Solving Practical Engineering Mechanics Problems: Kinematics

BAKHTIYAROV
Synthesis Lectures on Series ISSN: 2573-3168
Mechanical Engineering
Solving Practical Engineering Mechanics Problems

KINEMATICS Solving Practical
Engineering
Sayavur I. Bakhtiyarov, New Mexico Institute of Mining and Technology
SOLVING PRACTICAL ENGINEERING MECHANICS PROBLEMS: KINEMATICS

Engineering mechanics is one of the fundamental branches of science that is important in
the education of professional engineers of any major. Most of the basic engineering courses,
Mechanics Problems
such as mechanics of materials, fluid and gas mechanics, machine design, mechatronics,
acoustics, vibrations, etc. are based on engineering mechanics courses. In order to absorb the
materials of engineering mechanics, it is not enough to consume just theoretical laws and
theorems—a student also must develop an ability to solve practical problems. Therefore, it
KINEMATICS
is necessary to solve many problems independently. This book is a part of a four-book series
designed to supplement the engineering mechanics courses. This series instructs and applies
the principles required to solve practical engineering problems in the following branches of
mechanics: statics, kinematics, dynamics, and advanced kinetics. Each book contains between
6 and 8 topics on its specific branch and each topic features 30 problems to be assigned as
homework, tests, and/or midterm/final exams with the consent of the instructor. A solution
of one similar sample problem from each topic is provided.
This second book in the series contains six topics of Kinematics, the branch of mechanics
that is concerned with the analysis of motion of both particle and rigid bodies without
reference to the cause of the motion. This book targets undergraduate students at the
sophomore/junior level majoring in science and engineering.
The author welcomes all feedback/comments from the reader. Please feel free to contact
him at sayavur.bakhtiyarov@nmt.edu.
Sayavur I. Bakhtiyarov
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Solving Practical Engineering
Mechanics Problems: Kinematics
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Solving Practical Engineering Mechanics Problems: Kinematics

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DOI 10.2200/S00837ED1V01Y201803MEC012
A Publication in the Morgan & Claypool Publishers series

SYNTHESIS LECTURES ON MECHANICAL ENGINEERING, #12
Series ISSN: 2573-3168 Print 2573-3176 Electronic

Solving Practical Engineering
Mechanics Problems: Kinematics
New Mexico Institute of Mining and Technology
SYNTHESIS LECTURES ON MECHANICAL ENGINEERING #12
M
&C MORGAN & CLAYPOOL PUBLISHERS
viii
ABSTRACT
Engineering Mechanics is one of the fundamental branches of science which is important in the education of pro-
fessional engineers of any major. Most of the basic engineering courses, such as mechanics of materials, fluid and
gas mechanics, machine design, mechatronics, acoustics, vibrations, etc. are based on Engineering Mechanics course.
In order to absorb the materials of Engineering Mechanics, it is not enough to consume just theoretical laws and
theorems—student also must develop an ability to solve practical problems. Therefore, it is necessary to solve many
problems independently. This book is a part of a four-book series designed to supplement the Engineering Mechan-
ics courses in the principles required to solve practical engineering problems in the following branches of mechanics:
Statics, Kinematics, Dynamics, and Advanced Kinetics. Each book contains 6–8 topics on its specific branch and
each topic features 30 problems to be assigned as homework, tests, and/or midterm/final exams with the consent of
the instructor. A solution of one similar sample problem from each topic is provided.
This second book in the series contains six topics of Kinematics, the branch of mechanics that is concerned
with the analysis of motion of both particle and rigid bodies without reference to the cause of the motion. This book
targets undergraduate students at the sophomore/junior level majoring in science and engineering.
KEYWORDS
velocity, acceleration, translational motion, rotational motion, planar motion, relative motion, Coriolis acceleration,
mechanics, statics, kinematics, dynamics, kinetics, engineering
ix
Contents
Acknowledgments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� xi
1 Topic K-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 1

1.1 Determining Velocity and Acceleration of Particles by Given Equations of Motion 1
1.2 Sample Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2 Topic K-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 5

2.1 Determination of Velocities and Accelerations of Particles of Rigid Bodies Being
in Translational and Rotational Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Sample Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.3 Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3 Topic K-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 35

3.1 Determination of Velocities of Rigid Body in Plane Motion �� 35
3.2 Sample Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.3 Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4 Topic K-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 59

4.1 Determination of Velocities and Accelerations of Points of Rigid Body in
Plane Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.2 Sample Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
4.3 Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
5 Topic K-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 83

5.1 Determination of Absolute Velocity and Absolute Acceleration of Particle �� 83
5.2 Sample Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
5.3 Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
6 Topic K-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 111

6.1 Determination of Absolute Velocity and Absolute Acceleration of Particle in
Rotational Transfer Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
6.2 Sample Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
6.3 Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Author Biography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 143

xi
Acknowledgments
The author acknowledges that this work is essentially a translation and a revision of selected problems provided by
Professor A. A. Yablonski (Collection of Problems for Course Projects in Theoretical Mechanics, 2nd ed., Vischaya Shkola
Publishers, 1972, in Russian). The author intended to introduce this unique work to western academia, which is
the product of material covered by him in many classes over a period of four decades of his career at a number of
universities and colleges.
1
CHAPTER 1
Topic K-1
1.1 DETERMINING VELOCITY AND ACCELERATION OF PARTICLES BY

GIVEN EQUATIONS OF MOTION
From the given equations of motion of particle M (see the table below), define an equation of path, position of parti-
cle M on path at t = t1 (sec), velocity, normal, tangent and full accelerations of the particle M, and radius of curvature
at t = t1. Show the defined parameters graphically.
Equations of Motion of Particle M
Problem # t1, sec
x = x(t), cm y = y(t), cm
1 2
‒2t + 3 -5t ½
π
4cos2 � t� + 2 4sin2 � π t�
2 3 3 1
3 ‒cos � π t 2� + 3 ‒sin �π t 2� ‒ 1 1

3 3
4
4 4t + 4 t+1 2
5 2sin � π t� ‒3cos � π t� + 4 1
3 3
6 3t 3 + 2 ‒4t ½
7 3t 2 - t + 1 5t 2 - 5 t - 2 1
3
8 7sin � π t 2� + 3 2 ‒ 7cos � π t 2� 1

6 6
-3 3t + 6
9 t+2 2
10 ‒4cos � π t� ‒2sin � π t� - 3 1
3 3
11 -4t 2 + 1 -3t ½
12 5sin2 � π t� ‒5cos2 � π t� - 3 1
6 6
13 5cos � π t 2� ‒5sin � π t 2� 1

3 3
‒2
14 ‒2t - 4 t+1 2
15 4cos � π t� ‒3sin � π t� 1
3 3
16 3t 4t 2 +1 ½
17 7sin2 � π t � - 5 ‒7cos2 � π t � 1

6 6
2 1. TOPIC K-1
18 1 + 3cos � π t 2� 3sin � π t 2� + 3 1

3 3
19 ‒5t 2 - 4 3t 1
3
3 ‒ t ‒ 3t 2
20 2 ‒ 3t ‒ 6t 2 2 0
21 6sin � π t 2� - 2 6cos � π t 2� + 3 1

6 6
22 7t 2 ‒ 3 5t ¼
23 3 ‒ 3t 2 + t 4‒ 5t 2 +5t 1

3
24 ‒ 4cos � π t � ‒ 1 ‒ 4sin � π t � 1

3 3
25 6t -2t 2 - 4 1
26 8cos2 � π t � + 2 ‒8sin2 � π t � ‒ 7 1

6 6
27 ‒3 ‒ 9sin � π t 2� ‒9cos � π t 2� + 5 1

6 6
28 ‒4t 2 + 1 ‒3t 1
29 5t 2 + 5 t ‒ 3 3t 2 + t + 3 1
3
30 2cos � π t 2 � ‒ 2 ‒2sin � π t 2 � + 3 1
3 3
1.2 SAMPLE PROBLEM

From the given equations of motion (1.1) of particle M define an equation of path, position of particle M on path at
t = t1 (sec), velocity, normal, tangent and full accelerations of the particle M, and radius of curvature at t = t1. Show
the defined parameters graphically.
x = 4t (cm) (1.1)
�
y = 16t2 - 1 (cm)
t = 0.5 s
1.3 SOLUTION
Equations of motion (1.1) are parametric equations of particle M trajectory. To obtain an equation of trajectory on
usual coordinate form we will exclude tame t from the equations of motion. Then:
y = x2 ‒ 1 (1.2)
This is an equation of parabola.

