12–2.

When a train is traveling along a straight track at 2 m/s, it v

begins to accelerate at a = 160 v-42 m>s2, where v is in m/s.
s

Determine its velocity v and the position 3 s after the

acceleration.

SOLUTION
dv
a =
dt

dv
dt =
a
3 v
dv
dt = -4
L0 L2 60v

1
3 = (v5 - 32)
300

v = 3.925 m>s = 3.93 m>s Ans.

ads = vdv

vdv 1 5
ds = = v dv
a 60
s 3.925
1
ds = v5 dv
L0 60 L2

a b`
1 v6 3.925
s =
60 6 2

= 9.98 m Ans.
12–13.

The acceleration of a rocket traveling upward is given by ap = b + c sp. Determine the rocket’s
velocity when sp = sp1 and the time needed to reach this altitude. Initially, vp = 0 and sp = 0 when
t = 0.
m 1
Given: b 6 c 0.02 sp1 2000 m
2 2
s s

Solution:

dvp
ap b  c sp vp
dsp

vp sp
´ ´
µ
¶
vp dvp µ
¶
b  c sp dsp
0 0

2
vp c 2
b sp  sp
2 2

dsp 2 2 m
vp 2b sp  c sp vp1 2b sp1  c sp1 vp1 322.49 Ans.
dt s

sp sp1
µ́ 1 µ́ 1
t dsp t1 dsp t1 19.27 s Ans.
µ 2 µ 2
µ 2b sp  c sp µ 2b sp  c sp
¶ ¶
0 0
12–14.

The acceleration of a rocket traveling upward is given by ap = b + c sp. Determine the time
needed for the rocket to reach an altitute sp1. Initially, vp = 0 and sp = 0 when t = 0.

m 1
Given: b 6 c 0.02 sp1 100 m
2 2
s s

Solution:

dvp
ap b  c sp vp
dsp

vp sp
´ ´
µ
¶
vp dvp µ
¶
b  c sp dsp
0 0

2
vp c 2
b sp  sp
2 2

dsp 2 2 m
vp 2b sp  c sp vp1 2b sp1  c sp1 vp1 37.42
dt s

sp sp1
µ́ 1 µ́ 1
t dsp t1 dsp t1 5.62 s Ans.
µ 2 µ 2
µ 2b sp  c sp µ 2b sp  c sp
¶ ¶
0 0
12–26.

When two cars A and B are next to one another, they are A B
traveling in the same direction with speeds vA and vB ,
respectively. If B maintains its constant speed, while A
begins to decelerate at aA , determine the distance d d
between the cars at the instant A stops.

SOLUTION
Motion of car A:

v = v0 + act

vA
0 = vA - aAt t =
aA

v2 = v20 + 2ac(s - s0)

0 = v2A + 2( - aA)(sA - 0)

v2A
sA =
2aA

Motion of car B:

sB = vBt = vB a b =
vA vAvB
aA aA

The distance between cars A and B is

v2A 2vAvB - v2A

sBA = |sB - sA| = ` ` = ` `
vAvB
- Ans.
aA 2aA 2aA
12–28.

A particle travels to the right along a straight line with a

velocity v = [5>14 + s2] m>s, where s is in meters.
Determine its deceleration when s = 2 m.

SOLUTION
5
v =
4+s

v dv = a ds

-5 ds
dv =
(4 + s)2

- 5 ds
a b = a ds
5
(4 + s) (4 + s)2

- 25
a =
(4 + s)3

When s = 2 m

a = - 0.116 m>s2 Ans.

12–34.

A boy throws a ball straight up from the top of a 12-m high

tower. If the ball falls past him 0.75 s later, determine the
velocity at which it was thrown, the velocity of the ball when
it strikes the ground, and the time of flight.

SOLUTION
Kinematics: When the ball passes the boy, the displacement of the ball in equal to zero.

Thus, s = 0. Also, s0 = 0, v0 = v1, t = 0.75 s, and ac = - 9.81 m>s2.

A+cB
1 2
s = s0 + v0t + at
2 c

0 = 0 + v110.752 + 1 - 9.81210.7522
1
2
v1 = 3.679 m>s = 3.68 m>s Ans.

When the ball strikes the ground, its displacement from the roof top is s = - 12 m.
Also, v0 = v1 = 3.679 m>s, t = t2, v = v2, and ac = - 9.81 m>s2.

A+cB
1 2
s = s0 + v0t + at
2 c

1 - 9.812t22
1
-12 = 0 + 3.679t2 +
2
4.905t22 - 3.679t2 - 12 = 0

3.679 ; 21- 3.67922 - 414.90521 -122

t2 =
214.9052

Choosing the positive root, we have

t2 = 1.983 s = 1.98 s Ans.

Using this result,

A+cB v = v0 + act
v2 = 3.679 + 1 -9.81211.9832

= - 15.8 m>s = 15.8 m>s T Ans.

12–85.

