Chapter 3 Problems

CW

3.4, 3.6, 3.7, 3.9, 3.24

HW

3.1, 3.3, 3.5

Now Let's Begins Solving Chapter 3 Classwork Problems

1
Pro. 3.4 In the mechanism shown, the wheel (2) of radius 0.3 m rotates counter-clockwise
with angular acceleration 𝛼𝛼2 = 40 rad/s2 and angular velocity 𝜔𝜔2 = 10 rad/s. The
connecting rod AB is of length 0.6 m. Determine:
a. the velocity and acceleration of the slider (4),
b. the angular velocity and angular acceleration of the
connecting rod

Sol:
For wheel 2:
𝑉𝑉𝐴𝐴 = 𝜔𝜔2 . 𝑅𝑅2 = 10 × 0.3 = 3 𝑚𝑚/𝑠𝑠 ↑
𝑎𝑎𝐴𝐴 𝑡𝑡 = 𝛼𝛼2 . 𝑅𝑅2 = 40 × 0.3 = 12 𝑚𝑚/𝑠𝑠 2 ↑
𝑎𝑎𝐴𝐴 𝑛𝑛 = 𝜔𝜔2 2 × 𝑅𝑅2 = 102 × 0.3 = 30 𝑚𝑚⁄𝑠𝑠 2 ←
For connecting rod 3:
����
𝑉𝑉𝐴𝐴 ,𝑎𝑎𝐴𝐴 𝑡𝑡
∵→ = �� + �⎯�
𝑉𝑉𝐵𝐵 𝑉𝑉𝐴𝐴 𝑉𝑉𝐵𝐵𝐵𝐵

𝑉𝑉𝐵𝐵 ↑= 3 ↑ +𝜔𝜔3 . 𝐴𝐴𝐴𝐴

+
𝐼𝐼𝐼𝐼 𝑋𝑋 − 𝑑𝑑𝑑𝑑𝑑𝑑 →
0 = 0 + 𝜔𝜔3 × 0.6 × 𝑐𝑐𝑐𝑐𝑐𝑐30
∴ 𝜔𝜔3 = 0 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠
𝐼𝐼𝐼𝐼 𝑌𝑌 − 𝑑𝑑𝑑𝑑𝑑𝑑 +↑
𝑉𝑉𝐵𝐵 = 3 − (0) × 0.6 × sin 30
𝑉𝑉𝐵𝐵 = 3 𝑚𝑚/𝑠𝑠 ↑
∵��=�� + �⎯� +�⎯� + �⎯⎯�
𝑎𝑎𝐵𝐵 𝑎𝑎𝐴𝐴𝑡𝑡 𝑎𝑎𝐴𝐴𝑛𝑛 𝑎𝑎𝐵𝐵𝐵𝐵𝑡𝑡 𝑎𝑎𝐵𝐵𝐵𝐵𝑛𝑛

