QUESTION 1

Explain with the aid of diagrams the types of motions of particles.

(CO1/C2/5 marks)

(a) Figure Q1(b) shows a ball projected from point O at a speed of v0 = 40 m/s. Determine the value of the launch angle 𝛼 which maximizes the distance y. Determine the
corresponding value of y.

(CO2/C4/12 marks)

(a) Evaluate the highest elevation of the ball (𝑦𝑚𝑖𝑛 is 50 m).

(CO3/C6/3 marks)
Solution
Given/ known data:
(b) 𝑣𝑂 = 40 m/s 𝑎𝑦 = −9.81 m/s 2 𝑠𝑦 = 20 m

Y 𝑎𝑥 = 0 𝑚/𝑠 2 𝑠𝑥 = 𝑦 m

𝑣𝑂 𝑓𝑖𝑛𝑎𝑙 point
𝑦 𝑦
20 = 40 sin 𝛼 − 4.905 ( )2
40 cos 𝛼 40 cos 𝛼
𝑠𝑦 =20 m
O 20 = 𝑦 tan 𝛼 − 0.0031 𝑦 2 sec 2 𝛼
𝐼𝑛𝑖𝑡𝑖𝑎𝑙 point X

𝑠𝑥 =𝑦 m 0.0031 sec 2 𝛼 𝑦 2 − tan 𝛼 𝑦 + 20 = 0

Solving the roots for the quadratic equation:

Resolving the parameters into x and y- directions :
𝑎 = 0.0031 sec 2 𝛼 𝑏 = −tan 𝛼 c= 20

−𝑏 ± 𝑏 2 − 4𝑎𝑐
𝑦1,2 =
2𝑎
x- direction y- direction
0
1 tan 𝛼 ± tan2 𝛼 − 4(0.0031 sec 2 𝛼)(20)
𝑠𝑥 =
1
𝑢𝑥 t + 𝑎𝑥 𝑡 2 𝑠𝑦 = 𝑢𝑦 t + 𝑎𝑦 𝑡 2 𝑦1,2 =
2 2(0.0031 sec 2 𝛼)
2

𝑠𝑥 1
𝑡=( ) 20 = 40 sin 𝛼 ∙ 𝑡 + (−9.81)𝑡 2 tan 𝛼 ± tan2 𝛼 − (0.248 sec 2 𝛼)
𝑣𝑂 cos 𝛼 2 (ii) 𝑦1,2 =
(0.0062 sec 2 𝛼)
𝑦
𝑡=( )
(i)
Using iteration method. Alpha can be iterated from 1 deg to 89 degree.
40 cos 𝛼

Substitute eqn (i) into eqn (ii):

Using Excel

y (m) Versus angle (alpha)

160.0

140.0

120.0

100.0

80.0
y

60.0

40.0

20.0

0.0
30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 62 64 66 68 70 72 74 76 78 80 82 84 86 88

The answer is 𝛼 = 490 𝑎𝑛𝑑 𝑦𝑚𝑎𝑥 = 139.9 m

The highest elevation occurs when it meet the 𝑦𝑚𝑖𝑛 = 50 𝑚. The highest elevation is:
ℎ𝑚𝑎𝑥 = 78.602m
Solution (Analytical Method)
Given/ known data:
(b) 𝑣𝑂 = 40 m/s 𝑎𝑦 = −9.81 m/s 2 𝑠𝑦 = 20 m

Y 𝑎𝑥 = 0 𝑚/𝑠 2 𝑠𝑥 = 𝑦 m

𝑣𝑂 𝑓𝑖𝑛𝑎𝑙 point
𝑦 𝑦
20 = 40 sin 𝛼 − 4.905 ( )2
40 cos 𝛼 40 cos 𝛼
𝑠𝑦 =20 m
O 20 = 𝑦 tan 𝛼 − 0.0031 𝑦 2 sec 2 𝛼 (iii)
𝐼𝑛𝑖𝑡𝑖𝑎𝑙 point X
𝑑
𝑠𝑥 =𝑦 m The maximum 𝑦 w.r.t 𝛼 occurs when 𝑦 = 0:
𝑑𝛼
𝑑
Setting 𝑦 = 0 in eqn (iii):
𝑑𝛼
Resolving the parameters into x and y- directions : 𝑢 𝑣 𝑢 𝑣
𝑑 𝑑 𝑑
20 = (𝑦 tan 𝛼) − 0.0031 ( 𝑦 2 sec 2 𝛼)
𝑑𝛼 𝑑𝛼 𝑑𝛼
x- direction y- direction
𝑑 𝑑 𝑑 𝑑
0
1
0= ( (𝑦) tan 𝛼 + 𝑦 (tan 𝛼)) − 0.0031 ( 𝑦 2 sec 2 𝛼 + sec 2 𝛼 𝑦 2 )
1 𝑠𝑦 = 𝑢𝑦 t + 𝑎𝑦 𝑡 2 𝑑𝛼 𝑑𝛼 𝑑𝛼 𝑑𝛼
𝑠𝑥 = 𝑢𝑥 t + 𝑎𝑥 𝑡 2 2
2
𝑑 𝑑
𝑠𝑥 1 0= ( 𝑦 tan 𝛼 + 𝑦 ∙ sec 2 𝛼) − 0.0031 (2𝑦 ∙ 𝑦 sec 2 𝛼 + 𝑦 2 (2 sec 𝛼)(sec 𝛼 ∙ tan 𝛼))
20 = 40 sin 𝛼 ∙ 𝑡 + (−9.81)𝑡 2 𝑑𝛼 𝑑𝛼
𝑡=( ) (ii)
𝑣𝑂 cos 𝛼 2
0 = 𝑦 ∙ sec 2 𝛼 − 0.0062𝑦 2 ∙ sec 2 𝛼 ∙ tan 𝛼
𝑦
𝑡=( ) 0 = 𝑦 − 0.0062𝑦 2 ∙ tan 𝛼
40 cos 𝛼 (i)