1.1 DETERMINING VELOCITY AND ACCELERATION OF PARTICLES BY GIVEN EQUATIONS OF MOTION 3
To find the velocity of the particle we need to find the x and y components of velocity:
vx= x� = 4 cm/s
vy= y� = 32 t cm/s.
Then the magnitude of the velocity:
v = √(vx2+ vy2) (1.3)
Similarly, we can find the x and y components of the acceleration
ax = ẍ = 0; ay = ÿ = 32 cm/s2.
A magnitude of the full acceleration of the particle M is:
a = �ax2 + ay2 = 32 cm/s2 .
The coordinates, velocity, acceleration, and their x and y components at time instant t = ½ s are shown in the table
below.
Coordinates, cm Velocity, cm/s Acceleration, cm/s2 Radius of

curvature, cm
x y vx vy v ax ay a aτ an ρ
2 3 4 16 16.5 0 32 32 31 7.94 34.3
Tangent acceleration we find by differentiating module of velocity (1.3):

aτ = dt | |
dv
dv = 2 vx v̇ x + 2 vy v̇ y = vx ax + vy ay .
dt 2 √vx2+ v2 v
At t = ½ s
dv = 4 ∙ 0 + 16 ∙ 32 = 31 cm/s2.
dt 16.5
Hence, the magnitude of the tangent acceleration:
aτ = 31 cm/s2.
The sign “+” for dv shows the particle motion is accelerated and, hence, →
aτ and v⃗ are collinear.
dt
Normal acceleration of particle at given time instant:

an = √a2 ‒ aτ2 = √322 ‒ 312 = 7.94 cm/s2.
The radius of curvature of the trajectory at point where the particle M is located at t = ½ s is
2 2
ρ = v = 16.5 = 34.3 cm.
an 7.94
The calculated values of aτ, an, and ρ are also shown in the table above.
4 1. TOPIC K-1
Using Equation (1.2) we can draw a trajectory (Figure 1.1) and show a position of the particle M at the given time
instant. The vector v⃗ is constructed by the components →vx and v→y. This vector must be tangent to the particle trajec-
tory. The vector a⃗ we find by components a→τ and a→n as well, which double checks the accuracy of the calculations.
y
V
a=ay
6
5
Vy
4
at
3 an M Vx
0
x
-2 -1 1 2
M0
Figure 1.1.
5
CHAPTER 2
Topic K-2
2.1 DETERMINATION OF VELOCITIES AND ACCELERATIONS OF

PARTICLES OF RIGID BODIES BEING IN TRANSLATIONAL AND
ROTATIONAL MOTIONS
Determine velocity, normal, tangent, and full accelerations of particle M if block 1 travels distance s.
Problem Radii, cm
x = x(t) (x-cm, t-s) s, m
# R2 r2 R3 r3
1 60 45 36 - 10 + 100t2 0.5
2 80 - 60 45 80t2 0.1
3 100 60 75 - 18 + 70t2 0.2
4 58 45 60 - 50t2 0.5
5 80 - 45 30 8 + 40t2 0.1
6 100 60 30 - 5+ 60t2 0.5
7 45 35 105 - 7 + 90t2 0.2
8 35 10 10 - 4 + 30t2 0.5
9 40 30 15 - 3 + 80t2 0.2
10 15 - 40 35 70t2 0.4
11 40 25 20 - 5 + 40t2 0.3
12 20 15 10 - 2 + 50t2 0.1
13 30 20 40 - 60t2 0.4
14 15 10 15 - 6 + 20t2 0.1
15 15 10 15 - 8 + 40t2 0.3
16 20 15 15 - 3 + 40t2 0.4
17 15 10 20 - 80t2 0.6
18 20 15 10 - 4 + 20t2 0.3
19 15 10 20 - 5 + 80t2 0.2
20 25 15 10 - 50t2 0.3
21 20 10 30 10 4 + 90t2 0.5
22 40 20 35 - 10 + 40t2 0.5
23 40 30 30 15 7 + 40t2 0.6
24 30 15 40 20 90t2 0.2
25 50 20 60 - 2 + 50t2 0.5
26 32 16 32 16 5 + 60t2 0.1
27 40 18 40 18 6 + 30t2 0.3
28 40 20 40 15 50tt2 0.4
29 25 20 50 25 3 + 30t2 0.6
30 30 15 20 - 5 + 60t2 0.2
6 2. TOPIC K-2
2 1
Figure 2.1.
2.1 VELOCITIES AND ACCELERATIONS OF RIGID BODY IN ROTATIONAL MOTION 7
1
3
X
Figure 2.2.
8 2. TOPIC K-2
Figure 2.3.
3
M
1
Figure 2.4.
10 2. TOPIC K-2
M 1
X
Figure 2.5.
2
1
X
Figure 2.6.
12 2. TOPIC K-2
1 X
Figure 2.7.
M 3
1 X
Figure 2.8.
14 2. TOPIC K-2
2 1
X
Figure 2.9.
X
Figure 2.10.
16 2. TOPIC K-2
2
3
Figure 2.11.
3
M
X
Figure 2.12.
3
1
Figure 2.13.
Figure 2.14.
18 2. TOPIC K-2
X
Figure 2.15.
Figure 2.16.
1
X
Figure 2.17.
20 2. TOPIC K-2
2
X
3
M
Figure 2.18.
M
1
Figure 2.19.
22 2. TOPIC K-2
1
X 2
3 M
Figure 2.20.
2
M
1
3
X
Figure 2.21.
24 2. TOPIC K-2
3
2 1
Figure 2.22.
Figure 2.23.
26 2. TOPIC K-2
Figure 2.24.
Figure 2.25.
28 2. TOPIC K-2
2
3
Figure 2.26.
M
1
Figure 2.27.
M
1
Figure 2.28.
30 2. TOPIC K-2
1
3
Figure 2.29.
2.2 SAMPLE PROBLEM 31
Figure 2.30.
2.2 SAMPLE PROBLEM

Determine velocity, normal, tangent, and full accelerations of particle M if block 1 of mechanism shown in Figure
2.31 travels distance s. Given parameters: x = 2 + 70t2 (cm), t – in seconds; R2 = 50 cm; r2 = 30 cm; R3 = 60 cm;
r3 = 40 cm; s = 40 cm.
32 2. TOPIC K-2
0
2
1
3
Figure 2.31.
2.3 SOLUTION
First, we will find the time τ when the load 1 travels distance s = 40 cm:
s = x(t=τ) ‒ x(t=0) = 70τ2.
From here:
τ = � s = �40 = 0.76 s.
70 70
The first time derivative of the motion equation of the load 1 will give us its velocity:
v1 = |ẋ| = 140 t, cm/s.
The angular velocity of the link 2:
v1 140t 14 -1
ω2 = = = t, s .
r2 30 3
The angular velocities of disks 2 and 3 are inverse proportional to their radii, for example:
ω2 R3
= .
ω2 R2
From here:
R2 50 14 35
ω3 = ω2 = ∙ t= t, s-1.
R3 60 3 9
The angular acceleration of the link 3:

35 -2
ε = ω3 =̇ , s = const.
9
2.3 SOLUTION 33
The magnitude of the velocity of the particle M:
vM = ω3 ∙ r3 = 40 ω3.
It is perpendicular to the radius r3 in the direction of the rotation of the disk 3.

