 6 cos#)2
_ b lc o s 9 + b2 _ b[b + lco s9 ) ^
u2 I2 + b2 + 2blcos9
But, 9 - co, cp = coiB D and vE = -u
b(b + tco s9 ) .
Hence, VR
n T)
n ~ ~ ^--------------- CO jJ ^
CO
I + b + 2blcos9 V
Differentiate the expression for u2.
2uu = -2bl sin 99

bl sin#
vF = - u = CO
I2 + b2 + 26/cos#
bl sin 9 b sin# ^
V r = ^ tan 1
E I2 + b2 + 2Wcos# / + bcosO j
PROBLEM 15.145
Crank AB rotates with a constant clockwise angular velocity co. Using
the method of Sec. 15.9, derive an expression for the angular acceleration
of rod BD in terms of 6, co, 6, and /.
SOLUTION
Law of cosines for triangle ABE.
S>
u2 = / 2 + b 2 - 2 6 /c o s ( l 8 0 - # )
b \
e \ = /2 + 62 + 26/cos#
A J I + 6cos#
cos cp = -------------
u
6 sin#
tan cp ---------------
/ + b cos#
d , , 2 ( / + 6 c o s# )(6 co s# )# + (6 sin # )(6 c o s# )#

^ ( t a n p ) - s e c cpcp - ( / + ftc0s # )2
(cos2^)J^6/cos# + ft2(cos2# + sin2# )J#
(/ + 6cos#)~
6 /cos# + b2 ^ _ 6(6 + / cos#) ^

u2 I2 + b2 + 26/cos#
6(6 + /co s# ) ~
I2 + 62 + 26/cos#
(/2 + 62 + 2 6 /co s# j(-6 /sin # ) - 6(6 + /c o s# )(-2 6 /sin # ) >2

+ . " " ' , 2 ............................................... ^
(/2 + 62 + 26/cos#)'
6(6 + /co s# ) ~ 6 /(/2 - 6 2)sin# ^

/ + 6 + 2 6 /cos# (/2 + 62 + 26/cos#)
But, 6 - co, 0 = 6) = 0,
6 /(/2 - 6 2)sin#
/ 2 + 62 + 26/cos# '
PROBLEM 15.146
A wheel o f radius r rolls without slipping along the inside o f a fixed
cylinder of radius R with a constant angular velocity to. Denoting by P
the point of the wheel in contact with the cylinder at t = 0, derive
expressions for the horizontal and vertical components of the velocity of
P at any time t. (The curve described by point P is a hypocycloid.)
SOLUTION
Define angles 6 and (p as shown.
9 - co, 9 - cot
Since the wheel rolls without slipping, the arc OC is equal to arc PC.
r[cp + 9) = R<p
r9
cp =
R -r
rco
r9 = _____
cp =
R - r ~ R - r
rcot
cp =
R -r
x P = (R - r)sin$? - rsin #
(vP)x = xP = (R - r)cos<p<p - rcos99
= ( R - r ) ^ c o s - ^ - j ^ - ^ - j - r(cos<y/)(<)
rcot
(v )x = rco cos----------- cos cot
R -r /
y P = R - [R - r)costp - rcos9
(v) = y P = (/? - r ) s i n ^ + rs\r\99
rcot rco
= ( R - r ) sin- + r(sin<y/)(<y)
R -r R -r
. rcot . I .
(vP)y = r<y sin + sin*u/ | n
R -r
PROBLEM 15.147
In Prob. 15.146, show that the path o f P is a vertical straight line when
r - R /2 . Derive expressions for the corresponding velocity and
acceleration of P at any time t.
SOLUTION
Define angles 0 and cp as shown.
1
. 0 = a), 0 = cot, 0 =0
\ Since the wheel rolls without slipping, the arc OC is equal to arc PC.
\ r(<p + 0 ) = R0 = 2r0
\ J <p = 0
/ q y \y <p = 0 = co
\ . ?
* ip = 0 = 0
xP = (R - r )s in p - rsin # = rs in # - rs in # = 0
The path is the y-axis. ^
y P = / ? - ( / ? - r)c o s ^ - r cos# = R - r cos# - rco s0
- /?(l - COS#)
v = y P = /Jsin## v = (/?<asin<wf)j A
a = v = (R cos002 - sin##) = Rco2 cos0
a = (/?<y2cos<a/)j A
PROBLEM 15.148
Pin P is attached to the wheel shown and slides in a slot cut in bar BD.
The wheel rolls to the right without slipping with a constant angular
velocity of 20 rad/s. Knowing that x = 480 mm when 6 = 0, determine
the angular velocity of the bar and the relative velocity of pin P with
respect to the rod for the given data.
(a) 0 = 0, (6) 9 = 90.
SOLUTION
X>
Coordinates.
*a = ( * A + r0' y A = r
xB = 0, y B = r
*c = xa >yc = 0
xP = xA + esin#
y P = r + ecos 6
Data: ( x A = 480 mm = 0.48 m
r = 200 mm = 0.20 m
e = 140 mm = 0.14 m
Velocity analysis. (oAC = 0)AC cogo = (oBD
v = v , + v,
'fp tA = [ r o >AC ] +[ e >AC ^ 0]
V = [Xp(oBD | ] + [(eco s6)(oBD ]
\ P,F = [ u c o s / 7 ] + [usin/3 f]
Use \ P = + v/)//r and resolve into components.
_*: (r + ecos 0)(oAC = (ecos 0)coBD + (cos p ) u ( 1)
+ J: (esin 6)(oAC = Xp(oBD -(sin /? )u (2)

(a) 0 = 0. xA = 0.48 m, xP = 0.48 m, coAC = 20 rad/s

ecos 0 0.14
tanp = p = 16.26
xP 0.48
Substituting into Eqs. (1) and (2),
(0.20 + 0.14)(20) = 0.14<usd + (cosl6.26)u

( 1)
0 = 0A8 g)bd - (sin 16.26)u
(2)
Solving simultaneously, coBD = 3.81 rad/s, a>BD = 3.81 rad/s J) A
u = 6.53 m/s, \ PiF = 6.53 m/s ^ 16.26 A
(b) 0 = 90. xP = 0.48 + (0.20) + 0.14 = 0.93416 m
P =0
Substituting into Eqs. (1) and (2),
(0.20) (20) = u
( 1)
u = 4 m/s
(0.14)(20) = 0.93416<yBD
(2)
a>BD = 2.9973 rad/s, 0)BD = 3.00 rad/s ^ A
= 4.00 m/s
PROBLEM 15.149
the angular velocity of the bar and the relative velocity of pin P with
respect to the rod for the given data.
0 = 30.
SOLUTION
Coordinates.
*a = ( * A + rd'y* = r
XB = 0 ,y B = r
xc = x a >y c =0
xp ~ xa + ^sin#
y P = r + ecosO
Data: (x^ )0 = 480 mm = 0.48 m
r = 200 mm = 0.20 m
e = 140 mm = 0.14 m
Velocity analysis. ac ~ Â C J)> m bd - ( o BDJ),
= [ r 0 >AC ]+ V a AC ^ 6 \
Vp. = [xpCOBD I ] + [(eco s0 ) ojbd ]
v P/F = [u cos/3 ] + [usin/? |]
Use v P = v p. + vpip and resolve into components.
- t* : (r + ecosO)a)AC = (ecos#)<ufiD + (cos/3)u ( 1)
+ |: (<?sin0)coAC = xpG>BD - ( s i n p )u (2 )
9 = 30, xP = 0.48 + (0.20) + 0.14sin30 = 0.65472 m
tany? = 0 J 4 c -'s3 p - 10.491

0.65472
Substituting into Eqs. (1) and (2)
(0.20 + 0.14cos30)(20) = (0.14cos30)e>eD + (cosl0.491)w
( 1)
(0.14sin30)(20) = 0.65472 coBD - (sinl0.491)w (2)
Solving simultaneously, a>BD = 3.82 rad/s J 4
u = 6.06 m/s v P/F = 6.06 m/s ^ 10.49 4
PROBLEM 15.150
Two rotating rods are connected by a slider block P. The velocity v0 of

the slider block relative to the rod on which it slides has a constant
velocity of 30 in./s and is directed outward. Determine the angular
velocity of each rod for the position shown.
SOLUTION
P = 50 - 20 = 30
P
AB 20 BP AP
sin p sin 30 sin 20 sin 130
BP = 13.6808 in., AP = 30.642 in.
\ P = ( A P ) o) a p 7^ 20
V/v = ( B P ) cobd 7 ^ 50
Vp,F = v0 \ j 50
\ p = \p. + v PIF. Resolve into components.
_*: ( A P ) ( 0 a p c o s2 O = ( B P ) c d b d cos50 + vosin50
+ |: (AP)coAPs\n20 = ( B P ) cob d sin50 - v0cos50
Rearranging,
(30.642cos20)coAp - (l3.6808cos50)<waD = 30sin50 (1)
(30.642sin 20o)a)Ap - (l3.6808sin50)tuBD = -30cos50 (2)
Solving Eqs. (1) and (2),
coAP = 1.9581 rad/s, coBn = 3.7981 rad/s
toAP = 1.958 rad/s ") A
g>bd = 3.80 rad/s *) A
Note that instead of resolving into components, the triangle of vectors

\ p, vp', and \p /F can be constructed. Then,
vP/F = 30 in./s, Vp- = = 51.962 in./s

tan p
30 . vP 60
Vo = --------= 60 in./s, o)AP = -- - = 1.958 rad/s
sin/7 (AP) 30.642
Vp> 51.962
a)on = , r t = ----------- = 3.80 rad/s
80 (BD) 13.6808
PROBLEM 15.151
Two rotating rods are connected by a slider block P. The velocity v0 of

the slider block relative to the rod on which it slides has a constant
velocity of 30 in./s and is directed outward. Determine the angular
velocity of each rod for the position shown.
f3 = 50 - 20 = 30
AB 20 BP AP
sin (3 sin 30 sin 20 sin 130
BP = 13.6808 in., AP = 30.642 in.
y p (B P ) cobp P 7 50
V = {A P ) coae 7 20
7.0 i*\, Vp/p - v0 \ j 20
v P = v P' + v P/F. Resolve into components.
-*.: (BP)cobp c o s 50 = (AP) coAE cos 20 + v0 sin 20
+ |: (B P ) ojbps\ti5Q = (A P ) coa e sin20 - v0cos20
Rearranging, (l3.6808cos50)fi;Bi, - 30.642cos20a>AE = 30sin20

(l3.6808sin50)!>g/> -3 0 .6 4 2 sin 2 0coAE = - 3 0 cos20
Solving Eqs. (1) and (2),
coBp = -4.3857 rad/s, coAE = -1.6958 rad/s
coAe ~ 1.696 rad/s ) M
coBP = 4.39 rad/s J) 4

Note that instead of resolving into components, the triangle of vectors
v P, \ P', and v P/F can be constructed. Then,
30
vPjF = 30 in./s, Vpf = = 51.962 in./s
tan/9
30
vp = = 60 in./s
sin/9
_ vp' 51.962
= 1.696 rad/s,
&AE ' (AP 30.642
60
coBP _ V
- = 4.39 rad/s
(BP) 13.6808
PROBLEM 15.152
Pin P is attached to the collar shown; the motion o f the pin is guided by a
slot cut in rod BD and by the collar that slides on rod AE. Knowing that at
the instant considered the rods rotate clockwise with constant angular
velocities, determine for the given data the velocity o f pin P.
coAE - 8 rad/s, coBD = 3 rad/s
SOLUTION
0.5
AB = 500 mm = 0.5 m, AP = 0.5tan30, BP =
cos30
coAE = 8 rad/s coBD = 3 rad/s J)
Let P' be the coinciding point on AE and m, be the outward velocity of the collar along the rod AE.
V = V + Vp/AE = { { A P ^ ae I ] + [l ]
Let P" be the coinciding point on BD and u2 be the outward speed along the slot in rod BD.
Yp = Vp, + \ PIBD = [{BP) o)bd 30] + [u2 aE 60]
Equate the two expressions for v P and resolve into components.
K, = (3)(cos30) + u2 cos60
- fV
cos30
or Uj = 1.5 + 0.5u2 (1)
( 0^ ^
+ ): -(0.5tan30)(8) = ---------------(3)sin30 + 2sin60
\COS30y
Uj = J [1.5 tan30 - 4tan30l = -1.66667 m/s

2 sin 601 1
From (1), m, = 1.5 + (0.5)(-1.66667) = 0.66667 m/s
Vp = [(0.5tan30)(8) } ] + [0.66667 - ^ ] = [2.3094 m/s { ] + [0.66667 m/s ]
Vp = -V2.30942 + 0.666672 = 2.4037 m/s
2 3094
tan/9 = - p = 73.9
0.66667
v P = 2.40 m/s ^ 73.9 <
PROBLEM 15.153
slot cut in rod BD and by the collar that slides on rod AE. Knowing that at
the instant considered the rods rotate clockwise with constant angular
velocities, determine for the given data the velocity of pin P.
coAE = 7 rad/s, a)BD = 4.8 rad/s
SOLUTION
AB = 500 mm = 0.5 m, AP = 0.5 tan 30, BP = '5

cos30
(oAE = 7 rad/s coBD = 4.8 rad/s )
Let Pr be the coinciding point on AE and , be the outward velocity o f the collar along the rod AE.
vP = v + \ P/AE = \[A P ) coae | ] + [, ]
Let P* be the coinciding point on BD and u2 be the outward speed along the slot in rod BD.
\ p = \p . + v p/BD = \{BP}(oBl) ^ 30] + [2 60]
Equate the two expressions for \ P and resolve into components.

0.5
, .r - (4.8)(cos30) + w2 cos 60
Vcos30
or H| = 2.4 + 0.5m2 (1)
( OS ^
+ |: ~(0.5tan30)(7) = (4.8)sin30 + 2sin60
u2 = ---------[2.4 tan30 - 3.5tan30l = -0.73333 m/s

- sin 601 J
From (1), u, = 2.4 + (0.5)(-0.73333) = 2.0333 m/s
vp = [(0.5tan30)(7) { ] + [2.0333 ] = [ 2.0207 m/s { ] + [ 2.0333 m/s ]
vp = 2.0333)2 + (2.0207)2 = 2.87 m/s
2 0207
2.0333
vp = 2.87 m/s ^ 44.8 <
PROBLEM 15.154
Knowing that at the instant shown the angular velocity of bar AB is
15 rad/s clockwise and the angular velocity o f bar EF is 10 rad/s
clockwise, determine (a) the angular velocity of rod DE, (b) the relative
velocity of collar B with respect to rod DE.
SOLUTION
o)EF = 10 rad/s J), v F = \rE/Fo)EF - ] = (15)(10) = 150 in./s
vfl' = V + v / = [15 in/s ] + [20<yD j ]
r B/ED = U
v = V + V B/D = [ 1 5 in /s * ] + [20>de i ] + [ ]
v = [{A B ) coab ^ 45] = I 15

^cos45
(15) 45 = [225 in./s ( ] + [225 in./s ]
Equate the two expressions for \ B and resolve into components.
-: 150 + = 225, u = 75 in./s
+ J: 20o)d f - 225, coDE = 11.25 rad/s
(a) coDE = 11.25 rad/s ) A
(b) Vs/D=75-in/s * ^
PROBLEM 15.155
Knowing that at the instant shown the angular velocity of rod DE is
10 rad/s clockwise and the angular velocity of bar EF is 15 rad/s
counterclockwise, determine(a) the angular velocity of bar AB, (b) the
relative velocity of collar B with respect to rod DE.
SOLUTION
co'EF = 15 rad/s \ E - [ rE/FcoEF - ] = (15)(15) = 225 in./s -
v/r = vt + y BiED ~ [225 in./s - ] + \l0coDE | ] = [225 in./s - ] + [200 in./s
y B/ED ~ u
y B = y B+ y B/ED = [225 in-/s * ] + [200 in-/s [ ] + [ ]
v* = [ U B ) coab ^ 45] = coAB ^ 45 = [ 1 5 ^ | ] + [ 1 5 ^ ]
Equate the two expressions for \ B and resolve into components.
-225 + u = ~\ScoAB
( 1)
+ J: 200 = 1 5 coa b coAB = = 13.333 rad/s
(a) coAB = 13.33 rad/s ") A
From (1), u = 225 - (l5)(l3.333) = 25 in./s
(b) y b/ed ~ 2 5 *n-/s - ^

PROBLEM 15.156
Four pins slide in four separate slots cut in a circular plate as shown.
When the plate is at rest, each pin has a velocity directed as shown and of
the same constant magnitude u. If each pin maintains the same velocity
relative to the plate when the plate rotates about O with a constant
counterclockwise angular velocity co, determine the acceleration of each
pin.
SOLUTION
For each pin: d p 2k p -fr- d p / p
Acceleration o f the coinciding point P1o f the plate.
For each pin, a,.. = rco2 towards the center O.
Acceleration o f the pin relative to the plate.
For pins Px, P2, and PA,
For pin *PIF

r
Coriolis acceleration a(..
For each pin ac = 2cou with ac. in a direction obtained by rotating u through 90 in the sense of co, i.e. f
Then, a, = | rco2 - J + [2iLcou a, = rcori - 2couj ^
a 2 = ^rco2 { J + \lcou - ] a 2 = 2coui - rco2j ^
V ( 2 U2 . .
a, " rco2 1 + + [2 cou " ] a3 = - rco~ + + 2cou i A
L J r I r )
a 4 = rco2 | ] + [2cou | ] a4 = | rco2 + 2cou^j M

SOLUTION
For each pin: B/y + 3 p/f. + 3C
Acceleration o f the coinciding point F o f the plate.
For each pin a/,. = rar towards the center O.
Acceleration o f the pin relative to the plate.

80
For pins Px, P2, and P4,

O
II
2
For pin P}, a P/F ~ -
r
Coriolis acceleration ac.
For each pin ac = 2cou with at. in a direction obtained by rotating u through 90 in the sense of co.
Then, a, = [rco2 - J + \lcou f ] a, = r a r i - 2cou'} A
a 2 = ^raT { J + [2(ou - ] a 2 = -2<ywi - rco2\ A
V (
a, = ^raT - J + + [2(ou * 1 a3 = 2a>u - rco1 ------ i A
r \ r J
a4 = W ar | J + [2<yw { ] a4 = (ra r - 2<y) j A

PROBLEM 15.158
slot cut in bar BD and by the collar that slides on rod AE. Rod AE rotates
with a constant angular velocity of 5 rad/s clockwise and the distance
from A to P increases at a constant rate of 2 m/s. Determine at the instant
shown (a) the angular acceleration of bar BD, (b) the relative acceleration
o f pin P with respect to bar BD.
SOLUTION
AP = 400 mm = 0.4 m, BP = 400V2 mm = 0.4%/2 m
Given: coA = 5 rad/s ) , a AE = 0, v PIAE = 2 m/s f , &PIAE = 0.
Find: a BD and &p /b d -
Velocity o f coinciding point F on rod AE.
\ P = ( AP)( oae = (0.4)(5) = 2 m/s - or (2 m/s)i
Velocity o f P relative to rod AE. v P/AE = (2 m/s) j
Velocity o f point P. v P = \ F + v P/AE = (2 m/s)i + (2 m/s) j
Velocity o f coinciding point F on rod BD.
vpn = (B P ) cobd ^ 45 = 0.442(Obd ^ 45 = -0.4o)BDi + 0.4&;;oj
Velocity o f P relative to rod BD. v pibd = (cos 45) i + (sin 45) wj
Velocity o f point P. v P = v P- + v P/BD
\ P = -0.4<uBDi + 0.4<ufiDj + ( c o s 4 5 ) m1 + (sin45)wj
Equating the two expressions for v P and resolving into components.
i: 2 = - 0 A o)bd + (cos45) (1)
j: 2 = 0.4coBD + (sin 45) u (2)
Solving (1) and (2), a>BD = 0, u = 5\f2 m/s, vm fl = (2 m/s)i + (2 m/s) j
Acceleration o f coinciding point F on rod AE.
a r = (A P )a AEi - [A P ) co2eaj = 0 - (0.4)(5)2 j = - ( l 0 m/s2) j

Acceleration o f P relative to rod AE. * p /a e = 0
Coriolis acceleration. 2.(0AE x y Pi a e = (2 )(-5 k ) x 2j = (20 m/s2)i
Acceleration o f point P.
aP = * P + aPIAE + 2(oae x\ P/AE = (20 m/s2)i - (lO m/s2) j
Acceleration o f coinciding point P" on rod BD.
a /> ' = a BD ^- x rp/B ~ ( B D rPiB ~ 0.4agoi + 0.4a BD \ + 0
Acceleration o f P relative to rodBD. a P/BD = (cos45)ari + (sin45)arj
Coriolis acceleration. 2(Obd x \ P/BD = 0
aP = + nP/AE + 2(>bd x \ P/BD
= -0.4aBDi + 0.4aBDj + (cos45)ari + (sin45)arj
Equating the two expressions for aP and resolving into components.
i: 20 = -0 .4 a BO + (cos45)ar (3)
j: -1 0 = 0.4aBD + (sin 45) a,. (4)
Solving (3) and (4), a BD = -37.5 rad/s2, ar = 5^2 m/s2
(a) a BD = 37.5 rad/s2 j A
(b ) * P/ b d ~ 7-07m/s2 45 A
PROBLEM 15.159
Pin P is attached to the collar shown; the motion of the pin is guided by a
slot cut in bar BD and by the collar that slides on rod AE. Bar BD rotates
with a constant angular velocity of 5 rad/s counterclockwise and the
distance from B to P decreases at a constant rate of 3.5 m/s. Determine at
the instant shown (a) the angular acceleration of rod AE, (b) the relative
acceleration of pin P with respect to rod AE.
SOLUTION
AP = 400 mm = 0.4 m, BP = 400\[2 mm = 0.4\[2 m
Given: <nfl0 = 5 rad/s , , a BD = 0, \ P/BD = 3.5 m/s 7 ^ 45, P/BD = 0.
Find: a AE and *Piae-
Velocity o f coinciding point P1 on rod AE.
Vp. = ( A P ) o) ae = 0 .4<oAE = - 0 .4o)AF\
Velocity o f P relative to rod AE. v PIAE = wj
Velocity o f point P. \ P = vp. + v r/AE = - 0 . 4 o J AEi + wj
Velocity o f coinciding point P" on rod BD.
\ r = ( BP)(ogr) ^ 45 = (o.4V2)(5) ^ 45 = - ( 2 m/s)i + (2 m /s)j
Velocity o f P relative to rod BD. v PIBP = -(l.75>/2 m/s)i - (l.75>/2 m /s)j
Velocity o f point P. \ P = \ P- + \ P/BD = -(4.47487 m/s)i + (0.47487 m /s)j
Equating the two expressions for v P and resolving into components.
i: -0 .4 coAE = -4.47487 coAE = 11.1872 rad/s ^
j: u = -0.47487 v P/AE = 0.47487 m/s |
Acceleration o f coinciding point P' onrodA E .
ar = .4k x rP!A ~ >AErP/A = - (0.4)(11.1872) j
= -0 .4 a AE\ - 50.06 lj
Acceleration o f P relative to rod AE. a P/AE = arj
Coriolis acceleration. 2coAEk x vP/AE = (2 )(l 1.1872)(0.47487)i = (10.6249 m/s)i
Acceleration o f point P. aP =&p, + a P/AE + 2&AE x v P/AE
aP = -0 .4 a AEi + arj + 10.6249i - 50.061j
Acceleration o f coinciding point P* onrodBD .
a p- = a BDk x rP/B - (o2BDrBiD = 0 - (5)^ (0.4i + 0.4j) = (lO in/s2)i - (lO m/s2) j
Acceleration o f P relative to rod BD. &p ib d = 0
Coriolis acceleration. 2a)BDvP/BD = (2)(5)(3.5) = 35 45
= (35 cos 45 m/s2) i - (35 sin 45 m/s2) j
Acceleration o f point P. aj0 = a.*. + %P/AE + 2<oBDvPiBD
a P = -lO i - lOj + 35cos45i - 35sin45j = (l4.7487 m/s2)i - (34.749 m/s2) j
Equating the two expressions z P and resolving into components.
i: - 0.4a AE + 10.6249 = 14.7487 a ^ = -10.31 rad/s2
j: ar - 50.061 = -34.749 ar = 15.312 m/s2
(a) a AE = 10-31 rad/s2 J) 4
(b) &P/AE = 15.31 m/s2 t 4

