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When taking this derivative, you will need to find the time derivative of the unit vector k. What does
the location of this IC say about the angular velocity of link BD. What does this say about the
relative sizes of v D and v B. Notice how the velocity vector for P is always tangent to the path of P.
What does the location of this IC say about the angular velocity of link BD. The angular velocity
and angular acceleration of the observer are the same as the. Therefore, the particle has the same
post-impact velocity as the upper end of the bar. Do the directions and magnitudes for the velocities
of points B, C and D agree with the location of these ICs. Since the disk rolls without slipping, when
point C on the outer circumference of the disk is in contact with fixed ground, the velocity of C is
zero. However, we can make some sense out of the velocities of points B and D by using instant
centers (ICs). These FBDs will include the equal-and-opposite impact force pair on the bar and on
the particle. Write down the appropriate Newton's 2nd law equation in normal and tangential
directions. Note that the remainder of the discussion here is based on having the observer attached to
the wheel. This is expected since link AD is pinned to ground at point A. As B moves onto the same
horizontal plane as A, the acceleration of B becomes very large (although A continues to move with
a constant speed). How do you do this? Read back over Section 3.2 of the lecture book. Be sure to
identify the datum line for the gravitational potential energy, and use this in writing down this
potential. Note also that the acceleration of B becomes very large as B moves onto the same
horizontal plane as A, as it was for the initial value of inclination angle. For a given position of the
mechanism, can you visualize the location of the IC for link BD. Which, if any, forces do non-
conservative work on this system. For this equation, it is recommended that you attach an observer
onto link OB. STEP 3: Kinematics. You need to relate the speed of A to the angular speeds of the bar
and of the disk. For a given position, envision the location of the instant centers (ICs) for links AB
and CD. And from this location, do the directions for the velocities for points B and D make sense.
For the during impact portion, consider the following. For each KE expression, recall that your
reference point needs to be either the center of mass of the body, or a fixed point on the rigid body.
You might want to review Chapter 2 of the lecture book in finding the IC for a rigid body moving in
a plane. (Carefully study either the animation above for position 2 or the freeze frame for that
position below - you can actually see the IC from these!) Locating this IC is critical for you in setting
up and using the kinematics for this problem. For a given position of the mechanism, can you
visualize the location of the IC for link BD. All of the observations made above can be predicted by
the above kinematics equations. Is this consistent with the speeds of D and B shown in the above
animation.
These FBDs will include the equal-and-opposite impact force pair on the bar and on the particle. For
a given position of the mechanism, can you visualize the location of the IC for link BD. The disk is
pinned to end A of the bar, and rolls without slipping on the fixed circular surface. Is this consistent
with the speeds of D and B shown in the above animation. You might consider using the no-slip,
rolling contact point as your reference point for the disk. From the above animation of the simulation
results, when the block is on the left side of the track, the work done is positive, and when the block
is on the right side of the track, the work is negative. Based on earlier recommendations, we will
make the choice of our system BIG, including the bar, and disk together. You will need to use the
rigid body velocity equation to relate the velocities of the center of mass of the bar and the end of
the bar through the angular velocity of the bar. What is the angular velocity of link AB at this
position. Note that the remainder of the discussion here is based on having the observer attached to
the wheel. When taking this derivative, you will need to find the time derivative of the unit vector k.
That is, during the time that the block is displaced to the right, the force is acting to the left, and
during the time that the block is displaced to the left, the force is acting to the right. And from this
location, do the directions for the velocities for points B and D make sense. Therefore, the particle
has the same post-impact velocity as the upper end of the bar. As our observer moves with the disk
and with P being on the disk, what motion does the observer see for P. You can see this is the
following animation shown from the perspective of the observer attached to link BE. For this
equation, it is recommended that you attach an observer onto link OB. As we have discussed in class,
your choice of observer directly affects four terms in the acceleration equation. These represent the
velocity and acceleration of P as seen by our observer. Instant centers (later on in the course) can
prove useful in providing explanations. Be sure to check your answer in the end: does it demonstrate
the phase relations seen in the above simulation results. In particular, how does the position of the IC
for AB relate to the relative sizes of the speeds of points A, C and B. Solve the resulting scalar
equations from these vector equations for the angular velocities of AB and of the disk. Notice how
the velocity vector for P is always tangent to the path of P. This will give you two equations in terms
of the two unknowns listed above. For a given position, envision the location of the instant centers
(ICs) for links AB and CD. Conversely, during the time that the block is displaced to the left, the
force is acting to the left. Each of the two vector equations above represents two scalar equations,
providing us with the necessary equations to solve for v B, ?, a B and. The motion that this observer
sees is straight, with this straight path aligned with the slot cut into link BE. Note that point B is
much closer to the IC than point D.
