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874 views37 pagesHibbeler Dynamics ISM Ch20
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Uploaded by
ericCopyright
© © All Rights Reserved
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/ 37
20-41, The ladder of the fire truck rotates around the z
axis with an angular velocity «1 = 0.15 rad)
increasing at 0.8 rad/s?. At the same instant itis rotating
‘upward at a constant rate ax = 0.6 rad/s. Determine the
velocity and acceleration of point A located at the top of
the ladder at this instant,
oy + =01K+0M= (044015) nts
Agata For 8, = 0) = (0188) ne
(ara tO
=0+ (015 «(06 = (005) ca?
Ree, 20,
(6d qr2™ (04), =(08) 40 (084)
2288 ere Oe
208k +005) = (009j+08) ma?
= ane = (24644206)
a+ 015 x(s464y+200)
= (-Sam~1g}920m) 6 Ane
seeexrsoxy,
= (005}+ 084) x(2464}6 204 + (0+ 0158) (5201-136 208)
= (241-1354. 7208) aa? ro
"20-2 The ladder of the fire truck rotates around the z
axis with an angular velocity of a = 0.15 rad/s, which is
increasing at 0.2 rad/s. At the same instant tis rotating
‘upwards at «2 = 0.6 rad/s while increasing at (4 rad/s'
Determine the velocity and acceleration of point A
located at the top of the ladder at this instant,
vo = 40a" + 40am
tao = (RGA + my a
B= aks a= (06 +015) as
a
ne + yh + ae at
8 02K + 0M + 015% x04 = (0M + 005) + 024) ae?
M4 = Ato = (ON + 015K) x (KY + 208)
Me = (S200 ~ 1 + nm) a a
B= BxOxtye) + O% 0
24 = (Om + 015%) x((08 + 015%) x¢s4644 + 200)
“FOAL + 005} + 028) x (S46) + 200)
aoe essay eee 20-3. ‘The motion of the top is such that at the instant
shown it is rotating about the z axis at w, = 0.6 rad/s,
while itis spinning at op = 8 rad/s. Determine the angular
velocity and angular acceleration of the top at this instant.
Express the result as a Cartesian vector.
= 06k + Seos45"j + Bins"
0 = 15.66) +6.26k) rats Ans
Lett y,z anes hive angular velocity of @ = oy, thus
0 = Daye + (os X a) =O + (06K) x Beos4S"j + Bsin4s"h) =
(-3399) a? Ans $20-4. AL a given instant the satellite dish has an
angular motion wy ~ 6 ra4/s.and «y= 3 ra6/s? about
the axis AL this same insant # = 25°, the angular motion
about the x ats is wn = 2 rad/s, and oy = 15 rad/s".
Determine the velocity and acceleration of the signal
horn A at this instant.
Anguler Velocity : The coordina ase forthe fied fame (X.Y, 2) and
‘oxaing fre (x 2) athe instant shown are sett be coindnt. Tat. the
angus veloc of he sale a his tnt wih eet to X,Y. 2)
8 be exprestedia rms of jk components
(21+ ey ee
Angular Acceleration : The anlar sceeraton wil be deeemind by
investing sepuuly the tine rate of change of each angular veo
—— | — -conaanen ith pene faa XYZ frame- or ober hare = ————
‘consa direction fom the rotting ye fame hs fe is roming at 2
ty = (Sk rails: Appling Eq 20~6 with (errs (181) eal/ swe
have
@, =(6)),,, 0, x0,
hy Sts kx a= (151+ 13) le
Since ialways decd along the Z als (220), then
8, (6), 7
+0.