PROBLEM 15.160
At the instant shown the length of the boom AB is being decreased at the
constant rate of 0.6 ft/s and the boom is being lowered at the constant rate
of 0.08 rad/s. Determine (a) the velocity o f point B, (b) the acceleration
of point B.
SOLUTION
Velocity o f coinciding point B' on boom. vfl. = rco = (18)(0.08) = 1.44 fl/s ^ 60
Velocity o f point B relative to the boom. v s/boom = 0.6 ft/s P ' 30
(a) Velocity o f point B. \ B = vg. + vfl/boom
.+ : {vB)x = 1-44cos60 - 0.6cos30 = 0.20038 ft/s
+| : (vB)y = -1 .4 4 sin60 - 0.6sin30 = -1.54708 ft/s
= Vo.200382 + 1.547082 = 1.560 ft/s
^ _ L54708 = _g2
0.20038
v B = 1.560 ft/s 82.6 <
Acceleration o f coinciding point B' on boom.
aB. = rco2 = (18)(0.08)2 = 0.1152 ft/s2 ^ 30
Acceleration o f B relative to the boom. a B/boom = 0
Coriolls acceleration. = (2)(0.08)(0.) - 0.096 ft/S! ^ 60"
ib) Acceleration o f point B. a B = a B + a B/boom + 2cou
: (aB)x = -0.1152cos30 + 0 - 0.096cos60 = -0.14777 ft/s2
+| : (a B)v = -0.1152sin30 + 0 + 0.096sin60 = 0.025538 ft/s2
aB = yj(0.14777)2 + (0.025538)2 = 0.1500 ft/s2
^ 0^25538
0.14777
a = 0.1500 ft/s2 ^ 9.8 <

PROBLEM 15.161
At the instant shown the length o f the boom AB is being increased at the
constant rate o f 0.6 ft/s and the boom is being lowered at the constant rate
o f 0.08 rad/s. Determine (a) the velocity o f point B, (b) the acceleration
of point B.
SOLUTION
Velocity o f coinciding point B' on boom. v B, = ra> = (l 8) (0.08) = 1.44 ft/s 60
Velocity o f point B relative to the boom. vM>oom = 0-6 ft/s 30
(a) Velocity o f point B. v B = v B, + v B/boom
-* : ( v ^ = 1.44cos60 + 0.6cos30 = 1.23962 ft/s
+( : (v5 ) = -1.44sin60 + 0.6sin30 = -0.94708 ft/s
vB = 1.23962)2 + (0.94708)2 = 1.560 ft/s
t m /3 = - -94708 p = - 3 7 .4 0 = j 560 fy ^ 3? 4o ^
1.23962 8
Acceleration o f coinciding point B' on boom.
nB, = rco2 = (18)(0.08)2 = 0.1152 ft/s2 ^ 30
Acceleration o f B relative to the boom. a5/boom = 0
Coriolis acceleration. 2(m = (2)(0.08)(0.6) = 0.096 ft/s2 ^ 60
(b) Acceleration o f point B. &B = aB, + as/boom + 2cou
' i aB)x = -0.1152 cos 30 + 0.096 cos 60 = -0.051767 m/s2
+f: = -0.1152sin30 - 0.096sin60 = -0.14074 m/s2
aB = ^/(0.051767)2 + (0.14074)2 = 0.1500 ft/s2
tan >9 = -14074 . p a 69.8 aB = 0.1500 ft/s2 ^ 69.8 <

0.051767
PROBLEM 15.162
The cage of a mine elevator moves downward at a constant speed of
12.2 m/s. Determine the magnitude and direction of the Coriolis
acceleration of the cage if the elevator is located (a) at the equator,
(b) at latitude 40 north, (c) at latitude 40 south.
SOLUTION
Earth makes one revolution ( i n radians) in 23.933 h (86160 s).
In .
a = j = (72.926 x 106 rad/s) j
86160'
Velocity relative to the Earth at latitude angle (p.

It-
vp/earth = 12.2(-cospi - sin ^ j)
Coriolis acceleration ac.
ac = 2Q x vP/earth
= (2)(72.926 x lO ^ jj x [l2.2(-cos^>i - sin^>j)]
= (l.7794 x 10~3cos#>)k
(a) (p = 0, cos cp - 1.000 ac = 1.779 x 10"3 m/s2 west A
(b) <p = 40, cos (p = 0.76604 ae = 1.363 x 10-3 m/s2 west A
(c) (p = -40, cos<p = 0.76604 a,, = 1.363 x 10-3 m/s2 west A

PROBLEM 15.163
A rocket sled is tested on a straight track that is built along a meridian.
Knowing that the track is located at latitude 40 north, determine the
Coriolis acceleration of the sled when it is moving north at a speed of
600 mi/h.
SOLUTION
Earth makes one revolution (2 k radians) in 23.933 h = 86160 s.
= = l12m 6 iq ~6 rad/g\ j
86160 ' >
Speed o f sled. u = 600 mi/hr = 880 ft/s
Velocity o f sled relative to the Earth.
y p/earth = 8 8 0 (-sin ^ i + cos^j)
Coriolis acceleration. ac = 2 0 x vP/earth
ac = (2)( 72.926 x 10'6j) x 8 8 0 (-sin ^ i + cos^j) j

= 0.12835 sin ^>k
At latitude <p = 40,
ac = 0.12835 sin 40k
= 0.0825k ft/s2
ac = 0.0825 ft/s2 west A

PROBLEM 15.164
The motion o f nozzle D is controlled by arm AB. At the instant shown the
arm is rotating counterclockwise at the constant rate co = 2.4 rad/s and
portion BC is being extended at the constant rate u = 250 mm/s with
respect to the arm. For each of the arrangements shown, determine the
acceleration of nozzle D.
SOLUTION
For each configuration r'd/a ~ (275 m m )i + (100 mm) j
Acceleration of coinciding point D. a D. = crk x rDjA - co 2 t d / a
aD' - 0 - (2.4)2 (275i + 100j) = -(l5 8 4 mm/s2)i - (576 mm/s2) j

Acceleration o f point D relative to arm AB. *d/ab = 0
Length CD. CD = \ll5 2 + 1002 = 125 mm

Velocity o f point D relative to the arm AB.
Case (a) v d/ab = (250 mm/s) i
Case (b) v D/ a b = ~ ( 7 5 i + 100J) = (150 mm/s)i + (200 mm./s)j
Coriolis acceleration. 2<wk x v D/B
Case (a) (2)(2.4k) x 250i = (l200 mm/s2) j
Case (b) (2)(2.4k) x (l50i + 200j) = -(9 6 0 mm/s2)i + (720 mm/s2) j
Acceleration o f nozzle D. aD =a D' + & D /AB + 2fi)k X VD/AB
(a) a0 = 15841 - 576j + 1200j = (l 584 mm/s )i + (624 mm/s2) j
aD = 1584)2 + (624)2 = 1702 mm/s2
624
tan // = , p = 21.5
1584
aD = 1702 mm/s2 21.5 <
(b) aD = 15841 - 576j - 960i + 720j = -(2 5 4 4 m m/s)i + (144 mm/s) j
aD = a/ ( 2544)2 + (144)2 = 2548 mm/s2
144
tan p = , p = 3.24
2544
D = 2550 mm/s2 ^ 3.24 <

PROBLEM 15.165
T Solve Prob. 15.164, assuming that the direction of the relative velocity u
is reversed so that portion BD is being retracted.
SOLUTION
For each configuration raA = (275 mm)i + (100 mm) j
Acceleration o f coinciding point D'. a 0. = a k x rD/A - co1raA
aD. = 0 - (2.4)2(275i + lOOj) = -(l5 8 4 mm/s2)i - (576 mm/s2) j
Acceleration o f point D relative to arm AB. a niAB ~ 0
Length CD. CD = V752 + 1002 = 125 mm
Velocity o f point D relative to the arm AB.
Case (a) Vp/AB = - ( 250 mm/s)I
250. v v
Case (b) y ixAB ~ "|2 j(^ 5 i + 100j) = -(150 mm/s)i - (200 mm/s) j
Coriolis acceleration. 2<yk x \ aB
Case (a) (2 )(2 .4 k )x (-2 5 0 i) = -(l2 0 0 mm/s2)j
Case (b) (2)(2.4k) x ( 150i - 200j) = (960 mm/s2)i - (720 mm/s2)j
Acceleration o f nozzle D. a O = a /j' + a P/AB + 2 k x Vp/AB
(<a) aD = 1584i - 576j - 1200j - -(1584 mm/s)i - (1776 mm/s)j
aD = yj( 1584)2 + (1776)2 = 2380 mm/s2
tan /? = iZZ
1584
p 48.3, aD = 2380 mm/s2 7 48.3 <
(b) aD = 1584i - 576j + 960i - 720j = -(6 2 4 mm/s2)i - (l296 mm/s2)j
aD = J(624)2 + (1296)2 = 1438 mm/s2
tan 0 = ^ , 0 = 64.3, aD = 1438 m m/s' 7 ^ 64.3 A

624
PROBLEM 15.166
200 m m
Collar P slides toward point A at a constant relative speed o f 2 m/s along

rod AB which rotates counterclockwise with a constant angular velocity
of 5 rad/s. At the instant shown determine (a) the velocity and
400 ' m m acceleration of point P, (b) the velocity and acceleration of point D.
SOLUTION
tp/a = (0-4>/3 m )i + (0.4 m )j
Motion o f coinciding point F on rod AB.
Vp, = a>AB x \ P/A = (5k) x (o.4V3i + 0.4j) = - ( 2 m /s)i + ( 2 \fi m/s) j
a p, = a AB x rP/A - <o2ABrP/A = 0 - (5)2(o.4^3i + 0.4j)
- -(l0 \/3 m/s2ji - (l0 m /s2) j
Motion o f collar P relative to rod AB.
Vp,AB = -2cos30i - 2sin30j = -(%/3 m /s)i - (l m/s) j, aPIAB = 0
Coriolis acceleration. 2 g>Ab x v p/ab
(2)(5k) x (-2cos30i - 2sin30j) = (l0 m /s2)i - (l0\/3 m/s2) j
(a) Motion o f collar P.
Vp = v p, + vp/AB = -2 i + 2%/3j i
= -(3.7321 m/s)i + (2.4641 m/s) j, v P = 4.47 m/s I k 33.4 A
aP = a + aP/AB + 2coAB x \ P/AB = -10>/3i - lOj + 0+ lOi - 10V3j
= -(7.3205 m/s2ji + (27.3205 m/s2) j, aP = 28.3 m/s2 75.0 A
(b) Motion o f point D.

v D = v/> + vD/p = 3.73211 + 2.4641j + 0.2 coPD]
\ D = -0.4o)DEi
Equating the two expressions for v D and resolving into components,
i: -3.7321 = -0 A g)de o) de = 9.3303 rad/s
j: 0 = +2.4641 + 0.2o)PD cdpd - -12.3205 rad/s
v D = -(0.4)(9.3303)i = -(3.7321 m /s)i v D = 3.73 m/s A

aD - aP + aP/D = aP + aPDk x 0.2i - [coPDf {O.li)

= -7.3205i + 27.3205j + 0.2a PDj - 30.3589i
ao = a DEk x .4j - G)lE(0.4)j = ~0.4aDEi - 34.822j
Equating the two expressions for aD and resolving into components,
i: -37.679 - -0.4 aDE, aDE = 94.198 rad/s2
j: 27.3205 + 0.2ccPD = -34.822, aPD = -310.71 rad/s2
aD = -(0.4)(94.198)i - 34.822j = (37.679 m/s2)i - (34.822 m/s2) j
aD = 51.3 m/s2 7 42.T <

PROBLEM 15.167
200 m m
Collar P slides toward point A at a constant relative speed of 3.2 m/s

along rod AB which rotates clockwise with a constant angular velocity o:
4 rad/s. At the instant shown determine (a) the angular velocities o f bars
PD and DE, (b) the angular accelerations of bars PD and DE.
SOLUTION
rp/A = (o.4>/3 m )i + (0.4 m )j
Motion o f coinciding point P' on rod AB.
Vjo' = coAB x rPIA = (-4 k ) x (0 .4 ^ 1 + 0.4j) = (1.6 m /s)i - (l.6>/3 m/s) j
Bp, = a AB x rm - o>a
2brPIA = 0 - ( 4 f ( o .4 > /3 i + 0 . 4 j )
= ( 6.4%/3 m/s':)i - (6.4 m/s2)j
Motion o f collar P relative to rod AB.
Vp/AB ~ -3.2cos30i - 3.2sin30j = -(l.6 \/3 m /s)i - (1.6 m/s) j, &piab = 0
Coriolis acceleration. 2 <aAB x v p /a b
(2 )(-4 k ) x (-3 .2 cos30i - 3.2sin30j) = -(l2 .8 m /s 2)i + (12.8n/3 m/s2) j
Motion o f collar P.
\ P = v p, + v P/AB = 1.6i - 1.6>/3j - 1.6\/3i - 1.6j
= -(1.17128 m /s)i - (4.37128 m/s) j
aP = ap, 4- aP/AB + 2(0AB x v P/AB = -6.4y[3i - 6.4j + 0 - 12.8i + 12.8%/3j
- -(23.885 m/s2)i + (l5.7703 m/s2)j
\ D = vF + \ D/P = 1.171281 - 4.37128j + 0.2coPDj
vD = -0.4ft)Di
Equating the two expressions for v D and resolving into components,
i: - 1.17128 = -0.4a)DE, coDE = 2.9282 rad/s
j: 0 = -4.37128 + 0.2coPD, a>PD = 21.856 rad/s

/ \2 /
aD ayi I a !>D + crpg)k x 0.2i (ft?/v)) (02^)
= -23.885i + 15.7703j + 0.2ar a j - 95.540i
3/j = a D/;k X 0.4j - o (0-4) j = -0 .4 Di - 3.4297j
Equating the two expressions for a u and resolving into components,
i: -119.425 = -0 .4 a D, a DE - 298.56 rad/s2
j: 15.7703 + 0.2aPD = -3.4297, a PO = -96 rad/s2
a) a>PD = 21.9 rad/s ) , coDE 2.93 rad/s A
b) a PD = 96.0 rad/s2 ) , a DE 299 rad/s2 'j A

PROBLEM 15.168
A chain is looped around two gears of radius 2 in. that can rotate freely
with respect to the 16-in. arm AB. The chain moves about arm AB in a
. clockwise direction at the constant rate of 4 in./s relative to the arm.
Knowing that in the position shown arm AB rotates clockwise about A at
the constant rate co = 0.75 rad/s, determine the acceleration of each of
the chain links indicated.
Links I and 2.
SOLUTION
Let the arm AB be a rotating frame of reference. O = 0.75 rad/s ) = -(0.75 rad/s)k
Link 1: r, = - ( 2 in.)i, = u | = (4 in./s) j
a; = - 0 2r, = (0.75)2(2i) = (1.125 in./s)i
U
2
42 A
_. . 1 /_ . .
a i, 4H= - = 8 in./s - = 8 in./s i
p 2 v 7
2 0 x vpi jfj = (2)(-0.75k) x (4j) = (6 in./s)i
a i = al + *\JAB + 2 0 x y VAB = (15.125 in./s2) i
a, =15.13 in./s2 * -4
Link 2: r2 = (8 in.)i + (2 in.) j v-,JAB = u = (4 in./s)i
a', = - 0 2r; = (0.75)- (8i + 2j) = -(4 .5 in./s2 - (l. 125 in./s2) j
a2JAH =
2 0 x y VM = (2)(-0.75k) x (4i) = - ( 6 in./s2) j
a2=a2 a2 /A B *
^2JAH
= 4.5i - 1.125j - 6j = -^4.5 in./s2) i - ^7.125 in./s2j j
a , = yj(4.5): + (7.125)2 = 8.43 in./s2
7 125
tan p = ^ 2 , p = 57.7
4.5
a-, = 8.43 in./s2 7 57.7 <

PROBLEM 15.169
A chain is looped around two gears of radius 2 in. that can rotate freely
with respect to the 16-in. arm AB. The chain moves about arm AB in a
clockwise direction at the constant rate of 4 in./s relative to the arm.
Knowing that in the position shown arm AB rotates clockwise about A at
- 8 in.- the constant rate co = 0.75 rad/s, determine the acceleration of each of
the chain links indicated.
Links 3 and 4.
SOLUTION
Let arm AB be a rotating frame of reference. Q = 0.75 rad/s _}= -(0.75 rad/s)k
Link 3: r3 = (l8 in .)i \ yAB = u \ = - ( 4 in./s)j
a v = - Q 2r3 = (0.75)2(l 8i) = -(l0.125 in./s2)i
a v .. = = = 8 in./s2i - = - ( 8 in./s2)i
p 2 v '
2Q x v yAB = (2)(-0.75k) x (-4 j) = - ( 6 in./s2)i
a3 = ar + ayAB + 2 f lx v yAB = -24.125 in./s2
a 3 = 24.1 in./s2 - A
Link 4: r4 = (8 in.)i - (2 in.) j v ^ ^ = u - = - ( 4 in./s)i
a.,- = - Q 2r4 = (0.75)2(8i - 2j) = -(4 .5 in./s2î + ( l . 125 in./s2) j
*vab ~ 0
2f2 x \ VAB = (2)(-0.75k) x (
4i) = (6 in./s2)j
a4 = a4. + a Wfi + 2Q x v4 w = -(4 .5 in./s2)i + (7.125 in./s2) j
a4 = yj(4.5)2 + (7.125)2 = 8.43 in./s2
7 125
tan B = r - 57.7
4.5
a 4 = 8.43 in./s2 ^ 57.7 <

PROBLEM 15.170
The collar P slides outward at a constant relative speed u along rob AB,
which rotates counterclockwise with a constant angular velocity of
20 rpm. Knowing that r = 10 in. when 0 = 0 and that the collar reaches
B when 0 = 90, determine the magnitude o f the acceleration o f the
collar P just as it reaches B.
SOLUTION
(20)(2n) 2n n
co = 20 rpm = - - = rad/s, a - 0, 9 - 90 = radians
60 3 2
Uniform rotational motion. 0 = 0n + cot
9 -9 ,
t = 0 - JL, = 0.75 s
In
co 3
Uniform motion along rod. r = r0 + ut
r - r 0 _ 20 - 1 0 40, 40 ,
u = ------ = ------ = in./s, v P/AB = -fL in./s |
t 0.75 3
Acceleration o f coinciding point P1on the rod. (r = 20 in.)
^ 2n^ 80*2 <2

a P. = rco = (20) in./s2 ( = 87.730 in./s2 |
Acceleration o f collar P relative to the rod. a P/A B ~ ^
Coriolis acceleration. ^0>x p<

ab ~ ~ (2) f 2* 1 f 4 l = 55.851 in./s2
I 3 JI 3 J
Acceleration o f collar P. slp = aF + P/AB + 2 x \ P/AB
aP = [87.730 in./s2 ( ] + [55.851 in./s2 ]
aP = 104.0 in./s2 ^ 57.5 aP = 104.0 in./s -4

PROBLEM 15.171
Pin P slides in a circular slot cut in the plate shown at a constant relative
speed u = 180 mm/s. Knowing that at the instant shown the plate rotates
clockwise about A at the constant rate co = 6 rad/s, determine the
acceleration of the pin if it is located at (a) point A, (b) point B,
(c) point C.
I M
SOLUTION
co = 6 rad/s J), a = 0, u - 180 mm/s = 0.18 m/s, u =0
u" (180) j y
p = 200 mm, = = 162 mm/s' =0.162 m/s~
p 200
co2 = 36 rad2/s2, 2cou = (2 )(6)(l80) = 2160 mm/s2 = 2.16 m/s2
(a) Point A. rA = - = 0.18 m/s

2
a .,- = 0, a A/p = | = 0.162 m/s2 |
Coriolis acceleration. 2cou | = 2.16 m /s' j
a = aA- + aMF + [2<yn j ] = 2.322 m/s2 | a = 2.32 m/s2 j A
(b) Point B. rB = -2^ m ^ 45, v B/F = 0.18 m/s |
a s. =-<y2r = - ( 3 6 )( o.2n/ 2 ) ^ 45 = 7.2>/2 m/s2 ^ 45
a wf = = 0.162 m/s2 -
P
Coriolis acceleration. 2cou = 2.16 m/s2
a /( = a fl.+ a WF + [2cou - ] = [^9.522 m/s2 - J + |^7.2 m/s2 j J
a B = 11.94 m/s2 ^ 37.1 A
(c) Point C. Tc = 0.4 m | , vaF = 0.18 m/s
ar = -co1rc = (36)(0.41 ) = 14.4 m/s2 |

2
aOF = = 0.162 m/s2 |
P
Coriolis acceleration. Icou = 2.16 m/s2 j
ac = ar + ac/F + [2cou | ] = 16.722 m/s2 J ac = 16.72 m/s2 | A

PROBLEM 15.172
Pin P slides in a circular slot cut in the plate shown at a constant relative
speed u = 180 mm/s. Knowing that at the instant shown the angular
velocity co of the plate is 6 rad/s clockwise and is decreasing at the rate
of 10 rad/s2, determine the acceleration o f the pin if it is located at (a)
point A, (b) point B, (c) point C.
SOLUTION
(0 = 6 rad/s j), a = 10 rad/s ^), u = 180 mm/s = 0.18 m/s, u =0
p = 200 mm, = = 162 mm/s2 = 0.162 m/s2

p 200
o r = 36 rad2/s2, 2cou = (2 )(6)(l80) = 2160 = 2.16 m/s2
(a) Point A. r-r = 0, v ^ = 0.18 m/s
aA- = 0, aA/F = | = 0.162 m/s2 |
Coriolis acceleration. 2cou | = 2.16 m /s' |
a4 = aA-+aMF + [2cou | ] = 2.322 m/s2 | a = 2.32 m/s2 j 4
(b) Point B. rfl = 2^ m ^ 45 y stF = 0.18 m/s |
a. = a k x r # - orxR = [(o.2n/2 )(10) 7 45] - [(36)(o.2>/2) ^ 45]
= [ 2V2 m/s2 ^ 45] = + [7.2V2 m/s2 ^ 45]
aBjF = = 0.162 m/s2

P
Coriolis acceleration. 2mu = 2.16 m/s2 *-
a B = aB- + a W F + [2cou - ] = [^7.522 m/s2 *J + ^9.2 m/s2 1 J
a B = 11.88 m/s2 ^ 50.7 4
(c) Point C. rc = 0.4 m |, vCIF =0 .1 8 m/s
ac- = a k x rc - co2rc = [(0.4)(10) - J - [(36)(0.4 | ) ] = [ 4 n^s2 * ] + [l4.4 m/s2 | J
2
aCIF = = 0.162 m/s21
P
Coriolis acceleration. 2cou = 2.16 m/s21
a(. = ar + aCiF + 2 cou j = [^4 m/s2 - J + [^16.722 m/s2 j J a c = 17.19 m/s2 7 ^ 76.5 4
PROBLEM 15.173
(a) the angular acceleration of the bar and (b) the relative acceleration of
pin P with respect to the bar for the given data.
d = 0.
Coordinates.
xa = { x a )o + r 0 yA = r
xb = y B = r
xc = xa> yc = 0
XP = xa + esmO, y P = r + ecosO
Data: )Q = 480 mm = 0.48 m

r = 200 mm = 0.20 m
e = 140 mm = 0.14 m
0 = 0x P = 480 mm = 0.48 m
Velocity analysis.
(0AC = 20 rad/s J), (oBD = coBD )
v P = ( r + e)coAC
= (0.20 + 0.14)(20)
= 6.8 m/s
Vp. = [xpd)BD { ] + [ecoBD ]
v P/F = [wcos/7 ] + [wsin/? | ]
_ e 0.14
tan p = = ------
xP 0.48
P = 16.260
Use Vp = Vp. + \ P/F and resolve into components.
_*: 6.8 = 0.\A o)bo + u c o sp (1)
+ | : 0 = 0.4Scobd - u sin /? (2)
Solving (1) and (2), a BD = 3.8080 rad/s, u = 6.528 m/s

Acceleration analysis. a ^c ~ a BD ~ a BD j
aA = 0 & P/A = ra)AB = (0.14)(20)2 = 56 m/s2 J
SkP = aA + aP/A = 56 m/s2 |
ap, = [xPa BD | ] + [eaB ] + [xB <o\D ] + \ea>2

