Dynamics

Center

Final
for

USL
Professor: Fernando Jimenez Motte
Group members:
Omar Palacios
Diego Guevara
Valeria Laynes
Alejandra Yanovich

-2014Introduction

Global

Project
Education

In the present report, four classic dynamics problems were given so that these
can be solved engineering students creativity. The given problems lack of a direct
numerical solution. In other words, there is not one numerical unique answer for each
problem. In fact, there are several numerical answers for each of the problems. Here is
where the challenge presents itself, in the approach to the solution part. In order to
solve these problems correctly, it is necessary to define implicit solutions. An implicit
solution is stated at the end of each of the problems, after having made the required
scientific analysis.
In this task, the scientific analysis consists of a dynamic study of each case. For
every problem in this report, we have made kinematics and kinetic analysis, depending
on the nature of each individual problem. We were also aided by some necessary
mathematical tools, such as, geometry, trigonometry, and linear algebra. First of all, a
general analysis of the problem was developed, using free body diagrams and other
diagrams needed. Then, we performed an analysis of all the variables and parameters
in the problem defining an adequate coordinate frame, which particularly depended on
the problem; after that, our proposed approach to the problem was to use a
computational engine to show the results by simulation. We chose MATLAB in order to
perform the simulations for the problems; we obtained a series of data, to analyze later,
for each run in the program. Finally, we suggested some optimizations of the problems
by evaluating different scenarios of them.

I.

Slider Crank/Relative Velocity

1. Solution:
Interpretation of the problem: The slider crank is moving in a clockwise
direction with an angular velocity of 1500 rev/min. So, we want to know the
Free Body Diagram of the Block
F
velocity of A depending on the change of the angle .

Coordinate System
Fg

For this problem, we are going to use the Relative Velocity to find

VA .

V A =
V B
VB
A

As you can appreciate in the picture, you can notice that

VB

is the

tangential velocity because B is moving in a curvilinear motion. Therefore,

we can use the formula of the tangential velocity, using the angular velocity
and the position vector of

r B .

V T =
V B =
Br B

From the problem, we know that

change the value to its equivalent

rad
50 (k )
sec .

Now, we need to find

is

1500

rev
min

r B . For this, we are going to decompose the right

triangle BOC (C is forming the angle 90 )

We got

but we are going to

r B =[( r B sin ) j( r B cos ())i]=[(5 sin()) j(5 cos )i]

Replacing the known data:

V t=50 (k^ ) x r B
V t=50 ( k^ ) x [(5 sin()) j (5 cos ()) i]

Cross Product ( V t )
i
j
k
0
0
50 =
5 cos 5 sin
0

[ 250 sin ( ) ] i+ [250 cos ( ) ] j=V B

V B =
V T =[250 sin()]i+[250 cos()] j

Now, it is missing

VB
A

V B =
B x r B
A

As we cannot find

r B
A

and

straightforward, we need to do several

operations using the triangle ABO.

First, we need to find

r A . If you notice, you have two angles, but remember

that you need to have the

VA

in function of theta. For this, the angle can

be found in terms of by using the law of sines, and the

r A =[14 cos5 cos]i

sin + cos =1 .

5
14
=
sin sin

Law of Sines:

25 sin
=sin 2
196

cos 2=1sin 2

cos= 1

25 sin 2
196

Substituting

r A =[14 1

cos

in the

r A =[14 cos5 cos]i

25sin 2
5 cos ]i
196

Now, we notice that we already have r B

r B
A

r B
A

[(5 sin()) j(5 cos ) i] -

( 5 sin ( ) ) j +(14 1

25 sin
)i
( 5 sin ( ) ) j+(14 1
196

V B = B (k ) x
A

Cross Product (

VB
A

[14 1

25 sin 2
)i
196

Now,

, give us as a result

and r A .
25 sin 2
5 cos] i
196

i
0

j
0

k
B
A

14 1

25 sin 2
( 5 sin ( ) )
196

Putting together

25 sin 2
= ( 5 sin ( ) ) B i+[14 1
] B j
196
A
A

V B V B
A

25 sin

V a= [ 250 sin ( ) ] i+ [ 250 cos ( ) ] j+ ( 5 sin ( ) ) B j 14 1

B j
196
A
A

The only value that is missing is the magnitude of

.However, if you see

the picture, the velocity of A is only moving in the x-axis (unit vector

Therefore, in the equation

V A =
V B
VB
A

i ).

, we cannot have any vector moving

in the y-axis.