𝑦(1 − 0.0062𝑦 ∙ tan 𝛼) = 0

𝑦=0 161.3
Substitute eqn (i) into eqn (ii): 𝑦=
tan 𝛼 (iv)
Solution (Analytical Method)
Given/ known data:
(b) 𝑣𝑂 = 40 m/s 𝑎𝑦 = −9.81 m/s 2 𝑠𝑦 = 20 m

Y 𝑎𝑥 = 0 𝑚/𝑠 2 𝑠𝑥 = 𝑦 m

𝑣𝑂 𝑓𝑖𝑛𝑎𝑙 point
sin2 𝛼 = 0.57073

𝑠𝑦 =20 m ∴ 𝛼 = 49.060
O
𝐼𝑛𝑖𝑡𝑖𝑎𝑙 point X
From eqn (iv):
𝑠𝑥 =𝑦 m
161.3
𝑦= = 139.89 m
tan 49.060

20 = 𝑦 tan 𝛼 − 0.0031 𝑦 2 sec 2 𝛼 (iii)

161.3 The highest elevation could not be solved by using analytical method unless the
𝑦=
tan 𝛼 requirement is clearly specified.
(iv)

Substitute eqn (iv) into eqn (iii):

161.3 161.3 2
20 = ( ) tan 𝛼 − 0.0031 ( ) sec 2 𝛼
tan 𝛼 tan 𝛼

161.32
20 = 161.3 − 0.0031 (sec 2 𝛼)
tan2 𝛼

80.645
20 = 161.3 −
sin2 𝛼
 QUESTION 2

Describe with the aids of diagrams, the differences between kinematics of particles and kinematics of rigid bodies.

(CO1/C2/5 marks)

(a) The low-flying aircraft P is traveling at a constant speed of v = 540 km.h-1 in the holding circle of radius 2 km as shown in Figure Q2(b). For the instant shown, determine
(i) the radial and transverse velocities of the aircraft,
(ii) the radial and transverse acceleration of the aircraft,
(iii) the angular velocity, 𝜃,ሶ and
(iv) the angular acceleration, 𝜃.ሷ
(CO2/C4/12 marks)

(a) Evaluate the radial velocity of the aircraft at the same position but it travels in counter direction.
(CO3/C6/3 marks)

9 (iii) 𝜃ሶ 𝑣𝜃 = 𝑟𝜃ሶ
−1
𝜃 = 𝑡𝑎𝑛 = 36.870
12
𝑣𝜃 432 432
𝑣𝑟 = 𝑣𝑃 sin 𝜃 = 540 sin 36.870 = 324 km/hr ∴ 𝜃ሶ = = = = 28.8 rad/hr
𝑟 122 + 92 15

𝑣𝜃 = 𝑣𝑃 cos 𝜃 = 540 cos 36.870 = 432 km/hr

(iv) 𝜃ሷ 𝑎𝜃 = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ = 87480.21
(ii) 𝑎𝑟 and 𝑎𝜃 87480.21 − 2𝑟ሶ 𝜃ሶ
𝑎𝑛 𝜃ሷ =
𝑟
𝜃 87480.21 − 2(324)(28.8)
𝑎𝜃 ∴ 𝜃ሷ = = 4587.85 rad/hr 2
𝑎𝑟 15
Solution Acceleration Diagram
(a) (b) If the plane travel in opposite direction, then the velocity
(i) 𝑣𝑟 and 𝑣𝜃 𝑣𝑃 2 5402 diagram will be:
𝑎𝑛 = = = 145800 km/hr 2
𝜌 2 𝑣𝑟
𝜃 𝑣𝜃
𝑣𝑃 𝑎𝑟 = 𝑎𝑛 cos 𝜃 = 145800 cos 36.870 = 116639.84 km/hr 2 𝑣𝑃
The 𝑣𝑟 and 𝑣𝜃 will also be in the
𝑣𝜃 𝜃
opposite directions, but the magnitudes
𝑣𝑟 𝑎𝜃 = 𝑎𝑛 sin 𝜃 = 145800 sin 36.870 = 87480.21 km/hr 2 remain the same.
Velocity Diagram
Velocity Diagram
QUESTION 3

Describe the differences between the equations of motion and principle of work and energy in kinetics analysis of rigid bodies.