BD | ]
= [0.48a BD \ ] + [0.14a BD ] + [(0.48)(3.8080)2 * ]
+[(.14)(3.8080)2 |]
= [ o . 4 8 a 5) J ] + [ 0 .1 4 aBD ] + [ 6 .9 6 0 4 m/s2 ]
+ [ 2 .0 3 0 1 m/s2 | ]
aP/F = [mcos/1 J + [asm/? | J
Coriolis acceleration.
2coBDu = (2)(3.8080)(6.528) - [49.717 m/s2 |\/?]
Use a P = P' + a P/F + [2coBD u [\ /?] and resolve into components.
JL.: 0 = 0.\4aBD - 6.9604 + u cos/? + 49.717sin/?
or 0.14aBD + wcos fi = -6.9602 (3)
+ j: 56 = 0.48aSD + 2.0301 + zisin/? + 49.717cos/7
or 0.48flD - w sin /? = 6.2415 (4)
Solving (3) and (4), a BD = 8.09 rad/s, u = -8.43 m/s2
(a) a BD = 8.09 rad/s2 J) 4
(b) aP/F = 8.43 m/s2 7 16.26 4

PROBLEM 15.174
velocity of 20 rad/s. Knowing that x = 480 mm when 6 - 0, determine
(a) the angular acceleration of the bar and (b) the relative acceleration of
pin P with respect to the bar for the given data.
G = 90.
SOLUTION
/ K. _ Coordinates.
^ J
v ___ __ -9/7 \ xA = { x A)0 + rd> yA = r
i 1 " \/7 1
T e f 1 a *b = o. yB = r
Y
xc = xA, yc =
L
xP = x A + es\n6, y P = r + ecosG
Data: ( x a )q =480 mm =0.48 m

r = 200 mm - 0.20 m
e = 140 mm = 0.14 m
G = 90 xP = 0.48 + (0.20) - | + (0.14) = 0.93416 m, P =0

\2.
Velocity analysis.
(oAC = 20 rad/s a>BD = (oBD )
\p = vA + Vp/A
= [r>Ac ] + [e>Ac 1 ]
= [(0-2)(20) ] + [ (0 .1 4 )(2 0 )J ]
= [4 in./s - ] + [2.8 in./s |]
V/v = | J = ^0.9341 6(0 Bp | J, Vp/p = u
Use \ P = v r-+ v P/l. and resolve into components.
_ t ,: 4 = u u = 4.00 m/s.
+ |: 2.8 = 0.93416<ufiD a)BD = 2.9973 rad/s J)
Acceleration analysis. a AC =0, a Hn = a BD ^
a = 0, a p/A = rarAB = (0.14)(20) = 56 m/s2 -
aP = a + aP/A = 56 m/s'
aP. = \xPa BD | ] + [x p g)2

bd ] = [0.93416a BD { ]
+[(0.93416)(2.9973)2 ]
= [o.93416<z5D J ] + [8.3923 m/s2 ]
nP/F = m *"
Coriolis acceleration 2coBDu = (2)(2.9973)(4.00) = 23.978 m/s2 |
Use aP = a p. + ap/F + 2coBu | and resolve into components.
'f - -5 6 = 8.3923 + u, u = -47.6 m/s2,
+ ): 0 = 0.93416orSD + 23.978 a BD = -25.7 rad/s2
(a) <*bd = 25.7 rad/s2 4
(u\ aP/F = 47.6 m/s2 - 4

PROBLEM 15.175
Knowing that at the instant shown the rod attached at B rotates with a
constant counterclockwise angular velocity coB of 6 rad/s, determine the
angular velocity and angular acceleration of the rod attached at A.
SOLUTION
Geometry. AB - 16 in., BD = 16 tan 30, AD = 16sec30 in.
Let the rod attached at B be a rotating frame of reference. Q = eoB = 6 rad/s )
Motion o f coinciding point D' on the rod attached at B.
\ D. = ( BD ) m b = (I6tan30)(6) = 96tan30 in./s
a 0. = (BD)a)l = (l6tan30)(6)2 = 576tan30 in./s2 f
Motion o f collar D relative to the frame.
DIF = U t- "/>/r = |
Coriolis acceleration. 2 (0 Bu - ( 2 ) ( 6 ) m = 12m
vo = + \ aF = [96tan30 ] + [m| ]
a /> = * D + *DtF + 2(ObU
= [576 tan 30 f ] + [ | ] + [l2 ]
Rod AD. vp = (A D ) coa = (l6sec30)o^ ^ 6 0
a D = [l6sec30a/< ^ 6 0 ] + 16sec30<y2 !^ 3 0
Equate the two expressions for \ D and resolve into components.
96tan30 = (I6sec30)ru/{(cos600), a)A = 6.00 rad/s ^ A

+ |: u = (I6sec30)<y/,sin60 = (I6sec30)(6)(sin60) = 96 in./s
Equate the two expressions for aD and resolve into components.
_+: - 12m = (l6 sec3 0 )a/<cos60 - 16sec30<y^cos30
a. =
. 1*3-1 . (I6)(6): - jl2 ) ( t) _ ^
16 sec 30 cos 60 16 sec 30 cos 60
a A = 62.4 rad/s2 j) A
PROBLEM 15.176
16 i l l .
Knowing that at the instant shown the rod attached at B rotates with a
constant counterclockwise angular velocity a)B of 6 rad/s, determine the
angular velocity and angular acceleration of the rod attached at A.
SOLUTION
Geometry. AB = 16 in., BD = 16tan30 in. AD = 16sec30 in.
Let the rod attached at A be a rotating frame of reference. 0 = 6 ^ ,
Motion o f coinciding point D' on rod attached at A.
vD = ( AD)(oa = (l6sec30)ry/< ^ 6 0
a ,y = \{ A D )a A ^ 60] + \AD(o2A ^ 3 0 ] = [16SCC30X, ^ 6 0 ] + [ l6 s e c 3 0 ^ 2^3 0 ]
Motion o f collar D relative to the frame.
v iyF = u ^ 3 0 , aaF = u "^ 3 0
Coriolis acceleration. 2coAu ^ 6 0
vo = vo' + y a f = [(16sec3 0 ) ^ ^ 6 0 ] + [ ^ 3 0 ]
a = [(l6 sec a .,) ^ 6 0 ] + [(I6sec30)<y^ 2^30J + [ii " ^ 3 0 ] + [2ry^ ^ 6 0 ]
Rod BD. v0 = ( BD)(ob = (I6tan30)(6) = [(96tan30)in./s: - ]
a D = (BD)col = (I6tan30)(6)* = [(576tan30)in./s2 | ]
Equate the two expressions for \ D and resolve into components.
^60: (l6sec30)<y/( = 96tan30cos60, toA = 1.500 rad/s ^ A
^30: u = 96tan 30cos30 = 48 in./s
Equate the two expressions for a,, and resolve into components.
^60: (I6sec30)a/1 + 2coAu = (576tan30)(sin60)
_ 576sec30sin60 - 2xoAu _ 576tan30sin60 - (2)(l.5)(48)

A~ 16sec 30 " 16sec 30
= 7.79 rad/s2 a A = 7.79 rad/s2 <

Hs - V3fi PROBLEM 15.177
1 .2 5 in .
The Geneva mechanism shown is used to provide an intermittent rotary
motion of disk S. Disk D rotates with a constant counterclockwise angular
velocity o)n of 8 rad/s. A pin P is attached to disk D and can slide in one
of six equally spaced slots cut in disk S. It is desirable that the angular
velocity of disk S be zero as the pin enters and leaves each of the six
slots; this will occur if the distance between the centers of the disks and
the radii of the disks are related as shown. Determine the angular velocity
and angular acceleration of disk S at the instant when <j>= 150.
SOLUTION
Geometry.
Law of cosines.
r 2 = 1.252 + 2.502 - (2)(l.25)(2.50)cos30

r = 1.54914 in.
2. s o ,v.
. - . sin B sin 30
Law of sines. -
1.25 r
P = 23.794
Let disk S' be a rotating frame of reference. Q = cos j), Q = as ^
Motion o f coinciding point P' on the disk.

Xp. = rcos = 1.54914<yv P
a B. = - a vk x rP,G - eo2
s r PIO = [l.54914av p ] + [ l .5 4 9 1 4 ^ 7 /? ]
Motion relative to the frame.
v p/s = u P ap/s ~ P
Coriolis acceleration. 2cosu \ P
x P = X p. + x P/s = [ l . 5 4 9 1 4 a 5 \ P] + [u p ]
3p 3p + 3 p/ + 2
, ( 0 \
= [1.54914K p) + [l.54914<y| 7 p ] + [u 7 ] + [2a>s u \ p ]
Motion o f disk D. (Rotation about B)
x P = ( BP)coD = (1.25)(8) = 10 in./s 7 30
a P = [{B P )aD 7 60] + [ ( BP)co| ^ 30] = 0 + [(l.25)(8)2 ^ 30]
= 80 in./s2 ^ 30
f\ p\ 1.54914* = 10cos(30 + p )
10cos53.794 , 01, ..
= ------------------- = 3.8130 rad/s
6 1.54914
cos = 3.81 rad/s
-pr P: u = 10sin (30 + P ) = 10sin 53.794 = 8.0690 in./s
Equate the two expressions for a,, and resolve into components.
\ P: 1.54914as - 2xosu - 80 sin (30 + p )
80sin53.794 + (2)(3.8130)(8.0690) o ^ _2
as ~ 1.54914 ~ S
a s = 81.4 rad/s2
PROBLEM 15.178
In Prob. 15,177, determine the angular velocity and angular acceleration

o f disk S at the instant when $ = 135.
SOLUTION
Geometry.
Law of cosines.
r 2 = 1.252 + 2.502 - (2)(l.25)(2.50)cos45

r = 1.84203 in.
sin/? sin 45
1.25 ~ r
0 = 28.675
Let disk S be a rotating frame of reference. Q = cos j , Q = as )
Motion o f coinciding point P' on the disk.

\ p, = rcos = 1.84203cos f\, 0
aP, - - a sk x tp!0 - a>jrP/0 - [l.84203as 0 \ + j l .842032 -pr 0 j
Vp/s = u 7T P am = U / * 0
Coriolis acceleration. 2cosu \ 0
Vp = Vp, + v P/s [ l .8 4 2 0 3 < % K 0] + [w 7 0]
a j. = a p "i- a P/s ^ 2 coBu v
= [l.84203as | \ 0} + [l.84203| 7 0~] + [zi -pr ] + [2cos u \ 0]
Motion o f disk D. (Rotation about B)
\ P = (B P ) cod = (l.25)(8) = 10 in./s 7 30
a,, = [{B P )aD ^ 45] + [[BP)a>2s ^ 45] = 0 + (l.25)(8)2 ^ 45
= 80 in./s2 ^ 45
P: 1.84203% = 10cos(45 + p )
lOcos 73.675
% = ------------------- = 1.52595 rad/s
6 1.84203
% = 1.526 rad/s J) 4
^ p: u = 10sin(45 + p ) = lOsin73.675 = 9.5968 in./s
Equate the two expressions for aP and resolve into components.
f'y p \ 1.84203% - 2a>su = 80sin(45 + P )
80sin73.675 + (2)(1.52595)(9.5968) = ^ ^
s 1.84203
a s = 57.6 rad/s2 j 4
PROBLEM 15.179
The disk shown rotates with a constant clockwise angular velocity of 12

rad/s. At the instant shown, determine (a) the angular velocity and
angular acceleration of rod BD, (b) the velocity and acceleration of the
point of the rod coinciding with E.
SOLUTION
Geometry. tan P = , B = 26.565
10
10
= 11.1803 in.
COS P
Velocity analysis. coAB = 12 rad/s j , coBn = coBU j
\ B = (AB)coab = (5)(12) = 60 in./s f
VF = v + (BE)coBn p> p
= [60 | ] +[11.1803coBD^ P]
V E/BD = [ w N P \* v =
Use v = v* + v e/bi) and resolve into components.
+ p * P'- 0 = -60sin/? + 11.18O3cu0/J, coBD = 2.400 rad/s
+ \ P: 0 = 60cos P - u, u = 53.666 m/s
yE. = [60 | ] + [(11.1803)(2.400) p f l \ = 53.7 in./s ^ 63.4
aB = ( A B ) co2ab = (5)(12)2 = 720 in./s2 *
- = a + [ { b e )<*bd j r P ] + [ { b e W bd \ P]
= [720 ] + [l 1.1803aBO p r p \ + [64.399 \ p]
a E/BD = [ K P~\ a = 0
2(oBDu = (2)(2.400)(53.666) = [257.60 p p]

Use a - a' + &eibd + [ L

' ( bd u IF ' J31 and resolve into components.
+ -p /?: 0 = -720cos/? + 11.1803aS! + 257.60
a BD 34.56 rad/s2
+ \ 1/ 3: 0 = -7 2 0 sin ^ + 64.399 - u, u = -257.59 in/s2
2le, = [720 ] + [(11.1803)(34.56) ^ P] + [64.399 \ /?]
= [720 - ] + [386.39 ^ /?] + [64.399 \ j 0 \
= 365 in./s2 ^ 18.4
Summary:
^ 7 \
(a) ct)BD = 2.40 rad/s y , a BD = 34.6 rad/s y A
(b) \ E>= 53.7 in./s ^ 63.4, a , = 365 in./s2 "=v 18.4 ^

PROBLEM 15.180
Collar B slides along rod AC and is attached to a block that moves in a

vertical slot. Knowing that R = 18 in., 9 = 30, ft) = 6 rad/s, and
a - 4 rad/s2, determine the velocity and acceleration of collar B.
SOLUTION
18
Geometry. R = \S in., 9 = 30, AB = = 20.7846 in.
cos30
Pin B: v fi= v B f, aB = % |
Let rod A C be a rotating frame of reference. co = 6 rad/s, a = 4 rad/s2
v B. = (AB)co = [20.7846ft) \ 30)
a B. = [20.7846a \ 30] + [20.7847ft)2 ^ 30]
Motion of B relative to the frame.
v b /a c = [M 30]. *B/AC = [ ^ 30]
Velocity Analysis. \ B = v fl. + v flMC, co = 6 rad/s
vB | [ = 2 0 .7 8 4 6 < y \ 3 0 ] + [u ^ 3 0 ]
-~: 0 = -(20.7846)(6)sin30 + cos30
u = 72.000 in./s,
+ |: vB = (20.7846)(6)cos30 + 72.000sin30
vB = 144.000 in./s v a = 144.0 in./s | 4
Coriolis acceleration. 2cou = (2)(6)(72.000) = [864 in./s2 \ 30]
Acceleration analysis. a B = a B. + a B/AC + [2ft)w \ 30], a = 4 rad/s2
[aB \ ] = [20.7846a \ 30] + [20.7847ft)2 30] + [u ^ 30] + [1728 \ 30]
= [83.1384\ 30] + [748.246 7 ^ 30 + [u ^ 30] + [864 \ 30]
= [947.14 \ 30] + [748.246 ^ 30] + [li ^ 30]

JL : 0 = -947.14sin30 - 748.246cos30 + cos30
u = 1295.51 in./s2
+ |: aB = 947.14cos30 - 748.246sin30 + 1295.51sin30o
= 1094 in./s2 aB = 1094 in./s2 | 4

PROBLEM 15.181
The bowling ball shown rolls without slipping on the horizontal xz plane
with an angular velocity co = coxi + covj + co. k . Knowing that
v A = (4.8 m /s)i - (4.8 m /s)j + (3.6 m /s)k and vD = (9 .6 m /s)i
+ (7.2 m /s)k, determine (a) the angular velocity of the bowling ball, (b)
the velocity of its center C.
109 mm
SOLUTION
At the given instant, the origin is not moving.
v A = a x rA: 4.8i - 4.8j + 3.6k = cor (oy co.

0.109 0.109 0
4.8i - 4.8j + 3.6k = -0.109<y.i + 0.109<y.j + 0.109(<yv - <w,.)k
i: - 0.109ru, = 4.8 co. = -44.037 rad/s

j: 0.109<y. = -4.8 co. = -44.037 rad/s
k: 0.109(ft>x - coy ) = 3.6 cox - coY = 33.028 rad/s
i j k
v0 = <0 x r,o- 9.6i + 7.2k = rO x COy CO.
0 0.218 0
9.6i + 7.2k = -0.218<y.i + 0.218<yvk
i: - 0.218co. = 9.6 co. = -44.037 rad/s

j: 0.21 Scox = 7.2 cox = 33.028 rad/s
co, = cor - 33.028 = 0
(a) Angular velocity. co = (33.0 rad/s)i - (44.0 rad/s)k A
(b) Velocity o f point C.
vc = co x rc = (33.0281 - 44.037k) x 0.109j

= 4.8i + 3.6k
v(- = (4.80 m/s)i + (3.60 m/s)k A

PROBLEM 15.182
The bowling ball shown rolls without slipping on the horizontal xz plane
with an angular velocity co = coxi + ft),,j + co.k . Knowing that
vs = (3.6 m /s)i - (4.8 m / s)j + (4.8 m /s)k and v0 = (7.2 m /s)i
+ (9.6 m /s)k, determine (a) the angular velocity of the bowling ball, (b)
the velocity of its center C.
SOLUTION
At the given instant, the origin is not moving.
i j k
v H = to x rB: 3.6i - 4.8j + 4.8k ", f t;,.
0 0.109 0.109
3.6I - 4.8j + 4.8k = 0.109(<y,, - <u.)i - 0.109<yrj + 0.109<wvk
i: 0.l09(<uv -&>.) = 3.6 coY - co. = 33.028 rad/s

j: -0.109<yr = -4.8 cox = 44.037 rad/s
k: 0.109ft)t = 4.8 cox = 44.037 rad/s
* J k
v D = to x rn
*D: 7.2i + 9.6k = cox COy CO.
0 0.218 0
7.2i + 9.6k = -0.218<y.i + 0.218<yrk
i: - 0.218<u. = 7.2 co. = -33.028 rad/s

k: 0.218rut = 9.6 ft) = 44.037 rad/s
ft), = 33.028 + ft). = 0
(a) Angular velocity. co = (44.0 rad/s)i - (33.0 rad/s)k A
(b) Velocity o f point C.
vc = to x rc = (44.037i - 33.028k) x (0.109j)

= 3.6i + 4.8k
vc = (3.60 m/s)i + (4.80 m/s)k A

PROBLEM 15.183
At the instant considered the radar antenna shown rotates about the origin
of coordinates with an angular velocity m = coxi + coyj + <y.k . Knowing
that (v^) = 15 in./s, (vB) = 9 in./s, and (vg)_ = 18 in./s, determine
(a) the angular velocity of the antenna, (6) the velocity of point A.
rA = (l2 in .)i - (lO in.)k \ A = ( v ^ i + 15j + (v ^ ).k
i j k
V /1 = (b x rA: (vA) i + 15j + (Vy<) ,k = < x > y > z
12 0 -1 0
(v^)î + 15j + (v^). k = -10ruvi + (l2*y. + 10o>x) j - 12<y.k
i: (VA = -W<y ( 1)
j: 15 = 12<a. + 10cox (2 )
k: ( vx ) 2 = ~ 12& y (3)
rB = (12 in.)i - (10in.)j \ B = ( v ^ i + 9j + 18k
i j k
y B = ( o x r B: (vfl)xi + 9j + 18k = <ox 0)y a>:
12 -1 0 0
(vfl)xi + 9j + 18k = lOcu.i + 12<y.j - (l0<yx + 12ry,,)k
i: (va )x = 12ry. (4)
j: 9 = 12. (5)
k: 18 = -10x -12,. (6)
co. = 0.75 rad/s
ax = (15 - 12.) = 0.600 rad/s

1Qv
(oy = (18 + 10x) = -2.00 rad/s

(a) Angular velocity. to = (0.600 rad/s)i - (2.00 rad/s) j + (0.750 rad/s)k A
From (1), (v*)^ - -10a>v = 20.0 in./s
From (3), (vA)z = -1 2 coy = 24.0 in./s
(b) Velocity o f point A. vA = (20.0 in./s)i + (15.00 in./s) j + (24.0 in./s)k A

PROBLEM 15.184
The blade assembly of an oscillating fan rotates with a constant angular

velocity co{ = -(4 5 0 rpm)i with respect to the motor housing.
Determine the angular acceleration of the blade assembly, knowing that
at the instant shown the angular velocity and the angular acceleration of
the motor housing are, respectively, <u2 = - ( 3 rpm )j and a 2 = 0.
SOLUTION
co, = -(4 5 0 rpm)i = -(l5 /r rad/s)i
oo2 = - ( 3 rpm )j = -(0.100/r rad/s)j
Let the frame Oxyz rotate with the motor housing.
Rate of rotation of frame Oxyz: Cl = eo2 - -(0.100/r rad/s) j
a = d), + d)2 = (cb, + + O x (, + 2)
= (0 + 0) + (-0.100/rj) x (-15/ri - 0.100/rj)
= -1 .5 0 0 /rk a = -(l4 .8 0 rad/s2 )k <

PROBLEM 15.185
Gear A is constrained to roll on the fixed gear B but is free to rotate about
axle AD. Axle AD is connected by a clevis to the vertical shaft DE which
rotates as shown with a constant angular velocity <y, . Determine (a) the
angular velocity of gear A, (b) the angular acceleration o f gear A.
SOLUTION
Let o)s be the spin of gear A about the axle AD.
Total angular velocity. co = + cos ( - s i n d'\ + cos#j) ( 1)
rr = (Z,sin# - rc o s # )i - (Lcos# + r s in # ) j
Since gear B is fixed, vc = 0.
j k
\ r = to x rr = -<y5sin# (! + cos cost?) 0 =0
(L sin# - rco s# ) -(L c o s # + rsin # ) 0
[% sin#(Z.cos# + /-sin#) - cos cos#(L sin# - rc o s # )]k
- ft), (L sin# - rc o s # )k = 0
cy/^sin2# + cos2#) = cosr = <U|(Z,sin# - rco s# )
cor = co, I sin# - cos#
(L .
(a) Angular velocity. co = <y,j + <y. sin# - cos# (-s in # i + cos#j)
r
w = co, sin# cos# - sin# |i + I sin# + cos# Ij
(b) Angular acceleration.
Frame Oxyz is rotating with angular velocity Q = ryj.
a = d) = to + fi x co
= 0 + cy,j x J <y, sin # cos# sin# |i + cos# + sin# |j

r
a = <y, sin#| sin# - cos# Ik 4

PROBLEM 15.186
Gear A is constrained to roll on gear B but is free to rotate about axle AD.
Axle AD is connected by a clevis to the vertical shaft DE which rotates as
shown with a constant angular velocity co, . Knowing that gear B rotates
with a constant angular velocity co2 , determine (a) the angular velocity
of gear A, (b) the angular acceleration of gear A.
SOLUTION
Let cos be the spin of gear A about the axle AD.
Total angular velocity. co = co,j + co, ( sin + cos#j)
rc = (Z.sin# - rc o s # )i - ( Ic o s # + /-sin#) j
Since gear B is rotating with angular velocity co2j, on gear B ,
vc- = 2J x rciB = ~co2(Ls\nG - rc o s# )k
i j k
On gear A v(. = co x rr = -cos sin# (cu, + <y, cos#) 0
(Z.sin# - rco s# ) -(L c o s 9 + /-sin#) 0
vc = [c,sin#(Z,cos# + rsm # ) - <y, cos#(Z,sin# - /-cos#)]k

