Quiz

A massless bent arm ABC is rigidly attached to a horizontal shaft and is driven by a motor 1 at O. The motor is rotating with an angular velocity 𝑝 = 3 rad/s and accelerate with an angular acceleration 𝑝ሶ =
4 rad/s2 . A thin rectangular plate measuring 40 x 40 cm2 of mass 4 kg is attached to the arm as shown in the Figure and it is driven by a motor 2 at C The disc is spinning with an angular velocity 𝑞 =
5 rad/s and accelerating with 𝑞ሶ = 6 rad/s2 relative to the arm ABC. Neglect the mass of the motors and their inertia effects. At the instant shown, determine:
(a) The effective moment of the disc about point C, 𝑀𝐶,𝑒𝑓𝑓 ,
(b) The applied moment of the disc about point C, 𝑀𝐶,𝐴𝑝𝑝 ,
𝑀𝑂 = 𝑅𝐺 ∧ 𝑚𝑎𝐺 + 𝑀𝐺
(c) The motor torque at point C, 𝑀2 , 𝑖
(d) The reaction at C, 𝑦
𝑞
(e) The effective moment of the disc about point O, 𝑀𝑂,𝑒𝑓𝑓 , (a) The effective moment of the disc about point C, 𝑴𝑪,𝒆𝒇𝒇 𝑚𝑝 𝑔 𝑘 + 𝑗
(f) The applied moment of the disc about point O, 𝑀𝑂,𝐴𝑝𝑝 , 𝜔𝑝 = −𝑝𝐾 + 𝑞𝑗 = −3𝐾 + 5𝑗 = −3𝑘 + 5𝑗 = 𝜔𝑧 𝑖 + 𝜔𝑦 𝑗 𝐶𝑧
(g) The motor torque at point O, 𝑀1 , and
𝛼𝑝 = −𝑝𝐾 ሶ − 𝑝𝐾ሶ + 𝑞𝑗ሶ + 𝑞 𝑗ሶ
(h) Reactions at the supports O and D. 𝐶 𝐶𝑦
𝛼𝑝 = −𝑝𝐾 ሶ
ሶ − 𝑝𝐾 + 𝑞𝑗ሶ + 𝑞(𝑝𝐾 Λ 𝑗)
𝐶𝑥 𝑀2
𝛼𝐷 = −𝑝𝐾 ሶ + 𝑞𝑗ሶ + 𝑞(−𝑝𝑖)= −4𝐾 + 6𝑗 − 15𝑖 = 𝛼𝑧 𝑘 + 𝛼𝑦 𝑗 + 𝛼𝑥 𝑖

𝑚𝑝 ℎ2 4 ∙ (0.42 )
𝐼𝑥 = 𝐼𝑧 = = = 0.053 kg. m2
12 12 FBD
𝐼𝑦 = 2𝐼𝑥 = 0.107 kg. m2
𝑀𝐺 = (𝐼𝑥 𝛼𝑥 + (𝐼𝑧 𝜔𝑧 𝜔𝑦 − 𝐼𝑦 𝜔𝑦 𝜔𝑧 ))𝑖 + (𝐼𝑦 𝛼𝑦 )𝑗 +(𝐼𝑧 𝛼𝑧 )𝑘 𝑀𝐶.𝐴𝑝𝑝 = 𝑀2 𝑗