[[

[ 250 cos ( ) ] j

14 1

[[

[ 250 cos ( ) ]= 14 1

B=
A

] ]

25 sin 2
B j=0
196
A

] ]

25 sin 2
B
196
A

[ 250 cos ( ) ]

14 1

25 sin
196

Finally, we have all the variables that we need to find

V A . But as the

problem is asking me for the speed of A; therefore, I only use the magnitude.


V A =[250 sin( )]i+[5 sin()](W B )i
A

250 sin 1+

5 cos

14 1

25 sin
196

inc h
s

2. MATLAB SIMULATION:
clear; clc; close all
t = 0: 0.01: 2*pi;
Va = (250.*pi.*sin(t)).*((1+(5.*sin(t)).*(250.*pi.*cos(t)))/(14.*(sqrt(1(25.*sin(t).*sin(t)/196)))));
plot(t,Va)
grid on
title('Problem 1')
ylabel('Va')
xlabel('T')

Taking the derivative of:

0=250 sin 1+

5 cos

14 1

25 sin
196

inc h
s

And putting it equal to 0, we find the maximum velocity for V A , which is

838.796875 in/s.

3. What If Conditions

What if the angular velocity is less, instead of

1500

rev
min

is

500

rev
min ?

If the angular velocity is less, the velocity of A wouldnt change. The

reason is because the slider is moving with an angular velocity of

50 rad

3 sec , and as all the points A, B, O are moving simultaneously, all

the system is connected. For this, if the slider is moving slower, the whole
system is affected.
In addition, in the simulation the velocity at first is showing that is going
to the right (returning) and when is going to the left the velocity is higher.

50 ^

VT=
(k ) x [ (5 sin ) j( 5 cos ) i ] inch
3
sec
Cross product (

VT=

5 sin 5 cos

V T =
VB )
k
50 = 250 sin i^ + 250 cos ^j
3
3
3
0

] [

25 sin

V B = B ( k^ ) x ( 5 sin ) j+14 1
i
196
A
A
Cross Product (

V B=
A

i
0

VB
A

)
j
0

k
B
A

25 sin 2
14 1
196

( 5 sin ) j

=5 sin B i+14 1
A

25 sin 2
B j
196
A

250
250
25 sin 2

V A=
sin i+
cos j+ 5 sin B i14 1
B j
3
3
196
A
A

VA

Because the

is moving in the x-axis

250
25 sin 2
cos ^j 14 1
B j=0
3
196
A

=14 1

25 sin 2
B
196
A

250
cos
3

B=
A

250
cos
3

14 1

25sin 2
196

250

V A=
sin +5 sin
3

[ ]
250
cos
3

14 1

25sin 2
196

SIMULATION: 1 WHAT-IF CONDITION

clear; clc; close all

t = 0: 0.01: 2*pi;
Va =

((250/3).*pi.*sin(t)).*(((5.*sin(t)).*(250.*pi/3.*cos(t)))/(14.*(sqrt(1(25.*sin(t).*sin(t)/196)))));
plot(t,Va)
grid on
title('Problem 1 What if 1')
ylabel('Va')
xlabel('T')

II. CURVILINEAR MOTION, NORMAL AND TANGENT PLANE, BINORMAL

AND THE OSCULATING PLANE
1. Solution

Z
Coordinate
System
B(t)

Y
Osculating Plane
T(t)

N(t)

First,

we

need

to

derive

the

following

expression

R ( t ) =[ ( r 0 +kt ) cos t ; ( r 0 +kt ) sint ; ht]

By doing it, we get the expression for the tangential velocity in terms of t:
V ( t )=[cos t( t+ 2 )sint ; ( t+2 ) cos t+sin t ;2]
Next, we need to find the tangential unit vectors. But to do so, we need the
magnitude of the velocity:

|V ( t )|=(cos t (t +2 ) sin t )2 +(( t+2 ) cos t+sin t)2 + 4

|V ( t )|= 5+t ( 1+4 )+ 4 2
Now, we can find the tangential unit vector by dividing by the magnitude:
V (t) x =

cos t ( t+2 )sin t ^

i
2
5+
t
(
1+4

)
+4

V (t) y =

( t+ 2 ) cos t+ sin t ^
j
5+t ( 1+ 4 ) +4 2

V (t) z=

2
k^
2
5+t ( 1+4 )+4

For the normal unit vectors, we need to find the derivatives of the tangential
unit vectors:
V ' (t) x =