-co, ( L sin# - rc o s# )k
Equating the two expressions for vr and solving for cos.
cos = [co, - <y2)^sin# - co s# j
(a) Angular velocity. co = <y,j + [co, - (o2) sin 9 - cos 9 ( sin + cos#j)
\r
L . ' L N
co = co, sin 9 cos9 sin# i + sin# + cos 9 + co-,\ cos9 - sin 9 (s i n + cos#j) 4
r r j r
Frame Oxyz is rotating with angular velocity O = <y,j.
(L .
= 0 + co,j x co = co, (co, - co2) sin# - cos#
r
L.
a = co, (co, - <y2)[ sin# - cos# k 4
PROBLEM 15.187
7.5 in.
The L-shaped arm BCD rotates about the z axis with a constant angular
velocity eo, o f 5 rad/s. Knowing that the 7.5-in.-radius disk rotates about
BC with a constant angular velocity co2 of 4 rad/s, determine the angular
acceleration of the disk.
SOLUTION
Total angular velocity. a) = 2j + zW|k
to = (4 rad/s) j + (5 rad/s)k
Frame Oxyz is rotating with angular velocity f t = <y,k.
a = (b = + ft x (o
= 0 + <w,k x (*y2j + <y,k) = -<y,<y2i
a = -(5 ) (4 ) i = -20i
a = -(2 0 .0 rad/s2)i 4
PROBLEM 15.188
In Prob. 15.187, determine (a) the velocity of point A, (b) the acceleration
of point A.
SOLUTION
Total angular velocity. co =co-,j + ft>|k
co = (4 rad/s) j + (5 rad/s)k
Frame Oxyz is rotating with angular velocity Q = <y,k.
a = co = cb +Q x co
= 0 + <u,k x (<y2j + <y,k) = -cy,<y2i
a = (5)(4)i = -20i a = -(2 0 .0 rad/s: )i
(a) Velocity o f point A.
r a = (7-5 'n-) + 'n )J
i j k
v . = co x r , = 0 4 5 = (-3 0 in./s)i + (37.5 in./s) j - (30 in./s)k
7.5 6 0
v A = -(2.50 ft/s)i + (3.13 ft/s) j - (2.50 ft/s)k <
(b) Acceleration o f point A.
ij k i j k
a = a x r 4 + co x v A = -20 0 0 + 0 4 5
7.5 6 0 -3 0 37.5 -30
= -120k - 307.5i - 150j + 120k
= (-307.5 in./s2)i - ( l 50 in./s2)j
aA = -(2 5 .6 ft/s2)i - (l2.50 ft/s2)j <

PROBLEM 15.189
A gun barrel o f length OP = 12 ft is mounted on a turret as shown. To

keep the gun aimed at a moving target the azimuth angle p is being
increased at the rate d p t dt - 30/s and the elevation angle y is being
7 increased at the rate d y td t = lO'Vs. For the position P = 90 and
y = 30, determine (a) the angular velocity o f the barrel, (b) the angular
acceleration of the barrel, (c) the velocity and acceleration of point P.
SOLUTION
dp . ( 30;r
Let CD, = ------ I = - -------- rad/s rad/s |j
dt U 80 6 1
dy. ( IOtt n
co, = - i = - ----- rad/s i = - rad/s
dt I 180 18
(a) Angular velocity. co = co, + co,
co = -(0.1745 rad/s)i - (0.524 rad/s) j 4

Frame Oxyz is rotating with angular velocity Q = co,
a = co = (60xyz + Q x co, = 0 + co, x (co, + co2) = co, x co,
it . 71. - 2
x | ----- 1 a = -(0.0914 rad/s2)k <
"6 J 18 T081
(c) Velocity and acceleration o f point P.
For p = 90 and y = 30, rP = (12 ft)(sin30j + cos30k)
1 J k
/ \
v P = co x rr = 1 * 1 f - l 0
OO
,6 )
0 12 sin 30 12 cos 30
= 5.44141 + 1.81380j - 1.04720k
\ P = -(5.44 ft/s)i + (1.814 ft/s) j - (1.047 ft/s)k 4

aP = a x rP + <o x y p
i j k
/ \ / n\
= * (6j + 10.3923k) + 1 1 - 0
UB J J ,
-5.4414 1.81380 -1.04720
= 0.5483 li + Oj + 0.5483 li - 0.18277j - 3.1657k
aP = (l.097 ft/s2 ji - (0.1828 ft/s2) j - (3.17 ft/s2)k <

PROBLEM 15.190
A 60-mm-radius disk spins at the constant rate (02 = 4 rad/s about an

axis held by a housing attached to a horizontal rod that rotates at the
constant rate coi = 5 rad/s. For the position shown, determine (a) the
angular acceleration of the disk, (b) the acceleration of point P on the rim
of the disk if 6 = 0, (c) the acceleration of point P on the rim of the disk
if 9 = 90.
SOLUTION
Angular velocity. co = <y,i + a2k
co = (5 rad/s)i + (4 rad/s)k
(a) Angular acceleration.
Frame Oxyz is rotating with angular velocity Q. = co,i.
a = co = cb^ + O x co
= 0 + <y,i x (<y,i + cy,k) = -cO\(o2j
= - ( 4 ) ( 5 ) j = -20j a = -(2 0 .0 rad/s2)j <
(b) 9 = 0. Acceleration at point P.
17, = (60 mm)i = (0.06 m )i

vP = co x rP = (5i + 4k) x 0.06i = 0.24j
ap = a x 17, + co x Vp = 20j x 0.06i + (5i + 4 k ) x 0.24j
= 1.2k + 1.2k - 0.96i = -0.961 + 2.4k
ap - ^0.960 m/s2)i + ^2.40 m/s2 )k A
(c) 6 = 90. Acceleration at point P.
r,, = (0.06 m) j
Vp = co x rp = (5i + 4k) x 0.06j = -0.24i + 0.3k
ap = a x r p + coxvp
= 20j x 0.06j + (5i + 4k) x (-0.24i + 0.3k)
= 0 + 0 - 1.5j - 0.96j + 0 = -2.46j
ap = -^2.46 m/s2j j A
PROBLEM 15.191
A 60-mm-radius disk spins at the constant rate co2 = 4 rad/s about an axis
held by a housing attached to a horizontal rod that rotates at the constant rate
(ox = 5 rad/s. Knowing that 0 = 30, determine the acceleration o f point P
on the rim of the disk.
SOLUTION
Angular velocity. 2j
= (4)(5) j = 20j a = -(20.0 rad/s2)j
6 = 30, rP = (60 mm)(cos30i + sin30j)

= (0.06 m)(cos30i + sin30j)
i j k
v = co x r = 5 0 4
0.06cos30 0.06sin 30 0
= (-0.12 m/s)i + (0.20785 m /s)j + (0.15 m/s)k
i J k i j k
0 -20 0 + 5 0 4
0.06 cos30 0.06sin 30 0 -0 .1 2 0.20785 0.15
= 1.03923k - 0.8314i - 1.23j + 1.03925k
a 7, = -^0.831 m/s2ji - (l.230 m/s2)j + ^2.08 m/s2jk A

PROBLEM 15.192
Two rods are welded together to form the assembly shown that is
attached to a fixed ball-and-socket joint at D. Rod AB moves on the
inclined plane E that is perpendicular to the yz plane. Knowing that at the
instant shown the speed of point B is 100 mm/s and cov < 0, determine
(a) the angular velocity of the assembly, (b) the velocity of point A.
SOLUTION
Geometry.
yz plane. Law of cosines.
2802 = 2002 + dr - 2 (200) d cos 120

z
j) Zoo O By solving the quadratic equation d - 120 mm
Let point H be the midpoint of rod AB. rn/i) = (120 mm) sin 60j - (260 mm)k
ri<rn = (l mm) ' + (I20)sin60j - (260 mm)k, = (-100 mm)i + (120 mm)sin60j - (260 mm)k
Let A. be a unit vector normal to plane ABD. X = sin 30j + cos30k
The projection of vn onto the normal X is zero.
0 sin 30 cos 30
X v = X to x rHID COx "(O
'y. a>: = 219.90<yr = 0, co. = 0
0 120 sin 60 -260
Also, the projection of v WA onto the normal X is zero.
0 sin30 cos30
' y B/A = X (o x r BIA
n/J = 0 cov co: = 200(sin30fi>. - cos306>(1)
200 0 0
= 0 co. = \Ficov
Then, w = <u, j + \f5covk
i
\ H - to x r B/D - 0 c\ 73,CO.
100 120 sin 60 -260
= -(440ft>, )i + (l73.205<y,.)j - (l00<yv)k

v 2b= {vB t +(v4 +

+(v^)z = f4402 + 1132052 1002K = 102
ay = 0.042808 rad2/s2 <oy = -0.20690 rad/s
coz = S (-0.20690) = -0.35836 rad/s
(a) Angular velocity. a = -0.20690j - 0.35836k
a = -(0.207 rad/s) j - (0.358 rad/s) k -4
(b) Velocity o f point A. a x rAjD
i J k
vj = 0 -0.20690 -0.35836
100 120 sin 60 -260
= (91.0 mm/s)i + (35.8 mm/s) j - (20.7 mm/s)k -4

PROBLEM 15.193
In Prob. 15.192 the speed of point B is known to be increasing at the rate

of 200 m m /s2. For the position shown, determine (a) the angular
acceleration of the assembly, (b) the radius of curvature of the path of
point B.
SOLUTION
From the solution to Problem 15.192, co = (-0.20690 rad/s) j - (0.35836 rad/s)k
r n/D = (120 mm)sin60j - (260 mm)k, rB/0 = (100 mm)i + 120sin60j - (260 m m)k
X = sin 30j + cos30k, vB = 100 mm/s
Note that co is parallel to X.
The projection of a onto the direction X is zero.
X a = X a x rH/D + X to x v H = X a x rH/D + 0
0 sin 30 cos30
ax ay *
= 219.90% = 0 ax = 0
0 120sin60 -260
Also, the projection of a fl//) onto the direction X is zero.
X z WA = X a x rBM + X co x rBM = X a x rB/A + 0
0 sin 30 cos 30
0 ay a. = 200(sin30% - cos30a>r) = 0 a . = sf3ay
200 0
Velocity at B. v fi = co x r,BIA
i j k
Vb = 0 -0.20690 -0.35836 = (91.036 mm/s)i - (35.836 mm/s) j + (20.690 mm/s)k
100 120 sin 60 -260
v
Unit vector tangent to the path of point B. e, =
e, = 0.91036i - 0.35836j + 0.20690k

Component o f acceleration tangent to the path
(aB\ = e, aB = e, a x t m + et a> x \ B = e( a x rBID + 0

0.91036 -0.35836 0.20690
0 ay S a v = -483.32a,,
100 120 sin 60 -260
But (aB) is given as 200 mm/s2, thus -483.32a = 200
a y = -0.41380 rad/s2, a z = ^3(-41380) = -0.71673 rad/s2
(a) Angular acceleration. a = -(0.414 rad/s2 j j - (0.717 rad/s2j k 4
Normal component o f acceleration. (a )n ~ K v b
i j k
(as) - 0 -0.20690 -0.35836
91.036 -35.836 20.690
= (-17.123 mm/s2ji - (32.624 mm/s2) j + 48.835 mm/s2 }k
(aB)n = ^/(17.123)2 + (32.624)2 + (18.835)2 = 41.379 mm/s2
But (aB) = i p = = 1122)1 = 241.7 mm

K >n P {aB)n 41.379
(b) Radius o f curvature ofpath. p = 242 mm 4

PROBLEM 15.194
In the planetary gear system shown, gears A and B are rigidly connected
to each other and rotate as a unit about shaft FG. Gears C and D rotate
with constant angular velocities of 15 rad/s and 30 rad/s, respectively,
both counterclockwise when viewed from the right. Choosing the z axis
pointing out of the plane of the figure, determine (a) the common angular
velocity of gears A and B, (b) the common angular acceleration of gears A
and B, (c) the acceleration of the tooth of gear B that is in contact with
gear D at point 2.
SOLUTION
Contact points. i*j = (-6 in.)i + (9 in.)j r2 = (4 in.)i + (3 in.) j
Gear C. o)r = (15 rad/s,)i
v, = (oc x r, = 15i x (-6 i + 9j) = (135 in./s)k
Gear D. o)D = (30 rad/s)i
v2 = (S>D x r2 = 30i x (4i + 3j) = (90 in./s)k
Gear A and B. (0 = a>xi + <wvj + tw.k
i j k
V| = <Dx r, = >x CO. = -9<u.i + 6<u.j + (9(0x + 6(0 Y) k
-6 9 0

Matching expressions for v,,

II
II
I
o
$
t
k : 9(0x + 6(0 v = 135

(1)
i j k
v2 = to x r2 = = -2(oa + 4<y.j + (3(ox - 4 ( o v)k
4 3 0
U)
1
Matching expression for v2.

II
II
S
o
p
k: 3(ox - 4(ov = 90 (2)

Solving (1) and (2) simultaneously, coT = 20 rad/s, (oy = -7.5 rad/s
(a) Angular velocity. co = (20.0 rad/s) i - (7.50 rad/s) j A
Shaft HFG and thus the frame Fxyz rotates with angular velocity
n = = (20 rad/s )i.
a = d) = Fxyz + Q x a = 0 + 20i x (20i - 7.5j)

(b) Angular acceleration. a (l50.0 rad/s jk 4
(c) Acceleration o f tooth o f gear B at point 2. a P ~ _0-414 rad/s j - 0.717 rad/s k A
a z = a x r2 + <a x v 2
i j k i i k
Ln
-J1
0 0 -150 + 20
O
4 3 0 0 0 90
= 450i - 600j + Ok - 675i - 1800j + Ok
- (-225 in./s2) i - (2400 in./s2) j a 2 = -(l8 .7 5 ft/s2)i - (200 ft/s2) j <

PROBLEM 15.195
A 1.5-in.-radius wheel is mounted on an axle OB of length 5 in. The

wheel rolls without sliding on the horizontal floor, and the axle is
perpendicular to the plane of the wheel. Knowing that the system rotates
about the y axis at a constant rate <y, = 2.4 rad/s, determine (a) the
angular velocity of the wheel, (b) the angular acceleration of the wheel,
(c) the acceleration of point C located at the highest point on the rim of
the wheel.
SOLUTION
Geometry. 1 = 5 in., 6 = 1.5 in.,
tan /? = y = 0.3 P = 16.699
rA - - / sec p \
rB = -I cos p i + b cos P \
(a) Angular velocities.

For the system, Q = <y,j = (2.4 rad/s) j
For the wheel, co = coxi + covj + <y.k
v A = to x rA = (cuti + <uvj + <y;k) x (-/sec /?i) = 0
-(/cy.secP) j - (/<avsec/?)k = 0
coy = 0, co. = 0 co = ojxi
\ B = co x rB = a)x i x (-/co s/?i + 6cos/?j) = (<yx6cos/?)k
For the system,
v fl = Q x rB = <y,j x (-/co s/?i + 6cosy9j) = (cy,/cos>S)k
Matching the two expressions for \ B,
coxb cos P = cu,/cos p or cox = = ^ = 8 rad/s

b 1.5
co = (8.00 rad/s)i A
a = cb = cbfl*,, + Q x co = (0 + 2.4j) x 8i = -(l9 .2 rad/s2)k
a = -(l9 .2 0 rad/s2 )k A
(c) Conditions at point C.
ifc = - -(/cos/? - Z>sin/?)i + 2/>cos/?j = (-4.7891 in.)i + (2.8735 in.)j
v c = co x rc = 8i x (-4.358U + 2.8735j) - (22.988 in./s)k
ac = a x rc + co x vc
= -19.2k x (-4.358li + 2.8735j) + 8i x 22.988k
= (-55.171 in./s2)i - (l00.229 in./s2) j ac = -(4 .6 0 ft/s2)i - (8.35 ft/s2) j <

PROBLEM 15.196
Rod AB is connected by ball-and-socket joints to collar A and to the

320-mm-diameter disk C. Knowing that disk C rotates counterclockwise
at the constant rate co0 = 3 rad/s in the zx plane, determine the velocity
of collar A for the position shown.
SOLUTION
Geometry. rwc = (-0.16 m )k, r^g = - ( 0 .5 m )i + (0.4 m )j - (0.16 m )k
Velocity at B. v/( = <y0j x rwc = 3j x (-0.16k) = (0.48 m/s)i
Velocity o f collar A. vA = v j
* a = +v^/b.
y B where V a / ii =
> a b *
r.m
Noting that y /VB is perpendicular to r^g, we get rWA \ B/A = 0.
Forming r^g v A, we get r^g = r^g (v B + v ^ g ) = rA,B \ B + r^g v^g
or rA/B- \ A = r AIB- y B (1)
From (1), (0.5i + 0.4j - 0.16k) ( v j ) = (-0.51 + 0.4j - 0.16k) (48i)
O^v^ = -0.24 or vA = -0.6 m/s = -(0.600 m/s) j A

PROBLEM 15.197
Rod AB of length 580 mm is connected by ball-and-socket joints to the

rotating crank BC and to the collar A. Crank BC is of length 160 mm and
rotates in the horizontal xz plane at the constant rate <y0 = 10 rad/s. At
the instant shown, when crank BC is parallel to the z axis, determine the
velocity of collar A.
SOLUTION
Geometry. ra c = (-0.16 m )k, = (-0.24 m )i + (0.42 m) j + (0.32 m )k
Velocity at B. \ B = a)0j x rwc = lOj x (-0.16k) = (-1.6 m/s)i
Velocity o f collar A. vA = v, j
where = oiAB x vMB
Noting that is perpendicular to rA/B, we get rB/A \ BIA = 0.
Forming rA/B \ A, we get xM \ A = (v a + v AfB) = \ B + v .VH
or TA1B ' V.l - rAIB ' v ( 1)
From (1), (-0.24i + 0.42j + 0.32k) ( v j ) = (-0.24i + 0.42j + 0.32k) (-1.6i)
0.42va = 0.384 or vA = 0.91428 m/s \ A = (0.914 m /s)j A

PROBLEM 15.198
Rod AB of length 13 in. is connected by ball-and-socket joints to collars A

and B, which slide along the two rods shown. Knowing that collar B
moves toward point D at a constant speed of 36 in./s, determine the
velocity of collar A when b = 4 in.
SOLUTION
Geometry. l 2AB = x 2^ + y 2MB + z 2MB: 132 = (-7 .8 )2 + c2 + ( - 4 ) 2, c = 9.6 in.
TAJB =("7-8in-)' +(9-6in)j " (4in0k

Velocity o f collar B. v B = (-3 6 in ./s )k
Velocity o f collar A. \ A = v^j
y A = V + y A!B. w here y A!B = A B X TA!B
Noting that is perpendicular to we get rB/A v B/A = 0.
Forming rMB v^, we get rMB \ A = rM ( v fl + v MB) = tmb \ B + xM v M
0r r AIB ' y A = r A/B ' V (*)

From (1), (7.8i + 9.6j - 4k) ( v j ) = (-7.81 + 9.6j - 4k) (-3 6 k )
9.6va = 144 or vA = 15 in./s = (15.00 in./s) j 4

PROBLEM 15.199
Rod AB of length 13 in. is connected by ball-and-socket joints to collars

A and B, which slide along the two rods shown. Knowing that collar B
moves away from point D at a constant speed of 64 in./s, determine the
velocity of collar A when b = 6.24 in.
SOLUTION
Geometry. l2AB = x 2AIB + y 2^ + z ^ 5 : 132 = (-7 .8 )2 + c2 + (-6.24)2, c = 8.32 in.
ra/ b = ( 7.8 in.)i +(8.32 in.) j - (6.24 in.)k

Velocity o f collar B. \ B = (64 in./s )k
Velocity o f collar A. \A= vj
y A = y B + v ajb where v ^ = <oAB x xm
Noting that v MB is perpendicular to r A/H, we get r B/A \ B/A = 0.
Forming r A/B v A , we get r A/B \ A = r A/B (v s + v ^ s ) = r A/B v B + r A/B v m
OT rm y A = r A/B y B (1)
From (1), (7.8i + 8.32j - 6.24k) ( v j ) = (-7.81 + 8.32j - 6.24k) (64k)
8.32v^ = -399.36 or vA = -48 in./s = -(4 8 .0 in./s) j -4

PROBLEM 15.200
Rod AB of length 500 mm is connected by ball-and-socket joints to

collars A and B, which slide along the two rods shown. Knowing that
collar B moves toward point E at a constant speed of 200 mm/s,
determine the velocity of collar A as collar B passes through point D.
SOLUTION
Geometry. l 2AB = x \ B + y \ B + z ^ B: 0.52 = (-0.24)2 + y ^ B + (-0 .4 )2
y MB = 0.18 m, r A!B = (-0.24 m )i + (0.18 m )j - (0.4 m )k
r^ c = (0.24 m )i - (0.18 m )j, lCD = yj(0.24)2 + (-0 .1 8 )2 = 0.3 m
ra c
Velocity o f collar B. v ~ vb j ^
\ B = (0.200)^ ' ^ ' Q-lfrj) _ prj/s^j _ (0.12 m /s)j
Velocity o f collar A. v A = vAj
yA=v+v4/8. where V AIB = AB x r AIB
Noting that \ MB is perpendicular to rMB, we get rWA \ B/A = 0.
Forming v A , we get xM v A = r'M ( v B + V/1/B) = rm vB + r^ B v ^
or rmb v a = t a ib v (1)
From (1), (-0.24i + 0.18j - 0.4k) (v j ) = (-0.24i + 0.18j - 0.4k) (0.16i - 0.12j)
0.1 = (-0.24)(0.16) + (0.18) (-0.12) or vA = -0.333 m/s
v A = -(0.333 m/s) j A
PROBLEM 15.201
Rod AB o f length 500 mm is connected by ball-and-socket joints to

collars A and B, which slide along the two rods shown. Knowing that
collar B moves toward point at a constant speed o f 200 mm/s,
determine the velocity o f collar A as collar B passes through point C.
SOLUTION
Geometry. 12ab = 4 s + 4 s + 4 s : 0.52 = 0 + y 2m + (-0 .4 )'
yA!b = 0-3 m, t m = (0.3 m) j - (0.4 m )k
rD/c = (0.24 m )i - (0.18 m) j, lCD = yf(0.24)2 + (-0 .1 8)2 = 0.3 m
rD/C
Velocity o f collar B. vs = vB-
CD
- (0.200) ^ ^ ^ ' - 4 ' = (0.16 m /s)i - (0.12 m/s) j
Velocity o f collar A. y A = VA,I
where \ AlB = g >a b x xm
Noting that x A!b is perpendicular to xm , we get rB/A x BIA = 0.
Forming r A/B v A, we get rm v A = xm (v g + v ^ ) = x AB vg + xm v A/B
or A/B y A = rA'B ' y 3 ( 1)
From (1), (0.3j - 0.4k) ( v j ) = (0.3j - 0.4k) (0.161 - 0.12j)
0.3v^ = (0.3)(-0.12) vA = -0.12 m/s
x A - -(0.1200 m/s) j A
PROBLEM 15.202
Rod AB of length 15 in. is connected by ball-and-socket joints to collars A

and B, which slide along the two rods shown. Knowing that collar B
moves toward point D at a constant speed of 2.5 in./s, determine the
velocity of collar A when c = 4 in.
SOLUTION
Geometry. rA = y'b ro = (4-5 in.)i rc = (9 in.)k
t d /c = rD ~ rc = (4-5 in-)i - (9 in-)k 1c d = y j { 4-5)2 + (~9)2 = 10.0623 in.
r , = ^ = ^ ^ = ( 2 i, ) i - ( 4 i, ) t
rs = rc + rB/c = 9k + 2i - 4k = (2 in ii + (5 in.)k
rAJB = rA ~ rB = ( - 2 in-)1 + {y ) j - (5 in.)k
4 =4a +/ + 4 a : *52 = (-2 ) 2 + y 2 + (-5 )2
y = 14 in., r^B = (-2 in.)i + (14 in.) j - (5 in.)k
D/C
Velocity o f collar B. va - vb -
*CD
= (2-5)( 4-51 9k) = (1.H803 in./s)i - (2.23607 in./s)l

1 f \ r id Z 'i'i V / \ /
10.0623
Velocity o f collar A. y A = vAi
y A = V B + y A /B where \ AiB = t% R xA rl AJB

AB A
Noting that v^g is perpendicular to rA/B, we get rB/A \ B/A = 0.
Forming v A, we get r AJB ' y A ~ r AlB ' (I V

v aB + y A !B ) _ r A/B ' va + r AIB ' V /4/B
or r+a = r+a ' vB ( 1)
From (1), (-21 + 14j - 5k) ( v j ) = (-21 + 14j - 5k) (l.l 18031 - 2.23607k)
UvA = (-2 )(1 .11803) + (-5)(-2.23607) or vA = 0.63888 in./s
\ A = (0.639 in./s) j 4
PROBLEM 15.203
Rod AB of length 15 in. is connected by ball-and-socket joints to collars

