TUTORIAL 6

KINETICS OF RIGID BODIES IN

SPATIAL MOTION (3D)

MEC420 (DYNAMICS)
 Question 1 ωs
250 mm
Y

250 mm

A
A disk of mass 5 kg and radius of 100 mm, spins
as shown in Figure at a constant rate s =1500
rpm about a rod AB of negligible mass which Z
B
X
rotates about a vertical axis at a constant rate p = 150 mm

45 rpm. Determine the dynamic reactions at C and C

D.

300 mm
ωp

Answers:
C = -75.558i N
D
D = 103.313i N
 Question 2
A homogeneous disk of mass m shown in Figure having
the radius r is rotating with a constant angular velocity of
p rad/s relative to bent arm ABC. Simultaneously, the
Y
whole assembly is rotating about X-axis with constant
angular velocity q rad/s. Mass of bent arm ABC and shaft
l p
OAD are negligible. Determine at the instant shown:
C
(a) The total angular acceleration of the disk. h
B
(b) The effective moment of the disk about support at O. O

(c) The dynamic force reaction at D. A

b D

b q
Answers: Z
α = pqJ rad/s2
(Mo)eff = (1/2 mr2pq – mq2bl)J – mq2bhK X
Dy = (mbg – mq2bh)/2b
Dz =(-1/2mr2pq + mq2bl)/2b
 Question 3

A homogeneous disk of mass m = 0.5 kg having

radius r = 20 cm, attached to arm AC of length l
= 30 cm, shown in Figure, is rotating with a
constant angular speed of p = 20 rad/s.
Simultaneously, the whole assembly is rotating
with respect to X-axis with a constant angular
speed of q = 3 rad/s. Mass of arm AC and shaft
OAB are negligible. Knowing that length b = 20
cm, determine
a) The absolute angular acceleration of the disk
b) The acceleration of point C,
c) The force reactions at bearing O and B.
 Question 4
A homogeneous disk of radius r = 0.50 m and mass m =
2 kg is spinning at the constant rate ωs= 200 rev/min
relative to the support arm OAB. At the same time, the
entire assembly rotates simultaneously about the
vertical Z-axis at the constant rate ωp = 50 rev/min as
shown in Figure. Neglecting the mass of the support
arm OAB, determine the following.

(a) The acceleration of point B.

(b) The effective moment of the disk about mass centre
at B.
(c) The effective moment of the disk about support O.

Answers:
a = -8.23J m/s2
MB = -27.42I Nm
MO = -24.12I Nm