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Industrial University of HCMC

Faculty of Mechanical Engineering

Chapter 2: Planar kinematics of a

rigid-body
Dr. Le. T. P. Nam

IUH-2017

General Plane Motion

• General plane motion is neither a

translation nor a rotation.
• General plane motion can be considered
as the sum of a translation and rotation.
• Displacement of particles A and B to A2
and B2 can be divided into two parts:
- translation to A2 and B’1
- rotation of B’1 about A2 to B2
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Absolute motion analysis

Translation and rotation.
If the body is represented by a thin slab, the slab translates in the plane of
the slab and rotates about an axis perpendicular to this plane. The motion
can be completely specified by knowing both the angular rotation of a
line fixed in the body and the motion of a point on the body. One way to
relate these motions is to use a rectilinear position coordinate s to locate
the point along its path and an angular position coordinate to specify the
orientation of the line. The two coordinates are then related using the
geometry of the problem. By direct application of the time-differential
equations
v = ds/dt, a = dv/dt , ω = dθ/dt, and α = dω/dt.
The motion of the point and the angular motion of the line can then be
related. This procedure is similar to that used to solve dependent motion
problems involving pulleys. In some cases, this same procedure may be
used to relate the motion of one body, undergoing either rotation about a
fixed axis or translation, to that of a connected body undergoing general
plane motion.
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Procedure for Analysis

The velocity and acceleration of a point P undergoing rectilinear motion
can be related to the angular velocity and angular acceleration of a line
contained within a body using the following procedure.
Position Coordinate Equation.
• Locate point P on the body using a position coordinate s, which is
measured from a fixed origin and is directed along the straight-line path of
motion of point P.
• Measure from a fixed reference line the angular position θ of a line lying
in the body.
• From the dimensions of the body, relate s to θ using, s= f(θ) geometry
and/or trigonometry.
Time Derivatives.
• Take the first derivative of s = f(θ) with respect to time to get a relation
between v and ω.
• Take the second time derivative to get a relation between a and α.
• In each case the chain rule of calculus must be used when taking the time
derivatives of the position coordinate equation.
5 IUH - Semester 1 (2017-2018) Dynamics: Dr. L. T. P. Nam

Example 1: The end of rod R shown in Figure maintains contact with the
cam by means of a spring. If the cam rotates about an axis
passing through point O with an angular acceleration
and angular velocity. Determine the velocity and
acceleration of the rod when the cam is in the
arbitrary position θ.
Solution
Position coordinate equation: Coordinates θ and x are chosen in order to
relate the rotational motion of the line segment OA on the cam to the
rectilinear translation of the rod. These coordinates are measured from the
fixed point O and can be related to each other using trigonometry. Since
OC = CB = rcosθ, shown in Figure, then
x = 2rcosθ
Time derivatives, we have
dv dω dθ
dx dθ = −2r *sin θ − 2rω * cosθ
= −2r * sin θ dt dt dt
dt dt
2
v = −2rω sin θ . a = −2r(α sin θ + ω cosθ )
NOTE: The negative signs indicate that v and a are opposite to the
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direction of positive x.
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Example 2: Crank AB rotates with

a constant angular velocity of
5rad/s . Determine the velocity of
block C and the angular velocity of
link BC at the instant θ = 30°.
Solution:

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Absolute and relative velocity in plane motion

The general plane motion of a rigid body
can be described 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. The 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. Position: rA = rB +rB/A
The origin of the coordinate x’, y’, system Velocity: (drA/dt) = (rB/dt)
will be attached to the selected “base + (rB/A/dt)
point” A, which generally has a known vA = vB + vB/A
motion. The axes of this coordinate vB = velocity of point B
system translate with respect to the fixed vA= velocity of the base point A
vB/A = velocity of B with respect
frame but do not rotate with the bar. to A (relative velocity)
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Absolute and relative velocity in plane motion

plane motion

• Any plane motion can be replaced by a

translation of an arbitrary reference point A and a
simultaneous rotation about A.
r r
v B A = ω k × rB A v B A = rω
r
r r
v B = v A + ω k × rB
r r
A
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Absolute and relative velocity in plane motion

• The direction of vB and vB/A are known. Complete the velocity

diagram.
• Assuming that the velocity vA of end A is known, wish to determine
the velocity vB of end B and the angular velocity w in terms of vA, l,
and q. vA v
vB = A = cos θ
= tan θ v B A lω
vA
v
v B = v A tan θ ω= A
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l cosθ
IUH - Semester 1 (2017-2018) Dynamics: Dr. L. T. P. Nam