A particle travels along the curve from A to B in 1 s. If it y

takes 3 s for it to go from A to C, determine its average
velocity when it goes from B to C.
B

20 m

SOLUTION
x
A C
Time from B to C is 3 - 1 = 2 s

¢r (rAC - rAB) 40i - (20i + 20j)

vang = = = = {10i - 10j} m>s Ans.
¢t ¢t 2
12–87.

Pegs A and B are restricted to move in the elliptical slots y

due to the motion of the slotted link. If the link moves with
a constant speed of 10 m/s, determine the magnitude of the
velocity and acceleration of peg A when x = 1 m.
A
C D
x
SOLUTION
v 10 m/s
Velocity: The x and y components of the peg’s velocity can be related by taking the B
first time derivative of the path’s equation. x2
y2 1
4
x2
+ y2 = 1
4
1 # #
(2xx) + 2yy = 0
4
1 # #
xx + 2yy = 0
2
or
1
xv + 2yvy = 0 (1)
2 x

At x = 1 m,

(1)2 23
+ y2 = 1 y = m
4 2

Here, vx = 10 m>s and x = 1. Substituting these values into Eq. (1),

1 23
(1)(10) + 2 ¢ ≤ vy = 0 vy = -2.887 m>s = 2.887 m>s T
2 2

Thus, the magnitude of the peg’s velocity is

v = 2vx 2 + vy 2 = 2102 + 2.8872 = 10.4 m>s Ans.

Acceleration: The x and y components of the peg’s acceleration can be related by

taking the second time derivative of the path’s equation.
1 # # ## # # ##
(xx + xx) + 2(yy + yy) = 0
2

A x + xx B + 2 A y 2 + yy B = 0
1 #2 ## # ##
2
or

A v 2 + xax B + 2 A vy 2 + yay B = 0
1
(2)
2 x
23
Since vx is constant, ax = 0. When x = 1 m, y = m, vx = 10 m>s, and
2
vy = -2.887 m>s. Substituting these values into Eq. (2),

A 102 + 0 B + 2 c ( - 2.887)2 +
23
a d = 0
1
2 2 y

ay = - 38.49 m>s2 = 38.49 m>s2 T

Thus, the magnitude of the peg’s acceleration is

a = 2ax 2 + ay 2 = 202 + ( -38.49)2 = 38.5 m>s2 Ans.

12–9 1. The pitching machine is adjusted so that the vA  30 m/s
baseball is launched with a speed of W"  30 ms. If the ball
strikes the ground at B, determine the two possible angles u"
A uA
at which it was launched. 1.2 m B

30 m

Coordinate System: The x–y coordinate system will be set so that its origin coincides
with point A.

x-Motion: Here, (v")Y  30 cos u", Y"  0 and Y#  30 m. Thus,



 
  Y#  Y"  (v")YU

30  0  30 cos u"U
1
U  (1)
cos u"

y-Motion: Here, (v")Z  30 sin u", BZ  H  9.81 ms2, and Z#   1.2 m. Thus,

1
D Z#  Z"  (v")ZU  B U2
2 Z
1
1.2  0  30 sin u"U  (  9.81)U2
2
4.905U2  30 sin u" U  1.2  0 (2)

Substituting Eq. (1) into Eq. (2) yields

2
1 1
4.905 A I  30 sin u" A I  1.2  0
cos u" cos u"

1.2 cos2 u"  30 sin u" cos u"  4.905  0

Solving by trial and error,

u"  7.19° and 80.5° Ans.

12–93.

The balloon A is ascending at rate vA and is being carried horizontally by the wind at vw. If a
ballast bag is dropped from the balloon when the balloon is at height h, determine the time
needed for it to strike the ground. Assume that the bag was released from the balloon with the
same velocity as the balloon. Also, with what speed does the bag strike the ground?

Given:

km
vA 12
hr
km
vw 20
hr

h 50 m

m
g 9.81
2
s

Solution:

ax 0 ay g

vx vw vy g t  vA

1 2
sx vw t sy g t  vA t  h
2
2
1 2 vA  vA  2g h
Thus 0 g t  vA t  h t t 3.55 s Ans.
2 g

2 2 m
vx vw vy g t  vA v vx  vy v 32.0 Ans.
s
12–95.

A projectile is given a velocity v0 at an angle f above the y

horizontal. Determine the distance d to where it strikes the
sloped ground. The acceleration due to gravity is g.

v0
φ
θ
SOLUTION x
d
A:
+ B s = s0 + v0 t

d cos u = 0 + v0 (cos f) t

A+cB
1 2
s = s0 + v0 t + a t
2 c

1
d sin u = 0 + v0 (sin f)t + ( - g) t2
2

Thus,

d cos u d cos u 2
d sin u = v0 sin f a b - ga b
1
v0 cos f 2 v0 cos f

gd cos2 u
sin u = cos u tan f -
2v20 cos2 f

2v20 cos2 f
d = (cos u tan f - sin u)
g cos2 u

v 20
d = sin 2f - 2 tan u cos2 f Ans.
g cos u
12–98. A projectile is fired from the platform at B. The B
shooter fires his gun from point A at an angle of 30°.
C
Determine the muzzle speed of the bullet if it hits the
projectile at C.
vA
10 m
A 30
Coordinate System: The x–y coordinate system will be set so that its origin coincides
with point A. 1.8 m