The tangent acceleration of the particle M by magnitude:
aτ = r3 ∙ ε3 = 40ε3.
It will be in the same direction as velocity vM, as the disks are in the accelerated rotational motions.
The normal acceleration of the particle M by magnitude:
an = r3 ∙ ω32 = 40ω32.
It is directed along the radius of rotation towards to the center of the disk.
The total acceleration of the particle M by magnitude:
aM = �aτ2 + an2 .
The calculated values of all parameters at time t = τ are given in the table below.
Accelerations, cm/s2
ω3, s-1 ε3, s-2 vM, cm/s
aτ an aM
2.94 3.89 118 156 346 379
The velocity and acceleration of particle M are shown in Figure 2.32.
ω2
ε3 ω3
M
at
0 an
2 a VM
1
V1
3
Figure 2.32.
35
CHAPTER 3
Topic K-3
3.1 DETERMINATION OF VELOCITIES OF RIGID BODY IN PLANE

MOTION
Define velocities of particles A, B, C, and angular velocities of all links, if angular velocity of crankshaft AO is given.
The necessary information is given in the following table.
Problem Dimensions, cm Additional

ωOA, s-1
# OA AB AD BC r Information
1 35 65 - - 15 2
2 40 40 40 60 - 1.5
< BCO1 = 60°
3 22 - - 24 11 3
O1C = cm
4 20 50 - 24 - 1
5 35 - - - 15 4 ω1 = 1.5 s-1
6 20 60 - 30 - 1.2
7 30 60 - 30 - 2 O1B = 50 cm
8 12 - - - - 1.5
< OAD = 75°
9 14 - 40 45 - 1
BD = BO1
10 15 50 - 25 - - v0 = 80 cm/s
11 27 - - 34 12 2.5
12 20 25 50 35 - 2
13 22 44 - - 15 - v0 = 100 cm/s
14 60 25 - 35 - 1.4
15 25 60 - - 15 1.6
16 27 - - - 12 1.2 ω1 = 3 s-1
17 16 - - - 8 0.6
18 22 36 72 25 - 2.4
19 23 57 - - 14 1.5
20 23 56 - - - 4
21 24 24 24 35 - 3
22 25 - - 40 10 2
23 26 - - 36 12 1
24 17 12 32 15 - 2.1
25 28 75 - 15 10 2.5
26 12 54 25 42 - 2.2
27 55 - - - 10 1.8
28 25 - - 30 10 2.3 O1C = 36 cm
29 16 25 50 35 - 2
30 16 60 - 14 10 1.5
36 3. TOPIC K-3
ωOA
60° B C
O
Figure 3.1.
C
ωOA D
30°
O
Figure 3.2.
3.1 DETERMINATION OF VELOCITIES OF RIGID BODY IN PLANE MOTION 37
O A
ωOA 90°
O1
60°
C
Figure 3.3.
38 3. TOPIC K-3
30°
B
A
60° ωOA
60°
O
Figure 3.4.
ωI
ωOA
O A
C
Figure 3.5.
A C
B
ωOA 45° 45°

O
Figure 3.6.
40 3. TOPIC K-3
ωOA 30°
O C
60° 120°
O1
Figure 3.7.
A
C
45°
ωOA O
Figure 3.8.
42 3. TOPIC K-3
A B
75°
C
60° ωOA 60° O1
O
Figure 3.9.
O V0
C
60°
B A
Figure 3.10.
ωOA
O A
Figure 3.11.
44 3. TOPIC K-3
O ωOA D
45° 15°
120°
B C
Figure 3.12.
V0 O A
C
Figure 3.13.
ωOA
O B A
C
Figure 3.14.
60°
ωOA
O
C
B
Figure 3.15.
46 3. TOPIC K-3
ωI
ωOA
O A
B
Figure 3.16.
ωOA
O
C 60° A
Figure 3.17.
48 3. TOPIC K-3
A
30°
60° B
D
ωOA
O
Figure 3.18.
O
A
ωOA
2r
C
30°
B
Figure 3.19.
A B
30° 30°
ωOA 90° 60°

O O1
Figure 3.20.
A
90°
D C
60°
O ωOA
Figure 3.21.
50 3. TOPIC K-3
C
O
ωOA r A
Figure 3.22.
O A
B
ωOA 45°
Figure 3.23.
B
A
60°
D
ωOA
O
Figure 3.24.
52 3. TOPIC K-3
ωOA
60° B
C
O
Figure 3.25.
D
A B
90°
ωOA
O O1
Figure 3.26.
ωOA
O B A
C
Figure 3.27.
O A
ωOA
B 2.5r
30° O1
C
Figure 3.28.
54 3. TOPIC K-3
A B
D
ωOA 60° 60°

O1
O
Figure 3.29.
ωOA A
O
2r
B
C
Figure 3.30.
3.2 SAMPLE PROBLEM 55
3.2 SAMPLE PROBLEM

Determine velocities of particles A, B, C, and angular velocities of all links, if angular velocity of crankshaft OA is
given (Figure 3.31). Given parameters: OA =40 cm, AB = 80 cm, BC = 25 cm, r = 15 cm, ωOA= 2 s-1.
C
ωOA
30° B 30°
O
Figure 3.31.
3.3 SOLUTION
The velocity of particle A is perpendicular to the crankshaft OA (Figure 3.32). Its magnitude is:
vA = ωOA ∙ OA = 2 ∙ 4 = 80 cm/s.
The velocity of the wheel center B is in horizontal direction.
Drawing the perpendiculars to the velocities of points A and B, we will find instantaneous center of velocities PAB
for the link AB.
The angular velocity of the link AB will be defined as:
vA
ωAB = .
APAB
As seen from Figure 3.32:
APAB = AK ;
cos30°
AK=√AB2 ‒ AD2 ;
AD = OA ∙ sin 30° = 40 ∙ 0.5 = 20 cm.

56 3. TOPIC K-3
Hence,
AK=√802 ‒ 202 = 77.5 cm;
APAB = AK = 77.5 = 89.6 cm;

cos 30° 0.866
vA 80
ωAB = = = 0.893 s-1.
APAB 89.6
PAB
ωAB
VA
A VC
K
C
ωOA
30° B
O
D VB
ω β
Figure 3.32.
The velocity of the wheel center B is determined as in rotational motion about instantaneous center of velocities PAB:
vB = ωAB ∙ BPAB .
From the triangle OBPAB:
BPAB = (OA + APAB ) sin 30° = (40 + 89.6) ∙ 0.5 = 64.8 cm.
3.3 SOLUTION 57
Then the velocity of the wheel center:
cm
vB=ωABBPAB = 0.893 ∙ 64.8 = 57.9 s .

