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HW 6 Solutionst

This document contains solutions to homework problems involving vector kinematics in rotating reference frames. 1) It calculates the velocity and acceleration of points on an object rotating about two axes, giving the velocities and accelerations in terms of angular velocities and position vectors. 2) It similarly finds the velocity and acceleration of a point on a disk rotating about an axis that itself is rotating, accounting for both rotations. 3) It determines the velocity, Coriolis acceleration, and total acceleration of a point on a rotating disk using the angular velocities of both rotations and the position and motion vectors in the rotating frame.

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31 views5 pages

HW 6 Solutionst

This document contains solutions to homework problems involving vector kinematics in rotating reference frames. 1) It calculates the velocity and acceleration of points on an object rotating about two axes, giving the velocities and accelerations in terms of angular velocities and position vectors. 2) It similarly finds the velocity and acceleration of a point on a disk rotating about an axis that itself is rotating, accounting for both rotations. 3) It determines the velocity, Coriolis acceleration, and total acceleration of a point on a rotating disk using the angular velocities of both rotations and the position and motion vectors in the rotating frame.

Uploaded by

mrm3za
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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HW 6

Charles Birdsong: Cal Poly San Luis Obispo


Chapter 15, Solution 221
(a) 5 in.
10 in. 16
; in.
8 in. 15 in. 3
C
C
x
y
y
=
= =
/
/
/
1
15 8
34
17
(30 in./s) (16 in./s)
16
(5 in.) in.
3
(3 rad/s)
C F BC
C F
C A
u

= c =
=
| |
= +
|
\ .
= =
i j
v
v i j
r i j
i i
Velocity:
/
/
16
( 3 rad/s) (5 in.) in.
3
(16 in./s)
(16 in./s) (30 in./s) (16 in./s)
C C A
C C C F
'
'
=
1 | |
= +
( |
\ . ]
=
= +
= +
v
r
i i j
k
v v v
k i j
(30 in./s) (16 in./s) (16 in./s)
C
= v i j k
Acceleration:
/
/ / /
2
/
2
2 2
/
0 0
( )
0 ( 3 rad/s) ( 16 in./s) (48 in./s )
2 2( 3 rad/s) [(30 in./s) (16 in./s) ]
(96 in./s )
(48 in./s ) 0 (96 in./s )
C F
C C A C A C A C
C
c C F
c
C C C F c
v
'
'
'
= =
= + = +
= + + =
= =
=
= + + = + +
a

a
r r r r
a i k j
a
i i j
a k
a a a a j k


2 2
(48 in./s ) (96 in./s )
C
= + a j k
(b) For x = 15 in. (collar C is in xz plane),
Velocity from Part (a):
/
/
/
(30 in./s) (16 in./s)
(1.5 in.)
3 15 0
C F
C A
C C A '
=
=
= = =
v i j
r i
v
r i i
/ /
0 ;
C C C F C F '
= + = + v v v v (30 in./s) (16 in./s)
C
= v i j
Acceleration:
/
/
0
0
0 0
0
C F
C C A C
C
' '
'
=
=
= + = +
=
a

a
r v
a

c
a is same as in Part (a):
2
(96 in./s )
c
= a k
/
0 0
C C C F c c '
= + + = + + a a a a a
2
(96 in./s )
c
= a k
Chapter 15, Solution 224
Geometry. (18 in.)(cos 20 sin 20 )
C
r i j
Let frame Oxyz rotate about the y axis with angular velocity
1
j and angular acceleration 0.

Then
the motion relative to the frame consists of rotation with angular velocity
2 2
k and angular acceleration
2
0 about the z axis.
(a)
/ 2
/
3 (18cos 20 18sin 20 )
54cos 20
4 (18cos 20 18sin 20 )
72sin 20 72cos 20
72sin 20 72cos 20 54cos 20
C C
C F C
C C C F









v r
j i j
k
v r
k i j
i j
v v v
i j k

(24.6 in./s) (67.7 in./s) (50.7 in./s)


C
v i j k
(b)
/ 2 /
3 ( 54cos 20 )
162cos 20
4 (72sin 20 72cos 20 )
288cos 20 288sin 20
C C
C F C F







a v
j k
i
a v
k i j
i j

/
/ /
2 (2)(3 ) (72sin 20 72cos 20 )
432sin 20
2
(162 288) cos 20 288sin 20 432sin 20
C F
C C C F C F




v j i j
k
a a a v
i j k

2 2 2
(423 in./s ) (98.5 in./s ) (147.8 in./s )
C
a i j k
Chapter 15, Solution 240
Geometry.
/
/
(0.15 m) (0.18 m) (0.36 m)
(0.18 m)
A D
AC

r i j k
r j
Let frame Dxyz, which coincides with the fixed frame DXYZ at the instant shown, be rotating about the y axis
with constant angular velocity
1
(8rad/s) . j j Then the motion relative to the frame consists of a rotation
of the disk AB about the bent axle CD with constant angular velocity
2 2
(12 rad/s) . k k
Motion of the coinciding Point A in the frame.
/
2 2
8 (0.15 0.18 0.36 )
(2.88 m/s) (1.2 m/s)
8 ( 2.88 1.2 )
(9.6 m/s ) (23.04 m/s )
A A D
A A








v
r
j i j k
i k
a
v
j i k
i k
Motion of Point A relative to the frame.
/ 2 /
/ 2 /
2
12 0.18
(2.16 m/s)
12 ( 2.16 )
(25.92 m/s )
A F A D
A F A F






v
r
k j
i
a
v
k i
j
Velocity of Point A.
/
2.88 1.2 2.16
A A A F
A



v v v
v i k i
(5.04 m/s) (1.200 m/s)
A
v i k
Coriolis acceleration.
/
2
A F
v
/
2
2 (2)(8 ) ( 2.16 )
(34.56 m/s )
A F

v j i
k
Acceleration of Point A.
/ /
2
9.6 23.04 25.92 34.56
A A A F A F
A



a a a
v
a i k j k
2 2 2
(9.60 m/s ) (25.9 m/s ) (57.6 m/s )
A
a i j k

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