ME 251 Dynamics

Issued 2015 Nov. 4th

Handout #HW 8
Due by 2015 Nov. 11th

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1. (20 pts) Suppose a circular disk is rolling on the surface without slipping. In the given figure,
the coordinate frame A whose basis vectors are 1 and 2 is a global frame (which is
neither moving nor rotating), and the coordinate frame B whose basis vectors are 1 and 2
is a body-fixed frame moving and rotating with the disk.

Here, () is the distance and () is the angle between the A and B coordinate frames at
time t, and the disk is rotating at a constant speed of = . P is the intersection point between
on the axis of 1 and the edge of the disk.
(a) Find (), which is the position vector from A to P , in the A coordinate frame.
(b) Find the velocity vector () in the A coordinate frame.
(c) Find the acceleration vector () in the A coordinate frame.
(d) Evaluate and when is 0 o, 90 o and 180o.

ME 251 Dynamics
Issued 2015 Nov. 4th

Handout #HW 8
Due by 2015 Nov. 11th

2. (20 pts) Determine the angular velocity of link AB and the velocity of collar B for the instant
depicted. Assume the quantities 0 and r to be known.

3. (20 pts) The large roller bearing rolls to the left on its outer race with a velocity of its center
O of 1 m/s. At the same time the central shaft and inner race rotate counterclockwise with an
angular speed of 300 rev/min. Determine the angular velocity of each of the rollers.

ME 251 Dynamics
Issued 2015 Nov. 4th

Handout #HW 8
Due by 2015 Nov. 11th

4. (20 pts) An experimental vehicle A

travels with constant speed relative to
the earth along a north-south track.
Determine the Coriolis acceleration Cor
as a function of the latitude . Assume an
earth-fixed rotating frame Bxyz and a
spherical earth. If the vehicle speed is =
300 km/h , determine the magnitude of
the Coriolis acceleration at (a) the equator
and (b) 45o latitude (c) the north pole.

5. (20 pts) Under the action of its stern and starboard bow thrusters, the cruise ship has the
velocity = 2 m/s of its mass center and angular velocity = 1.5 deg/s about a
vertical axis. The velocity of is constant, but the angular rate is decreasing at 0.5 deg/s2.
Person is stationary on the dock. What velocity and acceleration of are observed by a
passenger fixed to and rotating with the ship? Treat the problem as two-dimensional.