Absolute and relative velocity in plane motion

• Selecting point B as the reference point and solving for the velocity
vA of end A and the angular velocity ω leads to an equivalent
velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of
the relative velocity is dependent on the choice of reference point.
• Angular velocity w of the rod in its rotation about B is the same as
its rotation about A. Angular velocity is not dependent on the
choice of reference point.
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Procedure for Analysis

The relative velocity equation can be applied either by using
Cartesian vector analysis, or by writing the x and y scalar component
equations directly. For application, it is suggested that the following
procedure be used.
Vector Analysis
Kinematic Diagram.
• Establish the directions of the fixed x, y coordinates and draw a
kinematic diagram of the body. Indicate on it the velocities vA, vB of
points A and B, the angular velocity, ω and the relative position
vector, rB/A.
• If the magnitudes of vA, vB or ω are unknown, the sense of
direction of these vectors can be assumed.
Velocity Equation: • To apply vA = vB + ω* rB/A express the vectors
in Cartesian vector form and substitute them into the equation.
Evaluate the cross product and then equate the respective i and j
components to obtain two scalar equations.
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• If the solution yields a negative answer for an unknown magnitude,

it indicates 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 vB/A must be
established. Draw a kinematic diagram which shows the relative
motion. Since the body is considered to be “pinned” momentarily at
the base point A, the magnitude of vB/A is ω* rB/A . The sense of
direction of vB/A is always perpendicular to rB/A in accordance with the
rotational motion ω of the body.
Velocity Equation.
• Write equation in symbolic form, vA = vB + vB/A and underneath each
of the terms represent the vectors graphically by showing their
magnitudes and directions. The scalar equations are determined from
the x and y components of these vectors.
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Example 3 Solution:
• Will determine the absolute
velocity rof point
r
D with
r
vD = vB + vD B
• The velocity vB is obtained from
the given crank rotation data.
• The directions of the absolute
The crank AB has a constant velocity vD and the relative
clockwise angular velocity of velocity vD/B are determined from
2000 rpm. the problem geometry.
• The unknowns in the vector
For the crank position indicated,
expression are the velocity
determine (a) the angular
magnitudes vD and vD/B which
velocity of the connecting rod
may be determined from the
BD, and (b) the velocity of the
corresponding vector triangle.
piston P.
• The angular velocity of the connecting rod
15 IUH - Semester 1 (2017-2018) is calculated from vD/B Dynamics: Dr. L. T. P. Nam

• Will determine the absolute velocity of point

D with r r r
vD = v B + v D B
• The velocity vB is obtained from the crank
rotation data.
 rev  min  2π rad 
ω AB =  2000    = 209.4 rad s
 min  60 s  rev 
vB = ( AB )ω AB = (3 in.)(209.4 rad s )
The velocity direction is as shown.
• The direction of the absolute velocity vD is
horizontal. The direction of the relative
velocity vD/B is perpendicular to BD.
Compute the angle between the horizontal
and the connecting rod from the law of sine.
sin 40° sin β
= β = 13.95°
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Assumed

r r r
v D = v B + vD B

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Example 4: The bar AB of the linkage

shown in Figure has a clockwise angular
velocity of 30rad/s when θ = 60o .Determine
the angular velocities of member BC and the
wheel at this instant.
a) Solution
Vector analysis

Kinematic Diagram: By inspection, the

velocities of points B and 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 Figure
b) b. To solve, we will write the appropriate
kinematic equation for each member.
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Table

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IUH - Semester 1 (2017-2018)

Example 5: The collar C in Figure a is

moving downward with a velocity of 2m/s.
Determine the angular velocity of CB at this
instant.
Solution : Scalar analysis a)

b)

c)
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Example 6: In the position shown, bar AB has an angular velocity of 4

rad/s clockwise. Determine the angular velocity of bars BD and DE.
Solution

y
x

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Equating components of the two expressions for vD

j: 700 = -275ωDE ωDE = -2.5455 rad/s
i: 200ωBD = -75ωDE ωDB = -0.375ωDE rad/s = 0.9545 rad/s
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, vA = 0 and therefore the
velocity equation, vB = vA + ω* rB/A
becomes vB = ω* rB/A.
For a body having general plane motion, point A so chosen is called
the instantaneous center of zero velocity (IC), and it lies on the
instantaneous axis 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 IC.
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Since point A coincides with the

