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1625. The motor turns gear A so that its angular velocity increases uniformly from zero to 3000 rev>min after the shaft turns 200 rev. Determine the angular velocity of gear D when t = 3 s. The radii of gears A, B, C, and D are rA = 25 mm, rB = 100 mm, rC = 40 mm, and rD = 100 mm, respectively. Motion of Wheel A: Here, vA = a3000 when uA = (200 rev)a rev 1 min 2p rad ba ba b = 100p rad>s min 60 s 1rev

A C

B D

2p rad b = 400p rad. Since the angular acceleration of gear 1 rev A is constant, it can be determined from vA 2 = (vA)0 2 + 2aA C uA - (uA)0 D (100p)2 = 02 + 2aA (400p - 0) aA = 39.27 rad>s2 Thus, the angular velocity of gear A when t = 3 s is vA = A vA B 0 + aA t = 0 + 39.27(3) = 117.81 rad>s Motion of Gears B, C, and D: Gears B and C which are mounted on the same axle will have the same angular velocity. Since gear B is in mesh with gear A, then vC = vB = vD = vB rB = vB rA rA 25 b(117.81) = 29.45 rad>s v = a rB A 100

Also, gear D is in mesh with gear C. Then vD rD = vC rC

rC 40 b (29.45) = 11.8 rad>s v = a rD C 100

Ans.

529

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1641. Crank AB rotates with a constant angular velocity of 5 rad>s. Determine the velocity of block C and the angular velocity of link BC at the instant u = 30.

B 600 mm 5 rad/s A u C 150 mm 300 mm

Position Coordinate Equation: From the geometry, x = 0.6 cos u + 0.3 cos f 0.6 sin u = 0.15 + 0.3 sin f Eliminate f from Eqs. [1] and [2] yields x = 0.6 cos u + 0.322 sin u - 4 sin2 u + 0.75 Time Derivatives: Taking the time derivative of Eq. [3], we have [4] 0.15(2 cos u - 4 sin 2u) dx du = B -0.6 sin u + R 2 dt 22 sin u - 4 sin u + 0.75 dt 22 sin u - 4 sin2u + 0.75 0.15(2 cos u - 4 sin 2u) [3] [1] [2]

However,

dx du = yC and = vAB, then from Eq.[4] dt dt yC = B -0.6 sin u +

At the instant u = 30, vAB = 5 rad>s. Substitute into Eq.[5] yields yC = B -0.6 sin 30 + 0.15(2 cos 30 - 4 sin 60)

22 sin 30 - 4 sin2 30 + 0.75

Taking the time derivative of Eq. [2], we have 0.6 cos u df du = 0.3 cos f dt dt

R (5) = -3.00 m>s

R vAB

[5]

Ans.

[6]

However,

df du = vBC and = vAB, then from Eq.[6] dt dt vBC = a 2 cos u bvAB cos f [7]

At the instant u = 30, from Eq.[2], f = 30.0. From Eq.[7] vBC = a 2 cos 30 b(5) = 10.0 rad>s cos 30.0 Ans.

Note: Negative sign indicates that yC is directed in the opposite direction to that of positive x.

543

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*1644. Determine the velocity and acceleration of the plate at the instant u = 30, if at this instant the circular cam is rotating about the fixed point O with an angular velocity v = 4 rad>s and an angular acceleration a = 2 rad>s2.

O 120 mm u 150 mm , C

Position Coordinate Equation: From the geometry, x = 0.12 sin u + 0.15 Time Derivatives: Taking the time derivative of Eq. [1], we have dx du = 0.12 cos u dt dt However y = du dx and v = . From Eq.[2], dt dt y = 0.12v cos u [3] [2] [1]

At the instant u = 30, v = 4 rad>s, then substitute these values into Eq.[3] yields y = 0.12(4) cos 30 = 0.416 m>s Taking the time derivative of Eq. [3], we have du dv dy = 0.12 cv(-sin u) + cos u d dt dt dt = 0.12a cos u dv - v2 sin ub dt [4] Ans.