The instantaneous center P of the wheel is coincides with point where the wheel touches the non-moving surface.
Then, the angular velocity of the wheel is:
vB
ω= ,
BP
where BP = r = 15 cm.
Then:
57.9
ω= = 3.86 s-1.
15
The velocity of point C will be determined as a rotational velocity about instantaneous center of velocities P:
vC = ω ∙ CP.
According to the cosines theorem:
CP = √BP2 + BC2 ‒ 2 ∙ BP ∙ BC ∙ cos 120° = √ 152 + 252 + 2 ∙ 15 ∙ 25 ∙ 0.5 = 35 cm.
Then the magnitude of the velocity of the point C is:
cm
vC = ω ∙ CP = 3.86 ∙ 35 = 135 s .

The velocity vector →
v C will be perpendicular to PC in the direction of the wheel rotation.
59
CHAPTER 4
Topic K-4
4.1 DETERMINATION OF VELOCITIES AND ACCELERATIONS OF

POINTS OF RIGID BODY IN PLANE MOTION
For the given position of the mechanism define velocities and accelerations of particles B and C. All mechanisms are
schematically shown in Figures 4.1–4.30, and the necessary information is given in the table below.
Problem Dimensions, cm ωOA, ωI, εOA, vA, wA,

# OA r AB AC s-1 s-1 s-2 cm/s cm/s 2
1 40 15 - 8 2 - 2 - -
2 30 15 - 8 3 - 2 - -
3 - 50 - - - - - 50 100
4 35 - - 45 4 - 8 - -
5 25 - - 20 1 - 1 - -
6 40 15 - 6 1 1 0 - -
7 35 - 75 60 5 - 10 - -
8 - - 20 10 - - - 40 20
9 - - 45 30 - - - 20 10
10 25 - 80 20 1 - 2 - -
11 - - 30 15 - - - 10 0
12 - - 30 20 - - - 20 20
13 25 - 55 40 2 - 4 - -
14 45 15 - 8 3 12 0 - -
15 40 15 - 8 1 - 1 - -
16 55 20 - - 2 - 5 - -
17 - 30 - 10 - - - 80 50
18 10 - 10 5 2 - 6 - -
19 20 15 - 10 1 2.5 0 - -
20 - - 20 6 - - - 10 15
21 30 - 60 15 3 - 8 - -
22 35 - 60 40 4 - 10 - -
23 - - 60 20 - - - 5 10
24 25 - 35 15 2 - 3 - -
25 20 - 70 20 1 - 2 - -
26 20 15 - 10 2 1.2 0 - -
27 - 15 - 5 - - - 60 30
28 20 - 50 25 1 - 1 - -
29 12 - 35 15 4 - 6 - -
30 40 - - 20 5 - 10 - -
60 4. TOPIC K-4
ωOA
O A
45°
εOA
C
Figure 4.1.
4.1 VELOCITIES AND ACCELERATIONS OF RIGID BODY IN PLANAR MOTION 61
O ωOA
εOA
30°
B
C 45°
Figure 4.2.
62 4. TOPIC K-4
30°
B A VA WA
Figure 4.3.
εOA C
ωOA B
90° 30°
O
Figure 4.4.
30°
90°
O A
εOA
ωOA
Figure 4.5.
64 4. TOPIC K-4
A O
C ωOA
45°
I ωI
B
Figure 4.6.
B C
A
45°
εOA
O ωOA
Figure 4.7.
A
30° WA VA
Figure 4.8.
VA
WA
B
30°
Figure 4.9.
66 4. TOPIC K-4
C 60°
εOA
ωOA
O
Figure 4.10.
A
VA
30°
Figure 4.11.
A VA WA
90°
Figure 4.12.
B
C
εOA
ωOA 45°
O
A
Figure 4.13.
68 4. TOPIC K-4
B
C
ωOA
O 45°
A
I ωI
Figure 4.14.
30°
εOA
C
B A O
ωOA
Figure 4.15.
30°
εOA ωOA
A O
30°
Figure 4.16.
WA
A VA
45°
Figure 4.17.
70 4. TOPIC K-4
C
εOA
ωOA
45° 45°
O
B
Figure 4.18.
ωOA
O A
B 30°
C
I 30°
ωI
Figure 4.19.
WA
VA
45°
B
Figure 4.20.
B
A C
120°
εOA
O ωOA
Figure 4.21.
72 4. TOPIC K-4
A C B
135°
ωOA
εOA
45° 45°
O
Figure 4.22.
45°
B
WA
C VA
Figure 4.23.
ωOA
A εOA
120°
Figure 4.24.
74 4. TOPIC K-4
45°
εOA
ωOA 45°
O A
Figure 4.25.
I
O
ωOA
ωI
A
C
30°
Figure 4.26.
76 4. TOPIC K-4
A WA VA
45°
C
Figure 4.27.
O
C
ωOA 90°
εOA
A
Figure 4.28.
O
ωOA
εOA
A
Figure 4.29.
C A
B 45°
90°
εOA
ωOA
Figure 4.30.
78 4. TOPIC K-4
4.2 SAMPLE PROBLEM

For the given position of the mechanism shown in Figure 4.31 define velocities and accelerations of particles B and
C. Given parameters: OA = 10 cm, AB = 60 cm, AC = 20 cm, ωOA = 1.5 s-1, εOA = 2 s-2.
O ωOA
εOA
30°
C
Figure 4.31.
4.3 SOLUTION
1. Determination of velocities of points (Figure 4.32). For the given position of the mechanism the velocity of the
pin A of the crankshaft OA will be defined as:
vA = ωOA ∙ OA = 1.5 ∙ 10 = 15 cm/s.
The velocity of point A is perpendicular to the crankshaft OA. The velocity of the slide B is in vertical direction. An
instantaneous center of velocities PAB of AB is determined as a cross point of the perpendiculars drawn from the
points A and B to their velocities.
The angular velocity of the link AB:
vA 15 1
ωAB = = = = 0.29 s-1.
APAB 60∙cos 30° 2√3
4.3 SOLUTION 79
The velocities of points B and C:

vB = ωAB∙ BPAB; vC = ωAB ∙ CPAB ,
where
BPAB = AB ∙ sin 30° = 60 ∙ 0.5 = 30 cm;
2
CPAB = √BC2 + BPAB ‒ 2BC ∙ BPAB ∙ cos 60° = √40 2 + 302 ‒ 2 ∙ 40 ∙ 30 ∙ 0.5 = 36.1 cm.
Then,
cm cm
vB = 0.29 ∙ 30 = 8.7 s ; vC = 0.29 ∙ 36.1 ∙= 10.5 s .

The vector velocity v ⃗ C will be perpendicular the segment CPAB in the direction of rotation of the link AB.
O ωOA
A
VA
30°
C
VC
VB
εOA
B
PAB
Figure 4.32.
2. Determination of accelerations of points (Figure 4.33). The acceleration of point A is determined as a sum of
the tangent and normal components:
w ⃗ A = w ⃗ Aτ + w ⃗ An ;
w ⃗ Aτ = εOA ∙ OA = 2 ∙ 10 = 20 cm ;
s2