The angular velocity and angular acceleration of the observer are the same as the. Conversely, during
the time that the block is displaced to the left, the force is acting to the left. For the disk, it is
recommended that you choose the center of mass A. These represent the velocity and acceleration of
P as seen by our observer. Consider the above discussion when calculating the work done by the
force F. For velocity and acceleration, you need derivatives with respect to time. Note that point B is
much closer to the IC than point D. For the bar, it is recommended that you choose the fixed point O
as your reference point for the KE. Also note that the friction force always opposes the sliding
motion of P, as should be expected. (Note that the parameters used in the simulation producing this
animation may differ from the ones used in this semester's homework set.). NOTE: The arm rotates
about a vertical axis, meaning that the arm moves in a horizontal plane; that is, the gravitational force
acts perpendicular to the plane of the paper. Also, the acceleration of P always points vertically for
this problem - WHY is that. Note that M is moving vertically upward with a speed of v A. The disk is
pinned to end A of the bar, and rolls without slipping on the fixed circular surface. Also, the
acceleration of P always points vertically for this problem - WHY is that. Solve the resulting scalar
equations from these vector equations for the angular accelerations of AB and of the disk. Each of
the two vector equations above represents two scalar equations, providing us with the necessary
equations to solve for v B, ?, a B and. However, we can make some sense out of the velocities of
points B and D by using instant centers (ICs). As we have discussed in class, your choice of observer
directly affects four terms in the acceleration equation. In particular, how does the position of the IC
for AB relate to the relative sizes of the speeds of points A, C and B. Note the relative sizes of the
speeds of A and C in comparison to their distances from the IC. Therefore, as explained in the lecture
book, the work done by F is simply the force multiplied by the distance traveled by the block in the
negative x -direction. For a given position of the mechanism, can you visualize the location of the IC
for link BD. Please read this page from the lecture book for an explanation as to why C can have a
non-zero component of acceleration in the direction normal to the surface on which it rolls. You
might want to review Chapter 2 of the lecture book in finding the IC for a rigid body moving in a
plane. (Carefully study either the animation above for position 2 or the freeze frame for that position
below - you can actually see the IC from these!) Locating this IC is critical for you in setting up and
using the kinematics for this problem. The work done by F is to be found in the Step 2 of your
analysis. The motion that this observer sees is straight, with this straight path aligned with the slot
cut into link BE. All of the observations made above can be predicted by the above kinematics
equations. STEP 3: Kinematics. You need to relate the speed of A to the angular speeds of the bar
and of the disk. Based on earlier recommendations, we will make the choice of our system BIG,
including the bar, and disk together.
For a given position, envision the location of the instant centers (ICs) for links AB and CD. As our
observer moves with the disk and with P being on the disk, what motion does the observer see for P.
If you carefully watch the motion of P, you will see that the horizontal component of the velocity
vector is constant - WHY is that. This motion of D is shown in the simulation results below. Also, the
acceleration of P always points vertically for this problem - WHY is that. What does this sign mean
in terms of answering Part (c). These represent the velocity and acceleration of P as seen by our
observer. Based on earlier recommendations, we will make the choice of our system BIG, including
the bar, and disk together. You can see this is the following animation shown from the perspective of
the observer attached to link BE. And from this location, do the directions for the velocities for
points B and D make sense. Instant centers (later on in the course) can prove useful in providing
explanations. Note that the normal force acting on P switches from contact on the outer surface
(normal force pointing inward) to contact on the inner surface (normal force pointing outward) and
back to contact on the outer surface. Please note that the acceleration of the no-slip contact point is
NOT zero. Therefore, as explained in the lecture book, the work done by F is simply the force
multiplied by the distance traveled by the block in the negative x -direction. Note also that the
acceleration of B becomes very large as B moves onto the same horizontal plane as A, as it was for
the initial value of inclination angle. Also, the acceleration of P always points vertically for this
problem - WHY is that. This will give you two equations in terms of the two unknowns listed above.