IC, then vB = ω* rB/IC. and so point
B moves momentarily about the IC
in a circular path; in other words,
the body appears to rotate about the
instantaneous axis. The magnitude
of vB is simply vB = ω* rB/IC where
ω is the angular velocity of the
body. Due to the circular motion,
the direction ω of must always be
perpendicular to rB/IC.
The IC for the bicycle wheel in Figure is at the contact point with the
round. If one imagines that the wheel is momentarily pinned at this
point, the velocities of various points can be found using v = ω* r.
Here the radial distances shown in the photo, Figure, must be
determined from the geometry of the wheel.
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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 vA of a point A on the body and the angular velocity
ω of the body are known, Fig. a. In this case, the IC is located along
the line drawn perpendicular to vA at A, such that the distance from
A to the IC is rA/IC = vA/ω. Note that the IC lies up and to the right
of A since vA must cause a clockwise angular velocity ω about the
IC.

b)

a)

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• The lines of action of two nonparallel velocities vA and vB are

known, Fig. b. Construct at points A and B line segments that are
perpendicular to vA and vB. 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 vA and vB
are known. Here the location of the IC is determined by
proportional triangles. Examples are shown in Fig. c and d. In both
cases rA/IC = vA/ω and rB/IC = vB/ω .If d is a known distance between
points A and B, then in Fig. c, and in Fig. d, rB/IC – rA/IC = d.

b)
d)

c)

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Procedure for Analysis

The velocity of a point on a body which is
subjected to general plane motion can be
determined with reference to its 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
Figure, the body is imagined as “extended and
pinned” at the IC so that, at the instant
considered, it rotates about this pin with its
angular. velocity ω.
• The magnitude of velocity for each of the arbitrary points A, B, and C on
the body can be determined by using the equation v = ωr where r is the
radial distance from the IC 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 sense of direction which tends
to move the point in a manner consistent with the angular rotation ω of the
radial line, as seen in Figure.
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Example 7: Show how to determine the location of the instantaneous

center of zero velocity for (a) member BC shown in Figure a; and (b)
the link CB shown in Figure c.
Solution

Part (a). As shown in Figure a,

point B moves in a circular path
such that is vB perpendicular to
AB. Therefore, it acts at an angle
θ from the horizontal as shown in
Figure b. The motion of point B
causes the piston to move
forward horizontally with a
velocity vC When lines are drawn
perpendicular to vB and vC
Figure b, they intersect at the IC.

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c)
d)

Part (b). Points B and C follow circular paths of motion since links AB
and DC are each subjected to rotation about a fixed axis, Figure c. Since
the velocity is always tangent to the path, at the instant considered, vC on
rod DC and vB on rod AB are both directed vertically downward, along
the axis of link CB, Figure d. Radial lines drawn perpendicular to these
two velocities form parallel lines which intersect at “infinity;” i.e. rC/IC
→ ∞, and rB/IC → ∞ Thus ωCB = vc/rC/IC → ∞, As a result, link CB
momentarily translates. An instant later, however, CB will move to a
tilted position, causing the IC to move to some finite location.

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Example 8: Block D shown in Figure a moves with a speed of 3m/s.

Determine the angular velocities of links BD and AB, at the instant
shown.

b)

a)
Solution: As D moves to the right, it causes AB to rotate clockwise
about point A. Hence, vB is directed perpendicular to AB. The
instantaneous center of zero velocity for BD is located at the
intersection of the line segments drawn perpendicular to vB and vD
Figure b. From the geometry,
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c)

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Absolute and relative acceleration in plane motion

• Absolute acceleration of a particle of the slab,

r r r
aB = a A + aB A
• Relative acceleration aB/A associated with rotation about A includes
tangential and normal components,

(ar B A )t = α k × rrB A (a B A )t = r α
r

(ar B A )n = −ω 2 rrB A (a B A )n = rω 2
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aB = aA + α*rB/A - ω2rB/A
aB : acceleration of point B
aA: acceleration of the base point A
α: angular acceleration of the body
ω : angular velocity of the body
rB/A: position vector directed from
If two bodies contact one another without
slipping, and the points in contact move
along different paths, then the tangential
components of acceleration of the points will
be the same; however, the normal
components will generally not be the same.
For example, consider the two meshed gears in Fig. a. Point A is located
on gear B and a coincident point A’ is located on gear C. Due to the
rotational motion, (aA)t = (aA’)t; however, since both points follow
different circular paths, (aA)n ≠ (aA’)n and therefore aA ≠ aA’, Fig. b.
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Procedure for Analysis