A and B, which slide along the two rods shown. Knowing that collar B
moves toward point D at a constant speed of 2.5 in./s, determine the
velocity of collar A when c = 6 in.
SOLUTION
Geometry. rA = yj, rD = (4.5in.)i rc = (9in.)k
rD/c = rD ~ rc = (4-5 in-) - (9 in.)k lCD = A/(4.5)2 + (-9 )2 = 10.0623 in.
c ( r bic) 6 (4 .5 i-9 k ) /o .
rB/c = - - - - - 1= ( 3 m . ) i - ( 6 i n . ) k
rB = rc + rB/c= 9k + 3i - 6k = (3 in.)i + (3 in.)k
tajb = rA ~ rB = "3i + y j ~ 3k
/2__ _ 2 . 2, 2 . I c2 o2 , 2 , o2
A B - X A/B + y + Z A /B I ' - 3 + y + 3
y = 14.3875 in., rMB = (-3 in.)i + (14.3875 in.) j - (3 in.)k
td /c
Velocity o f Collar B. v ~ vb j
vg = = ( l.l 1803 in./s)i - (2.23607 in./s)j

S 10.0623 V ' V
Velocity o f Collar A. \ A = vAj
v A =Vb + y A!B where v m = &AB x rm
Noting that x A/B is perpendicular to rAjB, we get rBIA xB/A = 0.
Forming rm xA, we get rA1B xA = (v s + v ^ B) = rAIB xB + rA/B x ^
or r m - xA = rm xB (1)
From (1), (-3 i + 14.3875j - 3k) ( v j ) = (-3 i + 14.3875j - 3k) (l,11803i - 2.23607j)
14.3875^ = (-3 )(1 .11803) + (-3)(-2.23607) or vA = 0.23313 in./s
xA = (0.233 in./s) j A
PROBLEM 15.204
Two shafts AC and EG, which lie in the vertical yz plane, are connected
by a universal joint at D. Shaft AC rotates with a constant angular
velocity co, as shown. At a time when the arm of the crosspiece attached
to shaft AC is vertical, determine the angular velocity of shaft EG.
SOLUTION
Angular velocity o f shaft AC. = co, k
Let co}j be the angular velocity of body D relative to shaft AD.
Angular velocity o f body D. coD = <y,k + <y3j
Angular velocity o f shaft EG. usFG = co2 (cos 20k - sin 20j)
Let <y4i be the angular velocity of body D relative to shaft EG.
Angular velocity o f body D. co0 = co2 (cos 20k - sin 20j) + <y4i
Equate the two expressions for o>D and resolve into components.
o
(1)
n
j: <y3 = -tf>2sin20 (2)
k : co, = co2 cos 20 (3)
co, .
From (3), co-, = ----- * 4
cos20
PROBLEM 15.205
Solve Prob. 15.204 assuming that the arm of the crosspiece attached to
shaft AC is horizontal.
SOLUTION
Angular velocity o f shaft AC. a>AC = &,k
Let i be the angular velocity of body D relative to shaft AD.
Angular velocity o f body D. coD = <y,k + a>}i
Angular velocity o f shaft EG. <aFG co2(cos20k - sin 20 j)
Let <y4X be the angular velocity of body D relative to shaft EG.
Where X is a unit vector along the axis the clevis axle attached to shaft EG.
y X = cos20j + sin20k
<y4X = <y4cos20j + rw4sin20k
Angular velocity o f body D. (0D = atEC + <y4X
(oD = (<y4cos20 - ru2sin20)j + (*u4sin20 + ru2cos20)k
Equate the two expressions for to0 and resolve into components.
i: <y, = 0 (1)
j: 0 = <y4 cos20 - (o2 sin 20 (2)
k : a>\ = a>Asin 20 + co2cos 20 (3)
From (2) and (3), "2 = " i cos20 A

PROBLEM 15.206
Rod AB of length 275 mm is connected by a ball-and-socket joint to

collar A and by a clevis connection to collar B. Knowing that collar B
moves down at a constant speed of 1.35 m/s, determine at the instant
shown (a) the angular velocity of the rod, (b) the velocity of collar A.
SOLUTION
Geometry. Determine the position of collar ,4.
*a = z Ak < rB = x s i + y Bj = (l50m m )i + (50 m m)j

rA/B = ZAk - 1501 - 50j
Length of rod AB: l2AB = 2752 = z \ - 1502 - 502
Solving for zA, zA = 225 mm
t a ib = ( 150 mm)i - (50 mm) j + (225 mm)k = (-0.15 m )i - (0.05 m )j + (0.225 m )k
Velocity. v fl = (-1.35 m/s) j, v A = v Ak
Angular velocity o f collar B. (D g = ftJgj
The axle of the clevis at B is perpendicular to both the y-axis and the rod AB.
A vector along this axle is P=jx^8
p = j x r^g = j x (150i - 50j + 225k) = (225 mm)i - (150 m m)k
p = n/2252 + 1502 = 270.42 mm
Let X be a unit vector along the axle. X = -B- = 0.83205i + 0.55470k

P
Let cov = <usX be the angular velocity o f rod AB relative to collar B.
tos = 0 .8 3 2 0 5 ^ + 0.55470a>5k
Angular velocity o f rod AB. a>AB =g + (D ,
biAB = 0.83205<y5i + (oBj + 0.55470<y,k
= Vg + to^g x r*g
i j k
v^k = -1.35j + 0.83205ft;5 o)B 0.55470rus
-0.15 -0.05 0.225
Resolving into components,
i: 0 = 0 +0.225B +0.027735, (1)
j: 0 = -1.35 + -0.270416, (2)
k: vA = 0 +0.15b -0.041603, (3)
From (2), , = -4.9923 rad/s
F rom (l), q)b = 0.61539 rad/s
(a) Angular velocity o f rod AB.
(0AB = (0.83205)(-4.9923)i + 0.61539j + (0.55470)(-4.9923)k
(oAB = -(4.15 rad/s)i + (0.615 rad/s)j - (2.77 rad/s)k A
(b) Velocity o f collar A.
From (3), vA = (0.15)(0.61539) - (0.041603)(-4.9923) = 0.3000 m/s
\ A = (0.300 m /s)k A
PROBLEM 15.207
Rod BC of length 840 mm is connected by a ball-and-socket joint tc

collar B and by a clevis connection to collar C. Knowing that collar E
moves toward A at a constant speed of 390 mm/s, determine at the instan
shown (a) the angular velocity of the rod, (b) the velocity of collar C.
SOLUTION
Geometry. rr = xr i + (640 mm) j, rH = (480 mm) j + (200 m m )k
lAB = V4802 + 2002 = 520 mm
rc/B = *c' + 0 ^ 0 m m )j - (200 mm)k
Length of rod BC. l 2BC = 8402 = x l + 1602 + 2002
Solving for xc , xc = 800 mm
rc/B = (800 mm)i + (160 mm) j - (200 mm)k
390
Velocity. \ B = ^^(-480j - 200k) = (-360 mm) j - (150 mm/s)k
v,. = v ,i
Angular velocity o f collar C. (oc = <y( i
The axle of the clevis atC is perpendicular to the x-axis and to the rod BC.
A vector along this axle is p = i x rc/B
p = i x (800i + 160j - 200k) = (200 mm) j + (160 mm)k
p = V2002 + 1602 = 256.125 mm
Let X. be a unit vector along the axle. X= = 0.78087j + 0.62470k

P
Let oa5 = a)sX be the angular velocity of rod BC relative to collar C.
co, = 0.78087<yJ + 0.62470cytk
Angular velocity o f rod BC. (0 BC = (oc + co,
(0BC = a)c i + 0.78087cwvj + 0.62470<yvk
vc = vfl + cosc x rCIB
' i J k
vc i = 360j - 150k + coc 0.78087ca,
08 0.62470<y(
!47i
800 160 -200
Resolving into components,

i: vc = -256.126, (1)
j: 0 = -360 + 200c + 499.76, (2)
k: 0 = -150 + 160c - 624.70, (3)
Solving the simultaneous equations (1), (2), and (3),

c = 1.4634 rad/s, , = 0.13470 rad/s, vc = -34.50 mm/s
(a) Angular velocity o f rod BC.
BC = 1.46341 + (0.78087)(0.13470)j + (0.62470)(0.13470)k
BC - (1.463 rad/s)i + (0.1052 rad/s) j + (0.0841 rad/s)k 4
(b) Velocity o f collar C. vc = -(34.5 m m/s)i 4

SOLUTION
Geometry. rA = yj, rD - (4.5 in.)i rc = (9in.)k
* d /c = rD - rc = (4.5 in.)i - (9 in.)k lCD = ^(4.5 f + ( -9 ) 2 = 10.0623 in.
tbic = = 4 ^4;5|q = (2 in.)i - (4 in.)k
rs = rc + rg/c = 9k + 2i - 4k = (2 in.)i + (5 in.)k
r AJB = r A - rB = -2 i + y$ - 5k
4 = 4 * + 4 + 4 b : 152 = (-2 + y 2 + (-5 )2
y = 14 in., = (-2 in.)i + (14 in.) j - (5 in.)k
I"D/C
Velocity o f collar B. \ B = vR------
Icd
\ B = - - ---- = ( l.l 1803 in.)i - (2.23607 in./s)k

B 10.0623 v v
Velocity o f collar A. \ A = vAj
where \ m = ^ x rA;g
Noting that \ A,B is perpendicular to rm , we get r B / A ' y B /A =
Forming rA/B -vA, we get rm -vA = rA,g -(vfi + ) = r+ s ' v5 + r 4 ^ mb
O f rA J S ^ A = r A /B -v B 0 )
From (1), (-2 i + 14j - 5 k )* (v j) = (-2 i + 14j = 5 k )-(l.ll803i - 2.23607k)
14v^ = (-2 )(1 .11803) + (-5)(-2.23607) or vA = 0.63888 in is

Relative velocity. y AJB = y A ~ y B
v Ajg = (0.63888 in./s)j - ( l.l 1803 in./s)i + (2.23607 in./s)k
(v^/s)2 = (0.63888)2 + (-1.11803)2 + (2.23607f = 6.6582 (in./s)2
Acceleration o f collar B. ag = 0
Acceleration o f collar A. a A = a Ai
~ a B + a A>'B> where z A/B = a AB x rA/B + taAB x x AJB
Noting that a AB x rm is perpendicular to rA!B, we get r AJB a AB X X.VB = 0
We note also that r A / B ' (i)AB X y AIB ~ y A l B 'r AJB X At.B
= - V Aj iI kB-' yV AJB
- - M
Then, TA I B 'a AIB = 0 _ ( % # ) = ~ (% s )
Forming rm -nA, we get r / t 'S a /( = r AlB ' { & A + a ,4'fl ) = r A/B ' a B + 3
or r /l/B ' a .4 = r AJB a S _ ( V ^ / B ) (2)
From (2), (-21 + 14j - 5k) (aAj) = 0 - 6.6582
14aA = -6.6582 &A = -(o.476 in./s2^ j -4

PROBLEM 15.209
For the mechanism of the problem indicated, determine the acceleratio

of collar A.
Mechanism of Prob. 15.203
SOLUTION
Geometry. *a = >% = (4.5 in.)i rc = (9 in.)k

c = (4.5 in.)i - (9 in.)k lCD = yj(4.5)2 + (-9 ) = 10.0623 in.
c (rc ) 6(4.51 - 9k)

b ic = 9 =--^--- 1=(3 in.)' - (6 in.)k
r/( = rc + rB/c = 9k + 3i - 6k = (3 in.)i + (3 in.)k
A'B = ta ~ tb ~ ~3i + vj - 3k
i1 2 2 "> .,) - ,2
- XA!B + y~ + ZAJB: 15 - 3 + y + 3
y = 14.3875 in. rMB = (-3 in.)i + (14.3875 in.) j - (3 in.)k
ru c
Velocity o f collar B. v = v
CD
v = ^ = ( l.l 1803 in./s)i - (2.23607 in./s) j

10.0623
Velocity o f collar A. v a = v aJ
= yB + where = caA ~*
J AB x r A'B
A,R
Noting that \ Allf is perpendicular to r AJB, we get '

r BIA y B/A ~ 0
Forming r AJB- v A , we get TjUB-V a = rA/B-(vB + V l/ fl ) = r.r/fi-V fl + rAJB ÂlB
or r A /B y A = r A /B 'v B
From (1), (-3 i + 14.3875j - 3k) (v.,j) = (-3i + 14.3875j - 3k) ( l.l 1803i - 2.23607j)
14.3875v/1 = (3)(1.11803) + ( - 3 ) ( 2.23607) or vA = 0.23313 in./s
Relative velocity. = V , - Vr
v A/B = (0.23313 in./s) j ( l . 11803 in./s)i + (2.23607 in./s)k
(v^/b)2 = (0.23313): + (-1 .1 1803)2 + (2.23607)2 = 6.30435 (in./s)2

Acceleration o f collar B.
Acceleration o f collar A. a A ~ a Ai
a A ~ a B + a A /B where = a AB x rm + AB x v AjB
Noting that a AB x r ^ B is perpendicular to rA/B, we get rA/B-aAB x rA/B = 0
We note also that r AJB -(0

AB X y A/B = y A/B ' TA/B Xa AJB
= ~ y A1B ' y AJB = ~ { v A / b )
Then, r A J B a AIB = 0 - = - { v A IB ^
Forming rm -A, we get r A J B 'a A ~ r A/B ([aaA

a ++ aA/B
a a / b j) r A I B 'a B + r A / B ' a A/B
or r A l B 'a A ~ r A / B 'a B (VAJBf (2)
From (2), (-3 i + 14.3875j - 3 k ) - ( a j) = 0 - 6.30435
14.3875a^ = -6.30435
aA - -^0.438 in./s2) j 4
PROBLEM 15.210
For the mechanism of the problem indicated, determine the acceleration

o f collar/I.
Mechanism ofProb. 15.198
SOLUTION
Geometry. l 2AB = x \ B + y 2m + z\,B: 132 = (-7.8)2 + c2 + (-4 ) 2, c = 9.6 in.
r AlB =(-78in)*+(96in)j ~(4in-)k

Velocity o f collar B. v B = (-36 in./s) k
Velocity o f collar A. = v^j
= v fl + vx/fi. where y MB = co^ x rMB
Noting that v AJB is perpendicular to rAJB, w e get rB/A'y B/A = 9
Forming r'm v A, w e get xMB v A = rM (\ B + v MB) = vg + \ MB
Or Tc/S'V, = rAJB'y B (0
Fr om (1), ( 7.81 + 9.6j - 4k)-(vj) = (-7.8i + 9.6j - 4k) (-36k)
9 .6 v a =144 or vA =15 in./s

Relative velocity. v A/B = \ A - v H
\ a/b = (15 in./s)j + (36in./s)k (v/</b)= l^2 + 362 = 152l(in./s)2
Acceleration o f collar B. ag = 0
Acceleration o f collar A. &A = a Aj
aA = aB + a AiB> where aAjB = a AB x xAjB + x vaj3
Noting that a AB x xA,B is perpendicular to tm , w e get rA/B'a AB x rm = 0
W e note also that rm coAB x v A/B = v A!BrA,B x <am
= - V a/b -Vajb = ~ { vajb )2
Then, xAJB = 0 ~ [vm f = ~( v a/b f
Forming tm -aA , w e get xA B aA = rm -(a^ + * A!B) = *M -ag + Tm -am
or r A J B 'a A = r ^ -a B ( v ^ (/s) (2)
F r o m (2), (-7.8i + 9,6j - 4k)-(oj ) - 0 - 1521
9.604 = -1521 aA = -(158.4 in./s2) j A

PROBLEM 15.211
1
.til ?* For the mechanism of the problem indicated, determine the acceleration
rl
i i>\ ' i
of collar/L

O
\
SOLUTION
Geometry. AB = x 2
l2 m + y 2m + z ^ : 132 = (-7 .8 )2 + c2 + (-6.24)2, c = 8.32 in.
t a /b = ( _7.8 in.)i + (8.32 in.) j - (6.24 in.)k
Velocity o f collar B. \B = (64 in./s)k
Velocity o f collar A. = VJ
yA = yB + V .-</*. w h e re y A!B = <AB x rAJB
Noting that v A/B is perpendicular to we get rB/A'y B/A = 0
Forming r ^ - v ^ , we get rA/B-vA = rAJB-(\B + v ^ ) = rA/B-\B + r^ -v ^
or rA/B y A ~ rA/B'y B (1 )
From ( 1), (7.81 + 8.32j - 6 .2 4 k ) ( v j) = (-7.8i + 8.32j - 6.24k)(64k)
8.32v., = -399.36 or vA = -48 in./s
Relative velocity. y AJB = y a y B
y A /B (-48 in./s) j - (64 in./s)k [ vajb ) = 482 + 642 = 6400(in./s)'
Acceleration o f collar B. aB = 0
Acceleration of collar A.
II
*A - as + a^/g, where a^B - x + a AB x
Noting that a AE x is perpendicular to rm , w e get *ajb '-a b x rm = 0
W e note also that r/f/fi x V ^'B = V ,4/B XA!B x
= ~ y AIB'y AIB = ~ { VA1b )
Then, rAIBaAIB = 0 - {v ^ b ) = ~( vAf?)
Forming rm aA , w e get r^'B 'S A - rm \ * A + a .4'B : = rAlB'*B + TA'BA AIB
or rA/B 'a A = tA1B * B ~ {fA/B ) (2)
F r o m (2), ( 7.8i + 8.32J - 6.24k) (a^j) = 0 - 6400
8. 3 2 ^ = - 6400
A = ~(769in./s2) H
SOLUTION
Geometry. rB/r = (-0.16 m )k, r AIR = (-0.5 m )i + (0.4 m )j - (0.16 m )k
Velocity at B. v H = a)0j x rwc = 3j x (-0.16k) = (0.48 m/s)i
Velocity o f collar A. \ A = v^j
y .4 = v fl + y A/B where y A!B = >AB * r AJB
Noting that v^g is perpendicular to r (//(, we get ^b/a v b/a = 0
Forming rM -vA, we get r^-v^ = r^-fvg + v^g) = r ^ -V g + r^ - v ^ g
0r r A lB - y A = r A lB - y B (I)
From (1), ( 0.5i + 0.4j - 0.16k) ( y j ) = (-0.5i + 0.4j - 0.16k) (48i)
0A va = -0.24 or vA = -0.6 m/s
Relative velocity. v ,vll = v., - vfl
v A/B = (-0.6 m /s)j - (4.8 m/s)i (v.</)" = (-0.6)" + (0.48)2 = 0.5904(m/s)2
Acceleration at B. a fl = a)0j x = 3j x 0.48i = ^1.44 m/s2jk

Acceleration o f collar A. nA = aAj
a A = a B + w h e re a ^ /S = a ^ S X * A /B + X y AJB
Noting that a AB x rA,B is perpendicular to r^g, we get -a 4g x rA/B = C
We note also that r^ g (oAB x v A,B = v A/B rA/B x coAlB
= ~ y A l B y AJB = ~ ( v A /b )
Then, rA/B-&A,B = 0 - (v^g j = - { v AjB}
Forming rA,B-aA, we get rm -aA = rA/B-{aA + am ) = tm -ag + rm -aAiB
o r r A J B 'a A = r A /B 'a B ~ j % B ) (2)
From (2), (0.5i + 0.4j - 0 .1 6 k )-(a j)
= (0.5i + 0.4j - 0.16k)-(-1.44k) - 0.5904
0.4a^ = 0.2304 - 0.5904 aA = - (0.900m /s2) H

PROBLEM 15.213
For the mechanism of the problem indicated, determine the acceleration

of collar^.
SOLUTION
Geometry. rBIC = -(0.16 m )k, rA/B = -(0 .2 4 m )i + (0.42 m) j + (0.32 m )k
Velocity at B. \ B = c%j x rBlC = lOj x (-0.16k) = -(1.6 m/s)i
Velocity o f collar A. v4 = y j
y A = V fi + y AlB w h e re y M B = A B X r MB
Noting that v A/B is perpendicular to r_VB, we get r B / A ' y B/A ~
Forming r . ^ - v .^we get rA/B- \ A = r ^ - ( v B + = r ^ - v * + rA!B- \ .VH
or r A!B-y A = r A / B 'y B ( 1)
From (1), (-0.24i + 0.42j + 0 .3 2 k ) ( v j) = (-0.24i + 0.42j + 0.32k)-(-1 .6i)
0 .4 2 ^ = 0 .3 8 4 or vA = 0.91428 m/s v A = (0.91428 m/s)i
Relative velocity- V A1B =y A ~ Vfl

\ a/b - (0.91428 m /s)j + (1.6 m/s)i
= (0.91428)2 + (1.6)2 = 3.3959(m/s)2
au - <y0j x vb - x ( 1.6i) = (l6 m/s2)k
Acceleration o f collar A. 3.4 = Ai

t where aA/B = a AB x rA;B + toAB x v A/B
Noting that u AB x rA/B is perpendicular to rA/B, we get r A / B 'a AB X r AtB

We note also that r AJB -<AB X y AJB = y A/B ' r A/B * >A/B
= ~ y A ! B 'y AIB ~ ~ { VA JB )
Then, r A / B 'a A/B = 0 _ = ~ ( V A /B )
Forming rm -a^, we get r A/B a A = r A!B ' ( a yf + a A!B )= r A/B a B + r AJB ~ a A/B
or r A!B a A = r A!B ' a fi ~ (V/</fl) (2 )
From (2), (-0.24i + 0.42j + 0 .3 2 k )-(a j) = (0.24i + 0.42j + 0.32k)-(l6k) - 3.3959
0.42 a A = 5.12 -3.3959

ba = ^4.10 m/s2) j A
PROBLEM 15.214
The bent pipe shown rotates at the constant rate cox = 10 rad/s. Knowing
that a ball bearing D moves in portion BC of the pipe toward end C at a
constant relative speed u = 2 ft/s, determine at the instant shown (a) the
velocity of D, (b) the acceleration of D.
SOLUTION
With the origin at point A, rD = (8 in.)i + (12 in.) j - (6 in.)k
rc/B = (8 in.)i - (6 in.)k, lBC = yjs2 + 62 = 10 in.
Let the frame Axyz rotate with angular velocity Si = a\i - (10 rad/s)i
(a) Vq. = O x rD = lOi x (8i + 12j - 6k) = (60 in./s)j + (120 in./s)k
u = 2ft/s = 24 in./s, = ^(8i - 6k) = (19.2 in./s)i - (14.4 in./s)k
vo = vo' + yD/F= (19.2 in./s)i+ (60 in./s)j + (105.6 in./s)k
Velocity ofD. vD = (1.600 ft/s)i + (5.00 ft/s) j + (8.80 ft/s)k A
(b) ao- = fi x vD. = lOi x (60j + 120k) = -(l200 in./s2)j + (600 in./s2)k
* D /F ~
20 X yaF = (2)(l0i) X (19.21 - 14.4k) = (288 in./s2)j
aD = a D. + a w +2 f lx \ aF = -(912 in./s2)j + (60 in./s2)k
Acceleration ofD. aD = -(76.0 ft/s2j j + (50.0 ft/s2jk A

PROBLEM 15.215
The bent rod shown rotates at the constant rate = 5 rad/s and collar C
moves toward point B at a constant relative speed u = 39 in./s. Knowing
that collar C is halfway between points B and D at the instant shown,
determine its velocity and acceleration.
SOLUTION
Geometry. rR = (14.4 in.)j, rD = (6 in.)i + (20.8 in.)k
t b /d =(în.)i +(14.4 in.) j - (20.8 in.)k lnB = y j6 2 + 14.4 +20.82 =26 in.
r c- = ^ ( r s + b) = (3 in.)i + (7.2 in.)j + (10.4 in.)k
Let frame Axyz rotate with angular velocity O = *y,k = (5 rad/s)k
Velocity Analysis. u = 39 in./s
vr = O x rc = 5k x (3i + 7.2j + 10.4k) = -(3 6 in./s)i + (15 in./s)j
u 39,
v c /f ~ rD/B (~6i +14.4j - 20.8k) =- ( 9 in./s)i +(21.6 in./s) j -(3 1 .2 in./s)k
=
l DB 26
VC = vr + \ aF
\ c = -(45.0 in./s)i + (36.6 in./s) j - (31.2 in./s)k M
Acceleration Analysis. ac/F = 0
ar = Q x vr = 5k x (361 + 15j) = -(7 5 in./s2ji - ( l 80 in./s2j j
*cif ~
2 0 x v aF = (2)(5k) x (-9 i + 21.6j - 31.2k) = -(2 1 6 in./s2)i - (90 in./s2) j
a(- ^ + aciF 2 0 x v F/F
ac = -(291 in./s2)i - (270 in./s2 )j -4

PROBLEM 15.216
The bent rod EBD rotates at the constant rate <y, = 8 rad/s. Knowing that
collar A moves upward along the rod at a constant relative speed
u = 600 mm/s and that 6 = 60, determine (a) the velocity of A, (b) the
acceleration of/I.
SOLUTION
Let frame Oxyz rotate with angular velocity n = <y,i = (8 rad/s)i.
Note that point B does not move.