𝑀𝐺 = 0.053 −15 + 0.053 −3 5 − 0.107 5 −3 𝑖+

(0.107(6))𝑗 +(0.053(−4))𝑘 (c) The motor torque at point C, 𝑴𝟐

𝑀𝐶.𝐴𝑝𝑝 = 𝑀𝐶.𝐸𝑓𝑓
𝑀𝐺 = 0.015𝑖 +0.66𝑗 −0.212𝑘
𝑀2 𝑗 = 0.015𝑖 + 0.66𝑗 − 0.212𝑘
𝑀𝐶.𝐸𝑓𝑓 = 0.015𝑖 + 0.66𝑗 − 0.212𝑘
Therefore:
Solution
𝑀2 = 0.66 N. m 𝑀𝑥 = 0.015 N. m
Moment about G and effective moment of a body: (b) The applied moment of the disc about point C, 𝑴𝑪,𝑨𝒑𝒑
𝑀𝑧 = −0.212 N. m
𝑀𝐺 = [𝐼𝑥 𝛼𝑥 + (𝐼𝑧 𝜔𝑧 𝜔𝑦 − 𝐼𝑦 𝜔𝑦 𝜔𝑧 )]𝑖 + Draw FBD of the disc itself:
[𝐼𝑦 𝛼𝑦 + (𝐼𝑥 𝜔𝑥 𝜔𝑧 − 𝐼𝑧 𝜔𝑧 𝜔𝑥 )]𝑗 +
[𝐼𝑧 𝛼𝑧 + (𝐼𝑦 𝜔𝑦 𝜔𝑥 − 𝐼𝑥 𝜔𝑥 𝜔𝑦 )]𝑘
Quiz
A massless bent arm ABC is rigidly attached to a horizontal shaft and is driven by a motor 1 at O. The motor is rotating with an angular velocity 𝑝 = 3 rad/s and accelerate with an angular acceleration 𝑝ሶ =
4 rad/s2 . A thin rectangular plate measuring 40 x 40 cm2 of mass 4 kg is attached to the arm as shown in the Figure and it is driven by a motor 2 at C The disc is spinning with an angular velocity 𝑞 =
5 rad/s and accelerating with 𝑞ሶ = 6 rad/s2 relative to the arm ABC. Neglect the mass of the motors and their inertia effects. At the instant shown, determine:
(a) The effective moment of the disc about point C, 𝑀𝐶,𝑒𝑓𝑓 ,
(b) The applied moment of the disc about point C, 𝑀𝐶,𝐴𝑝𝑝 , 𝑎𝐶/𝑂 = −4𝐾 Λ (0.1𝐾 + 0.2𝐼 + 0.3𝐽) +
(c) The motor torque at point C, 𝑀2 ,
(−3𝐾)Λ ((−3𝐾)Λ (0.1𝐾 + 0.2𝐼 + 0.3𝐽) )
(d) The reaction at C,
(e) The effective moment of the disc about point O, 𝑀𝑂,𝑒𝑓𝑓 , 𝑎𝐶/𝑂 = −0.6𝐼 − 3.5𝐽 𝑖
(f) The applied moment of the disc about point O, 𝑀𝑂,𝐴𝑝𝑝 ,
(g) The motor torque at point O, 𝑀1 , and Applying eqn (i): 𝑘 + 𝑗
(h) Reactions at the supports O and D.
(𝐶𝑥 𝐼 + 𝐶𝑦 𝐽 + 𝐶𝑧 𝐾) − 4𝑔𝐼 = 4 (−0.6𝐼 − 3.5𝐽)
Equating the terms:
𝑚𝑝 𝑔
𝐶𝑥 = 36.84 N 𝐶𝑦 = −14 N 𝐶𝑧 = 0 N
𝐷𝑧 𝑂𝑧
𝑦
𝑞 𝑀1
𝑚𝑝 𝑔 (e) The effective moment of the disc about point O, 𝑴𝑶,𝒆𝒇𝒇 𝑂𝑦
𝐶𝑧
𝑀𝑂,𝐸𝑓𝑓 = 𝑅𝐶/𝑂 ∧ 𝑚𝑝 𝑎𝐶/𝑂 + 𝑀𝐺 𝐷𝑦
𝐷𝑥 𝑂𝑥
𝐶 𝐶𝑦
𝑀𝑂.𝐸𝑓𝑓 = 0.1𝐾 + 0.2𝐼 + 0.3𝐽 Λ 4 −0.6𝐼 + 3.5𝐽 +
𝐶𝑥 𝑀2
(0.015𝑖 + 0.66𝑗 − 0.212𝑘)
FBD