3k) ral
‘Ts, the angular aceon ofthe satel is
B29, $6 = (154 13} a) nit
Velocity and Acceleration : Applying Es. 20—3 snd 20-4 with we
st obtained above ane, = {1.608 257+ Ls 257k) me
© {1.2684 405917R) rm, weave
M456, = (is tk) (12688) 40.5912) ~ -
{-7.614~ 1.18} +258k) ee Ans
cr, Hax(@%E)
181+ 14 3) (1.2688) 0.59178)
+ (214 6 (2+) x (12688059179)
¥ = (10.4 S1.6)~0463K) mie? Ans 20-5. Gear A is fixed while gear B is free to rotate on
the shaft S. If the shaft is turning about the z axis at
@, = S rad/s, while increasing at 2 rad/s, determine the
velocity and acceleration of point C at the instant shown,
‘The face of gear B lies in a vertical plane. rom Prob, 20-4,
0 = (54-10) mate
Om (30-454 209 at?
tes OxK
ve Gk 1p C60 + 1609
Ye = 001+ 400} +80) mene
= (0.200 + 040) + 08008) me as
Be = Axve + Ox re
Re = (501 = 45+ 24) (808 + 260 + (10) + 54) x(-800 + 404 + 8008)
fe = {103201 ~ 3840) + 3204) mami?
fe = (1031 ~ 3.84 + 03206) mi? Ane
20-6, Gear B is connected to the rotating shaft, while
the plate gear A is fixed. If the shaft is turning at a
constant rate of a, = 10 rad/s about the 2 axis, determine,
the magnitudes of the angular velocity and the angular
acceleration of gear B. Also, determine the magnitudes
of the velocity and acceleration of point P.
= {20} 10) als Tae @
a=(a) cox
os (OFT eh. 2ctn Ane @.,.
r= (0340054) m 0+ (10) > (-40}+ 10) = (4001 rs!
0} + 10k) x(0.2}+0.08%) a= a2dOrdl? ay
= ey xp (408) 0.250.058) +0 + 10K)
Ans = (605-804) my
a9 = VROFS CRF = 100 m/s? ns 20-7, At a given instant, the antenna has an angular |
motion a = 3 rad/s and é = 2 rad/s? about the z axis. |
At this same instant @ = 30°, the angular motion about
the x axis is w = 1.5 rad/s, and dy = 4 rad/s? Determine
the velocity and acceleration of the signal horn A at this |
instant. The distance from O to A is d= 3ft.
a Sema) + SaaS = (2.590) + 1.58)
Pere ee ss un
roe
Gees) x90 415
om + $457k ~ 2281
wen 229¢ 90 oe A
anata
= oko +e mS
Aye
edn tony
ne =H 5 sy + 2) SHH) + LS) # BEF SDM = 225 + 37H
na = (020 = 353) + 700) HP Ane
#208. The cone rolls without slipping such that at the
instant shown w, = 4rad/s andée; = 3-rad/s*, Determine
the velocity and acceleration of point A at this instant.
Anguiaveloty The rena sgue vlcty =e + Mealvay dice
‘ong te snes a fe vey 7),
saat te, ur
0 = e+ cos20} + a2)
(am acy (4e oem
Sutin snd component preci
= (88) a
(Oyo = (abe) em 3k (4204-38) na
noe
eine 0m Jo )ne0*0]
0, = (04) nate
on 98) $2004) rex t09H1¢ 49)
‘Teaamasso00) at
y= Dead Bnd (1504+ 1.2850)
‘(1099p xc.ss2y+ 12850)
Seana an
sneer soxy
7 (99a 1.040 «cst 1.280 + (10999 x¢-1419
(10 ~565)-8794) 0 Ans 205. The cone rolls without slipping such that at the
instantshown @, = 4 rad/sand é, = 3 rad/s?. Determine
the velocity and acceleration of point B at this instant.
‘Angutc veloc: The mantant guar wacky = 0, + ey isaya ected
‘long the astacneout of owas 9),
=, +0,
2h a+ (0, c20%} + are)
= (10999) man
= 11 eon + (11. 70un20y em (109954 4} ea
‘Anpaar acceleraion
(ye= (58) ae
(ge = (abe) 0220-28 (82004) 8) a?