Geometry. r^g = p sin # i + p ( 1 - cos#)j, p = 120 mm, 9 = 60
r A /B = (103.923 mm)i + (60 mm) j
Motion o f coinciding point A'

V | = in x r^g = 8i x (103.9231 + 60j) = (480 mm/s)k
aA- = a x r^g + to x v^. = 0 + 8i x 480k = -(3840 mm/s2)j

v pip = u(cos9i + sin # j), u = 600 mm/s
v Pi f = (300 mm/s)i + (519.62 mm/s)j
a^g- = ( sin + cos#j)

P
a ^ F = -(2598.1 mm/s2ji + ^1500 mm/s2)j
Coriolis acceleration. ar = 2Q x v PIF
ar = (2)(8i) x (3001 + 519.62j) = (8313.9 mm/s2)k
(a) Velocity o f A. y A = + y AIF
v^ = (300 mm/s)i + (519.62 m m/s)j + (480 mm/s)k
v^ = (0.300 m/s)i + (0.520 m/s) j + (0.480 m /s)k 4

(b) Acceleration o f A. a A = a A + a A /F + a C
aA = -^2598.1 mm/s2)i - ^2340 mm/s2) j + ^8313.9 mm/s2)k
aA = -|2 .6 0 m /s2)i - (2.34 m/s2) j + (8.31m/s2)k -4

PROBLEM 15.217
The bent rod EBD rotates at the constant rate cox = 8 rad/s. Knowing that
collar A moves upward along the rod at a constant relative speed
u = 600 mm/s and that 6 = 120, determine (a) the velocity of A,
(b) the acceleration of A.
SOLUTION
Let frame Oxyz rotate with angular velocity fi = ft>,i = (8 rad/s)i.
Note that point B does not move.

Geometry. rA/B = psm O i + p (\ - cos#)j, p - 120 mm, 6 = 120
' A! B = (103.923 mm)i + (180 mm) j
Motion o f coinciding point A'.
\ A. = (ox rAIB = 8i x (l03.923i + 180j) = (1440 mm/s)k
aA- = a x + a) x v^. = 0 + 8i x 1440k = - ( l 1520 mm/s2)j

v aif = w(cos#i + sin # j), u = 600 mm/s
= -(3 0 0 mm/s)i + (519.62 mm/s) j
a VF = (-s in # i + cos#j)
P
a W' = -(2598.1 mm/s2ji - (l 500 mm/s2j j
Coriolis acceleration. ac. = 2o)x \ PIF
at = (2)(8i) x ( 3001 + 519.62j) = (8313.9 mm/s2)k
(a) Velocity o f A. = ^ a- + ^ aif
v^ = -(3 0 0 mm/s)i + (519.62 mm/s)j + (1440 mm/s)k
v^, = -(0.300 m/s)i + (0.520 m /s)j + (1.440 m/s)k A

b) Acceleration o f A. a A ~ a A' + a A!F + a c
*A = -(2598.1 mm/s2ji - (l3020 mm/s2) j + (8313.9 mm/s2)k
aA = -(2 .6 0 m /s2)i - (l3.02 m/s2) j + (8.31 m/s2)k A

PROBLEM 15.218
A square plate of side 360 mm is hinged at A and B to a clevis. The plate
rotates at the constant rate co2 = 4 rad/s with respect to the clevis, which
itself rotates at the constant rate cox = 3 rad/s about the Y axis. For the
position shown, determine (a) the velocity of point C, (b) the acceleration
of point C.
SOLUTION
Geometry. rc = (0.36 m)(cos20i - sin20j)
Let frame Oxyz rotate about they axis with angular velocity O = ty j and angular acceleration 2 = 0.
Then, the motion relative to the frame consists of rotation with angular velocity to2 = tu2k and angular
acceleration a 2 = 0 about the z axis.
(a) vc. = 2 x rc = 3j x (0.36 cos 20i - 0.36 sin 20j) = -1.08 cos 20k
\ C/F = o)2 x rc = 4k x (0.36 cos 20i - 0.36 sin 20j)

= 1.44 sin 20i + L44 cos 20 j
vc = vc. + \ C/F = 1.44 sin 20i + 1.44 cos 20j - 1.08 cos 20k
vc = (0.493 m/s)i + (1.353 m/s) j - (1.015 m/s)k ^
(b) a r = 2 x vc. = 3j x (-1.08cos20k) = -3.24cos20i
ac/F = to2 x vc/F = 4k x (l.44sin20i + 1.44cos20j)

= -5.76 cos 20i + 5.76 sin 20j
2 0 x y OF = (2)(3j) x (1.44sin20i + 1.44cos20j) = -8 .6 4 sin 20k
ac- = ar + ac/F + 20 x \ C/F

= -(3 .2 4 + 5.76) cos 20i + 5.76sin 20j - 8.64sin 20k
ac = -^ 8 .4 6 m/s2ji + |l.970 m/s2j j - ^2.96 m/s2jk 4

PROBLEM 15.219
A square plate of side 360 mm is hinged at A and B to a clevis. The plate
rotates at the constant rate co2 = 4 rad/s with respect to the clevis, which
itself rotates at the constant rate eot = 3 rad/s about the Y axis. For the
position shown, determine (a) the velocity of corner D, (b) the
acceleration of comer D.
SOLUTION
Geometry. rD = (0.36 m)(cos 20i - sin 20j) + (0.180 m )k
Let frame Oxyz rotate about they axis with angular velocity Q = <y,j and angular acceleration 0 = 0.
Then, the motion relative to the frame consists of rotation with angular velocity (o2 = &>-,k and angular
acceleration <x2 = 0 about the z axis.
() \ D. = fi x r,} = 3j x (0.36cos20i - 0.36sin20j + 0.180k)
= 0.5401 - 1.08 cos 20k

\p /F = 2 x r0 = 4k x (0.36eos20i - 0.36sin20j + 0.180k)
= 1.44sin20l + 1.44cos20j)
v d = \fy + \[yF = (0.540 + 1.44sin20)i + 1.44cos20j - 1.08cos20k
v0 = (1.033 m/s)i + (1.353 m /s)j - (1.015 m/s)k A
() a 0. = O x = 3j x (0.540i - 1.08cos20k)
= -3.24cos20i -1 .6 2 k
aw = x v/j/f = 4k x (l.44sin20i + 1.44cos20j)
= -5.76 cos 20i + 5.76 sin 20j
2 fl x \ D/F = (2)(3j) x (1.44sin 20i + 1.44cos20j) = -8.64sin20k
a /J = a O + a VF + 2 ^ x Vc//r
= -(3 .2 4 + 5.76)cos20i + 5.76sin20j - (1.62 + 8.64sin20)k
a D = -(8 .4 6 m /s2j i + (l.970 m/s2 j j - (4.58 m /s2)k 4

PROBLEM 15.220
The rectangular plate shown rotates at the constant rate co2 = 12 rad/s
with respect to arm AE, which itself rotates at the constant rate
ct)\ = 9 rad/s about the Z axis. For the position shown, determine (a) the
velocity of comer B, (b) the acceleration of comer B.
SOLUTION
Geometry. With the origin at A, rB = (6.75 in.) j
Let frame Axyz rotate about they axis with constant angular velocity Q = cu,k = (9 rad/s)k. Then, the
motion relative to the frame consists o f rotation about the x axis with constant angular velocity
a)2 = co2i = (12 rad/s) i.
Motion o f coinciding point B'.
vfi. = Q x rfl = 9k x 6.75j = -(60.75 in./s)i
a B. = a x rg + Q x x B.
= 0 + 9k x (60.75i) = -(546.75 in./s2)j

vB/F = (0 2 x rB = 12i x 6.75j = (81 in./s)k
^ =^2*
B /F ^B/F
= 0 + 12i x 81k = -(9 7 2 in./s2) j
(a) Velocity o f point B. v B = v B- + vB/F
x B = -(6 0 .8 in./s)i + (81.0 in./s) k A
Coriolis acceleration. 2Q x v WF
2fi x x WF = (2)(9k) x 81k = 0
(b) Acceleration o f point B. aB = a B. + aB/F + 2Q x v B/F
a B = ( l5 18.75 in./s2) j
a B = -(126.6 ft/s2) j -4
PROBLEM 15.221
The rectangular plate shown rotates at the constant rate co2 = 12 rad/s
with respect to arm AE, which itself rotates at the constant rate
(D\ = 9 rad/s about the Z axis. For the position shown, determine (a) the
velocity of comer C, (b) the acceleration of comer C.
SOLUTION
Geometry. With the origin at A, rc = (6.75 in.) j + (4.5 in.)k
Let frame Axyz rotate about they axis with constant angular velocity f i = <y,k = (9 rad/s)k. Then, the motion
relative to the frame consists of rotation about the x axis with constant angular velocity
to2 = (o2i = (12 rad/s)i.
Motion o f coinciding point C' in the frame.
\ c = Q x rc = 9k x (6.75j + 4.5k) = -(60.75 in./s)i
ac. = a x rc + O x vc<
= 0 + 9k x (-60.751) = -(546.75 in./s2)j
\ Ci f = 2 x rc = 12i x (6.75j + 4.5k) = -(5 4 in./s) j + (81 in./s)k

~ 0^2 ^ rc *f (O') X \ /j?
= 0 + 12i X ( 54j + 81k) = -(9 7 2 in./s2)j - (648 in./s2)k
(a) Velocity o f point C. vc = vc* + \ C/F
vc = -(60.8 in./s)i - (54.0 in./s) j + (81.0 in./s)k A

Coriolis acceleration. 2 0 x v c/F
2 0 x vc/F = (2)(9k) x (54j + 81k) = (972 in./s2) i
(b) Acceleration o f point C. ac = ac- + a c/F + 2 0 x \ C/F
ac = (972 in./s2)i - (l 518.75 in./s2) j - (648 in./s2 )k
ac = (81.0 ft/s2)i - ( l26.6 ft/s2) j - (54.0 ft/s2)k A

PROBLEM 15.222
Solve Prob. 15.221, assuming that at the instant shown the angular
velocity a>2 of the plate with respect to arm AE is 12 rad/s and is
decreasing at the rate of 60 ra d /s 2, while the angular velocity o 1 of the
arm about the Z axis is 9 rad/s and is decreasing at the rate of 45 rad / s2.
SOLUTION
Geometry. With the origin at^4, rc = (6.75 in.) j + (4.5 in.)k
Let frame Axyz rotate about they axis with angular velocityO = cujk = (9 rad/s)k and angular acceleration
a = ajk =-(4 5 rad/s2Jk. Then, the motion relative to the frame consists o f rotation about the x axis with
angular velocity co2 = to2i = (l2rad/s)i and angular acceleration a 2 = a 2i = -(6 0 ra d /s )l
Motion o f coinciding point C' in the frame.
vc - = f i x rc = 9k x (6.75j + 4.5k) = -(60.75 in./s)i

ac< = a x rc + O x vc .
= (-4 5 k ) x (6.75j + 4.5k) + 9k x (-60.751)
= (303.75 in./s2)i - (546.75 in./s2) j
v c/f ~ 2 x rc = x (6.75j + 4.5k) = -(5 4 in./s) j + (81 in./s)k

a cif - a 2 x rc + a>2 x v cif
= (-601) x (6.75j + 4.5k) + 121 x (-5 4 j + 81k)

= +270j - 405k - 972j - 648k
= -(7 0 2 in./s2 - (l053 in./s2jk
(a) Velocity o f point C. vc = vc - + vaF
vc = -(60.8 in./s)i - (54.0 in./s) j + (81.0 in./s)k 4
Coriolis acceleration. 2f2 x vc/F
2 0 x v OF = (2)(9k) x (54j + 81k) = (972 in./s2)i
(b) Acceleration o f point C. &c - a c, + a c/F + 2 0 x v CIF
ac = (1275.75 in./s2)i - (l248.75 in./s2) j - (l053 in./s2)k
ac = (106.3 ft/s2)i - (104.1 ft/s2) j - (87.8 ft/s2)k 4

PROBLEM 15.223
velocity <u, of the pipe is 10 rad/s and is decreasing at the rate of
15 rad/s2, while the relative speed u of the ball bearing is 2 ft/s and is
increasing at the rate of 10 ft/s2.
SOLUTION
With the origin at point A, rD = (8 in.)i + (12 in.) j - (6 in.)k
rc/B = (8 in.)i - (6 in.)k, lBC = \l&2 + 62 = 10 in.
Let the frame Axyzrotate with angular velocity ft = <w,i = (10 rad/s) i and angular acceleration
ft = <y,i = - ( l 5 rad/s2ji.
(a) \[y = f t x rD = lOi x (8i + 12j - 6k) = (60 in./s) j + (120 in./s)k
u = 2 ft/s = 24 in./s, u = y~(8> - 6k) = (19.2 in./s)i - (14.4 in./s)k
\D= + u = (19.2 in./s)i + (60 in./s) j + (105.6 in./s)k
Velocity o f D. \ D = (1.600 ft/s)i + (5.00 ft/s) j + (8.80 ft/s)k 4
(b ) a D = Q x rD + Q x \ D.
= -15i x (8i + 12j - 6k) + lOi x (60j + 120k)
= -9 0 j - 180k - 1200j + 600k = -(l2 9 0 in./s2) j + (420 in./s2)k
arei = 10 ft/s2 = 120 in./s2

i on
8rLl = lo ~ ( 8 i "" = n-^s2) ' ~ (^2 in./s2jk
2Q x u = (2)(1 Oi) x (I9.2i - 14.4k) = (288 in./s2) j
aD = a D. + a rel + 2ft x u = (96 in./s)i - (1022 in./s)j + (348 in./s)k
Acceleration ofD. a 0= (8.00 ft/s2)i - (83.5 ft/s2) j + (29.0 ft/s2jk A

PROBLEM 15.224
velocity <y, of the rod is 5 rad/s and is increasing at the rate of 10 rad/s2,
while the relative speed u of the collar C is 39 in./s and is decreasing at
the rate of 260 in./s\
SOLUTION
Geometry. rB = (14.4 in.) j. rG = (6 in.)i + (20.8 in.)k
rBID = - ( 6 in.) i + (14.4 in.) j - (20.8 in.)k lUB = V62 + 14.4' + 20.82 = 26 in.
c = ^ ( rfl + *b) = (3>n.)i + (7.2 in.) j + (10.4 in.)k
Let frame Axyz rotate with angular velocity Q = <y,k = (5 rad/s)k.
Velocity analysis. u = 39 in./s
vr = Q x rc = 5k x (3i + 7.2j + 10.4k) = -(3 6 in./s)i + (15 in./s) j
39,
v c/F = J L .riyB = (-6 i + I4.4j - 20.8k) = - ( 9 in./s)i + (21.6 in./s) j - (31.2 in./s)k
rD tB ~
Inn
DB 26
vc = vr + y aF
\ c = -(4 5 .0 in./s)i + (36.6 in./s)j - (31.2 in./s)k A
Acceleration analysis. a = 10k rad/s, it = -260in./s2
ar = fi x vr = 5k x (361 + 15j) = -(7 5 in./s2 - (l 80 in./s2) j
ac/F = a x rc + u
= 10k x (3i + 7.2j + 10.4k) + - ^ ( - 6 i + 14.4j - 20.8k)

26
= -(7 2 in./s2 + (30 in./s2)j + (60 in./s2) i - (l44 in./s2)j + (208 in./s2)k
2 0 x y aF = (2)(5k) x (-9 i + 21.6j - 31.2k) = -(2 1 6 in./s2)i - (90 in./s2)j
ar = ar + ac/F + 2Q x y c/F
ar = - ( 3 0 3 in./s2ji - (384in./s2j j + (2 0 8 in./s2 jk A

PROBLEM 15.225
SOLUTION
Let frame Oxyz rotate with angular velocity Q = ,i = (5 rad/s)i. The motion relative to the frame is the spin
a>2k - (4 rad/s) k.
(a) Angular acceleration.

a = a> = (Ooxyz + Q x <a2k
= 0 + 5i x 4k = -2 0 j a = -(2 0 .0 rad/s2) j ^
(b) 0 = 0. Acceleration at point P.
= (60m m )i = (0.06 m )i
\ P' = fi>]i x rP = 5i x 0.06i = 0
\ P/F = a>2k x rP = 4k x 0.06i = (0.24 m/s) j
ap< = [ i x rP + x \ p, =0
ap/p = d>2k x rp + co2k x \ P/F = 0 + 4k x (0.24j) - - f0.96 m/s2ji
ac = 2Q x Vp/F = (2)(5i) x (0.24j) = 12.4 m/s2jk
a F = ap. + a pjp + ac = - ( 0.96 m/s2 ji + ( 2.4 m/s2 )k
ap = -(o.960 m/s2 Ji + (2.40 m /s' )k A
(c) 6 = 90. Acceleration at point P.
Xp = (60 mm) j = (0.06 m) j

Vp, = coji x rp = 5i x 0.06j = (0.3 m /s)k
Vp/p = d)2k x rP = 4k x 0.06j = -(0.24 m /s)i
ap. = t,i x rp + fi>,i x \ p, = 0 + 5i x 0.3k = - '1.5 m/s2j j
a p/F = d>2k x xp + <z2k x v p/F = 0 + 4k x (-0.24i) = - i 0.96 m/s2| j
ac = 2C2 x vp/p = (2)(5i) x (-0.24i) = 0
a P = a P r + a P /F + a c
aP = - 12.46 m/s j 4
PROBLEM 15.226
60 mm
SOLUTION
Let frame Oxyz rotate with angular velocity Q = a\\ = (5 rad/s) i
The motion relative to the frame is the spin 2k = (4 rad/s)k
9 = 30, rP = (60 mm)(cos30i + sin30j)
rP = (0.06 m)(cos30i + sin 30j)
\ P, = ,i x rF = 5i x (0.06cos30i + 0.06sin30j) = (0.15 m /s)k
v P/F = 2k x rp ~ 4k x (0.06cos30i + 0.06sin30j)
= -(0.12 m /s)i + (0.20785 m/s) j
a p' = ji x rp + ,i x \ p, = 0 + 5i x 0.15k = ~(o.75 m/s2j j
aP/J = 2k x rP = 2k x y pu = 0 + 4k x (-0.12i + 0.20785j)
= -(o.8314 m/s2)i - (o.48 m/s2j j
ac = 2 0 x vPlj = (2)(5i) x (-0.12i + 0.20785j) = (2.0785 m/s2)k
(b) Acceleration at point P.

a p ap- + a p/p + ac
(o.831 m/s2)i - (l.230 m/s2j j + (2.08 m/s2j k A

PROBLEM 15.227
y
Using the method o f Sec. 15.14, solve Prob. 15.185.
SOLUTION
Let frame Oxyz rotate with angular velocity O = <y,j.
Let iov = cosXnA be the spin of gear A about the axle AD, where \ DA = -sin (A + cos #j is a unit vector along
the axle.
rc = ( is i n # - rc o s # )i - (Lcos# + r s in # ) j
Due to motion of the frame, vc. = f i x rc = cy,(rcos# - L sin # )k
Due to spin to,, \ c,f = x rCIA =
Then, vc = vc + v c/r ~ [ ^ ( r c o s # - L sin 0) + cy,r]k
Since gear B is fixed, vc = 0
co, = co11sin9 - cos8
(a) Angular velocity. co = Q + co,
0) = (U|j + CO| sin# - c o s # l(-s in # i + cos#j)

\ r J
co = <y, sin 8 cos# - sin# |i + sin# + cos# ]j

r

PROBLEM 15.228
Using the method o f Sec. 15.14, solve Prob. 15.186.
SOLUTION
Let frame Oxyz rotate with angular velocity Q = <y,j.
Let s = msXDA be the spin of gear A about the axle AD, where XDA = -sin (k + cos #j is a unit vector along
the axle.
rc = (L sin# - rc o s # )i - (Z,cos# + r s in # ) j
Due to motion of the frame, vc. = O x rc = (ox(rc o s# - L sin#)k
Due to spin 5, \ OF = 5 x rc/A = <y,rk
Then, vc = vc<+ \ C/F = [<y,(rcos# - Lsin#) + a y ] k
Since gear B is rotating with angular velocity co2j, on gear B
\ c = a>2l x r c/B = ~(o2(LsinO - r cos#)k
Equating the two expressions for vc and solving for o)s,
0), = (<W| sin 6 - cos#j
(a) Angular velocity. (0 = <U|j + (<y, - o)2)\ sin# - cos# (-s in # i + cos#j)
= co, sin 0 cos# - sin# i + I cos# + sin# Ij

r
+ft>2^ c o s # - s in # j( -s in fl + cos#j)

Frame Oxyz is rotating with angular velocity ft = coxj.
a = ci) = 0x}e + Q x co
= 0 + <u,j x = ty,(<y, - ta2)( sin# - cos# |k
a = &>, (&>, - g>2)( sin# - cos# jk A

PROBLEM 15.229
The rotor of a fan rotates about the Y axis at a constant rate
cox = 0.8 rad/s. At the same time, the blades rotate at a constant rate
(02 - d d l dt = 300 rpm. Knowing that the distance between the rotor
and point A on the tip of the blade is r = 160 mm and that 9 ~ 45 at the
instant shown, determine the velocity and acceleration of point A.
SOLUTION
Geometry. rA = (160 mm)(sin45j + cos45k) = (0.16 m )(sin45j + cos45k)
Let frame Oxyz, which coincides with the fixed frame OXYZ at the instant shown, be rotating about the
y axis with constant angular velocity Q = <y,j = (0.8 rad/s) j. Then, the motion relative to the frame consists
of a rotation about the x axis with constant angular velocity
0)2 = i = -(3 0 0 rp m )i = -(l0 /r rad/s)i.
Motion o f the coinciding point A' in the frame.

v =Q x rA = 0.8jx (0.16sin45j + 0.16cos45k) = (0.128 m/s)cos45i
= Q x v A. = 0.8jx 0.128cos45i = -^0.1024 m/s2 jcos45k
= 2 x r.4 = -10/ri x (0.16sin45j + 0.16cos45k)

= (1.6/r m/s)cos45j - (l.6/r m/s)sin45k
3 a/f = 2 x y M F ~ 1O^ri x (l.6^cos45j - 1.6;rsin450k)

= - ( l6 ;r 2 m/s2)sin45j - (l6;r2 m/s2)cos45k
Velocity o f point A. \ A = \ A- + v ^
v 4 = (0.128 m/s)cos45i + (l.6;r m/s)cos45j - (l.6;r m/s)sin45k
v A = (0.0905 m /s)i + (3.55 m/s) j - (3.55 m/s)k A
Coriolis acceleration. 2Q x v^,.-
2Q x \ /VF = (2)(0.8j) x (l.6;rcos450j - 1.6;rsin450k) = -^2.56^ m/s2jsin45i

Acceleration o f point A. 3 A = 3 A + *A1F + 2 0 * V X/A'
a.., = -2.56n sin 45i - 16tt2 sin 45j - (l6;r2 cos 45 + 0.1024cos 45) k
a^ = -(5.68 m/s2ji - (l 11.7 m/s2) j - (l 11.7 m/s2jk A

PROBLEM 15.230
The crane shown rotates at the constant rate <w, = 0.25 rad/s;
simultaneously, the telescoping boom is being lowered at the constant
rate co2 = 0.40 rad/s. Knowing that at the instant shown the length of the
boom is 6 m and is increasing at the constant rate u = 0.45 m/s,
determine the velocity and acceleration o f point B.
SOLUTION
Geometry. rWA = r = (6 m )(sin30j + cos30k) = (3 m )j + (3>/3 m jk
Method 1
Let the unextending portion of the boom AB be a rotating frame of reference.
Its angular velocity is Q = cofi + <yj = (0.40 rad/s)i + (0.25 rad/s) j.
Its angular acceleration is a = *y,j x <y2l = -<y,ry2k = -(o.lO rad/s2)k.
Motion o f the coinciding point B' in the frame.
v. = Q x rB = (0.40i + 0.25j) x (3j + 3\/3kj = (o.75\/3 m /sji - [\.2 \fi m /s)j + (1.2 m/s)k
i j k i j k
a B. = a x rB + Q x \ B = 0 0 -0.10 + 0.40 0.25 0
0 3 3n/3 0.75^3 -1.2>/3 1.2
= 0.30i + 0.301 - 0.48j - 1.15614k = (0.60 m/s2)i - (o.48 m/s2) j - (l. 15614 m/s2)k

\ BII, = w(sin30j + cos30k) = (0.45 m/s)sin30j + (0.45 m/s)cos30k
a B/F =
Velocity o f point B. \ B = v # + v B/h-
\ B = 0.75n/31 - 1,2>/3j + 1.2k + 0.45 sin 30 j + 0.45 cos 30k
v B = (1.299 m/s)i - (1.853 m /s)j + (1.590 m/s)k 4
Coriolis acceleration. 2Q x \ B/F
2Q x v BIF = (2)(0.40i + 0.25j) x (0.45sin30j + 0.45cos30k)
= (0. 194856 m/s2)i - (0.31177 m/s2) j + (o. 18 m/s2)k

Acceleration o f point B. a g - ag. + a g//r + 2Q x \ B/F
a g = (0.60 + 0.194S56)i - (0.48 + 0.31177j) + (-1.15614 + 0.18)k
a g = (0.795 m/s2)i - jo.792 m/s2) j - (o.976 m/s2)k A
Method 2
Let frame Axyz, which at the instant shown coincides with AXYZ, rotate with an angular
velocity Qj = a>J = (0.25 rad/s) j. Then, the motion relative to this frame consists of turning
the boom relative to the cab and extending the boom.
\ Bi = Q x rB = 0.25j x (3j + 3V3k ) = |0.75\/3 m /s)i
ag. = Q x \ B, = 0.25j x (0.75,. 3i) = -(o.l875-\/3 m/s2 jk
Motion ofpoint B relative to the frame.