(1+ 4 )(tsint +cos t2 ) ^

sin tcos t1

i
3 /2
2( (1+ 4 ) t+ 4 2+5)
( 1+ 4 ) t +4 2 +5

t
sint +(t +2 ) cos

(1+ 4 )
2 cos t (t+2 )(sin t)
V ' (t ) y =

( 1+ 4 ) t +4 2 +5

V ' (t) z=0 k^

From now on, we ca find the parametric equations for T (t), B (t) and N (t):
V ( t )
V (t)
T ( t )=

'

V ( t ) V ( t )
V (t )V ' ( t)
B ( t )=

[ V ( t ) V ' ( t ) ] V ( t )
[V ( t ) V ' ( t )] V (t)
N ( t )=

Furthermore, we can derive the equations for the curvature and the torsion:
V ( t ) 3 Curvature
V ( t ) V ' ( t )

k=

 [ V (t ) V ' ( t ) ] 2 Torsion
V (t)( V ' ( t ) V '' (t ) )
=

After doing this we do not need to do the calculations by hand because it is

too much. So, we use Matlab to do

the

calculation and get the following graphic:

2. What-if conditions:
What if we change
the parameters to
h=4 and k=2.

We can see that the graph looks

pretty much the same, but it is

bigger.

What if we change the numbers

of

planes

that we want to see?

Before we use 101 point to
show the osculating and
rectifying plane, but now
are going to use 300 point to
have more planes in the graph.
3. MATLAB SIMULATION:
Aspiral:
function [R,T,N,B,kap,tau,arclen]=aspiral(r0,k,h,t)
if nargin==0
k=1; h=2; r0=2*pi; t=linspace(2*pi,8*pi,101);
end
% Evaluate R, R'(t), R''(t) and R'''(t) for the spiral
t=t(:)'; s=sin(t); c=cos(t); kc=k*c; ks=k*s;
rk=r0+k*t; rks=rk.*s; rkc=rk.*c; n=length(t);
R=[rkc;rks;h*t];
R1=[kc-rks;ks+rkc;h*ones(1,n)];
R2=[-2*ks-rkc;2*kc-rks;zeros(1,n)];
R3=[-3*kc+rks;-3*ks-rkc;zeros(1,n)];
% Obtain geometrical properties
[T,N,B,kap,tau]=crvprp3d(R1,R2,R3);
arclen=sum(sqrt(sum((R(:,2:n)-R(:,1:n-1)).^2)));

we

% Generate points on the osculating plane and the rectifying plane along the
curve.
w=arclen/100; Rn=R+w*N; Rb=R+w*B;
X=[Rn(1,:);R(1,:);Rb(1,:)];
Y=[Rn(2,:);R(2,:);Rb(2,:)];
Z=[Rn(3,:);R(3,:);Rb(3,:)];
% Draw the surface
v=cubrange([X(:),Y(:),Z(:)]); hold off; clf; close;
surf(X,Y,Z,X); axis(v); xlabel('X axis');
ylabel('Y axis'); zlabel('Z axis');
title(['Spiral Showing Osculating and ','Rectifying Planes']); grid on; drawnow;
figure(gcf);

Cubrange:

function range=cubrange(xyz,ovrsiz)
if nargin==1, ovrsiz=1; end
pmin=min(xyz); pmax=max(xyz); pm=(pmin+pmax)/2;
pd=max(ovrsiz/2*(pmax-pmin));
if length(pmin)==2
range=pm([1,1,2,2])+pd*[-1,1,-1,1];
else
range=pm([1 1 2 2 3 3])+pd*[-1,1,-1,1,-1,1];
end

crvprp3d:

function [T,N,B,kap,tau]=crvprp3d(R1,R2,R3)
nr1=sqrt(dot(R1,R1)); T=R1./nr1(ones(3,1),:);
R12=cross(R1,R2); nr12=sqrt(dot(R12,R12));
B=R12./nr12(ones(3,1),:); N=cross(B,T);
kap=nr12./nr1.^3;
if nargin==3, tau=dot(B,R3)./nr12;
else tau=[]; end

III Angular Impulse/Momentum

The assembly of two 5-kg spheres is

rotating freely about the vertical
axis

at

40

rev/min

with

= 90 . The force F that maintains

the given position is increased to
raise the base collar and reduce the angle from
90 to an arbitrary angle. Determine the new angular velocity and plot it as a
function of for 0< <90. Assume that the mass of the arms and collars is
negligible.
Z

1. Solution:

Coordina

Our concern now is to determine the

mm

angle that we are going to use. Clearly,

that angle is

because of simple

geometry. To calculate the initial radius,

that is when theta is 90, we use the following expression:


r 0=600 cos ( )+ 100=300 2+100
4

If we have a particle with mass m and velocity v, we know it has a linear

momentum of
p=m v

, which has the same direction as the velocity vector.

