ME 208 DYNAMICS

Dr. Ergin TÖNÜK

Department of Mechanical Engineering
Graduate Program of Biomedical Engineering
[email protected]
http://tonuk.me.metu.edu.tr
Relative Velocity
𝑟Ԧ𝐴 = 𝑟Ԧ𝐵 + 𝑥 𝑖Ƹ + 𝑦𝑗Ƹ
𝑟Ԧ𝐴ሶ = 𝑟Ԧ𝐵ሶ + 𝑥ሶ 𝑖Ƹ + 𝑦ሶ 𝑗Ƹ + 𝑥 𝑖ሶƸ + 𝑦𝑗ሶƸ
𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝑣Ԧ𝑟𝑒𝑙 + 𝑥 𝑖ሶƸ + 𝑦𝑗ሶƸ

𝑖ሶƸ = 𝜔 × 𝑖Ƹ
𝑗ሶƸ = 𝜔 × 𝑗Ƹ

𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝑣Ԧ𝑟𝑒𝑙 + 𝑥𝜔 × 𝑖Ƹ + 𝑦𝜔 × 𝑗Ƹ

𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝑣Ԧ𝑟𝑒𝑙 + 𝜔 × 𝑥 𝑖Ƹ + 𝑦 𝑗 Ƹ

𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝑣Ԧ𝑟𝑒𝑙 + 𝜔 × 𝑟Ԧ𝑟𝑒𝑙

𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝜔 × 𝑟Ԧ𝑟𝑒𝑙 + 𝑣Ԧ𝑟𝑒𝑙

𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝜔 × 𝑟Ԧ𝑟𝑒𝑙 + 𝑣Ԧ𝑟𝑒𝑙
Interpretation of Terms
Assume the moving coordinate system x-y be formed
of a plate with a slot in it where particle A can move
in relative to the moving coordinate system.
Assume a point P, instantly coincident with particle A
fixed on the moving plane.
𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝜔 × 𝑟Ԧ𝑟𝑒𝑙 + 𝑣Ԧ𝑟𝑒𝑙
𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝑣Ԧ𝑃/𝐵 + 𝑣Ԧ𝐴/𝑃

𝑣Ԧ𝐴 = 𝑣Ԧ𝑃 + 𝑣Ԧ𝐴/𝑃

Transformation of a Time Derivative
(Transport or Coriolis Theorem)
Let 𝑉 be any vector quantity
𝑉 = 𝑉𝑥 𝑖Ƹ + 𝑉𝑦 𝑗Ƹ
The time derivative of this quantity in X-Y coordinates is
𝑑𝑉
= 𝑉𝑥ሶ 𝑖Ƹ + 𝑉𝑦ሶ 𝑗Ƹ + 𝑉𝑥 𝑖ሶƸ + 𝑉𝑦 𝑗ሶƸ
𝑑𝑡 𝑋−𝑌

𝑑𝑉 𝑑𝑉
= + 𝜔×𝑉
𝑑𝑡 𝑋−𝑌 𝑑𝑡 𝑥−𝑦

The term 𝜔 × 𝑉 is the difference between the time

derivative of 𝑉 in the rotating (x-y) and non-rotating
(X-Y) coordinate frames.
Relative Acceleration
Relative acceleration equation may be obtained either
by taking time derivative of relative velocity equation
𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝜔 × 𝑟Ԧ𝑟𝑒𝑙 + 𝑣Ԧ𝑟𝑒𝑙
or by applying Transport/Coriolis Theorem.
𝑑 𝑑 𝑑 𝑑
𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝜔 × 𝑟Ԧ𝑟𝑒𝑙 + 𝑣Ԧ𝑟𝑒𝑙 𝑖ሶƸ = 𝜔 × 𝑖,Ƹ 𝑗ሶƸ = 𝜔 × 𝑗Ƹ
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑 𝑑
𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝜔ሶ × 𝑟Ԧ𝑟𝑒𝑙 + 𝜔 × 𝑥 𝑖Ƹ + 𝑦 𝑗 Ƹ + 𝑥ሶ 𝑖Ƹ + 𝑦ሶ 𝑗Ƹ
𝑑𝑡 𝑑𝑡

𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 + 𝜔 × 𝑥ሶ 𝑖Ƹ + 𝑦ሶ 𝑗Ƹ + 𝑥 𝑖ሶƸ + 𝑦𝑗ሶƸ + 𝑥ሷ 𝑖Ƹ + 𝑦ሷ 𝑗Ƹ + 𝑥ሶ 𝑖ሶƸ + 𝑦ሶ 𝑗ሶƸ

𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ𝑟𝑒𝑙

Relative Acceleration
Relative acceleration equation may be obtained either
by taking time derivative of relative velocity equation
𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝜔 × 𝑟Ԧ𝑟𝑒𝑙 + 𝑣Ԧ𝑟𝑒𝑙
or by applying Transport/Coriolis Theorem.
𝑑 𝑑 𝑑 𝑑
𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝜔 × 𝑟Ԧ𝑟𝑒𝑙 + 𝑣Ԧ𝑟𝑒𝑙
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑉 𝑑𝑉
𝑑 =𝜔×𝑉+
𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝜔ሶ × 𝑟Ԧ𝑟𝑒𝑙 + 𝜔 × 𝑟Ԧ𝑟𝑒𝑙
ሶ + 𝑣Ԧ 𝑑𝑡 𝑋−𝑌 𝑑𝑡 𝑥−𝑦

𝑑𝑡 𝑟𝑒𝑙

𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 + 𝜔 × 𝜔 × 𝑟Ԧ𝑟𝑒𝑙 + 𝑣Ԧ𝑟𝑒𝑙 + 𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑣Ԧሶ 𝑟𝑒𝑙

𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ𝑟𝑒𝑙

𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ 𝑟𝑒𝑙
Interpretation of Terms
Assume the moving coordinate system x-y be formed
of a plate with a slot in it where particle A can move
in relative to the moving coordinate system.
Assume a point P, instantly coincident with particle A
is fixed on the moving plane.
𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ𝑟𝑒𝑙

𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝑎Ԧ𝑃/𝐵 + 𝑎Ԧ𝐴/𝑃

𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ 𝑟𝑒𝑙
Interpretation of Terms
Assume the moving coordinate system x-y be formed
of a plate with a slot in it where particle A can move
in relative to the moving coordinate system.
Assume a point P, instantly coincident with particle A
is fixed on the moving plane.
𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ𝑟𝑒𝑙

𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝑎Ԧ𝑃/𝐵 + 𝑎Ԧ𝐴/𝑃

𝑎Ԧ𝐴 = 𝑎Ԧ𝑃 + 𝑎Ԧ𝐴/𝑃

𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ 𝑟𝑒𝑙
Interpretation of Terms
Assume the moving coordinate system x-y be formed
of a plate with a slot in it where particle A can move
in relative to the moving coordinate system.
Assume a point P, instantly coincident with particle A
is fixed on the moving plane.
𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ𝑟𝑒𝑙

𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝑎Ԧ𝑃/𝐵 + 𝑎Ԧ𝐴/𝑃

𝑎Ԧ𝐴 = 𝑎Ԧ𝑃 + 𝑎Ԧ𝐴/𝑃

𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝑎Ԧ𝐴/𝐵

𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 𝟐𝝎 × 𝒗𝒓𝒆𝒍 + 𝑎Ԧ 𝑟𝑒𝑙
Coriolis Acceleration
Non-rotating frame: 𝜔 = 0
𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 𝟐𝝎 × 𝒗𝒓𝒆𝒍 + 𝑎Ԧ 𝑟𝑒𝑙
Coriolis Acceleration
Rotating frame: 𝜔 ≠ 0
𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 𝟐𝝎 × 𝒗𝒓𝒆𝒍 + 𝑎Ԧ 𝑟𝑒𝑙
Coriolis Acceleration
Rotating frame: 𝜔 ≠ 0

https://www.youtube.com/watch?v=mPsLanVS1Q8
𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 𝟐𝝎 × 𝒗𝒓𝒆𝒍 + 𝑎Ԧ 𝑟𝑒𝑙
Coriolis Acceleration
Rotating frame: 𝜔 ≠ 0

https://www.youtube.com/watch?v=Wda7azMvabE
𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 𝟐𝝎 × 𝒗𝒓𝒆𝒍 + 𝑎Ԧ 𝑟𝑒𝑙
Coriolis Acceleration
Rotating frame: 𝜔 ≠ 0

https://www.youtube.com/watch?v=Wda7azMvabE
𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝜔 × 𝑟Ԧ𝑟𝑒𝑙 + 𝑣Ԧ𝑟𝑒𝑙
Interpretation of Terms
Assume the moving coordinate system x-y be formed
of a plate with a slot in it where particle A can move
in relative to the moving coordinate system.
Assume a point P, instantly coincident with particle A
fixed on the moving plane.
𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝜔 × 𝑟Ԧ𝑟𝑒𝑙 + 𝑣Ԧ𝑟𝑒𝑙
𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝑣Ԧ𝑃/𝐵 + 𝑣Ԧ𝐴/𝑃

