5

PLANE MOTION
OF RIGIED BODY
5 PLANE MOTION OF RIGID BODY

ABSOLUTE MOTION
@jการk เราจะสlางความmม/นnทางเลขาคoต (เpน x (บ θ, x (บ ω, x (บ y เ?นqน) แ1ว diff เAยบ เวลา(t)
เrอsนวณหาความเDวและความเGง

Trigonometric

Sine’s & Cosine’s rule

Pytagoras

8
 5/33 The Scotch-yoke mechanism converts rotational mo-
C tion of the disk to oscillatory translation of the shaft.
For given values of ", !, #, r, andA d, determine
BSOLUTE OTIONthe
M
d velocity and acceleration of point P of the shaft.

Example5/3 The Scotch-yoke Problem 5/29mechanism converts

ω
rotational motion of the disk to oscillatory translation of A
the5/30
shaft. ForAgiven
Point is given a constant
values = 30˚,ω=2 arad/s,
of θ acceleration to the αright
= 3
r
rad/s, r starting
= 100 mm fromand
rest dwith x essentially
= 400 zero. Determine
mm, determine the
the angular velocity ! of link AB in terms of x and a. α θ P
velocity and acceleration of point P of the shaft. O

b b

C
A a
x d

Problem 5/30
Problem 5/33

5/31 The telephone-cable reel is rolled down the incline by 5/34 Slider A moves in the horizontal slot with a constant
the cable leading from the upper drum and wrapped speed v for a short interval of motion. Determine the
around the inner hub of the reel. If the upper drum is angular velocity ! of bar AB in terms of the displace-
turned at the constant rate !1 ! 2 rad/sec, calculate ment xA.
the time required for the center of the reel to move
100 ft along the incline. No slipping occurs.
ω1
B

16″
24″
L

48″

60° A
v

xA
Problem 5/31
Problem 5/34

9
 Article 5/3 Absolute Motion 341
5 PLANE MOTION OF RIGID BODY
SAMPLE PROBLEM 5/6
Example5/4 Motion of the equilateral triangular plate ABC in its plane is C
controlledMotion of the
by the equilateral
hydraulic triangular
cylinder D. Ifplate ABC inrod
the piston its plane
in theiscylinder
controlledisby b y
=
0.
the hydraulic
moving upward cylinder D. If the piston
at the constant rod0.3
rate of in the
m/scylinder
duringisan
moving upward
interval of itsat the 2
m
constant
motion, rate offor
calculate 0.3 the
m/s instant
during an interval
when θ =of30˚
its the
motion, calculate
velocity andfor the instant
acceleration b
when ! ! 30! the velocity and acceleration of the center of the roller B in the hor- A
of the center of the roller B in the horizontal guide.
izontal guide and the angular velocity and angular acceleration of edge CB. b

 y
θ
x
B
Solution. With the x-y coordinates chosen as shown, the given motion of A is
vA ! ẏ ! 0.3 m/s and aA ! ÿ ! 0. The accompanying motion of B is given by x and x
D
its time derivatives, which may be obtained from x2 " y2 ! b2. Differentiating gives
y
xẋ " yẏ ! 0 ẋ ! # ẏ
! x Helpful Hint
ẋ 2 " ẏ 2 y ! Observe that it is simpler to differ-
xẍ " ẋ 2 " yÿ " ẏ 2 ! 0 ẍ ! # # ÿ
x x entiate a product than a quotient.
With y ! b sin !, x ! b cos !, and ÿ ! 0, the expressions become Thus, differentiate xẋ " yẏ ! 0
rather than ẋ ! #yẏ/x.
vB ! ẋ ! #vA tan !
vA 2
aB ! ẍ ! # sec3 !
b

Substituting the numerical values vA ! 0.3 m/s and ! ! 30! gives

vB ! #0.3 !"31 # ! #0.1732 m/s Ans.

(0.3)2(2/"3)3
aB ! # ! #0.693 m/s2 Ans.
0.2

The negative signs indicate that the velocity and acceleration of B are both to
the right since x and its derivatives are positive to the left.
The angular motion of CB is the same as that of every line on the plate, in-
cluding AB. Differentiating y ! b sin ! gives

vA
ẏ ! b !˙ cos ! " ! !˙ ! sec !
b

The angular acceleration is

vA vA 2
˙!
#!" !˙ sec ! tan ! ! 2 sec2 ! tan !
b b

Substitution of the numerical values gives

0.3 2
"! ! 1.732 rad/s Ans.
0.2 "3

(0.3)2 2
! #
2
1
#! ! 1.732 rad/s2 Ans.
(0.2)2 "3 "3

Both " and # are counterclockwise since their signs are positive in the sense of
the positive measurement of !.

