© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved.

This material is protected under all copyright laws

as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–1.

The angular velocity of the disk is defined by A

v = 15t2 + 22 rad>s, where t is in seconds. Determine the
magnitudes of the velocity and acceleration of point A on
the disk when t = 0.5 s.
0.8 m

SOLUTION
v = (5 t2 + 2) rad>s

dv
a = = 10 t
dt

t = 0.5 s

v = 3.25 rad>s

a = 5 rad>s2

vA = vr = 3.25(0.8) = 2.60 m>s Ans.

atz = ar = 5(0.8) = 4 m>s2

a n = v2r = (3.25)2(0.8) = 8.45 m>s2

a A = 2(4)2 + (8.45)2 = 9.35 m>s2 Ans.

Ans:
vA = 2.60 m>s
aA = 9.35 m>s2

614
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–2.

The angular acceleration of the disk is defined by

a = 3t 2 + 12 rad>s, where t is in seconds. If the disk is
originally rotating at v 0 = 12 rad>s, determine the
magnitude of the velocity and the n and t components of
acceleration of point A on the disk when t = 2 s.

SOLUTION
Angular Motion: The angular velocity of the disk can be determined by integrating
dv = a dt with the initial condition v = 12 rad>s at t = 0.
v 2s

L12 rad>s L0
dv = (3t 2 + 12)dt

2s
v - 12 = (t 3 + 12t) 2
0

v = 44.0 rad>s

Motion of Point A: The magnitude of the velocity is

vA = vrA = 44.0(0.5) = 22.0 m>s Ans.

At t = 2 s, a = 3 ( 22 ) + 12 = 24 rad>s2. Thus, the tangential and normal

components of the acceleration are

(aA ) t = arA = 24(0.5) = 12.0 m>s2 Ans.

(aA ) n = v2rA = ( 44.02 ) (0.5) = 968 m>s2 Ans.

Ans:
vA = 22.0 m>s
( aA ) t = 12.0 m>s2
( aA ) n = 968 m>s2

615
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–3.

The disk is originally rotating at v0 = 8 rad>s. If it is v0 5 8 rad>s

subjected to a constant angular acceleration of a = 20 rad>s2,
determine
The disk istheoriginally
magnitudes of the at
rotating velocity
v0 = 8and the nIf and
rad>s. it ist B V0 8 rad/s
2
components
subjected to of acceleration
a constant of point
angular A at the instant
acceleration 0.5 s.
of a = t6=rad>s ,
1.5 ft
determine the magnitudes of the velocity and the n and t B
components of acceleration of point A at the instant 2 ft A
1.5 ft
t = 0.5 s.
2 ft A

SOLUTION
v = v0 + ac t

v = 8 + 6(0.5) = 11 rad>s

v = rv; vA = 2(11) = 22 ft>s Ans.

at = ra; (aA)t = 2(6) = 12.0 ft>s2 Ans.

an = v2r; (aA)n = (11)2(2) = 242 ft>s2 Ans.

Ans:
vA = 22 ft>s
( aA ) t = 12.0 ft>s2
( aA ) n = 242 ft>s2

616
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–4.

The disk is originally rotating at v0 = 8 rad>s. v0 5 8 rad>s

If it is subjected to a constant angular acceleration of
The
a = 6disk
rad>sis2,originally
determine rotating at v0 =of8the
the magnitudes rad>s. If itand
velocity is B V0 8 rad/s
2
subjected
the n and ttocomponents
a constant angular acceleration
of acceleration of a B= just
of point 6 rad>s
after,
determine
the the magnitudes
wheel undergoes of the velocity and the n and t
2 revolutions. 1.5 ft
B
components of acceleration of point B just after the wheel 2 ft A
1.5 ft
undergoes 2 revolutions.
2 ft A

SOLUTION
v2 = v20 + 2ac (u - u0)

v2 = (8)2 + 2(6)[2(2p) - 0]

v = 14.66 rad>s

vB = vr = 14.66(1.5) = 22.0 ft>s Ans.

(aB)t = ar = 6(1.5) = 9.00 ft>s2 Ans.

(aB)n = v2r = (14.66)2(1.5) = 322 ft>s2 Ans.

Ans:
vB = 22.0 ft>s
( aB ) t = 9.00 ft>s2
( aB ) n = 322 ft>s2

617
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–5.
The disk is driven by a motor such that the angular position
of the disk is defined by u = 120t + 4t22 rad, where t is in
seconds. Determine the number of revolutions, the angular
velocity, and angular acceleration of the disk when t = 90 s. 0.5 ft

SOLUTION
Angular Displacement:
Displacement: At t = 90 s.

u = 20(90) + 4 A 902 B = (34200 rad) * ¢ ≤ = 5443 rev

1 rev
Ans.
2p rad

Angular Velocity: Applying Eq. 16–1. we have

= 20 + 8t 2
du
v = = 740 rad>s Ans.
dt t = 90 s

Angular Acceleration: Applying Eq. 16–2. we have

dv
a = = 8 rad s2 Ans.
dt

Ans:
u = 5443 rev
v = 740 rad>s
a = 8 rad>s2

618
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–6.

A wheel has an initial angular velocity of 10 rev>s and a

constant angular acceleration of 3 rad>s2. Determine the
number of revolutions required for the wheel to have an
angular velocity of 20 rev>s. What time is required?

SOLUTION
v0 = 10(2p) = 20p rad/s v = 20(2p) = 40p rad/s

v2 = v20 + 2ac(u - u0)

(40p)2 = (20p)2 + 2(3)(u - 0) u = 1973.9 rad = 314 rev Ans.

v = v0 + a c t
40p = 20p + (3)t t = 20.9 s Ans.

Ans:
u = 314 rev
t = 20.9 s

619
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–7.

For a short time, gear A of the automobile starter rotates

with an angular acceleration of aA = (450t2 + 60) rad>s2,
where t is in seconds. Determine the angular velocity and
A
angular displacement of gear B when t = 2 s, starting from
rest. The radii of gears A and B are 10 mm and 25 mm,
respectively.
B

SOLUTION
Motion of Gear A: Applying the kinematic equation of variable angular
acceleration,

dvA = aAdt
L L
vA t
dvA = A 450t2 + 60 B dt
L0 L0

vA 0 = 150t3 + 60t 2
vA t

0
3
vA = A 150t + 60t B rad>s

When t = 2 s,

vA = 150(2)3 + 60(2) = 1320 rad>s

duA = vA dt
L L
uA t
duA = A 150t3 + 60t B dt
L0 L0

uA 0 = 37.5t4 + 30t2 2
t
uA

0
4 2
uA = A 37.5t + 30t B rad

When t = 2 s

uA = 37.5(2)4 + 30(2)2 = 720 rad

Motion of Gear B: Since gear B is meshed with gear A, Fig. a, then

vp = vA rA = vB rB

vB = vA ¢ ≤
rA
rB

= (1320) ¢ ≤
0.01
0.025

= 528 rad>s Ans.

uB = uA ¢ ≤
rA
rB

0.01
= 720
0.025
Ans:
= 288 rad Ans.
vB = 528 rad>s
uB = 288 rad

620
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–8.

For a short time, gear A of the automobile starter rotates with

an angular acceleration of aA = (50v1>2) rad>s2, where v is
in rad>s. Determine the angular velocity of gear B after gear
A has rotated 50 rev, starting from rest. The radii of gears A A
and B are 10 mm and 25 mm, respectively.

SOLUTION
Motion of Gear A:: We have

a du = vdvdvA
dt =
L L aA
vdv
du =
t vAa
dvA
dt =
L0 L0 vdv50vA 1>2
du =
50 v1/2vA
v 1>2 2
t 1
t0 =
25 1A 1/20
du = v dv
502
vA = A 625t B rad>s
u vA

The angular displacement ofL 50 L

1
du = v1/2 dv
gear
0 A can be
0 determined using this result.

1 3/2
duuA == 75 vv
A A dt
L L
2/3
vA = (75u)
t rad>s
A 625t2 B dt
uA
duA =
L0 L0
2p rad
1 rev uA0 = 208.33t 2
When uA = 50 rev a b =uA100p rad, 3 t
0
uA =vAA 208.33t B rad 4
2/3
= 375(100p)
3

2p rad = 821.88 rad>s

When uA = 50 reva b = 100p rad,
1 rev
Motion of Gear B: Since gear B is meshed with gear A, Fig, a, then
100p = 208.33t3
vp = vArA = vBrB
t = 1.147 s
rA
v B = v Aa b
Thus, the angular velocity of gear A at t =rB1.147 s(uA = 100p rad) is
0.01
=2)821.88
vA = 625(1.147 = 821.88
a rad>sb
0.025
Motion of Gear B:: Since gear B is meshed with gear A, Fig. a, then
= 329 rad>s Ans.
vvp = vA rA = vB rB

vB = vA ¢ ≤
rA
rB

0.01
= 821.88 a b
0.025

= 329 rad>s Ans.

Ans:
vp = 329 rad>s

621
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–9.

The 50-mm-radius pulley A of the clothes dryer rotates with

an angular acceleration of aA = (27u1>2 2
A ) rad>s , where uA is
in radians. Determine its angular acceleration when t = 1 s,
starting from rest.

SOLUTION
50 mm
Motion of Pulley A:: The angular velocity of pulley A can be determined from A

vA dvA = aA duA
L L
vA uA
vAdvA = 27uA 1>2duA
L0 L0
vA 2 vA
2 = 18uA 3>2u0A
2 0

vA = A 6uA 3>4 B rad>s

Using this result, the angular displacement of A as a function of t can be

determined from

duA
dt =
L L vA
t uA
duA
dt =
L0 L0 6uA 3>4

2 1>4 2 uA
t|t0 = u
3 A 0

2
t = a uA 1>4 b s
3

3 4
uA = a t b rad
2

When t = 1 s
4
3
uA = c (1) d = 5.0625 rad
2

Thus, when t = 1 s, aA is

aA = 27 A 5.06251>2 B = 60.8 rad>s2 Ans.

Ans:
aA = 60.8 rad>s2

622
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–10.

If the 50-mm-radius motor pulley A of the clothes dryer rotates

with an angular acceleration of aA = (10 + 50t) rad>s2,
where t is in seconds, determine its angular velocity when
t = 3 s, starting from rest.

SOLUTION
50 mm
Motion of Pulley A:: The angular velocity of pulley A can be determined from A

dvA = aAdt
L L
vA t
dvA = (10 + 50t)dt
L0 L0
t
vA|v0 A = A 10t + 25t2 B
2
0

vA = A 10t + 25t2 B rad>s

When t = 3 s

vA = 10(3) + 25 A 32 B = 225 rad>s Ans.

Ans:
vA = 225 rad>s

623
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–11.

The disk is originally rotating at v0 = 8 rad>s. If it is ω 0 = 8 rad/s

subjected to a constant angular acceleration ac = 6 rad>s2,
determine the magnitudes of the velocity and the n and t
components of acceleration of point A at the instant t = 3 s.

2 ft A

SOLUTION
v = v0 + act

v = 8 + 6(3) = 26 rad>s

vv = v r = 26(2) = 52.0 ft>s Ans.

at = a r = 6(2) = 12.0 ft>s2 Ans.

an = v2r = (26)2(2) = 1.35(103) ft s2 Ans.

Ans:
v = 52.0 ft>s
a t = 12.0 ft>s2
an = 1.35 ft>s2

624
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–12.
The blade on the horizontal-axis windmill is turning with an
P
angular velocity of v0 = 2 rad>s. Determine the distance
point P on the tip of the blade has traveled if the blade 15 ft
attains an angular velocity of v = 5 rad>s in 3 s. The angular
acceleration is constant. Also, what is the magnitude of the
acceleration of this point when t = 3 s?

SOLUTION
v = v0 + ac t

5 = 2 + ac(3) ac = 1 rad/s2

1
u = u0 + v0 t+ a t2
2 c

1
u = 0 + 2(3) + (1)(3)2 = 10.5 rad
2

sP = urP = 10.5(15) = 157.5 ft = 158 ft Ans.

at = ar an = v2 r

(aP)t = 1(15) = 15 ft/s2 (aP)n = (5)2(15) = 375 ft/s2

aP = 2(aP)2t + (aP)2n = 2(15)2 + (375)2 = 375ft/s2 Ans.

Ans:
sP = 158 ft
aP = 375 ft>s2

625
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–13.

The blade on the horizontal-axis windmill is turning with an P P

angular velocity of v0 = 2 rad>s. If it is given an angular
acceleration of ac = 0.6 rad>s2, determine the angular 15 ft15 ft
velocity and the magnitude of acceleration of point P on the
tip of the blade when t = 3 s.

SOLUTION
v = v0 + ac t

v = 2 + 0.6(3) = 3.80 rad>s Ans.

(aP)t = ar = 0.6(15) = 9 ft>s2

(aP)n = v2 r = (3.80)2(15) = 216.60 ft>s2

aP = 2(aP)2t + (aP)2n = 2(9)2 + (216.60)2 = 217 ft>s2 Ans.

Ans:
v = 3.80 rad>s
aP = 217 ft>s2

626
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–14.
The disk starts from rest and is given an angular acceleration
a = (2t 2) rad>s2, where t is in seconds. Determine the P
angular velocity of the disk and its angular displacement 0.4 m
The t =starts
whendisk 4 s. from rest and is given an angular acceleration
a = (2t 2) rad>s2, where t is in seconds. Determine the P
angular velocity of the disk and its angular displacement 0.4 m
when t = 4 s.

SOLUTION
dv
a = = 2 t2
dt
SOLUTION
v t
dv 2
a = dv == 2 t22 t dt
L0 dt L0
v 2 32
t
t
v = t
dv3 = 0 2 t2dt
L0 2 L0

v = 3t 2
v = 2 t33 t
3 0
When t = 4 s,
2
v = t3
32
v = (4)3 = 42.7 rad>s Ans.
3
When t = 4 s, u t
du 22 3
      v =du2 = =3 t 3t dt
vL0 = dt(4) L0=3 342.7 rad>s Ans.
3
1
u =u t4 t
2 3
6 =
du t dt
L0 L0 3
When t = 4 s,
1
u = 1 t4
u = 6 (4)4 = 42.7 rad Ans.
6
When t = 4 s,
1 4
u = (4) = 42.7 rad Ans.
6

Ans:
v = 42.7 rad>s
u = 42.7 rad

627
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–15.

The disk starts from rest and is given an angular acceleration

P
a = (5t1>2) rad>s2, where t is in seconds. Determine the
magnitudes of the normal and tangential components of 0.4 m
acceleration of a point P on the rim of the disk when t = 2 s.

SOLUTION
Motion of the
the Disk:
Disk: Here, when t = 0, v = 0.

dv = adt
v t
1
dv = 5t2dt
L0 L0

v2
v
10 3 2 t
= t2
0 3 0

10 3
v = e t2 f rad>s
3
When t = 2 s,
10 3
v = A 2 2 B = 9.428 rad>s
3
When t = 2 s,
1
a = 5 A 2 2 B = 7.071 rad>s2

Motion of point P: The tangential and normal components of the acceleration of

Motion
point P when t = 2 s are

at = ar = 7.071(0.4) = 2.83 m>s2 Ans.

an = v2r = 9.4282(0.4) = 35.6 m>s2 Ans.

Ans:
at = 2.83 m>s2
an = 35.6 m>s2

628
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–16.

The disk starts at v0 = 1 rad>s when u = 0, and is given an

angular acceleration a = (0.3u) rad>s2, where u is in radians. P
Determine the magnitudes of the normal and tangential
0.4 m
components of acceleration of a point P on the rim of the
disk when u = 1 rev.

SOLUTION
a = 0.3u

v u
vdv = 0.3udu
L1 L0

1 22v
= 0.15u2 2
u
v
2 1 0

v2
- 0.5 = 0.15u2
2

v = 20.3u2 + 1

At u = 1 rev = 2p rad

v = 20.3(2p)2 + 1

v = 3.584 rad>s

a t = ar = [0.3(2p) rad>s22(0.4
0.3(2p) rad>s m)==0.7540
](0.4m) 0.7540m>s
m>s2 2
= 0.754 m>s2 Ans.

a n = v2r = (3.584 rad>s)2(0.4 m) = 5.137 m>s2 = 5.14 m>s2 Ans.

a p = 2(0.7540)2 + (5.137)2 = 5.19 m>s2

Ans:
at = 0.754 m>s2
an = 5.14 m>s2

629
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–17.

A motor gives gear A an angular acceleration of

aA = (2 + 0.006 u 2) rad>s2, where u is in radians. If this B
gear is initially turning at vA = 15 rad>s, determine the 175 mm A
angular velocity of gear B after A undergoes an angular
100 mm
displacement of 10 rev. aB aA
vA

SOLUTION
Angular Motion: The angular velocity of the gear A can be determined by integrating
v dv = a du with initial condition vA = 15 rad>s at uA = 0.
vA uA

L15 rad>s L0
v dv = ( 2 + 0.006 u 2 ) du

v2 vA uA
` = ( 2u + 0.002 u 3 ) `
2 15 rad>s 0

v2A 152
- = 2uA + 0.002 u 3A
2 2

vA = 20.004 u 3A + 4 u + 225 rad>s

At uA = 10(2p) = 20p rad,

vA = 20.004(20p)3 + 4(20p) + 225

= 38.3214 rad>s

Since gear B is meshed with gear A,

vBrB = vArA ;   vB(175) = 38.3214(100)

vB = 21.8979 rad>s

= 21.9 rad>s d Ans.

Ans:
vB = 21.9 rad>s d

630
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–18.

A motor gives gear A an angular acceleration of

aA = (2t 3) rad>s2, where t is in seconds. If this gear is B
initially turning at vA = 15 rad>s, determine the angular 175 mm A
velocity of gear B when t = 3 s.
100 mm
aB aA
vA

SOLUTION
Angular Motion: The angular velocity of gear A can be determined by integrating
dv = a dt with initial condition vA = 15 rad>s at t = 0 s.
vA t

L15 rad>s L0
dv = 2t 3 dt

1 4 t
vA - 15 = t `
2 0

1
vA = e t 4 + 15 f rad>s
2
At t = 3 s,

1 4
vA = ( 3 ) + 15 = 55.5 rad>s
2

Since gear B meshed with gear A,

vBrB = vArA ;       vB(175) = 55.5(100)

vB = 31.7143 rad>s

= 31.7 rad>s d Ans.

Ans:
vB = 31.7 rad>s d

631
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–19.

The vacuum cleaner’s armature shaft S rotates with an

angular acceleration of a = 4v3>4 rad>s2, where v is in
rad>s. Determine the brush’s angular velocity when t = 4 s,
starting from v0 = 1 rad>s, at ut = 0. The radii of the shaft
and the brush are 0.25 in. and 1 in., respectively. Neglect the
thickness of the drive belt.

SOLUTION
Motion
Motion of
of the
the Shaft:
Shaft: The angular velocity of the shaft can be determined from
A S A S
dvS
dt =
L L aS
t vs
dvS
dt =
L0 L1 4vS 3>4
t
2 2
vs
t 0 = vS 1>4 1

t = vS 1>4 – 1

vS = (t+1) 4

When t = 4 s

vs = 54 = 625 rad>s

Motion
Motion of the
the Beater
Beater Brush:
Brush: Since the brush is connected to the shaft by a non-slip
belt, then

v B r B = vs r s

vB = ¢ ≤v = a
rs 0.25
b (625) = 156 rad>s Ans.
rB s 1

Ans:
vB = 156 rad>s

632
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–20.

A motor gives gear A an angular acceleration of

aA = (4t 3) rad>s2, where t is in seconds. If this gear is (vA)(0ω
A)20
0 = rad>s
20 rad/s
initially turning at (vA)0 = 20 rad>s, determine the angular BB
velocity of gear B when t = 2 s. AA
0.05 mm
0.05

0.15 mm
0.15
aAαA

SOLUTION
aA = 4 t 3

dv = a dt
dw
w
vA t t
dv
dwA = aA dt = 4 t 3 dt
L20 L0 L0

wA = t 4 + 20
v

When t = 2 s,
v A = 36 rad>s
w

wA rA = v
v wB rB

36(0.05) = v
wB (0.15)

wB = 12 rad>s
v Ans.

Ans:
vB = 12 rad>s

633
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16–21.

At the instant shown, the horizontal portion of the belt has

a = 3 m>s2
an angular acceleration of 3 m>s2, while points in contact
with the outer edge of the pulleys have an acceleration
magnitude of 5 m>s2. If the belt does not slip on the pulleys,
determine the belt’s speed due to the motion.
250 mm 250 mm

SOLUTION
an = v2r = 0.25 v2 at = 3 m/s2

a2 = a2n + a2t

52 = (0.25v2)2 + 32 v = 4 rad/s

v = vr = 4(0.25) = 1 m/s Ans.

Ans:
v = 1 m/s

634
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16–22.

