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T4 - R1 - Kinematics of RB in 2D PDF
T4 - R1 - Kinematics of RB in 2D PDF
T4 - R1 - Kinematics of RB in 2D PDF
MEC420 Dynamics
Faculty of Mechanical Engineering
Universiti Teknologi MARA
Name:
SID:
P
80 cm
Q
110 cm
Figure T 4.1
4.2
B
E
C
110
30
100
D
Figure T 4.2
4.3
100
O
A
160
C
240
80
Figure T 4.3
4.4
O
150 mm
B
360 mm
Figure T 4.4
4.5
Two discs connected with a rigid rod roll on the flat surface without slipping as shown
in the figure. Knowing that the angular velocity of disc 1 is 2 rad/s in the clockwise
direction, determine at the instant shown (a) the angular velocity of the rod, (b) the
angular velocity of disc 2, and (c) the velocity of the center of disc 2.
Disc 2
Disc 1
1.5 m
4m
A 1m
D
B
Figure T 4.5
4.6
0.2 m
90
0.4 m
60O
A A
Figure T 4.6
4.7
50 mm
70 mm
C
90 mm
120 mm
A
D
Figure T 4.7
4.8
D
y
x
B
r
P
y
x
A
Figure T 4.8
At the instant shown in
the figure, rod OA is
horizontal, and slider B is
moving with a velocity of
20 cm/s to the left and
acceleration of 10 cm/s2
to the right. Determine
the
velocity
and
acceleration of point A.
Determine
also
the
angular acceleration of
rods OA and AB.
40 cm
50
c
40 cm
4.9
Figure T 4.9
c = 5 m/s
c = 10 m/s2
80
240
C
D
60
B
All dimensions in mm
Figure T 4.10
120 mm
B
C
120 mm
Figure T 4.11
4.12 A robot manipulator which consists of a slider A and a control rod PQ is constrained to
move on horizontal tract as shown in Figure Q1. Knowing that at the instant shown the
slider A moves at a constant speed of 0.5 m/s to the right and that the control rod PQ
retracts at a constant speed of 1.5 m/s while at the same time rotates at a constant
rate of 10 rad/s about point P, determine the velocity and acceleration of end Q.
Q
q
Figure T 4.12
4.13 Roller E slides in a circular slot of
radius r = 550 mm which is rigidly
attached to the rotating arm ABC at the
speed e = 5 m/s and is decreasing at
10 m/s2 relative to the slot. Knowing
that the entire assembly rotates about
the
pivot
point
A
in
the
counterclockwise direction at p = 2
rad/s and is increasing at 5 rad/s2 and
that arm ABC extends at the rate b = 2
m/s and is increasing at 20 m/s2,
determine the absolute velocity and
acceleration of roller E at the instant
when (a) = 0o and (b) = 90o. Given
L = 800 mm. Also sketch the various
components of the velocity and
acceleration of roller E on the figure.
O
A
E
p
b
B
D
r
Figure T 4.13