Planar Kinematics of a Rigid Body 16.1 Planar Rigid-Body Motion In this chapter, the planar kinematies of a rigid body will be discussed, ‘This study is important for the design of gears, cams, and mechanisms used for many mechanical operations, Once the kinematies is thoroughly understond, then we can apply the equations of motion, which relate the forces on the body to the body's motion, The planar motion of a body occurs when all the particles of a rigid body move along paths which are equidistant from a fixed plane, There are three types of rigid body planar motion. In order of increasing complexity, they are312 Charter 16 PLanan KINeMATICS OF & RiGIO BoDY Path of retin translation Path of cursiiner translation @ ro) \ ovation uboutw fixed nis ‘General plane mation © a Fig, 16-1 ‘© Translation. This type of motion occurs when a tine in the body ‘remains parallel to its original orientation throughout the motion, When the paths of motion for any two points on the body are parallel lines, the motion is called rectilinear translation, Fig. 16-La. If the paths of motion are along curved lines, the motion is called. curvilinear translation, Fig, 16-16. © Rotation about a fixed axis When a rigid body rotates about a fixed axis, all the particles of the body, except those which lie on the axis of rotation, move along circular paths, Fig. 16-1 © General plane motion. When a body is subjected to general plane motion, it undergoes a combination of translation aud rotation, Fig. 16-1d.The translation occurs within a reference plane.and the rotation accurs about an axis perpendicular to the reference plane. In the following sections we will consider each of these motions in detail, Examples of bodies undergoing these motions ate shown in Fig, 16-2. CCursitinea ransttion * {General plane motion \ Recilineaetransation Renition abba afin wr Fig. 16-216.2 Translation wear oreurvilinear Consider a rigid body which is subjected to either rect {translation in the xy plane, Fig. 16-3, Tranaaing coordina system oF Fixe coordinate Position, The locations of points A and B on the body are defined with respect to fixed x,y reference frame using position vectors m and fy. ‘The translating x’, y’ coordinate system is fixed in the body and has its origin at A, hereaficr referred to asthe hase point. The position of B with respect to A is denoted by the relaive-posiion vector fa (tof B with respect to A"), By veetor addition, Velocity. A relation between the instantaneous velocities of A and js obtained by taking the time derivative of this equation, which yields vq = V4 + dfya fat. Here vy and vy denote absolute velocities since these vectors are measured with respect to the x, y axes. The term dry, = 0, since the magninide of fy 18 constant by definition of a rigid body, and because the body is translating the direction of tpi, is also constant, Therefore, Acceleration. Taking the time derivative of the velocity equation yields ‘similar relationship between the instantancous aecelerations of A and Br a= ay ‘The above two equations indicate that all points ina rigid body subjected 10 either rectilinear or curvilinear translation move with the same velocity and acceleration, As & result, the kinematics of particle ‘motion, discussed in Chapter 12,can also be used tospecify the kinematics, ‘of points located in a translating rigid body. 162. Trans.anon 313 Riders on thie amusement ride are subjected to curvilinear translation, since the wehicle moves in a circular path yet italeays remains in an upright positon314 CharteR 16 PLANAR KINEMATICS OF 4 RiGio Booy 16.3 Rotation about a Fixed Axis ‘When a body rotates about a fixed axis, any point P located in the body travels along a circular paih. To study this motion itis frst necessary 10 discuss the angular motion of the body about the axis, Angular Motion. Since a point is without dimension, it cannot have angular motion. Oniy lines or bodies undergo angular motion, For example, consider the body shown in Fig, 16~4a and the angular motion of a radial line r located within the shaded plane, Angular Position. At the instant shown, the angular position of ris defined by the angle #, measured from a fived reference line tor Angular Displacement. ‘The change in the angular position, which can be measured as a differential d®, is called the angular displacement.* ‘This vector has a magninide of dd, measured in degrees, radians, ot revolutions, where 1 rey = 27 rad, Sinee motion is about a fixed axis, the direction of af is alvays along this axis. Specifically, the direction is determined by the right-hand rule; that ithe fingers of th right hand are curled with the sense of rotation, so that in ths ease the thumb, or a, points upward, Fig. 16a. In two dimensions. as shown by the top view of the shaded plane, Fig. 16-4, both @ and dare counterclockwise, and so the thumb points outward from the page. Angular Velocity. ‘The time rate of change in the angular position ® is ealled the angular velocity w (omega). Since 40 occurs during an instant of time dr, then, sls (16-1) This vector has a magaitude which is often measured in rad/s. It is « expressed here in scalar form since its direction is also along the axis of rotation, Fig, 16-4a, When indicating the angular motion in the shaded. plane, Fig. 16-4, we can refer to the sense of rotation as clockwise or counterclockwise, Here we have arbitrarily chosen counterclockwise rotations as positive and indicated this by the curl shown in parentheses next to Eq. 16-1. Realize, however, that the directional sense of is, actually outward from the page. Icisshown in Soe 20.1 that inte rotations or Tine angular displacements re nor veer quan, although differential rotations dare vectors.163. Rovanion aBouTA Force Ans 315 Angular Acceleration. The angular acceleration a (alpha) ‘measures the time rate of change of the angular velocity. The magnitude of this veetor is, des ( (16-2) Using Bq. 16-1, its also possible to express @ as GH (16-3) ‘The line of action of a is the same as that for eo, Fig. 16-4a: however, its, sense of direction depends on whether ais increasing or decreasing. It is decreasing, then ais called an angular deceleration and therefore has a sense of direction which is opposite to By eliminating dr from Eqs. 16-1 and 16-2, we obtain a differential relation between the angular acceleration, angular velocity, and angular displacement, namely, (Hy add = w dw (1-4) ‘The similarity between the differential relations for angular motion and those developed for rectilinear motion of a particle (v = ds/dt. a= dv/dt,and ads = vdv) should be apparent. Constant Angular Acceleration. Ifthe angular acceleration of the body is constant, @ = az, thon Eqs. 16-1, 16-2, and 16-4, when integrated, yold a set of formulas which relate the body's angular velocity, angular position, and time. These equations are similar to Egs. 12-410 12-6 used for rectilinear motion, The resulls are w way tag (16-5) cH 6 = ty + oy +4ae (16-6) (oH a? = a} + 20f0 — 6) (16-7) Constant Angular Acceleration Here é and cp are the initial values of the body’s angular position and angular velocity, respectively. ‘The gears used inthe operation of aerane all rotate about fixed axes. Engineers must be able to relate their angular ear ‘order to properly design this316 CharteR 16 PLANAR KINEMATICS OF 4 RiGio Booy “ @ Motion of Point P. As the rigid body in Fig. 16-Ac rotates, point P| travels along a circular path of radius r with center at point O. This path is contained within the shaded plane shown in top view, Fig 16-Ad. © Position and Displacement. The position of Ps defined by the Fig. 16-4 (cont) position vector x which extends from O to P. the body rotates a then P will displace ds — rt Velocity. The velocity of P has a magnitude which ean be found by dividing ds = rab by dt so that v= or (16-8) As shown in Figs, 16-4e and 16-4d, the direction of ¥ is tangent to the circular path. Both the magnitude and direction of v can also be accounted for by using the eross product of «and rp (see Appendix B). Here, fp is directed from any point on the axis of rotation to point P, Fig, 16-4e. We have v=oXm (16-9) The order of the vectors in this formulation is important, since the cross product is not commutative, ic. % tp # FX w. Notice in Fig, 16-4c how the correct direction of vis established by the right-hand rule. The fingers ofthe right hand are curled from a toward («a “cross”. ‘The thumb indicates the correct direction of v, which is tangent to