PROBLEM

15.1
The motion ofa cam is definedby the relation 0=4t3 - l2t2 +15,
where d is expressedin radiansand / in seconds.Determinethe angular
coordinate,the angularvelocity, and the angularaccelerationof the cam
when(a) t = 0, (b) / = 6 s.

SOLUTION

o=(4t-l2l+15)radians

.=49=hzt2 -2+t\radts
d t \ /

o=d'-(24t-24\rad/s1
dt

(a)t=0, d = 0+0+15 d = 15.00radians{

rr=0+0 at= 01

a =0-24 a -- 24.0 rad/s21

(b) t = 6s, d = (4)(6)3- (rz)(o)'+1,5= 447 0 = 44'l rad I

a = (tz)(e)' (24)(6)= 288 a = 288 rad/s1

a - (24)(6) 24 = t2o a - 120.0rad/s21

 PROBLEM
15.12
In Prob. 15.11,determinethe velocity and accelerationof point B at the
instant shown, assumingthat the angular velocity is 3.38 rad/s and
decreases at the rateof 5.07 rad,/s'

SOLUTION
rro = (toomm)i+ (624mn)j + (z+omm)r - (0.1n)i + (0.624
m)j + (o.z+rn)r<
r r , , = ( r 0 0m m ) i + ( 3 1 2f f n ) j = ( 0 . 1 m ) i + ( 0 . 3 1 2m ) j

1 o -, f i o l t ' * ( 0 6 2 0 ) ' - ( o - r 4=] '0 . 6 7 6 m

Angular velocity.

^= = +0.624i+
o.z4k)
t,,o ffito.u
o = (0.5rad/s)i+ (3.12rad/s)j+ (r.z raors)r
Velocity ofpoint B.

VB=6JxrB/o

i j kl
I
0.5 3.12 t.2l- -0.374+
4 i0 . 1 2-j 0 . 1 5 6 k
0.10.3120 I

vu - -(o.tttnts)i + (0.1200r/s)j (0.1560r/s)k<

AngularAcceleration.

o - !r*o=
"" loZlo.ri
' + 0.624j
+ 0.24k)
Ioo 0.676

a = -(0.7srad/s2)r
- (+.oaraorsr)j- (r.sraalsr)x
 15.12CONTINUED
PROBLEM
Acceleration of poinl B.
Z R = c , x f R t O + ( t Jx V B

j k l i j k l
I t 0.5 3.12t,
a, = 0.75 -4.68 -1.8 +
] | I
I 0.1 o.3r2 o I 0.37440.12 -0.t56J
- 0.37128j
= 0.5616i- 0.18j+ 0.234k- 0.63072i + 1.22813k

ov")i- (o.ssr
", = -(o.oolr "v")r.<
"v.')l* (r.+oz
 PROBLEM
15.17
The belt shownmoves over two pulleys without slipping.At the instant
shownthe pulleys are rotatingclockwiseand the speedof point ,Bon the
belt is 4 nr/s,increasingat the rate of 32 nls2. Determine,it this instant,
(a) the angul velocity and angularaccelerationof eachpulley, (b) the
accelerationofpoint P on pulley C.

SOLUTION

Let vB and a, be the belt speedandacceleration.

Theseare given as ya = 4 m/s and aR - 32 n/s2
Theseare alsothe speedandtangentialaccelerationofperiphery ofeach pulley providedno slippingoccurs.
(a) Angular velocity and angular acceleratian of eachpulley.
Pulley A. ? - 1 6 0m n = 0 . 1 6 0m
v, v- !-- 4
Q'') l = " ' L - - 25rad/s a,r=25.orad/s)a
rA ru 0.160

au - 32
''. =!-L-
ctt = 2oorad/s2 a,t=2oorad/s2)a
rA ro 0.160
Pulley C. rc = 100mm = 0.100m
v - v ^ 4
--!_
(t).
' = =--.L= - = 40rad/s arc = 40.0 rad/s) {
rc r. 0.100