20 m
x-Motion: Here, Y"  0 and Y$  20 m. Thus,


 
  Y$  Y"  (v")YU

20  0  v" cos 30° U (1)

y-Motion: Here, Z"  1.8, (v")Z  v" sin 30°, and BZ   H   9.81 ms2. Thus,

1
D Z$  Z"  (v")ZU  BZU2
2
1
10  1.8  v" sin 30°(U)  ( 9.81)(U)2
2
Thus,
20 sin 30°
10  1.8  A I (U)  4.905(U)2
cos 30°(U)
U  0.8261 s

So that
20
v"   28.0 ms Ans.
cos 30°(0.8261)
12–101.

It is observed that the skier leaves the ramp A at an angle

uA = 25° with the horizontal. If he strikes the ground at B, uA vA
determine his initial speed vA and the speed at which he A
strikes the ground.
4m

5
3
4

100 m
SOLUTION
Coordinate System: x - y coordinate system will be set with its origin to coincide
with point A as shown in Fig. a. B

x-motion: Here, xA = 0, xB = 100 a b = 80 m and (vA)x = vA cos 25°.

4
5

A:
+ B xB = xA + (vA)xt
80 = 0 + (vA cos 25°)t
80
t = (1)
vA cos 25°

y-motion: Here, yA = 0, yB = - [4 + 100 a b ] = - 64 m and (vA)y = vA sin 25°

3
5
and ay = - g = - 9.81 m>s2.

A+ c B
1
yB = yA + (vA)y t + a t2
2 y
1
- 64 = 0 + vA sin 25° t + ( - 9.81)t2
2
4.905t2 - vA sin 25° t = 64 (2)

Substitute Eq. (1) into (2) yieldS

2
80 80
4.905 ¢ ≤ = vA sin 25° ¢ ≤ = 64
vA cos 25° yA cos 25°

2
80
¢ ≤ = 20.65
vA cos 25°

80
= 4.545
vA cos 25°

vA = 19.42 m>s = 19.4 m>s Ans.

Substitute this result into Eq. (1),

80
t = = 4.54465
19.42 cos 25°
12–101. continued

Using this result,

A+ c B (vB)y = (vA)y + ay t

= 19.42 sin 25° + ( -9.81)(4.5446)

= - 36.37 m>s = 36.37 m>s T

And

A:
+ B (vB)x = (vA)x = vA cos 25° = 19.42 cos 25° = 17.60 m>s :

Thus,

vB = 2(vB)2x + (vB)2y

= 236.372 + 17.602
= 40.4 m>s Ans.
12–122.

If the roller coaster starts from rest at A and its speed y 1 x2

y
increases at at = (6 – 0.06s) m>s2, determine the magnitude 100
of its acceleration when it reaches B where sB = 40 m.
A

SOLUTION
B
Velocity: Using the initial condition v = 0 at s = 0,
x
v dv = at ds

A 6 - 0.06s B ds
v s
vdv = 30 m
L0 L0

v = a 212s - 0.06s2 b m>s (1)

Thus,
vB = 412 A 40 B - 0.06 A 40 B 2 = 19.60 m>s

Radius of Curvature:
1 2
y = x
100
dy 1
= x
dx 50
d2y 1
=
dx2 50

dy 2 3>2 2 3>2
B1 + a b R B1 + a xb R
1
dx 50
r = = 5 = 79.30 m
d2y
2 2 2 1 2
dx2 50
x = 30 m

Acceleration:
#
a t = v = 6 - 0.06(40) = 3.600 m>s2
v2 19.602
an = = = 4.842 m>s2
r 79.30
The magnitude of the roller coaster’s acceleration at B is

a = 2at 2 + an 2 = 23.6002 + 4.8422 = 6.03 m>s2 Ans.

12–126.

If the car passes point A with a speed of 20 m>s and begins y

1 2
to increase its speed at a constant rate of at = 0.5 m>s2, y 16 x
625
determine the magnitude of the car’s acceleration when
s = 100 m. B s
16 m
A x

SOLUTION
Velocity: The speed of the car at C is

vC 2 = vA 2 + 2a t (sC - sA)

vC 2 = 202 + 2(0.5)(100 - 0)

vC = 22.361 m>s

Radius of Curvature:
1 2
y = 16 - x
625

= -3.2 A 10-3 B x
dy
dx

= -3.2 A 10-3 B
d2y
dx2
dy 2 3>2
B1 + a b R c1 + a -3.2 A 10-3 B x b d
2 3>2

dx
r = = 4 = 312.5 m
2
d2y
2 - 3.2 A 10-3 B
dx2 x=0

Acceleration:
#
a t = v = 0.5 m>s
vC 2 22.3612
an = = = 1.60 m>s2
r 312.5
The magnitude of the car’s acceleration at C is

a = 2a2t + a2n = 20.52 + 1.602 = 1.68 m>s2 Ans.