However a =

dv dy and a = . From Eq.[4], dt dt a = 0.12 A a cos u - v2 sin u B [5]

At the instant u = 30, v = 4 rad>s and a = 2 rad>s2, then substitute these values into Eq.[5] yields a = 0.12 A 2 cos 30 - 42 sin 30 B = -0.752 m>s2 Ans.

Note: Negative sign indicates that a is directed in the opposite direction to that of positive x.

546

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*1660. Determine the velocity of point A on the rim of the gear at the instant shown.

A 45 4 ft/s 0.75 ft O 1.50 ft 3 ft/s

General Plane Motion: Applying the relative velocity equation to points B and C and referring to the kinematic diagram of the gear shown in Fig. a, vB = vC + v * rB>C 3i = -4i + 3i = A 2.25v - 4 B i Equating the i components yields 3 = 2.25v - 4 v = 3.111 rad>s For points A and C, vA = vC + v * rA>C (1) (2)

A -vk B * A 2.25j B

A vA B x i + A vA B y j = -4i + A -3.111k B * A -1.061i + 2.561j B A vA B x i + A vA B y j = 3.9665i + 3.2998j

Equating the i and j components yields vA = 2 A vA B x 2 + A vA B y 2 = 23.96652 + 3.29982 = 5.16 ft>s u = tan - 1 C

A vA B x = 3.9665 ft>s

A vA B y = 3.2998 ft>s

Thus, the magnitude of vA is

Ans.

and its direction is

A vA B x

A vA B y

S = tan - 1

3.2998 = 39.8 3.9665

Ans.

557

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1662. Piston P moves upward with a velocity of 300 in.>s at the instant shown. Determine the angular velocity of the crankshaft AB at this instant.

vP

300 in./s P

5 in. G

From the geometry: cos u = For link BP vP = {300j} in>s vB = -yB cos 30i + yB sin 30j v = -vBPk 1.45 sin 30 5 u = 81.66

30 B

2.75 in.

A 1.45 in.

rP>B = {-5 cos 81.66i + 5 sin 81.66j} in. vP = vB + v * rP>B 300j = ( -yB cos 30i + yB sin 30j) + (-vBPk) * (-5cos 81.66i + 5 sin 81.66j) 300j = (-yB cos 30i + 5 sin 81.66vBP)i + (yB sin 30 + 5 cos 81.66 vBP)j Equating the i and j components yields: 0 = -yB cos 30 + 5 sin 81.66 vBP 300 = yB sin 30 + 5 cos 81.66 vBP Solving Eqs. (1) and (2) yields: vBP = 83.77 rad>s yB = 478.53 in.>s (1) (2)

For crankshaft AB: Crankshaft AB rotates about the fixed point A. Hence yB = vAB rAB 478.53 = vAB(1.45) vAB = 330 rad>s d Ans.

559

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1673. If link AB has an angular velocity of vAB = 4 rad>s at the instant shown, determine the velocity of the slider block E at this instant. Also, identify the type of motion of each of the four links.
2 ft 1 ft B 2 ft 1 ft vAB 30 A 4 rad/s D 30

Link AB rotates about the fixed point A. Hence yB = vAB rAB = 4(2) = 8 ft>s For link BD vB = {-8 cos 60i - 8 sin 60 j} ft>s rD>B = {1i} ft vD = vB + vBD * rD>B -yDi = (-8 cos 60i - 8 sin 60j) + (vBDk) * (1i) -yD i = -8 cos 60i + (vBD - 8 sin 60)j + A:B (+ c ) -yD = -8 cos 60 0 = vBD - 8 sin 60 yD = 4 ft>s vBD = 6.928 rad>s vD = -yDi vBD = vBD k

For Link DE vD = {-4i} ft>s vDE = vDE k vE = -yEi

rE>D = {2 cos 30i + 2 sin 30j} ft vE = vD + vDE * rE>D -yEi = -4i + (vDEk) * (2 cos 30i + 2 sin 30j) -yEi = (-4 - 2 sin 30 vDE)i + 2 cos 30vDEj + A:B 0 = 2 cos 30 vDE -yE = -4 - 2 sin 30(0) vDE = 0 yE = 4ft>s ; Ans.