However, we can make some sense out of the velocities of points B and D by using instant centers
(ICs). Note that point B is much closer to the IC than point D. Note that the remainder of the
discussion here is based on having the observer attached to the wheel. Also note that the friction
force always opposes the sliding motion of P, as should be expected. (Note that the parameters used
in the simulation producing this animation may differ from the ones used in this semester's
homework set.). In a couple days when we cover instant centers of zero velocity we will be able to
predict when point B has zero velocity. And from this location, do the directions for the velocities
for points B and D make sense. As B moves onto the same horizontal plane as A, the acceleration of
B becomes very large (although A continues to move with a constant speed). This means that the
disk rolls without slipping on the cable, which is the same is it were rolling without slipping on a
fixed vertical wall. Do the directions and magnitudes for the velocities of points B, C and D agree
with the location of these ICs. As we have discussed in class, your choice of observer directly affects
four terms in the acceleration equation. What does the location of this IC say about the angular
velocity of link BD. Notice how the velocity vector for P is always tangent to the path of P. Also, the
observed acceleration of P always points to the inside of the circular guide, whereas the acceleration
seen by a fixed observer does not always do so.
And, based on that, how do you write down the acceleration vector of O, a O. Note that M is
moving vertically upward with a speed of v A. Is this consistent with the speeds of D and B shown
in the above animation. The work done by F is to be found in the Step 2 of your analysis. Notice how
the velocity vector for P is always tangent to the path of P. If you carefully watch the motion of P,
you will see that the horizontal component of the velocity vector is constant - WHY is that. Also, the
acceleration of P always points vertically for this problem - WHY is that. Note the relative sizes of
the speeds of A and C in comparison to their distances from the IC. Conversely, during the time that
the block is displaced to the left, the force is acting to the left. Do the directions and magnitudes for
the velocities of points B, C and D agree with the location of these ICs. Since the disk rolls without
slipping, when point C on the outer circumference of the disk is in contact with fixed ground, the
velocity of C is zero. Also, the observed acceleration of P always points to the inside of the circular
guide, whereas the acceleration seen by a fixed observer does not always do so. NOTE: The arm
rotates about a vertical axis, meaning that the arm moves in a horizontal plane; that is, the
gravitational force acts perpendicular to the plane of the paper. Keep in mind that this observer is
unaware that they are moving. At what positions is the speed of C twice that of the speed of A.
These FBDs will include the equal-and-opposite impact force pair on the bar and on the particle. For
the numerical value of the angle theta provided in the problem statement, which of the two
simulations above agree with your results. Be sure to check your answer in the end: does it
demonstrate the phase relations seen in the above simulation results. As our observer moves with the
disk and with P being on the disk, what motion does the observer see for P. Notice how the velocity
vector for P is always tangent to the path of P. How do you do this? Read back over Section 3.2 of
the lecture book. For each KE expression, recall that your reference point needs to be either the
center of mass of the body, or a fixed point on the rigid body. Be sure to identify the datum line for
the gravitational potential energy, and use this in writing down this potential. However, we can make
some sense out of the velocities of points B and D by using instant centers (ICs). That equation will
produce an expression for ?, the angular speed of the disk. This will give you two equations in terms
of the two unknowns listed above. As B moves onto the same horizontal plane as A, the acceleration
of B becomes very large (although A continues to move with a constant speed). You need to relate
the speeds of the two pendulum masses and the bullet to the angular speed of the bar using rigid
body kinematics. You can see this is the following animation shown from the perspective of the
observer attached to link BE. Therefore, as explained in the lecture book, the work done by F is
simply the force multiplied by the distance traveled by the block in the negative x -direction.
STEP 3: Kinematics. You need to relate the speed of A to the angular speeds of the bar and of the
disk. NOTE: The arm rotates about a vertical axis, meaning that the arm moves in a horizontal plane;
that is, the gravitational force acts perpendicular to the plane of the paper. However, we can make
some sense out of the velocities of points B and D by using instant centers (ICs). What does this say
about the relative sizes of v D and v B. Note that point B is much closer to the IC than point D. For a
given position of the mechanism, can you visualize the location of the IC for link BD. Note the
relative sizes of the speeds of A and C in comparison to their distances from the IC. As we have
discussed in class, your choice of observer directly affects four terms in the acceleration equation.