If the motor turns gear A with an angular acceleration of BB

100
100mm
mm
aA = 2 rad>s2 when the angular velocity is vA = 20 rad>s,
determine the angular acceleration and angular velocity of CC
gear D. 50
50mm
mm

DD
SOLUTION
vA A
Angular
Angular Motion:
Motion: The angular velocity and acceleration of gear B must be AA 40
40mm
mm
determined first. Here, vA rA = vB rB and aA rA = aB rB. Then, 100
100mm
mm

rA 40
vB = v = a b (20) = 8.00 rad>s
rB A 100

rA 40
aB = a = a b (2) = 0.800 rad>s2
rB A 100

Since gear C is attached to gear B, then vC = vB = 8 rad>s and

aC = aB = 0.8 rad>s2. Realizing that vC rC = vD rD and aC rC = aD rD, then

rC 50
vD = v = a b (8.00) = 4.00 rad>s Ans.
rD C 100

rC 50
aD = a = (0.800) = 0.400 rad s2 Ans.
rD C 100

Ans:
vD = 4.00 rad>s
aD = 0.400 rad>s2

635
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–23.

If the motor turns gear A with an angular acceleration of BB

100
100mm
mm
aA = 3 rad>s2 when the angular velocity is vA = 60 rad>s,
determine the angular acceleration and angular velocity of CC
gear D. 50
50mm
mm

DD
SOLUTION
vAA
Angular Motion:
Angular Motion: The angular velocity and acceleration of gear B must be AA 40
40mm
mm
determined first. Here, vA rA = vB rB and aA rA = aB rB. Then, 100
100mm
mm

rA 40
vB = v = a b (60) = 24.0 rad>s
rB A 100

rA 40
aB = a = a b (3) = 1.20 rad>s2
rB A 100

Since gear C is attached to gear B, then vC = vB = 24.0 rad>s and

aC = aB = 1.20 rad>s2. Realizing that vC rC = vD rD and aC rC = aD r D, then

rC 50
vD = v = a b (24.0) = 12.0 rad>s Ans.
rD C 100

rC 50
aD = a = (1.20) = 0.600 rad s2 Ans.
rD C 100

Ans:
vD = 12.0 rad>s
aD = 0.600 rad>s2

636
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–24.

A pendulum has a swinging motion such that

u = 3 - 0.101 sin14.95t2 + 0.3 cos 14.95t2 4 rad, where t is
in seconds, and the arguments for the sine and cosine are in
radians. Determine the magnitudes of the velocity and
acceleration of the bob when u = 0°.

0.4 m
u
SOLUTION
u = -0.101 sin (4.95t) + 0.3 cos (4.95t)

0 = -0.101 sin (4.95t) + 0.3 cos (4.95t)

4.95t = 1.246 rad  t = 0.2517s

du
v =
dt
= - 0.101(4.95) cos (4.95t) - 0.3(4.95) sin (4.95t)
At t = 0.2517 s v = -0.101(4.95) cos (1.246) - 0.3(4.95) sin (1.246)

= - 1.567 rad/s

v = v r = 1.567(0.4) = 0.627 m/s Ans.

dv
a =
dt

= 0.101(4.95)2 sin (4.95t) - 0.3(4.95)2 cos (4.95t)

At t = 0.2517 s a = 0.101(4.95)2 sin (1.246) - 0.3(4.95)2 cos (1.246) = 0

at = ar = 0

a = an = v2r = 1.5672(0.4) = 0.982 m/s2 Ans.

Ans:
v = 0.627 m/s
a = 0.982 m/s2

637
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16–25.

Determine the maximum angular displacement of the

pendulum in Prob. 16–24.

0.4 m
u

SOLUTION
du
v = = 0
dt

- 0.101(4.95) cos (4.95t) - 0.3(4.95) sin (4.95t) = 0

0.101
4.95t = tan-1a - b = - 18.61°
0.3

umax = - 0.101 sin ( - 18.61°) + 0.3 cos ( -18.61°)

= 0.3165 rad = 18.1° Ans.

Ans:
umax = 18.1°

638
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16–26.

The pinion gear A on the motor shaft is given a constant

The pinion
angular gear A ona the
acceleration = 3motor
rad>s2shaft is given
. If the gearsaAconstant
and B B
angular acceleration = 3 rad>s 2
. If the gears and B B
have the dimensions shown, determine the angularAvelocity
a C
have angular
and the dimensions shown, of
displacement determine
the output the angular
shaft Cvelocity
when C
tand
= 2angular displacement
s, starting of shaft
from rest. The the output
is fixed shaft C, when
to B and turns
t = 2it.s starting from rest. The shaft is fixed to B and turns
with 125 mm
125 mm
with it. 35 mm
A 35 mm
A

SOLUTION
v = v0 + a c t

vA = 0 + 3(2) = 6 rad>s

1
u = u0 + v 0 t + ac t2
2

1
uA = 0 + 0 + (3)(2)2
2

uA = 6 rad

vA rA = vB rB

6(35) = vB(125)

vC = vB = 1.68 rad>s Ans.

uA rA = uB rB

6(35) = uB (125)

uC = uB = 1.68 rad Ans.

Ans:
vC = 1.68 rad>s
uC = 1.68 rad

639
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16–27.

The gear A on the drive shaft of the outboard motor has a

radius rA = 0.7 in. and the meshed pinion gear B on the
propeller shaft has a radius rB = 1.4 in. Determine the
angular velocity of the propeller in t = 1.3 s if the drive
shaft rotates with an angular acceleration
a = 13002t2 rad>s2, where t is in seconds. The propeller is
originally at rest and the motor frame does not move. A

B
SOLUTION 2.2 in.

aArA = aBrB P

(3002t)(0.7) = ap(1.4)

aP = 150 2t

dv = a dt
v t
dv = 150 2t dt
L0 L0

v = 100t3 2|t = 1.3 = 148 rad s Ans.

Ans:
v = 148 rad>s

640
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–28.

The gear A on the drive shaft of the outboard motor has a

radius rA = 0.7 in. and the meshed pinion gear B on the
propeller shaft has a radius rB = 1.4 in. Determine the
magnitudes of the velocity and acceleration of a point P
located on the tip of the propeller at the instant t = 0.75 s.
The drive shaft rotates with an angular acceleration
a = (300 1t) rad>s2, where t is in seconds. The propeller is A
originally at rest and the motor frame does not move.
B
2.2 in.

SOLUTION
Angular Motion: The angular velocity of gear A at t = 0.75 s must be determined
first. Applying Eq. 16–2, we have

dv = adt
vA 0.75 s

L0 L0
dv = 3002t dt

vA = 200 t 3>2 0 0.75

0
s
= 129.9 rad>s

The angular acceleration of gear A at t = 0.75 s is given by

aA = 30020.75 = 259.81 rad>s2

However, vA rA = vB rB and aA rA = aB rB where vB and aB are the angular

velocity and acceleration of propeller. Then,
rA 0.7
vB = v = a b(129.9) = 64.95 rad>s
rB A 1.4
rA 0.7
aB = a = a b(259.81) = 129.9 rad>s2
rB A 1.4

Motion of P: The magnitude of the velocity of point P can be determined using

Eq. 16–8.

2.20
vP = vB rP = 64.95 a b = 11.9 ft>s
12

The tangential and normal components of the acceleration of point P can be

determained using Eqs. 16–11 and 16–12, respectively.

2.20
at = aB rP = 129.9 a b = 23.82 ft>s2
12

2.20
an = v2B rP = ( 64.95 ) 2 a b = 773.44 ft>s2
12

The magnitude of the acceleration of point P is

aP = 2a2t + a2n = 2 ( 23.82 ) 2 + ( 773.44 ) 2 = 774 ft>s2 Ans.

Ans:
aP = 774 ft>s2

641
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–29.

Morse Industrial manufactures the speed reducer shown. If

a motor drives the gear shaft S with an angular acceleration
of a = 10.4et2 rad>s2, where t is in seconds, determine the
angular velocity of shaft E when t = 2 s after starting from
DD
rest. The radius of each gear is listed in the figure. Note that
rrA 20
20mm
mm
gears B and C are fixed connected to the same shaft. A
B rB 80 mm
B rB  80 mm
E rC 30 mm
E r  30 mm
C
C rD 120 mm
SOLUTION C rD  120 mm
A S

dv A S
a = = 0.4et
dt
v t
2s
dv = 0.4etdt
L10 L0

vS = 0.4et|20 = 0.4 A e2 - 1 B = 2.556 rad>s

vS rA = vB rB

2.556 (20) = vB (80)

vB = 0.6389 rad>s

vB rC = vD rD

0.6389(30) = vD (120)

vD = 0.160 rad>s

vE = 0.160 rad>s Ans.

Ans:
vE = 0.160 rad>s

642
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16–30.

Due to an increase in power, the motor M rotates the shaft A M

with an angular acceleration of a = 10.06u22 rad>s2, where u
is in radians. If the shaft is initially turning at v0 = 50 rad>s,
24 mm
determine the angular velocity of gear B after the shaft
undergoes an angular displacement ¢u = 10 rev.
A

SOLUTION
vdv = a du B
60 mm
v 2p(10)
v dv = 0.06u2 du
L50 L0

v 2 = 0.02u3 2
2p(10)
1 2 v
2 50 0

0.5 v2 - 1250 = 4961

v = 111.45 rad>s

vArA = vB rB

(111.45)(12) = vB (60)

vB = 22.3 rad s Ans.

Ans:
vB = 22.3 rad>s

643
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–31.

At the instant shown, gear A is rotating with a constant

angular velocity of vA = 6 rad>s. Determine the largest
C 100 mm
angular velocity of gear B and the maximum speed of
point C. ω A = 6 rad/s
ωB
100 mm

B A 100 mm
100 mm

SOLUTION
(rB)max = (rA)max = 5022 mm

(rB)min = (rA)min = 50 mm

When rA is max., rB is min.

vB(rB) = vA rA

rA 5012
(vB)max = 6 a b = 6a b
rB 50

(vB)max = 8.49 rad>s Ans.

vC = (vB)max rC = 8.49 ( 0.0512 )

vC = 0.6 m>s Ans.

Ans:
(vB)max = 8.49 rad>s
(vC)max = 0.6 m>s

644
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–32.

Determine the distance the load W is lifted in t = 5 s using 300 mm

the hoist. The shaft of the motor M turns with an angular 30 mm
velocity v = 10014 + t2 rad>s, where t is in seconds. 225 mm 40 mm
50 mm
B M

SOLUTION
du = v dt

uM 5s

L0 L0
du = 100 (4 + t) dt  uM = 3250 rad

rM 40
uA = u = (3250) = 577.8 rad
rA M 225
rA′ 30
uB = u = (577.8) = 57.78 rad
rB A 300

sW = uB rB′ = 57.78 (0.05) = 2.89 m Ans.

Ans:
sW = 2.89 m

645
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–33.
The turntable T is driven by the frictional idler wheel A, which
simultaneously bears against the inner rim of the turntable 9 in.
and the motor-shaft spindle B. Determine the required 2 rad/s
diameter d of the spindle if the motor turns it at 25 rad>s and T
it is required that the turntable rotate at 2 rad>s. A
B
d
25 rad/s

SOLUTION
9 - 0.5d
=BrB = vA rA ;
vB v 25(0.5d) = vAraA b
2

25d
vArA= = 12.5d
9 - 0.5d

25d 9 - 0.5d
vA rA = vT rT; a
12.5d ba
= 2(9) b = 2(9)
9 - 0.5d 2

d = 1.44 in. Ans.

Ans:
d = 1.44 in.

646
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–34.

For a short time a motor of the random-orbit sander drives

the gear A with an angular velocity of vA = 40(t 3 + 6t) rad>s,
where t is in seconds. This gear is connected to gear B, which 40 mm
is fixed connected to the shaft CD. The end of this shaft is
connected to the eccentric spindle EF and pad P, which B 10 mm
causes the pad to orbit around shaft CD at a radius of 15 mm.
A
Determine the magnitudes of the velocity and the tangential
and normal components of acceleration of the spindle EF
C A
when t = 2 s after starting from rest.
D 15 mm
E

SOLUTION F

vA r A = vB r B P

vA(10) = vB(40)

1
vB = v
4 A

1 1
vE = v B r E = vA(0.015) = (40)(t 3 + 6t)(0.015) `
4 4 t=2

vE = 3 m>s Ans.

dvA d
aA = = 340(t 3 + 6t) 4 = 120t 2 + 240
dt dt

a A rA = a B rB

aA(10) = aB(40)

1
aB = a
4 A

1
(aE)t = aB rE = (120t 2 + 240)(0.015) `
4 t=2

(aE)t = 2.70 m>s2 Ans.

2
1
(aE)n = v2B rE = c (40)(t 3 + 6t) d (0.015) `
4 t=2

(aE)n = 600 m>s2  Ans.

Ans:
vE = 3 m>s
(aE)t = 2.70 m>s2
(aE)n = 600 m>s2

647
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–35.

If the shaft and plate rotates with a constant angular velocity z

of v = 14 rad>s, determine the velocity and acceleration of
point C located on the corner of the plate at the instant
shown. Express the result in Cartesian vector form. A
v
0.6 m
a

D 0.2 m
C
SOLUTION 0.4 m
O
0.3 m
We will first express the angular velocity v of the plate in Cartesian vector form. The 0.3 m
unit vector that defines the direction of v is x 0.4 m y

- 0.3i + 0.2j + 0.6k 3 2 6 B

uOA = = - i + j + k
2 2
2(- 0.3) + 0.2 + 0.6 7 2 7 7

Thus,

3 2 6
v = vuOA = 14 a - i + j + k b = [- 6i + 4j + 12k] rad>s
V
7 7 7

Since v is constant

a = 0
A

For convenience, rC = [- 0.3i + 0.4j] m is chosen. The velocity and acceleration of

point C can be determined from

v * rC
vC = V

= ( -6i + 4j + 12k) * (- 0.3i + 0.4j)

= [ -4.8i - 3.6j - 1.2k] m>s Ans.

and

a * rC + V * (V * rc)
aC = A

= 0 + (- 6i + 4j + 12k) * [( -6i + 4j + 12k) * ( -0.3i + 0.4j)]

= [38.4i - 64.8j + 40.8k]m s2 Ans.

Ans:
vC = 5 -4.8i - 3.6j - 1.2k6 m>s
aC = 538.4i - 64.8j + 40.8k6 m>s2

648
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*16–36.

At the instant shown, the shaft and plate rotates with an z

angular velocity of v = 14 rad>s and angular acceleration
of a = 7 rad>s2. Determine the velocity and acceleration of
point D located on the corner of the plate at this instant. A
v
Express the result in Cartesian vector form. 0.6 m
a

D 0.2 m
C
SOLUTION 0.4 m
O
0.3 m
We will first express the angular velocity v of the plate in Cartesian vector form. The 0.3 m
unit vector that defines the direction of v and a is x 0.4 m y

-0.3i + 0.2j + 0.6k 3 2 6 B

uOA = = - i + j + k
2 2
2( - 0.3) + 0.2 + 0.6 72 7 7

Thus,

3 2 6
v = vuOA = 14 a - i + j + k b = [- 6i + 4j + 12k] rad>s
V
7 7 7

3 2 6
a = auOA = 7a - i + j + k b = [- 3i + 2j + 6k] rad>s 2
A
7 7 7

For convenience, rD = [- 0.3i -+ 0.4j]

[0.3i 0.4j] m is chosen. The velocity and acceleration of
point D can be determined from

vD = V
v * rD

= (-6i + 4j + 12k) * (0.3i - 0.4j)

= [4.8i + 3.6j + 1.2k] m>s Ans.

and

aD = A
a * rD - V2 *
+ v rD (V : rD)

= (- 3i + 2j + 6k) * (0.3i
(- 0.3i- +0.4j)
0.4j)+ +( -(6i
- 6i+ +4j4j+ +12k)
12k)* *[( [(-
- 6i6i+ +4j4j+ +12k)
12k)* *(0.3i + 0.4j)]
- 0.4j)]
(- 0.3i

= [-36.0i + 66.6j - 40.2k] m s2 Ans.

Ans:
vD = [4.8i + 3.6j + 1.2k] m>s
aD = [ - 36.0i + 66.6j - 40.2k] m>s2

649
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–37.

The rod assembly is supported by ball-and-socket joints at

z C
A and B. At the instant shown it is rotating about the y axis
with an angular velocity v = 5 rad>s and has an angular 0.3 m
acceleration a = 8 rad>s2. Determine the magnitudes of
the velocity and acceleration of point C at this instant.
Solve the problem using Cartesian vectors and Eqs. 16–9
0.4 m
and 16–13. B
y
A
A V
SOLUTION 0.4 m
x
V ** rrC
vC = v

vC = 5j * (- 0.4i + 0.3k) = {1.5i + 2k} m>s

vC = 21.52 + 2 2 = 2.50 m>s Ans.

aaCC =
= aA ** rrC- v
+2rV * (V * rc)

= * (-
8j *
= 8j ( - 0.4i + 0.3k)
0.4i + 0.3k) -+525j( -0.4i
* [5j +* 0.3k)
( -0.4i + 0.3k)]

= {12.4i - 4.3k} m>s22

= {12.4i - 4.3k} m>s

a C = 212.4 2 + (-4.3)2 = 13.1 m>s2 Ans.

Ans:
vC = 2.50 m>s
aC = 13.1 m>s2

650
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16–38.

Rotation of the robotic arm occurs due to linear movement

of the hydraulic cylinders A and B. If this motion causes the
gear at D to rotate clockwise at 5 rad>s,
rad>s, determine the 4 ft
magnitudes
magnitude ofofvelocity
velocityand
andacceleration
acceleration
ofof
thethe part
part C held
C held by 2 ft
by
thethe grips
grips of the
of the arm.
arm.

45
C

SOLUTION
Motion of Part
Part C:
C: Since the shaft that turns the robot’s arm is attached to gear D, D
B 3 ft
then the angular velocity of the robot’s arm vR = vD = 5.00 rad>s. The distance of
part C from the rotating shaft is rC = 4 cos 45° + 2 sin 45° = 4.243 ft. The
magnitude of the velocity of part C can be determined using Eq. 16–8. A

vC = vR rC = 5.00(4.243) = 21.2 ft>s Ans.

The tangential and normal components of the acceleration of part C can be

determined using Eqs. 16–11 and 16–12 respectively.

at = arC = 0

an = v2R rC = A 5.002 B (4.243) = 106.07 ft>s2

The magnitude of the acceleration of point C is

aC = 2a2t + a2n = 202 + 106.072 = 106 ft>s2 Ans.

Ans:
vC = 21.2 ft>s
aC = 106 ft>s2

651
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–39.

The bar DC rotates uniformly about the shaft at D with a

constant angular velocity V. Determine the velocity and
acceleration of the bar AB, which is confined by the guides C
A B
to move vertically. V
D U
l

SOLUTION
y = l sin u
# #
y = vy = l cos uu
$ $ #
y = a y = l(cos uu - sin uu)2)
$. $
Here vy = vAB , ay = aAB, and u = v, u = a = 0.

vAB = l cos u (v) = v l cos u Ans.

aAB = l C cos u(0) - sin u(v)2 D = - v2 l sin u Ans.

The negative sign indicates that AAB act in the sense opposite to that of positive U.

Ans:
vAB = vl cos u
aAB = - v2l sin u

652
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–40.

Thebar
The barDCDC rotates
rotates uniformly
uniformly about
about thethe shaft
shaft at Dat with
D with
a
angular angular
constant velocity velocity
V and angular acceleration
V. Determine A. Determine
the velocity and
the velocityof and
acceleration acceleration
the bar AB, which of the bar by
is confined AB,thewhich
guidesis C
A B
toconfined by the guides to move vertically.
move vertically. V
D U
l

SOLUTION
y = l sin u
# #
y = vy = l cos uu
$ $ #
SOLUTION y = a y = l(cos uu - sin uu)
y = l sin u $ $
Here vy = vAB , ay = aAB, and u = v, u = a = 0.
# #
y = vy = l cos u u
vAB = l cos u$ (v) = v l# 2cos u Ans.
$
y = ay = l(cos u u - sin u u )
2 2
aAB = l C cos u(0) - sin
# u(v) $D = - v l sin u Ans.
Here vy = vAB, ay = aAB, u = v, u = a

vAB = l cos u(v) = v l cos u Ans.

2
aAB = l(cos u(a) - sin u(v) )

= l a cos u - l v2 sin u Ans.

Ans:
vAB = v l cos u
aAB = l a cos u - l v2 sin u

653
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–41.

Rod CD presses against AB, giving it an angular velocity. If B

v
the angular velocity of AB is maintained at v = 5 rad>s,
determine the required magnitude of the velocity v of CD
as a function of the angle u of rod AB. D
C
V
2 ft

u A

SOLUTION
x
Position Coordinate Equation: From the geometry,

2
x = = 2 cot u [1]
tan u

Time Derivatives: Taking the time derivative of Eq. [1], we have

dx du
= - 2 csc2 u [2]
dt dt

dx du
However, = v
y and = v = 5 rad>s, then from Eq. [2]
dt dt

v = - 2 csc2 u(5) = A - 10 csc2u B ft>s

y Ans.

Note: Negative sign indicates that vy is directed in the opposite direction to that
sense to that of of
positive x.

Ans:
v = ( - 10 cos2 u) ft>s

654
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–42.

Determine the velocity and acceleration of the plate at the

instant u = 30°, if at this instant the circular cam is rotating O
120 mm C
about the fixed point O with an angular velocity
v = 4 rad>s and an angular acceleration a = 2 rad>s2. u
150 mm

SOLUTION
Position Coordinate Equation: From the geometry,

x = 0.12 sin u + 0.15 [1]

Time Derivatives: Taking the time derivative of Eq. [1], we have

dx du
= 0.12 cos u [2]
dt dt

dx du
v =
However y and v = . From Eq.[2],
dt dt

y = 0.12v cos u
v [3]

At the instant u = 30°, v = 4 rad>s, then substitute these values into Eq.[3] yields

v = 0.12(4) cos 30° = 0.416 m>s

y Ans.