on a0,
[yt Je), 40%0,]
m0, = (Ae) ratte
em (946 01+ 1-804 ~ 34 + a8 (-10991¢.4)
1 (ai3s00-6204) mae
"= 39594-82404) x(-0.6840M + 14794) + 0642798)
“+ (1099p x(-7.06421 ~ 781768)
= (7731~20.3-065n) 08 fee 20-10, If the top gear B is rotating at a constant rate
of a determine the angular velocity of gear A, which is
free toturn about the shaft and rolls on the bottom fixed
gear
va ekxcrsd = ort
nee
wea xtnithi= |e, Oy au
o -n hk
= (45 + er) Cauen dda
Germ tayhtmer (0)
Ora =
Oar
a0
ek
[0 ay ax
lo re hi
Gi)
From Ea: (8) —
oval]
we20e = (yh + aueredt
a,
ae oa)
co Co 20-411, Gear Ais fixed to the crankshaft S, while gear C
is fixed and B are free to rotate. The crankshaft is turning
at 80 rad/s about its axis Determine the magnitudes of
the angular velocity of the propeller and the angular
acceleration of gear B. Fel? on wee Bt a ed of
vp = BOM = 320%
“Te Aine ong he pols of oan of Band C
ate
ae oan) Hue
es elton ces
= rod + dork
tno = 01) + 04%
wee ot
aan
m= [0-2 40
a= bm pt 8, 0+ oX(0, +0)
(40) «ct = 409)
a (408) ra Ane "20-12. The disk B is fee to rotate on the shaft . Ifthe
shaft is wurning about the z axis at a, = 2 rad/s, while
increasing at & rad/s*, determine the veloicty and
‘acceleration of point A atthe instant shown.
Angular Veloty ‘Tee cordoae fr te fxd re X,Y, 2)
‘aig fmm ry 2) ate aa shown ae et bo cic Th,
‘ub vocy oe dk ae with refeencn X,Y, 2) cme
‘presen temo, Kcompoem. Ths vl of a csi of i
1s = 6\(08) = 2108) =160 m/e. Sneed tl wit png
emcle—) Tt, 0, = (-4)) dle
m0, 40,= (44428) mle
Anat Aceeraton: Tg etn vi emi by
‘mwas spy tsa of geo ach intro
‘Spee ope tn XTZ tno, wokered nme
Cen reco ee ag yt fe foe ng
o°T can nae Tosengul canoer ae
256,08) = 108) = 40nd re tse.
ni ig ens pray == Sweat
rcs“ Ta, 0), = 16) ale ere 20-6
vee
8 Aap t XO,
16} x49 = (81-16) re?
Sie, kaye dred snag Z ss (0 9), en
8 =O dy to, = (8) le
Tha, nul mean of eke
4,2 (an 1eeme) are?
Velocity and Acceleration: Apyag Ege. 20-3 10d 20-4 wit be ©
st obaned abovesnd y= (-Bals 08) 2 were
ator am x(-oatengy,
= {1601~0.900)-1.608) me
a Faxr, s0x(0x4,)
= (=I +B)x(-0alsoap
(28) xe 20 x(-041408p)
(1st 640}~6408) aw 20-13. Shaft BD is connected to a ball-and-socket joint
at B, and a beveled gear A is attached to its other end,
‘The gear is in mesh with a fixed gear C. If the shaft
and gear A are spinning with a constant angular velocity
@; =8 radis, determine the angular velocity and angular
acceleration of gear A.
‘The resultant angular velocity = ay + is always directed along
the instantaneous axis of zero velit JA.
o 8
Sere ~ area =A nas
3.48 sn 18.87°E + 13.44008 18.87")
[435i-+ 12.7) als Ans
wo 8
ange ~ iaiear
0 mals
6H) ras
sin 32.91°1+ 8cos 32.91") = (4.34664 + 6.7162} ras
22 = (6) ras
(ardae = lorape + 20
0-4 (a) x (4.3408 + 6.7162
26.08} als?
Foro o=0. #202 (Oon2 + Guz
+ (~26008h
~26.1k) als? Ans
Goyura = Gye HD oy = 04
20-14. The truncated cone rotates about the z axis at a
Constant rate «. = 0.4 rad/s without slipping on the hori-
zontal plane. Determine the velocity and acceleration of
point A on the cone.
sot (28) aa
tt
amar
= 08 rads
0.80530" = 0.6928 radls
(-0.6928)) sais
tk
On: +20 o
= 044 (0.4K) x (0.6028)
oe (02771) nas?