(CO1/C2/5 marks)

(a) At the instant shown in Figure Q3(b) the 4-kg collar is released from rest at point B and slides down on the smooth inclined rod of  = 60o. The slider is attached to two springs of equal undeformed
length of 1.2 m and each is of stiffness 500 N/m. The mechanism is in vertical plane. As the collar passes point C,

(i) determine the velocity of the collar,

(ii) draw the free body diagram and the kinetics diagram, and
(iii) determine the force exerted by the rod on the collar.
(CO2/C4/12 marks)

(a) If greater spring stiffness is used while the undeformed length remains the same, evaluate the speed of the collar at point C.
(CO3/C6/3 marks)

1) Work done by spring 𝑣𝐶 = 6.34 m/s

Therefore:
𝑙𝑂 = The unstreched length = 1.2 m
(ii)
𝑙𝐵 = 0.8 m 𝑙𝐶 = 0.82 + 0.62 = 1 m
𝐹𝑆,𝐶
𝑥𝐵 = 𝑙𝐵 − 𝑙𝑂 = 0.8 − 1.2 = 0 − 0.4 m
𝑥𝐶 = 𝑙𝐶 − 𝑙𝑂 = 1 − 1.2 = −0.2 m 𝐹𝑆,𝐶 600
𝑘
𝑈𝑆(𝐵−𝐶) = 2[− ∙ (𝑥𝐶2 − 𝑥𝐵2 )] =
2
500 2 2
𝑈𝑆(𝐵−𝐶) = 2[− ∙ −0.2 − −0.4 ] = +60 J (ii)
2
𝑁
𝑚𝑔 𝑚𝑎𝐶
Solution 2) Work done by weight
(a) 𝑈𝑔(𝐵−𝐶) = + 𝑚𝑔 (𝐵𝐶 ∙ sin 𝜃) = + 4 9.81 0.6 sin 600 = +20.39 J FBD KD

(i) Work-Energy Equation Resolving the forces along normal direction:

Kinetic energy at point C: 𝑚𝑣𝐶2 4𝑣𝐶2 𝑁 − 𝑚𝑔 cos 600 = 0 ∴ 𝑁 = 19.62 N
𝑇𝐶 = = = 2𝑣𝐶2
𝑇𝐵 + σ 𝑈𝐵−𝐶 = 𝑇𝐶 (i) 2 2
(b) From eqn (ii), if 𝑘 is greater, 𝑈𝑆(𝐵−𝐶) will increase, thereby
From (i): 0 + (60 + 20.39)= 2𝑣𝐶2 (iii)
Work done can be due to: increasing the value of 𝑣𝐶 ( From eqn (iii)).
 QUESTION 4

Briefly describe with the aid of diagrams the relative motive motion analysis methods for a rigid body in general plane motion.

(CO1/C2/5 marks)

(a) In the mechanism shown in the Figure Q4(b), when  =  = 60o, the piston of the hydraulic cylinder moves to the right with a velocity vA = 4 m.s-1 which is decreasing at 3 ms-2. Determine the angular
velocity and angular acceleration of link BC.

(CO2/C4/12 marks)

(a) Evaluate the effect of acceleration of piston on the motion of link BC.

(CO3/C6/3 marks)

The position vector: 𝑦 𝜔𝐴𝐵 = 𝜔𝐴𝐵 𝑘

𝑅𝐴/𝐶 = 𝑅𝐵/𝐶 + 𝑅𝐴/𝐵 𝑣𝐴/𝐵 = 𝜔𝐴𝐵 𝑘 Λ 𝑅𝐴/𝐵

Differentiate twice w.r.t time : 𝑣𝐴/𝐵 = 𝜔𝐴𝐵 𝑘 Λ (−0.4𝑖 − 0.693𝑗)

