Dr.

Lonny Thompson

Example of use of Kinetics with Kinematics

Problem of Finite Size and Shape
Use Free-Body Diagram equals Kinetic Diagram (FBD = KD)
A prototype rotating bicycle rack is de- 6 ft
PROBLE
signed to save space at a train station.
The combined weight of platform BD A prototy
and the bicycle is 40 lbs and is cen- train stat
tered at 1 ft. above the midpoint of the bicycle is
platform. The motor at A causes the
B
D platform.
support beam AB to have an angular angular v
velocity of 10 rpm and zero angular ac- 5 ft 60°. At t
5 ft
celeration at θ = 60◦ . At this instant, forces exe
M
determine the vertical components of
θ E
the forces exerted on platform BD by A

the pins at B and D.

Clemson University

SOLUTION

40 lbs
m=
32.2 ft/s
æ 2p
w AB = 10 çç
çè 60
a AB = 0, q =
Given:

Free Body Diagram:

Kinematics: a = rB / Aw2AB
a =-a sin3

Kinetics: åM B = IG α AB + rG / B ´ ma

(-3mg + 6 Dy ) k = m (3i + j)´(-a sin

-3mg + 6 Dy = (-3cos30 + sin 30 ) m
Dr. Lonny Thompson, Clemson University, Sept 2018 m 1 of 10
Dy = éë(-3cos30 + sin 30 ) a + 3gùû
6
 Dr. Lonny Thompson

6 ft
PROBLEM 16.18

A prototype rotating bicycle rack

train station. The combined we
bicycle is 40 lbs and is centered a
B
D platform. The motor at A causes
angular velocity of 10 rpm and z
5 ft 60°. At this instant, determine
5 ft
forces exerted on platform BD by
M
θ E
A

6 ft
PROBLEM 16.18
SOLUTION
Clemson University

A prototype rotating bicycle rack

40 lbs
m =train station. The combined
= 1.2422 slugs we
240 lbs and is centered a
bicycle is
32.2 ft/s
D æ 2pThe
platform. ÷÷ö = 1.0472
motor at A causes
B
= 10 çç velocity
w ABangular of 10rad/s
çè 60 ÷÷ø rpm and z
5 ft 60°. At this instant, determine
5 ft a AB = 0, q = 60 , rB / A = 5 ft
Given: forces exerted on platform BD by
M
θ
A
Free Body Diagram: E

6 ft
PROBLEM 16.18
SOLUTION
A prototype rotating bicycle rack
40 lbs
m =train station. The combined
= 1.2422 slugs we
240 lbs and is centered a
bicycle is
32.2 ft/s
D æ 2pThe
platform. ÷÷ö = 1.0472
motor at A causes
B
= 10 çç velocity
w ABangular of 10rad/s
çè260 ÷÷ø rpm and z
Kinematics:
5 ft a =60°. = 5.483determine
wABthis ainstant,
rB / AAt ft/s
5 ft a AB = 0, q = 60 , rB / A = 5 ft
Given: forces
a =- exerted
a sin30 i - on
a cos30 j BD by
platform
M
θ
A
Free Body Diagram: E
Kinetics: å B = IG α AB + rG / B ´ ma
M
å
(-3mg + 6 Dy ) k = m (3i + j)´(-a sin 30 i - a cos30 j) B

SOLUTION -3mg + 6 Dy = (-3cos30 + sin 30 ) ma B

mé
y = 2018
Lonny Thompson, Clemson University,DSept ë(-3cos30 + sin 30 ) a + 3gùû 2 of 10
Dr.
6 40 lbs
m= = 1.2422 slugs
32.2 ft/s2
 Dr. Lonny Thompson

6 ft
PROBLEM 16.18

A prototype rotating bicycle rack

train station. The combined we
bicycle is 40 lbs and is centered a
B
D platform. The motor at A causes
angular velocity of 10 rpm and z
5 ft 60°. At this instant, determine
5 ft
forces exerted on platform BD by
M
θ E
A