32
a '. = 9 ! : - a u - = 32orad/s2 ac = 32orad/s2) 1
rc r. 0.100
(b) Accelerationofpoint P onpulley C.
Pc = 100mm = 0.100m
(or), = ou = 32 rn/s2[

"u = -F)' =l6omrsi.

lo,l - L -
Pc Pc 0.100

o,)l + (o,)' = $t . 160'= 163.2

ntsz

t^p=# p=n.31"

ap = 763.2rrls2 7 ll.3l" <

 15.28
PROBLEM
The systemshown is held at rest by the brake-and-drumsystemshown.
After the brake is partially releasedat t = 0, it is observedthat the
cylinder moves 5 m in 4.5 s. Assuming uniformly acceleratedmotion,
determine(a) the angular accelerationof the drum, @) the angular
velocity ofthe drum at / = 3.5 s.

,t
SOLUTION

motion.
(a) Assumeuniformlyaccelerated , u -- Lort'

ou=1= =0.4e383m/s'
i
?P
For the drum, er = aA = 0.49383rn/s2, r = 250mm = 0.25m

a, 0.49383
at-ra, "-;=
O25

= |.97531radls2
, a = 1.975radls2
) I

(b) a = ao + at -- 0 +(1.97531)(3.5)

= 6.91rad/s, ro = o.9l radls) {

 PROBLEM
15.39
Collar I movesup with a velocity of 3.6 ft/s. At the instantshownwhen
I = 25o, determine(a) the angularvelocity ofrodlE, (b) the velocity of
collar,B.

SOLUTION
q:l
- o

/
v + /
i/T.
A",t
qrV Fl"
AV
A \),cJ

vB=vA+vRtA

Draw velocity vectordiagram.

q = 180" 60'- 65' = 55'
Law of sines.

lBr,t tB ,.1
_ -
sin60' sin65o smp

v.,sin60" 3.6sin60'
ig,t -
-
sln p sin55'
= 3.806ft/s = 45.67in.ls

vs s 45.6j
(a) o tD = 2.26 tad/s
fn,,t 20

a,ra-2.28ndls)a
v , s i n6 5 o 3 . 6 s i n6 5 '
(r) vB - J.9EIVs
sin55" s i n5 5 '

vr - 3.98tusI 30"<
 15.50
PROBLEM
The intermediategear B rotates with an angular velocity of 20 rad/s
clockwise.Knowing that the outergear C is stationary,determine(a) the
angularvelocity of the inner geafiA, (b) the angularvelocity of the arm
AB.

SOLUTION
Label the contactpoint betweengearsA andB as 1, the centerof
geu B as2, andthe contactpoint betweengearsB and C as -1.

GearA: v, = 3at,I (l)

Arrr,AB: v2 - 4.5auul (2)

Gear.B: vt = v2 t.JoB I
I
(3)

v,-vr+3oul (4)

I
GearC: vt = t.)oc I (5)

Data: atu = 20 rad15,6" = Q

From(5), Y:=0'

From (4), vz= -3a,t= -(l)(zo)J= eoin./sl

From(3), = -lol = m in.rsf

vr= -60- (l.5x2o)

From(l), at = vt /3 = -39 rad/s

)

ro; - 30'0 rad/s) {

From (2), eol=+.sauu! ,^, = -#= -13.33

rad/s

a,ts = 13.33rad/s) 1
 PROBLEM15.65
In the position shown, bar lB has an angular velocity of 4 rad/s
r_r0rr.___f6ir. clockwise.Determinethe angularvelocity ofbars BD andDE.

Z .l in.

SOLUTION
Bar,48. Rotationaboutl.

In units ofin./s ya = a,tn t ru,, = (-4k) , (10i) = -40i

.BarED. RotationaboutE.