𝑥
𝑣𝐴/𝐶 = 𝑣𝐵/𝐶 + 𝑣𝐴/𝐵 (i) 𝑣𝐴/𝐵 = −0.4𝜔𝐴𝐵 𝑗 + 0.693𝜔𝐴𝐵 𝑖
𝑎𝐴/𝐶 = 𝑎𝐵/𝐶 + 𝑎𝐴/𝐵 (ii)
From (i):
Velocity Analysis 𝑖 4 𝑖 = −0.2𝜔𝐵𝐶 𝑗 − 0.3464𝜔𝐵𝐶 𝑖 +
Point A 𝑘 + 𝑗 (−0.4𝜔𝐴𝐵 𝑗 + 0.693𝜔𝐴𝐵 𝑖)
Solution 𝑣𝐴/𝐶 = 4 𝑖
Equating the terms:
(a) 𝐵
Link BC 𝑗: 0 = −0.2𝜔𝐵𝐶 − 0.4𝜔𝐴𝐵
𝑅𝐵/𝐶 (iii)
𝑅𝐵/𝐶 = 0.4(− cos 600 𝑖 + sin 600 𝑗) = − 0.2𝑖 + 0.3464𝑗 𝜔𝐵𝐶 = −2𝜔𝐴𝐵
𝑅𝐴/𝐵 600
𝐶 𝜔𝐵𝐶 = 𝜔𝐵𝐶 𝑘 4 = −0.3464𝜔𝐵𝐶 + 0.693𝜔𝐴𝐵
𝑖: (iv)
𝑣𝐵/𝐶 = 𝜔𝐵𝐶 𝑘 Λ 𝑅𝐵/𝐶 = 𝜔𝐵𝐶 𝑘 Λ(−0.2𝑖 + 0.3464𝑗) = −0.2𝜔𝐵𝐶 𝑗 − 0.3464𝜔𝐵𝐶 𝑖
𝑅𝐴/𝐶 Solving eqn (iii) and (iv) simultaneously:
600
𝐴 Link AB
Position Vector 𝜔𝐵𝐶 = −5.77 rad/s 𝜔𝐴𝐵 = 2.89 rad/s
𝑅𝐴/𝐵 = 0.8(− cos 600 𝑖 − sin 600 𝑗) = − 0.4𝑖 − 0.693𝑗
QUESTION 4

Briefly describe with the aid of diagrams the relative motive motion analysis methods for a rigid body in general plane motion.

(CO1/C2/5 marks)

(a) In the mechanism shown in the Figure Q4(b), when  =  = 60o, the piston of the hydraulic cylinder moves to the right with a velocity vA = 4 m.s-1 which is decreasing at 3 ms-2. Determine the angular
velocity and angular acceleration of link BC.

(CO2/C4/12 marks)

(a) Evaluate the effect of acceleration of piston on the motion of link BC.

(CO3/C6/3 marks)

Acceleration Analysis 𝑎𝐴/𝐵 = (0.693𝛼𝐴𝐵 + 3.341)𝑖 + (−0.4𝛼𝐴𝐵 + 5.78)𝑗

Point A 𝑎𝐴/𝐶 = −3 𝑖 From (ii):
−3 𝑖 = 10 + 0.693𝛼𝐴𝐵 − 0.3464𝛼𝐵𝐶 𝑖 +
Link BC
(−5.76 −0.4𝛼𝐴𝐵 −0.2𝛼𝐵𝐶 ) 𝑗
𝑅𝐵/𝐶 = −0.2𝑖 + 0.3464𝑗 𝛼𝐵𝐶 = 𝛼𝐵𝐶 𝑘
Equating the terms:
𝑎𝐵/𝐶 = 𝛼𝐵𝐶 𝑘 Λ 𝑅𝐵/𝐶 + 𝜔𝐵𝐶 𝑘 Λ (𝜔𝐵𝐶 𝑘 Λ 𝑅𝐵/𝐶 ) 𝑗: 0 = −5.76 −0.4𝛼𝐴𝐵 −0.2𝛼𝐵𝐶

𝑎𝐵/𝐶 = 𝛼𝐵𝐶 𝑘 Λ(−0.2𝑖 + 0.3464𝑗) + (−5.77𝑘) Λ (1.154𝑗 + 2𝑖) 0.4𝛼𝐴𝐵 + 0.2𝛼𝐵𝐶 = −5.76 (v)
𝑎𝐵/𝐶 = −0.2𝛼𝐵𝐶 𝑗 − 0.3464𝛼𝐵𝐶 𝑖 + (6.659𝑖 − 11.54𝑗) 𝑖: −3 = 10 + 0.693𝛼𝐴𝐵 − 0.3464𝛼𝐵𝐶
Solution
𝑎𝐵/𝐶 = 6.659 − 0.3464𝛼𝐵𝐶 𝑖 + (−11.54 − 0.2𝛼𝐵𝐶 )𝑗 0.693𝛼𝐴𝐵 − 0.3464𝛼𝐵𝐶 = −13.693 (vi)
𝑦 𝑖 Solving eqn (v) and (vi) simultaneously:
Link AB
𝑘 + 𝑗 𝛼𝐴𝐵 = −16.58 rad/s 2
𝑥 𝑅𝐴/𝐵 = −0.4𝑖 − 0.693𝑗 𝛼𝐴𝐵 = 𝛼𝐴𝐵 𝑘 𝛼𝐵𝐶 = 4.36 rad/s2
𝑎𝐴/𝐵 = 𝛼𝐴𝐵 𝑘 Λ 𝑅𝐴/𝐵 + 𝜔𝐴𝐵 𝑘 Λ (𝜔𝐴𝐵 𝑘 Λ 𝑅𝐴/𝐵 )
(b) Since the acceleration of piston is slowing down, the angular
𝑎𝐴/𝐵 = 𝛼𝐴𝐵 𝑘 Λ(−0.4𝑖 − 0.693𝑗) + 2.89𝑘 Λ (−1.156𝑗 + 2𝑖) acceleration of link AB will also decrease, and link BC will increase
𝑎𝐴/𝐵 = −0.4𝛼𝐴𝐵 𝑗 + 0.693𝛼𝐴𝐵 𝑖 + (3.341𝑖 + 5.78𝑗) from the analyses.
 QUESTION 5

Briefly describe with the aid of diagrams the kinematics of rolling without slipping.