𝑣Ԧ𝐴 = 𝑣Ԧ𝑃 + 𝑣Ԧ𝐴/𝑃

𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ 𝑟𝑒𝑙
Interpretation of Terms
Assume the moving coordinate system x-y be formed
of a plate with a slot in it where particle A can move
in relative to the moving coordinate system.
Assume a point P, instantly coincident with particle A
is fixed on the moving plane.
𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ𝑟𝑒𝑙

𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝑎Ԧ𝑃/𝐵 + 𝑎Ԧ𝐴/𝑃

𝑎Ԧ𝐴 = 𝑎Ԧ𝑃 + 𝑎Ԧ𝐴/𝑃

𝑎Ԧ𝐴 = 𝑎Ԧ𝐵 + 𝑎Ԧ𝐴/𝐵

Sample Problem 5/16
At the instant represented, the disk with radial slot is
rotating about O with a counterclockwise angular
velocity of 4 rad/s which is decreasing at the rate of 10
rad/s2. The motion of slider A is separately controlled,
and at this instant, r is 150 mm, increasing with 𝑟ሶ =
125 mm/s and 𝑟ሷ = 2025 mm/s2. Determine the
absolute velocity and acceleration of A for this position.
In the solution presented by the textbook the formula is
directly applied. However one may think point P fixed on the
disk and instantly coincident with the slider A and obtain
absolute velocity and acceleration of point A.
𝑣Ԧ𝐴 = 𝑣Ԧ𝑃 + 𝑣Ԧ𝐴/𝑃
Since point P fixed on the rotating disk it makes fixed axis
rotation about O,
𝑣Ԧ𝑃 = 𝜔 × 𝑟Ԧ𝑃 = 4𝑘෠ × 0.15𝑖Ƹ = 0.600𝑗Ƹ 𝑚/𝑠
𝑣Ԧ𝐴/𝑃 = 𝑟Ԧሶ = 0.125𝑖Ƹ 𝑚/𝑠
𝑣Ԧ𝐴 = 0.6𝑗Ƹ + 0.125𝑖Ƹ = 0.1250𝑖Ƹ + 0.600𝑗Ƹ 𝑚/𝑠
𝑎Ԧ𝐴 = 𝑎Ԧ𝑃 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ𝑟𝑒𝑙
𝑎Ԧ𝑃 = 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 = −10𝑘෠ × 0.15𝑖Ƹ − 42 0.15𝑖Ƹ
𝑎Ԧ𝑃 = 2.40𝑖Ƹ − 1.500𝑗Ƹ 𝑚/𝑠 2 y
𝑎Ԧ𝐴 = 2.40𝑖Ƹ − 1.500𝑗Ƹ + 2 ∗ 4𝑘෠ × 0.125𝑖Ƹ + 2.025𝑖Ƹ
𝑎Ԧ𝐴 = −0.375𝑖Ƹ − 0.500𝑗Ƹ 𝑚/𝑠 2