𝑀𝑂.𝐸𝑓𝑓 = −1.385𝐼 + 0.42𝐽 + 3.308𝐾 N. m 𝑀𝑂.𝐴𝑝𝑝 = −𝑀1 𝐾 + 𝑅𝐷/𝑂 Λ 𝐷𝑥 𝐼 + 𝐷𝑦 𝐽 + 𝐷𝑧 𝐾 +
(𝑅𝐶/𝑂 Λ −4𝑔𝐼 )
FBD
(d) The reaction at C (f) The applied moment of the disc about point O, 𝑴𝑶,𝑨𝒑𝒑 𝑀𝑂.𝐴𝑝𝑝 = −𝑀1 𝐾 + 0.2𝐾 Λ 𝐷𝑥 𝐼 + 𝐷𝑦 𝐽 + 𝐷𝑧 𝐾 +
𝐹 𝐴𝑝𝑝 = 𝑚𝑝 𝑎𝐶/𝑂 (i) Draw FBD for the entire mechanism: ( 0.1𝐾 + 0.2𝐼 + 0.3𝐽 Λ −4𝑔𝐼 )
𝑅𝐶/𝑂 = 0.1𝐾 + 0.2𝐼 + 0.3𝐽 𝑀𝑂.𝐴𝑝𝑝 = −𝑀1 𝐾 + 0.2 𝐷𝑥 𝐽 − 0.2𝐷𝑦 𝐼 + (−3.924𝐽 + 11.77𝐾)
𝜔𝑂𝐶 = −3𝐾 ሶ + 𝑝𝐾ሶ = −4𝐾
𝛼𝑂𝐶 = 𝑝𝐾
𝑎𝐶/𝑂 = 𝛼𝑂𝐶 Λ 𝑅𝐶/𝑂 + 𝜔𝑂𝐶 Λ (𝜔𝑂𝐶 Λ 𝑅𝐶/𝑂 ) 𝑀𝑂.𝐴𝑝𝑝 = (−𝑀1 +11.77)𝐾 + (−3.924 + 0.2𝐷𝑥 )𝐽 + −0.2 𝐷𝑦 𝐼
Quiz
A massless bent arm ABC is rigidly attached to a horizontal shaft and is driven by a motor 1 at O. The motor is rotating with an angular velocity 𝑝 = 3 rad/s and accelerate with an angular acceleration 𝑝ሶ =
4 rad/s2 . A thin rectangular plate measuring 40 x 40 cm2 of mass 4 kg is attached to the arm as shown in the Figure and it is driven by a motor 2 at C The disc is spinning with an angular velocity 𝑞 =
5 rad/s and accelerating with 𝑞ሶ = 6 rad/s2 relative to the arm ABC. Neglect the mass of the motors and their inertia effects. At the instant shown, determine:
(a) The effective moment of the disc about point C, 𝑀𝐶,𝑒𝑓𝑓 ,
(b) The applied moment of the disc about point C, 𝑀𝐶,𝐴𝑝𝑝 ,
(c) The motor torque at point C, 𝑀2 , (g) The motor torque at point O, 𝑴𝟏
(d) The reaction at C, 𝑀𝑂.𝐴𝑝𝑝 = 𝑀𝑂.𝐸𝑓𝑓
(e) The effective moment of the disc about point O, 𝑀𝑂,𝑒𝑓𝑓 ,
(f) The applied moment of the disc about point O, 𝑀𝑂,𝐴𝑝𝑝 , (−𝑀1 +11.77)𝐾 + (−3.924 + 0.2𝐷𝑥 )𝐽 + −0.2 𝐷𝑦 𝐼 =
(g) The motor torque at point O, 𝑀1 , and −1.385𝐼 + 0.42𝐽 + 3.308𝐾
(h) Reactions at the supports O and D.
Equating the terms:

𝑀1 = 8.462 N. m 𝐷𝑥 = 21.72 N

𝐷𝑦 = 6.925 N

(h) Reactions at the supports O and D

𝐹 𝐴𝑝𝑝 = 𝑚𝑝 𝑎𝐶/𝑂
𝑚𝑝 𝑔
𝐷𝑧 𝑂𝑧 𝑂𝑥 𝐼 + 𝑂𝑦 𝐽 + 𝑂𝑧 𝐾 + 𝐷𝑥 𝐼 + 𝐷𝑦 𝐽 + 𝐷𝑧 𝐾 − 𝑚𝑝 𝑔𝐼 =
𝑀1 4 (−0.6𝐼 − 3.5𝐽)
𝑂𝑦

𝐷𝑦
𝐷𝑥 𝑂𝑥
𝑂𝑥 + 21.72 − 4𝑔 𝐼 + 𝑂𝑦 + 6.925 𝐽 + (𝑂𝑧 − 𝐷𝑧 )𝐾 =
𝑖 (−2.4𝐼 − 14𝐽)
Equating the terms:
FBD
𝑘 + 𝑗 𝑂𝑥 = 15.12 N 𝑂𝑦 = −20.925 N 𝑂𝑧 = 𝐷𝑧 = 0 N