(CO1/C2/5 marks)

(a) The bar OA of length 1.2 m is pinned to the point A on the wheel of radius R = 0.8 m as shown in Figure Q5(b). As the arm OA rotates in counterclockwise direction, the arm causes the wheel to roll to
the right. Given at the instant shown when  is 30o, the mass centre B of the wheel moves to the right at speed of 2 m.s-1 which is decreasing at the rate of 10 m.s-2, determine,

(i) the velocity and acceleration of the pin A,

(ii) the angular velocity and acceleration of arm OA, and
(iii) the velocity and acceleration of point A relative to B and draw both vectors.
(CO2/C4/12 marks)

(a) If rolling without slipping occurs between the wheel and the horizontal surface, evaluate the condition happened in Q(a) by assessing the dynamics principles used.

(CO3/C6/3 marks)

Differentiate twice w.r.t time: 𝑖 𝑣𝐴/𝐵 = 𝜔𝐴𝐵 𝑘 Λ(−0.53𝑖 − 0.6𝑗) = −0.53𝜔𝐴𝐵 𝑗 + 0.6𝜔𝐴𝐵 𝑖
𝑣𝐴/𝑂 = 𝑣𝐵/𝑂 + 𝑣𝐴/𝐵 (i)
𝑘 + 𝑗 Centre B 𝑣𝐵/𝑂 = 2 𝑖
𝑎𝐴/𝑂 = 𝑎𝐵/𝑂 + 𝑎𝐴/𝐵 (ii)

Velocity Analysis From (i):

Solution
Link OA 1.039𝜔𝑂𝐴 𝑗 + 0.6𝜔𝑂𝐴 𝑖 = 2 𝑖 + (−0.53𝜔𝐴𝐵 𝑗 + 0.6𝜔𝐴𝐵 𝑖)
(a) (i)
𝑅𝐵/𝑂 𝑅𝐴/𝑂 = 1.2(cos 300 𝑖 − sin 300 𝑗) = 1.039𝑖 − 0.6𝑗 𝜔𝑂𝐴 = 𝜔𝑂𝐴 𝑘 Equating the terms:
𝑂 𝐵
300 48.60 𝑗: 1.039𝜔𝑂𝐴 = −0.53𝜔𝐴𝐵
𝑣𝐴/𝑂 = 𝜔𝑂𝐴 𝑘 Λ 𝑅𝐴/𝑂 = 𝜔𝑂𝐴 𝑘 Λ(1.039𝑖 − 0.6𝑗)
𝑅𝐴/𝐵 𝑣𝐴/𝑂 = 1.039𝜔𝑂𝐴 𝑗 + 0.6𝜔𝑂𝐴 𝑖 𝜔𝑂𝐴 = −0.51𝜔𝐴𝐵 (iii)
𝑅𝐴/𝑂
𝑖: 0.6𝜔𝑂𝐴 = 2 + 0.6𝜔𝐴𝐵 (iv)
𝐴
Link AB
Position Vector 𝑦 Solving eqn (iii) and (iv) simultaneously:
𝑅𝐴/𝐵 = 0.8(− cos 48.60 𝑖 − sin 48.60 𝑗) = − 0.53𝑖 − 0.6𝑗 𝜔𝑂𝐴 = 1.126 rad/s (CCW)
The position vector: 𝜔𝐴𝐵 = 𝜔𝐴𝐵 𝑘
𝑥
𝑅𝐴/𝑂 = 𝑅𝐵/𝑂 + 𝑅𝐴/𝐵 𝜔𝐴𝐵 = −2.207 rad/s (CW)
𝑣𝐴/𝐵 = 𝜔𝐴𝐵 𝑘 Λ 𝑅𝐴/𝐵
 QUESTION 5

Briefly describe with the aid of diagrams the kinematics of rolling without slipping.

(CO1/C2/5 marks)

(a) The bar OA of length 1.2 m is pinned to the point A on the wheel of radius R = 0.8 m as shown in Figure Q5(b). As the arm OA rotates in counterclockwise direction, the arm causes the wheel to roll to
the right. Given at the instant shown when  is 30o, the mass centre B of the wheel moves to the right at speed of 2 m.s-1 which is decreasing at the rate of 10 m.s-2, determine,

(i) the velocity and acceleration of the pin A,

(ii) the angular velocity and acceleration of arm OA, and
(iii) the velocity and acceleration of point A relative to B and draw both vectors.
(CO2/C4/12 marks)

(a) If rolling without slipping occurs between the wheel and the horizontal surface, evaluate the condition happened in Q(a) by assessing the dynamics principles used.