x
5/150 (4th), 5/151 (5th), None (6th), 5/159 (7th), None (8th)
The disk rotates about a fixed axis through O with angular
velocity  = 5 rad/s and angular acceleration  = 3 rad/s2
at the instant represented, in the directions shown. The
slider A moves in the straight slot. Determine the absolute
velocity and acceleration of A for the same instant, when y
= 250 mm, 𝑦ሶ = –600 mm/s and 𝑦ሷ = 750 mm/s2.
Again one may assume point P fixed on the disk, instantly
coincident with A (or may apply the formula directly).
Velocity analysis is required first since acceleration
equations contain velocities too.
𝑣Ԧ𝐴 = 𝑣Ԧ𝑃 + 𝑣Ԧ𝐴/𝑃
Since point P on the disk makes fixed axis rotation about O,
𝑣Ԧ𝑃 = 𝜔 × 𝑟Ԧ𝑃 = 5𝑘෠ × −0.15𝑖Ƹ + 0.25𝑗Ƹ = −1.25𝑖Ƹ − 0.75𝑗Ƹ 𝑚/𝑠
𝑣Ԧ𝐴/𝑃 = 𝑦ሶ 𝑗Ƹ = −0.6𝑗Ƹ 𝑚/𝑠
𝑣Ԧ𝐴 = −1.25𝑖Ƹ − 0.75𝑗Ƹ − 0.6𝑗Ƹ = −1.250𝑖Ƹ − 1.350𝑗Ƹ 𝑚/𝑠
𝑎Ԧ𝐴 = 𝑎Ԧ𝑃 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ𝑟𝑒𝑙
𝑎Ԧ𝑃 = 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙
𝑎Ԧ𝑃 = −3𝑘෠ × −0.15𝑖Ƹ + 0.25𝑗Ƹ − 52 −0.15𝑖Ƹ + 0.25𝑗Ƹ
𝑎Ԧ𝑃 = 4.50𝑖Ƹ − 5.80𝑗Ƹ 𝑚/𝑠 2
𝑎Ԧ𝐴 = 4.5𝑖Ƹ − 5.8𝑗Ƹ + 2 ∗ 5𝑘෠ × −0.6𝑗Ƹ + 0.75𝑗Ƹ
𝑎Ԧ𝐴 = −10.50𝑖Ƹ − 5.05𝑗Ƹ 𝑚/𝑠 2
5/155 (4th), 5/156 (5th), 5/165 (6th), None (7th), 5/163 (8th)
Car B is rounding the curve with a constant speed of 54
km/h, and car A is approaching car B in the intersection
with a constant speed of 72 km/h. Determine the velocity
which car A appears to have to an observer riding and
turning with car B. The x-y axes are attached to car B. Is
this apparent velocity the negative of velocity that B
appears to have to a nonrotating observer in car A? The
distance separating two cars at the instant depicted is 40
m.
Here use of a point P fixed in the moving coordinate system and instantly