(104) sus Ans
F4 = (3 ~3sin30")j +3c0530"k
(1.5) +2.598K) anette x ta
(O27) x (1.5) + 2.5984) + (0.6928) x (1.801)
(-0:720) — 0.8318) fust Ans
(-0.6928)) x (1.5) +2.598h) 20418, At the instant shown, the tower crane is rotating
about the z axis with an angular velocity ay = 0.25 rad/s,
which i increasing at 06 rad/s?.The boom OA is rotating.
downward with an angular velocity a = 0.4 rad/s which
is increasing at 0.8 rad/s*. Determine the velocity and
acceleration of point 4 located at the top of the booms at
this instant
re +05 = {-0.4140258) male
00254) eats
0.80 64) + (0.25) (0.460.254)
o-(a),, +0
st08-014s008) nat
= oe = (04.6308)
va = tng = (0.440.254) 4 64 +208)
[6661 800)-13.9k) Us Ans
(0 BE 0.1) 40.58) (04.640 20K) 0.440298) (-8 4 8 O}~ 13.94)
= (24814 8.295-309K) VP Ane
"20-16. ‘The construction boom OA is rotating about the
zaxiswithra-constant angular velocity of ay = O15 rad/s,
while it is rotating downward with a constant angular
velocity of w= 02 rad/s Determine the velocity and
acceleration of point A located at the tip of the boom at
the instant shown,
= oy +05 = (0.2) +0.154) mas
ete x» zane oat a
On
ee Oe OTS OTT RE
+ =[ViTOF =O] se » (7.984 sou) 20-17. The differential of an automobile allows the two
rear wheels to rotate at different speeds when the
automobile travels along a curve. For operation, the rear
axles are attached to the wheels at one end and have
beveled gears A and B on their other ends, The
differential case D is placed over the left axle but can
rotate about C independent of the axle. The case supports
4 pinion gear E on a shaft, which meshes with gears A
and B, Finally a ring gear G is fied to the differential
cease so that the case rotates with the ring gear when the
latter is driven by the drive pinion H. Ths gear, lke the
differential cases free to rotate about the left wheel axle.
If the drive pinion is turning at «oy = 100 rad/s and the
pinion gear E's spinning about its shaft at aye = 30 rad/s,
determine the angular velocity, ay and wy of each arte
p= ery = 10050) = S000
$2 an 78 ea
= 20 62.78
Point Oi Gael point froin for gers AB, and 8.
A= 06 + 0 = (27-7854 30K) cals
Yo =x tp = (27-785 + 30) 40+ 6) = (2866.71) me
is jing arm using
20.18, Rod AB is attached to the rotating arm using
pall-and-socket joints. If AC is rotating with constant
angular velocity of 8 rad/s about the pin at C, determine
the angular velocity of link BD at the instant shown.
= 205) = 02D an
THe B+ (t+ a+ oN) xe aaa
0» ~60, ~20,
Om 2+ 60, +36,
+25, =39,
aos
wre 2 Bde) 3%)
atte,
waten :
ued
y= (200) ne as 20-19, Rod AB is attached to the rotating arm using
ball-and-socket joints. If ACs rotating about point C with
fan angular velocity of Srad/s and has an angular
acceleration of 6 rad/s* at the instant shown, determine
the angular velocity and angular acceleration of link BD
at this instant.
.
'*20-20. If the rod is attached with ball-and-socket joints
to smooth collars A and B at its end points,
the speed of B at the instant shown if A is moving
downward at a constant speed of v4 = 8fi/s. Also,
determine the angular velocity of the rod if itis directed
perpendicular to the axis of the rod.
