Example 1: The motion of disk rotating in an oil bath is defined by relation θ = θo (1- e-( t / 3) ),

where θ is expressed in radians and t in sec, knowing that θo = 1.2 rad, Determine the angular
coordinate, velocity and acceleration of the disk when t = 0
Solution: Given that θ = θo (1- e-( t / 3) )
Angular coordinate at t = 0, θ = θo = 1.2 rad
𝑑𝜃 𝑑
Angular velocity, 𝜔 = = 1.2 𝑑𝑡(1- e-( t / 3) )
𝑑𝑡
𝑑(1) 𝑑
= 1.2 { } – 1.2𝑑𝑡 e-( t / 3)
𝑑𝑡
3(1)−0
= 0 – 1.2 e-( t / 3) × -{ }
32
−3 3
= -1.2 e-( t / 3) ×{ 9 } = 1.2 × 9 e-( t / 3) = 0.4 e-( t / 3)
𝑑𝜔 d
Angular acceleration, 𝛼 = 𝑑𝑡 = dt (0.4 e-( t / 3) )
𝑑 3(1)−𝑡(0)
= 0.4 𝑑𝑡 e-( t / 3) = 0.4 [e-( t / 3) × (−1){ }]
32
−3
=0.4 e-( t / 3) × ( 9 ) = - 0.133 e-( t / 3)
𝒓𝒂𝒅
At t = 0, 𝜔 = 0.4e - 0 / 3 = 0.4 Ans.
𝒔
𝒓𝒂𝒅
α = - 0.133e0 / 3 = - 0.133 Ans.
𝒔𝟐

Example 2.: The bent rod ABCD rotates about a line joining points A and D with a constant
angular velocity of 75 rad/s, at the instant considered if the velocity of corner C is upward,
Determine the velocity and acceleration of corner B.

3D view
B
A D x
O

120 mm
200 mm
C
z

Fig. 1

Solution: The angular velocity 𝜔 of the bent rod ABCD = 75 rad/s, at instant shown in fig. 1,
velocity of C is upward. Therefore, axis of rotation = ⃗⃗⃗⃗⃗
𝐷𝐴
angular velocity of the rod ABCD
 𝜔
⃗ = 𝜔 (𝜆DA )
75
= ⃗)
( - 0.2𝑖 + 0.12𝑗 + 0.09𝑘
0.25
⃗ ) 𝒓𝒂𝒅
( −15𝑖⃗ + 9𝑗 + 6.75𝑘
=
0.25 𝒔

⃗ rad/s
= - 60𝑖 + 36𝑗 + 27𝑘
Velocity of point B,
𝑣𝐵 = 𝜔
⃗ × 𝑟𝐵 ; since 𝑟𝐵 = 0.2 𝑖
⃗ m/s Ans.
⃗ ) × 0.2𝑖 = 5.4𝒋 – 7.2𝒌
= (-60𝑖 + 36𝑗 + 27𝑘
Absolute acceleration of point B,
𝑎𝐵 = 𝑎 t + 𝑎 n = 𝜔
⃗ × 𝑣; Since, 𝑎t = 0 (constant angular velocity)

𝑖 𝑗 ⃗𝑘
𝑎𝐵 = | −60 36 27 |
0 5.4 −7.2
⃗ Ans.
On solving the matrix, we obtain 𝑎𝐵 = - 405𝒊 – 432𝒋 – 324𝒌

Example 3: A circular plate of 150 mm radius is supported by two bearings A and B as

shown in Fig. 2. The plate rotates about the rod joining A and B with a constant angular
velocity of 26 rad/s. If at instant considered, the velocity of point C is directed to the right,
determine the velocity and acceleration of point E.

y B

225 mm

100 mm D

z E
150 mm
x

Fig. 2
Solution: The plate rotates about the rod joining A and B with a constant angular velocity 𝜔
= 26 rad/s. Therefore, angular acceleration α = 0 and axis of rotation is along BA. Therefore,
 ω 26
⃗⃗ = - ω ⃗⃗⃗
ω (λAB) = - |𝐴𝐵| ( ⃗⃗⃗⃗⃗
𝐴𝐵 )= - ⃗ + 0.225𝑗)
(-0.1𝑗 – 0.3𝑘
0.25
26
=- ⃗ ) = - 10𝑗 + 24𝑘
(0.125𝑗 – 0.3𝑘 ⃗
0.25
⃗
⃗⃗ × 𝑟𝐸 since, 𝑟𝐸 = 0.15𝑖 – 0.1𝑗 – 0.15𝑘
𝑣𝐵 = ω

𝑖 𝑗 ⃗𝑘
= | 0 −10 24 |
0.15 −0.1 −0.15
⃗ m/s Ans.
On solving the matrix, we obtain 𝑣𝐵 = 3.9𝒊 +3.6𝒋 +1.5𝒌
Since 𝑎𝐸 = 𝑎𝐸𝑡 + 𝑎𝐸𝑛 where, 𝑎𝐸𝑡 = 0; therefore

𝑖 𝑗 ⃗
𝑘
𝑎𝐸 = 𝑎𝐸𝑛 = ω
⃗⃗ × 𝑣𝐸 = | 0 −10 24 |
3.9 3.6 1.5
⃗ m/s2
On solving the matrix, we obtain 𝑎𝐸 = - 101.4𝒊 + 93.6𝒋 +39𝒌 Ans.