12–133.

Car B turns such that its speed is increased by v

(at)B = (0.5et) m>s2, where t is in seconds. If the car starts
from rest when u = 0°, determine the magnitudes of its B
velocity and acceleration when t = 2 s. Neglect the size of
the car.

SOLUTION
5m
dv
Velocity: The speed v in terms of time t can be obtained by applying a = .
dt A u

dv = adt
v t
t
dv = 0.5e dt
L0 L0
v = 0.5 A et - 1 B

When t = 2 s, v = 0.5 A e2 - 1 B = 3.195 m>s = 3.19 m>s Ans.

Acceleration: The tangential acceleration of the car at t = 2 s is

at = 0.5e2 = 3.695 m>s2. To determine the normal acceleration, apply Eq. 12–20.

v2 3.1952
an = = = 2.041 m>s2
r 5

The magnitude of the acceleration is

a = 2a2t + a2n = 23.6952 + 2.0412 = 4.22 m>s2 Ans.

12–139.

The motorcycle is traveling at a constant speed of 60 km> h. y

Determine the magnitude of its acceleration when it is at y2 ⫽ 2x
A
point A.

x
25 m

SOLUTION
Radius of Curvature:

y = 22x1>2

dy 1
= 22x - 1>2
dx 2

d2y 1
= - 22x - 3>2
dx2 4
2 3>2
dy 2 3>2
B1 + a b R
1
B 1 + ¢ 22x - 1>2 ≤ R
dx 2
r = = 4 = 364.21 m
d2y
` ` ` - 22x - 3>2 `
1
dx2 4 x = 25 m

Acceleration: The speed of the motorcycle at a is

km 1000 m 1h
v = ¢ 60 ≤¢ ≤¢ ≤ = 16.67 m>s
h 1 km 3600 s

v2 16.672
an = = = 0.7627 m>s2
r 364.21

Since the motorcycle travels with a constant speed, at = 0. Thus, the magnitude of
the motorcycle’s acceleration at A is

a = 2at 2 + an2 = 202 + 0.76272 = 0.763 m>s2 Ans.

12–145.

The particle travels with a constant speed v along the curve. Determine the particle’s
acceleration when it is located at point x = x1.

Given:
mm
v 300
s

3 2
k 20 u 10 mm

x1 200 mm

Solution:

k
y ( x)
x

d
y' ( x) y ( x)
dx

d
y'' ( x) y' ( x)
dx

1  y' ( x) 2
3
U ( x) T ( x) atan ( y' ( x) ) T1 T  x1 T1 26.6 deg
y'' ( x)

v
2 § sin  T 1 · § 144 · mm mm
a ¨ ¸ a ¨ ¸ a 322 Ans.
U  x1 © cos  T 1 ¹ © 288 ¹ s2 s
2
12–150.

The two particles A and B start at the origin O and travel in y

opposite directions along the circular path at constant
speeds vA = 0.7 m>s and vB = 1.5 m>s, respectively.
Determine the time when they collide and the magnitude of
the acceleration of B just before this happens.

SOLUTION
st = 2p(5) = 31.4159 m 5m

sA = 0.7 t
B
sB = 1.5 t A
vB 1.5 m/s x
Require O
vA 0.7 m/s
sA + sB = 31.4159

0.7 t + 1.5 t = 31.4159

t = 14.28 s = 14.3 s Ans.

v2B (1.5)2
aB = = = 0.45 m>s2 Ans.
r 5
12–163.

At the instant shown, the watersprinkler is rotating with an angular speed T' and an angular
acceleration T''. If the nozzle lies in the vertical plane and water is flowing through it at a
constant rate r', determine the magnitudes of the velocity and acceleration of a water particle as it
exits the open end, r.

Given:

rad
T' 2
s

rad
T'' 3
2
s

m
r' 3
s

r 0.2 m

Solution:

m
r'   rT' 
2 2
v v 3.03 Ans.
s

a r T' 22  rT''  2r'T' 2 a 12.63

m
2
Ans.
s
 12–167. If arm OA rotates counterclockwise with a r2  (4 sin 2 u)m2
constant angular velocity of u  2 rads, determine the
magnitudes of the velocity and acceleration of peg P at
u  30°. The peg moves in the fixed groove defined by the
lemniscate, and along the slot in the arm.

r P

O
Time Derivatives: u

S2  4 sin 2u
 
2SS  8 cos 2uu

 4 cos 2uu 
S   ! ms u  2 rads
S
   
2  SS  S2   8  2 sin 2uu2  cos 2u u 
  
 4  cos 2uu  2 sin 2uu2   S2 
S   " ms2 u  0
S

At u  30°,

S
u  30°  24 sin 60°  1.861 m

 (4 cos 60°)(2)
S
u  30°   2.149 ms
1.861

 4  0  2 sin 60°  22    (2.149)2

S
u  30°    17.37 ms2
1.861

Velocity:
 
vS  S  2.149 ms vu  Su  1.861(2)  3.722 ms

Thus, the magnitude of the peg’s velocity is

v  2
2vS 2  vu 2  22.149
2 2
 3.7222  4.30 ms Ans.