10
 ABSOLUTE MOTION
Example5/5 tหนดใuทรงกระบอกiศh r hความเDวเNง9ม
ω และความเGงเNง9มเ?น 𝛼 จงหาความเDวและความเGง.\ด
G (ทราบUาทรงกระบอกกvงโดยไbไถล)

11
 Problem 5/29

5/30 Point A is given a constant acceleration a to the right

starting from rest with x essentially zero. Determine
5 PLANE MOTION OF RIGID BODY the angular velocity ! of link AB in terms of x and a. α

Example5/6 ทราบUา\ด A เคKอน.:วยความเGงคง. a ไป B

ทางขวา และเJมจากหLดMง. x เ[า(บ 0 จงหาความเDว b b
เNง9มของxาน AB ในเทอมของ x และ a
C
A a
x

Problem 5/30

5/31 The telephone-cable reel is rolled down the incline by 5/34

the cable leading from the upper drum and wrapped
around the inner hub of the reel. If the upper drum is
turned at the constant rate !1 ! 2 rad/sec, calculate
the time required for the center of the reel to move
100 ft along the incline. No slipping occurs.
ω1

16″
24″

48″

Problem 5/31

12
 2
h
5/35 The cables atL A and B are wrapped securely around 5/37 Determine the acceleration of A the shaft B for " !
—
the rims and 2the hub of the integral pulley as shown. r the crank OA has an angular accelerat
if
PROBLEMS L
—
If the cables
2 at A and B are given upward velocities
of 3 ft/sec and 4 ft/sec, respectively, calculate the ve-
"¨ ! 8 rad/s2 and an ˙
x angular velocity " ! 4 rad/s
this position. The spring maintains contact betwe
B ω0

 locity of the center O and the angular velocity of the the roller and the surface of the plunger.
• 5-6.pulley.
Determine the acceleration of the shaft B for θ = 60° if the crank OA Problem 5/42
Problem 5/39
has an angular acceleration α = 8 rad/s2 and an angular velocity ω = 4 rad/s
at this position. The spring maintains contactslipping
between B
5/40 The telephone-cable reel rolls without onthe roller
5/43and
Thethe
circular cam is mounted eccentrically about its
surface of 3 ft
the /sec 4 ft /sec
plunger.surface. If point A on the cable has a
*
the horizontal fixed bearing at O and turns counterclockwise at the
velocity vA ! 0.8 m/s to the right, compute the veloc- constant angular velocity !. The cam causes the fork
ity of the center O and the angular velocity ! of the A and attached control rod to oscillate in the hori-
A (Be careful not to B
reel. make the B A of
mistake B assum- zontal x-direction. Write expressions for the velocity
ing that the reel rolls to the left.) vx and acceleration ax of the control rod in terms of
the angle " measured from the vertical. The contact
surfaces of the fork are vertical.
1.8 m 20 mm
A
4″
0.6 m
O vA
x
O 80 mm
6″ A
θ ω
θ O
Problem 5/40
O
Problem 5/35 b
A
5/41 As end A of the slender bar is pulled to the right Problem 5/37
5/36 Thewith the velocity v, the bar slides on the surface of the
wheel of radius r rolls without slipping, and its ω
fixed half-cylinder. Determine the angular velocity
center O has a constant velocity vO to the right. De-
! ! "˙ of the bar in terms of x.
5/38 The collar C moves to the left on the fixed guide w
Problem 5/43
termine expressions for the magnitudes of the veloc- speed v. Determine the angular velocity !OA a
ity v and
B acceleration a of point A on the rim by 5/44 Rotation function of v,OA
of the lever theiscollar
controlled by thes,motion
position and the height
differentiating its x- and y-coordinates. Represent of the contacting circular disk whose center is given
your results graphically as vectors on your sketch A
a horizontal velocity v. Determine the expression for
and show that v is the vector sum of two vectors, the angular velocity ! of the lever OA in terms of x.
• 5-7.each
Rotation of thehas
of which
r
lever OA is controlled
a magnitude vO. by the motion of
the contacting circular disk whose center is A v a
given A B
θ
horizontaly velocity v. Determine the expression for the
angular velocity ω of the A lever OA
x in terms of x. v B
† h O
θ O
r
Problem 5/41 r
θ C
O
vO
v
x s

x Problem Problem
5/44 5/38
xO

Problem 5/36

5-6. aB = 0.789 m/s ↓

v
5-7. ω =
x (x /r) 2 − 1
Level of Difficulty : • simple •• general ••• challenging.
 5/53 Angular oscillation of the slotted link is achieved by
Problem 5/50 the crank OA, which rotates clockwise at the steady
speed N ! 120 rev/min. Determine an expression for
ABSOLUTE MOTION - PROBLEMS
at the expressions v ! r" and at ! r$ hold the angular velocity #̇ of the slotted link in terms of !.
motion of the center
•• 5-9. O ofoscillation
Angular the wheel which
of the slotted
the concave link
or convex circular arc, where
is achieved by the crank OA, which " A
e the absolute angular velocity and accelera-
rotates clockwise at the steady speed N 2.5″mm
125
pectively, of =120
the wheel. N
rev/min.(Hint: Follow
Determine the ex-
an expression
Sample Problem B
for the 5/4 and velocity
angular allow the
β! ofwheel to link
the slotted β θ
all distance.when
Be very careful to identify
θ = 90˚. Use absolute motion the O
absolute angle through
method.* which the wheel
each case in determining its angular veloc-
ngular acceleration.) 9″ mm
450

Problem 5/53
r
t 5/54 Link OA revolves counterclockwise with an angular
O velocity of 3 rad/sec. Link AB slides through the piv-
oted collar at C. Determine the angular velocity " of
r
AB when ! ! 40!.
t
A

R
4″
3 rad/sec
θ C
O

Problem 5/51
8″
ses through the guide rollers shown and is B
und onto the reel, which is turned at a con-
gular velocity ". Determine the acceleration
the film as it enters the rollers. The thick- Problem 5/54
he film is t, and s is sufficiently large so that
ge in the angle made by the film with the
al is negligible.

0.9 rad/s CW

15
 SUGGESTIONS
Dynamics
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DYNAMICS ME

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Math 3

MATH3 vol.1
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