For us to calculate the angular momentum, we have to do the cross product

(vector product) of the linear momentum and the position vector, which will
result again in a vector
H= p r

That is going to be normal to the plane containing p and r. Or, if

we want just the magnitude,

|H|=rmV sin

In the third problem, we have that the assembly has an angular

velocity (for simplicity, we convert rev/min to rad/sec).
Implementing the formula of the angular velocity in the formula for angular
momentum, we have the following:
v = r
H=( v r )m
H=( r r )m
Or the scalar equivalent equation:

|H|=r 2 m sin , but since sin

the equation just like

is 1 (

is an angle of 90), we can leave

|H|=r 2 m
2
Substituting the moment of inertia ( I =r m )

|H|=I
Continuing with the problem, it is stated that the force F makes the base
collar go up, reducing the angle.
Before going into this part, lets recall the principle of angular momentum,
which says that if no external torque is applied to on the system, the angular
momentum is conserved.
Torque being
=

dH d r
dp
= p+ r
dt dt
dt

=r F

In other words, the angular momentum is conserved within the system. This
being said, we can now regard to the moment of inertia and the angular
velocity. If H is going to be the same at any point in the rotations of our 2
spheres, we can say that if I goes up,

must go down, and vice versa.

Until now, what we know about the assembly is:

1. We can derive the H to have I and angular velocity
2. If the collar goes up, the radius is going to increase I will go up and
the will go down
3. If the collar goes down, the radius is going to decrease I will go down
and the

will go up.

Because there are two spheres in the problem, to calculate the full angular
momentum we must multiply the formula by two, that is:
2 H =2 mr 2 =2m r 02 0
And if we need to find the angular velocity at any moment in the rotation, we
leave that variable alone:
=

r 02 0
r2

To plot the graph of the

graph, we need the angular velocity in

terms of the angle, but we have that by just replacing the values for the
initial radius, the initial angular velocity, and the current radius:
4
)
3
=
rad /sec
2
( 100+600 cos )
2
(100+300 2)(

2. MATLAB SIMULATION:
clear; clc; close all

t = 0: 0.01: pi/2;
w = (((300*sqrt(2))+100)*((4*pi)/3))./((100+(600*cos(t/2))).^2);

plot(t,w,'k')

grid on
title('Problem 3')
xlabel('T')
ylabel('W')

3. What-if conditions:
What
if
the

mass

of

the

spheres

double?

Then, the angular moment and the moment of inertia will increase,
while the angular velocity would stay the same. If the spheres were
rotating slowly with 5 kg at a big radius, they will rotate at the same
rate with 10kg with the same radius. Lets compare these two cases
numerically:
/6
Suppose the radius is 100+600 cos 2

, for an angle theta of 30 (this

will make the collar to be up high, and thus, the radius will be big
enough for our purposes). Then, the angular velocities would be both
approximately 0.004755 rad/sec.
But the angular moment would be:
For 10-kg spheres

 2
6
I =(100+ 600 cos
) ( 10 )=4617957 kg . m 2
2

( )

|H|=2 ( (4617957) ( 0.004755 ) )=43920.47 kg . m2 /s

For 5-kg spheres

2
6
2
I =(100+ 600 cos
) ( 5 )=2308978 kg . m
2

( )

|H|=2 ( (2308978) ( 0.004755 ) ) =21960.23 kg . m 2 /s

MATLAB SIMULATION: 1 What if condition:

clear; clc; close all

m = 0:1:15;
i=

((100+(600*(cos((pi/6)/2)))).^2)*m;
H = 2*(i*0.004065);

plot(m,H,'k')
grid on
title('Problem 3 What if 1')
xlabel('Mass of the balss')
ylabel('H')

What if there are three spheres instead of two?

We would have to multiply the angular momentum by 3 instead of two.

In addition, the angular velocity would remain the same; the only thing
changing would be the full angular momentum. This is:
2
2
3 H=3 mr =3 mr 0 0

MATLAB SIMULATION: 2 What if Condition:

clear; clc; close all

b = 2:1:10;
i = ((100+(600*(cos((pi/6)/2)))).^2)*5;
H = b*(i*0.004065);

plot(b,H,'k')
grid on
title('Problem 3 What if 2')
xlabel('Number of balls')
ylabel('H')

IV.