The relative acceleration equation can be applied between any two
points A and B on a body either by using a Cartesian vector analysis,
or by writing the x and y scalar component equations directly.
Velocity Analysis.
• Determine the angular velocity ω of the body by using a velocity
analysis. Also, determine the velocities vA and vB of points A and B if
these points move along curved paths.
Vector Analysis: Kinematic Diagram.
• Establish the directions of the fixed x, y coordinates and draw the
kinematic diagram of the body. Indicate on it aA, aB, ω, α and rB/A.
• If points A and B move along curved paths, then their accelerations
should be indicated in terms of their tangential and normal
components, i.e., aA = (aA)t + (aA)n and aB = (aB)t + (aB)n
Acceleration Equation.
• To apply aB = aA + α*rB/A - ω2rB/A, express the vectors in Cartesian

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vector form and substitute them into the equation. Evaluate the cross
product and then equate the respective i and j components to obtain two
scalar equations.
• If the solution yields a negative answer for an unknown magnitude, it
indicates that the sense of direction of the vector is opposite to that shown
on the kinematic diagram.
Scalar Analysis: Kinematic Diagram.
• If the acceleration equation is applied in scalar form, then the magnitudes
and directions of the relative-acceleration components (aB/A)t and (aB/A)n
must be established. To do this draw a kinematic diagram. Since the body
is considered to be momentarily “pinned” at the base point A, the
magnitudes of these components are (aB/A)t = αrB/A and (aB/A)n = ω2rB/A.
Their sense of direction is established from the diagram such that (aB/A)t
acts perpendicular to rB/A in accordance with the rotational motion α of the
body, and (aB/A)n is directed from B towards A.
Acceleration Equation: Represent the vectors in aB = aA + (aB/A)t + (aB/A)n,
graphically by showing their magnitudes and directions underneath each
term. The scalar equations are determined from the x and y components of
these vectors.
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Absolute and relative acceleration in plane motion

• Given a A and v A ,
r r
determine a B and α .
r r
r r r
aB = a A + aB A
= a A + (a B A ) + (a B A )
r r r
n t

• Vector result depends on sense of aA and

the relative magnitudes of a A and (a B A )n
• Must also know angular velocity w.
35 IUH - Semester 1 (2017-2018) Dynamics: Dr. L. T. P. Nam

Absolute and relative acceleration in plane motion

• Write a B = a A + a B in terms of the two component equations,

r r r
A
+
→ x components: 0 = a A + lω 2 sin θ − lα cos θ

+ ↑ y components: − aB = −lω 2 cosθ − lα sinθ

• Solve for aB and a.
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Analysis of plane motion in terms of a parameter

• In some cases, it is advantageous to
determine the absolute velocity and
acceleration of a mechanism directly.

xA = l sinθ yB = l cosθ
v A = x& A v B = y& B
= l θ& cos θ = − l θ& sin θ
= l ω cos θ = − l ω sin θ
a A = &x&A a B = &y&B
= −lθ& 2 sin θ + lθ&& cosθ = −lθ& 2 cos θ − lθ&&sin θ
= −lω 2 sin θ + lα cosθ = −lω 2 cos θ − lα sin θ
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Example 9: The rod AB shown in

Figure is confined to move along the
inclined planes at A and B. If point A has
an acceleration of 3m/s2 and a velocity
of 2m/s , both directed down the plane at
the instant the rod is horizontal,
determine the angular acceleration of the
rod at this instant.

Solution (scalar analysis)

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Example 10: Solution: The angular

acceleration of the connecting
rod BD and the acceleration of
point D will be determined from
aD = aB + aD B = aB + (aD B ) + (aD B )
r r r r r r
t n
• The acceleration of B is
determined from the given
rotation speed of AB.
Crank AG of the engine system
• The directions of the accelerations
has a constant clockwise
angular velocity of 2000 rpm.
r
(
aD , aD
r
)
B t, (
and a D
r
)
B n

For the crank position shown, are determined from the geometry.
determine the angular • Component equations for
acceleration of the connecting acceleration of point D are solved
rod BD and the acceleration of simultaneously for acceleration of
point D. D and angular acceleration of the
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connecting rod.
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Assumed

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Example 11:
Solution:
• The angular velocities are
determined by simultaneously
solving the component equations
for
r r r
vD = vB + vD B