6 ft
PROBLEM 16.18
SOLUTION
Clemson University

A prototype rotating bicycle rack

40 lbs
m =train station. The combined
= 1.2422 slugs we
240 lbs and is centered a
bicycle is
32.2 ft/s
D æ 2pThe
platform. ÷÷ö = 1.0472
motor at A causes
B
= 10 çç velocity
w ABangular of 10rad/s
çè 60 ÷÷ø rpm and z
5 ft 60°. At this instant, determine
5 ft a AB = 0, q = 60 , rB / A = 5 ft
Given: forces exerted on platform BD by
M
θ
A
Free Body Diagram: E

6 ft
PROBLEM 16.18
SOLUTION
A prototype rotating bicycle rack
40 lbs
m =train station. The combined
= 1.2422 slugs we
240 lbs and is centered a
bicycle is
32.2 ft/s
D æ 2pThe
platform. ÷÷ö = 1.0472
motor at A causes
B
= 10 çç velocity
w ABangular of 10rad/s
çè260 ÷÷ø rpm and z
Kinematics:
5 ft a =60°. = 5.483determine
wABthis ainstant,
rB / AAt ft/s
5 ft a AB = 0, q = 60 , rB / A = 5 ft
Given: forces
a =- exerted
a sin30 i - on
a cos30 j BD by
platform
M
θ
A
Free Body Diagram: E
Kinetics: å B = IG α AB + rG / B ´ ma
M
å
(-3mg + 6 Dy ) k = m (3i + j)´(-a sin 30 i - a cos30 j) B

SOLUTION -3mg + 6 Dy = (-3cos30 + sin 30 ) ma B

mé
y = 2018
Lonny Thompson, Clemson University,DSept ë(-3cos30 + sin 30 ) a + 3gùû 3 of 10
Dr.
6 40 lbs
m= = 1.2422 slugs
32.2 ft/s2
 Dr. Lonny Thompson

6 ft
PROBLEM 16.18

A prototype rotating bicycle rack

train station. The combined we
bicycle is 40 lbs and is centered a
B
D platform. The motor at A causes
angular velocity of 10 rpm and z
5 ft 60°. At this instant, determine
Clemson University

5 ft
forces exerted on platform BD by
M
θ E
A

6 ft
PROBLEM 16.18
SOLUTION
A prototype rotating bicycle rack
40 lbs
m =train station.2
The combined
= 1.2422 slugs we
bicycle is 40 lbs and is centered a
32.2 ft/s
D æ
platform. ÷÷ö = 1.0472
2pThe motor at A causes
B
= 10 çç velocity
w ABangular ÷ of 10rad/s
rpm and z
çè 60 ÷ø
5 ft 60°. At this instant, determine
5 ft a AB = 0, q = 60 , rB / A = 5 ft
Given: forces exerted on platform BD by
M
θ
A
Free Body Diagram: E

SOLUTION

40 lbs
m= = 1.2422 slugs
32.2 ft/s2
æ 2p ö
w AB = 10 çç ÷÷÷ = 1.0472 rad/s
ç 60 ÷ø
Kinematics: a = rB / Awè2AB a = 5.483 ft/s
a AB = 0, q = 60 , rB / A = 5 ft
Given: a =-a sin30 i - a cos30 j
Dr. Lonny Thompson, Clemson University, Sept 2018 4 of 10
Free Body Diagram:
Kinetics: å MB = IG α AB + rG / B ´ ma å
 Dr. Lonny Thompson

Kinematics

6 ft
PROBLEM 16.18

A prototype rotating bicyc

train station. The combin
G 1ft bicycle is 40 lbs and is cen
D platform. The motor at A c
B 3ft 3ft
angular velocity of 10 rpm
5 ft 60°. At this instant, deter
5 ft
forces exerted on platform
M
θ E
A

SOLUTION
Clemson University

Figure 1: Data: rAB = 5 ft, θ = 60◦ , θ̇ = ωAB = 10(2π/60) = 1.0472 rad/s, 40

θ̈ =lbs
ω̇ =
αAB = 0. For circular motion, ṙ = 0, r̈ = 0. m= = 1.2422 slugs
32.2 ft/s2
æ 2p ö
w AB = 10 çç ÷÷÷ = 1.0472 rad/s
Horizontal Platform Constrained to Translate along a circular path:
Points B and D move along a circular path around fixed pivots A and E. çèAs 60a÷ø
result, platform BD remains horizontal and is constrained to translate with no
a AB = 0, q = 60 , rB / A = 5 ft
Given:
rotation along a circular path, and all points on the horizontal platform and bicycle
have the same velocity and acceleration.
Free Body
In a counter-clockwise Diagram:
circular motion, the tangent and transverse directions
are the same, while the normal and radial directions are aligned but in opposite
directions. The normal is inward to the path, while the radial is outward from the
origin of the circle.
The angular speed of beam AB (and ED) in rad/sec is,
  