o
DIDI + pk = -984 95+
See Prob. 20-18,
= (2008) te
Ma = (14a
waa tx ta + OX Oro)
0 = =96+ 0-9 -20, - 9736
na 94 65, $30, ~ 6508
ie + 4D ~ 59 + 19.592
(= 9008
e eon = 28 ses it
28
ae yp = (34:51) radia? Aes
v4 = a ae
au L4G Te
ods s+ a nae ri
weal da
‘epg tod ean components yl:
Aim
(os 04+ a0:s =m) =0
29, + 60, ~ 39, = 0 o
Sevag Ea. (1) -() ede
©, = ammenue
6 10st ad
= -1460 mae
= (0900 tog tame ene
vy = 120) We ds —— 20-21. If the collar at A is moving downward with an
acceleration a4 = {5k} fUS, at the instant its speed is
v4 = 8 fus, determine the acceleration of the collar at B
at this instant
Sagi ay = 5k
From Prob, 20:20,
gn = 097964 ~ 1.06125 ~ 1.4698
ap=ant ays
ayy = an x Yaa Han x a4
Yaya = Ve ~ Va 14 SK
ya = 1097968 ~ 1.06125 ~ 1.4694) x (12-4 88) + (a+ a4
stak) x 2+ 65— 39)
(agh = ~Sk + (097964 ~ 1.0612) ~ 1.4694K) « (125+ 80)
(Bay — 6a) Cas 3a + es ~ 2a)
4.4897
+a, a8
3a, — ay
25.4696
6a + Day = 7.738
Solving these equations
a5 = 968
ap = [-96.5i) fs? Ans
20-22. The rod AB is attached to collars at its ends by
ball-and-socket joints. If collar A has a speed vs = 3 m/s,
determine the speed of collar B at the instant shown.
Velocity Equation: Here,
aja = (2 — OY + (= Dk} m
(2K ms»
= -0.6141-+ 08va)
and wo
nt end + 02k Applying Eg, 20-7, we have
+ 0.809) = 3K + (oh + a4) + 02K) x QI ~ Ik)
0804) = (-3 ~ a, ~ 20h + and + Qo, —3)k
and k components, we have
nm
a
8
1 0 4 speiied acting perpendicular tothe axis of the rod AB. then
erty =O
(oi Foy) back) -Qj~ I) =0
Day = a,
4
Solving Bas. (1. [2 (3) and (4 yields
= 150 nls
sy = 0.225 ras
0.450 ras
vp = 1875 mvs Ans 20-23. If the collar at A in Prob 20-22 has an accel-
ration of a4 =[—2k] mvs? at the instant its speed is
vq = 3 vs, determine the magnitude of the acceleration
Of the collar at B at this instant.
Nelocity Equation: Here,
raja = 120+ (0~ Yk) m= (25
[-3k] mis,
0.609} + 0.8055
and @ = ead +4) + 02K. Applying Eq, 20-7, we have
ve amt ex rais
0.60 +0,
Bk + (wed ban) tack) x 25-1)
~0.60gi + 0.8vq) = (-3~ @, ~ 20.) + Den = 9k
Equatng I. and k components. we have
0609 = -0, ~20, m
08s =e ay
Day -
a
1f wis specitiod acting perpendicular to the axis ofthe rod AB, then
tan =0
(ote) +@:k)-Q)— 1k) =0
2a, ~ oO @
Solving Eqs. (1, (2), [3] and 4] yields
81S ms a, = 1.50 dls
oy = 0225 rad a = 0450 ras
‘Acceleration Equation: With = ah-+a,)-+a.k and the result
‘biainad above, applying Ea, 20-8, we have
ap aay ta xray tox oxy)
= 0.6agh + 0.849) = ~2k + (ah +a) + 4K) QJ)
+ (1.501 +0.225j + 0.450k) x ((1.SO1 + 0.225) + 0.450K) x (2) — 18]
— O.6aph + 0.805) = (met, ~ 2a.) + (a, ~ 5.00625)j
+ ay + 0.503125)
Bgvatng i,j and k components, we have
069 = —a, ~ 20, 151
O8ce = a, ~ 5.00625 61
0 = 2a, +0.508125 m
Solving Bas. (6] und (7) yields
a, = ~02515 rads?
op = 657 mis? Ans
Negative sign indicates that ag is directed in the opposite direction 19
that of the above assumed direction,
[Note: In order fo determine a, and a. one should obtain another
‘equation by specifying the dirceion of which acts perpendivalar to
the exis of rod AB, 20-24, ‘The rod AB is attached to collars at its ends by
ball-and-socket joints. If collar A has a velocity of
‘v4 = 5 fi/s, determine the angular velocity of the rod and
the velocity of collar B at the instant shown, Assume the
angular velocity of the rod is directed perpendicular to
the rod,
va = (0) Be
ead
Fn = (t+ 58)
ts
cniesele 3, 0
are
5-50-40, 0
$0, - 20, = -%
4a, +38, = 0
one - 0
a0, + 40, - 50,0
= (0578+ 051 + 0628) mae Ane
(379) ame
20.28, Solve Prob. 20-24 ifthe connection at B consists .