the path in the direetion of motion. From Eq. B-S, the magnitude of v in Eg. 16-9 is = wrnsin d, and since r = rpsin , Fig. 16-4e, then » = or, which agrees with Eq. 16-8. As a special case, the position veetor r ean bbe chosen for tp. Here r lies in the plane of motion and again the velocity of point P v=oxr (16-10)163. ROTATION ABOUT A Foe Axis Acceleration. The acceleration of P ean be expressed in terms ofits normal and tangential components. Since o, = dv/dt and a = v2/p, where p = 1.0 = wr, and a = dov/di, we have a=ar (1e-11) (46-12) The tangential component of acceleration, Figs, 16-4e and 16-4f, represents the time rate of change in the velocity’s magnitude. If the speed of P'is increasing, then a, acts in the same direction as v: if the speed is, decreasing, a, acts in the opposite direction of v; and finaly. if the speed is, constant. a, is zero. ‘The normal component of acceleration represents the time rate of change in the velocity’s direction. The direction of a, is always toward O, the center of the cireular path, Figs. 16fe and 16-47. Like the velocity, the acceleration of point P can be expressed in terms of the vector eross product, Taking the time derivative of Eq, 16-9 wwe have dy de. ty a dt de Recalling that e = deo/d, and using Eq, 16-9 (drp/dt = v = @ X rp), yields a= aX Ht wx (X te) (16-13) From the definition ofthe eross product, the first term on the right has @ magnitude a = azysin 6 = ax and by the right-hand rule, aX tpisin the direction of a, Fit. 16-4e. Likewise, the second term has a magnitude a, = w'ypsin & = 7, and applying the right-hand rule twice, first to determine the result yp = «0 % tpthen eX vp, it ean be seen thal this results in the same difection as ay shown in Fig. 16-4e. Noting that this is also the same direction as —r, which lies in the plane of motion, we can express, ina much simpler form asa, = a? Hence, Eq. 16-13 can be identified by ts two components as at ay 14) =aXxr-or TEM] Since a. and a, are perpendicular to one another, if needed the magnitude of accel ‘can be determined from the Pythagorean theorem; namely, a G+ oy Fig. 16-4f. © J 0 Fig. 16-4 (cont) 317318 CuaTeR 16 PLANAR KINEMATICS OF 4 RiGID BoDy (ilies wats. i) o« two rotating bodies contact one another, then the points i contact move along different circular paths, and the velocity and tangential components of acceleration of the points will be the same: however, the normal components of acceleration will nor be the same. For example, consider the two meshed gears in Fig. 16-Sa, Point A is located on gear B and ‘coincident point A’ located on gear C. Due to the rotational motion, ¥4=V4, Fig, 16-5b, and as a result, wyry = Were oF wy = wetter). AlSO, from Fig, 16-Se,(q),=(@y).80 thal fp = ekrc/ra: however, since both points follow different circular paths, (a4), # (ay), and therefore, as Shown. ay ©. far S a © Fig. 165 eae uae A body can undergo two types of translation. During rectilinear translation all points follow parallel straight-line paths, and {during curvilinear translation the points follow curved paths that are the same shape. All the points on a translating body move with the same velocity and acceleration. Points located on a body that rotates about a fixed axis follow circular paths. ‘The relation adé = odo is derived from a = defde and wo = dO/dr by eliminating dt. Once angular motions @ and @ are known, the velocity and acceleration of any point on the body can he determined. ‘The velocity always acts tangent to the path of motion, ‘The acceleration has two components, The tangential acceleration measures the rate of change in the magnitude of the velocity and can be determined from 4 = ar. ‘The normal acceleration measures the rate of change in the direction of the velocity and can be determined from a, =163, Rotarion asour A Fixzo Axis een curare The velocity and acceleration of a point located on a rigid body that is rotating about a fixed axis can be determined using the following procedure. Angular Motion, ‘© Establish the positive sense of rotation about the axis of rotation ‘and show it alongside each kinematic equation as it is applied. ‘© Ifa relation is known between any avo of the four variables a, #, 0, and 1, then a third variable can be obtained by using one of the following kinematic equations which relates all three variables. ao da TO ade = ode '* If the body's angular acceleration is constant, then the following ‘equations can be used: w= ap tae 6 =O) + ay +4aP 1? = a} + 2a ~ 60) © Once the solution is obtained, the sense of 6, o, and a is determined from the algebraic signs of their numerical quantities. Motion of Point P. ‘* In most cases the velocity of P and its two components of ‘acceleration can be determined from the scalar equations ‘© If the geometry of the problem is difficult to visualize, the following vector equations should be used: va aX exe a= aXty= aXe a, = 0X (w X rp) =~ # Here tp is directed from any point on the axis of rotation to point P, whereas Flies in the plane of motion of P. Either of these vectors, along with w and a, should be expressed in terms Of its i,j, k components, and, if necessary, the cross products ‘determined using a determinant expansion (see Eq. B-12). 319320 Charter 16 PLANAR Kinematics oF RiGio Booy a 16. a A cord is wrapped around a wheel in Fig. 16-6, which i initially at rest, ‘when # = 0, Ifa foree is applied to the cord and gives it an acceleration ‘= (i) m/s, where fs in seconds, determine, as a function of time, (2) the angular velocity ofthe wheel, and (b) the angular position of line OP in radians. Part (a). The wheel is subjected to rotation about a fixed axis passing through point 0. Thus, point Pon the wheel has motion about a circular path, and the acceleration of this point has both tangential and normal F ‘components. The tangential component is (ap), = (42) m/s*, since the ‘cord is wrapped around the wheel and moves tangent to it. Hence the angular acceleration of the wheel is | SOLUTION Fig. 16-6 (+) (ap) = ar (40 m/s? = (0.2m) (201) rad/s) Using this result, the wheel's angular velocity @ can now be determined irom a = dud, since this equation relates a, f and w Integrating, with the initial condition that o = O when = 0, yields dw 5 «co A = 209 nd? [ ds = i 200d © = 10? nd/s> Ans. Part (b). Using this result, the angular position @ of OP ean be found rom @ = dé/di, since this equation relates 4, o, and . Integrating, with the initial condition # = O when 1 = 0, we have a co = (102) rad/s [a= fee 0 y 3.337 rad Ans NOTE: We cannot use the equation of constant angular acceleration, since eis a function of time,163, Rotarion asour A Fixzo Axis 321 res ‘The motor shown in the photo is used to turn a wheel and attached blower contained within the housing. The details are shown in Fig. 16-7a. I! the pulley A connected to the motor begins to rotate from rest with a constant angular acceleration of a, = 2 rad/s’, determine the magnitudes of the velocity and acceleration of point P on the wheel, after the pulley has turned two revolutions. Assume the transmission belt does not slip on the pulley and wheel. SOLUTION Angular Motion. First we will convert the two revolutions to radians. Since there are 27 rad in one revolution, then Oy = ares (222) = 127 a Since a, is constant, the angular velocity of pulley A is therefore cH a + al ~ 6) a = 0 + 202 rad/3*V(12.57 rad — 0) 4 = 7.090 rad/s ’ ‘The belt has the same speed and tangential component of acceleration as it passes over the pulley and wheel. Thus, é a) B= oy 0, 7.090 rad/s (0.15 m) = ay(04 m) uy = 2.659 rad/s a, = Agr, = gry: Drad/s* (015 ma) = ag(0.4 mi) ay = 0.750 rad/s? Motion of P. As shown on the kinematic diagram in Fig. 16-75, we have Up = wary = 2.659 rad/s (04m) = 1.06m/s Ans. (ap), = xara = 0.750 rad/s? (04 m) = 03 m/s (ap)y = Ory = (2.659 rad/9)*0.4 m) = 2.827 m/s? Dor ® ap = V3 mje + O82 m/s? = 2.84 m/s? Ans, Fig, 16-7322 Charter 16 PLanan KINeMATICS OF & RiGIO BoDY Sar Tea IGA. When the gear rotates 20 revolutions, it achieves tn angular velocity of w = 30 rad/s, starting from rest Determine its constant angular acceleration and the time required. FIG FI6-2, The flywheel rotates with an angular velocity of = (0.005) rad/s, where 0 is in radians. Determine the angular acceleration when it has rotated 20 revolutions, FIGS. The flywheel rotates with an angular velocity of = (48!) rad/s, where sin radians Determine the time it takes to achieve an angular velocity of @ = 150 rad/s, When: FI6-3 16-4. The