• The angular accelerations are

determined by simultaneously
In the position shown, crank AB
solving the component equations
has a constant angular velocity ω1
for
= 20 rad/s counterclockwise. r r r
aD = aB + aD B
Determine the angular velocities
and angular accelerations of the
connecting rod BD and crank DE.
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Assumed ωDB and ωDE : CCW

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Assumed αDB and αDE

: CCW

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Rate of change with respect to a rotating frame

• With respect to the rotating Oxyz frame,
r r r r
Q = Qxi + Q y j + Qzk
r r r r
()
Q& Oxyz = Q& x i + Q& y j + Q& z k
• With respect to the fixed OXYZ frame,
r r
(Qr& )
OXYZ
r r r r
= Q& x i + Q& y j + Q& z k + Q x i& + Q y &j + Q z k&
r r r r&
• Frame OXYZ is fixed.
()
• Q& x i + Q& y j + Q& z k = Q Oxyz = rate of
change with respect to rotating frame.
• Frame Oxyz rotates r
about fixed axis OA
• If Q were fixed within Oxyz then Q& OXYZ ()
is equivalent to velocity of a point in a
with angular velocity Ω
rigid body attached to Oxyz and
• Vector function Q(t) r r r r r
Q x i& + Q y &j + Q z k& = Ω × Q
varies in direction and
magnitude. •r With respect r
to the fixed
r r
OXYZ frame,
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(Q& ) OXYZ ()
= Q& Oxyz + Ω×Q
Dynamics: Dr. L. T. P. Nam

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Coriolis acceleration
• Frame OXY is fixed and frame Oxy rotates with
angular velocity Ω
• Position vector rP for the particle P is the same in
both frames but the rate of change depends on the
choice of frame.
• The absolute velocity of the particle P is
r r r r
v P = (r& )OXY = Ω × r + (r& )Oxy
• Imagine a rigid slab attached to the rotating
frame Oxy or F for short. Let P’ be a point on
the slab which corresponds instantaneously to
position of particle P.
r r
v P F = (r& )Oxy = velocity of P along its path on the slab
v P ' = absolute velocity of point P’ on the slab
r

• Absolute velocity
r for
r the particle
r P may be written as
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v P = v P′ + v P F Dynamics: Dr. L. T. P. Nam

Coriolis acceleration
• Absolute acceleration for the particle P is
r r& r r r d r
aP = Ω × r + Ω × (r& )OXY + (r& )Oxy
dt
[ ]
r r r r
but, (r& )OXY = Ω × r + (r& )Oxy
d r& r
(r )Oxy = (&rr&)Oxy + Ω × (rr& )Oxy
[ ]
r r r r& dtr r r r r r r
r
v P = Ω × r + (r& )Oxy a P = Ω × r + Ω × (Ω × r ) + 2Ω × (r& )Oxy + (&r&)Oxy
r r
= v P′ + v P F • Utilizing the conceptual point P’ on the slab,
r r& r r r r
a P ′ = Ω × r + Ω × (Ω × r )
r r
a P F = (r&& )Oxy
• Absolute
r r acceleration
r r for
r the particle P becomes
a P = a P ′ + a P F + 2 Ω × (r& )Oxy
r r r
= a P′ + a P F + ac
r r r r v
48
a c = 2 Ω × (r& )Oxy = 2 Ω × v P F = Coriolis acceleration
IUH - Semester 1 (2017-2018) Dynamics: Dr. L. T. P. Nam

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Coriolis acceleration
• Consider a collar P which is made to slide at
constant relative velocity u along rod OB. The
rod is rotating at a constant angular velocity ω.
The point A on the rod corresponds to the
instantaneous position of P.
• Absolute acceleration of the collar is
r r r r
a P = a A + a P F + ac As ω is constant so
normal acceleration only
where
r r& r r r r
aA =Ω×r +Ω×(Ω×r) aA = rω2
r r
a P F = (&r&)Oxy = 0 As u is constant
r r
ac = 2Ω × v P F ac = 2ω u
r
• The absolute acceleration consists Direction: Perpendicular to u
of the radial and tangential vectors shown Sense: Rotating u 90 in
o

