4

TOY /
(RIGID) -

vA
1

A1

vB

A2

B2

A1 A2 = v A eA/ B = ( vB + rA/ B ) eA/ B

= vB eA/ B + rA/ B eA/ B = B1B2 + 0

B1

v A cos 1 = v cos 2




0



!



.

 :
IC v A ,

IC .
IC

IC
v A , rA/ C = v A /
A.
IC
v A CW
IC.

 :

, v A , vB

IC ,
v A vB .

E: T
;

vB

IC
0

A B
AB, IC
AB
A and B.
IC

.


:
A B
AB, IC
AB
A and B.
IC

.

IC
,
v = r, r
IC .

.

.



.


To
A B .
vA
vA
vA
(
)
(
)
=
=
v B = BC = l sin
AC l cos
l cos
= v A tan

C.

15 - 10


.
vD, is 3 m/s.
BD.

BD
.

D , AB
CW .
BD
vB and vD.
vB AB.

AB.


rB/IC = 0.4 tan 45 = 0.4 m
rD/IC = 0.4/cos 45 = 0.566 m
vD ,
BD
vD = BD rD/IC .
BD = vD/rD/IC = 3/0.566 = 5.3 rad/s
AB A.

AB = vB/rB/A = (rB/IC)BD/rB/A = 0.4(5.3)/0.4 = 5.3 rad/s


:
To C

.
.

C A.

.

1.2 m/s.

B D

C.

(a)
()
R
D .
15 - 14


C
A.

v A = rA

v A 1.2 m s
=
= 8 rad s
rA 0.15 m

B D
C.

vR = vB = rB = (0.25 m )(8 rad s )

vR = (2 m s )i
rD = (0.15 m ) 2 = 0.2121 m
vD = rD = (0.2121 m )(8 rad s )

vD = 1.697 m s
vD = (1.2i + 1.2 j )(m s )

15 - 15

, AB
4 rad/s CW.

BD DE.
2 - 16

 V
B: vB = ( AB ) AB = (0.25 m)(4 rad/s) = 1 m/s

= tan 1

AB= 4 rad/s

0.06 m
= 21.8
0.15 m

vB

vD
D

 V
C
vB and vD.

vB

100 mm

D
vD
DE
0.25 m
vD = ( DC )BD =
(4 rad/s)
cos

vD = ( DE )DE

0.1 m
0.1 m
=
= 0.25 m
tan tan 21.8
0.25 m
0.25 m
DC =
=
= 0.2693 m
cos
cos21.8
BC =

BD

vB = ( BC )BD 1 m/s = (0.25 m)BD

BD = 4 rad/s
1 m/s 0.15 m
=
DE DE = 6.67 rad/s
cos
cos