Taking the time derivative of Eq. [3], we have

dv
dy du dv
= 0.12 c v(- sin u) + cos u d
dt dt dt

dv
= 0.12a cos u - v2 sin u b [4]
dt

dv
dy dv
However a = and a = . From Eq.[4],
dt dt

a = 0.12 A a cos u - v2 sin u B [5]

At the instant u = 30°, v = 4 rad>s and a = 2 rad>s2, then substitute these values
into Eq.[5] yields

a = 0.12 A 2 cos 30° - 42 sin 30° B = - 0.752 m>s2 Ans.

Note: Negative sign indicates that a is directed in the opposite direction

sense to that of of
to that
positive x.

Ans:
v = 0.416 m>s
a = -0.752 m>s2

655
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–43.

Determine the velocity and acceleration of platform P as a

PP
function of the angle u of cam C if the cam rotates with a
constant angular velocity V . The pin connection does not
cause interference with the motion of P on C. The platform is CC
yy
constrained to move vertically by the smooth vertical guides. V
uu
rr

SOLUTION
Position Coordinate Equation: From the geometry.

y = r sin u + r [1]

Time Derivatives: Taking the time derivative of Eq. [1], we have

dy du
= r cos u [2]
dt dt

dy du
v =
However y and v = . From Eq.[2],
dt dt

y = vr cos u
v Ans.

Taking the time derivative of the above expression, we have

dy du dv
= r c v( -sin u) + cos u d
v
dt dt dt

dv
= r a cos u - v2 sin u b [4]
dt

dy
v dv
However a = and a = = 0. From Eq.[4],
dt dt

a = - v2 r sin u Ans.

Note: Negative sign indicates that a is directed in the opposite direction to that
sense to that of of
positive y.

Ans:
v = vr cos u
a = - v2 r sin u

656
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–44.

Determine the velocity and acceleration of the follower V

rod CD as a function of u when the contact between the cam A
and follower is along the straight region AB on the face of r D
the cam. The cam rotates with a constant counterclockwise
u C
O
angular velocity V.
B

SOLUTION
Position
Position Coordinate:
Coordinate: From the geometry shown in Fig. a,

r
xC = = r sec u
cos u

Derivative: Taking the time derivative,

Time Derivative:

# #
vCD = xC = r sec u tan uu (1)
#
Here, u = +v since v acts in the positive rotational sense of u. Thus, Eq. (1) gives

vCD = rv sec u tan u : Ans.

The time derivative of Eq. (1) gives

$ $ # # #
a CD = xC = r{sec u tan uu + u[sec u(sec2uu) + tan u(sec u tan uu)]}
$ #
aCD = r[sec u tan u u + (sec3 u + sec u tan2 u)u2]
# $
Since u = v is constant, u = a = 0. Then,

aCD = r[sec u tan u(0) + (sec3 u + sec u tan2 u)v2]

= rv2 A sec3 u + sec u tan2 u B : Ans.

Ans:
vCD = rv sec u tan u S
aCD = rv2 ( sec3 u + sec u tan2 u ) S

657
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–45.

The scaffold S is raised by moving the roller at A toward the

S
pin at B. If A is approaching B with a speed of 1.5 ft>s,
determine the speed at which the platform rises as a
D 4 ft E
function of u. The 4-ft links are pin connected at their
midpoint. C
1.5 ft/s A u
B

SOLUTION
Position Coordinate Equation:

x = 4 cos u y = 4 sin u

Time Derivatives:
# # #
x = -4 sin uu However, x = - y
vA = - 1.5 ft>s

# # 0.375
-1.5 = - 4 sin uu u =
sin u

# # 0.375
vy = 4 cos uu = 4 cos ua
y = y b = 1.5 cot u Ans.
sin u

Ans:
#
y = 1.5 cot u

658
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–46.

If the hydraulic cylinder AB is extending at a constant rate

12 ft
of 1 ft>s, determine the dumpster’s angular velocity at the
instant u = 30°.

A B C
u

SOLUTION
15 ft
Position Coordinates: Applying the law of cosines to the geometry shown in Fig. a,

s2 = 152 + 122 - 2(15)(12) cos u

s2 = (369 - 360 cos u) ft2 (1)

Time Derivatives: Taking the time derivative,

# #
2ss = 360 sin uu
# #
ss = 180 sin uu (2)

#
s = +1 ft>s since the hydraulic cylinder is extending towards the positive sense of s.
When u = 30°, from Eq. (1), s = 2369 - 360 cos 30° = 7.565 ft. Thus, Eq.(2) gives
#
7.565(1) = 180 sin 30° u
#
u = 0.0841 rad>s b Ans.

Ans:
#
u = 0.0841 rad>sb

659
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–47.
Determine the angular velocity of rod AB when u = 30°.
The shaft and the center of the roller C move forward at a B
constant rate v = 5 m>s.
100 mm A
u
C
v  5 m/s
x

SOLUTION
x = 0.1cscu

v = 0.1( - cscucotu)v

-5 = 0.1(- csc30°cot30°)v

v = 14.4 rad>s b Ans.

Ans:
v = 14.4 rad>s b

660
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–48.
At the instant shown, u = 60°, and rod AB is subjected to a
deceleration of 16 m>s2 when the velocity is 10 m>s. v  10 m/s x
Determine the angular velocity and angular acceleration of A B
link CD at this instant. D
u u
a  16 m/s2

300 mm 300 mm

SOLUTION C
x = 2(0.3) cos u

x = - 0.6 sin u A u B
. .
(1)
# $
x = - 0.6 cos u A u B 2 - 0.6 sin u A u B
#.
(2)

Using Eqs. (1) and (2) at u = 60°, 10 = - 0.6 sin 60°(v)

v = - 19.245 = - 19.2 rad>s = 19.2 rad>sb Ans.

- 16 = - 0.6 cos 60°(-19.245)2 - 0.6 sin 60°(a)

a = -183 rad>s2 = 183 rad>s2b Ans.

Ans:
v = 19.2 rad>s b
a = 183 rad>s2 b

661
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–49.

Wheel A rolls without slipping over the surface of the fixed vA

cylinder B. Determine the angular velocity of A if its center
C has a speed of 2 m>s. How many revolutions will A make
about its center after link DC completes one revolution? 150 mm
C
2 m>s
A

SOLUTION 150 mm

Position Coordinate Equation: D

sC = ru[1] B
Time Derivatives:
# # #
sC = vC = r u Where u = vA and r = 0.15 m.

2 = 0.15 vA vA = 13.3 rad/s Ans.

From Eq. [1]

sC = 0.15 u Here sC = 2p(0.3) = 0.6 p

0.6 p = 0.15 u u = 4 p = 2 rev Ans.

Ans:
vA = 13.3 rad/s
u = 4 p = 2 rev

662
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–50.

End A of the bar moves to the left with a constant velocity

vA. Determine the angular velocity V and angular
,
acceleration A of the bar as a function of its position x.
End
End ofof
AA the
the
bar
bar
moves
movestoto
the
the
left
left
with
with
a constant
a constantvelocity
velocity r
vA A u
vAv. A.Determine
Determinethe theangular
angularvelocity
velocityV Vand andangular
angular
, ,
acceleration
accelerationAAofof
the
the
bar
bar
asas
a function
a function
ofofitsits
position
position
x. x.
r r
vAvA A A
u u x

SOLUTION x x

Position Coordinate Equation: From the geometry.

SOLUTION
SOLUTION
r
Position
PositionCoordinate
CoordinateEquation:
Equation: x =the
From
From the
geometry. [1]
sin ugeometry.
r r
Time Derivatives: Taking the time
x x= derivative
= of Eq.[1], we have [1][1]
sinsinu u
dx rr cos
cos uu du
Time
Time
Derivatives:
Derivatives:
Taking
Taking
the
the
time =derivative
- [2]
dttime derivative
sin2 2uuof
rsin dtof
Eq.[1],
Eq.[1],
wewe
have
have

dxdx r cos
r cosu du
u du
= =- - 2 2 dx du [2][2]
Since y0 is directed toward dtdtpositive
r sin then
x,u dt
r sin u dt = y
vA . Also, = v. From the
dt dt
r 2x2 - r2
geometry, sin u = and cos u = . Substitute
dxdx these values
dudu into Eq.[2], we
Since
Sincey0yis
0 isdirected xtoward
directed positivex,xx,then
towardpositive then = =yAy. AAlso,
. Also, = =v.vFrom
. Fromthe the
have dtdt dtdt
2 2 2 2
r r 2x 2x- -r r
geometry,
geometry, u u= = and
sinsin cos
and u u= =
cos . Substitute
. Substitute
these
these
values
values
into
into
Eq.[2],
Eq.[2],
wewe
xx r A 2x
x x2 - r2>x
B
have
have vA = - ¢
y ≤v
(r>x)2
r A r2x
A 2x - -r >x
2 2 2 2
B B
r >x
==
yAyv - ¢
- ¢
= - ¢ (r>x)
r
2 2 ≤y ≤ v≤ v Ans.
(r>x) vA
A
x 2x2 - r2

- ¢-Eq.
¢ [2], we have ≤ y≤AyA
r r
Taking the time derivative
v v= =of Ans.
Ans.
Negative sign indicates that V actsx 2x
x 2xin2 the
-2 2opposite
-r r2 sense to that of U.

B ¢Eq. ≤ a b - cos u 2 R
d2x r 1 + cos2 u du 2 d2u
Taking
Taking
thethe
time 2derivative
time 2
= of
=derivative
of Eq. [2],
[2],we wehave
have [3]
dt sin u sin u dt dt

d2x 2 2= = 2 2 =d=2Bu¢B ¢ ≤ a≤ a b b- -coscos

u u 2 R2 R
d2dx2x r r 1 1+ +cos 2 2
cosu u dudu2 2 d2du 2u
[3][3]
Here, = a = 0 and
dtdt sinsinu u 2 = a . Substitute
sinsin
u u into
dtdt Eq.[3], we
dtdthave
dt2 dt
d2d
x2x d2du 2u
Here, 0 =and r2 2= B=a¢. a
Here, 2 2= =a a= =00and .+
Substitute≤ vinto
cos2 u into
1Substitute
u Rwe
- Eq.[3],
2 Eq.[3],
a coswe have
have
dtdt dtdtu
sin2 sin u

0 0= = 2 2 Ba¢B=¢ ¢ 1 + cos ≤ v≤ v- -2a cos u Ru R

2 2 2
r r 1 1+ +coscos
u uucos u ≤ v
u u u2 2
a cos [4]
sinsinu u sinsin
sin

a a= =¢ 2x
¢ - r2 ≤ v≤2v2
2 2
1 1+ 2+cos
cosu u
u uand v = - ¢ ≤ yA. Substitute
r r [4][4]
However, sin u = , cos u = sinsin u cos
u cos
x x 2
x2x - r 2
these values into Eq.[4] yields 2 2 2 2
andv v= =- ¢- ¢ ≤ y≤Avy. ASubstitute
r r 2x 2x- -r r r r
However,sinsin
However, u u= = , cos u u= =
, cos and . Substitute
xx x x2 2 x2x 2 2 2 2
x2x - -r r
a = B 2 2 R y2A
r(2x - r )
these values
these into
values intoEq.[4]
Eq.[4]yields
yields Ans.
x (x - r2)3>2
2 2 2 2
a a= =B B2 2 2 2 2 3>2 R yRAyvA
r(2x
r(2x - -r )r ) 2 2
Ans.
Ans. Ans:
xx (x(x- -r )r2)3>2 r
v = -a bvA
x2x - r 2
2

r(2x2 - r 2)
a = c d v2A
x2(x2 - r 2)3>2

663
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–51.
The bar remains in contact with the floor and with point A.
If point B moves to the right with a constant velocity vB ,
determine the angular velocity and angular acceleration of
the bar as a function of x. A

L
h u

vB
SOLUTION B
x
Position coordinate
Position Coordinateequation:
Equation:

x
tan u =
h

Derivatives:
Time derivatives:

# 2h2 + x2 # #
sec2 uu = 1 x# However, sec u = and x = v
yB , u = v
h h

2h2 + x2 2 1 h
a b v = yvB v = yvB Ans.
h h h2 + x2

yB h C - (h2 + x2)-2(2xx) D
#
a = v# = v

- 2xh
a = v2B
y Ans.
(h2 + x2)2

Ans:
h
v = vB
h + x2
2

- 2xh
a = 2 v2B
(h + x2)2

664
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–52.
When the bar is at the angle u, the rod is rotating clockwise
with
at V constant
and has angular velocity
an angular V. Determine
acceleration the velocitythe
of A. Determine of
D
the weight
velocity and at this instant.
Aacceleration of The cord is A
the weight 20atftthis
long.
instant. The
cord is 20 ft long.

sA

10 ft
SOLUTION A
B

s = 2(10)2 + (102) - 2(10)(10) cos u

s = 2200(1 - cos u) 10 ft
u
sA + 2200(1 - cos u) = 20 V, A
#
ss# AA ++ 1022
1
7.071(1(1--cos
cos - 122 = 20
u)u) sin uu = 0 C

Taking the time derivative

. - 7.071v sin u
vv. = s# AA = 1 . Ans.
sAA + 522 (1 (1- -coscosu)-u)
2 (sin
1
2 uu) = 0(1)
. .
However
## vA = sA and u = - v 1 # 1 #
sA = -7.071 a v sin u(1 - cos u)- 2 + v cos u(1
# uu(1 - cos u)- 2 + v sin u a - b(1 - cos u)- 2(sin u)ub
1 3

522 v sin u 2
vA =  Ans.
21## - cos u (v sin 2
(a sin + 2
cos 2
d
u) u v u)
aA = sA = 7.071c 3 - 3 Ans.
2(1 - cos u)2 2(1 - cos u)2

Ans:
522 v sin u
vA =
21 - cos u

665
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–53.

The inclined plate moves to the left with a constant velocity v.

Determine the angular velocity and angular acceleration of B
the
The slender
inclinedrod
Theinclined plateofmoves
plate lengthto
moves l.toThe
the rod
theleft pivots
leftwith about the
withaaconstant
constant step atv.v.
velocity
velocity C
as it slides on
Determine
Determine thethe
the plate. velocity
angular
angular velocityand andangular
angularacceleration
accelerationof of BB
Theslender
the
the inclined
slender plate
rod
rodof moves
lengthl.l.to
oflength therod
The
The leftpivots
rod with aabout
pivots constant
aboutthe stepatatCv.
thevelocity
step C l v
Determine
as
asititslides
slidesonthe
on theangular
the plate. velocity and angular acceleration of
plate. B
the slender rod of length l. The rod pivots about the step at C u ll
f
vv
as it slides on the plate. C A
SOLUTION uu l ff v
CC AA
SOLUTION
SOLUTION x l l u f
= =
sin (f - u) sin(180° - f) sin f C A
SOLUTION xx
==
ll
==
ll
x sin f = l sin(f - u)
sin
sin(f (f -- u) sin(180° -- f)
u) sin(180° f) sin sinff
# x l # l
xsin sinff = - l=cos (f - u) u (1) =
xxsinsin
sin ff -
(f == u)
llsin(f
sin(f -- u)u) - f)
sin(180° sin f
. ##
x = - vx#xand #
.
Thus
However sin sinfuff====v-l
sin l-l cos
cos(f
sin(f --
(f u)- u)u)uu
# - sin f f)
v v(sin #

Thus
Thus vv == xsin f = -l  cos (f - u) u Ans.
ll cos
cos (f (f--u)u)
Thus $ == --v(sin v(sinf) f) $ #
Ans.
Ans.
vvxsin
Taking the time f = -l of
derivative cosEq. (f - u)u - l sin(f - u)(u)2
llcos cos(f (f -- u) u) 1
- v(sin f)
$v0$ == -cos (f - u)a - sin$$(f - u) v2 ## Ans.
xxsin sinflfcos
sin ==(f --llcos
-cosu)(f(f -- u)uu)u -- llsin(f u)(u))22
sin(f -- u)(u
v2 sin$ 2f #
¢ -- v≤v22 - u)(u)2
.. 00 $ - sin (f..- u)
However x = =a= =
xsin
a -cos
-cos
f0 and =(f(f-u-
l-cos
=u)a
u)aa(f sin
-sin
u)u (f---lu)
(f sin(f
u)
cos (f - u) l cos (f - u) 2 2
22 22
aa == - v2 sin2 f sin¢¢(f ≤≤
0 = --cos-sinsin(f (f -- u) u)a -vvsin
u) sin
sin
(f f- f u) v2
22 - 2u)2
a = cos cos(f (f -- u) u) ll cos cos2 (f(f2-- u) u) Ans.
¢ ≤
- sinl (f2
cos- (f
3 u) - u)v sin f
a = 22 22
--cosvv sinsin
(f f -fsinsin(f
u) l2 -
(f - u)
cos 2
u)(f - u)
aa == 22 33
Ans.
Ans.
l2l cos
cos
2 (f
(f -- u)
u)
- v sin f sin (f - u)
a = Ans.
l2 cos3 (f - u)

Ans:
v sin f
v =
l cos(f - u)
- v2 sin2 f sin(f - u)
a =
l 2 cos3(f - u)

666
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–54.

The crate is transported on a platform which rests on v

rollers, each having a radius r. If the rollers do not slip,
determine their angular velocity if the platform moves
forward with a velocity v.

r V

SOLUTION
Position Coordinate
coordinate Equation:
equation: From Example 163, sG = ru. Using similar triangles

sA = 2sG = 2ru

Derivatives:
Time derivatives:
. # #
sA = v = 2r u Where u = v

v
v = b Ans.
2r

Ans:
v
v = b
2r

667
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–55.

Determine the angular velocity of rod CD at the instant D

u = 30°. Rod AB moves to the left at a constant rate
vAB = 5 m>s. VCD B
A
0.3 m vAB
u
C

SOLUTION
Position Coordinate Equation:

0.3
x= = 0.3 cot u
tan u
Time Derivatives:
# #
x = vAB = - 0.3 csc2 u u
#
Here u = vCD, vAB = - 5 m/s and u = 30°.

- 5 = -0.3 csc2 30° (vCD) vCD = 4.17 rad/sd Ans.

Ans:
vCD = 4.17 rad>s d

668
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–56.

Determine the angular acceleration of rod CD at the instant D

u = 30°. Rod AB has zero velocity, i.e., vAB = 0, and an
acceleration of aAB = 2 m>s2 to the right when u = 30°. VCD B
A
0.3 m vAB
u
C

SOLUTION
Position Coordinate Equation:

0.3
x= = 0.3 cot u
tan u
Time Derivatives:
# #
x = vAB = - 0.3 csc2 u u
$ $ # # $
x = aAB = - 0.3[csc2 uu - 2 csc2 u cot uu 2] = 0.3 csc2 u(2 cot uu 2 - u )
# $
Here u = vCD, vAB = 0, aAB = 2 m/s2, u = aCD and u = 30°.
0 = -0.3 csc2 30°(vCD) vCD = 0
2 = 0.3 csc2 30°[2 cot 30°(0)2 - aCD] aCD = - 1.67 rad/s2 = 1.67 rad/s2 b Ans.

Ans:
aCD = 1.67 rad/s2 b

669
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–57.

At the instant shown the boomerang has an angular velocity

v = 4 rad>s, and its mass center G has a velocity
At At theshown
instant shown the boomerang has anvelocity
angular velocity
vG the
= 6instant the
in.>s. Determine boomerang hasof
the velocity an point
angular
B at this
v = 4 rad>s, and its mass center
v = 4 rad>s, and its mass center G has a velocity G has a velocity
instant.
vG = Determine
vG = 6 in.>s. 6 in.>s. Determine the velocity
the velocity of point ofB point
at thisB at this
instant. instant. vG6=in./s
yG  6 in./s

vG = 6 in./svG = 6 in./s
3030° G G BB  =4 4rad
vω >s
rad/s

SOLUTION 30° 1.51.5

in.G
in.
30°4545° G B B
ω = 4 rad/sω = 4 rad/s
1.5 in.
vB = vG SOLUTION
1.5 in. 45°
SOLUTION+ vB>G
45°

(v
vB ) 6G+v+B[4(1.5
BB =y v v=B>GvG>sin
+ v45°)
B>G = 8.4852]
30° b c
5 in.
5 in.
vB+= (v 6 B+v)Bx[4(1.5
= 6 >sin+ [4(1.5 45°) = 8.4852]
Q

45°) >sin
= 8.4852]
( ;30°
Q

) b (vB)x30° =b 6c cos 30° c+ 0 = 5.196 in.>s AA 5 in. 5 in.