 rev  2π rad min
ωAB = θ̇ = 10 = π/3 rad/s = 1.0472 rad/s
min rev 60sec
The tangent velocity is
v = rAB θ̇ = rAB ωAB = (5 ft)(π/3 rad/sec) = (5π/3) ft/sec = 5.236 ft/sec
2
At this position, theKinematics: a=
velocity is constant, so the tangent acceleration B / AwAB
is rzero, a = 5.483 ft/s
at = v̇ = rAB θ̈ = rAB αAB = 0 a =-a sin30 i - a cos30 j
The only remaining acceleration is in the normal direction,
v2
Kinetics: åM B = IG α AB + rG / B ´ ma
an = = rAB (ωAB )2 = (5 ft)(π/3 rad/sec)2 = 5.4831 ft/sec2
rAB ( )
-3mg + 6 Dy k = m (3i + j)´(-a sin 30 i - a cos30 j)
-3mg
Dr. Lonny Thompson, Clemson University, Sept 2018+ 6 Dy = (-3cos30 + sin 305 of
) ma
10

mé ù
 Dr. Lonny Thompson

Since the horizontal platform BD and bicycle are translating only (not rotating),
The velocity and acceleration at the center of gravity (CG) are the same as those
at B.

~a = rAB (ωAB )2 ûn = 5(π/3)2 (− cos θ ı̂−sin θ ̂) = ax ı̂+ay ̂ = −2.7416 ı̂−4.7485 ̂

The horizontal and vertical components of acceleration at the mass center G are

ax = 5(π/3)2 cos θ = 2.7416 ←, ay = 5(π/3)2 sin θ = 4.7485 ↓

6 ft
PROBLEM 16.18

A prototype rotating bicycle rack

train station. The combined we
G 1ft bicycle is 40 lbs and is centered a
D platform. The motor at A causes
B B 3ft 3ft
angular velocity of 10 rpm and z
5 ft 60°. At this instant, determine
Clemson University

5 ft
forces exerted on platform BD by
M
θ E
A
A

SOLUTION

40 lbs
m= = 1.2422 slugs
32.2 ft/s2
æ 2p ö
w AB = 10 çç ÷÷÷ = 1.0472 rad/s
çè 60 ÷ø
a AB = 0, q = 60 , rB / A = 5 ft
Given:

Free Body Diagram:

Kinematics: a = rB / Aw2AB a = 5.483 ft/s

a =-a sin30 i - a cos30 j
Dr. Lonny Thompson, Clemson University, Sept 2018 6 of 10

Kinetics: åM B = IG α AB + rG / B ´ ma
å
 Dr. Lonny Thompson

Kinetics: Free-Body Diagram = Kinetic Diagram

(FBD = KD)

6 ft
PROBLEM 16.18
6 ft
PRO

A prototype rotating bicycle rack is designedA pro

train station. The combined weight oftrain platf
G 1ft bicycle is 40 lbs and
G is centered 1ftat 1 ft. above
bicyct
Bx
D platform. The motor at A causes the support
D be
platfo
B 3ft 3ft Dx B B 3ft 3ft
angular velocity of 10 rpm and zero angular angula
5 ft 5 ft 60°. At this instant, determine the vertical 60°. cA
By Dy
5 ft 5 ft
forces exerted on platform BD by the pinsforces
at B
M M
θ E θ E
A A
A

Figure 2: FBD = KD for platform BD and bicycle. Weight W = 40 lb applied at CG.

m = 40 lb/32.2 ft/s2 = 1.2422 slugs
Clemson University

SOLUTION SOLUTION
At the pin joints B and D, we assume horizontal and vertical reactions.
40 lbs
Since the body is in pure translational acceleration ~a, with no rotation α = 0, 40
m = the sum 2of=
the problem is not static, and the only point where 1.2422 isslugs
moments equal to m=
zero at the CG of the body, 32.2 ft/s 32.2
æ 2p ÷ö
w = 10 çç ÷ = 1.0472 rad/s w AB = 10
çè 60 ÷÷ø
X
+→ Fx = (Bx + Dx ) = max AB

a AB = 0, q = 60 , rB / A = 5 ft a AB = 0,
X
Given:+ ↑X Fy = By − W + Dy = may Given:
y