wAn = ωOA 2
∙ OA = 1.52 ∙ 10 = 22.5 cm ;
s2

80 4. TOPIC K-4
The vector w ⃗An is directed from A to O. The vector w ⃗Aτ is perpendicular to the vector w ⃗An in the direction corresponding
to the direction of the angular acceleration εOA.
According to the theorem on distribution of accelerations of points of flat object:
τ
w ⃗ B = w⃗A + w ⃗ AB n
+ w ⃗ AB = w ⃗ Aτ + w ⃗ An + w ⃗ AB
τ n
+ w ⃗ AB. (4.1)
The normal component of the acceleration of point B in rotational motion of link AB around pole A:
n 2 1 cm
wAB = ωAB ∙ AB = ∙ 60 = 5 2 .
12 s
n τ
The vector w ⃗ AB is directed from B to A, and the tangent acceleration w ⃗ AB will be perpendicular to it.
Next, we construct polygon of accelerations. The line along which is directed the acceleration w ⃗ B is known. The slide
B is moving along the vertical line (as well as the acceleration of point B). From the point B we draw vectors w ⃗ Aτ and
n
w ⃗ An (components of acceleration of point A) and normal component of acceleration w ⃗ AB (parallel to the link BA).
n τ
From the tip of the vector w ⃗ AB we draw the straight line parallel to the tangent acceleration w ⃗ AB , e.g., perpendicular
to AB until crossing the line along which is directed the acceleration w ⃗ B. The acceleration w ⃗ B will be determined as
a vector completing the acceleration polygon.
WAu O
εOA
WAB
A
a) b) x1
WA u
30°
WACu
WAB C WACB WC
WCy WCx
εAB C
y WABu W B
AB
WB
WA u
B
WA B
Figure 4.33.
4.3 SOLUTION 81
Projecting the vector equation (4.1) on axes x and y will give:
n
wB cos 30° = ‒ wAτ cos 60° + wAn cos 30° + wAB; (4.2)
wB cos 60° = wAτ cos 30° + wAn cos 60° - wAB

τ
. (4.3)
From equation (4.2):
‒ wAτ cos 60° + wAn cos 30° + wAB ‒20 ∙ 0.5 + 22.5 ∙ 0.866 + 5
wB = = = 16.7 cm .
cos 30° 0.866 s2
To find the acceleration of point C we need to determine the angular acceleration of the link AB.
From equation (4.3):
τ
wAB = wAτ cos 30° + wAn cos 60° ‒ wB cos 60° = 20 ∙ 0.866 + 22.5 ∙ 0.5 ‒ 16.7 ∙ 0.5 = 20.2 cm ;
s2

τ wAB 20.2
As wAB = εAB ∙ AB, then εAB = = 0.34 s-2.
AB 60
τ
The direction of the acceleration wAB relative to the pole A will determine the direction of the angular acceleration
εAB. In this case it is in opposite direction of ωAB.
The acceleration of point C will be determined as:
n
w ⃗ C = w ⃗ Aτ + w ⃗ An + w ⃗ AτC + wAC.
The tangent and normal components of the acceleration of point C in rotational motion of link AB around pole A
will be defined as:
τ
wAC = εAB ∙ AC = 0.34 ∙ 20 = 6.8 cm ;
s2

1
∙ 20 = 1.7 cm
n 2
wAC = ωAB ∙ AC = .
12 s2

τ n
The vector wAC is perpendicular to the vector wAC. It is in the direction of the angular acceleration εAB.
The acceleration of point C will be defined by the projections method:
wCX = wAC + wAn cos 30° ‒ wAτ cos 60° = 1.7 + 22.5 ∙ 0.86 ‒ 20 ∙ 0.5 = 11.2 cm2 ;
n
s

wCY = wAn cos 60° + wAτ cos 30° ‒ wAC
τ
= 22.5 ∙ 0.5 + 20 ∙ 0.866 ‒ 6.8 = 21.8 cm2 ;
s

wC = √wCX
2 2
+ wCY = √11.22 + 21.82 =24.5 cm .
s2

83
CHAPTER 5
Topic K-5
5.1 DETERMINATION OF ABSOLUTE VELOCITY AND ABSOLUTE

ACCELERATION OF PARTICLE
Define absolute velocity and acceleration of particle M at t = t1. All mechanisms are schematically shown in Figures
5.1‒5.30, and the necessary information is given in the following table.
Equation
of relative Equation of
Problem φ = f2 (t), motion of relative motion Additional
xe = f1(t), cm t1 s R cm
# rad particle M of body K Information
OM = sr = φr = f4 (t), rad
f3 (t), cm
1 t3 + 4t - 4πt2 - 2 48
2 60t2 - - 0.036πt3 5/3 80
3 - (1/24)πt 2 3
2t + 3t - 2 15
4 2t + 0.2t3 - - (1/12)πt3 2 20
5 7t+4t3 - 20πt2 - 1/2 30
6 20[1 + sin(πt/3)] - π(2t3 + 3t) - 1 30
7 20t2 + 3t - - (π/3)t3 1 20
8 - 1.5πt 2 3
9t + 5t - 1/3 25
9 - (8/3)πt 3 16t2 ‒ 2t + 2 - 1/2 30
10 250t2 - - 3πt2 5/3 60
11 ‒8t + 3t2 - 4sin(πt/3) - 2 ---
12 - (4/27)πt2 2t3 3/2 25
13 4(t+4t2) - 10π sin(πt/6) - 1 30
14 20[cos(πt/8) + 1] - 5πt2 - 2 24
15 10t2 ‒ 0.6t3 - 2πt2 - 3 54
16 - (1/8)πt2 (5/4)πt3 - 2 30 O1O = O2A = 40 cm
17 - (1/24)πt2 3t3+5t - 2 20
18 - (2/3)πt2 4t3+9t - 1/2 20
19 2
20t + 15t - - (1/3)π cos(2πt) 1/6 15
20 25[1 + sin(πt/3)] - - (2/3)πt2 1 40
21 - (2/3)πt 2 1.5t+10t3 - 1/2 20
22 10 + 3sin(πt/2) - - 0.24πt2 5/3 30
23 - (5/6)πt 3 6πt2 - 1 18 O1O = O2A = 20 cm
24 20[1 + sin(πt/2)] - - 0.36πt2 5/6 50
25 24t2 + 7t - (5/3)πt3 - 2 40
26 - (1/12)πt2 t3+2t - 2 35
27 3t+0.27t3 - - 0.15πt2 3 1/3 15
84 5. TOPIC K-5
28 18t2+2t - - (5/6)π sin(πt/12) 2 20

29 50t2 - - (5/48)πt3 2 75
30 50[1‒cos(πt/2)] - 12πt2 - 5/6 25
O1
Figure 5.1.
5.1 DETERMINATION OF ABSOLUTE VELOCITY AND ABSOLUTE ACCELERATION OF PARTICLE 85
φr
M
Xe
O1 X
Figure 5.2.
86 5. TOPIC K-5
M
O
A D
φ
O1 B
φ
O2
Figure 5.3.
M
φr
K
D
Xe
O1 X
Figure 5.4.
Xe
O1 X
Figure 5.5.
Xe
O
O1 X
Figure 5.6.
88 5. TOPIC K-5
O1
Xe
M
K φr
Figure 5.7.
O1
O
M
O2
A
Figure 5.8.
D
M
30°
A B
φ φ
O1 O2
Figure 5.9.
90 5. TOPIC K-5
φr
Xe
X O1
Figure 5.10.
M 60°
O
D
30°
60°
Xe
X O1
Figure 5.11.
92 5. TOPIC K-5
O1
O2 M
D
φ
Figure 5.12.
Xe M
O
O1 X
Figure 5.13.
Xe
O1 X
Figure 5.14.
94 5. TOPIC K-5
30°
Xe
O1 X
Figure 5.15.
M
D
O
A
φ φ
O2
Figure 5.16.
O1
φ
M
O2
D φ
O
B
Figure 5.17.
O1 O2
φ φ
O A
D
M
Figure 5.18.
96 5. TOPIC K-5
O2
φr
K D
M O
Xe
O1 X
Figure 5.19.
M
φr
D
O1 X
Xe
Figure 5.20.
φ
M
O1
45°
φ
O2
Figure 5.21.
98 5. TOPIC K-5
M
K
φr
O1 X
Xe
Figure 5.22.
O A
φ φ
O1 O2
Figure 5.23.
φr
Xe D
O1 X
Figure 5.24.
100 5. TOPIC K-5
Xe
X O1
Figure 5.25.
D
M
60°
O
A
φ φ
O1 O2
Figure 5.26.
M φr
Xe D
O1 X
Figure 5.27.
102 5. TOPIC K-5
O1 X
φr
K
Xe M
Figure 5.28.
φr
M
Xe
O1
Figure 5.29.
104 5. TOPIC K-5
O
Xe
O1
Figure 5.30.
5.2 SAMPLE PROBLEM