From the above animation of the simulation results, when the block is on the left side of the track,
the work done is positive, and when the block is on the right side of the track, the work is negative.
What does this say about the relative sizes of v D and v B. At what positions is the speed of C twice
that of the speed of A. And from this location, do the directions for the velocities for points B and D
make sense. Also, the observed acceleration of P always points to the inside of the circular guide,
whereas the acceleration seen by a fixed observer does not always do so. Also, the acceleration of P
always points vertically for this problem - WHY is that. What does the location of this IC say about
the angular velocity of link BD. Which, if any, forces do non-conservative work on this system.
Please note that the acceleration of the no-slip contact point is NOT zero. Be sure to check your
answer in the end: does it demonstrate the phase relations seen in the above simulation results.
Conversely, during the time that the block is displaced to the left, the force is acting to the left. Solve
the resulting scalar equations from these vector equations for the angular velocities of AB and of the
disk. From this figure, where are the two ICs for links CD and BC. What does the location of this IC
say about the angular velocity of link BD. In particular, how does the position of the IC for AB relate
to the relative sizes of the speeds of points A, C and B. Keep in mind that this observer is unaware
that they are moving. Be sure to identify the datum line for the gravitational potential energy, and use
this in writing down this potential. The disk is pinned to end A of the bar, and rolls without slipping
on the fixed circular surface. The angular velocity and angular acceleration of the observer are the
same as the. Be sure to show the friction force opposing the motion of P in your FBD. For this
equation, it is recommended that you attach an observer onto link OB. Do the directions and
magnitudes for the velocities of points B, C and D agree with the location of these ICs.
Note that the normal force acting on P switches from contact on the outer surface (normal force
pointing inward) to contact on the inner surface (normal force pointing outward) and back to contact
on the outer surface. For each KE expression, recall that your reference point needs to be either the
center of mass of the body, or a fixed point on the rigid body. Also note that the friction force always
opposes the sliding motion of P, as should be expected. (Note that the parameters used in the
simulation producing this animation may differ from the ones used in this semester's homework set.).
If you carefully watch the motion of P, you will see that the horizontal component of the velocity
vector is constant - WHY is that. Also, the acceleration of P always points vertically for this problem
- WHY is that. NOTE: The arm rotates about a vertical axis, meaning that the arm moves in a
horizontal plane; that is, the gravitational force acts perpendicular to the plane of the paper. From the
above animation of the simulation results, when the block is on the left side of the track, the work
done is positive, and when the block is on the right side of the track, the work is negative. Be sure to
check your answer in the end: does it demonstrate the phase relations seen in the above simulation
results. Note that the remainder of the discussion here is based on having the observer attached to the
wheel. Notice how the velocity vector for P is always tangent to the path of P. Notice how the
velocity vector for P is always tangent to the path of P. And from this location, do the directions for
the velocities for points B and D make sense. These represent the velocity and acceleration of P as
seen by our observer. When taking this derivative, you will need to find the time derivative of the
unit vector k. For the numerical value of the angle theta provided in the problem statement, which of
the two simulations above agree with your results. Please note that the acceleration of the no-slip
contact point is NOT zero. Keep in mind that this observer is unaware that they are moving. What
does this say about the relative sizes of v D and v B. For a given position, envision the location of
the instant centers (ICs) for links AB and CD. What does the location of this IC say about the
angular velocity of link BD. STEP 3: Kinematics. You need to relate the speed of A to the angular
speeds of the bar and of the disk. Note that M is moving vertically upward with a speed of v A. Each
of the two vector equations above represents two scalar equations, providing us with the necessary
equations to solve for v B, ?, a B and. Solve the resulting scalar equations from these vector
equations for the angular accelerations of AB and of the disk. The angular velocity and angular
acceleration of the observer are the same as the. For the bar, it is recommended that you choose the
fixed point O as your reference point for the KE. Note the relative sizes of the speeds of A and C in
comparison to their distances from the IC. Therefore, the particle has the same post-impact velocity
as the upper end of the bar. This means that the disk rolls without slipping on the cable, which is the
same is it were rolling without slipping on a fixed vertical wall.