+ MG = IG α = 0;
Free Body Diagram:
= (B + D
Free Body Diagram:
ft) + Dy (3 ft) − By (3 ft) = 0
x x )(1

Note the couple from the motor on support beam AB is not included since this
beam is not part of the FBD of BD and bicycle considered here.
Substituting known values, we can identify 3 unknowns with 3 equations. The
unknowns are the vertical reaction forces, (By , Dy ) and the sum (Bx + Dx ):
X
+→ Fx = (Bx + Dx ) = −(40/32.2)(5(π/3)2 cos 60◦ )
X
+↑ Fy = By − 40 lb + Dy = −(40/32.2)(5(π/3)2 sin 60◦ )
X
MG = IG α = 0; (Bx + Dx )(1 ft) + Dy (3 2ft) − By (3 ft) = 0
y

+
Kinematics: a = rB / AwAB
Kinematics: a = 5.483 ft/s a = rB / A
Solve for a =-a sin30 i - a cos30 j a =-a s

Kinetics: å ↑,B =DIyG=α17.62

By = 16.48 lb M
AB + rG / BKinetics: å MB =lb IG α AB +å
lb ↑, ´ ma(Bx + Dx ) = −3.406 rG / FB y´=mma
a y

(-3mg + 6 Dy ) k = m (3i + j)´(-a sin 30 (i--3amgcos30

+ 6 Djy)) k = mB(y3+ ´(mg
i +Djy)- -a
Dr. Lonny Thompson, Clemson University, Sept 2018 7 of 10
( gsin
B y = m+
-3mg + 6 Dy = (-3cos30 + sin 30 ) ma -3mg + 6 Dy = (-3cos30 c
- a30
 Dr. Lonny Thompson

Using the FBD = KD for the platform BD and bicycle, we can solve for the two
vertical reactions at B and D, but we can only determine the relation between Bx
and Dx . To solve for Bx and Dx individually, we would need to consider the FBD
= KD for separated support beams AB and DE or one beam and the FBD = KD
for the system assembly.

A Better Solution

6 ft
PROBLEM 16.18
6 ft
PRO

A prototype rotating bicycle rack is designedA pro

train station. The combined weight oftrain platf
G 1ft bicycle is 40 lbs
✓ and
G is centered 1ftat 1 ft. above
bicyct
platform. The motor at A causes the support be
platfo
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✓ angular velocity of 10 rpm and zero angular
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5 ft D 5 ft 60°. At this instant, determine the vertical 60°. cA

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By
5 ft 5 ft
forces exerted on platform BD by the pinsforces
at B
Clemson University

M M
✓
θ
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A E A E
A

Figure 3: FBD = KD for platform BD and bicycle; recognizing with no mass, ED as a

two-force member with known force direction aligned between ED.
SOLUTION SOLUTION
If support beam DE is separated, and the mass of this beam is neglected (IG = 0)
40 lbsonly at ends, the sum of
for the beam, compared to other loading, since pin forces 40
m = gives that
moments about G for this beam (or another point), = 1.2422 slugs
2 the reactions at pins
m=
32.2 ft/s
E and D are aligned between ED and can be recognized as a ’two-force’ member.
32.2
æ 2p ÷ö
10 çç on
÷÷÷ø = 1.0472
Note the couple with moment M appliedwto the = motor beam ABrad/s
prevents w AB = 10
AB
AB from being a two-force member, and the end reaction çè 60
forces will not be aligned
between AB. a AB = 0, q = 60 , rB / A = 5 ft a AB = 0,
Given: Given:
Using the information that DE is a two-force member when its mass is neglected
constrains the reaction at D on the FBD for BD and bicycle to be aligned with the
Free
known Body Diagram:
direction, Free
giving only the magnitude Body Diagram:
as unknown; Dx = D cos θ; Dy =
D sin θ:

