Solution 5(1)

Solution 5. Planar motion of a rigid slab

Purpose and Requirement

1. In Prob 1&2, two different points on one body are studied. Students are asked to follow the
conventional expressions of vectors in dealing with vector equations.
2. In Prob.3 & 4 students learn how to determine the instantaneous (or instant) center C of
velocity and use it to determine velocities of various points on the body.
3. Problem 5 maybe solved by different methods. Note: two point on the pipe should be studied.
A
1. Collar A moves in a constant velocity of 900 mm/s to the
right. At the instant when  = 30, determine (a) the 30 70
angular velocity of rod AB, (b) the velocity of collar B.
(BJ 15.34 on page 721) B
y
Solution

A vA
With O-xy, we can express O x
30 70

v A = 9000 = 900 i (mm/s)
 B
rBA = 300 30 = 300 (0.866 i  0.5 j ) (mm) 
 vB
v B = v B 70 = v B ( 0.342 i  0.94 j ) (mm/s)
   
Using v B = v A +   rBA gives

v B ( 0.342 i  0.94 j ) = 900 i + 

k  300 (0.866 i  0.5 j )
  “AB”
vA
Component of i : Ov
A
0.342 v B  150  = 900 (1) 70

Component of j :  
vB v B/ A
0.94 v B + 259.8  = 0 (2)
Solving the simultaneous equations (1) and (2) gives
B

v B = 1017 (mm/s)
 =  3.68 (rad/s)

Hence v B = 101770 (mm/s) (ans)


  k =  3.68 k (ans)
 Solution 5(2)

A
2. In the position shown, bar AB has a constant angular
100 mm
B velocity of 3 rad/s counterclockwise.

200 mm
(a) Determine the angular velocity of bars BD and DE.
(b) Determine the angular acceleration of bars BD and DE.
E (BJ 15.51 on page 723)
D Solution:
(a) Set up E-xy. The geometry is given as
225 mm 75mm

rBD = 200 (mm), rDE = 225 (mm)

A
1
   tan 1 ( ) = 18.43
1
3
B rBA = 300 sec(18. 43)= 316.23 (mm),
y
 
vB Using  1 = 3 k (ccw) (rad/s) and right-hand rule gives
2   
v B = 1  rBA = 3(316.23)71.57 = 948.771.57.
E x
D
3  
 With the known direction lines of v D & v B / D , we can express
vD 
v D = v D (  j )

v B / D = v B / D ( i ),
Ov and construct the velocity diagram. So we obtain

 v D = v B cos(18.43) = 900 (mm/s)

 vB
vD v B / D = v B sin(18.43) = 300 (mm/s)

D B Therefore
 
v B/ D  2 =  300/200 k =  1.5 k (cw) ans)

 3 = 900/225 k = 4 k (ccw) (ans)

(b) Using equation

  
A aB  aD  aB / D
 
a Bt / D to relate the unknown motion of rod DE to the known motion
 1 of rod AB.
B aB y
 Since rod AB is rotating with constant angular velocity, the
2 a Bn / D acceleration of B is completely known. And accelerations
     
a D  a Dt  a Dn and a B / D  a Bt / D  a Bn / D
3 E
D x

a Dn are partly known. Ask students what components are known,
and how can they be known.

a Dt  
Explain that the direction lines of a Dt and a Bt / D are known:
     
a Dt   3  rDE and a Bt / D   2  rBD .
So we can obtain the two scalar unknowns 2= 4.5and 3=6
by solving the ONE vector equation (ask students HOW?)
 Solution 5(3)

225 mm 125 mm
3. Knowing that at the instant shown the velocity of collar D
E
is 120 mm/s to the left, determine (a) the instantaneous center D
of rotation of rod BE, (b) the angular velocity of a crank AB
and rod BE, (c) the velocity of point E. 100 mm
 A
(BJ 15.62 on page 729)
B
100 mm
Solution:

Given v D =  120 i (m/s)
  
(a) The known directions of v D and v B allow us to determine vE
the instant center C as shown.
(b) So we have 225 mm 125 mm
 E
vD D
 120 
 BE = k = 1.2 k (ccw) (rad/s) (ans)
100 100 mm
 A 

v B = 1.2 (225) (  j ) =  270 j B C
100 mm

 270 
 AB = k = 2.7 k (ccw) (rad/s) (ans)
100

vB
(c) Using the given geometry , we can determine
 E 
rEC = rEC  with rEC = 199.56 (mm) and  = 51.2. vE

Ov
Hence 
D vD C
  
v E =  BE  rEC = 1.2 (199.56) (90 +  )

vB
= 239.5141.2 (mm/s) (ans)
B
Solution 5(4)

4. The vertical plate ABED is pinned to rod OA at A and supported by a roller at E which
slides in a horizontal slot. In the position shown the velocity of E is 0.7 m/s to the right.
Determine (a) the angular velocity of the plate, and (b) the velocities of A, B, and D.

Answer: (a) 0.05 (ccw),

C (b) 0.5-53.13o , 0.806-29.74o, 0.30o

Solution: (a) Find the I.C. (Instant Center) C, use

A   
D v E    rEC
3m

to determine   0.05k̂
O
  
5m
(b) v A    rAC
  
B
E v B    rBC
  
v D    rDC
4m 8m
 Solution 5(5)

5. At a given instant, the cable supporting the pipe has the motion shown. Determine the angular
velocity and angular acceleration of the pipe and the velocity and acceleration of point B located on
the pipe. (H 16-143)

Solution:
vC=1.5 m/s vD =1.8 m/s
Convert the given motion of point C and D to the motion of
point B and A on the pipe: D
C
    aC = 0.45 m/s2
v B  v C  1.5 ˆj , v A  v D  1.8 ˆj aD = 0.6 m/s2

   
a Bt  a C  0.45 ˆj , a At  a D  0.6 ˆj

Consider the velocities of A and B on the pipe: ĵ

     
v B  v A  v B / A  v A    rBA (1) G
B A iˆ
 0.6 m
Solve for  = 0.25 k̂ (ans)

Consider the accelerations of A and B on the pipe:

      
a Bt  a Bn  a At  a An    rBA   2 rBA (2)

Dot both side by ĵ , we can solve for


 = 0.875 k̂ (rad/s2) (ccw)

We cannot use eq (2) to determine a Bn (why?)

Consider the accelerations of B and G on the pipe:

     
a Bt  a Bn  a G    rBG   2 rBG (3)


Dot both side by iˆ , we can solve for a Bn . And finally

a B = 0.452-85.2 (m/s2) (ans)