(( +; )(yBB;
++c ) (v
S + ) (v ) = 6 cos 30° + 0 = 5.196 in.>s
)(vB(v )=xx = 6-cos
6= sin 6B30°
cos + +0 0= =5.196
+30°
x 30° 8.4852 = -5.196 in.>s = 5.196 in.>s d
in.>sin.>s
11.485 A
A
vB)(y+=c )(v
vB c=)(v
(+ 2(5.196) 6 sin = 6+sin
2B)y30° 30°=+
8.4852
+ (11.485) 2
12.3 in.>s =in.>s
= 8.4852
11.485 11.485
c in.>s Ans.
2 2
vB = 2(5.196)
v = 2(5.196)
vB11.4852
+ (11.485)+ 2(11.485)
= 12.6 = 12.3 in.>s
12.3 in.>s Ans. Ans.
u = tan - 1 = 65.7°
5.196
11.485- 1 11.485 = 65.7°
u = tan -u1 = tan = 5.196
65.7° b Ans.
5.196
Also;

vB = vG Also;
Also; + v * rB>G

v(vBB)=x ivG+ v+(v = *vGr +( -6

B)y j =B>G
Bv rB>G
v *cos 30°i + 6 sin 30°j) + (4k) * (1.5> sin 45°)i
(v
vBB)xx i=+ -
(v (v ))xyij 30°
6vBBcos += (v-6
(= j5.196
= 30°i
B)y-cos (-in.>s
6+cos6 30°i + 6 sin
sin 30°j) 30°j)*+(1.5>
+ (4k) * 45°)i
(4k)sin (1.5> sin 45°)i

vBB)yx = 6-
(v 6Bcos=30°
)x30°
(vsin -+6=cos 30°==11.485
- 5.196
8.4853 - 5.196
in.>s in.>s
in.>s

(v
vvBB)=y 2(5.196) =2 +
B)y30°
= 6(vsin 6+sin 30° +=
8.4853
(11.485) 12.6 =in.>s
2 8.4853
=11.485 11.485 in.>s
in.>s Ans.
2 2
vB = 2(5.196)
v = 2(5.196)
vB11.4852
+ (11.485)+ 2(11.485) = 12.6 in.>s
= 12.6 in.>s Ans. Ans.
u = tan - 1 = 65.7°
5.196
11.485- 1 11.485 = 65.7°
u = tan -u1 = tan = 5.196
65.7° b Ans.
5.196

Ans:
vB = 12.6 in.>s
u = 65.7° b

670
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–58.

When the slider block C is in the position shown, the link

AB has a clockwise angular velocity of 2 rad>s. Determine B
the velocity of block C at this instant. 15 in.
15 in.

45° 45°
C
A vAB 5 2 rad>s
SOLUTION
For link AB: Link AB rotates about the fixed point A. Hence

vB = vABrAB

15
= 2a b = 2.5 ft/s
12
Velocity equation: For link BC
vB = {2.5 cos 45°i - 2.5 sin 45°j} ft/s vC = -vCj v = - vBCk
rC/B = {1.25 cos 45°i - 1.25 sin 45°j} ft

vC = vB + v * rC/B
- vCj = (2.5 cos 45°i - 2.5 sin 45°j) + ( - vBCk) * (1.25 cos 45°i - 1.25 sin 45°j)
- vCj = (2.5 cos 45° - 1.25 sin 45° vBC)i - (2.5 sin 45° + 1.25 cos 45° vBC)j

Equating the i and j components yields:

0 = 2.5 cos 45° - 1.25 sin 45° vBC vBC = 2 rad/s

- vC = - [2.5 sin 45° + 1.25 cos 45°(2)] vC = 3.54 ft/s Ans.

Ans:
vC = 3.54 ft/s

671
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–59.

A bowling ball is cast on the “alley” with a backspin of v 10 rad>s

v = 10 rad>s while its center O has a forward velocity of
vAO bowling
= 8 m>s.ball is cast on
Determine thethe “alley”
velocity withcontact
of the a backspin
point of
A v  10 rad/s
in = 10 rad>s
v contact withwhile its center O has a forward velocity of
the alley.
vO = 8 m>s. Determine the velocity of the contact point A O yO 8 m>s
in contact with the alley.
120 mm
O vO  8 m/s
120 mm
A

A
SOLUTION
vA = vO + vA>O

a:
+ b vvA = 8 + 10(0.12)

vvA = 9.20 m>s : Ans.

Also,

vA = vO + v * rA>O

vvA i = 8i + (10k) * (- 0.12j)

a:
+ b vvA = 9.20 m>s : Ans.

Ans:
vA = 9.20 m>s S
vA = 9.20 m>s S

672
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–60.

The slider block C moves at 8 m>s down the inclined groove. 2m

Determine the angular velocities of links AB and BC, at the
instant shown. A B

45

2m
SOLUTION
Rotation About Fixed Axis: For link AB, refer to Fig. a. C

vB = VAB * rAB
vC  8 m/s
vB = ( - vABk) * (2i) = - 2vAB j

General Plane Motion: For link BC, refer to Fig. b. Applying the relative velocity
equation,

vB = vC + VBC * rB>C

- 2vAB j = (8 sin 45°i - 8 cos 45°j) + (vBCk) * (2j)

- 2vAB j = (8 sin 45° - 2vBC)i - 8 cos 45°j

Equating i and j components,

0 = 8 sin 45° - 2vBC vBC = 2.828 rad>s = 2.83 rad>s d Ans.

- 2vAB = - 8 cos 45° vAB = 2.828 rad>s = 2.83 rad>s b Ans.

Ans:
vBC = 2.83 rad>sd
vAB = 2.83 rad>sb

673
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–61.

Determine the angular velocity of links AB and BC at the B

instant u = 30°. Also, sketch the position of link BC when
u
u = 55°, 45°, and 30° to show its general plane motion.

1 ft

3 ft
A C

vC  6 ft/s
SOLUTION
Rotation About Fixed Axis: For link AB, refer to Fig. a.

vB = VAB * rAB

vB = (vABk) * j = - vAB i

General Plane Motion: For link BC, refer to Fig. b. Applying the relative velocity
equation,

vB = vC + VBC * rB>C

- vAB i = 6j + (vBCk) * ( - 3 cos 30°i + 3 sin 30°j)

- vABi = - 1.5vBCi + (6 - 2.5981 vBC)j

Equating i and j components,

0 = 6 - 2.5981 vBC; vBC = 2.3094 rad>s = 2.31 rad>s d Ans.

- vAB = - 1.5(2.3094); vAB = 3.4641 rad>s = 3.46 rad>s d Ans.

The general plane motion of link BC is described by its orientation when u = 30°,
45° and 55° shown in Fig. c.

Ans:
vBC = 2.31 rad>sd
vAB = 3.46 rad>sd

674
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–62.

The center of the wheel is moving to the right with a speed C

of 2 ft>s. If no slipping occurs at the ground, A, determine
the velocity of points B and C.
B
1.5 ft
30°

2 ft>s
SOLUTION
Velocity equation: For point O
A
vO = {2i} ft/s vA = 0 v = - vk rO/A = {1.5j} ft

vO = vA + v * rO/A
2i = 0 + ( - vk) * (1.5j)
2i = 1.5vi
Hence 2 = 1.5v v = 1.333 rad/s

Velocity equation: For point C

vC = vCi vA = 0 v = { - 1.333k} rad/s rC/A = {3j} ft
vC = vA + v * rC/A
vCi = 0 + ( - 1.333k) * (3j)
vCi = 4i
Hence vC = 4 ft/s S  Ans.

Velocity equation: For point B

vA = 0 v = { - 1.333k} rad/s rB/A = {1.5 cos 30°i + (1.5 + 1.5 sin 30°)j} ft

vB = vA + v * rC/A
= 0 + ( - 1.333k) * [1.5 cos 30°i + (1.5 + 1.5 sin 30°)j]
= {3i - 1.732j} ft/s

vB = 232 + 1.7322 = 3.46 ft/s Ans.

1.732
u = tan-1 = 30° cu Ans.
3

Ans:
vC = 4 ft>s S
vB = 3.46 ft>s
u = 30° cu

675
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–63.

If bar AB has an angular velocity vAB = 4 rad>s, determine

the velocity of the slider block C at the instant shown. C

30
200 mm

150 mm
SOLUTION vAB  4 rad/s
60
For link AB: Link AB rotates about a fixed point A. Hence A

yvB = vAB rAB = 4(0.15) = 0.6 m>s

For link BC

vB = {0.6 cos 30°i - 0.6 sin 30°j}m>s vC = v

yCi v = vBC k

rC>B = { -0.2 sin 30°i + 0.2 cos 30°j} m

vC = vB + v * rC>B

yC i = (0.6 cos 30°i - 0.6 sin 30°j) + (vBC k) * ( - 0.2 sin 30°i + 0.2 cos 30°j)
v

yCi = (0.5196 - 0.1732vBC)i - (0.3 + 0.1vBC)j

v

Equating the i and j components yields:

0 = 0.3 + 0.1vBC vBC = - 3 rad>s

yC = 0.5196 - 0.1732( -3) = 1.04 m>s :

v Ans.

Ans:
vC = 1.04 m>s S

676
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–64.

The pinion gear A rolls on the fixed gear rack B with an C

angular velocity v = 4 rad>s. Determine the velocity of the
gear pinion
The rack C.gear A rolls on the fixed gear rack B with an C
angular velocity v = 4 rad>s. Determine the velocity of A
the gear rack C. V 0.3 ft
A
v 0.3 ft
B

B
SOLUTION
vC = vB + vC>B

(;
+ ) vC = 0 + 4(0.6)

vC = 2.40 ft>s d Ans.

Also:

vC = vB + v * rC>B

-vC i = 0 + (4k) * (0.6j)

vC = 2.40 ft>s d Ans.

Ans:
vC = 2.40 ft>s d

677
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–65.

The pinion gear rolls on the gear racks. If B is moving to the C

right at 8 ft>s and C is moving to the left at 4 ft>s, determine
the
Theangular velocity
pinion gear rollsofon
the pinion
the gear and
gear racks. If Bthe velocityto
is moving ofthe
its C
center
right atA.
8 ft>s and C is moving to the left at 4 ft>s, determine A
the angular velocity of the pinion gear and the velocity of its V 0.3 ft
center A. A
V 0.3 ft
B

B
SOLUTION
vC = vB + vC>B

(:
+ ) - 4 = 8 - 0.6(v)

v = 20 rad>s d Ans.

vA = vB + vA>B

(:
+ ) vA = 8 - 20(0.3)

vA = 2 ft>s : Ans.

Also:

vC = vB + v * rC>B

- 4i = 8i + (vk) * (0.6j)

-4 = 8 - 0.6v

v = 20 rad>s d Ans.

vA = vB + v * rA>B

vAi = 8i + 20k * (0.3j)

vA = 2 ft>s : Ans.

Ans:
v = 20 rad>s d
vA = 2 ft>s S

678
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–66.

Knowing that the angular velocity of link AB is

vAB = 4 rad>s, determine the velocity of the collar at C and
the angular velocity of link CB at the instant shown.
Link CB is horizontal at this instant.
350 mm
C B

SOLUTION 45°
vB = vAB rAB
500 mm
= 4(0.5) = 2 m>s b vAB 5 4 rad>s

vB = { -2 cos 30°i + 2 sin 30°j } m/s vC = - vC cos 45°i - vC sin 45°j 60°

v = vBCk    rC>B = { - 0.35i } m
A
vC = vB + v * rC>B

- vC cos 45°i - vC sin 45°j = ( -2 cos 30°i + 2 sin 30°j ) + (vBCk) * ( -0.35i )

- vC cos 45°i - vC sin 45°j = - 2 cos 30°i + (2 sin 30° - 0.35vBC)j

Equating the i and j components yields:

- vC cos 45° = - 2 cos 30°     vC = 2.45 m>s d Ans.

- 2.45 sin 45° = 2 sin 30° - 0.35vBC vBC = 7.81 rad>s d Ans.

Ans:
vC = 2.45 m>s d
vBC = 7.81 rad>s d

679
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–67.

At the instant shown, the truck travels to the right at 8 m>s.

If the pipe does not slip at B, determine its angular velocity
V
At themass
if its instant shown,
center G the truck to
appears travels to the
remain right at 8tom>s
stationary an. G
If the pipeondoes
observer the not slip at B, determine its angular velocity
ground. 1.5 m
V
if its mass center G appears to remain stationary to an G
observer on the ground. B 1.5 m

B
SOLUTION
SOLUTION
v = v + v
G B G>B

vG = vB + vG>B
0 = c 8 d + c 1.5v d
: ;
+
0S= 0c 8= d8 +- c1.5
1.5vvd
v = : = 5.33;rad>s d Ans.
1.5
8
v = = 5.33 rad>s d Ans.
Also:1.5

vG = vB + v * rG>B
Also:

vG == 8i
0i vB++(vk)
v * *rG>B
(1.5j)

00i == 88i-+1.5v
(vk) * (1.5j)

0 = 8 8- 1.5v
v = = 5.33 rad>s d Ans.
1.5
8
v = = 5.33 rad>s d Ans.
1.5

Ans:
v = 5.33 rad>sd

680
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–68.

The inner hub of the roller bearing is rotating with an

angular velocity of vi = 6 rad>s, while the outer hub is
rotating in the opposite direction at vo = 4 rad>s. 25 mm
Determine the angular velocity of each of the rollers if they
roll on the hubs without slipping. 50 mm
vi 5 6 rad>s vo 5 4 rad>s

SOLUTION
Since the hub does not slip, vA = viri = 6(0.05) = 0.3 m/s and vB = voro =
4(0.1) = 0.4 m/s.

vB = vA + vB/A

c 0.4 d = c 0.3 d + c v(0.05) d

T c T

( + T) 0.4 = - 0.3 + 0.05v v = 14 rad/s b Ans.

Ans:
v = 14 rad/s b

681
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–69.

The clockwise angular velocity of the link AB is 2 rad>s. 4 in.

Determine the angular velocity of the connecting links BC
and CD at the instant shown. A
vAB 5 2 rad>s
3 in.
90°
C
B
45°
SOLUTION
For link AB: Link AB rotates about the fixed point A. Hence 5 in. 45°
D
vB = vABrAB

= 2(3) = 6 in/s
Velocity equation: For link BC
vB = { - 6i} in/s vC = - vC cos 45°i - vC sin 45°j v = vBCk
rC/B = { - 4i} in

vC = vB + v * rC/B
-vC cos 45°i - vC sin 45°j = - 6i + (vBCk) * ( - 4i)
-vC cos 45°i - vC sin 45°j = - 6i - 4vBCj

Equating the i and j components yields:

- vC cos 45° = - 6 vC = 8.485 in/s

- (8.485) sin 45° = -4vBC vBC = 1.50 rad/s d Ans.

For link CD: Link CD rotates about the fixed point D. Hence

vC = vCDrCD
8.485 = vCD(5) vCD = 1.70 rad/s d  Ans.

Ans:
vBC = 1.50 rad>s d
vCD = 1.70 rad>s d

682
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–70.

The wheel rolls on its hub without slipping on the horizontal

surface. If the velocity of the center of the wheel is 2 ft>s to
the right, determine the velocity of points A and B at the
instant shown. B A 0.5 in. 1 in.

SOLUTION 8 in.

Scalar analysis: A
3 in.
vC = vO + vC/O

3
c2d = 0 + Cva b S
S 12
S

+ )     2 = 0.25 v
(S v = 8 rad/s

vB = vO + vB/O

11
c vB d = 0 + C 8 a b S
S 12
S

11
+ )     vB = 8 a
(S b = 7.33 ft/s S  Ans.
12

vA = vO + vA/O

218
c (vA)x d + C(vA)yS = 0 + C 8 a bS
S 12
T
c45°

218
+ )     (vA)x = 8 a
(S b cos 45° = 2 ft/s
12

218
( + T)     (vA)y = 8 a b sin 45° = 2 ft/s
12

vA = 2(vA)2x + (vA)2y = 222 + 22 = 2.83 ft/s Ans.

(vB)y 2
u = tan-1 = tan-1 = 45° cuAns.
(vB)x 2

Ans:
vB = 7.33 ft>s S
vA = 2.83 ft>s
u = 45° cu

683
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–71.

The rod CD has a downward velocity of 6 ft>s. The rod is

pinned at C to gear B. Determine the velocity of the gear D
rack A at the instant shown. 6 ft>s

C
SOLUTION 0.75 ft
B
Velocity equation: 1 ft

vC = { - 6j} ft/s vA = vAi v = vBk

A
rA/C = {0.75i - 1j} ft

vA = vC + v * rA/C

vAi = - 6j + (vBk) * (0.75i - 1j)

vAi = vBi + (0.75 vB - 6) j

Equating the i and j components yields:

0 = 0.75 vB - 6 vB = 8 rad/s d

vA = 8 ft/s S  Ans.

Ans:
vA = 8 ft>s S

684
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–72.

If the slider block A is moving downward at E

vA = 4 m>s, determine the velocities of blocks B and C at B 300 mm
4
the instant shown.
250 mm 3
5

400 mm D
vA  4 m/s
300 mm
30
C A
SOLUTION
vB = vA + vB>A
vB
S = 4T + vAB(0.55) Q
5
3
4

3
(S
+
)   vB = 0 + vAB(0.55)a b
5
4
( + c)   0 = - 4 + vAB(0.55)a b
5

Solving,

vAB = 9.091 rad>s b

vB = 3.00 m>s S  Ans.

vD = vA + vD>A

vD = 4 + [(0.3)(9.091) = 2.727]
3
    T    4 Q5

vC = vD + vC>D

vC = 4 + 2.727 + vCE(0.4)
S T Q
5
3
4      h 30°

+ 3
(S )   vC = 0 + 2.727 a b - vCE (0.4)(sin 30°)
5

4
( + c )   0 = - 4 + 2.727 a b + vCE(0.4)(cos 30°)
5

vCE = 5.249 rad>s b

vC = 0.587 m>s S  Ans.

Also:

vB = vA + vAB * rB>A

-4 3
  vBi = -4j + ( - vABk) * e (0.55)i + (0.55)j f
5 5

685
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*16–72. Continued

vB = vAB(0.33)

0 = - 4 + 0.44vAB

vAB = 9.091 rad>s b

vB = 3.00 m>s S  Ans.

vD = vA + vAB * rD>A

-4 3
vD = -4j + ( -9.091k) * e (0.3)i + (0.3)j f
5 5
vD = 51.636i - 1.818j 6 m>s

vC = vD + VCE * rC>D

vCi = (1.636i - 1.818j) + ( -vCEk) * ( - 0.4 cos 30°i - 0.4 sin 30°j)

vC = 1.636 - 0.2vCE

0 = - 1.818 - 0.346vCE

vCE = 5.249 rad>s b

vC = 0.587 m>s S  Ans.

Ans:
vB = 3.00 m>s S
vC = 0.587 m>s S

686
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–73.

If the slider block A is moving downward at vA = 4 m>s, E

determine the velocity of point E at the instant shown. B 300 mm
4
250 mm 3
5

400 mm D
vA  4 m/s
300 mm
30
C A
SOLUTION
See solution to Prob. 16–72.
vE = vD + vE>D

(vE)x
Q

(vE)y = 4T + 2.727 + (5.249)(0.3)

3
          4 Q5     f 30°
3
(S
+
)   (vE)x = 0 + 2.727 a b + 5.249(0.3)(sin 30°)
5
4
( + T )   (vE)y = 4 - 2.727 a b + 5.249(0.3)(cos 30°)
5

(vE)x = 2.424 m>s S

(vE)y = 3.182 m>s T

vE = 2(2.424)2 + (3.182)2 = 4.00 m>s Ans.

3.182
u = tan-1 a b = 52.7° cu Ans.
2.424

Also:

See solution to Prob. 16–72.

vE = vD + vCE * rE>D

vE = (1.636i - 1.818j) + ( - 5.249k) * {cos 30°(0.3)i + sin 30°(0.3)j}

vE = 52.424i - 3.182j 6 m>s

vE = 2(2.424)2 + (3.182)2 = 4.00 m>s Ans.

3.182
u = tan-1 a b = 52.7° c Ans.
2.424

Ans:
vE = 4.00 m>s
u = 52.7° c

687
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–74.
The gauge
gage isisused
usedtotoindicate
indicatethe
thesafe
safe load
load acting
acting at
at the end A
of the boom, B, when it is in any angular position. It consists
of a fixed dial plate D and an indicator arm ACE which is
pinned to the plate at C and to a short link EF. If the boom 250 mm 60E
is pin
pin-connected
connected to the trunk frame at G and is rotating D B
downward at vB = 4 rad>s, determine the velocity of the
dial pointer A at the instant shown, i.e., when EF and AC C 45
are in the vertical position. 300 mm
150 mm

SOLUTION
vFF = vB rGF = (4)(0.25) = 1 m>s
v 250 mm F
VB  4 rad/s
vE = vF + vEF * rE>F 45
G
vE sin 60°j = 1 cos 45°i - 1 sin 45°j + (vEFk) * (0.3i)
vE cos 60°i - v
v

A:
+ B vE cos 60° = 1 cos 45° - vEF(0.3)
v

A+ c B vE sin 60° = - 1 sin 45° + 0

-v

Solving,

vE = 0.8165 m>s,
v vEF = 0.996 rad>s

vE
v 0.8164
vA CE = = = 5.44 rad>s
rEC 0.150

vvA = vA CE rAC = (5.44)(0.250) = 1.36 m>s : Ans.

Ans:
vA = 1.36 m>s S

688
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–75.