Acceleration:
 
B S  S  Su2  17.37  1.861  22    24.82 ms2
  
B u  S u  2S u  0  2(2.149)(2)  8.597 ms2

Thus, the magnitude of the peg’s acceleration is

B  2B
2 S 2  Bu 2  2(
2 24.82)2  8.5972  26.3 ms2 Ans.
12–168. The peg moves in the curved slot defined by the r2  (4 sin 2 u)m2
lemniscate, and through
 the slot in the arm. At u  30°, the
angular
 velocity is u  2 rads, and the angular acceleration
is u  1.5 rads2. Determine the magnitudes of the velocity
and acceleration of peg P at this instant.

r P

O
Time Derivatives: u

 
2SS  8 cos 2uu

 4 cos 2uu 
S  A I ms u  2 rads
S

   
2 3SS  S2 4  8 3  2 sin 2uu  cos 2uu2 4

  
 4  cos 2uu  2 sin 2uu2   S2 
S   " ms2 u  1.5 rads2
S

At u  30°,

S
u  30°  24 sin 60°  1.861 m
 (4 cos 60°)(2)
S
u  30°   2.149 ms
1.861

 4  cos 60°(1.5)  2 sin 60°  22    (2.149)2

S
u  30°    15.76 ms2
1.861
Velocity:
 
vS  S  2.149 ms vu  Su  1.861(2)  3.722 ms

Thus, the magnitude of the peg’s velocity is

v  2
2BS 2  Bu 2  22.149
2 2
 3.7222  4.30 ms Ans.

Acceleration:
 
B S  S  S u2  15.76  1.861  22    23.20 ms2
  
Bu  Su  2S u  1.861(1.5)  2(2.149)(2)  11.39 ms2

Thus, the magnitude of the peg’s acceleration is

2 S 2  Bu 2  2(
B  2B 2 23.20)2  11.392  25.8 ms2 Ans.
12– 170.

The pin follows the path described by the equation r = a + bcos T. At the instant T = T1. the
angular velocity and angular acceleration are T' and T''. Determine the magnitudes of the pin’s
velocity and acceleration at this instant. Neglect the size of the pin.

Given:

a 0.2 m

b 0.15 m

T1 30 deg

rad
T' 0.7
s

rad
T'' 0.5
2
s

Solution: T T1

a  b cos  T  b sin  T  T' b cos  T  T'  b sin  T  T''

2
r r' r''

m
r'   rT' 
2 2
v v 0.237 Ans.
s

a r''  rT' 22  rT''  2r'T' 2 a 0.278

m
2
Ans.
s
12–171.

The slotted link is pinned# at O, and as a result of the

constant angular velocity u = 3 rad>s it drives the peg P for
a short distance along the spiral guide r = 10.4u2 m, where
u is in radians. Determine the radial and transverse
components of the velocity and acceleration of P at the 0.5 m P
instant u = p>3 rad.
r
· r 0.4 u
u 3 rad/s
SOLUTION
# u
u = 3 rad>s r = 0.4 u
# # O
r = 0.4 u
$ $
r = 0.4 u

p
At u = , r = 0.4189
3
#
r = 0.4(3) = 1.20
$
r = 0.4(0) = 0
#
v = r = 1.20 m>s Ans.
#
vu = r u = 0.4189(3) = 1.26 m>s Ans.
$ #
ar = r - ru2 = 0 - 0.4189(3)2 = - 3.77 m>s2 Ans.
$ ##
au = r u + 2ru = 0 + 2(1.20)(3) = 7.20 m>s2 Ans.
12–172.

Solve Prob. # 12–171

# if the slotted
# link has . an angular
acceleration u = 8 rad>s 2 when u = 3 rad>s at u = p>3 rad.

SOLUTION 0.5 m P
#
u = 3 rad/s r = 0.4 u r
# # · r 0.4 u
r = 0.4 u u 3 rad/s
$ $
r = 0.4 u u

p
u = O
3
#
u = 3
$
u = 8

r = 0.4189
#
r = 1.20
$
r = 0.4(8) = 3.20
#
vr = r = 1.20 m>s Ans.
#
vu = r u = 0.4189(3) = 1.26 m>s Ans.
$ #
ar = r - ru2 = 3.20 - 0.4189(3)2 = - 0.570 m>s2 Ans.
$ ##
au = r u + 2 ru = 0.4189(8) + 2(1.20)(3) = 10.6 m>s2 Ans.
12–173.

