y

/
200mm
x
PROBLEM 15.12
The bent rod ABCDE rotates about a line joining Points A and E
with a constant angular velocity of 9 radls. Knowing that the
rotation is clockwise as viewed from E, determine the velocity
and acceleration of corner C.
SOLUTION
EA2 == 0.4
2
+ 0.4
2
+ 0.2
2
EA 0.6m
== -(0.4 m)i +(0.15 m)j r
CiE
EA == -(0.4 m)i + (0.4 m)j + (0.2 m)k
EA =_I_(-O.4i +O.4j +0.2k) = ..!..(-2i + 2j+ k)
EA 0.6 3
00 (J)AEA
EA
= (9 radls)..!..(-2i + 2j + k)
3
00 == -(6 radls)i + (6 radls) j + (3 radls)k
j k
Vc =ooxr
C1E
== -6 6 3 -0.45i-1.2j+(-o.9+2.4)k
-0.4 0.15 0
Vc -(0.45m/s)i (1.2m/s)j+(1.5m/s)k ~
a
C
==<XACxrCIE +oox(ooxrClE)==<XACxrClE +ooxvc
j k
a
c
0+ -6 6 3
-0.45 -1.2 1.5
== (9 + 3.6)i +(-1.35 + 9)j +(7.2+ 2.7)k
a
c
=(12.60 m/s2)i+(7.65 m/s2)j+(9.90 m/s
2
)k ~
PROPRIETARY MATERIAL. 2009 The McGraw-Hill Companies, Inc. All rights reserved. No pari of this Manual may be displayed,
reproduced or distributed in any form or by any means, without the prior written permission of the publisher. or used beyond the limited
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972
SOLUTION
PROBLEM 15.50
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.
ArmAB: OlAB =90 rpm =3Jl' radls)
Gear A:
VB =rABOl
AB
=(15)(3Jl') =45Jl' in.! s \
OlA == 120 rpm =4Jl' radls
v
D
=rAOl
A
== (6)(4Jl') == 24Jl' in./s \
Gear B:
V
D
= VB +VDIB
24Jl' \ =45Jl' \ + VDIB
V
DiD
= 21Jl' in./s \
-
-
VDiB 21Jl' )
OlB =-=- radls
r
B
9
OlB =70 rpm) ....
PROPRIETARY MATERIAL. 2009 The McGraw-Hill Companies. Inc. All rights reserved. No part of this Manual may be displayed.
reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limiMt/
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1016
PROBLEM 15.51
Ann AB rotates with an angular velocity of 42 rpm clockwise.
Detennine 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.
SOLUTION
AnnAB:
(a) Gear B:

"'
Gear A:
(b) Gear B:
Gear A:
42 rpm 1.4Jl' radls m
AB
VB rABm
AB
=(15)(1.4Jl') =21Jl' in.ls ""
m 20 rpm in.ls)
B
3
VD/B =rBmB (9{%Jl') =6Jl' in.!s "
V
D
VB +V
DIB - ,
= 21Jl' "" +6Jl' "" =27Jl' in'/s ""
m =
A r
A
27Jl' =4.5Jl' radls)
m
A
6
IDA =135.0 rpm) ...
-'3
m
B
0, VDIB =0
V
D
=VB =21Jl' in.!s""
21Jl' )
= - 3.5Jl' radls m
A
6
IDA =105.0 rpm) ...
PROPRIETARY MATERIAL. 2009 The McGraw-Hili Companies, Inc. All rights reserved. No part of this Manual may be displayed,
reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
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1017
B\
PROBLEM 15.63
i Ill.
In the position shown, bar AB has an angular velocity of 4 radls
clockwise. Determine the angular velocity of bars BD and DE.
SOLUTION
Bar AB: (Rotation about A) OlAB = 4 radls
-(4 rad/s)k
r
B1A
=-(7 in.)i VB =OlABxrBIA = (-4k) x (-7i)
VB (28 in.ls)j
Bar BD: (Plane motion Translation withB+ Rotation about B.)
OlBD == mBDk r
DIB
-(8 in.)j
= VB + OlBD xr
DIB
28j+ (mBDk) x (-8j) v
D
28j+8m
BD
i v
D
Bar DE: (Rotation about E)
OlDE =mDEk
= -(11 in.)i + (3 in.)j r
DIE
v
D
OlDExrDIE =(mDEk) x (-1 li +3j)
v
D
=-llmDEi 3m
DE
i
Equating components of the two expressions for v
D
'
j: 28 = -1 1lODE lODE = -2.5455 radls OlDE =2.55 radls) ..
3
m
BD
=--m
BD
8
-p-J(-2.5455) = 0.95455 radls OlBD = 0.955 radls') ..
\8
PROPRIETARY MATERIAL. 2009 Tbe McGraw-Hill Companies, Inc. All rigbts reserved. No part of this Manual may be displayed,
reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
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1032
PROPRIETARY MATERIAL. 2009 The McGraw-Hili Companies, Inc, All rights reserved. No part of this Manual may be displayed,
reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
distribution to teachers and educators permitted by McGraw-Hill for their individual course preparation. Ifyou are a student using this Manual.
you are USing it without permission,
1050
SOLUTION
PROBLEM 15.75
The spool of tape shown and its frame assembly are pulled upward at
a speed 'A =750 mm/s. Knowing that the 80-mm-radius spool has an
angular velocity of 15 radls 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 Band D.
B
V A = 750 mm/s i
OJ= 15 radls )
X VA 750 50 mm
OJ 15
(a) The instantaneous center lies 50 mm to the right ofthe axle. <Ill!
CB =80 + 20 50 =50 mm
B
(b) VB =(CB)OJ=(50)(15)=750 mm/s
CD 80+50 l30 mm
V
D
=(CD)OJ= (130)(15) =1950 mm/s
v
D
:= 1.950 mls t....
..,----------:..IIIIIIDE PROBLEM 15.130
SOLUTION
Velocity analysis.
Knowing that at the instant shown rod AB has a constant
angular velocity of 6 radls clockwise, determine (a) the
angular acceleration of member BDE, (b) the acceleration of
PointE,
m
AB
== 6 radls )
VB == (AB)m
AB
== (90)(6)
==540mmls
VB =V
B
-, V
D
==V
D