Yn = @oexro,u = l.norkx (-6i + 2.4i) = -Z.4ronri - 6and

Bar BD. Translationwith B + Rotationabout8.

Yorn = aao x rr," = a4ok x (-+i) = +atoi

vD=vB+vDtB

-2.4aori - 6rrti - -40i' kttyj

Components:

!: -6ato, = -49 aot = 6.6667radls aps - 6.67 rad/s) {

i: -2.4atou = 4auo

.,, -EAt@= -4.oorad/s asn = 4.00 ra&s) 1

 PROBLEM
15.75
A 60-mm-radiusdrum is rigidly attachedto a l0O-mm-radiusdrum as
shown.One of the drumsrolls without sliding on the surfaceshown,and
a cord is wound aroundthe otherdrum. Knowing that endE ofthe cord is
pulled to the left with a velocity of 120mm/s, determine(a) the angular
velocity of the drums,(b) the velocity of the centerof the drums,(c) the
lengthof cord wound or unwoundper second.

SOLUTION
Sincethe drumrolls without slidine.its instantaneous
centerlies at D.

Ye=Ya=l20mm/s.-

v/ - vi!/Da, yB - rRtDa

v -R 120
@= = _ - Jra(vs
rBrD 100- 60

ro = 3.00rad/s){

v, = (roo)(:)= 3oomm/s

v; = 300 mnr/s.* {

Since v, is greaterthan vu, cord is beingwound.

vA - YB = 300 - 120 = 180mrn/s

(c) Cord woundper second= 180.0mm {

 15.82
PROBLEM
Knowing that at the instant shown the argular velocity of rod DE is
2.4 rad/sclockwise,determine(a) the velocity of collarl' (6) the velocity
of point B.

SOLUTION
Rod DE. (Rotat\on about E) aor = 2.4 tad/s)

vo = (ro)aou = G)Q.4)= 14.4in.^1

Collar A. (Ptectilinearmotion)

Locate the instantaneouscenter (point O of bar IDB by noting that

velocity directionsat pointsI andD areknown. Draw lC perpendicular
to v, andDC perpendicularto vr.

r^ 1 4 . 4i n . i s
a 4 D B= Z ; = = 5 ' o r a.u. s/\l
4*

(a\ vu = (CA)auo, = (?.5X3.6)= 27 in.ts

v ,r = 27'0 in./s- {
4
(r) talrr'B = --:-
7.5

B F = 4 + 3 I a n p = 5 . 6\ n .

CF =3in.

t a n (' D = - = - Q = 26.2-
BF 5.6

CB= cr\' + (nr)' 3 2+ 5 . 6 2

= 6.353in.

vB = 22.9in.ts
= (cn)ano, = (6.353X3.6)

90' - p = 61.3'

v n = 22.9in./s\61.8" {
 15.101
PROBLEM
UsinsthemethodofSec. 15.7,solveProb.15.65.

SOLUTION
v" = (n\a = (tox4)= 4o in./s
Ya = vr I

' =Z!, P =2r'8or"

,le
tanP
6 '

vo = vo I f
Locatethe instantaneous center(point Q, noting that velocity directions
at points B and D are known. Draw BC perpendicularto v s andDC'
perpendicularto vr.

!- = CB =
"3 -- - tO in., CD = in.
- 10.7703
anq cosP

,ro=&=9=+.uor.), aao = 4-00 radls ) a

vo = (co)au, = (10.7703)(4)= 43.081in.is

6
DE= = 6.4622in.
cosB
r-z - 43'081= = 6.67rad/s) {
u^. = 6.67rad/s) ,','
DE 6.4622
 PROBLEM
15.110
The motion of the 3-in.-radiuscylinder is controlledby the cord shown.
Knowing that end t of the cord has a velocity of 12 in./s and an
acceleration of 19.2 in.is2, both directed upward, determine the
acceleration(a) of pointA, (b) ofpoint 8.