Piston P moves upward with a velocity of 300 in.>s at the vP  300 in./s
instant shown. Determine the angular velocity of the
crankshaft AB at this instant. P

SOLUTION 5 in.
G
From the geometry: 2.75 in.
30
1.45 sin 30°
cos u = u = 81.66° B
5

For link BP A
vP = {300j} in>s vB = - y
vB cos 30°i + yvB sin 30°j v = -vBPk 1.45 in.

rP>B = { -5 cos 81.66°i + 5 sin 81.66°j} in.

vP = vB + v * rP>B

vB cos 30°i + yvB sin 30°j) + (- vBPk) * (- 5cos 81.66°i + 5 sin 81.66°j)
300j = (- y

300j = (- y
vB cos 30°i + 5 sin 81.66°vBP)i + (yvB sin 30° + 5 cos 81.66° vBP)j

Equating the i and j components yields:

0 = - yvB cos 30° + 5 sin 81.66° vBP (1)

300 = yvB sin 30° + 5 cos 81.66° vBP (2)

Solving Eqs. (1) and (2) yields:

vBP = 83.77 rad>s yvB = 478.53 in.>s

For crankshaft AB: Crankshaft AB rotates about the fixed point A. Hence

vB = vAB rAB
y

478.53 = vAB(1.45) vAB = 330 rad>s d Ans.

Ans:
vAB = 330 rad>sd

689
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*16–76.

Determine the velocity of the center of gravity G of the vP  300 in./s

connecting rod at the instant shown. Piston P is moving
upward with a velocity of 300 in.>s. P

SOLUTION 5 in.
G
From the geometry: 2.75 in.
30
1.45 sin 30°
cos u = u = 81.66° B
5

For link BP A
vP = {300j} in>s vB = - yvB cos 30°i + yB sin 30°j v = -vBPk 1.45 in.

rP>B = { -5 cos 81.66°i + 5 sin 81.66°j} in.

vP = vB + v * rP>B

300j = (-yvB cos 30°i + yvB sin 30°j) + (- vBPk) * ( - 5 cos 81.66°i + 5 sin 81.66°j)

300j = (-y
vB cos 30° + 5 sin 81.66° vBP)i + (y
vB sin 30° + 5 cos 81.66° vBP)j

Equating the i and j components yields:

0 = -y
vB cos 30° + 5 sin 81.66° vBP (1)

300 = y
vB sin 30° + 5 cos 81.66° vBP (2)

Solving Eqs. (1) and (2) yields:

vBP = 83.77 rad>s yvB = 478.53 in.>s

vP = {300j} in>s v = {- 83.77k} rad>s

rG>P = {2.25 cos 81.66°i - 2.25 sin 81.66°j} in.

vG = vP + v * rG>P

= 300j + ( -83.77k) * (2.25 cos 81.66°i - 2.25 sin 81.66°j)

= { -186.49i + 272.67j} in.>s

yG = 2(-186.49)2 + 272.672 = 330 in.>s

v Ans.

272.67
u = tan - 1 a b = 55.6° b Ans.
186.49

Ans:
vG = 330 in.>s,
u = 55.6° b

690
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16–77.

The planetary gear system is used in an automatic 40 mm

vR
transmission for an automobile. By locking or releasing
certain gears, it has the advantage of operating the car at P
different speeds. Consider the case where the ring gear R is
held fixed, vR = 0, and the sun gear S is rotating at
vS = 5 rad>s. Determine the angular velocity of each of the R VS
planet gears P and shaft A.

SOLUTION S A
80 mm
vA = 5(80) = 400 mm>s ;

vB = 0

vB = vA + v * rB>A

0 = -400i + (vp k) * (80j) 40 mm

0 = -400i - 80vp i

vP = -5 rad>s = 5 rad>s b Ans.

vC = vB + v * rC>B

vC = 0 + ( -5k) * ( -40j) = - 200i

200
vA = = 1.67 rad>s d Ans.
120

Ans:
vP = 5 rad>sb
vA = 1.67 rad>sd

691
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16–78.

If the link AB has an angular velocity of v = 4 rad>s E

at the instant shown, determine the velocity of the slider
block E at this instant.

2 ft
1 ft D 30°
B
1 ft
SOLUTION 2 ft vAB 5 4 rad>s
vD = vB + vBD * rD/B
C 30°
- vDi = ( - 8 cos 60°i - 8 sin 60°j) + (vBDk) * (1i) A

- vDi = - 8 cos 60°i + (vBD - 8 sin 60°)j

Equating the i and j components yields:

- vD = - 8 cos 60° vD = 4 ft/s

0 = vBD - 8 sin 60° vBD = 6.928 rad/s

Velocity equation: For Link DE

vD = { - 4i} ft/s vDE = vDEk vE = -vEi

rE/D = {2 cos 30°i + 2 sin 30°j} ft

vE = vD + vDE * rE/D

- vEi = - 4i + (vDEk) * (2 cos 30°i + 2 sin 30°j)

- vEi = ( - 4 - 2 sin 30° vDE)i + 2 cos 30° vDEΤj

Equating the i and j components yields:

0 = 2 cos 30° vDE vDE = 0

- vE = - 4 - 2 sin 30°(0) vE = 4 ft/s d  Ans.

Ans:
vE = 4 ft>s d

692
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–79.
The pinion gear A rolls on the fixed gear rack B with an
angular velocity v = 4 rad>s. Determine the velocity of the
v
gear rack C.

V  4 rad/s

A
SOLUTION
0.3 ft
C
vC = vB + vC>B
B

c vC d = 0 + c 4(0.6) d
c c
vvC = 2.40 ft>s c Ans.

Also,

vC = vB + v * rC>B

vCj = 0 + (4k) * (0.6i)

v

vvC = 2.40 ft>s c Ans.

Ans:
vC = 2.40 ft>s c

693
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–80.

If the
If the slider
slider block
block A is moving
A is moving to the right
to the right at vA =
at v = 88 ft>s
ft>s,,
A
determine the velocities of blocks B and C at the
determine the velocity of blocks B and C at the instant instant
shown. Member
shown. MemberCD CDisispin
pinconnected
connectedtoto
member
member ADB.
ADB.
C
B
SOLUTION 2 ft 2 ft

30
Kinematic Diagram: Block B and C are moving along the guide and directed D
towards the positive y axis and negative y axis, respectively. Then, vB = vyB j and 2 ft
vC = -y vC j. Since the direction of the velocity of point D is unknown, we can 45
assume that its x and y components are directed in the positive direction of their
A
respective axis.
Velocity Equation: Here, rB>A = {4 cos 45°i + 4 sin 45°j} ft = {2.828i + 2.828j} ft vA  8 ft/s
and rD>A = {2 cos 45°i + 2 sin 45°j} ft = {1.414i + 1.414j} ft. Applying Eq. 16–16 to
link ADB, we have

vB = vA + vADB * rB>A

yB j = 8i + (vADB k) * (2.828i + 2.828j)

v

yB j = (8 - 2.828vADB) i + 2.828vADB j
v

Equating i and j components gives

0 = 8 - 2.828vADB [1]

vB = 2.828vADB
y [2]

Solving Eqs.[1] and [2] yields

vADB = 2.828 rad>s

vB = 8.00 ft>s c
y Ans.

The x and y component of velocity of vD are given by

vD = vA + vADB * rD>A

vD)x i + (y
(y vD)y j = 8i + (2.828k) * (1.414i + 1.414j)

vD)x i + (y
(y vD)y j = 4.00i + 4.00j

Equating i and j components gives

vD)x = 4.00 ft>s

(y v D)y = 4.00 ft>s
(y

Here, rC>D = { -2 cos 30°i + 2 sin 30°j} ft = {-1.732i + 1j} ft. Applying Eq. 16–16
to link CD, we have

vC = vD + vCD * rC>D

vC j = 4.00i + 4.00j + (vCDk) * ( -1.732i + 1j)

-y

vC j = (4.00 - vCD) i + (4 - 1.732vCD) j

-y

Equating i and j components gives

0 = 4.00 - vCD [3]

-y
vC = 4 - 1.732vCD [4]

Solving Eqs. [3] and [4] yields Ans:

vCD = 4.00 rad>s vB = 8.00 ft>s c
vc = 2.93 ft>s T
yC = 2.93 ft>s T
v Ans.
694
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16–81.

In each case show graphically how to locate the B

instantaneous center of zero velocity of link AB. Assume V
the geometry is known. The disk rolls without slipping.
A
A
(a)
V
V

A C
(b)
SOLUTION B
B

a)
(c)

b)

c)

695
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–82.

Due to slipping, points A and B on the rim of the disk have vB 10 ft/s B
the velocities shown. Determine the velocities of the center D
point C and point D at this instant. 0.8 ft
45
E 30
C
F
A vA 5 ft/s

SOLUTION
1.6 - x x
=
5 10

5x = 16 - 10x

x = 1.06667 ft

10
v = = 9.375 rad>s
1.06667

rIC-D = 2(0.2667)2 + (0.8)2 - 2(0.2667)(0.8) cos 135° = 1.006 ft

sin f sin 135°

=
0.2667 1.006

f = 10.80°

vC = 0.2667(9.375) = 2.50 ft>s : Ans.

vD = 1.006(9.375) = 9.43 ft>s Ans.

u = 45° + 10.80° = 55.8° h

Ans:
vC = 2.50 ft>s d
vD = 9.43 ft>s
u = 55.8° h

696
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–83.

Due to slipping, points A and B on the rim of the disk have vB 10 ft/s B
the velocities shown. Determine the velocities of the center D
point C and point E at this instant. 0.8 ft
45
E 30
C
F
A vA 5 ft/s

SOLUTION
1.6 - x x
=
5 10

5x = 16 - 10x

x = 1.06667 ft

10
v = = 9.375 rad>s
1.06667

vC = v(rIC - C)

= 9.375(1.06667 - 0.8)

= 2.50 ft>s : Ans.

vE = v(rIC - E)

= 9.3752(0.8)2 + (0.26667)2

= 7.91 ft>s Ans.

u = tan–1 ) 0.26667
0.8
) = 18.4°

Ans:
vC = 2.50 ft>s d
vE = 7.91 ft>s
u = 18.4° e

697
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–84.

The conveyor belt is moving to the right at v = 8 ft>s, and at B

the same instant the cylinder is rolling counterclockwise at V
v = 2 rad>s without slipping. Determine the velocities of
the cylinder’s center C and point B at this instant. C
1 ft v

SOLUTION
8
rA - IC = = 4 ft
2
vC = 2(3) = 6.00 ft>s S Ans.

vB = 2(2) = 4.00 ft>s S Ans.

Ans:
vC = 6.00 ft>s S
vB = 4.00 ft>s S

698
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–85.

The conveyor belt is moving to the right at v = 12 ft>s, and B

at the same instant the cylinder is rolling counterclockwise V
at v = 6 rad>s while its center has a velocity of 4 ft>s to the
left. Determine the velocities of points A and B on the disk C
at this instant. Does the cylinder slip on the conveyor? 1 ft v

SOLUTION
4
rC>IC = = 0.667 ft
6
vA = 6(1 - 0.667) = 2 ft>s S Ans.

vB = 6(1 + 0.667) = 10 ft>s d Ans.

Since vA ≠ 12 ft>s the cylinder slips on the conveyer. Ans.

Ans:
vA = 2 ft>s S
vB = 10 ft>s d
The cylinder slips.

699
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–86.
The disk of radius r is confined to roll without slipping at A
and B. If the plates have the velocities shown, determine the
v
angular velocity of the disk. A
r

B 2v

SOLUTION
vv 2v
v
=
2r - x x

x = 4r - 2x

3x = 4r

4
x = r = 1.33r
3

2v
v v
v = = 1.5 d Ans.
1.33 r r

Ans:
v
v = 1.5 d
r

700
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–87.
The mechanism shown is used in a riveting machine. It
consists of a driving piston A, three members, and a riveter
which is attached to the slider block D. Determine the
velocity of D at the instant shown, when the piston at A is 150 mm C
300 mm
traveling at vA = 30 m>s.
45

vA  30 m/s
45
SOLUTION D 200 mm
30 A
60
Link AC: B
45
vA 30
vAC = = = 25.88 rad>s
rA>IC 0.3
a b
sin 15°

0.3
vC = vACrC>IC = (25.88) a b = 28.98 m>s
tan 15°

Link DC:
rC>IC 0.15
=
sin 45° sin 120°

rC>IC = 0.1225 m
rD>IC 0.15
=
sin 15° sin 120°

rD>IC = 0.04483 m

vC 28.98
vDC = = = 236.60 rad>s
rC>IC 0.1225

vD = vDCrD>IC = 236.60(0.04483)

vD = 10.6 m/s T Ans.

Ans:
vD = 10.6 m>s T

701
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*16–88.
In an automobile transmission the planet pinions A and B
rotate on shafts that are mounted on the planet-pinion carrier
CD. As shown, CD is attached to a shaft at E which is aligned C
with the center of the fixed sun gear S. This shaft is not A R
50 mm
attached to the sun gear. If CD is rotating at vCD = 8 rad>s, 125 mm
determine the angular velocity of the ring gear R.
vCD  8 rad/s

75 mm
SOLUTION S
E
Pinion A:

1 B
vA = = 20 rad>s
0.05 D

vR = (20)(0.1) = 2 m>s

2
vR = = 11.4 rad>sb Ans.
(0.125 + 0.05)

Ans:
vR = 11.4 rad>s b

702
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–89.

mechanism produces
The mechanism producesintermittent
intermittentmotion
motionofoflink
link AB.
AB. If
VS =S 6=rad >s
6 rad/s
If the
the sprocket
sprocket S is S is turning
turning with anwith an angular
angular velocityvelocity
of vS = of6 BB
vsS = 6determine
rad>s, rad>s, determine the angular
the angular velocity
velocity of AB
of link link at at
ABthis 200 mm
200 mm
this instant.
instant. The The sprocket
sprocket S isS is mountedonona ashaft
mounted shaft which
which is
separate from a collinear shaft attached to AB at A. The pin 150 mm
150 mm
onevertical
at C is attached to the of the chain
chainlinks.
links. AA 15
15°
30
30°

The mechanism produces intermittent motion of link AB. SS CC

175 mm
175 mm
S = 6 rad/s
If the sprocket S is turning with an angular velocity of B
vsSOLUTION
= 6 rad>s, determine the angular velocity of link AB at 200 mm
this instant. The sprocket S is mounted on a shaft which is
Kinematic
separate fromDiagram: Since
a collinear linkattached
shaft AB is rotating
to ABabout pin point A, then vB is always
the fixed
at A. The 150 mm
directed perpendicular to link AB and its magnitude is vB = wABrAB = 0.2wAB. At 5050
mmmm
at C is attached to one of the chain links. A 15°
the instant shown, vB is directed at an angle 60° with the horizontal. Since point C DD
is attached to the chain, at the instant shown, it moves vertically with a speed of 30°
vC = wSrS = 6(0.175) = 1.05 m>s. S C
175 mm

SOLUTION
Instantaneous Center: The instantaneous center of zero velocity of link BC
at the instant shown is located at the intersection point of extended lines drawn
Kinematic Diagram:
perpendicular fromSince linkvAB
vB and is rotating about the fixed point A, then vB is always
C . Using law of sines, we have
directed perpendicular to link AB and its magnitude is vB = wABrAB = 0.2wAB. At 50 mm
rB>IC
the instant shown, vB is directed 0.15angle 60° with the horizontal. Since point C
at an D
= r = 0.2898 m
is attached to the chain,
sinat105°
the instant
sin 30°shown, B>IC
it moves vertically with a speed of
vC = wSrS = 6(0.175) = 1.05 m>s.
rC>IC 0.15
= rC>IC = 0.2121 m
Instantaneous Center: sinThe45°instantaneous
sin 30° center of zero velocity of link BC
at the instant shown is located at the intersection point of extended lines drawn
perpendicular from vB of
The angular velocity and vCBC
bar . Using law of
is given bysines, we have
rB>IC 0.15
= vC = 1.05 0.2898
rB>IC= =4.950 m
rad>s
sin w BC = sin 30°
105° rC>IC 0.2121
rC>IC 0.15
Thus, the angular velocity of=link AB is given by = 0.2121 m
rC>IC
sin 45° sin 30°
vB = wBC rB>IC
The angular velocity of bar BC is given by
0.2wAB = 4.950(0.2898)
vC 1.05
wBC = = = 4.950 rad>s
rC>ICwAB 0.2121
= 7.17 rad>s b Ans.

Thus, the angular velocity of link AB is given by

vB = wBC rB>IC

0.2wAB = 4.950(0.2898)

wAB = 7.17 rad>s Ans.

Ans:
vAB = 7.17 rad>s b

703
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–90.

The transmission gear fixed onto the frame of an electric

train turns with a constant rate of vt = 30 rad>s. This gear is
in mesh with the gear that is fixed to the axle of the engine.
Determine the velocity of the train, assuming the wheels do
not slip on the track. Vt

1 ft
B

2 ft

SOLUTION A
3 ft
Instantaneous center: For the transmission gear
vA vA
rB/IC = rC/IC = rB/IC + 1 = + 1
30 30
vA
vC = vt rC/IC = 30 a + 1b = vA + 30
30

For the wheel: Using similar triangles

vA + 30 vA
= vA = 45 ft/s S  Ans.
5 3

Ans:
vA = 45 ft>s S

704
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–91.

The wheel of an electric train is driven by the transmission

gear B, which is in mesh with the gear fixed to the wheel. If
the wheel rolls without slipping, determine the angular
velocity of the transmission gear needed to drive the
train 40 ft>s. The transmission gear is fixed to the frame of Vt
the engine. 1 ft
B

2 ft

SOLUTION A
3 ft
Instantaneous center: For the transmission gear

40 40
rB/IC = rC/IC = rB/IC + 1 = + 1
vt vt

40
vC = vt rC/IC = vt a + 1b = 40 + vt
vt

For the wheel: Using similar triangles

vt = 26.7 rad/s B 
40 + vt 40
= Ans.
5 3

Ans:
vt = 26.7 rad>sd

705
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–92.

Member AB is rotating at vAB = 6 rad>s. Determine the B

200 mm 200 mm
D
velocity of point D and the angular velocity of members
BPD and CD. 200 mm
200 mm

60 60
250 mm
A C
vAB  6 rad/s

SOLUTION
Rotation About A Fixed Axis: For links AB and CD, the magnitudes of the velocities
of B and D are

vB = vABrAB = 6(0.2) = 1.20 m>s   vD = vCD(0.2)

And their directions are indicated in Figs. a and b.

General Plane Motion: With the results of vB and vD, the IC for member BPD can
be located as show in Fig. c. From the geometry of this figure,

0.2
rB>IC = rD>IC = = 0.4 m
cos 60°

Then, the kinematics gives

vB 1.20
vBPD = = = 3.00 rad>s b Ans.
rB>IC 0.4

vD = vBPDrD>IC = (3.00)(0.4) = 1.20 m>s e� Ans.

60˚

Thus,
vD = vCD(0.2);  1.2 = vCD(0.2)
vCD = 6.00 rad>s d Ans.

Ans:
vBPD = 3.00 rad>s b
vD = 1.20 m>s e�
60˚
vCD = 6.00 rad>s d

706
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–93.

Member AB is rotating at vAB = 6 rad>s. Determine the B

200 mm 200 mm
D
velocity of point P, and the angular velocity of member BPD.
200 mm 200 mm

60 60
250 mm
A C
vAB  6 rad/s

SOLUTION
Rotation About A Fixed Axis: For links AB and CD, the magnitudes of the velocities
of B and D are
vB = vABrAB = 6(0.2) = 1.20 m>s  vD = vCD(0.2)

And their direction are indicated in Fig. a and b

General Plane Motion: With the results of vB and vD, the IC for member BPD can
be located as shown in Fig. c. From the geometry of this figure

0.2
  rB>IC = = 0.4 m  rP>IC = 0.25 + 0.2 tan 60° = 0.5964 m
cos 60°

Then the kinematics give

vB 1.20
vBPD = = = 3.00 rad>s b Ans.
rB>IC 0.4

vP = vBPDrP>IC = (3.00)(0.5964) = 1.7892 m>s = 1.79 m>s d Ans.

Ans:
vBPD = 3.00 rad>s b
vP = 1.79 m>s d

707
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–94.

If the center O of the gear is given a velocity of

vO = 10 m>s, determine the velocity of the slider block B at
A 0.6 m
the instant shown.
0.125 m
O 0.175 m B
vO  10 m/s
30
30

SOLUTION
General Plane Motion: Since the gear rack is stationary, the IC of the gear is located
at the contact point between the gear and the rack, Fig. a. Here, rO>IC = 0.175 m and
rA>IC = 0.6 m. Thus, the velocity of point A can be determined using the similar
triangles shown in Fig. a,

vA vO
vg = =
rA>IC rO>IC

vA 10
=
0.3 0.175

vA = 17.143 m>s :

The location of the IC for rod AB is indicated in Fig. b. From the geometry shown in
Fig. b,

rA>IC = 0.6 m

rB>IC = 2(0.6 cos 30°) = 1.039 m

Thus, the angular velocity of the

linkgear can be
AB can be determined
determined from
from

vA 17.143
vAB = = = 28.57 rad>s
rA>IC 0.6

Then,

vB = vAB rB>IC = 28.57(1.039) = 29.7 m>s a 30° Ans.

Ans:
vB = 29.7 m>s a 30°

708
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–95.