Work

and

Energy

The 4-ft slender bar weighs 40 lb with a mass

center at B and is released from rest in the
position for which is essentially zero. Point B is
confined to move in the smooth vertical guide,
while end A moves in the smooth horizontal
guide and compresses the spring as the bar falls.
Plot the angular velocity of the bar and the
velocities of A and B as a function of from 0 to 90. The stiffness of the
spring is 30 lb/in.

1. Solution:

of

First of all, using the instantaneous center O, velocities

A and B will be calculated. To do this, the distances OA
and OB are needed, which can be easily obtained for
the figure. Thus, we can express the velocities in terms

of the angular velocity.

v A =OA=2 cos
v B=OB=2 sin
It is important to notice that when the end A of the bar engages the spring,

will change because of the work done by the spring. Due to the spring,

it is necessary to separate range of

into two continuous intervals.

Velocities of A and B have already been expressed in terms of

and

so now we need to define the angular velocity.

We need to calculate the angle of contact

between the bar and the spring. Using simple

24

contact =sin1

trigonometry, the angle is easily known.

18

Before

the

18
=48.6 =0.8481 rad
24
bar

engages

the

spring:

48.6

Since the Bar starts from rest, there are

no

values for kinetic energy or for rotational

energy:

1
1
T =E k + E r= m v 2 + I
2
2
Er

is the rotational energy. It is needed to get the whole energy

involved in the problem, since the bar is rotating.

is the bodys

moment of inertia about the center of rotation O. The following is the

expression to obtain the moment of inertia of a rod about a center of
rotation, being l the length of the bar and m the mass of the body:
I = 1 ml 2
12

T=

1 40
1 1 40 2 2
( 2 cos )2 +
4 =( 2.4846 cos2 +0.8282 ) 2=0.8282(3 cos2 +1) 2
2 32.2
2 12 32.2

The bar starts from rest. This gives us an initial h of 2 ft.

V g=W h=40 ( 2 cos 2 )=80 (cos 1)

Now, we substitute both into the energy equation:

'
U 1 2= T + V g =0
0=0.8282(3 cos2 +1)+ 80 ( cos 1 )
=9.8283

(1cos )

( 3 cos 2 +1 )

After the bar engages the spring:

48.6 90

Since there is a spring acting on this interval, we need to consider

compression of the spring in order to
calculate the rest of the energy in this part
of the problem. Then, we can say that the
compression of the spring depends on the
angle

No

matter

what

angle

Fr

represents, the end A will move 2 sin feet,

which

means

that

the

spring

will

be

compressed 2 sin -18/12 feet because of its initial position at 18

from the vertical path.
1
1
18 2
3
V e = k x 2= 30 12 2sin
=180 2 sin
2
2
12
2

Now we substitute the values into the equation of energy:

'
U 1 2= T + V g =0

0=0.8282 ( 3 cos 2 + 1 ) 2 +80 ( cos 1 )+ 180 2 sin

80 ( cos 1 )180 2 sin

0.8282 ( 3 cos 2 +1 )

3
2

3
2

=1.099

3
80 ( cos 1 ) 180 2 sin
2

( 3 cos2 +1 )

2. MATLAB SIMULATION:
a = 0:0.001:0.8481;
b = 0.8481:0.001:pi/2;
omega_a = 9.8283*((1-cos(a))./
(3*cos(a).^2+1)).^(1/2);
omega_b = 1.099*((80*(1-cos(b))180*(2*sin(b)-3/2).^2)./
(3*(cos(b)).^2+1)).^(1/2);
plot(a*180/pi, omega_a, b*180/pi,
omega_b)
xlabel('theta (degrees)')
ylabel('omega')

a = 0:0.001:0.8481;

b = 0.8481:0.001:pi/2;
omega_a = 9.8283*((1-cos(a))./
(3*cos(a).^2+1)).^(1/2);
omega_b = 1.099*((80*(1-cos(b))180*(2*sin(b)-3/2).^2)./
(3*(cos(b)).^2+1)).^(1/2);

vA_a = 2*omega_a.*cos(a);
vA_b = 2*omega_b.*cos(b);
vB_a = 2*omega_a.*sin(a);
vB_b = 2*omega_b.*sin(b);
plot(a*180/pi, vA_a, b*180/pi, vA_b,
a*180/pi, vB_a, b*180/pi, vB_b)
xlabel('theta (degrees)')
ylabel('velocity (ft/sec)')