bucketis hoisted by the rope that wraps around 4 drum wheel. Ifthe angular displacement of the wheel is = (OSP + 15i) rad, where 1 isin seconds, determine the velocity and acceleration of the bucket when r= 3 FI64 FIGS. A. wheel has an angular acceleration of a= (0S6)rad/s!, where @ is in radians. Determine the ‘magnitude of the velocity and acceleration of a point located on its rim after the whee! has rotated 2 revolutions “The wheel asa radius of (2 m and stats a ay = 2ad/s, F166, Fora short prio of time. the motor turns gear A With & constant angular acceleration of ay = 48 rad/s, Sting from rest Determine the velocity uf the elinder nd the distance it avs in three seconds. The cord is Wrapped round pulley D hich srg atached to gear (23mm F166163, Rotarion asour A Fixzo Axis 323 | PROBLEMS 46-1, ‘The angular velocity of the disk is defined by @ = (SP + 2pral/s, where (isin seconds. Determine the magnitudes of the velocity and acceleration of point A on the disk when = 05s, ] Prob, 16-1 16-2. A fywheelhasits angular speed inereased uniformly from 15 rad/s to rad/s in 80 s If the diameter of the wheel is 2 fl determine the magnitudes of the normal and tangential components of acceleration ofa point onthe tim ff the wheel when r= 40s, and the total distance the point travels during the time period. 16-3, The disk is originally rotating at any = 8 ra/s. Wits subjected fo a constant angular acceleration ofa = 6 rad/s, etermine the magnitudes of the velocity and the mand ¢ components of acceleration of point A at the instant 058, “AGA, The disk is originally rotating at «yy ~ 8 rad/s. 1Cit subjected to a constant angular acceleration of = 6 rad/s", determine the magnitudes ofthe velocity and the rand components of acceleration of point B just after the wheel undergoes 2 revolutions robs, 16-344 16-5. Initially he motor on the circular saw turns its drive shaft a w = (20) rad/s, where rs in seconds I the radi of gears A and B are 0125 in, and 1 in., respectively, doteemine the magnitudes of the velocity and acceleration ‘of a tooth C on the saw blade after the drive shaft rotates (= Sad starting {rom rest. Prob. 16-5 16-6. A whee! hasan inital clockwise angular velocity af 10 ras and a constant angular acceleration of 3 rad/s Determine the number of revolutions it must undergo © sequire a clockwise angular velocity of 15 ral/s, What time isrequired? 16-7. Ifgcar rotateswitha constant angular acceleration of a = WO rad/s starting from rest, determine the time required for gear D to attain an angular velocity of 60 rpm ‘Abo, find the number of revolutions of gear D to attain this angular velocity Gears A,B, C,and D have radi of 15 mm, 50/mm, 25 mm, and 75 mm, respectively. "16-8 IE gear A rotates with an angular velocity of fo. = Wart) rads, where isthe angular displacement of fear A.measuredin radians determine the angular acceleration Of gearD when dy ~ 3 rad, starting fom res.Gears A.B. Cand ‘D have radi of 15 mm, 50 mim, 25 mm,and 75 mm. respectively324 Charter 16 16-9, The vertica-axs wind turbine consists of two blades that have a parabolic shape. Ifthe blades are originally at resl and begin to turn witha constant angular aceleration of a, = DS rad/s determine the magnitude ofthe velocity and acceleration of points A and Bon the Blade after the blade has rotated through two revolutions 16-10, The verticalanis windturbine consists of two blades that have a parabolic shape. If the biades are ‘oriinally at rest and begin to turn witha constant angular celeration Ot a, ~ 0 ral/#, determine the magnitude of the velocity and acceleration of points and Bom the blade when = 4s. Probs. 16-9110 16-AL. If the angular velocity of the drum is inereased uniformly from 6 rad/s when ¢ = 0 12 rad/s when = 5, ‘determine the magnitudes of the velocity and acceleration ‘of points A and B on the belt when ¢ = 1, At this instant the points are located as shown. Prob. 16-11 PLanan KINeMATICS OF & RiGIO BoDY "M612, A motor sives gear A an angular acceleration of coq = (0.250 + 0.8) ado where isin radians It his ear i inialy turning at (oh) 20ral/, determine. the angular velocity of geae B after A undergoes an angular displacement of 10 rev 16-13, A motor gives gear A an angular acceleration of ay = (4) rad/s, where isin seconds It this gears initially {uring at (oy ~ 20 rad/s, determine the angular velocity of gear Bwhen = 25, oa 20rd, ‘a robs, 16-12113 16-14, The disk starts from rest and is given an angular acceleration a= (2P)rad/s', where 1 is in seconds Determine the angalar velocity of the disk and is angular displacement when r= 4s, 16-15, The disk starts from rest and is given an angular acceleration c= (512) rads. where 1 is in. seconds Determine the magnitudes of the normal and tangential components of acesleration of « point P on the rim of the disk when t= 2 “16-16. The disk starts at oy = | rad/s when # = O.andis| given an angolar acceleration a = (034) rad/s’, where 8 is in radians, Determine the magnitudes of the normal and tangential components of acceleration of a point P on the rim of the disk when 6 = I rev. Probe, 16-14/15/1616-17. Starting at (oy)y = Sral/s, when 00, 5 = 0, pulley Ais given an angular acceleration «= (0.0) ea/s, ‘where is inradiane Determine the speed of block B when ithas risen = 0.5m, The pulley has an inner hub D which fs fixed to Cand turns wit 16-18. Stating from rest when s = 0, pulley A is given a constant angular acceleration a, = 6 rad/s? Determine the speed of block B shen it has siken s ~ 6m. The pulley has aninnee hh D which is fixed to Cin rors with it Probs. 1617718 16-19. ‘The vacuum cleaner’s armature shat S rotates with aan angular aoceleration of a= 4° rad/s’, where w i in| rad/s. Determine the brush’s angular velocity when = 4s, starting from wy = I rad/s, at @ = 0. The radii of the shatt and the brush are 025 i, and 1 in, respectively. Neglect the thickness of the drive belt Prob. 16-19 163, Rotarion asour A Fixzo Axis 325 "16-20, The operation of “reverse” for a three-speed laulomotive transmission is slustrated schematically in Uhe figure. Ifthe crank shaft G is turning with an angular speed ‘of 0 rad/s, determine the angular speed ofthe drive shaft Each of the gears rotates about fixed axis, Note that ears A and B, C and D, E and F ate in mesh. The radii of each of these gears are reported inthe figure = eras 16-21, A motor gives disk A a clockwise angular rceeleration af ay = (0.67 + 0.95) rad/s, where # is in scoonds. If the initial angular velocity ‘of the disk is tay = 6ral/s, determine the magnitudes ofthe velocity and, ageeleration of block B when 1 Prob. 16-21,326 Charter 16 16-22, For a short time the motor tus gear A with an angular acceleration of ay = (302) rad/s where i in seconds Determine the angular velocity of gear D when $s, starting from rest. Gear A is intlly at rest. The radi of gears A,B, C.and Dare ry = 28mm. r— = 100mm, fe = 40mm, and rp ~ 100 mm. respectively. 16-23. The motor turns gear A so that its angular velocity {nereases uniformly from zero to 3000 rev/min ater the shat ‘urns 200 rey. Determine the angular velocity of gear D when 3s. The radii of gears A, B, C.and D are 14 = 25mm, 100 aun, respectively Probs, 16-2723, “16-24. The gear A on the drive shaft of the outboard ‘motor hasa radius ra ~ 05 in.and the meshed pinion gear B ‘on the propeller shaft has a radius rp the angular velocity of the propeller nf = LS shaft rotates with an angular acceleration a ‘where ris in seconds. The propeller is originally at rest and the motor frame does nat move. 16-28. For the outboard motor in Prob. 16-24, determine the magnitude of the velocity and aeeeleration of point located on the tip ofthe propeller atthe instant ¢ = 0.75. PLanan KINeMATICS OF & RiGIO BoDY 16-26. The pinion gear A on the motor shat is given a constant angUlatacesleration = 3 rad/s. he nears A fan B have the dimensions shown, determine the angular ‘locity and angular displacement of the output shatt C, ‘when = 2 starting iors rest, The shall is fixed to B and tars tht 125 00 ~35mm 16-27. For a short time, gear A of the automobile starter rotates with an angular acceleration of ‘ay = (A309 + 60) rad/s?. where Fs in seconds, Determine the angular velocity and angular displacement of gear B when f= 2s, starting {rom rest. The radii of gears A and B ae 1D mo and 25 mm, respectively. “16-28. For a short time, gear A of the automobile starter rotates with an angular acceleration of ey ~ (3!) rad/s, where isin rad/s. Determine the angular velocity of