TUTORIAL 4

KINEMATICS OF RIGID BODIES IN

PLANE MOTION

MEC420 (DYNAMICS)
Question 1
Link OA rotates with a clockwise angular velocity ω = 7 rad/s. Determine the
velocity of point B for the position = 30°. Use the values b = 80 mm, d = 100
mm, and h = 30 mm.

Answer:
vB = 0.755 m /s
(to the right)
Question 2
For the instant represented, point B crosses the horizontal axis through point O with a
downward velocity v = 0.6 m/s. Determine the corresponding value of the angular
velocity of link OA.

Answer:
ωOA = −3.33k rad/s
 Question 3

If the piston rod of the hydraulic

cylinder C has a constant upward
velocity of 0.5 m /s, determine when θ =
45°
a) the velocity of point D, and
b) the acceleration of point D

Answer:
aD = 0.786i m /s2
 Question 4
In the design of this linkage, motion of the square
plate is controlled by the two pivoted links. Link
OA has a constant angular velocity ω = 4 rad /s
during a short interval of motion. For the instant
represented, θ = tan−1 4/3 and AB is parallel to
the x-axis. For this instant, determine
a) the angular velocity of the plate,
b) the angular velocity of link CB,
c) the angular acceleration of the plate, and
d) the angular acceleration of link CB.

Answers:
αplate = 3.81 rad /s2 CCW, αCB = 16.08 rad /s2 CCW
 Question 5
The piston rod of the hydraulic cylinder extends at a
constant speed of v = 0.80 m/s as shown in Figure,
causing the disk of radius r = 35 cm to roll without slipping
on the horizontal surface. The slotted arm AB rotates
about the axis at point A due to the motion of pin C welded
to the rolling disk. Given that the length AC is 50 cm,
determine at the instant when θ = 30° and pin C is exactly
above point D:

(i) the angular velocity of the disk,

Answer:
(ii) the velocity of pin C, Ωdisk = 2.29 rad/s (CCW)

(iii) the angular velocity of slotted arm AB. vC = −1.6i m/s

ΩAB = 1.6 rad/s (CCW)

 Question 6
The slotted disk rotates at a constant angular speed of Ω
= 6 rad/s about a fixed axis at O as shown in Figure
Q3(b). As a result, the rod AB rotates about a fixed axis at
A due to the motion of slider B along the slot. Given that
the lengths of OB and AB are 20 cm and 50 cm,
(
respectively. Determine at the instant when θ = 30°, β =
45° and slider B is exactly above point O:

(i) the angular velocity of rod AB,

(ii) the relative velocity of slider B with respect to the disk,

(iii) the velocity of slider B. ΩAB = 1.757 rad/s (CCW)

vrel = 1.076 m/s (45°)
vB = −0.439i - 0.761j m/s
 Question 7
In a mechanism shown in Figure Q3, the slotted member
F has an angular velocity ω = 5 rad/s, and its slot is
vertical. Pin C is rigidly welded to link ABD and slides
along the slot. Determine:

(i) the angular velocity of link ABD, and

(ii) the velocity of end D.

ΩABD = 5 rad/s (CW)

vD = 0.866i – 1.25j m/s