𝑎𝑎𝐵𝐵 ↑= 12 ↑ +30 ← +𝛼𝛼3 . 𝐴𝐴𝐴𝐴 + 𝜔𝜔3 2 . 𝐴𝐴𝐴𝐴

+
𝐼𝐼𝐼𝐼 𝑋𝑋 − 𝑑𝑑𝑖𝑖𝑖𝑖 →
0 = 0 − 30 + 𝛼𝛼3 × 0.6 × 𝑐𝑐𝑐𝑐𝑐𝑐30 + (0)2 × 0.6 × 𝑠𝑠𝑠𝑠𝑠𝑠30
∴ 𝛼𝛼3 = 57.74 𝑟𝑟𝑟𝑟𝑟𝑟⁄𝑠𝑠 2
𝐼𝐼𝐼𝐼 𝑌𝑌 − 𝑑𝑑𝑑𝑑𝑑𝑑 +↑
𝑎𝑎𝐵𝐵 = 12 + 0 − 57.74 × 0.6 × 𝑠𝑠𝑠𝑠𝑠𝑠30 + (0)2 × 0.6 × 𝑐𝑐𝑐𝑐𝑐𝑐30
𝑎𝑎𝐵𝐵 = −5.322 𝑟𝑟𝑟𝑟𝑟𝑟⁄𝑠𝑠 2
∴ 𝑎𝑎𝐵𝐵 = 5.322 𝑟𝑟𝑟𝑟𝑟𝑟⁄𝑠𝑠 2 𝑏𝑏𝑏𝑏𝑏𝑏 𝑖𝑖𝑖𝑖 𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑒𝑒 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 ↓ Finished
2
Pro. 3.6 In the mechanism shown, the wheel (2) of radius 0.2 m rotates counter-clockwise
with the angular velocity 𝜔𝜔2 = 4 rad/s and the angular acceleration 𝛼𝛼2 =20 rad/s2. The
connecting rod AB is of length 0.5 m.
Determine:
a. the velocity and acceleration of the slider (4),
b. the angular velocity and angular acceleration of the connecting rod (3).

Sol:

For wheel 2:

𝑉𝑉𝐴𝐴 = 𝜔𝜔2 . 𝑅𝑅2 = 4 × 0.2 = 0.8 𝑚𝑚/𝑠𝑠

𝑎𝑎𝐴𝐴 𝑡𝑡 = 𝛼𝛼2 . 𝑅𝑅2 = 20 × 0.2 = 4 𝑚𝑚/𝑠𝑠 2

𝑎𝑎𝐴𝐴 𝑛𝑛 = 𝜔𝜔2 2 × 𝑅𝑅2 = 42 × 0.2 = 3.2 𝑚𝑚/𝑠𝑠 2

For Rod 3:
∵→ = �� + �⎯�
𝑉𝑉𝐵𝐵 𝑉𝑉𝐴𝐴 𝑉𝑉𝐵𝐵𝐵𝐵

𝑉𝑉𝐵𝐵 ↑= 0.8 + 𝜔𝜔3 . 𝐴𝐴𝐴𝐴

+
𝐼𝐼𝐼𝐼 𝑋𝑋 − 𝑑𝑑𝑑𝑑𝑑𝑑 →
0 = −0.8 × 𝑠𝑠𝑠𝑠𝑠𝑠 45 + 𝜔𝜔3 × 0.5 × sin 30
∴ 𝜔𝜔3 = 2.26 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠

𝐼𝐼𝐼𝐼 𝑌𝑌 − 𝑑𝑑𝑑𝑑𝑑𝑑 +↑
𝑉𝑉𝐵𝐵 = 0.8 × cos 45 + 2.26 × 0.5 × cos 30

𝑉𝑉𝐵𝐵 = 1.54 𝑚𝑚/𝑠𝑠

∵��=�� + �⎯� +�⎯� + �⎯⎯�

𝑎𝑎𝐵𝐵 𝑎𝑎𝐴𝐴𝑡𝑡 𝑎𝑎𝐴𝐴𝑛𝑛 𝑎𝑎𝐵𝐵𝐵𝐵𝑡𝑡 𝑎𝑎𝐵𝐵𝐵𝐵𝑛𝑛

𝑎𝑎𝐵𝐵 ↑= 4 + 3.2 + 𝛼𝛼3 . 𝐴𝐴𝐴𝐴 + 𝜔𝜔3 2 . 𝐴𝐴𝐴𝐴

3
 +
𝐼𝐼𝐼𝐼 𝑋𝑋 − 𝑑𝑑𝑑𝑑𝑑𝑑 →
0 = −4 × sin 45 − 3.2 × sin 45 + 𝛼𝛼3 × 0.5 × sin 30 − 2.262 × 0.5 × sin 60