As the car travels forward at 80 ft>s on a wet road, due to 80 ft>s

slipping, the rear wheels have an angular velocity C
v = 100 rad>s. Determine the speeds of points A, B, and C
caused by the motion. B

1.4 ft A 100 rad>s

SOLUTION
v0 = v rO>IC; 80 = 100 rO>IC rO>IC = 0.8 ft

Thus rA>IC = 1.4 - 0.8 = 0.6 ft

1.4
rB>IC = 20.82 + 1.42 = 22.6 ft u = tan-1 a b = 60.26° = 60.3°
0.8
rC>IC = 0.8 + 1.4 = 2.2 ft.

Thus,

vA = v rA>IC = 100(0.6) = 60 ft>s S  Ans.

vB = v rB>IC = 100( 22.6) = 161.24 ft>s = 161 ft>s  60.3˚ b Ans.

vC = v rC>IC = 100(2.2) = 220 ft>s d  Ans.

Ans:
vA = 60.0 ft>s S
vC = 220 ft>s d
vB = 161 ft>s
u = 60.3° b

709
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

of vC = 3 m>s *16–96.
, determine the angular
0.15 m
at the instant shown. A
If C has a velocity of vC = 3 m>s, determine the angular
45 0.15 m
velocity of the wheel at the instant shown. A
45
B

B
0.45 m

0.45 m
C
SOLUTION vC  3 m/s
C
xed Axis: Referring to Fig. a,
vC  3 m/s
vB Rotation
= vWrB =About a Fixed Axis: Referring to Fig. a,
vW(0.15)
vB = vWrB = vW(0.15)
on: Applying the law of sines to the geometry shown in Fig. b,

f sin 45° General Plane Motion: Applying the law of sines to the geometry shown in Fig. b,
= f = 13.63°
5 0.45 sin f sin 45°
= f = 13.63°
0.15 0.45
C for rod BC is indicated in Fig. c. Applying the law of sines to
c,
The location of the IC for rod BC is indicated in Fig. c. Applying the law of sines to
0.45 the geometry of Fig. c,
= rC>IC = 0.5434 m
63° sin 45° rC>IC 0.45
= rC>IC = 0.5434 m
0.45 sin 58.63° sin 45°
= rB>IC = 0.6185 m
37° sin 45° rB>IC 0.45
= rB>IC = 0.6185 m
sin 76.37° sin 45°
ocity of rod BC is

vCThus, the3angular velocity of rod BC is

vBC = = = 5.521 rad>s
rC>IC 0.5434 vC 3
vBC = = = 5.521 rad>s
rC>IC 0.5434

vB =and
vBC rB>IC

vW(0.15) = 5.521(0.6185) vB = vBC rB>IC

v

vW = 22.8 rad>s vW(0.15) = 5.521(0.6185)

Ans.
vW = 22.8 rad>s b Ans.

Ans:
vW = 22.8 rad>s b

710
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–97.

The square plate is confined within the slots at A and B. D

When u = 30°, point A is moving at vA = 8 m>s.
Determine the velocity of point C at this instant. 0.3 m

0.3 m
B

SOLUTION C

rA>IC = 0.3 cos 30° = 0.2598 m

u 30
8
v = = 30.792 rad>s
0.2598 A
vA 8 m/s
rC>IC = 2(0.2598)2 + (0.3)2 - 2(0.2598)(0.3) cos 60° = 0.2821 m

vC = (0.2821)(30.792) = 8.69 m>s Ans.

sin f sin 60°

=
0.3 0.2821

f = 67.09°

u = 90° - 67.09° = 22.9° g Ans.

Ans:
vC = 8.69 m>s,
u = 22.9° g

711
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–98.

The square plate is confined within the slots at A and B. D

When u = 30°, point A is moving at vA = 8 m>s.
Determine the velocity of point D at this instant. 0.3 m

0.3 m
B

SOLUTION C

rA>IC = 0.3 cos 30° = 0.2598 m

u 30
8
v = = 30.792 rad>s
0.2598 A
vA 8 m/s
rB>IC = 0.3 sin 30° = 0.15 m

rD>IC = 2(0.3)2 + (0.15)2 - 2(0.3)(0.15) cos 30° = 0.1859 m

vD = (30.792)(0.1859) = 5.72 m>s Ans.

sin f sin 30°

=
0.15 0.1859

f = 23.794°

u = 90° - 30° - 23.794° = 36.2° b Ans.

Ans:
vD = 5.72 m>s
u = 36.2° b

712
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–99.

The crankshaft AB rotates at vAB = 50 rad>s about the E

fixed axis through point A, and the disk at C is held fixed in
its support at E. Determine the angular velocity of rod CD 75 mm
at the instant shown. C
75 mm
40 mm
F
D

SOLUTION 300 mm

0.3
rB>IC = = 0.6 m
sin 30°

60 vAB 50 rad/s
0.3
rF>IC = = 0.5196 m A
tan 30° B
100 mm
5
vBF = = 8.333 rad>s
0.6

vF = 8.333(0.5196) = 4.330 m>s

Thus,

4.330
vCD = = 57.7 rad>sd Ans.
0.075

Ans:
vCD = 57.7 rad>sd

713
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–100.

The drums have the angular velocities at the instant shown. 8 rad>s
Determine the angular velocity of the pulley C and the 4 rad>s
velocity of the load D. 0.15 m 0.2 m
A B

SOLUTION
Rotation About a Fixed Axis: Consider pulleys A and F, Fig. a and b respectively,
C
vB0 = vArA = 4 (0.15) = 0.6 m/s vE = vFrF = 8 (0.2) = 1.6 m/s
0.3 m

General Plane Motion: With the result of VB and VE, the IC for pulley C can
be located as shown in Fig. c. Using the similar triangle,
D
x 0.6
= ; x = 0.36 m
x + 0.6 1.6
Thus, rB/IC = x = 0.36 m and rC/IC = 0.36 + 0.3 = 0.66 m. Then

vB = vC rB/IC; 0.6 = vD(0.36) vC = 1.6667 rad/s = 1.67 rad/s b Ans.

vD = vC rD/IC = 1.6667 (0.66) = 1.10 m/s T  Ans.

Also,
vD 0.66
= ; vD = 1.10 m/s T  Ans.
0.6 0.36

Ans:
vB = 1.67 rad>s b
vD = 1.10 m/s T

714
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–101.
The mechanism used in a marine engine consists of a single
crank AB and two connecting rods BC and BD. Determine
the velocity of the piston at C the instant the crank is in the D
position shown and has an angular velocity of 5 rad>s. 45 60
C
0.4 m 30
45
0.4 m
B
SOLUTION 0.2 m
vB = 0.2(5) = 1 m>s : 5 rad/s
A

Member BC:
rC>IC 0.4
=
sin 60° sin 45°

rC>IC = 0.4899 m
rB>IC 0.4
=
sin 75° sin 45°

rB>IC = 0.5464 m

1
vB C = = 1.830 rad>s
0.5464

vC = 0.4899(1.830) = 0.897 m>s Q Ans.

Ans:
vC = 0.897 m>s Q

715
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–102.
The mechanism used in a marine engine consists of a single crank
AB
The andABtwo
mechanism
crank andconnecting rods rods
usedconnecting
two in a marine BC and
engine BD. Determine
BC consists
and BD. ofDetermine
a crank the
DD
ABvelocity
theand of the
two
velocity piston
connecting
of the at
piston DD
rods
at the
theinstant
BC and BD.
instantthe crank
crankisis in
Determine
the the
the
in
458 D
45 60
positionofshown
velocity and has
the piston an the
at D angular velocity
instant of 5 rad>s.
the crank rad>s
is in. the 608
45 60 CC
position shown and has an angular velocity of 5 rad>s. 30°
308
0.4mm
0.4 C 458
45
0.4 m 30°
0.4
0.4 mm 45
0.4 m
BB
SOLUTION 0.2mmB
0.2
SOLUTION 0.2 m 5 5rad>s
rad/s
vB = 0.2(5) = 1 m>s :
v AA 5 rad/s
vB = 0.2(5) = 1 m>s : A
Member BD:
Member BD:
rB>IC 0.4
rsin =
105°
B>IC 0.4 45°
sin
=
sin 105° sin 45°
rB>IC = 0.54641 m
rB>IC = 0.54641 m
rD>IC 0.4
rsin =
D>IC30° 0.4 45°
sin
=
sin 30° sin 45°
rD>IC = 0.28284 m
rD>IC = 0.28284 m
1
vBD = = 1.830 rad>s
1
0.54641
vBD = = 1.830 rad>s
0.54641
vvD = 1.830(0.28284) = 0.518 m>s R Ans.
vD = 1.830(0.28284) = 0.518 m>s R Ans.

Ans:
vD = 0.518 m>s R

716
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–103.

The disk is rotating at a constant rate of 4 rad>s as it falls A

freely, its center having an acceleration of 32.2 ft>s2.
Determine the accelerations of points A and B on the rim of
the disk at the instant shown. B
1.5 ft
v 5 4 rad>s

SOLUTION
Acceleration equation:

aA = aG + (aA/G)t + (aA/G)n

c (aA)x d + C (aA)y S = C 32.2 S + 0 + C (4)2 (1.5) S

S c T T

+)
  ( S (aA)x = 0

  ( + c ) (aA)y = - 32.2 - (4)2 (1.5) = -56.2 ft/s2 = 56.2 ft/s2 T

aA = (aA)y = 56.2 ft/s2 T  Ans.

aB = aG + (aB/G)t + (aB/G)n

c (aB)x d + C (aB)y S = C 32.2 S + 0 + c (4)2 (1.5) d

S c T d

+)
  ( S (aB)x = - (4)2 (1.5) = - 24 ft/s2 = 24 ft/s2 d

  ( + c ) (aB)y = - 32.2 ft/s2 = 32.2 ft/s2 T

aB = 2(aB)2x + (aB)2y = 2242 + 32.22 = 40.2 ft/s2 Ans.

(aB)y 32.2
u = tan-1 = tan-1 = 53.3° ud Ans.
(aB)x 24

Ans:
aA = 56.2 ft>s2 T
aB = 40.2 ft>s2
u = 53.3° ud

717
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–104.

At a given instant A has the motion shown. Determine the 1.5 ft vA  3 ft>s
acceleration of B and the angular acceleration of the bar at C 1.5 ft
B vA = 3 ft>s
this instant.
same instant. C A a 
A 6 ft>s2
B A a = 6 ft>s 2
5 4 3 ft A
3
5 4 3 ft
3

SOLUTION
vB = vA + v * rB>A

3 4
vB a b i + vB a b j = 3j + vk * (- 3i)
5 5

A:
+ B vB = 0
0.6v

A+cB 0 = 3 - v(3)

vB = 0

v = 1 rad>s d

aB = aA + a * rB>A - v2rB>A

3 4
aB a bi + aB a b j = - 6j + ak * (- 3i) - (1)2( -3i)
5 5

A:
+ B 0.6aB = 3

A+cB 0.8(5) = - 6 - 3a

aB = 5 ft>s2 Q Ans.

a = -3.33 rad s2 = 3.33 rad s2 b Ans.

Ans:
aB = 5 ft/s2 Q
a = 3.33 rad/s2 b

718
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–105.

At a given instant A has the motion shown. Determine the 1.5 ft vA  3 ft>s
acceleration of point C at this instant.
same instant. C 1.5 ft
B vA = 3 ft / s
C A a 
A 6 ft>s2
B A a = 6 ft /s2
5 4 3 ft A
3
5 4 3 ft
3

SOLUTION
vB = vA + v * rB>A

3 4
vB a b i + vB a b j = 3j + vk * (- 3i)
5 5

A:
+ B vB = 0
0.6v

A+cB 0 = 3 - v(3)

vB = 0

v = 1 rad>s

aB = aA + a * rB>A - v2 rB>A

3 4
aB a bi + aB a b j = - 6 j + ak * ( - 3i) - (1)2( - 3i)
5 5

A:
+ B 0.6aB = 3

A+cB 0.8(5) = - 6 - 3a

aB = 5 ft>s2

a = - 3.33 rad>s2 = 3.33 rad>s2 b

aC = aA + a * rC>A - v2 rC>A
22
aC = - 6 j + ( - 3.3k)
3.33)k**( - 1.5i) --(1)
( -1.5i) (1) ( -1.5i)
( -1.5i)

aC = {1.5i - 1 j} ft>s2

aC = 2(1.5)2 + ( - 1)2 = 1.80 ft>s2 Ans.

1 ¬
u = tan - 1 = 33.7° R Ans.
1.5

Ans:
aC = 1.80 ft/s2
u = 33.7°  

719
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–106.

At a given instant, the cables supporting the pipe have the v 5 ft/s v 6 ft/s
motions shown. Determine the angular velocity and angular
acceleration of the pipe
pipe, and the velocity and acceleration
of point B located on the pipe.
a 1.5 ft/s2

SOLUTION a 2 ft/s2
O
vB = vA + vB>A B A
2 ft
(+ T) 5 = 6 - v (4)

v = 0.25 rad>s b Ans.

vB = 5.00 ft>s T Ans.

aB = aA + aB>A

1.5 + (aB)x = 2 + (aA)x + (a) (4) + (0.25) 2 (4)

T : c ; T :

(+ T ) 1.5 = - 2 + a(4)

a = 0.875 rad>s2 d Ans.

aB = aO + aB>O

1.5 + (aB)x = aO + 0.875(2) + (0.25)2 (2)

T : T T :

(:
+ ) (aB)x = (0.25)2(2) = 0.125 ft>s2

aB = 2(1.5)2 + (0.125)2 = 1.51 ft>s2 Ans.

1.5
u = tan - 1 a b = 85.2° cu Ans.
0.125

Also:

5
v = = 0.25 rad>s Ans.
20

vB = 5.00 ft>s T Ans.

aB = aA + a * rB>A - v2rB>A

- 1.5j + (aB)x i = 2j - (aA)x i + (ak) * ( - 4i) - (0.25)2( -4i)

- 1.5 = 2 - 4a

a = 0.875 rad>s2 d Ans.

aB = aO + a * rB>O - v2rB>O

- 1.5j + (aB)x i = -aO j + (ak) * ( - 2i) - (0.25)2 ( -2i)

(aB)x = (0.25)2(2) = 0.125

Ans:
2
aB = 2(1.5) + (0.125) = 1.51 ft>s2 2
Ans. v = 0.25 rad/sb
vB = 5.00 ft/s T
1.5 a = 0.875 rad/s2d
u = tan - 1 = 85.2° cu Ans.
0.125 aB = 1.51 ft/s2
u = 85.2° cu

720
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–107.

At a given instant the roller A on the bar has the velocity

and acceleration shown. Determine the velocity and
acceleration of the roller B, and the bar’s angular velocity
4 m/s
and angular acceleration at this instant. A
6 m/s2

30
0.6 m

30
SOLUTION
B
General Plane Motion: The IC of the bar can be located using vA and vB as shown
in Fig. a. From the geometry of this figure,
rA>IC = rB>IC = 0.6 m
Thus, the kinematics give
vA = vrA>IC;  4 = v(0.6)
v = 6.667 rad>s = 6.67 rad>s d Ans.
vB = vrB>IC = 6.667(0.6) = 4.00 m>s R Ans.

Applying the relative acceleration equation, by referring to Fig. b,

aB = aA + A * rB>A - v2 rB>A
aB cos 30°i - aB sin 30°j = - 6j + (ak) * (0.6 sin 30°i - 0.6 cos 30°j)
 - ( 6.6672 ) (0.6 sin 30°i - 0.6 cos 30°j)

23 1
a i - aB j = ( 0.323a - 13.33 ) i + (0.3a + 17.09)j
2 B 2
Equating i and j components,
23
a = 0.323a - 13.33 (1)
2 B
1
- aB = 0.3a + 17.09 (2)
2
Solving Eqs. (1) and (2)
a = - 15.66 rad>s2 = 15.7 rad>s2 b Ans.
2 2
aB = - 24.79 m>s = 24.8 m>s a Ans.
The negative signs indicate that A and aB are directed in the senses that opposite to
those shown in Fig. b

Ans:
v = 6.67 rad>s d
vB = 4.00 m>s R
a = 15.7 rad>s2b
aB = 24.8 m>s2 a

721
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–108.

If member AB has the angular motion shown, determine 300 mm

the angular velocity and angular acceleration of member
CD at the instant shown.
A B

vAB  3 rad/s
aAB  8 rad/s2

500 mm

SOLUTION
u  60
Rotation About A Fixed Axis. For link AB, refer to Fig. a. C

vB = vABrAB = 3(0.3) = 0.9 m>s T

200 mm
aB = AAB * rAB - v2AB rAB

= ( -8k) * (0.3i) - 32(0.3i) D

= 5 -2.70i - 2.40 j 6 m>s2

For link CD, refer to Fig. b.

vC = vCDrCD = vCD(0.2) d

aC = ACD * rCD - v 2CD rCD

aC = (aCD k) * (0.2j) - v2CD(0.2j)

= -0.2aCD i - 0.2v2CD j

722
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–108. Continued

General Plane Motion. The IC of link BC can be located using vB and vC as shown
in Fig. c. From the geometry of this figure,

rB>IC = 0.5 cos 60° = 0.25 m  rC>IC = 0.5 sin 60° = 0.2523 m

Then kinematics gives

vB = vBCrB>IC;  0.9 = vBC(0.25)  vBC = 3.60 rad>s b

vC = vBCrC>IC;  vCD(0.2) = (3.60) ( 0.2523 )

vCD = 7.7942 rad>s = 7.79 rad>s d Ans.

Applying the relative acceleration equation by referring to Fig. d,

aC = aB + ABC * rC>B - v2BC rC>B

- 0.2aCD i - 0.2 ( 7.79422 ) j = ( - 2.70i - 2.40j) + ( - aBC k) * ( -0.5 cos 60°i - 0.5 sin 60°j)

- 3.602( - 0.5 cos 60°i - 0.5 sin 60°j)

- 0.2aCD i - 12.15 j = ( 0.54 - 0.2523aBC ) i + (3.2118 + 0.25aBC)j

Equating the j components,

- 12.15 = 3.2118 + 0.25aBC;  aBC = - 61.45 rad>s2 = 61.45 rad>s2 d

Then the i component gives

- 0.2aCD = 0.54 - 0.2523( -61.4474); aCD = - 135.74 rad>s2 = 136 rad>s2 b Ans.

Ans:
vCD = 7.79 rad>s d
aCD = 136 rad>s2 b

723
 © 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–109.

TheThe
ends
ends
of of
barbar
ABAB areareconfined
confinedto to
move
move
along
along
thethe
paths
paths
bar AB are confined
shown.
shown.toAt
At amove along
a given
given instant,
instant, theApaths
A has
has a velocity
a velocity of of
8 ft>s and
8 ft>s and
an an
given instant,acceleration
has a velocity
Aaccelerationof of of 82.ft>s
3 ft>s
3 ft>s 2 and an
. Determine
Determine thethe angular
angular velocity
velocity and
and
of 3 ft>s2. Determine
angular
angular the angular of
acceleration
acceleration velocity
of
ABAB at and
at this
this instant.
instant. 4 ft4 ft
eration of AB at this instant. 4 ft 3030
30
B B
B
SOLUTION
SOLUTION
N 3030
30 4 ft4 ft
8 8
v =
v = = 2= rad>s
2 rad>sb b 4 Ans.
ft Ans.
d>s b 4 4 Ans.
vA vA 8ft/s
8 ft/s
vB v=B 4(2)
= 4(2)
= 8= ft>s
8 ft>s vA  8 ft/s A A aA aA 3ft/s
2 2
3 ft/s
8 ft>s A aA  3 ft/s2
2 2
(8)(8) 2 2
)nB)=n =
(aB(a = 16
= 16
ft>sft>s
= 16 ft>s2 4 4
aB a=B a=A a+A a+B>A
aB>A
B>A

2 2
C C16 16S + S +C (aCB(a
) tBS) t =
S =C 3CS3 + S + C aC(4) S +
a (4) S +
C (2)
C (2)
(4 )(4S) S
2
(aB) t S = C 3 S + C a
g30°g30°(4) S c + c C
30° (2)
30° (4 )TS T
g g
60° 60° c c60° 60°
T
c 30° g60° c 60°
(:+( :)+ ) 16 16 sinsin
30°30° + (a+ B(a
)tBcos
)t cos
30°30°= 0= +0 a(4)
+ a(4)sinsin
60°60°+ 16
+ 16
coscos
60°60°
sin 30° + (aB)t cos 30° = 0 + a(4) sin 60° + 16 cos 60°
(+ (c+) c ) 16 16coscos30°30° - (a
- B(a)tBsin
)t sin
30°30°= = - 3-+3 a(4)
+ a(4)
coscos - 16
60°60° - 16
sinsin
60°60°
cos 30° - (aB)t sin 30° = -3 + a(4) cos 60° - 16 sin 60°
2 2
a = = 7.68
a 7.68 rad>s
rad>s bb Ans.
Ans.
2
= 7.68 rad>s b Ans.
2 2
)tB=
(aB(a = 30.7
)t 30.7 ft>sft>s
)t = 30.7 ft>s2
Also,
Also,

aB a=B a=A a+A a +ABaAB * r*B>A rB>A- v -2rvB>A

2
rB>A
2
AB * rB>A - v r B>A
2 2 2 2
(8)(8) (8)(8)
(aB(a)tBcos
)t (8)
cos
30°i - (a
2 30°i - B(a)tBsin
)t sin
30°j
(8) 2 + 16
30°j (+ (sin) 30°i
sin
) sin
30°i16+ cos
+30°i (+ (30°j
) cos - 3j
)=cos
30°j = =
30°j - 3j-3j
- (aB)t sin 30°j + ( ) sin 30°i + ( 4 4 = - 3j
) cos 30°j 4 4
4 4
2 2
+ (--(ak)
-(ak) * (-
ak) * (- 4 sin
4 sin 30°i 30°i+ 4+ cos
4 cos 30°j)
30°j) - (2)
- (2) ( -4
( -4
sinsin30°i + 4+ cos
30°i 4 cos
30°j)
30°j)
4 sin 30°i + 4 cos 30°j) - (2)2(- 4 sin 30°i + 4 cos 30°j)
(:+( : )+ ) (aB(a
)tBcos
)t cos
30°30° + 8+ =8 = - 3.464a
- 3.464a + 8+ 8
aB)t cos 30° + 8 = - 3.464a + 8
A + Ac+B c B - (a-B(a )tBsin
)t sin
30°30° + 13.8564
+ 13.8564 = = - 3-+3 2a
+ 2a- 13.8564
- 13.8564
aB)t sin 30° + 13.8564 = -3 + 2a - 13.8564
2 2
a = = 7.68
a 7.68 rad>srad>s bb Ans.
Ans.
= 7.68 rad>s2 b Ans.
2 2
(aB(a)tB= = 30.7
)t 30.7 ft>sft>s
)t = 30.7 ft>s2

Ans:
v = 2 rad>sb
a = 7.68 rad>s2b

724
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–110.

