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Today:
Homework Questions
Read Chap 15 Sections 5 and 6
Homework: Chap. 15, Problems 38, 45, 52, 55

 
 




 


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Plane motion results from a combination of a body translating in a single spatial plane
while undergoing rotation about an axis perpendicular to the spatial plane at the same
time.

B3
B2
A2

A1 A3

B1

General Plane Motion: Points A and B both stay in the plane of the paper.

The velocity of a point on the rigid body may be specified in terms of the velocity of
some other point and the relative velocity of the point with respect to the known point.
r r r
ãi  ã ãi

The relative velocity may be expressed in terms of the rotational velocity and the relative
displacement between the two points. This gives the equation a form of
r r r r
ãi  ã r
i

Because the translational motion stays in the x-y plane, and the rotational motion is
normal to the plane (directed in the z direction), this can also be expressed as

r r 
r
ãi  ã r
i

A
X

B/A &B/A
B
&A
A
&B
B
&A

For a rotating rigid body, one concept that is not always apparent is that the rotational
velocity, X is the same for all points on the body.

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1) Draw out the diagram of the problem

2) Start by identify each of the individual rigid bodies that are in the problem.

3) Note and label points of contact or attachment from one body to another.

4) Identify points where you already know the velocity, especially points where the
velocity is zero. Some points you won't know the magnitude of the velocity, but
you will know the direction. You can still use this information to write a velocity
vector as
r
ã  (  
   Ë   Ë 

where ș represents a known angle.

5) Write the relative velocity equation for connection point for each of the rigid bodies.
r r 
r
ãi  ã r
i

6) Solve equations for unknowns to find velocities and angular velocities.

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r r
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r r
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i
c

r r
c
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Set up and
r r r r r r r r
ã c  ã  r

c
 ã c  ã ri
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Set up and
r r r r r r r r
ãi  ã r i
i
ã i  ã m ri
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The motion of rod AB is guided by pins attached at A and B which slide in the slots shown. At the
instant shown, ș = 30 degrees, and the pin at A moves downward with a constant velocity of 225
mm/s. Determine a) the angular velocity of the rod, b) the velocity of the pin at end B.

------------------------------------------------------------------------------------------------------
Solution:

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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:

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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 ȦA
clockwise and the outer gear is stationary. If the angular velocity of the spider BCD is to be ȦA /5
clockwise, determine a) the required value of the ratio b/a b) the corresponding angular velocity
of each planetary gear.

----------------------------------------------------------------------------------------------------------
Solution:

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In the eccentric 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 of the disk is 900 rpm clockwise, determine the velocity of the
block when ș = 30 degrees.

-----------------------------------------------------------------------------------------------------------
Solution:

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r
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ã i  (3.6 ft/s) j + r 
ë1.67  25 1.67  25  ft

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r r





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r r c

i
 
 h°  

i
m  u°
r r
c
m  
 h° c
 
 M°

Working across the rigid body Gear B.

Set up and
r r r r r r r r
ã c  ã  r
c
 ã c  ã m ri
c
i

   
    r 
h°
i 
    
  h .5 r i 

Letting these equal each other:

M°
  
  .5 r i ri     

' h°

Next work on Rigid Body of Arm AB

Set up and
r r r r r r r r
ãi  ã r i
i

ã i  ã m ri
i
m

  r i 
h °     r 
u°
i 

 4.5r i   1.5 r i 



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1.5
4.5r i  1.5 r i r i    r i 
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In the position shown, bar AB has an angular velocity of 4 rad/s clockwise.
Determine the angular velocity of bars BD and DE.



r
i
  u  
r

i    

r

c  ï  Ê   

r
ã  
r
ãc  
r
V i    

r
V i  r i 
r
V mc  r mc 


Apply the relative velocity on rigid body AB
r r r
ã i  ã  r i 
i


r
ã i  0 +   
u     


Next apply relative velocity equation to rigid body BD

r r r
ã  ã i r i 

i

r
ã  u  + ri 
   u  + ri 

Also apply the relative velocity equation to rigid body DE

r r r
ã  ã c r c 

c

r
ã   + r ic 
ëï  Ê    ïr ic   Ê r ic 

Combine the two expression for velocity at D to find the rotational velocities of BD and ED.
u  hrim   ric  
hric 

i: j:
hr im  
hr ic u  r ic
so
r ic  u ïï 

and

h 
h
r im  r ic   u M   u 


h h