Let the unextending portion of the boom be a rotating frame with constant angular velocity
22 = (o2i = (0.40 rad/s)i The motion relative to this frame is the extensional motion with speed u.
vg. = Q 2 x rB = 0-40i x 3j + 3\f3k ) = -(1.2 /3 m/s jj + (1.2 m /s)k
a B. = 22 x \ B, - 0.40i x (-1.2V3j + 1.2k) = (0.48 m/s2) j - (o.48-\/3m/s2 jk
va/boom = M(sin30j + cos30k) - (0.45 m/s)sin30j + (0.45 m/s)cos30k
^Blboom
2Q2 x v s/boom = (2)(0.40i) x (0.45sin30j + 0.45cos30k)
= -(0.31177 m/s2) j + (0.I 8 m/s2 jk
y b;f = y e>+ v B/boorn = -1.2s/3j + 1.2k + 0.45 sin 30 j + 0.45 cos 30k
= -(1.85346 m/s) j + (1.58971 m /s)k
jB 1" ^ S /b o o m 2 f 2 > | - V g /b oom
= -0.48j - 0.48V3k + 0 - 0.31177j + 0.18k - -(o.79177 m/s2) j - (0.65138 m/s2)k
Velocity o f point B. v B = v /r + y b/f
yb = 0.75\/3i - 1.85346j + 1.58971k
yb = (1.299 m/s)i - (1.853 m/s) j + (1.590 m /s)k A

Coriolis acceleration. 2 0 j X V g /p
20 , \ B/F = (2)(0.25j) X (-1.85346j + 1.58971k) = 0.79486i
Acceleration o f point B. as a e + a s/F + 2 0 1 x y B/F
&B -0.1875>/3k - 0.79177j - 0.65138k + 0.79486i
a5 = (0.795 m/s2)i - (0.792 m/s2) j - (0.976 m/s2)k <

PROBLEM 15.231
A disk of radius 6 in. rotates at the constant rate co2 = 5 rad/s with
respect to the arm AB, which itself rotates at the constant rate
co\ = 3 rad/s. For the position shown, determine the velocity and
acceleration of point C.
SOLUTION
Geometry. rc/A = (9.75 in.)i - (7 in.) j rc/B = (6 in.)i
Let frame Axyz, which coincides with the fixed frame AXYZ at the instant shown, be rotating about the y axis
with constant angular velocity O = G>,j = (3 rad/s) j. Then, the motion relative to the frame consists of
rotation about the axle B with a constant angular velocity 2 = = (5 rad/s )k.
Motion o f the coinciding point C' in the frame.
v c = O x rc/A = 3j x (9.75i - 7j) = -(29.25 in./s)k
ar = O x vr = 3j x (-29.25k) = -(87.75 in./s2)i
y c/F = 2 x rc/B = 5k x 6i = (30 in./s) j
aaF = 2 x \ C/F = 5k x (30j) = ( l 50 in./s2
(a) Velocity o f point C. vc = vc- + v c /F
vc = (30.0 in./s)j - (29.3 in./s)k A
2 0 x vc/F = (2)(3j) x (30j) = 0
(h) Acceleration o f point C. ar = ac . + ac/F + 2 0 x \ C/F
a, = 87.75i - 150i + 0
ac = -(2 3 8 in./s2)i A
PROBLEM 15.232
A disk of radius 6 in. rotates at the constant rate co2 = 5 rad/s with
respect to the arm AB, which itself rotates at the constant rate
= 3 rad/s. For the position shown, determine the velocity and
acceleration of point D.
SOLUTION
Geometry. rD/A = (3.75 in.)i - (13 in.)j ra B = - ( 6 in.)j
Let frame Axyz, which coincides with the fixed frame AXYZ at the instant shown, be rotating about the y axis
with constant angular velocity O = <u,j = (3 rad/s) j. Then, the motion relative to the frame consists of
rotation about the axle B with a constant angular velocity (02 = 2k = (5 rad/s)k.
Motion o f the coinciding point D' in the frame.
vD. = O x rD/A = 3j x (3.75i - 13j) = - ( l 1.25 in./s)k
aD. = O x Vd. = 3j x ( - 1 1.25k) = -(33.75 in./s2î
v d/f = 2 x rp/g = 5k x (-6 j) = (30 in./s)i
aw = 2 x v c /f = 5k x (301) = (l50 in./s2) j
Velocity o f point D. vD = vff + vw -
vc = (30.0 in./s)i - (l 1.25 in./s)k A
2 0 x vfflf =(2)(3j) x (30i) = -(l8 0 in./s2jk
Acceleration o f point D. a0 = a ff + a ^ + 20 x v aF
a D = -(33.8 in./s)i + (150.0 in./s) j - (180.0 in./s)k A

PROBLEM 15.233
The 400-mm bar AB is made to rotate at the constant rate
co2 = d d /d t = 8 rad/s with respect to the frame CD which itself rotates
at the constant rate co, = 12 rad/s about the Y axis. Knowing that
2t 0 = 60 at the instant shown, determine the velocity and acceleration of
point/I.
SOLUTION
Geometry. 0 = 60, rA = (0.200 m)(cos60i + sin60j) = (0.1 m)i + (o.lV3 m jj
Let the frame Oxyz rotate about they axis with constant angular velocity 2 = 0),j = (12 rad/s) j. Then, the
motion relative to the frame consists of rotation about the z axis with constant angular velocity
(02 = cofrt = (8rad/s)k.
v A. = co,j x rA = 12j x (o.li + 0.1>/3j) = -(1.2 m/s)k
( d c o ,\.
a = - r - J x rA + co,j x \ A.
>. dt j
= 0 + 12j x (-1.2k) = -(l4 .4 m/s2)i
y A/F = co:lt x rA = 8k x (o.li + 0.lV 3j| = -(0 .8 ^ 3 m /sji + (0.8 m /s)j
* A JF = * rA + * V A/F
= 0 + 8k X (-0.8>/3i + 0.8j) = -(6 .4 m/s2)i - (6.4^3 m/s2) j
Velocity o f point A. v A =v a' + va /f
v A = -(o.8-v/3 m/s)i + (0.8 m /s)j - (1.2 m/s)k
v A = -(1.386 m/s)i + (0.800 m /s)j - (1.200 m/s)k M
2 0 x Va/f = (2)(l2 j)x (-0 .8 > /3 i + 0.8j) = (l9.2>/3 m/s2)k

Acceleration o f point A. & A = a A + a A/F + 2Q X y^p
a - - 2 0 . 8 m/s2Ji - (6.W 3 m/s2 )j + ( 1 9 . 2 %/3 m/s2 jk
&A = - ( 2 0 . 8 m / s 2 ) i - ( l 1 . 0 9 m / s 2 ) j + (33.3 m / s 2 <

PROBLEM 15.234
The 400-mm bar AB is made to rotate at the rate a>2 = dG I dt with
respect to the frame CD which itself rotates at the rate (Ox about the
Y axis. At the instant shown cox = 12 rad/s, da>xld t - - 1 6 rad/s2,
a>2 = 8 rad/s, d(o2! d t - 10 rad/s2, and 6 = 60. Determine the velocity
and acceleration of point A at this instant.
SOLUTION
Geometry. 9 = 60, rA = (0.200 m)(cos60i + sin60j) = (0.1 m )i + (o.l>/3 m jj
Let the frame Oxyz rotate about they axis with angular velocity Q = *y,j = (12 rad/s) j and angular
dcox
acceleration a = j = - ( l 6 rad/s2j j. Then, the motion relative to the frame consists of rotation about
~di~
the z axis with constant angular velocity fi>2 = ^ = (8 rad/s)k and angular acceleration
a2 = = (l0 rad/s2 )k.
\ A. = ft>,j x rA = 12j x (o .li + 0.1>/3j) = -(1.2 m/s)k
' do^ ^ .
a A. = I ^ J J x rA + <y,J x y *
CdT
= (16j) x (o.li + O.yfijj + 12j x (-1 .2 )k = (l.6 m/s2)k - (l4.4 m/s2ji
v = co2k x rA = 8k x (o.li + O.lVJjj = -(o.8>/3 m /sji + (0.8 m /s)j
' dco2
xAtF k x rA + & 2k x v ^
K dt
= 10k x (o.li + 0.lV3j) + 8k x (-0.8>/3i + 0.8j)
= -y/3i + j - 6.4i - 6.4>/3j = (6.4 + >/3)i - (6.4^3 - l)j
Velocity o f point A. = V X' + y MF
v A = -(0.8V3 m/s)i + (0.8 m /s)j - (1.2 m/s)k
= -(1.386 m/s)i + (0.800 m /s)j - (1.200 m/s)k 4

2 0 x v ^ F = (2 )(l2 j) x (-0.8>/3i + 0.8j) = (l9.2>/3 m/s2 )k
Acceleration o f point A. a t = * A + * a if + 2 Q x \ A/F
a , = -(20.8 + >/3 ji - (6.473 - l.o) j + (19.273 + 1.2 )k
a 4 = -(2 2 .5 m /s2)i - (l0.09m /s2) j + (34.9m/s2)k -4

PROBLEM 15.235
In the position shown the thin rod moves at a constant speed
u = 60 mm/s out of the tube BC. At the same time tube BC rotates at the
constant rate co2 =1.5 rad/s with respect to arm CD. Knowing that the
entire assembly rotates about the X axis at the constant rate
a)l = 1.2 rad/s, determine the velocity and acceleration of end A of
the rod.
SOLUTION
Geometry. rA - (120 m m)i + (180 m m)k
M ethod 1
Let the rigid body DCB be a rotating frame of reference.
Its angular velocity is Q = <y,i + &>2k = (1.2 rad/s)i + (1.5 rad/s)k.
Its angular acceleration is a = <y,i x <u2k = -a\a>2\ = - ( l.8 rad/s2jj.
y A. = Q x r A = (1.21 + 1.5k) x (l20i + 180k)

= -216j + 180j = -(3 6 mm/s)j
a Af - a x rA + Q x v A,
= (1.8j) x (1201 + 180k) + (1.21 + 1.5k) x (36j)
= 216k - 324i - 43.2k + 54i = -(2 7 0 mm/s2)i + (l72.8 mm/s2)k
Motion ofpoint A relative to the frame.
v a/f = ta = (60 mm/s)i, aA/F = 0
Velocity o f point A. \ A = \ A, + \ A/F
\ A = (60.0 mm/s)i - (36.0 mm/s) j
Coriolis acceleration. 2fi x \ A/F
2 D x v jl/f = (2)(l.2i + 1.5k) x 60i = (l80 mm/s2 j j
Acceleration o f point A. aA = aA + a/ilF + 2Q. x \ AIF
aA = - ( 2 7 0 mm/s2ji + (l80.0m m /s2j j + (l72.8 mm/s2jk 4

M ethod 2
Let frame Dxyz, which at instant shown coincides with DXYZ, rotate with an angular velocity
Q = ro,i = 1.2i rad/s. Then the motion relative to the frame consists of the rotation of body DCB
about the z axis with angular velocity a>2k = (1.5 rad/s)k plus the sliding motion u = wi = (60 mm)i
of the rod AB relative to the body DCB.
v A' = O x rA - 1.2i x (l20i + 180k) - -(2 1 6 mm/s) j
aA - 2 x v A, = 1.2i x ( 216j) = -(259.2 mm/s2)k
v aif ~ ^ 2^ x + Mi = 1.5k x (l20i + 180k) + 60i = ( l 80 mm/s) j + (60 mm/s)i

aMp = a 2k x r ^ + a>2k x (r2k x rA) + wi + 2co2] x (Mi)
= 0 + 1.5k x 180j + 0 + (2 )(l.5k) x (60i)
= (l80 mm/s2) j - (270 mm/s2)i
Velocity o f point A. y A = y A ' + y AIF
\ A = 216j + 180j + 60i
= (60 mm/s)i - (36 mm/s) j A
Coriolis acceleration. 2fIxv^
2 Q x v ij? = (2)(l.2i) x (l80j + 60i) = (432 mm/s2)k
Acceleration o f point A. a A ~ a A' + a a i f + 2 Q x V ^p
aA = -259.2k + 180j - 270i + 432k
aA = -(270m m /s2)i + (l80.0m m /s2) j + (l72.8m m /s2|k A

PROBLEM 15.236
In the position shown the thin rod moves at a constant speed
u = 60 mm/s out of the tube BC. At the same time tube BC rotates at the
constant rate co2 =1.5 rad/s with respect to arm CD. Knowing that the
entire assembly rotates about the X axis at the constant rate
<y, =1.2 rad/s, determine the velocity and acceleration of end A of
the rod.
SOLUTION
Geometry. rA = (120 mm)j + (180 mm)k
Method 1
Let the rigid body DCB be a rotating frame of reference.
Its angular velocity is O =a>,i + at2k = (1.2 rad/s)i - (1.5 rad/s)k.
Its angular acceleration is a = to,ix <y2k = -(Oxa>2j = (l.8 rad/s2) j.

vA' = Q x rA = (1.21 - 1.5k) x (l20j + 180k)
- 144k 216j + 180i = (180 mm/s)i - (216 mm/s) j + (144 mm/s)k
xr( +Q X v A'
i i k i j k
= 0 1.8 0 + 1.2 0 -1.5
0 120 180 180 -216 + 144
= 324i - 3241 + 442.8j - 259.2k = (442.8 mm/s2) j - (259.2 mm/s2)k
v aif = "j = (60 mm/s) j, = 0
Velocity o f point A. \ A - v^. + \ A/h-
vA = 1801 - 216j + 144k + 60j
v A = (180.0 mm/s)i - (156.0 mm/s) j + (144.0 mm/s)k A
Coriolis acceleration. 2fl x v
2Q x = ( 2 )( l.21 + 1.5k) x 60j = ( l 80 mm/s2)i + (l44 mm/s2)k

Acceleration o f point A. aA = aA. + aMF + 2Q x v AjF
aA = -442.8j - 259.2k - 180i + 144k
aA = (l80m m /s2) i - (443 mm/s2) j - ^115.2 mm/s2) k A
Method 2
Let frame Dxyz, which at instant shown coincides with DXYZ, rotate with an angular velocity
n = fflji = 1.21 rad/s. Then the motion relative to the frame consists of the rotation of body DCB
about the z axis with angular velocity co2k = -(1.5 rad/s)k plus the sliding motion u = m = (60 mm) j
of the rod AB relative to the body DCB.
\ A = Q x . r A = 1.2ix(l2Q j + 180k.) = -(2 1 6 m m /s)j + (144 m m/s)k
a A = C l x \ A = 1.2i x (216j + 144k) = -(l7 2 .8 mm/s2) j - (259.2 mm/s2)k
Motion o f point A relative to the frame.
va/f = x r A +ui = x (l20j + 180k) + 60j = (180 m m /sji + (60 mm/s) j

a aif - a 2*t x ta + ^ 2^ x (2^ x r,*) + uj + 2<w2k x (wj)
= 0 + (-1.5k) x (1801) + 0 + (2 )(-1 .5 k ) x (60j)
= -270j + 1801 = ( l 80 mm/s2) i - (270 mm/s2) j
Velocity o f point A. * a = v A- + Va/f
vA = 216j + 144k - 180i + 60j

v^ = (180.0 mm/s)i - (156.0 mm/s) j + (144.0 mm/s)k A
Coriolis acceleration. 2Q X V a jf
2Q x \ AF = (2)(l.2i) x (1801 + 60j) = (l44 mm/s2)k
Acceleration o f point A. a A = a A' + a AI F + 2 f l x V ^ p
aA = -172.8j - 259.2k + 180i - 270j + 144k
aA = (l80.0mm/s2)i - (443mm/s2)j - (l 15.2mm/s2)k A

PROBLEM 15.237
A disk of 9-in. radius rotates at the constant rate co2 = 12 rad/s with
respect to arm CD, which itself rotates at the constant rate <y, = 8 rad/s
about the Y axis. Determine at the instant shown the velocity and
acceleration of point A on the rim of the disk.
SOLUTION
Geometry. r^p = (7.5 in.)i + (9 in.)j - (18 in.)k, r^ = (9 in.) j
Let frame Dxyz, which coincides with the fixed frame D X Y Z at the instant shown, be rotating about the y-axis
with constant angular velocity Q = *y,j = (8rad/s)j. Then, the motion relative to the frame consists of a
rotation of the disk A B about the bent axle C D with constant angular velocity co2 = **>2^ = ('2 rad/s) k.
Motion of the coinciding point A' in the frame.
Vj. = Q x r^p = 8j x (7.5i + 9j - 18k) = -(144 in./s)i - (60 in./s)k
a A- = Q x v A. = 8j x ( 144i - 60k) = -(480 in./s2î + (l 152 in./s2)k
Motion of point A relative to the frame.
y .v f = 2 x rA/n = 12k x 9j = -(108 in./s)i
* a/f = 2 x y aif = 12k x ( 108i) = ^1296 in./s2)j
Velocity of point A. y a = y a ' + y a/f
v A = 144i - 60k - 108i = -(252 in./s)i - (60 in./s)k
\ A = -(21.0 ft/s)i -(5.00 ft/s)k A
Coriolis acceleration. 2 Q x \ AJF
2Q x y^ = (2)(8j) x (-1081) = (1728 in./s) k
Acceleration of point A. aA = a .,. + a A/F + 2 Q x v
a , = -480i + 1152k - 1296j + 1728k = -(480 in./s2)i - (l296 in./s2)j + (2880 in./s2)k
a^ = -(40.0 ft/s2)i -(108.0 ft/s2)j + (240 ft/s2)k A

PROBLEM 15.238
A disk of 9-in. radius rotates at the constant rate *a2 = 12 rad/s with
respect to arm CD, which itself rotates at the constant rate co, = 8 rad/s
about the Y axis. Determine at the instant shown the velocity and
acceleration of point B on the rim of the disk.
SOLUTION
Geometry. rBID = (7.5 in.)i - (9 in.) j - (18 in.)k, rBIC = - ( 9 in.) j
Let frame Dxyz, which coincides with the fixed frame DXYZ at the instant shown, be rotating about the y axis
with constant angular velocity O = <y,j = (8 rad/s) j. Then, the motion relative to the frame consists of a
rotation of the disk AB about the bent axle CD with constant angular velocity 2 = co2k = (12 rad/s)k.
vB. =Q xrW D = 8j x (7.51 - 9j - 18k) = -(144 in./s)i - (60 in./s)k
a. =Q x\ B. = 8j x (1441 - 60k) = -(4 8 0 in./s2 + (l 152 in./s2 )k
Motion ofpoint B relative to the frame.

v b,f = x rBiD = 12k x (-9 j) = (108 in./s)i
ab/f = co2 x vB/f? = 12k x 1081 = (l296 in./s2) j
v B = v s. + \ B/F
\ B = 1441 - 60k + 108i = -(3 6 in./s) 1 - (60 in./s)k
v B = -(3.00 ft/s)i - (5.00 ft/s)k <
20x vWF
2 0 x vB/F = (2)(8j) x (1081) = (l728 in./s2)k
afl = +
B- B /F +20 X \ B/F
a B = -480i + 1152k + 1296j - 1728k = -(4 8 0 in./s2 + (l296 in./s2) j - (576 in./s2^k
a s = -(4 0 .0 ft/s2)i + (108.0 ft/s2) j - (48.0 ft/s2)k ^

100 isca
PROBLEM 15.239
The vertical plate shown is welded to arm EFG, and the entire unit rotates
at the constant rate a>l = 1.6 rad/s about the Y axis. At the same time, a
continuous link belt moves around the perimeter of the plate at a constant
speed u = 90 mm/s. For the position shown, determine the acceleration
of the link of the belt located (a) at point A, (b) at point B.
SOLUTION
Let the moving frame of reference be the unit less the pulleys and belt. It rotates about they axis with constant
angular velocity Q = <y,j = (1.6 rad/s) j. The relative motion is that of the pulleys and belt with speed
u = 90 mm/s.
(a) Acceleration at point A.
rA - -(100 m m )i + (380 m m )j
v Ai = f l x r jj = 1 .6 j x (-1001 + 380j) = (160mm/s)k
aA<= Q x vA' = 1.6j x 160k = ( 256 mm/s2 ji

v Atf = wk = (90 rnm/s)k
2 0 x v ^ p = (2 )(l.6 j) x (90k) = (288 mm/s2)i
ha = aj + a + 20 x v ^ F = 2561 - 135j + 288i
aA = (544 mm/s2j i - (135.0 mm/s' A
(b) Acceleration o f point B.
rB = -(100 m m )i + (200 mm) j + (60 mm) k
Vg> = Q x rB - 1.6j x (-100i + 200j + 60k) = (96 mm/s)l + (160 mm/s)k
aB, = O x \ B, = 1.6] x (96i + 160k) = (256 mm/s2 ji - (153.6 mm/s2 :k
v grp = - j = -(9 0 mm/s)j .
a B/F = 0
2 0 x y B/F = (2 )(l.6 j) x (-9 0 j) = 0
aB ~ aB, + aB/F + 2 0 x \ B/F = 256i - 153.6k + 0 + 0
a5 = ! .56 mm/s ' i - 53.6 mm/s ;k A

PROBLEM 15.240
The vertical plate shown is welded to arm EFG, and the entire unit rotates
at the constant rate cox =1. 6 rad/s about the Y axis. At the same time, a
continuous link belt moves around the perimeter of the plate at a constant
speed u = 90 mm/s. For the position shown, determine the acceleration
of the link of the belt located (a) at point C, (b) at point D.
SOLUTION
Let the moving frame of reference be the unit less the pulleys and belt. It rotates about they axis with constant
angular velocity f t = <y,j = (l .6 rad/s)| The relative motion is that of the pulleys and belt with speed
u = 90 mm/s.
(a) Acceleration at point C.
rr - ( l 00 mm)i + (80 mm) j
vr = ft x rA = 1.6j x ( 1001 + 80j) = (160 mm/s)k
ar = Q x v^. = 1.6j x 160k = (256 mm/s2ji
v c/F = -i/k = -(9 0 mm/s)k
U 902
*CIF j = j = (135 mm/s2)j
P)
2ft x vc/F = (2 )(l.6 j) x (-9 0 k ) = -(2 8 8 mm/s2|i
ac = ac - + aaF + 2Q x v c/F = 2561 + 135j - 2881
ac = -(32.0 mm/s2)i + (l 35.0 mm/s2 j j -4
(b) Acceleration at point D.
rD = -(100 mm)i + (200 mm) j - (60 mm)k
vD. = ft x rB = 1.6j x (1001 + 200j - 60k) = -(9 6 mm/s)i + (160 mm/s)k
a 0. = f t x v B. = 1.6j x (961 + 160k) = (256 mm/s2ji + ( l 53.6 mm/s2)k
\[yF = j = (90 mm/s) j
a D /F ~ 0
2Q x y D/F = (2 )(l.6 j) x (-9 0 j) = 0
a> = a )' + a D/F + 212 x v D/F -- 256i + 153.6k + 0 + 0
aD = (256mm/s2)i + (l53.6m m /s2^k 4

PROBLEM 15.241
The cylinder shown rotates at the constant rate a>2 = 8 rad/s with respect
to rod CD, which itself rotates at the constant rate <y, = 6 rad/s about the
X axis. For the position shown, determine the velocity and acceleration of
point A on the edge of the cylinder.
SOLUTION
Geometry. rA = (6 in.)i - (9 in.)j
Let frame Dxyz, whichcoincides with the fixed frame DXYZ at the instant shown, be rotating aboutthe x axis
with constant angularvelocity Q - co,i = (6 rad/s)i. Then, the motion relative to the frameis a spin about the
axle CD of angular velocity -co2j = - ( 8 rad/s) j.
v A = Si x rA = 6i x (6i - 9j) = -(5 4 in./s)k
a , = Q x v A' = 6i x (-5 4 k ) = (324 in./s2)j
Motion o f point A relative to the frame.
vfly = <d2j x rA = -8 j x (6i - 9j) = (48 in./s)k

a My = -co2j x Vaif ~ x 48k = -(3 8 4 in./s)i
Velocity o f point A .
v A = -54k + 48k = - ( 6 in./s) k
v A = -(0.500 ft/s)k 4
2fi x v AIF
2Q x y ^ y = (2 )(6i) x 48k = -(5 7 6 in./s2)j
Acceleration o f point A.
* a = a , r + a .4IF + 2 Q * V a if
aA = 324j - 384i - 576j = -(3 8 4 in./s2)i - (252 in./s2) j
aA = -(32.0 ft/s2)i - (21.0 ft/s2) j 4

PROBLEM 15.242
The cylinder shown rotates at the constant rate a)2 = 8 rad/s with respect
to rod CD, which itself rotates at the constant rate cy, = 6 rad/s about the
X axis. For the position shown, determine the velocity and acceleration of
point B on the edge of the cylinder.
SOLUTION
Geometry. rH = (6 in.)i - (14 in.)j
Let frame Dxyz, which coincides with the fixed frame DXYZ at the instant shown, be rotating about the x axis
with constant angular velocity Q = *y,i = (6 rad/s)i. Then, the motion relative to the frame is a spin about the
axle CD of angular velocity -a)2j = -(8 rad/s) j.

v g. = O x rfl = 6i x (6i - 14j) = -(84 in./s)k
afi. = O x v fl. = 6i x (-84k) = (504 in./s2)j
Motion o f point B relative to the frame.