Determine the angular acceleration of link AB if link CD 0.6 m

has the angular velocity and angular deceleration shown.
C

0.6 m

SOLUTION
IC is at q , thus B aCD  4 rad/s2

vBC = 0 0.3 m vCD  2 rad/s

vB = vC = (0.9)(2) = 1.8 m>s A D

(aC)n = (2)2 (0.9) = 3.6 m>s2 T

(aC)t = 4(0.9) = 3.6 m>s2 :

(1.8)2
(aB)n = = 10.8 m>s2 T
0.3

aB = aC + aBC * rB>C - v2BC rB>C

(aB)t i - 10.8j = 3.6i - 3.6j + (aBCk) * ( -0.6i - 0.6j) - 0

A:
+ B (aB)t = 3.6 + 0.6 aBC

(+ c ) - 10.8 = -3.6 - 0.6 aBC

aBC = 12 rad>s2

(aB)t = 10.8 m>s2

10.8
aAB = = 36 rad>s2 b Ans.
0.3

Ans:
aAB = 36 rad>s2b

725
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–111.

At a given instant the slider block A is moving to the right vA  4 m/s

with the motion shown. Determine the angular acceleration aA  6 m/s2
of link AB and the acceleration of point B at this instant.
30 A

B 2m

2m
SOLUTION
General Plane Motion: The IC of the link can be located using vA and vB, which in
this case is at infinity as shown in Fig. a. Thus

rA>IC = rB>IC = ∞

Then the kinematics gives

vA = v rA>IC; 4 = v ( ∞ ) v = 0
vB = vA = 4 m>s

Since B moves along a circular path, its acceleration will have tangential and normal
v2B 42
components. Hence (aB)n = = = 8 m>s2
rB 2
Applying the relative acceleration equation by referring to Fig. b,
aB = aA + a * rB>A - v2 rB>A

(aB)ti - 8j = 6i + (ak) * ( -2 cos 30°i - 2 sin 30°j) - 0

(aB)ti - 8j = (a + 6)i - 23aj

Equating i and j componenets,

823
- 8 = - 23a; a = rad>s2 = 4.62 rad>s2 d Ans.
3
823
(aB)t = a + 6; (aB)t = + 6 = 10.62 m>s2
3
Thus, the magnitude of aB is

aB = 2(aB)2t + (aB)2n = 210.622 + 82 = 13.30 m>s2 = 13.3 m>s2 Ans.

And its direction is defined by
(aB)n 8
u = tan-1 c d = tan-1a b = 36.99° = 37.0°  c Ans.
(aB)t 10.62

Ans:
aAB = 4.62 rad>s2 d
aB = 13.3 m>s2
u = 37.0° c

726
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–112.

Determine the angular acceleration of link CD if link AB

has the angular velocity and angular acceleration shown. D

0.5 m
0.5 m

1m
aAB 5 6 rad>s2
SOLUTION vAB 5 3 rad>s

Rotation About A Fixed Axis: For link AB, refer to Fig. a. A

vB = vABrAB = 3(1) = 3.00 m>s T B

1m
aB = AAB * rAB - vAB2 rAB

= ( - 6k) * (1i) - 32 (1i)

= 5 - 9i - 6j 6 m>s

For link CD, refer to Fig. b

vC = vCD rDC = vCD(0.5) S

aC = ACD * rDC - vCD2 rDC

= (aCDk) * ( - 0.5j) - vCD2( -0.5j)

= 0.5aCDi + 0.5v2CD j

General Plane Motion: The IC of link BC can be located using vA and vB as shown
in Fig. c. Thus

rB>IC = 0.5 m rC>IC = 1 m

Then, the kinematics gives

vB = vBC rB>IC; 3 = vBC(0.5) vBC = 6.00 rad>s b

vC = vBC rC>IC; vCD(0.5) = 6.00(1) vCD = 12.0 rad>s d

Applying the relative acceleration equation by referring to Fig. d,

aC = aB + ABC * rC>B - vBC2 rC>B

0.5aCDi + 0.5 ( 12.02 ) j = ( - 9i - 6j) + ( - aBCk) * ( -0.5i + j)
-6.002( - 0.5i + j)

0.5aCDi + 72j = (aBC + 9)i + (0.5aBC - 42)j

727
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–112. Continued

Equating j components,

72 = (0.5aBC - 42); aBC = 228 rad>s2 b

Then i component gives

0.5aCD = 228 + 9; aCD = 474 rad>s2 d Ans.

Ans:
aCD = 474 rad>s2 d

728
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–113.
The hoop is cast on the rough surface such that v  4 rad/s
it has an angular velocity v = 4 rad>s and an angular A
acceleration a = 5 rad>s2. Also, its center has a velocity a  5 rad/s2
vO = 5 m>s and a deceleration aO = 2 m>s2. Determine the
acceleration of point A at this instant. aO  2 m/s2 O
45 vO  5 m/s
0.3 m
B
SOLUTION
aA = aO + aA>O

aA = c 2 d + c (4)2(0.3)d + c 5(0.3)d
; T ;

aA = c 3.5d + c 4.8d
; T
aA = 5.94 m>s2 Ans.

4.8
u = tan - 1 a b = 53.9°d Ans.
3.5

Also:

aA = aO - v2rA>O + a * rA>O

aA = - 2i - (4)2(0.3j) + 5k * (0.3j)

aA = E - 3.5i - 4.8j F m>s2

aA = 5.94 m>s2 Ans.

4.8
u = tan - 1 a b = 53.9°d Ans.
3.5

Ans:
aA = 5.94 m>s2
u = 53.9° d

729
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–114.
The hoop is cast on the rough surface such that
A v  4 rad/s
it has an angular velocity v = 4 rad>s and an angular
acceleration a = 5 rad>s2. Also, its center has a velocity of a  5 rad/s2
vO = 5 m>s and a deceleration aO = 2 m>s2. Determine the
acceleration of point B at this instant. aO  2 m/s2 O
45 vO  5 m/s
0.3 m
B
SOLUTION
aB = aO + aB>O

aB = c 2 d + c 5(0.3) d + c (4)2(0.3) d
; a
a45˚ bb
45˚

aB = c 4.333d + c 4.455d
; c

aB = 6.21 m>s2 Ans.

4.455
u = tan - 1 a b = 45.8° b Ans.
4.333

Also:

aB = aO + a * rB>O - v2rB>O

aB = -2i + 5kk * (0.3 cos 45°ii - 0.3 sin 45°j) - (4)2(0.3cos 45°i - 0.3 sin 45°j)

aB = {- 4.333i + 4.555j} m>s2

aB = 6.21 m>s2 Ans.

4.455
u = tan - 1 a b = 45.8° b Ans.
4.333

Ans:
aB = 6.21 m>s2
u = 45.8° b

730
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–115.
At a given instant the slider block B is moving to the right
with the motion shown. Determine the angular acceleration
of link AB and the acceleration of point A at this instant.
vB  6 ft/s
B
aB  2 ft/s2
5 ft
3 ft

SOLUTION A

vB 6
vAB = = = 0 vA = vB = 6 ft>s
rB>IC q

vA 6
vAC = = = 2 rad>s
rAC 3

aB = {2i} ft>s2 aA = (aA)x i + (2)2(3)j = (aA)x i + 12j

aAB = -aAB k rB>A = {4i + 3j} ft

aB = aA + aAB * rB>A - v2 rB>A

2i = C (aA)x i + 12j D + (- aABk) * (4i + 3j) - 0

a:
+ b 2 = (aA)x + 3(3) (aA)x = -7 ft>s2

A+ cB 0 = 12 - 4aAB aAB = 3 rad>s2 b Ans.

aA = { -7i + 12j} ft>s2

aA = 2(-7)2 + 122 = 13.9 ft>s2 Ans.

12
u = tan - 1 = 59.7° b Ans.
7

Ans:
aAB = 3 rad>s2b
aA = 13.9 ft>s2
u = 59.7° b

731
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–116.

The hydraulic cylinder D extends with a velocity of

vB = 4 ft>s and an acceleration of aB = 1.5 ft>s2. Determine 1 ft
the acceleration of A at the instant shown. C

B
2 ft
vB  4 ft/s
aB  1.5 ft/s2
A
30

SOLUTION
D
Angular Velocity: The location of the IC for rod AB is indicated in Fig. a. From the
geometry of this figure,

rB>IC = 2 cos 30° = 1.732 ft

Thus,

vB 4
vAB = = = 2.309 rad>s
rB>IC 1.732

Acceleration and Angular Acceleration: Here, rA>B = 2 cos 30°i - 2 sin 30° j
= [1.732i - 1j] ft. Applying the relative acceleration equation and referring to
Fig. b,

aA = aB + aAB * rA>B - vAB 2 rA>B

- aAi = 1.5j + ( - aABk) * (1.732i - 1j) - 2.3092(1.732i - 1j)

-aAi = -(aAB + 9.238)i + (6.833 - 1.732aAB)j

Equating the i and j components,

- aA = - (aAB + 9.238) (1)

0 = 6.833 - 1.732aAB (2)

Solving Eqs. (1) and (2) yields

aAB = 3.945 rad>s2

aA = 13.2ft>s2 ; Ans.

Ans:
aA = 13.2 ft>s2 d

732
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–117.

The hydraulic cylinder D extends with a velocity of

vB = 4 ft>s and an acceleration of aB = 1.5 ft>s2. Determine 1 ft
the acceleration of C at the instant shown. C

B
2 ft
vB  4 ft/s
aB  1.5 ft/s2
A
30

SOLUTION
D
Angular Velocity: The location of the IC for rod AB is indicated in Fig. a. From the
geometry of this figure, rB>IC = 2 cos 30° = 1.732 ft

Thus,
vB 4
vAB = = = 2.309 rad>s
rB>IC 1.732
Acceleration and Angular Acceleration: Here, rA>B = 2 cos 30° i - 2 sin 30° j
= [1.732i - 1j] ft. Applying the relative acceleration equation to points A and B
and referring to Fig. b,

aA = aB + aAB * rA>B - vAB 2 rA>B

- aAi = 1.5j + (- aAB k) * (1.732i - 1j) - 2.3092(1.732i - 1j)

- aA i = -(aAB + 9.2376)i + (6.833 - 1.732aAB)j

Equating the i and j components, we obtain

0 = 6.833 - 1.732aAB aAB = 3.945 rad>s2

Using this result and rC>B = - 1 cos 30° i + 1 sin 30°j = [-0.8660i + 0.5j] ft, the
relative acceleration equation is applied at points B and C, Fig. b, which gives
aC = aB + aAB * rC>B - vAB 2 rC>B

(aC)x i + (aC)y j = 1.5j + ( - 3.945k) * (- 0.8660i + 0.5j) - (2.309)2( -0.8660i + 0.5j)

(aC)x i + (aC)y j = 6.591i + 2.25j

Equating the i and j components,

(aC)x = 6.591 ft>s2 : (aC)y = 2.25 ft>s2 c

Thus, the magnitude of aC is

aC = 2(aC)x 2 + (aC)y 2 = 26.5912 + 2.252 = 6.96 ft>s2 Ans.

and its direction is

(aC)y 2.25
u = tan - 1 B R = tan - 1 a b = 18.8° a Ans.
(aC)x 6.591

Ans:
ac = 6.96 ft>s2
u = 18.8° a

733
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–118.

If member AB has the angular motion shown, determine 300 mm

the angular velocity and angular acceleration of member
CD at the instant shown.
A B

vAB  3 rad/s
aAB  8 rad/s2

500 mm

SOLUTION
u  60
Rotation About A Fixed Axis: For link AB, refer to Fig. a. C

vB = vABrAB = 3(0.3) = 0.9 m>s T

200 mm
aB = AAB * rAB - v2AB rAB

= ( -8k) * (0.3i) - 32(0.3i) D

= 5 -2.70i - 2.40 j 6 m>s2

For link CD, refer to Fig. b.

vC = vCDrCD = vCD(0.2) d

aC = ACD * rCD - v 2CD rCD

aC = (aCD k) * (0.2j) - v2CD(0.2j)

= -0.2aCD i - 0.2v2CD j

734
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–118. Continued

General Plane Motion: The IC of link BC can be located using vB and vC as shown
in Fig. c. From the geometry of this figure,

rB>IC = 0.5 cos 60° = 0.25 m  rC>IC = 0.5 sin 60° = 0.2523 m

Then kinematics gives

vB = vBCrB>IC;  0.9 = vBC(0.25)  vBC = 3.60 rad>s b

vC = vBCrC>IC;  vCD(0.2) = (3.60) ( 0.2523 )

vCD = 7.7942 rad>s = 7.79 rad>s d Ans.

Applying the relative acceleration equation by referring to Fig. d,

aC = aB + ABC * rC>B - v2BC rC>B

- 0.2aCD i - 0.2 ( 7.79422 ) j = ( - 2.70i - 2.40j) + ( - aBC k) * ( -0.5 cos 60°i - 0.5 sin 60°j)

- 3.602( - 0.5 cos 60°i - 0.5 sin 60°j)

- 0.2aCD i - 12.15 j = ( 0.54 - 0.2523aBC ) i + (3.2118 + 0.25aBC)j

Equating the j components,

- 12.15 = 3.2118 + 0.25aBC;  aBC = - 61.45 rad>s2 = 61.45 rad>s2 d

Then the i component gives

- 0.2aCD = 0.54 - 0.2523( -61.4474); aCD = - 135.74 rad>s2 = 136 rad>s2 b Ans.

Ans:
vCD = 7.79 rad>s d
aCD = 136 rad>s2 b

735
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–119.

If member AB has the angular motion shown, determine 300 mm

the velocity and acceleration of point C at the instant
shown.
A B

vAB  3 rad/s
aAB  8 rad/s2

500 mm

SOLUTION
u  60
C
Rotation About A Fixed Axis: For link AB, refer to Fig. a.

vB = vABrAB = 3(0.3) = 0.9 m>s T

200 mm
aB = AAB * rAB - v2AB rAB

= ( - 8k) * (0.3i) - 32(0.3i) D

= 5 - 2.70i - 2.40 j 6 m>s2

For link CD, refer to Fig. b.

vC = vCDrCD = vCD(0.2) d

aC = ACD * rCD - v 2CD rCD

aC = (aCD k) * (0.2 j) - v2CD(0.2j)

= - 0.2aCD i - 0.2v2CD j

736
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–119. Continued

General Plane Motion: The IC of link BC can be located using vB and vC as shown
in Fig. c. From the geometry of this figure,

rB>IC = 0.5 cos 60° = 0.25 m  rC>IC = 0.5 sin 60° = 0.2523 m

Then kinematics gives

vB = vBCrB>IC;  0.9 = vBC(0.25)  vBC = 3.60 rad>sb

vC = vBCrC>IC;  vCD(0.2) = (3.60) ( 0.2523 )

vCD = 7.7942 rad>s = 7.79 rad>sd Ans.

Applying the relative acceleration equation by referring to Fig. d,

aC = aB + ABC * rC>B - v2BC rC>B

- 0.2aCD i - 0.2 ( 7.79422 ) j = ( - 2.70i - 2.40j) + ( - aBC k) * ( -0.5 cos 60°i - 0.5 sin 60°j)

- 3.602( - 0.5 cos 60°i - 0.5 sin 60°j)

- 0.2aCD i - 12.15j = ( 0.54 - 0.2523aBC ) i + (3.2118 + 0.25aBC)j

Equating the j components,

- 12.15 = 3.2118 + 0.25aBC;  aBC = - 61.45 rad>s2 = 61.45 rad>s2d

Then the i component gives

- 0.2aCD = 0.54 - 0.2523( -61.4474); aCD = - 135.74 rad>s2 = 136 rad>s2 Ans.

From the angular motion of CD,

   vC = wCD(0.2) = (7.7942)(0.2) = 1.559 m>s = 1.56 m>s d Ans.

   aC = - 0.2( - 135.74)i - 12.15j

       = 527.15i - 12.15j6 m>s

The magnitude of aC is

       aC = 227.152 + ( - 12.15)2 = 29.74 m>s2 = 29.7 m>s2 Ans.

And its direction is defined by

12.15
          u = tan-1a b = 24.11° = 24.1° c Ans.
27.15

Ans:
vC = 1.56 m>s d
aC = 29.7 m>s2
u = 24.1° c

737
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–120.

Pulley A rotates with the angular velocity and angular 5050

mmmm
acceleration shown. Determine the angular acceleration of AA
pulley B at the instant shown.

vAvA 4040
rad>s
rad/s
2 2
aAaA 5 rad>s
5 rad/s

SOLUTION
5050
mmmm
Angular
Angular Velocity: Since pulley A rotates about a fixed axis,
BB
vC = vA rA = 40(0.05) = 2 m>s c 125 mm
125 mm

The location of the IC is indicated in Fig. a. Thus, EE

vC 2
vB = = = 11.43 rad>s
rC>IC 0.175

Acceleration and
and Angular Acceleration: For pulley A,

(aC)t = aArA = 5(0.05) = 0.25 m>s2 c

Using this result and applying the relative acceleration equation to points C and D
by referring to Fig. b,

aD = aC + aB * rD>C - vB 2rD>C

(aD)n i = (aC)n i + 0.25j + (-aB k) * (0.175i)- 11.432(0.175i)

(aD)n i = [(aC)n - 22.86]i + (0.25 - 0.175aB)j

Equating the j components,

0 = 0.25 - 0.175aB

aB = 1.43 rad>s2 b Ans.

Ans:
aB = 1.43 rad>s2 b

738
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–121.

Pulley A rotates with the angular velocity and angular 5050

mmmm
acceleration shown. Determine the acceleration of block E at AA
the instant shown.

vAvA 4040
rad>s
rad/s
2 2
aAaA 5 rad>s
5 rad/s

SOLUTION
5050
mmmm
Angular Velocity: Since pulley A rotates about a fixed axis,
B
vC = vArA = 40(0.05) = 2 m>s c 125 mm
125 mm

The location of the IC is indicated in Fig. a. Thus, EE

vC 2
vB = = = 11.43 rad>s
rC>IC 0.175

Acceleration and
and Angular Acceleration: For pulley A,

(aC)t = aA rA = 5(0.05) = 0.25 m>s2 c

Using this result and applying the relative acceleration equation to points C and D
by referring to Fig. b,

aD = aC + aB * rD>C - vB 2rD>C

(aD)n i = (aC)n i + 0.25j + ( - aBk) * (0.175i) - 11.432(0.175i)

(aD)n i = [(aC)n - 22.86]i + (0.25 - 0.175aB)j

Equating the j components,

0 = 0.25 - 0.175a B

aB = 1.429 rad>s = 1.43 rad>s2

Using this result, the relative acceleration equation applied to points C and E, Fig. b,
gives

aE = aC + aB * rE>C - vB 2rE>C

aE j = [(aC)n i + 0.25j] + (- 1.429k) * (0.125i) - 11.432(0.125i)

aE j = [(aC)n - 16.33]i + 0.0714j

Equating the j components,

aE = 0.0714 m>s2 c Ans.