gear B when r= 1s. Orginally(wy)y = Irad/s whens = 0. The radi of gears A and B are 10 mm and 25 mam, respectively,16-29, A mill in a textile plant uses the Delt-and-pulley arrangement shown Co transmit power. When t= 0 an clectic motors turning pulley A with an angular velocity of fay = Srad/s. If ths pulley is subjected to. constant Sounterclockwise angular acceleration of mq = 2ead/s! dstermine the angular velocity of pulley B after B turns 6 revolutions The hub a Dis igi connected o pulley Cand tus with 163, Rotarion asour A Fixzo Axis 327 16-31, Duc to the srew at E, the actuator provides linear ‘motion (othe arm at F when the motor turns the gear at A the gears have the rai listed inthe figure, and the serew aL E has a pitch p = 2mm, determine the speed al Fwhen the motor turns A at wy — 20 rad/s. Hint The serew pitch indicates the amount of advance of the screw for each full revolution, Sed Prob. 16-29 16-30. A tape having a thickness s wraps around the whee! ‘which it tuming at constant ate ea, Assuming the untapped portion of tape remains horizontal determine the aceleration| Df point P of the unwrapped tape when the radins of the wrapped tape is: Hint Sines np and note that dr/dt = 048/27). "16-32. The driving belt is twisted so that pulley B rotates inthe opposite direction o that of drive whee! A.IFA has a constant angular acceleration of ay = 30 rad/s’, determine the tangential and norntal components of atceleration of a point Ioeated at the rim of when = 4, starting from rest 16-33, "The driving bells twisted so that pulley B rotates inthe opposite direction to that of drive wheel A. Ifthe angular displacement of Ais = (S?! + 102) rad, where ¢ isin seconds determine the angular velocity and angular acceleration of Bwhen 1 = 35. cast ism fit robs. 16-32133328 Charter 16 16-34, The rope of diameter d is wrapped around the lapered drum which has the dimensions shown. Ifthe drum is rotating at a constant rate of w, determine the upward acceleration of the block. Neglect the small horizontal displacement of the block. Prob. 16-34 46-35, If the shaft and plate rotates with a constant angular velocity of «= |4 rad/s, determine the velocily and acceleration of point € located on the corner of the plate at the instant shown. Express the resull in Cartesian vveetor form, "16-36, At the instant shown, the shaft and plate rotates with an angular velocity of w = Mrad/s and angular acceleration of « = 7rad/st, Determine the velocity and ‘aceleration of point D located on the comer ofthe plate at this instant. Express the result in Cartesian veetor form Probs, 16-3536 PLanan KINeMATICS OF & RiGIO BoDY 16-37. The rod assembly is supported by ball-and:-socket joints aA and B. AL the instant shovsa it rotating about the y axis with an angular velocity «» = Srad/s and has fan angular acceleration m= 8 rad/s’. Determine the ‘magnitudes of the velocity and acceleration of point C at this instant. Solve the problem using Cartesian vectors and Eqs 16-9and 16-13 Prob, 16-37 16-38, Rotation of the robotic arm occurs due 10 linear movement ofthe hydraulic eylinders 4 and B. If this motion causes the gearat D to rotate clockwise al S rad/s. determine the magnitude of velocity and acceleration of the part C held by the grips of the arm,164 16.4 Absolute Motion Analysis {A body subjected to general plane motion undergoes a simultaneous translation and rotation I the body is represented by a thin slab the sab translates in the plane of the slab and rotates about an axis perpendicular to this plane. The motion ean be completely specified by knowing hott the angular rotation of a line fixed in the body and the motion of a point on the body: One way o relate these motions isto use a rectilinear positon coordinate sto locate the point along is path and an angular position coordinate # to specily the orientation of the line, The two coordinates are then related using the geometry of the problem. By drecr application of the time-differential equations v = ds/dt, a = du/di, w = d0/dt, and «a = da the meotton ofthe point and the angular motion ofthe line can then be related. This procedure is similar to that used to solve dependent motion problems involving pulleys, Sec. 12.9. In some eases, this same procedure may be used to relate the motion of one body, undergoing tither rotation about a fixed axis or translation, to that of a connected body undergoing general plane motion, eee ecu The velocity and sezeleration of a point P undergoing rectilinear motion can be related to the angular velocity and angular acceleration of aline contained within a body using the following procedure. Position Coordinate Equation. ‘* Locate point Pon the body using a position coordinates, which is measured from a fixed origin and is directed along the straight- ine path of motion of point P. Measure from a fixed reference line the angular position @ of line Iying in the body. From the dimensions of the body, relate s 10 6, 5 = (@), using ‘geometry and/or trigonometry. Time Derivatives. ‘© Take the first derivative of s = /(@) with respect to time to get a relation between pando. ‘© Take the second time derivative to get a relation between a and a, '* In each case the chain rule of calculus must be used when taking the time derivatives of the position coordinate equation, See Appendix C. AasoWuTE MoTioN ANALYSIS 329 “The dumping bin on the truck rotates bout a fixed avs passing through the Pina. Ttiseperated bythe extension ‘of the hydraulic eylinder BC. The angular position of the bin can be specified using the angular position ‘eourinated and the postion of pint C fon the bin is specified using the rectilinear position cvordnate Since a and b are fixed lengths. then the two ‘coordinates can cewsinelaw = Var + The fime derivative of this equation felats the speed ut which the hydraulic ‘ylnder extends to the angular velocity of the bin,330 Charter 16 PLANAR Kinematics oF RiGio Booy foe) ‘The end of rod R shown in Fig. 16-8 maintains contact with the cam bby means of a spring Ifthe cam rotates about an axis passing through, point O with an angular acceleration a and angular velocity «, determine the velocity and acceleration of the rod when the eam isin the arbitrary position @. Fig 16-8 SOLUTION Position Coordinate Equation. Coordinates @ and x are chosen in order to relate the rotational motion ofthe ine segment OA on the cam to the rectilinear translation ofthe rod. These coordinates are measured from the fixed point O and can be related to each other using trigonometry. Since OC = CB = r cos , Fig. 16-8, then x= 2rcose Time Derivatives. Using the chain rule of calculus, we have ax 8 sin a ie ‘ te - of 2) suo —racno'® a= —2na sin + ateos 6) Ans. NOTE: The negative signs indicate that » and a arc opposite to the direction of positive x. This seems reasonable when you visualize the motion,164 AasoLUTE MoTion ANALYSIS 331 ‘Ata given instant, the cylinder of radius», shown in Fig, 16-9, has an “angular velocity and angular acceleration a Deiermine the velocity ‘and acceleration of its center G if the eylinder rolls without slipping SOLUTION Position Coordinate Equation. ‘The cylinder undergoes general plane motion since it simultaneously translates and rotates. By inspection, point G moves in a straight line to the lel, from G to G’, as the cylinder rolls, Fig, 16-9. Consequently its new position G" will be specified by the horizontal position coordinate sc, which is measured from G to G’ Also, as the eylinderrols (without stipping).the are length A'R on the rim which was in contact with the ground from A to B, is equivalent to 4, Consequently, the motion requires the radial line GA to rotate # to the position G’A’, Since the are A’B = r#, then G travels distance se = 10 Time Derivatives. Taking successive time derivatives of this ‘equation, realizing that ris constant, = a jdt, and a = dan/dt, gives the necessary relationships: so = vg = ro Ans ag = 100 Ans NOTE: Remember that these relations (disk, wheel, bal, etc.) rolls withou slipping,332 CHAPTER 16 PLANAR KINEMATICS OF & RIGID BooY ‘The large window in Fig, 16-10 is opened using a hydraulic cylinder AB. If the cylinder extends at a constant rate of 0 m/s, determine the angular velocity and angular aeceleration of the window at the instant 0 = 30 SOLUTION Position Coordinate Equation. The angular motion of the window ccan be obtained using the coordinate &, whereas the extension or motion along the hydraulic cylinder is defined using a coordinate s, which ‘measures its length from the fixed point A to the moving point B. ‘These coordinates can be related using the law of cosines, namely, amy? + (1 my? = 22 mjC1 m) cos 6 $= 5 —4eos « When 0 = 307, = 1.239 m Time Derivatives. Taking the time derivatives of Eq. 1, we have s(0,) = sin or 2 Since v, = 0.5 m/s, then at 6 = 30°, (1.239 my(0.5 m/s) = 2 sin 30% (0.6197 rad/s = 0.620 rad/s Ans ‘Taking the time derivative of Eq. 2 yields sin yt = 20s ye + asin) 2(cos Ma? + 2sin Her Since a, = dv,/dt = 0, then 2.08 30°(0.6197ra/s)* + 2 sn 30a a= 0415 rad/s? Ans (05 m/sy? + Because the result is negative, it indicates the window has an angular deceleration.164 AasoLUTE MoTion ANALYSIS 333 Gees 16-39, The bar DC rotates uniformly about the shaft at D with & constant angular velocity @, Determine the velocity and aeceleration of the bar AB, which is confined by the des to move vertically = “16-40. ‘The mechanism is used to convert the constant circular motion oof rod AB into transating motion of rod CD and the attached vertical slot. Determine the velocity and acceleration of CD for any angle @ of AB. Prob, 16-40 16-41, At the instant 6 = 50°, the slotted guide is moving ‘upward with an acceleration of 3m/st and a velocity of 2 m/s. Determine the angular acceleration and angular velocity of fink AB at this instant, Note:The upward motion ‘of the guide isin the negative y direction. Prob, 16-41 16-42, The mechanism shown is known as a Nuremberg, scissors Ifthe hook at C moves witha constant velocity of ¥, dotermine the velocity and acceleration of collar A as 4 function of The collar slides freely along the vertical guide. Prob. 16-42334 Charter 16 16-43, The crankshaft 4B is rotating ata constant angular velocity of w = 150 rad/s, Determine the velocity of the piston Pat the instant # Prob, 16-43 “16-44, Determine the velocity and acceleration of the follower rod CD as a function of # when the contact between the cam and follower is long the straight region ‘AB on the face of the cam, The car rotates with constant E counterclockwise angular velocity Cae Prob. 16-44 16-48, Determine the velocity of rod R for any angle @ of the cam C if the cam rotates with a constant angular velocity eo, The pin connection at O does not cause an interference with the motion of A on C. PLanan KINeMATICS OF & RiGIO BoDY 16-46, The bridge girder G of a bancule bridge i raised and Jowered using the drive mechanism shown. Ifthe hydraulic ‘inder AB shortens ata constant rate of ,15m/s, determine the angular velocity ofthe bridge girder atthe instant 6 = 6. Am Prob. 16-46 16-47, ‘The circular cam of radius rs rotating clockwise witha constant angular velocity @ about the pin at O. whieh fs at an eecentric distance e irom the center of the cam. Determine the velocity and acceleration ofthe follower rad A asa function of Prob. 16-47 "16-48. Peg B mounted on hydrauli eylinder BD slides freely along the slat in link AC. Tf the hydraulic cylinder extends ata constant rate of 0.5 m/s, determine the angular velocity and angular acceleration ofthe link atthe instant 9 as e osm]164 AasoLuTe Morion ANALYSIS 335 16-49. Bar AB rotates uniformly about the fixed pin A 16-81. The bar s confined to move along the vertical and ‘with @ constant angular velocity «, Determine the velocity inclined planes Ifthe velocity ofthe roller at Ais v4 = 6 ft/s and acceleration of block C,at the instant = 60" ‘when # = 45°, determine the bar's angular velocity and the velocity of roller Bat this instant, "16-52. Arm AB has an angular velocity of and an “angular acceleration of a, 1ine slipping occurs between the disk and the fired curved surface, determine the angular velocity and angular acceleration ofthe disk. 16-80, The block moves to the left with » constant velocity vp. Determine the angular velocity and angular acceleration ofthe bar asa function of 8336 Charter 16 16-83 Tf the wedge moves to the left with a constant velocity v, determine the angular velocity of the rod as a function of 0, Prob, 16-83 16-S4, The slotted yoke is pinned at A while end B is used to move the ram R horizontally If the disk rotates with a constant angular velocity , determine the velocity and aceleration of the ram. The crank pin Cis fixed tothe disk ‘and turns with i PLanan KINeMATICS OF & RiGIO BoDY 16-58, The Geneva wheel A provides intermittent rotary motion 14 for continuous motion wy = 2 rad/s of disk D. By choosing d= 1003 mm, the wheel has zero angular velocity atthe instant pin B enters or leaves one of the Cour slois Determine the magnitude of the angular velocity 40, ‘of the Geneva wheel at any angle @ for which pin 2 is in contact with the slot, = 1002 om 16-56. AL the instant shown, the disk is rotating with an angular velocity of a» and has an angular acceleration of a. Determine the velocity and acceleration of cylinder B at this instant, Neglect the size ofthe pulley at. Prob. 16-56165. RELATE: MoTiN ANaLysis: ELOY 16.5 Relative-Motion Analysis: Velocity ‘The general plane motion of a rigid body can be deseribed as a combination of translation and rotation. To View these “component” motions separately we will use a relative motion analysis involving two sets of coordinate axes. Me x,y coordinate system is fixed and measures the absolute position of two points A and B on the body, here represented as a bar. Fig. 16-114. The origin of the 2’, y’ coordinate system will be attached to the selected “base point” A, which generally has a known ‘motion. The axes of this coordinate system iranslave with respect to the fixed frame but do not rotate with the bar. Position. ‘The position vector ry in Fig. 16-11a specifies the location of the “base point” A, and the relative-position vector ry, locates point B ‘with respect to point A. By veetor addition, the position of Bis then meta tya Displacement. During an instant of time dt, points A and B undergo displacements dry and dre as shown in Fig. 16-11b. If we consider the general plane motion by its component parts then the entire bar frst translates by an amount dry so thal A, the base point, moves to its fnal position and. point B moves to B, Fig. 16-I1e. The bar is then rotated about A by an amount d# so that B" undergoes a. relative displacement dy, and. thus. moves to its final position B. Due to the rotation about A,dryjq = r4iq dé, and the displacement of B is fea de + dra due (0 rotation about A ue to translation of A due to translation and rotation Times Time oF de C Gonoral plane "Teanlation™ Rotation o © Fixed reference ” ig. 16-1 337 Translating reference338 CuapteR 16 PLANAR KINEMATICS OF 4 Ricio Boy Asslide block A moves horizontally tothe lft with a velocity ¥y it causes crank CB to rotate counterclockwise, such that vy directed tangent to its circular path, .e, upward to the left. The ‘connecting rod AM is subjected to general plane motion, and at the instant shown it hasan angular velocity Velocity. To determine the relation between the velocities of points A and Bits necessary to take the time derivative ofthe position equation, or simply divide the displacement equation by dl. This Yields dey _ dey , ata dt dt de ‘The terms drp/a = vp and dr /dt = vy are measured with respect to the fixed x,y axes and represent the absolute velocities of points and 2. respectively. Since the relative displacement is enused by a rotation, the magnitude of the third term is dryj/dl = rq dBfdt = ry = ry ae where « isthe angular velocity ofthe body atthe instant considered. We will dnote this term as the relative velocity vy. Since it represents the ‘elocty of B with respect to A as measured by an observer fixed to the translating sy’ axes. In other words, the bar appears to move as ifit were rotating with an angular velocity « about the 2 axis passing through A. Consequently yn has a magnitude of rpj« = wry and a direction which is perpendicular to rj. We therefore have a= Yat Yon (16-15) where vp = velocity of point B v4 = velocity of the base point A Vasa = velocity of B with respect to APath ot point a a Path of point ‘General plane motion @ Translation © 16.5. RELATIVE-Momion ANaLysis: Vewociy 339 stab wins Ry base point A 7 © ” Fig. 16-11 (cont) ‘What this equation states is that the velocity of B, Fig. 16-11d, is determined by considering the entie bar to translate with a velocity of ¥4 Fig. 16-I1e, and rotate about A with an angular vel ‘Vector addition of these two effects, applied to B, Fig 16-Ilg. Since the relative velocity vai, represents the effect of circular motion, about A,this term can be