The slotted link is pinned # at O, and as a result of the

constant angular velocity u = 3 rad>s it drives the peg P for
a short distance along the spiral guide r = 10.4u2 m, where
u is in radians. Determine the velocity and acceleration of
the particle at the instant it leaves the slot in the link, i.e., 0.5 m P
when r = 0.5 m.
r
· r 0.4u
u 3 rad/s
SOLUTION
u
r = 0.4 u
# #
r = 0.4 u O

$ $
r = 0.4 u
#
u = 3
$
u = 0

At r = 0.5 m,

0.5
u = = 1.25 rad
0.4
#
r = 1.20
$
r = 0
#
vr = r = 1.20 m>s Ans.
#
vu = r u = 0.5(3) = 1.50 m>s Ans.
$ #
ar = r - r(u)2 = 0 - 0.5(3)2 = - 4.50 m>s2 Ans.
$ ##
au = ru + 2ru = 0 + 2(1.20)(3) = 7.20 m>s2 Ans.
12–179.

A block moves outward along the slot in the platform with

#
a speed of r = 14t2 m>s, where t is in seconds. The platform
rotates at a constant rate of 6 rad/s. If the block starts from
·
rest at the center, determine the magnitudes of its velocity θ = 6 rad/s
and acceleration when t = 1 s. r

SOLUTION
# $
r = 4t|t = 1 = 4 r = 4
# $
u = 6 u = 0
1 1
dr = 4t dt
L0 L0

r = 2t2 D 10 = 2 m

v = 3 A r B 2 + A ru B 2 = 2 (4)2 + [2(6)]2 = 12.6 m>s

# #
Ans.
$ # $ ##
a = r - ru2 2 + ru + 2 ru 2 = [4 - 2(6)2 ]2 + [0 + 2(4)(6)]2 Ans.
= 83.2 m s 2
12–180.

The rod OA rotates counterclockwise with a constant angular velocity of T'. Two
pin-connected slider blocks, located at B, move freely on OA and the curved rod whose shape
is a limaçon described by the equation r = b(c cos(T)). Determine the speed of the slider
blocks at the instant T  T1.

Given:

rad
T' 5
s

b 100 mm

c 2

T1 120 deg

Solution:

T T1

r b c  cos  T  

r' b sin  T  T'

m
r'   rT' 
2 2
v v 1.323 Ans.
s
12–181.

The rod OA rotates counterclockwise with a constant angular velocity of T'. Two
pin-connected slider blocks, located at B, move freely on OA and the curved rod whose shape
is a limaçon described by the equation r = b(c cos(T)). Determine the acceleration of the
slider blocks at the instant T  T1.

Given:

rad
T' 5
s

b 100 mm

c 2

T1 120 deg

Solution:

T T1

r b c  cos  T  

r' b sin  T  T'

b cos  T  T'
2
r''

a r''  rT' 22  2r'T' 2 a 8.66

m
2
Ans.
s
12 –183. The slotted arm AB drives pin C through the spiral
B
groove described by the  equation R  A .. If the angular
velocity is constant at ., determine the radial and transverse C
components of velocity and acceleration of the pin.

  r
Time Derivatives: Since . is constant, then .  0.
   
R  A. R  A. R  A.  0

Velocity: Applying Eq. 12–25, we have .

 
2R  R  A. Ans.
A
 
2.  R.  A.. Ans.

Acceleration: Applying Eq. 12–29, we have

   
AR  R R.2  0 A..2  A..2 Ans.
     
A.  R.  2R .  0  2(A.)(.)  2A.2 Ans.
12–184. The slotted arm AB drives pin C through the
B
spiral groove described by the equation R  (1.5 .) m, where
. is in radians. If the arm starts from C
 rest when .  60° and
is driven at an angular velocity of .  (4T) rads, where t is
in seconds, determine the radial and transverse components
of velocity and acceleration of the pin C when T  1 s. r

 
Time Derivatives: Here, .  4 T and .  4 rads2.
   
R  1.5 . R  1.5 .  1.5(4T)  6T R  1.5 .  1.5 (4)  6 ms2 .

. T
1 A
Velocity: Integrate the angular rate, D.  4TDT, we have .  (6T2  )) rad.
'
)
3 '0 3
1 1 
Then, R  ( (6T2  )) 8 m. At T  1 s, R   6(12)  )   4.571 m, R  6(1)  6.00 ms
2 2

and .  4(1)  4 rads. Applying Eq. 12–25, we have

2R  R  6.00 ms Ans.

2.  R.  4.571 (4)  18.3 ms Ans.

Acceleration: Applying Eq. 12–29, we have

 
AR  R R.2  6 4.571  42   67.1 ms2 Ans.
  
A.  R .  2R.  4.571(4)  2(6) (4)  66.3 ms2 Ans.
 12 –194 . At the instant u   30°, the cam rotates with a r  (200
100 cos u) mm
 velocity of u  5 rads and and angular
clockwise angular
acceleration of u  6 rads2. Determine the magnitudes of
the velocity and acceleration of the follower rod AB at this
u A B
instant. The surface of the cam has a shape of a limaçon
defined by S  (200  100 cos u) mm.