SOLUTION
Velocityanalysis. centerofrotationofthe cylinder. vc = vE = 12 in.ls.
Pointl is theinstantaneous

v c = 2 r a, = + = d b = 2 r a d l s )

Accelerationanalysis. ra' = (Z)(z)' = 12 in./s2

a n = f a nI- " . = [ ( , . )l J, . l @ , ) , *] = t * f l . [ ( " . ) -, ]

* J
uc=N,+l(*,),I I * [{,.,,,),
- f =[,u*)+lz,a l1+12,.,
[",1].[(".), *l
- l * [ o ,t ] + [ z *+ ]
[ r . zf ] + l ( " " ) , * f = l o u ot
From (l), Components+l: 19.2= 6a, a = 3.2 rad/s2)

aG = aA + ("o,u), * (ro,n),

[,"1]=l"u-l+[.a f ] =1,,'-l
t,. I I =[o,* ]* [r.oin.r',t ]* [rzi'.r" - ]
From which ac = 9.6 in.ls2 and a,t = 12 in.ls2 ac = 9.6 in./s2 1

(a) t,c = 12.00in.7r: - {

(b) aa = ac + (roo), * (roo),

1]+l,a-l+l,of l] =ln.u
=[s.o 1l+[r.o- ]+[rzf ]
= in.rs'- * as = e.e0in./s2
[r.o ] [z.ai".lrt ]] Z 14.0.
<
 15.118
PROBLEM
--?tt r., Arm l8 has a constantangularvelocity of 16 rad,/scounterclockwise.
At
,tn,-1 the instant when d = 90., determinethe acceleration(a) of collar D,
.A-t.;l
y-' f (6) of the midpoint G of barBD.
\ a - "- /
f t r2rr""
i0 'r.,r'J
/ , , e

*-

SOLUTION
Geometry and velocity analysis. 0 = 90"

, i n' p = $ = 0 . : , p-r7.4s8"
200

centerlies at oo.
vo andv, areparallel,thusthe instantaneous
6o
aao=0

Acceleration analysis. dn = 0, anu - 16 radls, aan = 0

a u - f t l a o ,t ] * [ o o , j uI I - o * [ { o o t t r o, )]'= r s : o o . ' , v,, '

PointD moveson a straightline. 2o=aD-

"u - ) + lzoocos
(o,u\, = l6oa Bau, I I

Ba'uo- ] = o
("o,r), = luorfi, I I +lzoocos
aD = LB +(o,u),*(oo'u), Resolveinto components'

. f : 0 - - 1 5 3 6+0 2 l O c o s p a s p".r " - = S 0 . 5r0a8d / s) 2

ffi
(") l*: = -4331rnrn/s'
ao - 0 - 60auo+0 = -(60)(80.503)

ao = 4.83rn/s2.- <
* ]+[zoso| ]
= lzoaro-]+[t00cos/ar, | 1= 1z+rs
(uo,,),
- Ito;", I f +froo",s
(uo,,), .- =o
B,,fio ]
(r) ^o = ^" * (^ r,o),* (u'o ),

- [ r s : o|o] + [ z + r .s- ] ' [ r o s 'o] * o

.- * '72.5"
=
[z+ts-ttvr' ] fzoto-"v.' J] ac = 8.05 ntts2;Y a
 PROBLEM
15.128
Knowing that at the instant shown rod lB has a constantangular velocity
of 6 rad/s clockwise,determine(a) the angularaccelerationof member
BDE, (b) the accelerationofpoint E.

soLuTtoN
Velocity analysis. a,ts = 6 rad/s )

vu = (ta)anu =(4.5)(6) = 27 in./s

vR=vR+, vD=vD+

The instantaneouscenter of bar BDE lies at co.