(CO3/C6/3 marks)

𝑎𝐴/𝑂 = 𝛼𝑂𝐴 𝑘 Λ 𝑅𝐴/𝑂 + 𝜔𝑂𝐴 𝑘 Λ (𝜔𝑂𝐴 𝑘 Λ 𝑅𝐴/𝑂 ) From (ii):

𝑎𝐴/𝑂 = 𝛼𝑂𝐴 𝑘 Λ (1.039𝑖 − 0.6𝑗) + 1.126𝑘 Λ (1.17𝑗 − 0.6756𝑖) (1.039𝛼𝑂𝐴 +0.7607)𝑗 + 0.6𝛼𝑂𝐴 − 1.317 𝑖 =
0.6𝛼𝐴𝐵 − 7.418 𝑖 + −0.53𝛼𝐴𝐵 + 2.923 𝑗
𝑎𝐴/𝑂 = (1.039𝛼𝑂𝐴 +0.7607)𝑗 + (0.6𝛼𝑂𝐴 − 1.317)𝑖 𝑖
Equating the terms:
Solution 𝑘 + 𝑗
Link AB 𝑗: (1.039𝛼𝑂𝐴 +0.7607) = −0.53𝛼𝐴𝐵 + 2.923
(a) (ii)
𝑅𝐴/𝐵 = −0.53𝑖 − 0.6𝑗 𝜔𝐴𝐵 = −2.207𝑘 1.039𝛼𝑂𝐴 + 0.53𝛼𝐴𝐵 = 2.1623 (v)
Acceleration Analysis 𝛼𝐴𝐵 = 𝛼𝐴𝐵 𝑘 𝑖: 0.6𝛼𝑂𝐴 − 1.317 = 0.6𝛼𝐴𝐵 − 7.418
𝑎𝐴/𝑂 = 𝑎𝐵/𝑂 + 𝑎𝐴/𝐵 (ii) 𝑎𝐴/𝐵 = (𝛼𝐴𝐵 𝑘 Λ 𝑅𝐴/𝐵 ) + 𝜔𝐴𝐵 𝑘 Λ (𝜔𝐴𝐵 𝑘 Λ 𝑅𝐴/𝐵 ) 0.6𝛼𝑂𝐴 − 0.6𝛼𝐴𝐵 = −6.101 (vi)
Link OA 𝑎𝐴/𝐵 = 𝛼𝐴𝐵 𝑘 Λ −0.53𝑖 − 0.6𝑗 + (−2.207𝑘) Λ (1.17𝑗 − 1.3242𝑖) Solving eqn (v) and (vi) simultaneously:
𝑅𝐴/𝑂 = 1.039𝑖 − 0.6𝑗 𝑎𝐴/𝐵 = 0.6𝛼𝐴𝐵 + 2.582 𝑖 + −0.53𝛼𝐴𝐵 + 2.923 𝑗 𝛼𝐴𝐵 = 8.112 rad/s2 (CCW)
𝜔𝑂𝐴 = 1.126𝑘
𝛼𝑂𝐴 = 𝛼𝑂𝐴 𝑘 Centre B 𝑎𝐵/𝑂 = −10 𝑖 𝛼𝑂𝐴 = −2.056 rad/s 2 (CW)
 QUESTION 5

Briefly describe with the aid of diagrams the kinematics of rolling without slipping.

(CO1/C2/5 marks)

(a) The bar OA of length 1.2 m is pinned to the point A on the wheel of radius R = 0.8 m as shown in Figure Q5(b). As the arm OA rotates in counterclockwise direction, the arm causes the wheel to roll to
the right. Given at the instant shown when  is 30o, the mass centre B of the wheel moves to the right at speed of 2 m.s-1 which is decreasing at the rate of 10 m.s-2, determine,

(i) the velocity and acceleration of the pin A,

(ii) the angular velocity and acceleration of arm OA, and
(iii) the velocity and acceleration of point A relative to B and draw both vectors.
(CO2/C4/12 marks)

(a) Evaluate the condition happened in Q(a) by assessing the dynamics principles used whether the wheel rolls with or without slipping.