Time Derivatives:

S  (200  100 cos u) mm

 
S  (100 sin uu) mms
  
S  100  sin uu  cos uu2  mms2

When u  30°,

S
u  30°  200  100 cos 30°  286.60 mm

S
u  30°  100 sin 30°(5)  250 mms

S
u  30°  100  sin 30°(6)  cos 30°  52     2465.06 mms2

Velocity: The radial component gives the rod’s velocity.


vS  S  
250
250 mms Ans.

Acceleration: The radial component gives the rod’s acceleration.

 
BS  S  Su2  2465.06  286.60  52   9630
 9630 mms2 Ans.
12 –203. Determine the displacement of the log if the
truck at C pulls the cable 1.2 m to the right.
B C
2S"  (S" S#)  L

3S" S#  L

3bS" bS#  0

Since bS#  1.2, then

3bS"  1.2

bS"  0.4 m  0.4 m  Ans.

12–209.

If the point A on the cable is moving upwards at vA, determine the speed of block B.

Given:

m
vA 14
s

Solution:

L1 sD  sA  sD  sE
0 2vD  vA  vE

L2 sD  sE  sC  sE

0 vD  vC  2vE

L3 sC  sD  sC  sE
0 2vC  vD  vE

m m m
Guesses vC 1 vD 1 vE 1
s s s

Given 0 2vD  vA  vE

0 vD  vC  2vE

0 2vC  vD  vE

§ vC · § vC · § 2 ·
¨ ¸ ¨ ¸ ¨ 10 ¸ m
¨ vD ¸ Find  vC  vD  vE ¨ vD ¸ ¨ ¸ s
¨v ¸ ¨v ¸ © 6 ¹
© E¹ © E¹

m Positive means down,

vB vC vB 2 Ans.
s Negative means up
12–210.

The motor draws in the cable at C with a constant velocity vC. The motor draws in the cable at
D with a constant acceleration of aD. If vD = 0 when t = 0, determine (a) the time needed for
block A to rise a distance h, and (b) the relative velocity of block A with respect to block B
when this occurs.

Given:
m
vC 4
s
m
aD 8
2
s

h 3m

Solution:

L1 sD  2sA

0 vD  2vA

0 aD  2aA

L2 sB   sB  sC

0 2vB  vC

0 2aB  aC

aD
aA
2

vA aA t

§ t2 ·  2h
sA h aA¨ ¸ t t 1.225 s Ans.
©2¹ aA

1 m
vA aA t vB vC vAB vA  vB vAB 2.90 Ans.
2 s
12–217.

The crate C is being lifted by moving the roller at A 4m

downward with a constant speed of vA = 2 m>s along the
guide. Determine the velocity and acceleration of the crate B
at the instant s = 1 m. When the roller is at B, the crate
rests on the ground. Neglect the size of the pulley in the xA
calculation. Hint: Relate the coordinates xC and xA using xC
the problem geometry, then take the first and second time 4m
A
derivatives.
C
SOLUTION s
xC + 2x2A + (4)2 = l

# 1 #
xC + (x2A + 16) - 1/2(2xA)(xA) = 0
2

$ 1 # 2 # 2 $
xC - (x2A + 16) - 3/2 (2x2A)(xA ) + (x2A + 16) - 1/2 (xA) + (x2A + 16) - 1/2 (xA)(xA) = 0
2

l = 8 m , and when s = 1 m ,

xC = 3 m

xA = 3 m
#
vA = xA = 2 m>s
$
aA = x A = 0

Thus,

vC + [(3)2 + 16] - 1/2 (3)(2) = 0

vC = -1.2 m>s = 1.2 m>s c Ans.

aC - [(3)2 + 16] - 3/2 (3)2(2)2 + [(3)2 + 16] - 1/2 (2)2 + 0 = 0

aC = -0.512 m>s2 = 0.512 m>s2 c Ans.

12–221.

At a given instant, two particles A and B are moving with a speed of v0 along the paths
shown. If B is decelerating at v'B and the speed of A is increasing at v'A, determine the
acceleration of A with respect to B at this instant.
Given:
m m
v0 8 v'A 5
s 2
s

m
v'B 6
a 1m 2
s

Solution:
3
2
y ( x)
§x·
a¨ ¸ y' ( x)
d
y ( x) y'' ( x)
d
y' ( x)
© a¹ dx dx

1  y' ( a) 2
3
U T atan ( y' ( a) ) U 7.812 m
y'' ( a)

§ cos  T  · v0 § sin  T  ·
2
v'B § 1 ·
aA v'A ¨ ¸ ¨ ¸ aB ¨ ¸
© sin  T  ¹ U © cos  T  ¹ 2 © 1 ¹

§ 0.2 · m m
aAB aA  aB aAB ¨ ¸ aAB 4.47 Ans.
© 4.46 ¹ s2 2
s
12–222.