expressed by the cross product ¥pjy = @ % Fajas Eq. 16-9. Hence, for application using Cartesian vector analysis, we can also write Eq, 16-15 as where Ve = A+ OX ta velocity of B , Fig. 16-11f, jelds vp, as shown in (16-16) i V4 = velocity of the base point A ‘@ = angular velocity of the body ‘ya = position vector directed from A to B “The velocity equation 16-15 oF 1616 may be used in a practical manner to study the general plane motion ofa rigid body which is either pin connected tr meontset wih other moving bales When appWing Fig 162 this equation, points A and B should generally be selected es pints on the body which are pin-connected to other bodies, or as points in contact NY wits adjacent bodies which have & voi motion For eainpl, polar A ik AB in Fig. 16-12a must move along a horizontal path, whereas point B moves on a circular path. The directions of v4 and vq can therefore be established since they are always rangent to their paths of motion, Fig. 16-12b. In the case of the wheel in Fig. 16-13, which rolls, without slipping, point A on the wheel can be selected at the ground, Hore A (momentarily) has zero velocity sinee the ground does not move. Furthermore, the center of the wheel, B, moves along a horizontal path so that vj is horizontal. Fig. 16-13340 Cuapter 16 PLawan KINEMATICS OF 4 RIGID BODY eet urs ‘The relative velocity equation can be applied either by using Cartesian vector analysis,or by writing the x and y scalar component equations direetly. For application, it is suggested that the following procedure be used. Vector Analysis Kinematic Diagram. * Establish the directions of the fixed sv coordinates and draw a kinematic diagram of the body. Indicate on it the velocities v4, ¥p of points A and B, the angular velocity , and the relative position vector pj. If the magnitudes of vj, vp, or @ are unknown, the sense of direction of these vectors can be assumed. Velocity Equation. © To apply vp = Va + # X tajq, express the vectors in Cartesian vevtor form and substitute them into the equation. Evaluate the ‘ross product and then equate the respective i and j components to obtain two scalar equations, «Ifthe solution yields a negative answer foran unknown magnitude, i indieates the sense of direction of the vector is opposite to that shown on the kinematic diagram. Scalar Analysis Kinematic Diagram. © If the velocity equation is to be applied in scalar form, then the ‘magnitude and direction of the relative velocity vpjy must be established. Draw a kinematic diagram such as shown in Fig. 16-I1g, hich shows the relative motion. Since the body is considered to be “pinned” momentarily at the base point A, the magnitude of ¥aja is tyyq = erga. The sense of direction of ¥yyq is always perpendicular to ry, in accordance with the rotational motion « of the body.” Velocity Equation, © Write Eq. 16-15 in symbolic form, vy = v4 + vga, and underneath each of the terms represent the vectors graphically by showing their magnitudes and directions. The scalar equations aare determined from the x and y components of these vectors. The motation vy = ¥4* Yiyagin maybe hela in recline that A is pinned165. RevaTWe- Monon ANaLysis: VeLociTY cers 344 ‘The link shown in Fig. 16-1da is guided by two blocks at A and B, Which move in the fixed slots Ifthe velocity of A is 2 m/s downward, determine the velocity of B at the instant = 45°, SOLUTION | (VECTOR ANALYSIS) Kinematic Diagram. Since points A and Bare restricted to move along the fixed slots and v, is directed downward, then velocity vy must be Aitected horizontally to the right, Fig. 16-14. This motion causes the link to rotate counterclockwise; that is, by the right-hand rule the angular ‘velocity «i directed outward, perpendicular to the plane of motion, Velocity Equation. Expressing each of the vectors in Fig, 16-14 in terms of their. k components and applying Eq, 16-16 to A.the base point, and B, we have vi vi Equating the {and j components gives Wt OX to 2} + [ok x (0.2 sin 45% — 0.2.c0s 45%] 2 + 0.20 sin 45] + 0.200 008 454% tp = 0.2 08 45° 0 = -2 + 0.20 sin s* vu=2mAl ~ Thus, sl = 141 rad/s) oy = 2m/s—> Ans “s SOLUTION II (SCALAR ANALYSIS) ‘The kinematic diagram of the relative “circular motion” which ® produces vais shown in Fig. 16-1Me. Here ty = 040.2 m). Thus, a= M+ a [ »)- ar | [-e | as ca) + w(0.2) cos 45° Gh 0 = -2 + w(0.2)sin4s° ‘The solution produces the above results, Il should be emphasized that these resulls are valid only at the instant 6 = 45°, A recalculation for 0 = 44° yields vi = 2.07 m/s and @ = 144 rad/s; whereas when @= 46%, 1 = 193 m/s. and = 139 rad/s, ete Retaive motion NOTE: Since n4 and w are known, the velocity of any other point on the eI ‘ean be determined, As an exercise, see if you can apply Eq, 16-16 t0 Fig. 16-14 points A and C of to points B and C and show that when @ = 45°, ‘%¢ = 3.16 m/s, directed at an ange of 18.4° up from the horizontal.342 Charter 16 PLANAR Kinematics oF RiGio Booy ae- ih o ts aah Sts ost Relative motion © Fig, 645, ‘The cylinder showa in Fig. 16-15a rolls without slipping on the surface ‘of a conveyor belt which is moving at 2 fi/s. Determine the velocity of point A. The cylinder has a clockwise angular velocity w = 15 rad/s at the instant shown, SOLUTION | (VECTOR ANALYSIS) Kinematic Diagram. Since no slipping occurs, point Mon the cylinder hhas the same velocity as the conveyor, Fig, 16-156. Also, the angular velocity of the eylinder is known, so we can apply the velocity equation 0 B, the base point, and A to determine vj, Velocity Equation a= Vato X rap (ood + (ed = 2+ CISK) x O51 + 059) (wd + (oy) = 2+ 7.505 + 7.504 so that (yy, = 2+ 7.50. = 9.50 t/s o (py = T500/s @ ‘Thus, m4 = Vi9s0F + 7S0F = 12.1 /s Ans, = tan By Ans 3.50 SOLUTION II (SCALAR ANALYSIS) ‘Asan alternative procedure, the scalar components of ¥; = ¥x + Vain can be obtained directly. From the kinematic diagram showing the relative “circular” motion which produces v4 , Fig, 16-1Se, we have ost cox 45 yn = Ora = 5 nas ‘Thus, Ya = V0 + Vu Coa] , [os] _ [2H/s] , foe a) (2) PP )-C2 +(e Equating the x and y components gives the same results as before, namely, (4) on. ap (ay 950f/s 750 f/s16.5. RELATIVE-Momion ANaLysis: Vewociy 343 ‘The collar C in Fig, 16-16a is moving downward with a velocity of 2m/s. Determine the angular velocity of C# at this instant. SOLUTION I {VECTOR ANALYSIS) Kinematic Diagram. ‘The downward motion of C causes B to move to the right along a curved path, Also, CB and AB rotate counterclockwise, Velocity Equation. Link CB (general plane motion): See Fig, 16-160, Va= Vo + tea X tac byl = —2j + werk x (0.24 — 0.29) i gh = ~2) + O2areg) + 020 ty = ODay o a 0= 2+ 020% Q) ‘an Weg = Wrad/s > Ans. n= 2mis fic t= 2m/s> i SOLUTION II (SCALAR ANALYSIS) us ‘The scalar component equations of vp = ve + vic ean be obtained directly. The kinematic diagram in Fig. 16-16e shows the relative “circular” motion which produces vic. We have w= vet Ye Beas heoa = ae Resolving these vectors in the x and y directions yields (+) 04 = 0 + wca(0.2V2 con 45°) eb 0 = -2 + wea(02V2sin 45") Which is the same as Eqs. and 2. w= 2s NOTE: Since link AB rotates about a fixed axis and vg is known, Fig. 16-16d, its angular velocity is found from ug = wgray oF 2 m/s = wp (02M), ayy = 10 rad/s, Fig. 16-16344 Charter 16 PLANAR Kinematics oF RiGio Booy ‘The bar AB of the linkage shown in Fig. 16-174 has a clockwise angular velocity of 30 rad/s when @ = 60°. Determine the angular velocities of member BC and the wheel at this instant, SOLUTION (VECTOR ANALYSIS) Kinematic Diagram. By inspection, the velocities of points Band C are defined by the rotation of link AB and the wheel about their fixed axes The position vectors and the angular velocity of each member are shown on the kinematic diagram in Fig. 16-176. To solve, we will write the appropriate kinematic equation for each member. Velocity Equation. Link AB (rotation ubout a fixed axis) Vp = Ou X te (30K) % (0.2 cos 60% + 0.2 sin 60%) = {5.201 — 3.0)} m/s "ve Link BC (general plane motion): Yo = Vp + Onc X Fon vd = 5.201 — 3.0) + (ack) x 21) » ed = 5.208 + (02090 ~ 305 rete te = 5.20 m/s 0 = 0.2u%¢ ~ 30 oye = 15 rad/s) Ans. ‘Wheel (rotation about a fixed axis): Vo = tap X Fe 5.201 = (wp) (0. 