A+cB

567

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*1676. The mechanism of a reciprocating printing table is driven by the crank AB. If the crank rotates with an angular velocity of v = 10 rad>s, determine the velocity of point C at the instant shown.

1m 10 rad/s D

0.5 m 45

A C 75 mm

Rotation About a Fixed Axis: Referring to Fig. a, vB = v * rB = (-10k) * (-0.5 cos 45 i + 0.5 sin 45j) = [3.536i + 3.536j] m General Plane Motion: Applying the law of sines to the geometry shown in Fig. b, sin f sin 135 = 0.5 1 f = 20.70

Applying the relative velocity equation to the kinematic diagram of link BC shown in Fig. c, vB = vC + vBC * rB>C 3.536i + 3.536j = vC i + (-vBC k) * (-1 cos 20.70 i + 1 sin 20.70 j) 3.536i + 3.536j = (vC + 0.3536vBC)i + 0.9354vBC j Equating the i and j components yields, 3.536 = vC + 0.3536vBC 3.536 = 0.9354vBC Solving, vBC = 3.780 rad>s vC = 2.199 m>s Ans. Ans.

569

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*1696. If C has a velocity of vC = 3 m>s, determine the angular velocity of the wheel at the instant shown.

0.15 m A 45 B 0.45 m C 3 m/s

vC

Rotation About a Fixed Axis: Referring to Fig. a, vB = vWrB = vW(0.15) General Plane Motion: Applying the law of sines to the geometry shown in Fig. b, sin f sin 45 = 0.15 0.45 f = 13.63

The location of the IC for rod BC is indicated in Fig. c. Applying the law of sines to the geometry of Fig. c, rC>IC sin 58.63 rB>IC sin 76.37 = = 0.45 sin 45 0.45 sin 45 rC>IC = 0.5434 m

rB>IC = 0.6185 m

Thus, the angular velocity of rod BC is vBC = and vB = vBC rB>IC vW(0.15) = 5.521(0.6185) vW = 22.8 rad>s Ans. vC 3 = 5.521 rad>s = rC>IC 0.5434

581

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16105. If crank AB is rotating with an angular velocity of vAB = 6 rad>s, determine the velocity of the center O of the gear at the instant shown.
0.4 m

0.6 m

B
O vAB A 60 6 rad/s

C 0.1 m 0.1 m

Rotation About a Fixed Axis: Referring to Fig. a, vB = vAB rB = 6(0.4) = 2.4 m>s General Plane Motion: Since the gear rack is stationary, the IC of the gear is located at the contact point between the gear and the rack, Fig. b. Thus, vO and vC can be related using the similar triangles shown in Fig. b, vg = vC vO = rC>IC rO>IC vC vO = 0.2 0.1 vC = 2vO The location of the IC for rod BC is indicated in Fig. c. From the geometry shown, rB>IC = 0.6 = 1.2 m cos 60

rC>IC = 0.6 tan 60 = 1.039 m Thus, the angular velocity of rod BC can be determined from vBC = Then, vC = vBC rC>IC 2vO = 2(1.039) vO = 1.04 m>s : Ans. vB 2.4 = 2 rad>s = rB>IC 1.2

588

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*16116. At the given instant member AB has the angular motions shown. Determine the velocity and acceleration of the slider block C at this instant.

7 in. 3 rad/s 2 rad/s2

vB = 3(7) = 21 in.>s ; vC = vB + v * rC>B 4 3 -vC a b i - vC a bj = -21i + vk * (-5i - 12j) 5 5

C

5 in.