‘of a pin as shown in the igure below, rather than a ball.
and-socket joint. Hint: The constraint allows rotation of »
the rod both along bar DE (J direction) and along the a
axis of the pin (a direction). Since there is no rotational
‘component in the w direction, ie, perpendicular tom and
(0.The vector nisin the same
| ve={tihms e=—mj acem@ivamjemk TT RT
rucXene =|-0.2 06 03} =(0.18+0.124) at
lo2 0 a3
= (0240.5 +0.38) m
nw 2B
=08s21+ 0586
foe
we srerane xeric
hak
waists}, oo so Jxm=5x(0.8921140.55¢74)=0.55471-08321K
oa os oa
yes w= (ql oys+ ah): (0.55471~0,8321)
uating and componenis
055470, 0.83210 50 o
14034 -06q=0
Solving Ea.1) 1 (8) yes
030, +0.20,= a 207d Ga-2S rs HOSISradls vy #0333 m5
Tew -
0.60, +0.29, =0 o =
7691~-2.314+ 0.512) Ans
i 2222s 7691-2:3460,519K) mals
y= (0.303) ms Ane
(4.21+0.6)+0.38) wo
ove = (4.25+0.987 8 20.26, The rod assembly is supported at B by a ball-and- |
socket joint and at A by a clevis If the collar at B moves
in the xz plane with a speed vp = 5 ft/s, determine the
Velocity of points A and C on the rod assembly at the
instant shown. Hint: See Prob. 20-25.
(Scos104 Sun) hs
Fun (A-SI Fey = =H
tye
ctcsenrcsuoneles Al
oI
‘ang, jd components
Som20"=39,-40,-0 fi
tao a t g
fo, —Sans0" =~, 8
‘Ao, nce ee eno reaon sou y i
me 4 (010,560) =0
ano
‘Setving 1 et:
a g20 oetotmtle 79 25aKh
a = —-
van (2500) hee
hye
= seaser-sunsorne lo > 108]
bo 'S
4433+ 217)-2508) ane 29-27, Rod AB is attached ta collars at its ends by ball
and-socket joints Lf collar A moves upward with a velocity
‘of ft/s determine the angular velocity ofthe rod and the
speed of collar B at the instant shown. Assume that the
rod's angular velocity is directed perpendicular tothe rod.
vee (6) oy
Jaiefan aseaivaivan
vee taunt
Bnet oe
Juitfanemela a al
nS 2
using and &
~a +24 = o
@
8-20-15 =f
fe
Since aqa is perpendicular he axis of he a,
ea tan = (aula 04k): (1,51-2)-18) 0
1.5, -2a -@, =0 «
Solving 961) 4) yee
N6bArade oy = 1.2687 mate oy = 0.7789 ra
mt Am
Then ae = (11M 1214 0.779) aden "20-28, Rod ABis attached to collar at its ends by ball-
and-socket joints. If collar A moves upward with an
acceleration of a4 =4 ft/s’, determine the angular
acceleration of rod AB and the magnitude of acceleration
of collar B. Assume that the rod's angular acceleration is
irected perpendicular to the rod.
From Prob. 20-27
agg (1, 16886+ 1 2657)-.77894) als
a = (LSM 3-1
+ aj a
ee fae) st
ota rai, + aa Cee E00)
(oui oy} a4) (151-2) te)
“+. 168ahs 1.26575-0.77998)
168A 1.2681) -0, 77894) (1
c
2-109)
uatingh jan corapnents
a, #20, $3607 = Bay ®
at hSa,47I479=0 ®
1.579724 1.50, o
See ay is perpendicular t te aif he
Ga tan =(@ch6 0} +): (1.51-2]~ thy = 0
1505-20, ~