49 direction of ω.
IUH - Semester 1 (2017-2018) Dynamics: Dr. L. T. P. Nam

Coriolis acceleration
• Change in velocity over Δt is represented by
the sum of three vectors
∆ v = R R ′ + T T ′′ + T ′′T ′
r
• T T ′′is due to change in direction of the velocity
of point A on the rod,
T T ′′ ∆θ
lim = lim v A = r ωω = r ω 2 = a A
∆t → 0 ∆ t ∆t → 0 ∆t
r r& r r r r
Recall, a A = Ω × r + Ω × (Ω × r ) a A = rω 2
v = v A + u • R R ′ and T ′′T ′ result from combined effects
r r r
at t ,
at t + ∆t , v ′ = v A′ + u ′ of relative motion of P and rotation of the rod
r r r

 R R ′ T ′′T ′ 
 = lim  u
∆θ ∆r 
lim  + +ω 
∆ t → 0 ∆ t ∆ t  ∆ t → 0 ∆ t ∆t 
= u ω + ω u = 2ω u
r
Recall a c = 2 Ω × v P a c = 2ω u
r r
50 F
IUH - Semester 1 (2017-2018) Dynamics: Dr. L. T. P. Nam
,

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Problems
1. At the instant shown, the disk is rotating with an angular velocity
of ω and has an angular acceleration of α. Determine the velocity
and acceleration of cylinder B at this instant. Neglect the size of the
pulley at C.
Ans: 15ω sin θ
vB =
(34 − 30cosθ )
15(ω 2 cosθ + α sin θ ) 225ω 2 sin 2 θ
aB = −
34 − 30cosθ (34 − 30cosθ )3

2. If link AB is rotating at ωAB= 6 rad/s

determine the angular velocities of links
BC and CD at the instant θ = 60°.
Ans:
ωBC= 5.77 rad/s
ωCD= 2.17 rad/s
51
IUH - Semester 1 (2017-2018) Dynamics: Dr. L. T. P. Nam

3. If link CD has an angular velocity of ωCD = 6 rad/s , determine

the velocity of point E on link BC and the angular velocity of link
AB at the instant shown.

Ans:
vE = 4.76 m/s
ωAB = 6 rad/s.

4. If bar AB has an angular velocity

ωAB = 4 rad/s, determine the
velocity of the slider block C at the
instant shown.
Ans:
vC = 1.04 m/s

52
IUH - Semester 1 (2017-2018) Dynamics: Dr. L. T. P. Nam

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5. Bar AB rotates uniformly about the

fixed pin A with a constant angular
velocity ω . Determine the velocity and
acceleration of block C, at the instant
θ = 60°.
Ans:
vC = Lω.
aC = -0.577Lω2.

6. If the block at C is moving

downward at 4 ft/s, determine the
angular velocity of bar AB at the
instant shown.

Ans: ωAB = 2 rad/s.

53
IUH - Semester 1 (2017-2018) Dynamics: Dr. L. T. P. Nam

7. If the angular velocity of link AB is ωAB = 3

rad/s, determine the velocity of the block at C
and the angular velocity of the connecting link
CB at the instant θ = 45o and ϕ = 30o.
Ans:
ωCB = 2.45 rad/s.
vC = 2.2ft/s.

8. If link CD has an angular velocity

of ωCD = 6rad/s, determine the
velocity of point B on link BC and
the angular velocity of link AB at
the instant shown.
Ans:
vB = 7.2m/s
ωAB = 6 rad/s.
54 IUH - Semester 1 (2017-2018) Dynamics: Dr. L. T. P. Nam

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9. If rod AB is rotating with an

angular velocity ωAB = 3 rad/s,
determine the angular velocity of rod
BC at the instant shown.
Ans:
ωBC = 1.98 rad/s

10. Crank AB is rotating with an angular

velocity of ωAB = 5 rad/s2 and an angular
acceleration of αAB = 6 rad/s2. Determine
the angular acceleration of BC and the
acceleration of the slider block C at the
instant shown.
Ans:
aC = 3.82 m/s2.
αBC = 9.6 rad/s2.
55 IUH - Semester 1 (2017-2018) Dynamics: Dr. L. T. P. Nam

11. Crank AB rotates with the angular

velocity and angular acceleration
shown. Determine the acceleration of
the slider block C at the instant
shown.
Ans:
aC = 10.3 m/s2.

12. Knowing that at the instant

shown bar AB has a constant angular
velocity of 4 rad/s clockwise,
determine the angular acceleration (a)
of bar BD, (b) of bar DE.
Ans:
αBD = 4.18 rad/s2.
αDE = 2.43 rad/s2.
56
IUH - Semester 1 (2017-2018) Dynamics: Dr. L. T. P. Nam

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