+ :

5 4

5 in.
3

-0.8vC = -21 + 12v -0.6vC = -5v

(+ c ) Solving:

v = 1.125 rad>s vC = 9.375 in.>s = 9.38 in.>s (aB)n = (3)2(7) = 63 in.>s2 T (aB)t = (2)(7) = 14 in.>s2 ; aC = aB + a * rC>B - v2 rC>B 4 3 -aC a b i - aC a b j = -14i - 63j + (ak) * (-5i - 12j) - (1.125)2( -5i - 12j) 5 5 + A:B (+ c ) -0.8aC = -14 + 12a + 6.328 -0.6aC = -63 - 5a + 15.1875 aC = 54.7 in.>s2 a = -3.00 rad>s2 Ans. Ans.

597

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*16120. The slider block moves with a velocity of vB = 5 ft>s and an acceleration of aB = 3 ft>s2. Determine the acceleration of A at the instant shown.
1.5 ft A 30 2 ft B vB aB 5 ft/s 3 ft/s2

Angualr Velocity: The velocity of point A is directed along the tangent of the circular slot. Thus, the location of the IC for rod AB is indicated in Fig. a. From the geometry of this figure, rB>IC = 2 sin 30 = 1 ft Thus, vAB = Then vA = vAB rA>IC = 5 A 1.732 B = 8.660 ft>s Acceleration and Angular Acceleration: Since point A travels along the circular slot, the normal component of its acceleration has a magnitude of vA 2 8.6602 = = 50 ft>s2 and is directed towards the center of the circular A aA B n = r 1.5 slot. The tangential component is directed along the tangent of the slot. Applying the relative acceleration equation and referring to Fig. b, aA = aB + aAB * rA>B - vAB 2 rA>B 50i - A aA B t j = 3i + A aAB k B * vB 5 = = 5 rad>s rB>IC 1 rA>IC = 2 cos 30 = 1.732 ft

50i - A aA B t j = A 46.30 - aAB B i - A 1.732aAB + 25 B j Equating the i and j components,

A -2cos 30i + 2 sin 30j B -52 A -2 cos 30i + 2 sin 30j B

50 = 46.30 -aAB - A aA B t = - A 1.732aAB + 25 B Solving, aAB = -3.70 rad>s2 aA = 4A aA B t 2 + A aA B n 2 = 218.592 + 502 = 53.3ft>s2 u = tan-1 C

A aA B t = 18.59 ft>s2 T

Thus, the magnitude of aA is

Ans.

and its direction is

A aA B n

A aA B t

S = tan-1 a

18.59 b = 20.4 c 50

Ans.

601

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16125. The hydraulic cylinder is extending with the velocity and acceleration shown. Determine the angular acceleration of crank AB and link BC at the instant shown. Angular Velocity: Crank AB rotates about a fixed axis. Thus, vB = vAB rB = vAB (0.3) The location of the IC for link BC is indicated in Fig. b. From the geometry of this figure, rC>IC = 0.4 m Then vBC = and vB = vBC rB>IC vAB (0.3) = 5(0.6928) vAB = 11.55 rad>s Acceleration and Angular Acceleration: Since crank AB rotates about a fixed axis, Fig. c, aB = a AB * rB - vAB 2rB = (-a AB k) * (0.3 cos 60i + 0.3 sin 60j) - 11.552(0.3 cos 60i + 0.3 sin 60j) = (0.2598a AB)i - (0.15aAB + 34.64)j Using these results and applying the relative acceleration equation to points B and C of link BC, Fig. d, aB = aC + aBC * rB>C - vBC 2rB>C vC 2 = = 5 rad>s rC>IC 0.4 rB>IC = 2(0.4 cos 30) = 0.6928 m
D vD aD C 2 m/s 1.5 m/s2

B 0.4 m

30 A

0.3 m 60

(0.2598aAB - 20)i - (0.15aAB + 34.64)j = 1.5i + (a BCk) * (0.4 cos 30i + 0.4 sin 30j) - 52(0.4 cos 30i + 0.4 sin 30j) (0.2598aAB - 20)i - (0.15aAB + 34.64)j = -(0.2a BC + 7.160)i + (0.3464a BC - 5)j Equating the i and j components, 0.2598a AB - 20 = -(0.2a BC + 7.160) -(0.15aAB + 34.64) = 0.3464a BC - 5 Solving, a BC = -160.44 rad>s2 = 160 rad>s2 a AB = 172.93 rad>s2 = 173 rad>s2 Ans. Ans.