Two planes, A and B, are flying at the same altitude. If their

velocities are vA = 600 km>h and vB = 500 km>h such that
the angle between their straight-line courses is u = 75°, A
determine the velocity of plane B with respect to plane A. vA

u B

SOLUTION vB

vB = vA + vB/A
75°
[500 ; ] = [600 c u ] + vB/A
+ )
(; 500 = - 600 cos 75° + (vB/A)x

(vB/A)x = 655.29 ;

(+ c) 0 = -600 sin 75° + (vB/A)y

(vB/A)y = 579.56 c

1vB>A2 = 31655.2922 +1579.5622

vB/A = 875 km/h Ans.

u = tan-1 a b = 41.5° b
579.56
Ans.
655.29
12 –231. At the instant shown, cars A and B travel at
*12–224. At the instant shown, cars A and B travel at speeds
speeds of 70 kmh and 50 kmh, respectively. If B is
of 70 mih and 50 mih, respectively. If2 B is increasing its speed
increasing its speed by 1100 kmh , while A maintains a
by 1100 mih2, while A maintains a constant speed, determine
constant speed, determine the velocity and acceleration of
the velocity and acceleration of B with respect to A. Car B
B with respect to A. Car B moves along a curve having a
moves along a curve having a radius of curvature of 0.7 mi.
radius of curvature of 0.7 km. A
VA  70 kmh
Relative Velocity: VB  50 kmh

v"  v!  v"! B
30°
50 sin 30°i  50 cos 30°j  70j  v"!

v"!  {25.0i 26.70j} kmh

Thus, the magnitude of the relative velocity vB/A is

2"!  25.02  ( 26.70)2  36.6 kmh Ans.

The direction of the relative velocity is the same as the direction of that for relative
acceleration. Thus
26.70
.  tan 1  46.9°  Ans.
25.0

Relative Acceleration: Since car B is traveling along a curve, its normal

22" 502
acceleration is (A")N    3571.43 kmh2. Applying Eq. 12–35 gives
+ 0.7
a"  a!  a"!

(1100 sin 30°  3571.43 cos 30°)i  (1100 cos 30° 3571.43 sin 30°)j  0  a"!

a"!  {3642.95i 833.09j} kmh2

Thus, the magnitude of the relative velocity aB/A is

A"!  3642.952  ( 833.09)2  3737 kmh2 Ans.

And its direction is

833.09
  tan 1  12.9°  Ans.
3642.95
•12–225.
12 –232. At the instant shown, cars A and B travel at
speeds of 70 kmh
mih and 50 kmh,mih, respectively.
respectively. If B is
decreasing its speed
speed by mih22,while
at 1400 kmh while A
A is
is increasing its
kmh22,, determine
speed at 800 mih determine the
the acceleration
acceleration of B with
respect to A. Car B moves along a curve having a radius of
curvature of 0.7 mi.
km. A
VA  70 kmh
VB  50 kmh

Relative Acceleration: Since car B is traveling along a curve, its normal acceleration B
30°
22" 502
is (A")N    3571.43 kmh2. Applying Eq. 12–35 gives
+ 0.7

a"  a!  a"!

(3571.43 cos 30° 1400 sin 30°)i  ( 1400 cos 30° 3571.43 sin 30°)j  800j  a"!

a"!  {2392.95i 3798.15j} kmh2

Thus, the magnitude of the relative acc. aB/A is

A"!  2392.952  ( 3798.15)2  4489 kmh2 Ans.

And its direction is

3798.15
  tan 1  57.8°  Ans.
2392.95
12–239.

Both boats A and B leave the shore at O at the same time. If

A travels at vA and B travels at vB, write a general
expression to determine the velocity of A with respect to B.

SOLUTION
O
Relative Velocity:

vA = vB + vA>B

vA j = vB sin ui + vB cos uj + vA>B

vA>B = - vB sin ui + (vA - vB cos u)j

Thus, the magnitude of the relative velocity vA>B is

vA>B = 2( -vB sin u)2 + (vA - vB cos u)2

= 2vA2 + vB2 - 2vA vB cos u Ans.

And its direction is

vA - vB cos u
u = tan-1 b Ans.
vB sin u
Problem # 1

Solution:

Problem # 2

Solution:

1
Problem # 3

Solution:

2
Problem # 4

Solution:

3
4
5
Problem # 5

6
Solution:

Problem # 6

Solution:

7
Problem # 7

Solution:

8
Problem # 8

Solution:

9
Problem # 9

Solution:

10
Problem # 10

Solution:

11
Problem # 11

12
Solution:

13
Problem # 12

14
Solution:

15
Problem # 13

Solution:

16
Problem # 14

Solution:

17
18
Problem # 15

Solution:

19
Problem # 16

Solution:

20
21
Problem # 17

Solution:

22
23
Problem # 18

Solution:

24
25
Problem # 19

Solution:

26
Problem # 20

Solution:

27
Problem # 21

Solution:

28
Problem # 22

Solution:

29
Problem # 23

Problem # 24

30
Note: Problem # 23 is similar to Problem # 22

Solution:

31
Problem # 25

Solution:

32
Problem # 26

Solution:

33
Problem # 27

Solution:

34
35
Problem # 28

Solution:

36
37
Problem # 29

Solution:

38
39
40