\ B/F = -co2j x rfl = -8j x (6i - 14j) = (48 in./s)k
b b/f = - 2j * v b/f = - 8j x 48k = -(384 in./s)i
y B = y B' + y B/F
Vg = -(84in./s)k + (48in./s)k = -(36in./s)k
vg = -(3.00 ft/s)k A
2 0 x \ B/F
2 Q x \ W F = (2)(6i) x 48k = -(576 in./s2)j
a B = a sr + aB/F + 2 0 x \ B/F
a fl = 504j - 384i - 576j = -(384 in./s2)i - (72 in./s2)j
ag = -(32.0 ft/s2)i -(6.00 ft/s2)j A

PROBLEM 15.243
A triangular plate and two rectangular plates are welded to each other and
to the straight rod AB. The entire welded unit rotates about axis AB with a
constant angular velocity of 5 rad/s. Knowing that at the instant
considered the velocity of comer E is directed downward, determine the
velocity and acceleration of comer D.
S O L U T IO N
ta/b = (400 mm) j - (300 mm)k BA = 500 mm
= rKA = - ^ ( 4 0 0 j - 300k) = (4 rad/s)j - (3 rad/s)k
a =0
r E/B = (350 mm)i = (0.35 m )i
v = to x rE/B = (4j - 3k) x 0.35i = -(1.05 m /s)j - (1.4 m/s k),
which is directed downward.
rD/B = (350 mm)i - (300 mm) k = (0.35 m )i - (0.3 m )k
i j k
v D = x raB = 0 4 -3
0.35 0 -0.3
vD = -(1.200 m/s)i - (1.050 m /s)j - (1.400 m /s)k -4
aD = a x raB + a) x \ D = id x v ;
i j k
0 4 - 3
-1.2 -1.05 -1.4
a o = ~(8.75 m/s2)i + (3.60 m/s2) j + (4.80 m/s2jk -4

PROBLEM 15.244
The pulley has an initial angular velocity of 0.8 rad/s counterclockwise
and a constant angular acceleration of 1.8 rad/s clockwise. After 5 s of
motion, determine the velocity and position of (a) block A, (b) block B.
SOLUTION
') m = a)Q + a t = (0.8 - 1.8f)rad/s
N
At t = 5 s, to = 0,8 (l.8)(5) = -8.2 rad/s, co = 8.2 rad/s J
1 ?
6 = #0 + co0t + a t
At t = 5 s, 6 = 0 + (0.8)(5) + ^ (-1 .8 )(5 )2 = -18.5 rad
6 = 18.5 rad J
(a) Block A: vA = rAco = (0.2)(8.2) = 1.64 m/s \ A = 1.640 m/s | -4
sA = rA6 = (0.2)(18.5) = 3.7 m sA = 3.70 m | 4
(ib) Block B: yB = rBco = (0.09)(8.2) = 0.738 m/s \ B = 0.738 m/s | 4
Sg = rB0 = (0.09)(18.5) = 1.665 m sB = 1.665 m | 4

PROBLEM 15.245
o Knowing that crank AB has a constant angular velocity of 160 rpm
counterclockwise, determine the angular velocity of rod BD and the
velocity of collar D when (a) 0 = 0, (b) 0 = 90.
SOLUTION
coAB = 160 rpm = - ^ / r rad/s ^
vB = ( AB) mab = = 50.265 in./s
(a ) (9 = 0 .
y B = yB y o =VD
sin/? = , /? = 36.87
10
V/*fl = N P\ = N /?]
yD = xb + y D/B Draw vector diagram.
Vo 50.265 ,
VVB "- ---------- = 62.831 in./s
COS P COS P
v d /b 62.831
= 6.2831 rad/s
BD 10
c b d ~ Ô.O rpm , A
vD = vB tanp = 50.265tan/? = 37.7 in./s
vu = 37.7 in./s A
(b) 9 = 90.
y B = y d = vn
Bar BD is in translation.
yo = yB
vD = 50.3 in./s
PROBLEM 15.246
In the position shown, bar DE has a constant angular velocity if 15 rad/s
clockwise. Determine (a) the distance b for which the velocity of point F
is vertical, (b) the corresponding velocity of point F.
300 mm 240 mm
S O L U T IO N
Position vectors. r D /E = - (0-24 m )i + (0.32 m )j, r B/D = -(0 .3 m )i + (0.1 m )j
rF/B = ~bi + ~ b\
Velocity analysis. (S>DF = -(15 rad/s)k \ B = vHi
y D = m Dt: * ro/E = (~15k) x (-0.24i + 0.32j) = (4.8 m/s)i + (3.6 m/s) j
y BID ~^ B D x r WD = o) BDk x (0.31 + O.lj) = -0. \(oB,)\- 0.3<yflDj
VB=V0+ y BID
vfli = 4.81 + 3.6j - 0. - 0.3<yBOj Resolve into components.
j: 0 = 3.6 - 0.3(oBD (oBD = 12 rad/s
i: vB = 4.8 - (0 .l)(l2 ) = 3.6 m/s v{ = (3.6 m/s)i
vF = v,. j for vertical motion.
'F I B =
~ t1Xo1BD'
k x r FIB = 12k x = -4Ai - 12Zj
y F - v+ y FIB
vFj = 3.61 4bi - 12bj, Resolve into components,
(a) i: 0 = 3.6 - 4b b = 0.900 m <
j: vF = ~(12)(0.900) = -10.8 m/s
(b) \ F = -(10.8 m/s) j \ F = 10.80 m/s | A

PROBLEM 15.247
The spool of tape shown and its frame assembly are pulled upward at a
speed v A = 750 mm/s. Knowing that the 80-mm-radius spool has an
angular velocity of 15 rad/s clockwise and that at the instant shown the
total thickness of the tape on the spool is 20 mm, determine (a) the
instantaneous center of rotation of the spool, (b) the velocities of points B
and D.
PROBLEM 15.248
Knowing that at the instant shown the angular velocity of rod AB is 15
rad/s clockwise, determine (a) the angular velocity of rod BD, (b) the
velocity of the midpoint of rod BD.
200 mm
- 600 mm -
SOLUTION
a>AB = 15 rad/s j
vB = {A B ) g>ab = (0.200)(15) = 3 m/s
v* = vB yD = vd 1
Locate the instantaneous center (point Q of bar BD by noting that

velocity directions at points B and D are known. Draw BC perendicular to
v B and DC perpendicular to vD.
_B_ _
V
(?) >BD ~ = 12 rad/s coBD = 12.00 rad/s ^ 4
BC 0.25
(b) Locate point M, the midpoint of rod BD. Draw CM.
BD = J(0.6)2 + (0.25)2 = 0.65' im
0.25
ta n ^ = P = 22.62 90 - P - 67.38
0.6
CM - D M = MB = i ( BD ) = 0.325 m
vM = (CM)co = (0.325)(12) = 3.9 m/s vM = 3.90 m/s ^ 67.4 4

PROBLEM 15.249
An automobile travels to the left at a constant speed of 48 mi/h. Knowing
that the diameter of the wheel is 22 in., determine the acceleration (a) of
point B, (b) of point C, (c) o f point D.
22 in.
SOLUTION
= 48 mi/h = 70.4 ft/s = 844.8 in./s, a., = 0.
r = d = 11 in.
2
Assume that the wheel rolls without slipping, then point C is the instantaneous center of the wheel.
a _ - *^15. _ 76.8 rad/s ) a = 0.

r 11 y
a = ra r = (l l)(76.8) = 64881 in./s2 or 5410 ft/s2.
(a ) a B= a A + a WA = 0 + [r< u 2 { ] a = 5410 ft/s2 [ 4
(b ) a ( -= a A + a OA = 0 + [ra r { J ac = 5410 ft/s2 f -4
(c) aD = a A + a,yA = 0 + [r<y2 K 30] aD = 5410 ft/s2 ^ 60 4

in. -5 In.- 5 in. 4 in.-*-j
PROBLEM 15.250
Knowing that at the instant shown rod AB has a constant angular velocity
of 15 rad/s counterclockwise, determine (a) the angular acceleration of
^ T 't -
rod DE, (b) the acceleration o f point D.
SOLUTION
tan p = p = 36.87
AB = = 5 in.
COS P
4
DE = = 5 in.
cos p
vfl = {AB) coab = (5)(15)
= 75 in./s
y B = VB V P> y D = vD K f i
Point C is the instantaneous center of bar BD.
CB = = 6.25 in. a Bn = = = 12 rad/s )

cos p CB 6.25 y
CD = = 6.25 in. vD = ( C D )c o b d # (6.25)(l2) = 75 in./s
- = = 15 rad/s
DE 5
Acceleration analysis. a AB ~ 0
a B = [(.AB) ccab 1/ p ] + [ ( A B ) co2ba P]
= 0 + (5)(15)2 ^ / j = 1125 in./s2 ^ P
*D/B = [{BD)aBD J ] + [(2BD) o>2bd ]
= [10BD t ] + [(!0)(l2)2 j
= [l0agD f ] + [l440 in./s2 |

a D = \{D E )a m M ] + [{D E ) o}I e j * fi]
= [5<*de M ] + [(5)(15)2
= [to DE M ] + [1125 in./s2 ^ p]
b d = & b + b d /b Resolve into components.
(a) 5aDE sinp + 1125cos P = -1125cosP - 1440
a DE = -1080 rad/s2 a DE = 1080 rad/s2 ) 4
(b) a D = [(5 )(1080) K P ] + [ 1125 in-Zs2 ^ p\
= [ 5400 in./s2 \ p \ + [ 1125 in./s2 ^ p j
ta n r = 1 1 ^ . y = 11.77
5400
aD = V54002 +11252 = 5516in./s2
= 460 ft/s2
90 - p + f = 64.9
a D = 460 ft/s2 ^ 64.9 4

PROBLEM 15.251
Two rods AE and BD pass through holes drilled into a hexagonal block.
(The holes are drilled in different planes so that the rods will not touch
each other.) Knowing that at the instant considered rod AE rotates
counterclockwise with a constant angular velocity , determine the
relative velocity of the block with respect to each rod when 0 = 45.
SOLUTION
Geometry. (p = 180 - 45 - 60 = 75; 90 - <p = 15
AH _ BH l_
Law of sines.
sin^j sin 45 sin 60
AH = 1.11536/
sin 60
/sin 45
BH = = 0.81650/
H sin 60
The angle between rods AE and BD remains at 60.
10bd = Mae ~ m ^
Velocity analysis o f rod AE with slider H.
Velocity of corresponding point H' on rod AE.
vH. =(AH)co = 1.115361(0 v w. = 1.11536/ 45
Velocity of slider H relative to rod AE. v H/AE = w, 45
v// = v//' + ^m ae = [1.11536/ 45] + [, ^ 45]
Velocity analysis o f rod BD with slider H.
Velocity of corresponding point H on rod BD.
v . =(BH)(o = 0.81650/ v . = 0.81650/ \ 15
Velocity of slider H relative to rod BD. v IIIBl) = u2 15
V// = v . + \, BD = [0.81650/ \ 15] + [2 ^ 15]

Equate the two expressions for y H and resolve into components.
_*: 1.11536/ cos 45 + ! cos 45
= -0.81650/ sin 15 + k2 cos15 (1)
+ |: 1.1 1536/oj sin45 - m, sin 45
= 0.81650/cosl5 + u2 sinl5 (2)
u, = -0.2991(0, 2 = 0.817/
y WAE = 0.299/ ^ 45 A
y H/BD = 0.817/ ^ 15 A
PROBLEM 15.252
The motion of pin D is guided by a slot cut in rod AB and a slot cut in the
fixed plate. Knowing that at the instant shown rod AB rotates with an
angular velocity of 3 rad/s and an angular acceleration of 5 rad /s2, both
clockwise, determine the acceleration of pin D.
SOLUTION
Geometry. cp = 1 8 0 - 4 5 - 3 0 = 105
AD AE
Law of sines.
sin 30 sin^>
20sin30
AD = = 10.3528 in.
E ' sin 105
Let slotted rod AB be a rotating frame of reference.
n 4fl = 3 rad/s j), f2 .,s = 5 rad/s2 j)
Motion o f coinciding point D' on rod AB.
vD. = [ ( A D ) a AE 45] = [(10.3528)(3) ^ 45]
= [31.058 in./s ^ 45]
a # = [ (A D )Q m ^ 45] + \(A D )Q m
2 7 45]
= [(10.3528)(5) ^ 45] + [(10.3528)(3)2 ^ 4 5 ]
= [51.764 in./s2 ^ 45] + [93.175 in./s2 7 45]
Motion o f pin D relative to rod AB.
y D /AB ~ u ^ ^5, * D /A B = ^5
Constraint o f slot in plate. vD = vD ^ 35, an = aD 30
Velocity analysis. v D = \ D- + \ lyA/j

Equate the two expressions for vD and resolve into components.
_*: vDcos30 = 31.058 cos 45 + u cos 45 (1)
+J: v^, sin 30 = 31.058sin45 - u sin45 (2)
vD = 32.15 in./s, u = 8.322 in./s
2Qabu = (2)(3)(8.322) = 49.932 in./s2 ^ 45
a > = a D ' + a D /A B + \ ^ A B U 45]
Equate the two expressions for aD and resolve into components.
JL : Dcos30 = 51.769cos45 - 93.175cos45
+ ticos45 + 49.932 cos 45 (3)
+ J: 0 ^ 3 0 = 51.769sin45 + 93.175sin45
- u sin 45 + 49.932sin45 (4)
aD = 105.3 in./s2, ti = 120.4 in./s2
aD = 105.3 in./s2 ^ 30 4
PROBLEM 15.253
Three rods are welded together to form the comer assembly shown that is
attached to a fixed ball-and-socket joint at O. The end of rod OA moves
on the inclined plane D that is perpendicular to the xy plane. The end of
rod OB moves on the horizontal plane E. Knowing that at the instant
shown vs = -(15 in./s)k, determine (a) the angular velocity of the
assembly, (b) the velocity of point C.
SOLUTION
Rotation about the fixed point O. Vp = -(15 in./s)k
i j k
(Ox coy coz = 8vi - 8coxj
0 0 8
Constraint o f plane D. M , = -r(v^)

2
= (H -) or " , = 2C0X ( 1)
i j k
v = x rH = a)x o)y co. = -6 .j + 6,k
-6 0 0
But \ B = -(15 in./s)k.
Hence, - 6(0. =0 and 6 coy = -15
Then, co. = 0 and coY = -2.5 rad/s.
From (1), cor = cov = -1.25 rad/s

2 y
(a) Angular velocity. = -(1.250 rad/s)i - (2.50 rad/s) j A
(h) Velocity o f point C.
i j k
v r = x r- = -1.25 -2.5 0 = - ( 5 in./s)k
0 4 0
vr = -(5 .0 0 in./s)k A
PROBLEM 15.254
The arm AB of length 5 m is used to provide an elevated platform for
construction workers. In the position shown, arm AB is being raised at the
constant rate d d l dt = 0.25 rad/s; simultaneously, the unit is being
rotated counterclockwise about the Y axis at the constant rate co, =0. 15
rad/s. Knowing that 6 = 20, determine the velocity and acceleration of
point B.
SOLUTION
Frame o f reference. Let moving frame Axyz rotate about the Y axis with angular velocity
Q = <y,j = (0.15 rad/s)j.
Geometry. rB/A = -5cos20i + 5sin20j = -(4.6985 m )i + ( l. 7101m)j
Place point O on Y axis at same level as point A.
r Bio = rB/A + rMO = r B!A + (-8 m ) = -(3.8985 m )i + (1.7101 m )j
Motion o f corresponding point B 'in the frame.
\ B. = fi x rw o = (0.15j) x (-3.89851 + 1.7101j) = (0.58477 m/s)k
a fl. = n x va. = (0.15j) x (0.58477k) = (0.087715 m/s2)i
Motion o f point B relative to the frame. a>2 = = (0.25 rad/s)k
vg/p = (o2 x rWA = (-0.25)k x (-4.6985i + 1.7101 j)
= -(0.42753 m/s)i + (1.17462 m/s) j
a fl/F = (o2 x y B/F = (-0.25k) x (-0.42753i + 1.17462J)
= (0.29365 m/s2)i + (0.106881 m/s2)j
Velocity o f point B. \ H= vfl. + v B/F
v B = -(0.428 m/s)i + (1.175 m /s)j + (0.585 m /s)k 4
Coriolis acceleration. 2Q x v B/F = (2)(-0.15j) x (-0.42753i + 1.17462J)
= -(0.128259 m/s2 )k
Acceleration o f point B. a /( = a /(. + aB/F + 2Q x v B/F
ab = (o.381 m/s2)i +(0.1069 m/s2) j - (o.l283 m/s2)k 4

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PROBLEM 15.

9 = (4t3 - 1212 + 15jradians

a = = (241 - 24) rad/s2

(a) t = 0, 9 = 0 + 0 + 15 9 = 15.00 radians A

(b) t = 6 s, 9 = (4)(6)3 - (12)(6)2 +15 = 447 9 = 447 rad <

a> = (12)(6)2 - ( 2 4 ) ( 6 ) = 288 co = 288 rad/s -4

a - (24)(6) - 24 = 120 a = 120.0 rad/s2 4

6 = ^413 - 1212 + 15jradians

t =0 and t =2s 0 and 2.00 s -4

At t = 2 s, 0 = (4)(2)3 - ( l 2 ) ( 2 ) 2 +15 = - l 6 = -1.000 radian 4

a = (24)(2) - 24 = 24 a - 24.0 rad/s2 4

9 = 0.5 e~3xt cos4nt

a) = = 0.5(-3;re~3" cos4/rf - 4ne~3n' sin4^r/)

a = = 0.5(9/r2e 3,rl cosAnt + \2n2e~3xl sm4nt + \2n~e~3xt sin4^/ - 16;r2e 3x1cos4/rt j

(o = (0.5)(-3;r) = -^4.71 O) = -4.11rad/s 4

a = (0.5)(-7/r2) = -34.5 a = -34.5 rad/s2 4

(b) t - 0.125 s, cos4;rr = cos = 0, sin4/rf = sin = 1

a) = (0.5)(0.30786)(-4;r) = -1.93437 o) = -1.934 rad/s 4

a = (0.5)(0.30786)(24^2) = 36.461 a = 36.5 rad/s2 4

The motion of an oscillating flywheel is defined by the relation

0 = 90e~lmlb sin Ant

(a) 90 = 0.4 rad, t = 0.125 s

e-7T(0.i25y6 _ 0.63245, 4;rf = , sin = 1, cos = 0

0 = (0.4)(0.63245)(1) = 0.25298 radians 9 = 0.253 rad A

o) = (0.4)(0.63245)| (l) = -0.92722 rad/s a) = -0.927 rad/s -4

a = -(0.4)(0.63245)fl6 - V 2(l) = -36.551 rad/s2 a = -36.6 rad/s2 A

(b) t = oo, e~lK,lb = 0 9 = 0*4

co, - o)n 0 - 240;r 2

= 6000;r - 18000 rev 6 = 18000 rev <

0, = <y0/ + ~ a/2 = 0 + -j(2 0 /r)(4 2) = 160tt rad = = 80 rev

(b) (a, = 80/r rad/s, co2 = 0 , /2 /, = 40 s

/ x ft)-, - ru, 0 - 80;r _ ,. >

92 6\ = ft), (r2 - r,) + ^ a (h ~ fi)~ = (80^)(40) + -j(-2 /r)(4 0 )'

= 1600;r radians = ^ = 800 rev 0-, - 6, = 800 rev A

a = -k 9 co^- =-k9 codco = -k 9 d 9

(a) t - 4 -9 s- k = 9.00 s2 <

(b) m2 = 122 - (9)(3)2 = 63 rad2/s2 m = 7.94 rad/s M

Integrating, -30 = -0.5 9

0 - 60 radians = = 9.55 rev 6 = 9.55 rev <

(c) co = (0,02)(30) = 0.6 rad/s

rB/A = (500 m m)i - (225 mm) j + (300 m m )k = (0.5 m )i - (0.225 m) j + (0.3 m )k

lAB = yjo.52 + 0.2252 + 0.32 = 0.625 m

Angular velocity vector.

= rWA = ^ ^ - ( 0 .5 1 - 0.225j + 0.3k)

I = (8 rad/s)i - (3.6 rad/s) j + (4.8 rad/s)k

r E/B = (300 m m)k = -(0 .3 m )k

v E = (1.080 m/s)i + (2.40 m/s)j 4

a = -^11.52 m/s2ji + ^5.18 m/s2) j + ^23.1 m/s2jk 4

lAB - Vo.52 + 0 2252 + 0.32 = 0.625 m

= ~ ~ rB!A = - ^ 7 ( 0 .5 1 - 0.225J + 0.3k)

= (8 rad/s)i - (3.6 rad/s) j + (4.8 rad/s)k

Angular acceleration vector.

a = rmA = ^ - ( 0 .5 i - 0.225j + 0.3k)

= -(1 6 rad/s2 )i + (7.2 rad/s2j j - (9.6 rad/sz )k

rC/B = -(5 0 0 m m )i - -(0 .5 m )i

vc -- -(2 .4 0 m/s) j - (1.800 m/s)k ^

- 4.8j + 3.6k + 18i + 14.4j - 19.2k

c - (lB.OO m/s2)i + (19.20 m/s2) j - (15.60 m/s2) k 4

r m0 = (100 mm)i + (624 m m )j + (240 m m)k = (0.1 m )i + (0.624 m )j + (0.24 m )k

rmo = (100 mm)i + (312 m m )j = (0.1 m )i + (0.312 m )j

lOA = y j( 0 .\f + (0.624 )2 + (0.24)2 = 0.676 m

0) = (1.0 rad/s)i + (6.24 rad/s)j + (2.4 rad/s)k

\ B = -(0.749 m/s)i + (0.240 m/s) j - (0.312 m/s)k 4