520 = Olay op = 520 rad/s AnsBRWE a 165. RevaTWe- Monon ANaLysis: VeLociTY 345 F16-7, If roller A moves to the right with a constant velocity of v4 = 3:m/s, determine the angular velocity of the ink and the velocity of roller B atthe instant = 30°. By \ ism i mass FI 16-8, The wheel rolls without slipping with an angular velocity of « = 10 rad/s. Determine the magnitude of the velocity of point 8 at the instant shown. osm a Fi6-8 F16-9. Determine the angular velocity of the spool. The cable wraps around the ianer core, and the spool does not slip on the platform P, FU6-10, If crank OA rotates with an angular velocity of ‘= I2nad/s, determine the velocity of piston B and the angular velocity of rod AB atthe instant shown, F16-10 FIG-L1, I rod AB slides along the horizontal slot with a velocity of 60 ft/s, determine the angular velocity of link BC atthe instant shown, Fis-1 PI6-12. End A of the link has a velocity of vy = m/s. Determine the velocity of the peg at @ at this instant. The peg is constrained to move along the sot. Fi6-12346 Charter 16 PLANAR KINEMATICS OF A RIGIO BooY pero 16-57. If and @ are known, and the speed of A and 8 is y= vg™ e determine the angular velocity e of the body and the direction & of vy. Prob. 16-87 16-58 If the block at Cis moving downward at 4 14s, termine the angular velocity of bar AB atthe instant shown. © ot = Aes br ‘wan = cra Prob 16-58 16-59. The velovty of the slider block Cis 4 fY/s up the inclined groove. Determine the angular velocity of links AB and BC and the velocity of point atthe instant shown. Prob. 16-59 "16-60, The epieyclic gear train consists of the sun gear A which is in mesh with the planet gear B. This gear has an inner hub C which is fied to B and in mesh with the fixed ting gcar R. Ifthe connecting ink DE pinned to B and Cis rotating at wpe = 18 rid/s about the pin at £, determine the angular velocities ofthe planet and sun gears, Prob. 16-60165. RevaTWe- Monon ANaLysis: VeLociTY 347 16-61, Determine the velocity of the block at the instant 16-63, Tf the angular velocity of Fink AB is wy = 3 rad/s, 61. ink AB is rotating at 4 rad/s determine the velocity of the block at C and the angular velocity of the connecting Tink CB at the instant = 45° and 6 = 30" 16-64, ‘The pinion gear A rolls on the fied gear ack B 16-62, Ifthe lywheel is rotating with an angular velocity With am angular velocity w = 4ad/s. Determine: the fof «4 = Grad/s, determine the angular velocity of rod BC Yeloity of the gear rack C- at the instant shown. 16-65. “The pinion gear rolls on the gear racks IE B is moving tothe right at § {Ys and Cis moving to the left at 44f4/s determine the angular velocity of the pinion gear and the velocity ofits center A fos348. CharteR 16 PLANAR KINEMATICS OF 4 RiGio Booy 16-66, Determine the angular velocity ofthe gear andthe 16-49. If the gear rotates with an angular velocity of velocity ofits center O atthe instant shown, = IWrad/s and the gear rack moves at v= 5m/s, determine the velocity of the slider block A at the 16-67. Determine the velocity of point 4 on the rimofthe — Systant showne " ‘Rear at the instant shown, “16-68. Part of an automatic transmission consists of a {ised ring gear R, three equal planet gears P,the sun gear S, ‘and the planet cartier C, which is shaded. Ifthe sun gear is Prob, 16-69) rotating ato = 6 rad/s, determine the angular Velocity we ‘of the planet carrer. Note that C is pin-connected to the center of each ofthe planet gears 16-70. If the sider blosk C is moving at ve = 3m/s doteemine the angular veloeity of BC and the erank AB al the instant shown, Prob. 16-70)16-71, The tworerlinder engine is designed so that the pistons are connected (o the crankshaft BE using 4 master tod ABC and articulated rod AD. If the erankshalt is rotating at w = 30 rad/s, determine the velocities of the pistons Cand D atthe instant shown, Prob. 16-71 “16-72. Determine the velocity of the center O of the spool when the cable is pulled to the right with a velocity fy, The spool rolls without slipping. 16-73. Determine the velocity of point A on the outer rim ‘of the spool atthe instant shown when the cable is pulled to the right witha velocity of v. The spoo! rolls without slipping. Probs, 1672773, 165. RevaTWe- Monon ANaLysis: VeLociTY 349) 16-74, Terank AB rotates with a constant angular velocity of wap = Orad/s, determine the angular velocity of rod BC andthe velocity ofthe slider block at the instant shown. The rod is in a horizontal position, iH a Prob, 16-74 16-75, If the slider block A is moving downward at vj =4m/s, determine the velocity of block B at the instant shown, “16-76. If the slider block A is moving downward at uj = 4m/s, determine the velocity of block © at the instant shown, robs. 16-7576350 CHAPTER 16 PLANAR KINEMATICS OF A RI 16-77. The planetary gear system is used in an automatic transmission for an auilomabile. By locking oF releasing certain gears, it has the advantage of operating the ear at different speeds. Consider the case where the ring gear R'is hheld fixed, «vg = 0, and the sun gear $ is rotating at ‘as = 5 rad/s, Determine the angular velocity of each of the planet gears Pand shaft Prob. 16-77 16-78, the ring gear D rotates counterclockwise with an angular velocity of wy = Sra/s while link AB rotates clockwise with an angular velocity of wp = 10rad/s, ‘termine the angular velocity of gear C: Booy 16-79. ‘The ditferential drum operates in such @ manner that the rope is unwound from the small drum B and wound up oa the large drum A. TF the radii of the large and small drums are R and r, respectively, and for the pulley itis (R +12, determine the spced at which the bucket Crises it the man rotates the handle with a constant angulae velocity ‘of w, Neglect the thickness of the rope. Prob, 16-79 "16-80, Mechanical toy animals often use a walking mechanism as shown idealized in the figure. Ifthe driving crank AB is propelled by a spring motor such that ‘ogy = Srad/s, determine the velocity of the rear foot Eat the instant shown. AlUhough not part of this problem, the upper end of the foreleg has a slotted guide which is constrained by the fixed pin at Prob. 16-80166. Insranrancous Center oF Zeno ViLociTY 16.6 Instantaneous Center of Zero Velocity ‘The velocity of any point B located on a rigid body can be obtained in a very direct way by choosing the base point A to be a point that has zero velocity at the instant considered. In this case, vy = 0, and therefore the velocity equation, vp = ¥4 + @ X Fpyas BECOMES Vp = X Ryn. For a body having general plane motion, point A so chosen is called the instandaneous center of zero velocity (IC), and it lies on the instantaneous taxis of zero velocity. This axis is always perpendicular to the plane of ‘motion,and the intersection of the axis with this plane defines the location of the FC. Since point A coincides with the IC, then vp = @ X mac and, so point B moves momentarily about the /C in a circular path; in other words, the body appears to rotate about the instantaneous axis. The ‘magnitude of vy is simply vg = arqyc, where a is the angular velocity of the body. Due to the circular motion, the direction of vq must always be perpendicular to Fic For example, the /C for the bicycle wheel in Fig, 16-18 is at the contact point with the ground. There the spokes are somewhat visible, whereas at the top of the wheel they become blurred. If one imagines that the wheel is momentarily pinned at this point, the velocities of various points ean be found using 1” = or. Here the radial distances shown in the photo, Fig. 16-18, must be determined from the geometry of the wheel, Fig. 16-18, 351352 Charter 16 Location of IC owing Vand vy © o 1 PLANAR KINEMATICS OF 4 RIGIO BODY Comes ne 0 Location of IC knowing sand te “ of "ie Location of Irnowing the directions ofy, and Ye ® Fig. 16-19 Location of the IC. To locate the IC we can use the fact that the velocity of a point on the body is always perpendicular to the relative- position vector directed from the IC to the point, Several possibilities exist: © The velocity v4 of a point A on the body and the angular velocity « of the body are known, Fig, 16-19a. In this case, the IC is located along the line drawn perpendicular to v, at A.such that the distance from A to the ICis rao = 14/. Note that the IC lies up and to the right of A since v, must cause a clockwise angular velocity @ about the IC. © Thelines of action of ovo nonparallel velocities v4 and Vg are known, Fig. 16-195, Construct at points A and B line segments that are perpendicular to v4 and ¥g, Extending these perpendiculars to their point of intersection as shown locates the IC at the instant considered, © The magnitude and direction of two parallel velocities ¥, and ¥pare known. Here the location of the IC