B
A
E
D.
!!!.
C.
The instantaneous center of bar BDE lies at 00,
Then
Acceleration analysis,
(a)
(b)
m
BD
= 0 and V
D
= VB == 540 mmls
m
CD
= v
D
= 27 = 3 radls)
CD 9
a
B
=[(90)(6)2
aD = [(CD)a
CD
--J + [(CD)of:D lJ = [180a
CD
--- J+[(180)(3)2l J
= [180a
CD
J + [1620 mmls
2
lJ
aD/B = [90a
BD
J+[225a
BD
tJ + [225%D- J+[90%DlJ
= [90a
BD
- J+[225a
BD
t }
Resolve into components.
+ t: -1620 =-3240+ 225 a
BD
,
a
EfB
=[180a
BD
J+[450a
BD
tJ+[450%D --J
= [(180)(7.2) J+ [(450)(7.2) tJ+ [0 J + [0 l ]
=[1296 mmls
2
_ J+[3240 mmls2tJ
a
E
= a
B
+a
BfE
== [3240 mmls
2
lJ +[1296 mmls
2
- J+[3240 mmls
2
tJ
= 1296 mmls
2
_
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reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
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1126
PROBLEM 15.135
Knowing that at the instant shown bar AB has an angular velocity
2
of 4 rad/s and an angular acceleration of 2 rad/s , both clockwise,
determine the angular acceleration (a) of bar BD, (b) of bar DE, by
using the vector approach as is done in Sample Problem lS.8
f'
SOLUTION
Relative position vectors. r
BIA
= -(0.4 m)i - (0.8 m)j
r
DIB
= (0.8 m)i
rDIE =(0.4 m)i - (O.S m)j
Velocity analysis. See solution to Problem IS.6S.
Acceleration analysis.
OJ
AB
=4 rad/s )
a
AB
=-(2 rad/s
2
)k,
OJ
DE
=6.4 rad/s ) OJ
BD
=S.2 rad/s )
a
BD
=aBDk, a
DE
=aDEk
Bar AB (Rotation about A)
2
a
B
=a
AB
xr
BIA
- OJABrBIA
=(-2k) x (-O.4i - 0.8j) - (4)2 (-O.4i - 0.8j)
= -(l.6 m/s
2
)i + (0.8 m/s
2
)j (6.4 m/s
2
)i +(12.8 m/s
2
)j
= (4.8 m/s
2
)i (13.6 m/s
2
)j (1)
Bar BD (Translation with B + Rotation about B):
aD =a
B
+a
BD
xr
DIB
-%D r
DIB
=4.8i +13.6j + aBDk x (0.8i) - (S.2)2 (0.8)i
=4.8i +13.6j +0.8a
BD
j - 21.632i
=-16.832i +(13.6 +0.8a
BD
)j
Bar DE (Rotation about E):
aD =aDExrDIE -%ErDIE
= aDEk x (O.4i - O.S j) - (6.4)2 (O.4i - O.S j)
= -O.4a
DE
j + O.SaDEi -16.384i +20.48j
= (O.Sa
DE
-16.384)i +(O.4a
DE
+20.48)j (2)
PROPRIETARY MATERIAL. 2009 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
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1133
PROBLEM 15.135 (Continued)
Equate like components of aD expressed by Eqs. (I) and (2).
i: -16.832 0.5a
DE
-16.384 a
DE
-0.896 rad/s
2
j: 13.6 +0.8a
BD
= (0.4)(-0.896) +20.48 a
BD
=8.152 radls
2
(a) Angular acceleration of bar BD. a
BD
8.15 rad/s
2
') ...
(b) Angular acceleration ofbar DE. a
DE
= 0.896 rad/s
2
) ...
L-___________________________________________-'
PROPRIETARY MATERIAL. 2009 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
distribution to teachers andeducators permitted by McGraw-Hill for their individual course preparation. Ifyou are a student using this Manual.
you are using it without permission.
1134