606

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16127. At a given instant, the gear racks have the velocities and accelerations shown. Determine the acceleration of points A and B. Velocity Analysis: The angular velocity of the gear can be obtained by using the method of instantaneous center of zero velocity. From similar triangles, yD yC v = = rD>IC rC>IC 6 2 = rD>IC rC>IC Where rD>IC + rC>IC = 0.5 Solving Eqs.[1] and [2] yields rD>IC = 0.375 ft Thus, v = rC>IC = 0.125 ft [2] [1]

a v

2 ft/s2 6 ft/s

A 0.25 ft B

a v

3 ft/s2 2 ft/s

yD 6 = = 16.0 rad>s rD>IC 0.375

Acceleration Equation: The angular acceleration of the gear can be obtained by analyzing the angular motion point C and D. Applying Eq. 1618 with rD>C = {-0.5i} ft, we have aD = aC + a * rD>C - v2 rD>C 64.0i + 2j = -64.0i - 3j + (-ak) * (-0.5i) - 16.02 (-0.5i) 64.0i + 2j = 64.0i + (0.5a - 3)j Equating i and j components, we have 64.0 = 64.0 (Check!) 2 = 0.5 a - 3 a = 10.0 rad>s2

The acceleration of point A can be obtained by analyzing the angular motion point A and C. Applying Eq. 1618 with rA>C = {-0.25i} ft, we have aA = aC + a * rA>C - v2 rA>C = -64.0i - 3j + (-10.0k) * (-0.25i) - 16.02 (-0.25i) = {0.500j} ft>s2 Thus, aA = 0.500 ft>s2 T Ans. The acceleration of point B can be obtained by analyzing the angular motion point B and C. Applying Eq. 1618 with rB>C = {-0.25i - 0.25j} ft, we have aB = aC + a * rB>C - v2rB>C = -64.0i - 3j + (-10.0k) * ( -0.25i - 0.25j) - 16.02 (-0.25i - 0.25j) = {-2.50i + 63.5j} ft>s2 aC = 2(-2.50)2 + 63.52 = 63.5 ft>s2 u = tan-1 63.5 = 87.7 b 2.50 608

The magnitude and direction of the acceleration of point B are given by Ans. Ans.

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16130. Gear A is held fixed, and arm DE rotates clockwise with an angular velocity of vDE = 6 rad>s and an angular acceleration of aDE = 3 rad>s2. Determine the angular acceleration of gear B at the instant shown.
A D

0.2 m 0.3 m B E

30

Angular Velocity: Arm DE rotates about a fixed axis, Fig. a. Thus, vE = v DE rE = 6(0.5) = 3 m>s The IC for gear B is located at the point where gears A and B are meshed, Fig. b. Thus, vB = vE 3 = = 15 rad>s rE>IC 0.2

Acceleration and Angular Acceleration: Since arm DE rotates about a fixed axis, Fig. c, aE = a DE * rE - vDE 2 rE = (-3k) * (0.5 cos 30i + 0.5 sin 30 j) - 62 (0.5 cos 30 i + 0.5 sin 30 j) = [-14.84i - 10.30j] m>s2 Using these results to apply the relative acceleration equation to points E and F of gear B, Fig. d, we have aF = aE + aB * rF>E - vB 2 rF>E aF cos 30i + aF sin 30j = ( -14.84i - 10.30j) + (-aB k) * (-0.2 cos 30 i - 0.2 sin 30j) - 152( -0.2 cos 30i - 0.2 sin 30j) aF cos 30 i + aF sin 30j = (24.13 - 0.1aB)i + (0.1732aB + 12.20)j Equating the i and j components yields 0.8660aF = 24.13 - 0.1aB 0.5aF = 0.1732aB + 12.20 Solving, aF = 27 m>s2 aB = 7.5 rad>s2 Ans.

611