∴ 𝛼𝛼3 = 29.211 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠

𝐼𝐼𝐼𝐼 𝑌𝑌 − 𝑑𝑑𝑑𝑑𝑑𝑑 +↑
𝑎𝑎𝐵𝐵 = 4 × cos 45 − 3.2 × cos 45 + 29.211 × 0.5 × cos 30 + 2.262 × 0.5 × cos 60

𝑎𝑎𝐵𝐵 = 14.49 𝑚𝑚/𝑠𝑠 2

Finished

Pro. 3.7 The hoop is cast on the rough surface such that it has an angular velocity of
ω = 4 rad/s and an angular deceleration of α = 5 rad/s2. Also, its center has a velocity of
vc = 5 m/s and a deceleration of ac = 2 m/s2. Determine the velocity and acceleration of
points A and B at this instant.

Sol:

For Point A:
∵�� = �� + �⎯�
𝑉𝑉𝐴𝐴 𝑉𝑉𝐶𝐶 𝑉𝑉𝐴𝐴𝐴𝐴

𝑉𝑉𝐴𝐴 = 5 → + 𝜔𝜔. 𝑅𝑅 →= 5 + 4 × 0.3 = 6.2 𝑚𝑚/𝑠𝑠 ⇒

∴ 𝑉𝑉𝐴𝐴 = 6.2 𝑚𝑚/𝑠𝑠 ⇒

∵��=�� + �⎯� +�⎯⎯�
𝑎𝑎𝐴𝐴 𝑎𝑎𝐶𝐶 𝑎𝑎𝐴𝐴𝐴𝐴𝑡𝑡 𝑎𝑎𝐴𝐴𝐴𝐴𝑛𝑛

𝑎𝑎𝐴𝐴 = 𝑎𝑎𝐶𝐶 ← +𝛼𝛼. 𝑅𝑅 ← +𝜔𝜔2 . 𝑅𝑅 ↓

+
𝐼𝐼𝐼𝐼 𝑋𝑋 − 𝑑𝑑𝑑𝑑𝑑𝑑 →
𝑎𝑎𝐴𝐴 𝑋𝑋 = −2 − 5 × 0.3 + 0
∴ 𝑎𝑎𝐴𝐴 𝑋𝑋 = 3.5 𝑚𝑚⁄𝑠𝑠 2 ←

𝐼𝐼𝐼𝐼 𝑌𝑌 − 𝑑𝑑𝑑𝑑𝑑𝑑 +↑
𝑎𝑎𝐴𝐴 𝑌𝑌 = 0 + 0 − 42 × 0.3
∴ 𝑎𝑎𝐴𝐴 𝑌𝑌 = 4.8 𝑚𝑚⁄𝑠𝑠 2 ↓

𝑎𝑎𝐴𝐴 = �𝑎𝑎𝐴𝐴 𝑋𝑋 2 + 𝑎𝑎𝐴𝐴 𝑌𝑌 2 = 5.94 𝑚𝑚⁄𝑠𝑠 2

𝑎𝑎𝐴𝐴 𝑌𝑌 4.8
𝜃𝜃𝐴𝐴 = 𝑡𝑡𝑡𝑡𝑡𝑡−1 = = 53.90
𝑎𝑎𝐴𝐴 𝑋𝑋 3.5

4
For Point B:
∵→ = �� + �⎯�
𝑉𝑉𝐵𝐵 𝑉𝑉𝐶𝐶 𝑉𝑉𝐵𝐵𝐵𝐵

𝑉𝑉𝐵𝐵 = 5 → + 𝜔𝜔. 𝑅𝑅 ↑
𝑉𝑉𝐵𝐵 𝑋𝑋 = 5 + 0 = 5 𝑚𝑚/𝑠𝑠 →
𝑉𝑉𝐵𝐵 𝑌𝑌 = 0 + 4 × 0.3 = 1.2 𝑚𝑚/𝑠𝑠 ↑