Define absolute velocity and acceleration of particle M at t = t1. The mechanism is schematically shown in Figure
5.31. Given parameters:
5 3
O1 A = O2B = 20 cm; R = 16 cm; φ =
πt rad; sr = AM = πt2 cm; t1 = 2 s.
48
5.3 SOLUTION 105
O2
O1
φ
α M
Figure 5.31.
5.3 SOLUTION
Define the positions of the object D and the point M at a given time instant. The position of the object D will be
determined by the angle φ. At the time t = 2 s:
5 5
φ = 48 π ∙ 23 = 6 π rad.
The position of the particle M on the object D can be determined by the angle α:
sr
α= R .
At t=2 s:
π ∙ 22 π
α = 16 = 4 rad.
106 5. TOPIC K-5
The positions of the object D and the particle M at a given time instant are shown in Figure 5.32.

B
30°
y
O2 Vr
45° VB
30° 45°
VA x
M
O1
Figure 5.32.
The absolute velocity of the particle M will be defined as a geometrical sum of relative (motion of particle M relative
to object D) and transfer (motion of point of object D coinciding with particle M) velocities:
v⃗ = v⃗ r + v⃗ e.
The magnitude of the relative velocity of the particle M:
vr = |vr̃ |.
Here, ṽr is a projection of the relative velocity on the tangent to the trajectory of the relative motion:
dsr
vr̃ = = 2πt .
dt
5.3 SOLUTION 107
At t = 2 s:
ṽr = 2π ∙ 2 = 4π = 12.6 cm .
s

Hence:
vr = 12.6 cm .
s

A positive sign of vr̃ shows that the relative motion of the particle is in the direction of the positive count of sr. The
relative velocity vector is shown in Figure 5.32.
The transfer velocity is determined as:
v⃗ e = v⃗ A = O1 A ∙ ω,
where ω is an absolute value of the angular velocity of the link O1 A. An algebraic value of this angular velocity:
dφ 5
ω̃ = dt = 16 πt2 (s1).
At t = 2 s:
5
ω̃ = 4 π (s-1).
Then:
5
ω = |ω̃ | = 4 π (s-1).

A positive sign of ω̃ indicates that the rotation of the link O1 A is in the increased direction of the angle φ.
An absolute value of the transfer velocity:
5
ve = vA = 20 ∙ 4 π = 25π = 78.5 cm .
s

v⃗ e vector will be perpendicular to the link O1 A in its rotational direction.
The magnitude of the absolute velocity will be defined by the projection method (Figure 5.32):
vx = vr cos 45° ‒ ve cos 30°;

vy = vr cos 45° + ve cos 60°.
Hence:
vx = ‒59.1 cm; vy = 48.2 cm .
s s

v = √vx2 + vy2 = 76.3 cm .
s

108 5. TOPIC K-5
An absolute acceleration of the particle in the translational transfer motion is defined as a geometrical sum of the
relative and the transfer accelerations:
⃗ = w ⃗ r + w ⃗ e = w ⃗ rτ + w ⃗ en + w ⃗ eτ + w ⃗ en .
w
The magnitude of the tangential component of the relative acceleration:
wrτ = |ω̃ rτ |;
dṽ d 2 s cm
w̃ rτ = dtr = dt r = 2π = 6.28 2 ;
s
cm
wrτ = 6.28 ;
s2
The positive sign of ω̃ ̃r τ indicates that the vector w ⃗ r τ is in the same direction as a vector v⃗r, in another words, the
relative motion is accelerated (Figure 5.33).
The normal component of the relative acceleration:
vr2 16 π2 cm
wrn = R = 16 = π2 = 9.87 2 .
s
The vector w̃ rn is directed along the radius toward the center of the curvature of the relative motion trajectory of the
particle M.
The tangential component of the transfer acceleration:
w ⃗ eτ = w ⃗ Aτ ;
wAτ = O1 A,
where ε is the magnitude of the angular acceleration of the link O1 A:
ε=|ε̃ |.
d 2 φ
Here, ε̃ = is an algebraic value of the angular acceleration.
dt 2
In this case:
5 5
ε̃ = 8 πt = 4 π = 3.93 s-2.
The identical signs of ε̃ and w̃ indicates that the object D is in accelerated rotational motion.
ε = 3.93 s-2;
5.3 SOLUTION 109
cm
weτ = 20 ∙ 3.93 = 79 ;
s2
The vector w ⃗ eτ is in the same direction as the vector w ⃗ Aτ (Figure 5.33).
The normal component of the transfer acceleration:
25 cm
wen = wAn = O1 A ∙ ω2 = 20 ∙ 16 π2 = 31.25 π2 = 308 2 .
s
The vector w ⃗ An is directed from point A to O1, and vector w ⃗ en will be in the same direction.
The magnitude of the absolute acceleration will be defined by the projection method:
cm
wx = (wrτ ‒ wrn ) cos 45° - weτ cos 30° ‒ wen cos 60° = ‒225 .
s2
cm
wy = (wrτ + wrn ) cos 45° + weτ cos 60° ‒ wen cos 30° = ‒216 .
s2
Then:
cm
w = √wx2 + wy2 = 312 .
s2
The results of the calculations are given in the tables below.
Velocities, cm
φ, rad α, rad ω,s-1 s
ve vr vx vy v
5π π 5π
6 4 4 78.5 12.6 -59.1 48.2 76.3
Accelerations, cm
ε, s-2 s-2
wen weτ wrn wrt wx wy w
5π
4 308 79 10 6 -225 -216 312
110 5. TOPIC K-5
30°
y
O2 Wrn
Wrτ
45°
WBe
WAB 30° 45°
x
60° M
A
Weu
ε WAu
O1
Figure 5.33.
111
CHAPTER 6
Topic K-6
6.1 DETERMINATION OF ABSOLUTE VELOCITY AND ABSOLUTE

ACCELERATION OF PARTICLE IN ROTATIONAL TRANSFER MOTION
Find an absolute velocity and acceleration of particle M at time t = t1 if relative motion of M and rotational motion
of body D are given. All mechanisms are schematically shown in Figures 6.1–6.30, and the necessary information is
given in the table below.
Problem ϕe = f1(t), OM = sr = f2(t),

t1, s R, cm a, cm α, deg
# rad cm
1 2t3 ‒ t2 18 sin 4πt 2/3 - 25 -
2 0.4 t2 + t 20 sin πt 5/3 20 - -

3 2t + 0.5t2 6t3 2 - 30 -
4 0.6t2 10 sin 6πt 1 - - 60
5 3t + 0.5t3 40π cos 6πt 2 30 - -
6 0.75t + 1.5t2 150πt2 1/6 25 - -

7 0.5t2 20 cos 2πt 3/8 - 40 60
8 t3 ‒ 0.5t 6(t + 0.5t2) 2 - - 30
9 4t + 1.6t2 10 + 10 sin 2πt 1/8 - - -
10 1.2t ‒ t2 20π cos 4πt 4/3 20 20 -
11 2t2 ‒ 0.5t 25 sin 3πt 4 - 25 -
12 5t ‒ 4t2 (15/8) πt3 2 30 30 -