3. What If Conditions
What if there was no spring?
Then angular velocity will be, for
=9.8283

(1cos )

( 3 cos 2 +1 )

0 90 :

MATLAB SIMULATION: 1 What-if Condition:

a = 0:0.001:pi/2;
omega_a = 9.8283*((1
cos(a))./
(3*cos(a).^2+1)).^(1/2);
plot(a*180/pi, omega_a)
xlabel('theta (degrees)')
ylabel('omega')

a = 0:0.001:pi/2;
omega_a
=
9.8283*((1cos(a))./
(3*cos(a).^2+1)).^(1/2);
vA_a = 2*omega_a.*cos(a);
vB_a = 2*omega_a.*sin(a);
plot(a*180/pi,
vA_a,
a*180/pi, vB_a)

xlabel('theta (degrees)')
ylabel('velocity (ft/sec)')
What if the stiffness doubles?

Angular velocity from 0 to 48.6 stays the same

=9.8283

(1cos )

( 3 cos 2 +1 )

However, for the rest of the interval, angular velocity becomes:

1
1
18 2
3
V e = k x 2= 60 12 2sin
=360 2sin
2
2
12
2

=1.099

3
80 ( cos 1 ) 360 2 sin
2

( 3 cos2 +1 )

MATLAB SIMULATION: 2 What-If Condition:

a = 0:0.001:0.8481;
b = 0.8481:0.001:pi/2;
omega_a = 9.8283*((1-cos(a))./
(3*cos(a).^2+1)).^(1/2);
omega_b = 1.099*((80*(1-cos(b))360*(2*sin(b)-3/2).^2)./
(3*(cos(b)).^2+1)).^(1/2);
plot(a*180/pi, omega_a, b*180/pi,
omega_b)
xlabel('theta (degrees)')
ylabel('omega')

a = 0:0.001:0.8481
b = 0.8481:0.001:pi/2;
omega_a = 9.8283*((1-cos(a))./
(3*cos(a).^2+1)).^(1/2);
omega_b = 1.099*((80*(1-cos(b))360*(2*sin(b)-3/2).^2)./
(3*(cos(b)).^2+1)).^(1/2);

vA_a = 2*omega_a.*cos(a);
vA_b = 2*omega_b.*cos(b);
vB_a = 2*omega_a.*sin(a);
vB_b = 2*omega_b.*sin(b);
plot(a*180/pi, vA_a, b*180/pi, vA_b,
a*180/pi, vB_a, b*180/pi, vB_b)
xlabel('theta (degrees)')
ylabel('velocity (ft/sec)')

What if the stiffness of the spring reduces to 15 lb/in?

Angular velocity from 0 to 48.6 will remain the same,

=9.8283

(1cos )

( 3 cos 2 +1 )

but angular velocity for the rest of the interval will change.
1
1
18 2
3
V e = k x 2= 15 12 2sin
=90 2sin
2
2
12
2

=1.099

) (

3
80 ( cos 1 ) 90 2 sin
2

( 3 cos 2 +1 )

MATLAB SIMULATION: 3 What-If Condition:

a = 0:0.001:0.8481;
b = 0.8481:0.001:pi/2;
omega_a = 9.8283*((1-cos(a))./
(3*cos(a).^2+1)).^(1/2);
omega_b = 1.099*((80*(1-cos(b))90*(2*sin(b)-3/2).^2)./
(3*(cos(b)).^2+1)).^(1/2);
plot(a*180/pi, omega_a, b*180/pi,
omega_b)
xlabel('theta (degrees)')
ylabel('omega')

a = 0:0.001:0.8481;
b = 0.8481:0.001:pi/2;
omega_a = 9.8283*((1-cos(a))./
(3*cos(a).^2+1)).^(1/2);
omega_b = 1.099*((80*(1cos(b))-90*(2*sin(b)-3/2).^2)./
(3*(cos(b)).^2+1)).^(1/2);
vA_a = 2*omega_a.*cos(a);
vA_b = 2*omega_b.*cos(b);
vB_a = 2*omega_a.*sin(a);
vB_b = 2*omega_b.*sin(b);
plot(a*180/pi, vA_a, b*180/pi,
vA_b, a*180/pi, vB_a, b*180/pi,
vB_b)
xlabel('theta (degrees)')
ylabel('velocity (ft/sec)')

Note: In all of the previous graphs, va is

the one that returns to zero at an angle
of 90 because of the cosine effect.