𝑉𝑉𝐵𝐵 = �𝑉𝑉𝐵𝐵 𝑋𝑋 2 + 𝑉𝑉𝐵𝐵 𝑌𝑌 2 = 5.14 𝑚𝑚/𝑠𝑠

𝑉𝑉𝐵𝐵 𝑌𝑌
𝜃𝜃𝑉𝑉𝐵𝐵 = 𝑡𝑡𝑎𝑎𝑎𝑎−1 = 13.490
𝑉𝑉𝐵𝐵 𝑋𝑋

∵��=�� + �⎯� +�⎯⎯�

𝑎𝑎𝐵𝐵 𝑎𝑎𝐶𝐶 𝑎𝑎𝐵𝐵𝐵𝐵𝑡𝑡 𝑎𝑎𝐵𝐵𝐵𝐵𝑛𝑛

𝑎𝑎𝐵𝐵 = 2 ← +𝛼𝛼. 𝑅𝑅 ↓ +𝜔𝜔2 . 𝑅𝑅 →

+
𝐼𝐼𝐼𝐼 𝑋𝑋 − 𝑑𝑑𝑑𝑑𝑑𝑑 →
𝑎𝑎𝐵𝐵 𝑋𝑋 = −2 + 0 + 42 × 0.3
∴ 𝑎𝑎𝐵𝐵 𝑋𝑋 = 2.8 𝑚𝑚⁄𝑠𝑠 2 →

𝐼𝐼𝐼𝐼 𝑌𝑌 − 𝑑𝑑𝑑𝑑𝑑𝑑 +↑
𝑎𝑎𝐵𝐵 𝑌𝑌 = 0 − 5 × 0.3 + 0
∴ 𝑎𝑎𝐵𝐵 𝑌𝑌 = 1.5 𝑚𝑚⁄𝑠𝑠 2 ↓

𝑎𝑎𝐵𝐵 = �𝑎𝑎𝐵𝐵 𝑋𝑋 2 + 𝑎𝑎𝐵𝐵 𝑌𝑌 2 = 3.18 𝑚𝑚⁄𝑠𝑠 2

𝑎𝑎𝐴𝐴 𝑌𝑌 1.5
𝜃𝜃𝑎𝑎𝐵𝐵 = 𝑡𝑡𝑡𝑡𝑡𝑡−1 = = 28.180
𝑎𝑎𝐴𝐴 𝑋𝑋 2.8

Finished

5
Pro. 3.9 At a given instant the bottom B of the bar has the velocity and acceleration shown.
Determine the acceleration of the top A of the bar, and the bar’s angular acceleration at
this instant.

Sol:

∵�� = → + �⎯�
𝑉𝑉𝐴𝐴 𝑉𝑉𝐵𝐵 𝑉𝑉𝐴𝐴𝐴𝐴

𝑉𝑉𝐴𝐴 ↓= 5 → + 𝜔𝜔. 𝐴𝐴𝐴𝐴

+
𝐼𝐼𝐼𝐼 𝑋𝑋 − 𝑑𝑑𝑑𝑑𝑑𝑑 →

0 = 5 − 𝜔𝜔 × 4 × sin 60 ⇒ 𝜔𝜔 = 1.44 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠

𝐼𝐼𝐼𝐼 𝑌𝑌 − 𝑑𝑑𝑑𝑑𝑑𝑑 +↑
−𝑉𝑉𝐴𝐴 = 0 − 1.44 × 4 × cos 60

𝑉𝑉𝐴𝐴 = 2.88 𝑚𝑚/𝑠𝑠 300

∵��=�� + �⎯� +�⎯⎯�

𝑎𝑎𝐴𝐴 𝑎𝑎𝐵𝐵 𝑎𝑎𝐴𝐴𝐴𝐴𝑡𝑡 𝑎𝑎𝐴𝐴𝐴𝐴𝑛𝑛

𝑎𝑎𝐴𝐴 ↓= 8 → +𝛼𝛼 × 4 + 𝜔𝜔2 × 4

+
𝐼𝐼𝐼𝐼 𝑋𝑋 − 𝑑𝑑𝑑𝑑𝑑𝑑 →
0 = 8 − 𝛼𝛼 × 4 × sin 60 + 1.442 × 4 × sin 30

𝛼𝛼 = 4.5 𝑟𝑟𝑟𝑟𝑑𝑑/𝑠𝑠 2

𝐼𝐼𝐼𝐼 𝑌𝑌 − 𝑑𝑑𝑑𝑑𝑑𝑑 ↑ +

−𝑎𝑎𝐴𝐴 = 0 − 4.5 × 4 × cos 60 − 1.442 × 4 × cos 30

𝑎𝑎𝐴𝐴 = 14.18 𝑚𝑚⁄𝑠𝑠 2

Finished.

6
Pro. 3.24 The bar AB is confined to move along the vertical and inclined planes. If the
velocity of the roller at A is vA=5 m/s and its acceleration aA= 10 m/s2 both down- wards
when θ= 45o. Determine at AB= 1.2 m:
a. the angular velocity and the angular acceleration of the bar AB,
b. the velocity and acceleration of the roller B.

Sol:

∵→ = �� + �⎯�
𝑉𝑉𝐵𝐵 𝑉𝑉𝐴𝐴 𝑉𝑉𝐵𝐵𝐵𝐵

𝑉𝑉𝐵𝐵 = 5 ↓ +𝜔𝜔 × 1.2

+
𝐼𝐼𝐼𝐼 𝑋𝑋 − 𝑑𝑑𝑑𝑑𝑑𝑑 →

−𝑉𝑉𝐵𝐵 cos 30 = 0 − 𝜔𝜔 × 1.2 × sin 45 ⟹ (1)

𝐼𝐼𝐼𝐼 𝑌𝑌 − 𝑑𝑑𝑑𝑑𝑑𝑑 +↑
−𝑉𝑉𝐵𝐵 sin 30 = −5 + 𝜔𝜔 × 1.2 × cos 45 ⟹ (2)

∵ sin 45 = cos 45 = 1, 𝑎𝑎𝑎𝑎𝑎𝑎 𝑏𝑏𝑏𝑏 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑒𝑒𝑒𝑒𝑒𝑒 1 &2

∴ 𝑉𝑉𝐵𝐵 = 3.66 𝑚𝑚⁄𝑠𝑠 , 𝜔𝜔 = 3.74 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠

∵��=�� + �⎯� +�⎯⎯�

𝑎𝑎𝐵𝐵 𝑎𝑎𝐴𝐴 𝑎𝑎𝐵𝐵𝐵𝐵𝑡𝑡 𝑎𝑎𝐵𝐵𝐵𝐵 𝑛𝑛

𝑎𝑎𝐵𝐵 = 10 ↓ +𝛼𝛼 × 1.2 + 𝜔𝜔2 × 1.2

+
𝐼𝐼𝐼𝐼 𝑋𝑋 − 𝑑𝑑𝑑𝑑𝑑𝑑 →

−𝑎𝑎𝐵𝐵 cos 30 = 0 − 𝛼𝛼 × 1.2 × sin 45 + 3.742 × 1.2 × sin 45 ⟹ (3)

𝐼𝐼𝐼𝐼 𝑌𝑌 − 𝑑𝑑𝑑𝑑𝑑𝑑 +↑
−𝑎𝑎𝐵𝐵 sin 30 = −10 + 𝛼𝛼 × 1.2 × cos 45 + 3.742 × 1.2 × cos 45 ⟹ (4)

By Solving equ. 3 &4

∴ 𝑎𝑎𝐵𝐵 = −10.057 𝑚𝑚/𝑠𝑠 2 in opposite direction, 𝛼𝛼 = 3.723 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠 2 Finished.

The End of C.W Problems, Best Wishes

7