13 8t2 ‒ 3t 120 πt2 1/3 40 - -
14 4t ‒ 2t2 3 + 14 sinπt 2/3 - - 30
15 0.2t3 + t 5 √2 (t2 + t) 2 - 60 45
16 t ‒ 0.5 t2 20 sinπt 1/3 - 20 -
17 0.5t2 8t3 + 2t 1 - 4 -
18 8t ‒ t2 10t + t3 2 - - 60
19 t + 3t2 6t + 4t3 2 40 - -
20 6t + t2 30π cos 6π t 3 60 - -
21 2t ‒ 4t2 25π(t + t2) ½ 25 - -
22 4t ‒ 0.2t2 10π sin 4πt 2/3 30 - -
23 2t ‒ 0.25t2 3t2 + 4t 2 - - 30
112 6. TOPIC K-6
24 2t ‒ 0.3t2 75π(0.1t + 0.3t3) 1 30 - -
25 10t ‒ 0.1t2 15 sin π3t 5 - - -
26 ‒2πt2 8 cos π2t 3/2 - - 45
27 t ‒ 0.5t3 10 √2 π cos 2πt 1/8 30 - -

28 2t3 ‒ 5t 2.5πt2 2 40 - -
πt
6 √6 sin 16
29 0.6t2 4 36 - 30
30 2t2 ‒ 3t 5 √3 t3 2 20 - 30
3
Notes:
1. In problems 6.5, 6.6, 6.10, 6.12, 6.13, 6.20, 6.21, 6.22, 6.24, 6.27, and 6.28 found in the table above
OM is an arc of the circle.
2. For all problems the position of M in figures corresponds to the positive value of Sr.
3. In Figures 6.5, 6.10, 6.12, 6.21, 6.24, and 6.27, OM is corresponding to the minor arc.
φe
O1
Figure 6.1.
6.1 ABSOLUTE VELOCITY AND ACCELERATION IN ROTATIONAL TRANSFER MOTION 113
O
D
φe O1
Figure 6.2.
114 6. TOPIC K-6
M
O
D
2a
φe
O1
a a
Figure 6.3.
α M
O
D
φe
Figure 6.4.
116 6. TOPIC K-6
φe
M
D
O
O1
Figure 6.5.
φe
O1
Figure 6.6.
φe
O M
Figure 6.7.
118 6. TOPIC K-6
D
α O
φe
Figure 6.8.
φe
Figure 6.9.
φe M
O
O1
a D
Figure 6.10.
120 6. TOPIC K-6
O M
D
a
O1
φe
a a
Figure 6.11.
O
φe O1
D
Figure 6.12.
O
φe
Figure 6.13.
122 6. TOPIC K-6
φe
M
D
α
Figure 6.14.
φe
O
O1
a
Figure 6.15.
O M
a
φe O1
Figure 6.16.
124 6. TOPIC K-6
M
a
a/2
φe O1
a a
Figure 6.17.
D
α
O
φe
Figure 6.18.
O
M
D
O1
φe
Figure 6.19.
126 6. TOPIC K-6
2R
O
φe D
O1
Figure 6.20.
O1
φe
Figure 6.21.
128 6. TOPIC K-6
φe
D
Figure 6.22.
α
D M
φe
Figure 6.23.
130 6. TOPIC K-6
φe O1
Figure 6.24.
O M
φe
Figure 6.25.
132 6. TOPIC K-6
O
D
M
φe α
Figure 6.26.
φe
Figure 6.27.
134 6. TOPIC K-6
O1
O
φe
Figure 6.28.
M O
90°
O1 α
φe
Figure 6.29.
136 6. TOPIC K-6
α
O
φe O1
Figure 6.30.
6.2 SAMPLE PROBLEM

Define absolute velocity and acceleration of particle M at t = t1. The mechanism is schematically shown in Figure
6.31. Given parameters:
2
φ e = 0.9 t2 – 9 t3, rad; sr = OM = 16 – 8 cos 3πt, cm; t1 = 9 s.

6.3 SOLUTION 137
φe
A
30°
Figure 6.31.
6.3 SOLUTION
Assume, that at the given time instant the plane of the scheme coincides with the plane of the triangle D. The po-
sition of the particle M on the object D is determined by the distance sr = OM.
2
At t = 9 s:
2
sr = 16 ‒ 8 cos (3π 9 ) = 16 + 4 = 20 cm.
The absolute velocity of the particle M will be defined as a geometrical sum of relative (motion of particle M relative
to object D) and transfer (motion of point of object D coinciding with particle M) velocities:
v⃗ = v⃗ r + v⃗ e .
138 6. TOPIC K-6
The magnitude of the relative velocity of the particle M:
vr = |ṽ r|,
where
dsr
ṽ r = dt = 24π sin 3πt.

2
At t = 9 s:
√3 cm
ṽ r = 24π ∙ 2 = 65.2 s .
Hence:
cm
vr = 65.2 s .
A positive sign of v ̃ r shows that the relative motion of the particle is in the direction of the positive count of sr. The
relative velocity vector is shown in Figure 6.32.
The transfer velocity is determined as:
ve = Rω̃ e ,
where R is the radius of the circle L drawn by the point on the object D which coincides with the particle M at a
given time instant:
R = sr ∙ sin 30° = 20 ∙ 0.5 = 10 cm;
ωe is a magnitude of the angular velocity of the object D:
ωe = |ω̃e |.
dφe
ω̃e = dt = 1.8t ‒ 27t2, s-1.
2
At t = 9 s:
2 4
ω̃ e = 1.8 ∙ 9 ‒ 27 ∙ 81 = ‒ 0.93 s-1;
ωe = 0.93 s-1.
A negative sign of ω̃ e indicates that the rotation of the triangle D about axis Oz is opposite to the direction of count
of the angle φ. Therefore, the vector ω̃ e is directed along axis Oz down (Figure 6.32a).
6.3 SOLUTION 139
The transfer velocity is defined as:
cm
v
e = 10 ∙ 0.93 = 9.3 s .
The vector v⃗e is tangent to the circle L in the direction of rotation of the object D. As vectors v⃗ e and v⃗ r are mutually
perpendicular, the magnitude of the absolute velocity of the particle M:
cm
= √vr2 + ve2 =√9.32 + 65.22 = 65.9 s .
v
z z
a) b)
ωe Vr εe
L L
R V Weu
y y
M M
ωe εe WC
Wrτ
WBe
Ve
x x
30° 30°
O O
Figure 6.32.
An absolute acceleration of the particle is defined as a geometrical sum of the relative, the transfer and the Coriolis
(complementary) accelerations:
w⃗ = w⃗r + w⃗e + w⃗c = w⃗ rτ + w⃗ rn + w⃗ τ + w⃗ en + w⃗c.
The magnitude of the tangential component of the relative acceleration:
wrτ = |w ̃rτ |;
dvr̃ d 2 sr
w ̃rτ = = = 72π cos 3πt.
dt dt
140 6. TOPIC K-6
2
At t = 9 s:
cm
w ̃ rτ = ‒36π2 = ‒355 s2 .
cm
wrτ = 355 s2 .
A negative sign of w ̃ rτ indicates that the vector w⃗ rτ is opposite to the direction of the vector v⃗r , in another words,
the relative motion is decelerated (Figure 6.32b).
The normal component of the relative acceleration:
vr2
w rn = = 0,
ρ
as the trajectory of the relative motion is a straight line (the radius of curvature ρ = ∞).
The magnitude of the tangential component of the transfer acceleration:
weτ = Rεe,
where εe = |ε ̃e| is the magnitude of the angular acceleration of the object D;
2
ε ẽ = 1.8 ‒ 54 ∙ 9 = ‒10.2 s-2;
εe = 10.2 s-2.
The identical signs of the magnitudes of ε̃ e and w ̃ e indicate that the object D in accelerated rotational motion. Then
the directions of the vectors w⃗e and ε⃗e coincide (Figures 6.32a and 6.32b).
Then:
cm
weτ = 10 ∙ 10.2 = 102 s2 .
The vector w⃗eτ is in the same direction as v⃗e.
The magnitude of the normal component of the transfer acceleration:
cm
w en = R ∙ we2 = 10 ∙ 0.932 = 8.7 s2 .
The vector w⃗ en is directed to the center of the circle L.
The Coriolis (complementary) acceleration is defined as:
w⃗ c = 2w⃗ e × v⃗r .