Example 4: The belt shown in Fig. 4 moves without slipping over two idler pulleys. At the
instant shown the velocity of point C is 400 mm/s to the left and its acceleration is 600 mm/s2
is the right. Determine (a) The angular velocity and angular acceleration of each pulley (b)
The total acceleration of point A (c) The total acceleration of point B.

A C B
𝛼B
ω1 50 𝜔B
80 𝑚𝑚
𝛼1 𝑚𝑚

Fig. 3

Solution: Given that at the instant, 𝑣𝐴 = 𝑣𝐵 = 𝑣𝐶 = 400 mm/s (←)

and 𝑎𝑐 = 600 mm/s2 (→) = - 600 mm/s2 (←)
𝑎𝐴𝑡 = 𝑎𝐵𝑡 = 𝑎𝐶𝑡 = - 600 mm/s2 (→)
(a) 𝑣𝐴 = 𝜔𝐴 × 𝑟𝐴
𝑣 400 𝒓𝒂𝒅
or 𝜔𝐴 = 𝑟𝐴 = =5 (anticlockwise) Ans.
𝐴 80 𝒔

𝑣𝐵 = 𝜔𝐵 × 𝑟𝐵
 𝑣 400 𝒓𝒂𝒅
or 𝜔𝐵 = 𝑟𝐵 = =8 (anticlockwise) Ans.
𝐵 50 𝒔

𝑎⃗𝐴𝑡 600 𝒓𝒂𝒅

𝑎𝐴𝑡 = 𝛼𝐴 × 𝑟𝐴 or 𝛼𝐴 = = = 7.5 (clockwise)
𝑟𝐴 80 𝒔

𝑎⃗𝐵𝑡 600 𝒓𝒂𝒅

𝑎𝐵𝑡 = 𝛼𝐵 × 𝑟𝐵 or 𝛼𝐵 = = = 12 (clockwise)
𝑟𝐵 50 𝒔

𝛼𝐴 = √(𝜔𝐴2 𝑟𝐴)2 + 𝛼𝐴 𝑟𝐴 = √( 52 × 80).2 + 6002 = 2088 mm/s2 Ans.

(b) 𝛼𝐵 = √(𝜔𝐵2 𝑟𝐵)2 + 𝛼𝐵 𝑟𝐵 = √( 82 × 50).2 + 6002 = 3304.9 mm/s2 Ans.

Example 5: If the static friction force between the small black B and the plate will be
exceeded, the block will start sliding on the plate when total acceleration of the block reaches
4 m/s2 as shown in Fig. 4. If the plate starts from rest at t = 0 and is accelerated at the
constant rate of 5 rad/s2, find time t and angular velocity of plate when block starts sliding if r
= 250 mm.

𝛼
ω
r

B
A

Fig. 4
Solution: At 𝑎𝐵 = 4 m/s2, the block B starts sliding on the plate and 𝛼𝑝 = 5 rad/s2 (constant)

𝑎𝐵 = √(𝜔𝑝2 𝑟 + 𝛼𝑝 𝑟)2 where 𝜔𝑝 = 𝛼𝑝 × t at which the block starts sliding

⸫ 𝜔𝑝 = 5 × t and r = 0.25 m

𝑎𝐵 = 4 =√[(5 × 𝑡)2 (0 ⋅ 25) + 5 × 0.25]2

or, 16 = 39t4 + 1.5625 (i)
On solving eqn. (i), we obtain t = 0.78s Ans.
 𝒓𝒂𝒅
Therefore, 𝜔𝑝 = 5 × 0.78 = 3.9 Ans.
𝒔𝟐

Example 6: The assembly shown in Fig. 5 consists of the straight rod ABC which passes
through end is welded to the rectangular plate DEFH. The assembly rotates about the axis AC
with angular velocity = 9 rad/s and decreases at the rate of 18 rad/s2, If the motion viewed
from C is counterclockwise, determine the velocity and acceleration of corner H.