coincident with A is hard to visualize and direct application of formula is
straight forward.
𝑣𝐴 = 72 𝑘𝑚/ℎ ≡ 20 𝑚/𝑠
𝑣𝐵 = 54 𝑘𝑚/ℎ ≡ 15 𝑚/𝑠
When motion is observed through B using x-y coordinates it is rotating
about the center of curvature of the road therefore
𝑣𝐵 15
𝜔= = = 0.1500 𝑟𝑎𝑑/𝑠 (𝐶𝐶𝑊)
𝑟 100
𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝜔 × 𝑟Ԧ𝑟𝑒𝑙 + 𝑣Ԧ𝑟𝑒𝑙
𝑟Ԧ𝑟𝑒𝑙 = 𝑟Ԧ𝐴/𝐵 = −40𝑖Ƹ 𝑚
20𝑖Ƹ = 15𝑗Ƹ + 0.15𝑘෠ × −40𝑖Ƹ + 𝑣Ԧ𝑟𝑒𝑙
𝑣Ԧ𝑟𝑒𝑙 = 20.0𝑖Ƹ − 9.00𝑗Ƹ 𝑚/𝑠
Also consider car A at the center of curvature where 𝑟Ԧ𝑟𝑒𝑙 = 𝑟Ԧ𝐴/𝐵 =
− 100𝑖Ƹ 𝑚 and about to hit car B where 𝑟Ԧ𝑟𝑒𝑙 = 𝑟Ԧ𝐴/𝐵 = 0
For center of curvature:
20𝑖Ƹ = 15𝑗Ƹ + 0.15𝑘෠ × −100𝑖Ƹ + 𝑣Ԧ𝑟𝑒𝑙
𝑣Ԧ𝑟𝑒𝑙 = 20.0𝑖Ƹ − 0.00𝑗Ƹ 𝑚/𝑠
At the instant of hit:
20𝑖Ƹ = 15𝑗Ƹ + 0.15𝑘෠ × 0 + 𝑣Ԧ𝑟𝑒𝑙
𝑣Ԧ𝑟𝑒𝑙 = 20.0𝑖Ƹ − 15.00𝑗Ƹ 𝑚/𝑠
𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝛼Ԧ × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔2 𝑟Ԧ𝑟𝑒𝑙 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ 𝑟𝑒𝑙
𝑎Ԧ𝐴 = 0
𝑎Ԧ 𝐵 = 𝜔2 𝑟Ԧ = −0.152 ∗ 100𝑖Ƹ = −2.25𝑖Ƹ 𝑚/𝑠 2
𝛼Ԧ = 0, 𝜔 = 𝑐𝑜𝑛𝑠𝑡
0 = −2.25𝑖Ƹ + 0 − 0.152 ∗ −40𝑖Ƹ + 2 ∗ 0.15𝑘෠ × 20.0𝑖Ƹ − 9.00𝑗Ƹ + 𝑎Ԧ𝑟𝑒𝑙
𝑎Ԧ 𝑟𝑒𝑙 = 1.350𝑖Ƹ − 6.00𝑗Ƹ 𝑚/𝑠 2
5/162 (4th), None (5th), None (6th), None (7th), None (8th)
The slotted disk sector rotates with a constant
counterclockwise angular velocity  = 3 rad/s.
Simultaneously the slotted arm OC oscillates about line OB
(fixed to the disk) so that  changes at a constant rate of 2
rad/s except at the extremities of the oscillation during
reversal of direction. Determine the total acceleration of the
pin when  = 30° and its first rate is positive (clockwise).
One may assume a point P fixed on the disk and instantly coincident with A
𝑎Ԧ𝐴 = 𝑎Ԧ𝑃 + 2𝜔 × 𝑣Ԧ𝑟𝑒𝑙 + 𝑎Ԧ𝑟𝑒𝑙
𝑟Ԧ𝑟𝑒𝑙 = 0.15𝑡𝑎𝑛𝜃𝑖Ƹ + 0.15𝑗Ƹ = 0.0866𝑖Ƹ + 0.15𝑗Ƹ 𝑚
𝑎Ԧ𝑃 = 𝛼Ԧ𝑑𝑖𝑠𝑘 × 𝑟Ԧ𝑟𝑒𝑙 − 𝜔𝑑𝑖𝑠𝑘 2 𝑟Ԧ𝑟𝑒𝑙