D = Dy / sin θ = 17.62/ sin 60◦ = 20.34 lb,

Dx = D cos θ = (20.34) cos 60◦ = 10.17 lb,
Bx = −3.406 − Dx = −13.58 lb

Using the known direction at D, the unknowns are the vertical reaction forces,

2
Kinematics: a = rB / AwAB
Kinematics: a = 5.483 ft/s a = rB / A
Dr. Lonny Thompson, Clemson University, Sept 2018 8 of 10
a =-a sin30 i - a cos30 j a =-a s
 Dr. Lonny Thompson

(Bx , By ) and magnitude D:

X
+→ Fx = Bx + D cos 60◦ = −(40/32.2)(5(π/3)2 cos 60◦ )
X
+↑ Fy = By − 40 lb + D sin 60◦ = −(40/32.2)(5(π/3)2 sin 60◦ )
X
MG = IG α = 0; (Bx + D cos 60◦ )(1 ft) + D sin 60◦ (3 ft) − By (3 ft) = 0
y
+

Solve for

Bx = −13.58 = 13.58 lb ←, By = 16.48 lb ↑, D = 20.34 lb ∠60◦

then Dy = D sin θ = (20.34) sin 60◦ = 17.62 lb.

Since the accelerations are known on the KD, unknowns could be solved by
summing moments about another point of convenience, such as point B, where the
moments of unknown reactions Bx , By , Dx have lines of action through this point
(perpendicular distance zero), and do not contribute; however, the sum of moments
about point B is not zero, even with α = 0. Using this option, the moment of m~a
about this point would need to be included.
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X
MB k̂ = IG α k̂ + ~rG/B × (m~a)
y

with α = 0,
X
MB k̂ = 0 + (3 ı̂ + 1 ̂) × (max ı̂ + may ̂)
y

Dy (6 ft) − W (3 ft) = −(max )(1 ft) + (may )(3 ft)

Dy (6 ft) − W (3 ft) = ((40/32.2)(2.7416))(1 ft) − ((40/32.2)(4.7485))(3 ft)
Solve for Dy = 17.618 lb.

Dr. Lonny Thompson, Clemson University, Sept 2018 9 of 10

 Dr. Lonny Thompson

Appendix
Kinematics of Members using Position Vector Constraint Equation and
Taking Time Derivatives to obtain Angular Speed and Acceleration
Kinematic Constraints
Consider the constrained relation between the position vectors of the linkage.
~rB/A + ~rD/B = ~rE/A + ~rD/E
From geometric constraints (parallelogram) for links,
rAB = rDE = r, rBD = rAE = `
rûr (t) + ` ı̂ = ` ı̂ + rûr (t)
where ûr and ı̂ are the unit vectors in the radial and horizontal directions, respec-
tively.
Taking the time derivative gives a velocity vector constraint equation
rωAB ûθ = rωDE ûθ , → ωAB = ωDE
and since ~rD/B = ` ı̂ is constant, gives ωDB = 0 and αDB = ω̇DB = 0. This shows
Clemson University

that member DB translates only with no rotation, and members AB and DE rotate
at the same speed.
Taking a second derivative gives the acceleration vector constraint equation
2 2
rαAB ûθ − rωAB ûr = rαDE ûθ − rωDE ûr
Equating gives αAB = αDE , showing that the angular acceleration of AB and DE
are the same.
Alternatively, using velocity vector constraint equation directly as,
~vB/A + ~vD/B = ~vD/E

(ωAB k̂) × (rûr ) + (ωDB k̂) × (` ı̂) = (ωDE k̂) × (rûr )

rωAB ûθ + ωDB ` ̂ = rωDE ûθ
Equating shows the angular speeds of AB and DE are the same, and member DB
does not rotate:
ωAB = ωDE , ωDB = 0
Taking a second derivative (and using ωDB = αDB = 0, ~aD/B = 0) gives the
acceleration vector constraint equation,
~aB/A = ~aD/E
2 2
(αAB k̂) × (rûr ) − rωAB ûr = (αDE k̂) × (rûr ) − rωDE ûr
2
rαAB ûθ − rωAB ûr = rαDE ûθ − rω 2 ûr
Equating shows that AB and DE rotate at the same angular acceleration,
αAB = αDE .

Dr. Lonny Thompson, Clemson University, Sept 2018 10 of 10