6.3 SOLUTION 141
The magnitude of the Coriolis acceleration:
wc = 2ωe ∙ vr sin (ω⃗e, v⃗r ).
As sin (ω⃗e, v⃗r ) =s in 150° =0.5,
cm
then wc = 2 ∙ 0.93 ∙ 65.2 ∙ 0.5 = 61 s2 .
According to the rule of the cross product of two vectors (ω⃗e × v⃗ r) the resultant vector (w⃗c) is perpendicular to the
plane of the triangle in the same direction as the vectors v⃗e and w⃗eτ (Figure 6.32b).
The magnitude of the absolute acceleration of the particle M will be determined by the projection method:
cm
wx = weτ + wc = 102 + 61 = 163 s2 ;
cm
wy = ‒w en ‒ wrτ cos 60° = ‒8.7 ‒ 355 ∙ 0.5 = ‒186 s 2 ;
√3 cm
wz = ‒wrτ cos 30° = ‒355 ∙ 2 = ‒308 s2 ;
cm
w = √wx2 + wy2 + wz2 = 395 s2 ;
The results of the calculations are provided in the table below.

Velocities, cm/s Accelerations, cm/s2
w ẽ , s-1 ε̃e , s-2
ve ṽ r v wen weτ wrn w ̃ rτ wc wx wy wz w
-0.93 9.3 65.2 65.9 -10.2 8.7 102 0 -355 61 163 -186 -308 395
143
Author Biography
Dr. Sayavur I. Bakhtiyarov is a Professor at New Mexico Institute of Mining and
Technology (Socorro, NM, U.S.) and a Fulbright Fellow. Dr. Bakhtiyarov obtained his
Ph.D. from the Russian Academy of Sciences in 1978, and in 1992 a D.Sc. from the
Azerbaijan National Academy of Sciences. His areas of expertise are: multiphase flows,
nanotechnology, nonlinear fluid mechanics, tribology, rheology, and self-healing com-
posites. Dr. Bakhtiyarov taught engineering courses over four decades in several coun-
tries (Azerbaijan, Russia, China, UK, Turkey, U.S.). Dr. Bakhtiyarov authored 350+
scientific publications in refereed scholarly journals, books, international conferences
and symposia proceedings, and 14 patents. Dr. Bakhtiyarov was elected as a foreign
member of Russian Academy of Natural Sciences and International Ecoenergy Acad-
emy. He served as a Program director of US DOE and NASA research projects,
INSRP US DOD coordinator for NASA’s Mars Science Lab mission. Dr. Bakhtiyarov is a lead organizer of the
ASME annual symposia and forums, Editor in Chief of two international journals, Mechanics and Solids (IJM&S)
and Manufacturing Science and Technology (IJMS&T), and an Editorial Board Member of i-manager's Journal on
Engineering and Technology (IJET), Mathematics Applied in Science and Technology (MAST), International Journal of
Applied Engineering Research (IJAER), International Journal of Dynamics of Fluids (IJDF), and Far-East Journal of
Mathematics (FEJM).

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BAKHTIYAROV

Synthesis Lectures on Series ISSN: 2573-3168

Solving Practical Engineering Mechanics Problems

SOLVING PRACTICAL ENGINEERING MECHANICS PROBLEMS: KINEMATICS

MORGAN & CLAYPOOL

Solving Practical Engineering Mechanics Problems: Kinematics

Design Engineering Journey

Introduction to Kinematics and Dynamics of Machinery

Microcontroller Education: do it Yourself, Reinvent the Wheel, Code to Learn

Solving Practical Engineering Mechanics Problems: Statics

Unmanned Aircraft Design: Review of Fundamentals

Introduction to Refrigeration and Air Conditioning Systems: Theory and Applications

Engineering Finite Element Analysis

Solving Practical Engineering Mechanics Problems: Kinematics

ISBN: 9781681733173 Paperback

A Publication in the Morgan & Claypool Publishers series

Series ISSN: 2573-3168 Print 2573-3176 Electronic

SYNTHESIS LECTURES ON MECHANICAL ENGINEERING #12

1 Topic K-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ����������������������������� 1

2 Topic K-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ����������������������������� 5

3 Topic K-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �������������������������� 35

4 Topic K-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ��������������������������� 59

5 Topic K-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �������������������������� 83

6 Topic K-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ������������������������� 111

Author Biography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ������������������������� 143

1.1 DETERMINING VELOCITY AND ACCELERATION OF PARTICLES BY

3 ‒cos � π t 2� + 3 ‒sin �π t 2� ‒ 1 1

8 7sin � π t 2� + 3 2 ‒ 7cos � π t 2� 1

13 5cos � π t 2� ‒5sin � π t 2� 1

17 7sin2 � π t � - 5 ‒7cos2 � π t � 1

18 1 + 3cos � π t 2� 3sin � π t 2� + 3 1

21 6sin � π t 2� - 2 6cos � π t 2� + 3 1

23 3 ‒ 3t 2 + t 4‒ 5t 2 +5t 1

24 ‒ 4cos � π t � ‒ 1 ‒ 4sin � π t � 1

26 8cos2 � π t � + 2 ‒8sin2 � π t � ‒ 7 1

27 ‒3 ‒ 9sin � π t 2� ‒9cos � π t 2� + 5 1

1.2 SAMPLE PROBLEM

This is an equation of parabola.

Then the magnitude of the velocity:

v = √(vx2+ vy2) (1.3)

Similarly, we can find the x and y components of the acceleration

A magnitude of the full acceleration of the particle M is:

a = �ax2 + ay2 = 32 cm/s2 .

Coordinates, cm Velocity, cm/s Acceleration, cm/s2 Radius of

Tangent acceleration we find by differentiating module of velocity (1.3):

Normal acceleration of particle at given time instant:

2.1 DETERMINATION OF VELOCITIES AND ACCELERATIONS OF

2.2 SAMPLE PROBLEM

The angular acceleration of the link 3:

The magnitude of the velocity of the particle M:

It is perpendicular to the radius r3 in the direction of the rotation of the disk 3.

The velocity and acceleration of particle M are shown in Figure 2.32.

3.1 DETERMINATION OF VELOCITIES OF RIGID BODY IN PLANE

Problem Dimensions, cm Additional

ωOA 45° 45°

ωOA 90° 60°

ωOA 60° 60°

3.2 SAMPLE PROBLEM

1 Topic K-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 1

2 Topic K-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 5

3 Topic K-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 35

4 Topic K-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 59

5 Topic K-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 83

6 Topic K-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 111

Author Biography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . �� 143