𝑎Ԧ𝑃 = 0 × 0.0866𝑖Ƹ + 0.15𝑗Ƹ − 32 0.0866𝑖Ƹ + 0.15𝑗Ƹ
𝑎Ԧ𝑃 = −0.779𝑖Ƹ − 1.350𝑗Ƹ 𝑚/𝑠 2
ሶ = 𝑥ሶ 𝑖Ƹ = 𝑑 0.15𝑡𝑎𝑛𝜃𝑖Ƹ + 0.15𝑗Ƹ
𝑣Ԧ𝑟𝑒𝑙 = 𝑟Ԧ𝑟𝑒𝑙
𝑑𝑡
ሶ
𝑣Ԧ𝑟𝑒𝑙 = 0.15𝜃𝑠𝑒𝑐 2 𝜃𝑖Ƹ = 0.15 ∗ 2 ∗ 𝑠𝑒𝑐 2 30°𝑖Ƹ = 0.400𝑖Ƹ 𝑚/𝑠
𝑑
𝑎Ԧ𝑟𝑒𝑙 = 𝑣Ԧሶ 𝑟𝑒𝑙 = 𝑥ሷ 𝑖Ƹ = ሶ
0.15𝜃𝑠𝑒𝑐 2 ሶ
𝜃 𝑖Ƹ = 2 ∗ 0.15𝜃𝑠𝑒𝑐 2
𝜃𝑡𝑎𝑛𝜃 = 0.923𝑖Ƹ 𝑚/𝑠 for 𝜃ሷ = 0
𝑑𝑡
𝑎Ԧ𝐴 = −0.779𝑖Ƹ − 1.350𝑗Ƹ + 2 −2𝑘෠ × 0.4𝑖Ƹ + 0.923𝑖Ƹ = 0.1230𝑖Ƹ − 1.050𝑗Ƹ 𝑚/𝑠 2
Alternatively you could directly apply the formula with the same terms.
5/163 (4th), 5/168 (5th), 5/178 (6th), 5/176 (7th), 5/179 (8th)
For the instant represented, link CB is rotating
counterclockwise at a constant rate N = 4 rad/s, and its pin
A causes a clockwise rotation of the slotted member ODE.
Determine the angular velocity  and angular acceleration
 of ODE for this instant.
Assume a point P fixed on body ODE instantly
coincident with A.
𝑣Ԧ𝑃 = 𝑣Ԧ𝐴 + 𝑣Ԧ𝑃/𝐴
𝑣Ԧ𝑃 = 𝜔𝑂𝐷𝐸 × 𝑟Ԧ𝑃/𝑂 = 𝜔𝑂𝐷𝐸 𝑘෠ × 0.12𝑖Ƹ = 0.12𝜔𝑂𝐷𝐸 𝑗Ƹ
𝑣Ԧ𝐴 = 𝑁𝑘෠ × 𝑟Ԧ𝐴/𝐶 = 4𝑘෠ × −0.12𝑗Ƹ = 0.48𝑖Ƹ 𝑚/𝑠
𝑣Ԧ𝑃/𝐴 = 𝑣𝑃/𝐴 𝑐𝑜𝑠45°𝑖Ƹ + 𝑠𝑖𝑛45°𝑗Ƹ
0.12𝜔𝑂𝐷𝐸 𝑗Ƹ = 0.48𝑖Ƹ + 𝑣𝑃/𝐴 𝑐𝑜𝑠45°𝑖Ƹ + 𝑠𝑖𝑛45°𝑗Ƹ
𝑖:Ƹ 0 = 0.48 + 𝑣𝑃/𝐴 𝑐𝑜𝑠45°, 𝑣𝑃/𝐴 = −0.679 𝑚/𝑠
𝑗:Ƹ 0.12𝜔𝑂𝐷𝐸 = 𝑣𝑃/𝐴 𝑠𝑖𝑛45°, 𝜔𝑂𝐷𝐸 = −4 𝑟𝑎𝑑/𝑠
Assume a point P fixed on body ODE instantly
coincident with A.
𝑎Ԧ𝑃 = 𝑎Ԧ𝐴 + 𝑎Ԧ𝑃/𝐴
𝑎Ԧ𝑃 = 𝑎Ԧ𝑃 𝑡 + 𝑎Ԧ𝑃 𝑛
𝑎Ԧ𝑃 = 𝛼Ԧ𝑂𝐷𝐸 × 𝑟Ԧ𝑃/𝑂 − 𝜔𝑂𝐷𝐸 2 𝑟Ԧ𝑃/𝑂
𝑎Ԧ𝑃 = 𝛼𝑂𝐷𝐸 𝑘෠ × 0.12𝑖Ƹ − 42 ∗ 0.12𝑖Ƹ
𝑎Ԧ𝑃 = −1.920𝑖Ƹ + 0.12𝛼𝑂𝐷𝐸 𝑗Ƹ 𝑚/𝑠 2
𝑎Ԧ𝐴 = 𝑎Ԧ𝐴 𝑡 + 𝑎Ԧ𝐴 𝑛 = 𝛼Ԧ𝐶𝐴 × 𝑟Ԧ𝐴/𝐶 − 𝑁 2 𝑟Ԧ𝐴/𝐶
𝑎Ԧ𝐴 = 0 × −0.12𝑗Ƹ − 42 ∗ −0.12𝑗Ƹ = 1.920𝑗Ƹ 𝑚/𝑠 2
𝑎Ԧ𝑃/𝐴 = 2𝜔𝑂𝐷𝐸 × 𝑣Ԧ𝑃/𝐴 + 𝑎Ԧ𝑟𝑒𝑙
𝑎Ԧ𝑃/𝐴 = 2 ∗ −4𝑘෠ × −0.679 𝑐𝑜𝑠45°𝑖Ƹ + 𝑠𝑖𝑛45°𝑗Ƹ + 𝑎𝑟𝑒𝑙 𝑐𝑜𝑠45°𝑖Ƹ + 𝑠𝑖𝑛45°𝑗Ƹ
𝑎Ԧ𝑃/𝐴 = 3.84 −𝑖Ƹ + 𝑗Ƹ + 𝑎𝑟𝑒𝑙 𝑐𝑜𝑠45°𝑖Ƹ + 𝑠𝑖𝑛45°𝑗Ƹ
−1.92𝑖Ƹ + 0.12𝛼𝑂𝐷𝐸 𝑗Ƹ = 1.92𝑗Ƹ + 3.84 −𝑖Ƹ + 𝑗Ƹ + 𝑎𝑟𝑒𝑙 𝑐𝑜𝑠45°𝑖Ƹ + 𝑠𝑖𝑛45°𝑗Ƹ
𝑖:Ƹ −1.92 = −3.84 + 𝑎𝑟𝑒𝑙 𝑐𝑜𝑠45°
𝑎𝑟𝑒𝑙 = 2.72 𝑚/𝑠 2
𝑗:Ƹ 0.12𝛼𝑂𝐷𝐸 = 1.92 + 3.84 + 2.72𝑠𝑖𝑛45°
𝛼𝑂𝐷𝐸 = 64.0 𝑟𝑎𝑑/𝑠 2