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Problem 13.

153 The hydraulic actuator moves the pin y


P upward with constant velocity v = 2j (m/s). Deter-
mine the velocity of the pin in terms of polar coordinates
and the angular velocity of the slotted bar when = 35 . P

Solution:

vP = 2j (m/s)

r = rer x

2m
v = rer + r e
y
Also, r = 2i + yj (m)

v = yj (m/s) = 2j (m/s) P

y
r = y sin tan =
x

r = y cos

r= x2 + y2
x

= 35 , 2m

Solving, we get y = 1.40 m,

r = 1.15 m/s, .
y
r = 2.44 m,

rad e
= 0.671 er
s

Hence V = rer + r e

V = 1.15er + 1.64e (m/s)