is determined by proportional triangles, Examples are shown in Fig. 16-19c and d. In both cases, aye = Valo and pic = Ua/e. Id is a known distance between points A and B, then in Fig. 16-19¢, rage + tyne = and in Fig. 16-194, rane — rayie = de166. Instantaneous Cenrer oF Zeno VeuocirY 353 Realize that the point chosen as the instantaneous center of zero velocity for the body can onty be used at the instant considered since the body changes its position from one instant to the next. The locus of points, which define the location of the JC during the body’s motion is called a centrode, Fig. 16-19a, and so each point on the centrode acts as the IC for the body only for an instant Although the JC may be conveniently used to determine the velocity of any point in a body, it generally does nor have zero acceleration and, therefore it should not be used for finding the accelerations of points in a body. neon ‘The velocity of a point on a body which is subjected to general plane ‘motion can be determined with reference to ils instantaneous center of zero velocity provided the location of the IC is first established using one of the three methods described above. ‘© As shown on the kinematic diagram in Fig. 16-20, the body is imagined as “extended and pinned” at the [C so that, atthe instant considered, it rotates about this pin with its angular velocity «, © The magnitude of velocity for each of the arbitrary points A, B, and C on the body can be determined by using the equation 1 = or, whete ris the radial distance from the /C to each point. © The line of action of each velocity vector v is perpendicular to its associated radial line r, and the velocity has a seuse of direction which tends to move the point in a manner consistent with the angular rotation « of the radial line, Fig. 16-20. {As the boar slides downward t the let itis Subjected to general plane motion. Since the rections of the velcities of ts ends and are known, the ICs located as shown. At this instant the board will momentarily rotate about this point. Draw the board in several other positions and establish the IC for each ease.354 CHarteR 16 PLANAR KINEMATICS OF 4 Rilo BoDy ar ‘Show how to determine the location of the instantaneous center of 72r0 velocity for (a) member BC shown in Fig. }6-21a; and (b) the link CB shown in Fig, 16-21e. 1c © SOLUTION Part (a). As shown in Fig, 16-212, point B moves in a circular path such that vg is perpendicular to AB, Therefore, it acts at an angle # from the horizontal as shown in Fig, 16-21b. The motion of point B causes the piston to move forward horizontally with a velocity ve. ‘When lines are drawn perpendicular to vy and ¥c, Fig. 16-216, they intersect at the IC. Part (b). Points B and € follow circular paths of motion since links AB and DC are each subjected to rotation about a fixed axis, Fig. 16-21c. Since the velocity is always tangent to the path, at the instant considered, ve on rod DC and vy on rod AB are both directed vertically downward, along the axis of link CB, Fig. 16-21d. Radial lines drawn perpendicular to these two velocities form parallel lines which intersect at “infinity.” ie. reyje—>% and rye. Thus, 42ca = (We/ ee) > 0. AS a result, link CB momentarily ranslates. An instant later, however, CB will move to a tilted position, causing the IC © tomove to Some finite location ‘iat mo ‘vn mel, @ Fig. 16-21166. Insranrancous Center oF Zeno ViLociTY 355 ren Block D shown in Fig, 16-22a moves with a speed of 3 m/s. Determine the angular velocities of links BD and AB, at the instant shown, o SOLUTION ‘As D moves to the right, it eauses AB to rotate clockwise about point A Hence, vgs directed perpendicular to AB. The instantaneous center of zero velocity for BD is located at the intersection of the line segments drawn perpendicular to vp and ¥p, Fig, 16-226, From the geometry, rane = 04 tn 45° m = 04m Am Since the magnitude of vp is known, the angular velocity of link BD is BR % m/s Toye 03637 m ow 530 nd/s Ans. The velocity of Bis therefore Uy = eaolrac) = 530 rad/s (OA m) = 2.12 mfx AS* From Fig, 16-22c, the angular velocity of AB is ty _ 212m/s twa Om on 30 ral/S.2 Ans © member BD. Fig, 16-22 NOTE: Try and solve this problem by applying vp = vp + voje 10356 Charter 16 PLANAR Kinematics oF RiGio Booy adams # Fig. 16-23 ‘The cylinder shown in Fig. 16-234 rolls without slipping between the two moving plates & and D. Determine the angular velocity of the cylinder and the velocity of its center C. SOLUTION Since no slipping oceurs, the contact points A and B on the eylinder have the same velocities as the plates E and D, respectively. Furthermore, the velocities vy and yp are parallel, so that by the proportionality of right triangles the Cis located at a point on line AB, Fig, 16-23. Assuming this point to be a distance x from B, we have 0 m/s = wx 2% = (0.25 m ~ 2); 0.25 mjs = 040.25 m ~ 9) Dividing one equation into the other eliminates w and yields 0.4(0.25 = x) = 0.25r _O4 ~~ 065 0.1538 m Hence, the angular velocity of the eylinder is vy _ OA m/s x 0.1538m = 2.60 rad/s Ans ‘The velocity of point C is therefore Ye = wvcjie = 2.60 rad/s (0.1538 m = 0.125 m) = 0.0750.m/s— Ans166. Insranrancous Center oF Zeno ViLociTY q cE ‘The crankshaft AB turns with a clockwise angular velocity of 10 rad/s, Fig. 16-24a, Determine the velocity of the piston at the instant shown, ® SOLUTION ‘The crankshaft rotates about a fi point Bis d axis, and so the velocity of by = 10 rad/s (0.25 fy) = 2.50 /s <045° Since the directions of the velocities of B and C are known, then the location of the IC for the connecting rod BC is at the intersection of the lines extended from these points, perpendicular to vp and ¥o, Fig, 16-240, The magnitudes of ry re and rec ean be obtained from the geometry of the triangle and the law of sines, i, 7st sina? aac 7st sina? ‘eine = 0.9056 ft ‘The rotational sense of gc must be the same as the rotation eaused by vp about the /C, which is counterclockwise. Therefore, pee eu s Taye 1.031 ft OEE, Using this result, the velocity of the piston is Ye = wucrene = (2425 rad/s}(0.9086 f) = 2.20f/s Ans. 357358 Charter 16 PLANAR Kinematics oF RiGio Booy Sea ees FI6-I3. ‘Determine the angular velocity ofthe rod and the FIG-16. cable Ais unwound with a speed of 3 m/s,and velocity of point C atthe instant shown, the gear rack C has a speed of 1.5 m/s, determine the angular velocity of the gear and the velocity ofits center 0. poo bsm 4a 3m F16-46 maar FI6-17. Determine the angular velocity of link BC and the velocity ofthe piston C atthe instant shown. FI6-I4. Determine the angular velocity of link BC and ‘velocity ofthe piston C at the instant shown, 8m 2 or O20 LL -cvas Pi6a7 Fes P1618. Determine the angular vetocit Cat the instant shown, of links BC and FIG-15, If the venter O of the wheel is moving with a speed of vp = 6m/s, determine the velocity of point A on the wheel. The gear rack Bis fixed, nn = Wradls166. Insranrancous Center oF Zeno ViLociTY 359 | PROBLEMS 16-81. In each case show graphically how to locate the instantaneous center of zero velocity of Tink AB. Assume the geometry is known, © Prob, 16-81 16-82, Determine the angular velocity of link AB at the instant shown if block Cis moving upward at 12in/s. 16-83. AL the instant shown, the disk is rotating at w= 4 ral/s. Determine the velocities of points A.B, and C. Prob. 16-88 SAG-84._Ilink CD hasan angular velocity of ey = 6 a/s, determine the velocity of point B on link BC and the angular velocity of link AB atthe instant shown, 16-88, Tink CD has an angular velocity of wen = 6ral/s, Udewermine the velocity of point E on ink BC and the angular velocity of link AB ut the instant shown, Probs. 16-8485360 CharteR 16 PLANAR KINEMATICS OF 4 RiGio Booy 16-86. At the instant shown, the truck (ravels to the right "16-88 Ilink ABs rotating at way = 6/5, determine at 3m/s, while the pipe rolls counterclockwise at the angular velocities of Tinks BC and CD at the instant ‘= 6 rad/s without slipping at B. Determine the velocity = 607 of the pipe’s center G, Prob. 16-88 16-89. ‘The cil pumping unit consists of « walking beam AB, connecting rod BC, and crank CD. Ifthe erank rotates ata constant rate of 6 rad/s, determine the speed of the rod hhanger H at the instant shown. Hint: Point B follows circular path about point F and therefore the velocity of B 16-87. rank AB is rotating with an angular velocity ot STCUlAE Path ‘ay ~ Grad/s,determine the yelocity of the center O of the ‘Rear atthe instant shown. Prob, 16-87