A y

100 mm

D
E

100 mm
175 mm 175 mm
x
B
100 mm

F
H
𝜔
100 mm

z C

Fig. 5
𝒓𝒂𝒅
Solution: The assembly rotates about the axis AC with angular velocity 𝜔 = 9
m 𝒔
𝒓𝒂𝒅
And α = - 18 , axis of the rotation is along CA. Therefore,
𝒔𝟐
𝜔 9
⃗ = 𝜔 ⃗⃗⃗
𝜔 (λCA) = ( ⃗⃗⃗⃗⃗
𝐶𝐴) = (- 0.35𝑖 + 0.2𝑗 – 0.2𝑘 ⃗ ) 𝒓𝒂𝒅
⃗ ) = (-7𝑖 + 4𝑗 + 4𝑘
|𝐶𝐴| 0.45 𝒔

𝑣𝐻 = ω
⃗ × 𝑟𝐻 since, 𝑟𝐻 = 0.1𝑗
⃗ ) × (0.1𝑗) = (- 0.4𝑖 + 0.7𝑘
= (-7𝑖 + 4𝑗 + 4𝑘 ⃗ ) m/s Ans,
𝑎𝐻 = 𝑎𝐻𝑡 + 𝑎𝐻𝑛 = α
⃗ × 𝑟𝐻 + ω
⃗ × 𝑣𝐻 (i)

𝑖 𝑗 ⃗𝑘
ω
⃗ × 𝑣𝐻 = | −7 4 4 |
−0.4 0 0.7

On solving the given matrix, we obtain ω ⃗ m/s2

⃗ × 𝑣𝐻 = 2.8𝑖 + 3.3𝑗 + 1.6𝑘
𝛼 18
⃗ = α (λ⃗ CA) =
α ( ⃗⃗⃗⃗⃗ ⃗ ) = 14𝑖 - 8𝑗 + 8𝑘
𝐶𝐴 ) = - 0.45(- 0.35𝑖 + 0.2𝑗 - 0.2𝑘 ⃗
|𝐶𝐴|

α ⃗ ) × 0.1𝑗 = - 0.8𝑖 + 1.4𝑘

⃗ × 𝑟𝐻 = (14𝑖 - 8𝑗 + 8𝑘 ⃗
Putting the value of α
⃗ × 𝑟𝐻 and ω
⃗ × 𝑣𝐻 in eqn. (i), we obtain
⃗ m/s2
𝑎𝐻 = 2.0𝑖 + 3.3𝑗 + 3𝑘 Ans.

Example 7: A pulley and two loads are connected by inextensible cord as shown in Fig. 7.
Load A has a constant acceleration of 300 m/s2 and an initial velocity of 240 mm/s, both
directed upward. Determine (a) the number of revolutions executed by the pulley in 3s (b)
The velocity and positions of load B after 3s (c) The acceleration of point D on the rims of
the pulley at t = 0.

120 mm

D C
180 mm

B
A

Fig.7

Solution: (a) The velocity of load A at t = 0, 𝑣𝐴𝑜 = 240 mm/s ( ↑ )

The acceleration of load A, 𝑎𝐴 = 300 mm/s2 ( ↑ ) (constant)
𝑣𝐴 = 𝑣𝐴𝑜 + 𝛼𝐴 t (i)
Putting 𝑣𝐴𝑜 = 240 mm/s, 𝛼𝐴 = 300 mm/s2 & t = 3s in eqn. (i), we obtain 𝑣𝐴 = 1140 m/s
2𝛼𝐴 S = 𝑣𝐴 2 – 𝑣𝐴0 2 (ii)
Putting 𝑣𝐴𝑜 = 240 mm/s, 𝛼𝐴 = 300 mm/s2 and 𝑣𝐴 = 1140 m/s in eqn. (ii), we obtain
S = 2070 mm ( ↑ )
2.07
Nos. of revolutions executed by pulley in 3s = = 2.75 Revolutions Ans.
2×𝜋 ×0.12
𝑣𝐴𝑜 0.12 𝑣𝐴𝑜 × 0.18 240 × 0.18
(b) = or 𝑣𝐵𝑜 = = = 360 mm/s ( ↓ )
𝑣𝐵𝑜 0.18 0.12 0.12
𝑎𝐴𝑜 0.12 𝑎𝐴𝑜 ×0.18 300×0.18
= or 𝑎𝐵𝑜 = = = 450 mm/s (↓)
𝑎𝐵𝑜 0.18 0.12 0.12

At t = 3s, 𝑣𝐵 = 𝑣𝐵𝑜 + 𝑎𝐵𝑜 × 3 = 360 + 450 × 3 = 1710 mm/s (↓) Ans.

 1 1
S = 𝑣𝐵𝑜 t + 𝑎𝐵 t2 = 360 × 3 + × 32 = 3105 mm/s (↓) Ans.
2 2

(a) At t = 0, 𝑎𝐷2 = 2
𝑎𝐷𝑡 + 2
𝑎𝐷𝑛 (iii)
In eqn. (iii), 𝑎𝐷𝑡 = 𝑎𝐵𝑜 = 450 mm/s ( ↑ )
𝑣 2 𝑉2 0.362
𝑎𝐷𝑛 = 𝜔𝐷2 × 𝑟𝐷 = [ 𝑟𝐷 ] × 𝑟𝐷 = 𝑟𝐷 = = 0.72 m/s2 (→)
𝐷 𝐷 0⋅18

Putting the value of 𝑎𝐷𝑡 and 𝑎𝐷𝑛 in eqn. (iii), we obtain 𝑎𝐷 = 0.849 m/s2 Ans.
0⋅45
𝑎𝐷 will act an angle θ making with x-axis, θ = tan- 1 0⋅72 = 32o