May 29, 2012 EAS215 - HW8 Justin Drawbert

Problem 16-141
Peg B xed to crank AB slides freely
along the slot in member CDE. If AB rotates with the motion shown, determine the angular
velocity of CDE at the instant shown.
Equations
v
B
= v
C
+
CDE
r
B/C
+ (v
B/C
)
rel
(1)
Solution
Start by dening a convenient coordinate system.
Now, we dene our vectors. Here, it is perhaps easiest to dene everything in terms of the rotating
xyz coordinate system.
deg = pi/180 #use to convert from rad to deg
##--global--##
v_A = 0
v_C = 0
omega_AB = vector([0,0,10]) #rad/s
alpha_AB = vector([0,0,5]) #rad/s^2
6
May 29, 2012 EAS215 - HW8 Justin Drawbert
var(Omega_CDEz)
Omega_CDE = vector([0,0,Omega_CDEz])
##--xyz--##
r_BC = vector([3/10,-3/10,0])
r_BA = vector([3/10*cos(60*deg),3/10*sin(60*deg),0])
v_B1 = omega_AB.cross_product(r_BA)
var(v_BCxyz)
v_BCrel = vector([v_BCxyz,0,0])
Based on what we have just dened in Sage, equation (1) becomes
_

3
2

3 ,
3
2
, 0
_
= 0 +
_
0, 0,
CDEz
_

_
3
10
,
3
10
, 0
_
+
_
v
BCxyz
, 0, 0
_
=
_
3
10

CDEz
+v
BCxyz
,
3
10

CDEz
, 0
_
#define v_B2
v_B2 = v_C + Omega_CDE.cross_product(r_BC) + v_BCrel
_

3
2

3 =
3
10

CDEz
+v
BCxyz
3
2
=
3
10

CDEz
#set x and y components of v_B1 and v_B2 equal and solve
eq1 = v_B2[0] == v_B2[0]
eq2 = v_B1[1] == v_B2[1]
sln = solve([eq1,eq2],Omega_CDEz,v_BCxyz)
For which, Sage returns
_
_

CDEz
= 5, v
BCxyz
= r
1
_
_
Thus

CDE
=
_
5 rad/s
_

k
7