(CO3/C6/3 marks)

𝑣𝐴/𝐵
1.1697𝑗 1.1697
𝛽 = tan−1 = 41.450
𝛽 1.3242
−1.3242𝑖
Velocity Vector
Solution
(a) (iii) The acceleration A relative to O: 7.449

The velocity A relative to O: 𝑎𝐴/𝐵 = 0.6𝛼𝐴𝐵 + 2.582 𝑖 + −0.53𝛼𝐴𝐵 + 2.923 𝑗 𝛼 1.376

−1.376 𝛼 = tan−1 = 10.470
𝑎𝐴/𝐵 7.449
𝑎𝐴/𝐵 = 7.449 𝑖 + −1.376 𝑗 m/s2
𝑣𝐴/𝐵 = −0.53𝜔𝐴𝐵 𝑗 + 0.6𝜔𝐴𝐵 𝑖
Acceleration Vector
𝑣𝐴/𝐵 = 1.1697𝑗 − 1.3242𝑖 m/s
(b) If rolling without slipping occurs:
𝑣𝐵 2
𝜔𝐴𝐵 = = = 2.5 rad/s (CW)
𝑅 0.8

Since 𝜔𝐴𝐵 in Q5(a) is less than 2.5 rad/s, rolling with slipping occurred.
 QUESTION 6

With a simple illustration, explain how the equations of motion relate the free-body and kinetic diagrams for the cases of centroidal rotation and non-centroidal rotation.

(CO1/C2/5 marks)

(a) The bent arm OAB is made of uniform slender bar of mass m and length L. It is released from rest from the horizontal position shown in Figure Q6(b). The mechanism is in vertical plane. Determine after
the bent arm has rotated through an angle of θ,
B
(i) the angular velocity of the bent arm,
(ii) the angular acceleration of the bent arm, and
(iii) the force supported by the pivot at O (During the start, i.e when 𝜃 = 0). 1
𝑙
4

Hint: consider the bent arm OAB as a composite body made of two slender bars OA and AB. O A
𝜃 3
𝑙
4 (CO2/C4/12 marks)

(a) If the bent arm in Figure Q6(b) has its mass m entirely concentrated on section AB, i.e. section OA has a negligible mass, evaluate the force supported by pivot at O.
(CO3/C6/3 marks)

Solution 1 1
𝐼𝐺2 = = 𝑚𝑙2 = 0.25𝑚 0.25l 2 =0.001302 𝑚𝑙2 kg.m2
(a) Draw the FBD and KD of the mechanism: 12 12

(i) And (ii) B B Tangential accelerations:

𝑎𝑡,𝐺1 = (0.375𝑙)𝛼 𝑎𝑡,𝐺2 = (0.75𝑙)2 +(0.125𝑙)2 𝛼 = 0.7603𝑙𝛼

G2 = (0.25𝑚)𝑎𝑛,𝐺2 Applied moment about O:

𝑂𝑥 O G1 G1 G2 𝐼𝐺2 𝛼
O 𝑀𝑂,𝑎𝑝𝑝 = 0.375𝑙 0.75𝑚𝑔 + 0.75𝑙 0.25𝑚𝑔 = 0.46875𝑚𝑙𝑔
A
A
(0.75𝑚)𝑎𝑛,𝐺1 𝐼𝐺1 𝛼 Effective moment about O:
0.25𝑚𝑔
𝑂𝑦 (0.25𝑚)𝑎𝑡,𝐺2 𝑀𝑂,𝑒𝑓𝑓 = 𝑅𝐺1/𝑂 x 0.75𝑚 𝑎𝑡,𝐺1 + 𝐼𝐺1 α + [𝑅𝐺2/𝑂 x 0.25𝑚 𝑎𝑡,𝐺2 + 𝐼𝐺2 α]
0.75𝑚𝑔 (0.75𝑚)𝑎𝑡,𝐺1
𝑀𝑂,𝑒𝑓𝑓 = 0.375𝑙 0.75𝑚 0.375𝑙 𝛼 + 0.0352𝑚𝑙2 𝛼 + [0.7603𝑙 0.25𝑚 0.7603𝑙𝛼 + 0.001302𝑚𝑙2 𝛼]
FBD KD
𝑀𝑂,𝑒𝑓𝑓 = 0.2865𝑚𝑙2 𝛼
Mass moment inertia about point G1 and G2:
1.6362g
1 1 𝑀𝑂,𝑎𝑝𝑝 = 𝑀𝑂,𝑒𝑓𝑓 0.46875𝑚𝑙𝑔 = 0.2865𝑚𝑙2 𝛼 𝛼=
𝑙
rad/s2
𝐼𝐺1 = = 𝑚𝑙2 = 0.75𝑚 0.75l 2 =0.0352 𝑚𝑙2 kg.m2
12 12
 QUESTION 6

With a simple illustration, explain how the equations of motion relate the free-body and kinetic diagrams for the cases of centroidal rotation and non-centroidal rotation.