Then, an =0 and vD = vB = 27 in-/s

. vr, Zj
uJ.^ = - =- = J. raors
,, \
,
CD
Acceleration analysis. a,ca = 0

zu= Qa)afou
= I ] = rozin.r.,1
[(+.s)(o)'
ao =f(co)a,o* I * llco)d, lf =1r","- I +
[(r)(r),J]
=fsagp- l+ fsri".r.'J]
aru =l4.5aro-)+flt.zsauo l)

* ln.zsrlo-l+f+sr,fi,l)
= f+.saue
- ]+[rr.zsar,
f]
aD = ^B + aD/B Resolve
intocomponents.

+J: -81 = -162+ ll.25auo, aso = 7.20radJs2

) 1
=feauo
a,u,u *l+fzz.sauo *l.LnSr, l)
l]+lzz.s"fi,
= [(r)(z.z)
-l+lQz.s)(t.2)
1]+[0- ]. [ol]
= in.ls,-
[oe.a ]. [rozin./s,f]
^E= uB+ ^u,u=lrazin.rs, -].[rezm.rc, f
Jl+[o+.ain.lrt ]
= 64.3 i1.752* at = 64.811.752
- 1
 PROBLEM15.148
Pin P is attachedto the wheel shownand slidesin a slot cut in bar BD'
The wheel rolls to the right without slipping with a constantangular
velocity of20 rad/s.Knowing that x = 480 mm when B = 0, determine
the angularvelocity of the bar and the relative velocity of pin P with
respectto the rod for the given data.
(a) 0 =0, Q) e =90".

SOLUTION

Coordinates.
xA = (xA)o+r0, yn = r
xs=0,/a=r
xc = x,q,lc =0
xP=xt+esin9
yp--r+ecose

Data: ( r r ) o = + S O . - = 0 ' 4 8m

r = 200 mrn = 0.20m

e = l 4 0 m m = 0 . 1 4m

arc = a,tc an = aso

Velocity analysis. ), ),
y p = v A + v p 1 1= l r a t p - * ] + [ e a r r . 5 d ]

vr, =lxrrouof ]+[(ecosa)ato-* I

v,o =lucosB-*l + tasinBf l

Use v, = Yp' + l ptF andresolveinto components'

+ (r + ecos0)an6 = (ecos0)at6p + (cos/)a (l)

*1, (esin?)ong = xpaso -$inB)u (2)

 PROBLEM
15.148CONTINUED
(a) 0 = 0. r; = 0.48 m, xr = 0.48 m, a,tc = 20 radls

hn7 =!:osg -- o'14. B - rb.26

xp 0.48
Substitutinginto Eqs.(l) and (2),

( o . z o+ o . r + ) ( z o )= 0 . 1 4 a t u+o ( c o s 1 6 . 2 6 . ) z
(l)
0 - 0.48atso- (sin16.26.)r.
e)
Solvingsimultaneously, asn = 3.8Iradls, atuo -3.glrad/s
)1
u - 6.53rnls, v p1p= 6-53nls Z 16.26"1

@) e -90". . r p - 0 . 4 8+ ( 0 . 2 0' |1L1I + 0 . r + = 0 . 9 3 4 1 m

6
) l

f=o
Substitutinginto Eqs.(l) and (2),

(0.20)(20)= u
(r)
u=4m/s
= 0.934r6atso
(0.14X20)
e)
oso = 2.9973rad/S, oap - 3.00 rad/s ) {

vplr = 4.00 rn/s * <

 PROBLEM
15.161
At the instantshownthe lengthofthe booml,B is being increasedat the
constantrate of 0.6 ff:/sandthe boom is being loweredat the constantrate
of 0.08 rad/s.Determine(rr) the velocity of point B, (6) the acceleration
of ooint -B.

SOLUTION
Velocityof coincidingpoint B' on boom. y n, = ra = (18)(0.08) = 1.44ft/s \ 60.