(CO1/C2/5 marks)

(a) The bent arm OAB is made of uniform slender bar of mass m and length L. It is released from rest from the horizontal position shown in Figure Q6(b). The mechanism is in vertical plane. Determine after
the bent arm has rotated through an angle of θ,
B
(i) the angular velocity of the bent arm,
(ii) the angular acceleration of the bent arm, and
(iii) the force supported by the pivot at O (During the start, i.e when 𝜃 = 0). 1
𝑙
4

Hint: consider the bent arm OAB as a composite body made of two slender bars OA and AB. O A
𝜃 3
𝑙
4 (CO2/C4/12 marks)

(a) If the bent arm in Figure Q6(b) has its mass m entirely concentrated on section AB, i.e. section OA has a negligible mass, evaluate the force supported by pivot at O.
(CO3/C6/3 marks)

Solution
Draw the FBD and KD of the mechanism: For constant acceleration case:
1.6362g 𝑔
B B
𝜔2 2 = 𝜔1 2 + 2𝛼𝜃 𝜔2 2 = 0 + 2( )𝜃 𝜔2 = 1.809 𝜃
𝑙 𝑙

G2 = (0.25𝑚)𝑎𝑛,𝐺2 (iii) Reactions at O (𝜔1 = 0): σ 𝐹𝑥 = 𝑚𝑎𝑥

𝑂𝑥 O G1 O G1 G2 𝐼𝐺2 𝛼
A 1.6362g
(0.75𝑚)𝑎𝑛,𝐺1 A 𝑂𝑥 = 0.25𝑚 𝑎𝑡,𝐺2 sin 𝜃 = 0.25𝑚 0.7603𝑙𝛼 sin 9.50 = 0.03137 𝑚𝑙𝛼 = 0.03137( ) 𝑚𝑙
𝐼𝐺1 𝛼 𝑙
0.25𝑚𝑔
𝑂𝑦 (0.25𝑚)𝑎𝑡,𝐺2 = 0.0513 𝑚𝑔 N
0.75𝑚𝑔 (0.75𝑚)𝑎𝑡,𝐺1 ෍ 𝐹𝑦 = 𝑚𝑎𝑦

FBD KD 𝑂𝑦 − 0.75𝑚𝑔 − 0.25𝑚𝑔 = −(0.75𝑚)𝑎𝑡,𝐺1 − 0.25𝑚 𝑎𝑡,𝐺2 cos θ

G2
𝑂𝑦 − 0.75𝑚𝑔 − 0.25𝑚𝑔 = − 0.75𝑚 0.375𝑙 𝛼 − 0.25𝑚 0.7603𝑙𝛼 cos 9.50
𝑎𝑡,𝐺2 = 0.7603𝑙𝛼
0
𝜃 1.6362g
𝜃=9.5 𝑂𝑦 = 𝑚 𝑔 − 0.468718𝑙𝛼 = 𝑚 𝑔 − 0.468718𝑙 = 0.23308 𝑚𝑔 N
O 𝑙
A
 QUESTION 6

With a simple illustration, explain how the equations of motion relate the free-body and kinetic diagrams for the cases of centroidal rotation and non-centroidal rotation.

(CO1/C2/5 marks)

(a) The bent arm OAB is made of uniform slender bar of mass m and length L. It is released from rest from the horizontal position shown in Figure Q6(b). The mechanism is in vertical plane. Determine after
the bent arm has rotated through an angle of θ,
B
(i) the angular velocity of the bent arm,
(ii) the angular acceleration of the bent arm, and
(iii) the force supported by the pivot at O (During the start, i.e when 𝜃 = 0). 1
𝑙
4

Hint: consider the bent arm OAB as a composite body made of two slender bars OA and AB. O A
𝜃 3
𝑙
4 (CO2/C4/12 marks)

(a) If the bent arm in Figure Q6(b) has its mass m entirely concentrated on section AB, i.e. section OA has a negligible mass, evaluate the force supported by pivot at O.
(CO3/C6/3 marks)

Solution (b) If the bent arm in Figure Q6(a) has its mass m entirely concentrated on section AB, i.e.
Draw the FBD and KD of the mechanism: section OA has a negligible mass :
B B
Reactions at O (𝜔1 = 0): σ 𝐹𝑥 = 𝑚𝑎𝑥

G2 = (𝑚)𝑎𝑛,𝐺2 𝑂𝑥 = 𝑚 𝑎𝑡,𝐺2 sin 𝜃 = 𝑚 0.7603𝑙𝛼 sin 9.50 = 0.1255 𝑚𝑙(1.6362g) N

𝑙
G1 G1 G2 𝐼𝐺2 𝛼
𝑂𝑥 O O = 0.20532𝑚𝑔 N
A
A ෍ 𝐹𝑦 = 𝑚𝑎𝑦
mg
𝑂𝑦 (𝑚)𝑎𝑡,𝐺2 𝑂𝑦 − 𝑚𝑔 = − 𝑚 𝑎𝑡,𝐺2 cos θ

FBD KD 𝑂𝑦 − 𝑚𝑔 = − 𝑚 0.7603𝑙𝛼 cos 9.50

G2 1.6362g
𝑂𝑦 = 𝑚 𝑔 − 0.7499𝑙 = −0.227𝑚𝑔 N
𝑙
𝜃
𝑎𝑡,𝐺2 = 0.7603𝑙𝛼
𝜃=9.50
O
A