Velocityof point B relativeto theboom. varuoo*- 0.6 ftls -{ 30"

\q) Velocityof point B. a = vB, + va/boom

5 : (vs)., = 1.44cos60"
+ 0.6cos30'= 1.23962ftJs

*1 ' ( u , ) . , - - 1 . 4 + . i n 6 0 ' + 0 . 6 s i n 3 0 -' - 0 . 9 4 7 0 8f f : / s

,, = Fzts*y * lnntrty = r.560

ft/s
a"p - -?:!9:, p = ' 3't.4. vr = r.560
rvs\ 37.4.
{
1.23962'
Acceleration
of coincidingpointB' onboom.

as,= ra2 = (rr)(o.os)' = o.lts2 ftls27 30"

Acceleration of B relative to the boom. a&boom= 0

Coriotisacceleration. 2ura= (2X0.0s)(0.6)= 0.osoff/s, \ 60.

\b) Acceleration of point B. LB = sR, + ^B,ooon+ zau

+ ' (ar), = -o.ttszcos30'+0.096cos60'=

-0.051767
m/s2

*f, (""), = -o.ttsz.in30"-0.096sin60'=

-0.14074
m/s2

., = F.osnolt *1uuol = o.l5oo

fvs2

""8' = :::::r. p = 6s.8. ar = 0.1500

ff/s2z 6s.s"
<
0.051767
 PROBLEM
15.173
Pin P is attachedto the wheel shownand slidesin a slot cut in bar BD.
The wheel rolls to the right without slipping with a constant angular
velocity of 20 rad,/s.Knowing that -x = 480 mm when d = 0, determrne
(a) the angularaccelerationofthe bar and (b) the relativeaccelerationof
pin P with respectto the bar for the given data.
0 =o.

SOLUTION

Coordinates.

xn = \x,r)o+ r0, lt = r
-D xs=Q, !a=r
x C= x A ,
lc=0
=
xp xA+ esine, yp = r + eCOSe

e Data: (rr)o = +SO-- = 0.48m

r = 200 mm = 0.20m
e=140mm=0.14m
0=0 rp=480mm=0.48m

r Velocity analysis.
I ou.^ = 20 radls aao = ano
), )
v, = (r + e)ron, -

= (0.20
+ o.l4x2o)
= 6.8rnls*
v p , = f x p a s|o+ l e a * -l

vr,, =fucosB- ]+ [rrsinpf ]

e -014
t a n B=
xp 0.48
p = t6.260"
Use v" = v p, + v p/F andresolveinto components.
+- : 6.8 = O.l4atao+ ucosp (l)
- usinB
+f : 0= 0.48aro (2)
Solving(l) and(2), oro = 3.8080rad./s, r = 6.528 mls
 15,173CONTINUED
PROBLEM
d'tc = 0' oao = ano )
Acceleration analysis.

^,t = 0 roln= ro)u = (o.r+)(zo)'= SOr/s' I

sp = aA + ant = 56 mls2I

-)+l,,alo *f *1""',Il
,,' =lr/,uolf +l"au
= lo.+t.,uo * I + [10.+s)(:.8080f
!) + lo.t+auo - ]

+[(.r+)(:.aoso)'
] J
=lo.+wuo * ] + [o.leo+
lf +lo.t+auo "v" - ]
+[2.o3ol
lr/s' I ]

^pE= licosB* I + [';.nB | ]

Cor io I is acceler ation.

= [+r.ztrrvs' \p]
zarou= (z)(z.tos0)(6.528)

Use a, = up,+ s ptF*lzturu \ /] andresolveinto components'

+. : 0 = 0.14aBD- 6.9604+ icos p + 49.717sin8

or o.l4aBD + icos B = -6.9602 (3)

+J: 56 = 0.48auo+ 2.0301+ isin B + 49.7l7cosp

or O.4ktBD- isin P = 6.2415 (4)

Solving(3) and(4), aao = 8.09 rad/s, i = -8.43 rnlsz

\a) crro = 8.09rad/s2) {

(r) Nptr = 8.43 mls2 7 16.26' <