Ans:
aE = 0.0714 m/s2 c

739
 © 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–122.
d fixed, and arm DE rotates clockwise with an 0.2 m
Gear A is held fixed, and arm DE rotates clockwise with an 0.2 m
ocity of vDE = 6 rad>s and an angular
angular velocity of v = 6 rad>s and an angular
of aDE = 3 rad>s2. Determine the DE angular B
acceleration of aDE = 3 rad>s2. Determine the angular 0.3 m
0.3 m B
of gear B at the instant shown.
acceleration of gear B at the instant shown.
E
E
A
A
D 30
D 30
N SOLUTION
city: Arm DE rotates about a fixed axis, Fig. a. Thus,
Angular Velocity: Arm DE rotates about a fixed axis, Fig. a. Thus,
vE = v DE rE = 6(0.5) = 3 m>s
vE = v DE rE = 6(0.5) = 3 m>s
ear B is located at the point where gears A and B are meshed, Fig. b.
The IC for gear B is located at the point where gears A and B are meshed, Fig. b.
Thus,
vE 3
vB = = = 15 rad>s vE 3
rE>IC 0.2 vB = = = 15 rad>s
rE>IC 0.2
and Angular Acceleration: Since arm DE rotates about a fixed axis,
Acceleration and Angular Acceleration: Since arm DE rotates about a fixed axis,
Fig. c,
* rE - vDE 2 rE
aE = a DE * rE - vDE 2 rE
k) * (0.5 cos 30°i + 0.5 sin 30° j) - 62 (0.5 cos 30° i + 0.5 sin 30° j)
= (- 3k) * (0.5 cos 30°i + 0.5 sin 30° j) - 62 (0.5 cos 30° i + 0.5 sin 30° j)
.84i - 10.30j] m>s2
= [ -14.84i - 10.30j] m>s2
esults to apply the relative acceleration equation to points E and F of
Using these results to apply the relative acceleration equation to points E and F of
we have
gear B, Fig. d, we have
* rF>E - vB 2 rF>E
B
aF = aE + aB * rF>E - vB 2 rF>E
aF sin 30°j = (- 14.84i - 10.30j) + ( - aB k) *
aF cos 30°i + aF sin 30°j = (- 14.84i - 10.30j) + ( - aB k) *
( - 0.2 cos 30° i - 0.2 sin 30°j) - 152( -0.2 cos 30°i - 0.2 sin 30°j)
( - 0.2 cos 30° i - 0.2 sin 30°j) - 152( -0.2 cos 30°i - 0.2 sin 30°j)
aF sin 30°j = (24.13 - 0.1aB)i + (0.1732aB + 12.20)j
aF cos 30° i + aF sin 30°j = (24.13 - 0.1aB)i + (0.1732aB + 12.20)j
i and j components yields
Equating the i and j components yields
0.8660aF = 24.13 - 0.1aB
0.8660aF = 24.13 - 0.1aB
0.5aF = 0.1732aB + 12.20
0.5aF = 0.1732aB + 12.20

Solving,
aF = 27 m>s2
aF = 27 m>s2
aB = 7.5 rad>s2 22 Ans.
aB = 7.5
7.50rad>s
rad>s b Ans.

Ans:
aB = 7.50 rad>s2 b

740
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–123.

Gear A rotates counterclockwise with a constant angular 0.2 m

velocity of vA = 10 rad>s, while arm DE rotates clockwise
with an angular velocity of vDE = 6 rad>s and an angular 0.3 m B
acceleration of aDE = 3 rad>s2. Determine the angular
acceleration of gear B at the instant shown. E
A

D 30
SOLUTION
Angular Velocity: Arm DE and gear A rotate about a fixed axis, Figs. a and b. Thus,

vE = v DE rE = 6(0.5) = 3 m>s

vF = vA rF = 10(0.3) = 3 m>s

The location of the IC for gear B is indicated in Fig. c. Thus,

rE>IC = rF>IC = 0.1 m

Then,

vE 3
vB = = = 30 rad>s
rE>IC 0.1

Acceleration and Angular Acceleration: Since arm DE rotates about a fixed axis,
Fig. c, then

aE = a DE * rE - vDE 2 rE

= (- 3k) * (0.5 cos 30°i + 0.5 sin 30° j) - 62 (0.5 cos 30° i + 0.5 sin 30° j)

= [ -14.84i - 10.30j] m>s2

Using these results and applying the acceleration equation to points E and F of
gear B, Fig. e,

aF = aE + aB * rF>E - vB 2 rF>E

aF cos 30°i + aF sin 30°j = (- 14.84i - 10.30j) + ( -aB k) *

( - 0.2 cos 30° i - 0.2 sin 30°j) - 302( -0.2 cos 30°i - 0.2 sin 30°j)

0.8660aF i + 0.5aF j = (141.05 - 0.1aB)i + (79.70 + 0.1732aB)j

Equating the i and j components yields

0.8660aF = 141.05 - 0.1aB

0.5aF = 79.70 + 0.1732aB

aF = 162 m>s2
22
= 7.50
aaBB = rad>s
7.5 rad>s b Ans.

Ans:
aB = 7.50 rad>s2 b

741
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–124.

The disk rolls without slipping such that it has an angular A

acceleration of a = 4 rad>s2 and angular velocity of
v = 2 rad>s at the instant shown. Determine the v  2 rad/s
acceleration of points A and B on the link and the link’s a  4 rad/s2
angular acceleration at this instant. Assume point A lies on
the periphery of the disk, 150 mm from C. 500 mm
C
150 mm

400 mm
SOLUTION
The IC is at ∞, so v = 0.

aC = a r = 4(0.15) = 0.6 m>s2

aA = aC + a * rA>C - v2rA>C

aA = 0.6i + ( - 4k) * (0.15j) - (2)2(0.15j)

aA = (1.20i - 0.6j) m>s2

aA = 2(1.20)2 + ( - 0.6)2 = 1.34 m>s2 Ans.

0.6
u = tan-1a b = 26.6°  Ans.
1.20
aB = aA + a * rB>A - v2rB>A
aBi = 1.20i - 0.6j + aABk * (0.4i - 0.3j) - 0

aBi = 1.20i - 0.6j + 0.4 aABj + 0.3 aABi

aB = 1.20 + 0.3 aAB
0 = - 0.6 + 0.4 aAB

aAB = 1.5 rad>s d Ans.

2
aB = 1.65 m>s S  Ans.

Ans:
aA = 1.34 m>s2
u = 26.6°
aAB = 1.5 rad>s2 d
aB = 1.65 m>s2 S

742
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–125.

The flywheel rotates with an angular velocity v = 2 rad>s A

and an angular acceleration a = 6 rad>s2. Determine the 0.5 m
v  2 rad/s
angular acceleration of links AB and BC at this instant. a  6 rad/s2
3 B
4

0.3 m
0.4 m

C
SOLUTION
aB = aA + aB>A

(aB)t + 0.9 = 1.8 + 1.2 + aAB (0.5)

; T ; T

(;
+ ) 3
(aB)t = 1.8 - (a )(0.5)
5 AB

4
( + T) 0.9 = 1.2 - (aAB)(0.5)
5

aAB = 0.75 rad>s2 d Ans.

(aB)t = 1.575 m>s2

1.575
aBC = = 3.94 rad>s2 d Ans.
04

Also:

aB = aA + aAB * rB>A - v2rB>A

(0.6)2
- (aB)ti - j = - 6(0.3)i - (2)2(0.3)j + (aAB k) * (0.4i - 0.3j) - 0
0.4

- (aB)t = - 1.8 + 0.3aAB

- 0.9 = - 1.2 + 0.4aAB

aAB = 0.75 rad>s2d Ans.

(aB)t = 1.575 m>s2

1.575
aBC = = 3.94 rad>s2d Ans.
0.4

Ans:
aAB = 0.75 rad>s2 d
aBC = 3.94 rad>s2 d

743
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–126.

The hydraulic cylinder extends with a velocity of

vA = 1.5 m>s and an acceleration of aA = 0.5 m>s2.
Determine the angular acceleration of link ABC and the
acceleration of end C at the instant shown. Point B is pin
connected to the slider block. vA  1.5 m/s
aA  0.5 m/s2
A

C
SOLUTION 90
60 0.6 m
Angular Velocity: The location of the IC for link ABC is indicated in Fig. a. From the
geometry of this figure, 0.5 m B
rA>IC = 0.6 cos 60° = 0.3 m

Then
vA 1.5
vABC = = = 5 rad>s
rA>IC 0.3

Acceleration and Angular Acceleration: Applying the relative acceleration

equation to points A and B,
aB = aA + aABC * rB>A - vABC 2rB>A

- aB i = -0.5j + (- aABC k) * ( -0.6 cos 60°i - 0.6 sin 60° j) - 52( -0.6 cos 60°i - 0.6 sin 60°j)

-aB i = (7.5 - 0.5196aABC)i + (0.3aABC + 12.490)j

Equating the i and j components,

- aB = 7.5 - 0.5196aABC (1)

0 = 0.3aABC + 12.490 (2)

Solving Eqs. (1) and (2),

aABC = - 41.63 rad>s2 = 41.6 rad>s2 d Ans.

aB = - 29.13 m>s2

From points B and C,

aC = aB + aABC * rC>B - vABC 2rC>B

(aC)x i + (aC)y j = [ - ( -29.13)i] + [-( - 41.63)k] * ( -0.5 cos 30° i + 0.5 sin 30°j) - 52( -0.5 cos 30°i + 0.5 sin 30°j)

(aC)x i + (aC)y j = 29.55i - 24.28 j

Equating the i and j components,

(aC)x = 29.55 m>s2 S (aC)y = -24.28 m>s2 = 24.28 m>s2 T

Thus, the magnitude of aC is

aC = 2(aC)x 2 + (aC)y 2 = 229.552 + 24.282 = 38.2 m>s2 Ans.

and its direction is

(aC)y 24.28
u = tan-1 B R = tan-1 a b = 39.4° c Ans. Ans:
(aC)x 29.55 aABC = 41.6 rad > s2 d
aC = 38.2 m>s2
u = 39.4° c

744
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–127.

The slider block moves with a velocity of vB = 5 ft>s and an

acceleration of aB = 3 ft>s2. Determine the angular
acceleration of rod AB at the instant shown.
1.5 ft
A
vB 5 ft/s
30 aB 3 ft/s2
2 ft
B
SOLUTION
Velocity: The velocity of point A is directed along the tangent of the
Angular Velocity:
circular slot. Thus, the location of the IC for rod AB is indicated in Fig. a. From the
geometry of this figure,

rB>IC = 2 sin 30° = 1 ft rA>IC = 2 cos 30° = 1.732 ft

Thus,

vB 5
vAB = = = 5 rad>s
rB>IC 1

Then

vA = vAB rA>IC = 5(1.732) = 8.660 ft>s

and Angular
Acceleration and Angular Acceleration:
Acceleration: Since point A travels along the circular
slot, the normal component of its acceleration has a magnitude of
vA 2 8.6602
(aA)n = = = 50 ft>s2 and is directed towards the center of the circular
r 1.5
slot. The tangential component is directed along the tangent of the slot. Applying
the relative acceleration equation and referring to Fig. b,

aA = aB + aAB * rA>B - vAB 2 rA>B

50i - (aA)t j = 3i + (aAB k) * ( - 2 cos 30°i + 2 sin 30°j) - 52( -2 cos 30° i + 2 sin 30°j)

50i - (aA)t j = (46.30 - aAB)i + (1.732aAB + 25)j

Equating the i components,

50 = 46.30 - aAB

aAB = -3.70 rad>s2 = 3.70 rad>s2 b Ans.

Ans:
aAB = 3.70 rad>s2 b

745
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–128.

The slider block moves with a velocity of vB = 5 ft>s and an

acceleration of aB = 3 ft>s2. Determine the acceleration of
A at the instant shown.
1.5 ft
A
vB 5 ft/s
30 aB 3 ft/s2
2 ft
B

SOLUTION
Angular
Angualr Velocity:
Velocity: The velocity of point A is directed along the tangent of the
circular slot. Thus, the location of the IC for rod AB is indicated in Fig. a. From the
geometry of this figure,

rB>IC = 2 sin 30° = 1 ft rA>IC = 2 cos 30° = 1.732 ft

Thus,

vB 5
vAB = = = 5 rad>s
rB>IC 1

Then

vA = vAB rA>IC = 5 A 1.732 B = 8.660 ft>s

Acceleration and
and Angular
Angular Acceleration:
Acceleration: Since point A travels along the circular
slot, the normal component of its acceleration has a magnitude of
vA 2 8.6602
A aA B n = = = 50 ft>s2 and is directed towards the center of the circular
r 1.5
slot. The tangential component is directed along the tangent of the slot. Applying
the relative acceleration equation and referring to Fig. b,

aA = aB + aAB * rA>B - vAB 2 rA>B

50i - A aA B t j = 3i + A aAB k B * A - 2cos 30°i + 2 sin 30°j B -52 A -2 cos 30°i + 2 sin 30°j B
50i - A aA B t j = A 46.30 - aAB B i - A 1.732aAB + 25 B j

Equating the i and j components,

50 = 46.30-aAB

- A aA B t = - A 1.732aAB + 25 B

Solving,

aAB = - 3.70 rad>s2

A aA B t = 18.59 ft>s2 T

Thus, the magnitude of aA is

aA = 4A aA B t 2 + A aA B n 2 = 218.592 + 502 = 53.3 ft>s2 Ans.

and its direction is

Ans:
A aA B t aA = 53.3 ft>s2
u = tan-1 C S = tan-1 a
18.59
b = 20.4° c Ans.
A aA B n 50 u = 20.4° c

746
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–129.

The man stands on the platform at O and runs out towards

toward z
the edge such that when he is at A, y = 5 ft, his mass center
has a velocity of 2 ft>s and an acceleration of 3 ft>s2, both v  0.5 rad/s
measured relative to the platform and directed along the
a  0.2 rad/s2
positive y axis. If the platform has the angular motions
shown, determine the velocity and acceleration of his mass
center at this instant.

O
SOLUTION
y  5 ft A
y
vA = vO + Æ * rA>O + (vA>O)xyz

vA = 0 + (0.5k) * (5j) + 2j x

vA = { -2.50i + 2.00j} ft>s Ans.

#
aA = aO + Æ * rA>O + Æ * (Æ * rA>O) + 2Æ * (vA>O)xyz + (aA>O)xyz

aA = 0 + (0.2k) * (5j) + (0.5k) * (0.5k * 5j) + 2(0.5k) * (2j) + 3j

aA = -1i - 1.25j - 2i + 3j

aA = { -3.00i + 1.75j} ft>s2 Ans.

Ans:
vA = 5 -2.50i + 2.00j 6 ft>s
aA = 5 -3.00i + 1.75j 6 ft>s2

747
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–130.
The ball B of negligible size rolls through the tube such that z
at the instant shown it has a velocity of 5 ft>s and an
acceleration of 3 ft>s2, measured relative to the tube. If the
tube has an angular velocity of v = 3 rad>s and an angular
y
acceleration of a = 5 rad>s2 at this same instant, determine V, A
the velocity and acceleration of the ball.
O

2 ft B x
SOLUTION
Kinematic Equations:

vB = vO + Æ * rB>O + (vB>O)rel (1)

#
aB = aO + Æ * rB>O + Æ * (Æ * rB>O) + 2Æ * (vB>O)xyz + (aB>O)xyz (2)

vO = 0

aO = 0

Æ = {3k} rad>s
#
Æ = {5k} rad>s2

rB>O = {2i} ft

(vB>O)xyz = {5i} ft>s

(aB>O)xyz = {3i} ft>s2

Substitute the data into Eqs. (1) and (2) yields:

vB = 0 + (3k) * (2i) + (5i) = {5i + 6j} ft>s Ans.

aB = 0 + (5k) * (2i) + C (3k) * (2i) D + 2(3k) * (5i) + (3i)

= {-15i + 40j} ft>s2 Ans.

Ans:
vB = 55i + 6j 6 ft>s
aB = 5 -15i + 40j 6 ft>s2

748
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–131.

The slider block B, which is attached to a cord, moves along the

v D = 2 rad>s
slot of the horizontal circular disk. If the cord is pulled down
through the central hole A in the disk at a constant rate of y
#
x = - 3 m>s, measured relative to the disk, determine the
acceleration of the block at the instant x = 0.1 m. The disk has
a constant angular velocity of vD = 2 rad>s.
x
x
SOLUTION A B

Kinematic Equation:
#
aB = aA + Ω * rB/A + Ω * (Ω * rB/A) + 2Ω * (vB/A)rel + (aB/A)rel[1]

Motion of Motion of B with respect

moving reference to moving reference
aA = 0 rB/A = {0.1i}m
Ω = {2k} rad/s (vB/A)rel = { - 3i}m/s
#
Ω = 0 (aB/A)rel = 0

Substitute the data into Eq. [1]:

aB = 0 + (0) * (0.1i) + (2k) * [(2k) * (0.1i)] + 2(2k) * ( -3i) + 0

= { -0.4i - 12j}m/s2 Ans.

Ans:
aB = 5 -0.4i - 12j 6 m>s2

749
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–132.

Solve Prob. 16–131 assuming that at the instant x = 0.1 m, v D = 2 rad>s

# $
x = -3 m>s, x = 1.25 m>s2, vD = 2 rad>s, and the disk has
an angular deceleration aD = - 4 rad>s2. y

x
x
SOLUTION A B

Kinematic Equation:
#
aB = aA + Ω * rB/A + Ω * (Ω * rB/A) + 2Ω * (vB/A)rel + (aB/A)rel[1]

Motion of Motion of B with respect

moving reference to moving reference
aA = 0 rB/A = {0.1i}m
Ω = {2k} rad/s (vB/A)rel = { - 3i}m/s
#
Ω = { - 4k} rad/s2 (aB/A)rel = {1.25i} m/s2

Substitute the data into Eq. [1]:

aB = 0 + ( - 4k) * (0.1i) + (2k) * [(2k) * (0.1i)] + 2(2k) * ( -3i) + (1.25i)

= {0.85i - 12.4 j}m/s2 Ans.

Ans:
aB = {0.85i - 12.4 j}m/s2

750
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–133.

Water leaves the impeller of the centrifugal pump with a y

velocity of 25 m>s and acceleration of 30 m>s2, both B
measured relative to the impeller along the blade line AB.
30
Determine the velocity and acceleration of a water particle A
at A as it leaves the impeller at the instant shown. The
impeller rotates with a constant angular velocity of
v = 15 rad>s.

SOLUTION x

Reference Frame: The xyz rotating reference frame is attached to the impeller and v 15 rad/s
0.3 m
coincides with the XYZ fixed reference frame at the instant considered, Fig. a. Thus,
the motion of the xyz frame with respect to the XYZ frame is
.#
vO = aO = 0 Ω
v = [- 15k] rad > s Ωv = 0

The motion of point A with respect to the xyz frame is

rA>O = [0.3j] m

(vrel)xyz = ( -25 cos 30° i + 25 sin 30° j) = [- 21.65i + 12.5j] m>s

(arel)xyz = ( -30 cos 30° i + 30 sin 30° j) = [ - 25.98i + 15j] m>s2

Velocity: Applying the relative velocity equation.

v A = vO + Ω
v * rA>O + (vrel)xyz

= 0 + ( - 15k) * (0.3j) + ( - 21.65i + 12.5j)

= [- 17.2i + 12.5j] m>s Ans.

Acceleration: Applying the relative acceleration equation,

.#
aA = aO + Ωv * rA>O + Ω Ω * rA>O) + 2v
v * (v Ω * (vrel)xyz + (arel)xyz

= 0 + ( - 15k) * [(- 15k) * (0.3j)] + 2(- 15k) * (- 21.65i + 12.5j) + ( -25.98i + 15j)

= [349i + 597j] m>s2 Ans.

Ans:
vA = { - 17.2i + 12.5j} m>s
aA = {349i + 597j} m>s2

751
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–134.

Block A, which is attached to a cord, moves along the slot of y x

a horizontal forked rod. At the instant shown, the cord is
pulled down through the hole at O with an acceleration of A
4 m>s2 and its velocity is 2 m>s. Determine the acceleration
of the block at this instant. The rod rotates about O with a O
v
constant angular velocity v = 4 rad>s.
100 mm

SOLUTION
Motion of moving reference.

vO = 0

aO = 0

Æ = 4k
#
Æ = 0

Motion of A with respect to moving reference.

rA>O = 0.1i

vA>O = - 2i

aA>O = - 4i

Thus,
#
aA = a O + Æ * rA>O + Æ * (Æ * rA>O) + 2Æ * (vA>O)xyz + (a A>O)xyz

= 0 + 0 + (4k) * (4k * 0.1i) + 2(4k * ( - 2i)) - 4i

aA = { -5.60i - 16j} m>s2 Ans.

Ans:
aA = 5 -5.60i - 16j 6 m>s2

752
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–135.

Rod AB rotates counterclockwise with a constant angular C B

velocity v = 3 rad>s. Determine the velocity of point C
located on the double collar when u = 30°. The collar
consists of two pin-connected slider blocks which are
­constrained to move along the circular path and the rod AB.
v = 3 rad/s
u
A

0.4 m
SOLUTION
r = 2(0.4 cos 30°) = 0.6928 m

rC>A = 0.6928 cos 30°i + 0.6928 sin 30°j

= 50.600i + 0.3464j 6 m

vC = -0.866vCi + 0.5vC j

vC = vA + Ω * rC>A + (vC>A)xyz

- 0.866vCi + 0.5vCj = 0 + (3k) * (0.600i + 0.3464j) + (vC>A cos 30°i + vC>A sin 30°j)

- 0.866vCi + 0.5vCj = 0 - 1.039i + 1.80j + 0.866vC>Ai + 0.5vC>A j

- 0.866vC = -1.039 + 0.866vC>A

0.5vC = 1.80 + 0.5vC>A

vC = 2.40 m>s Ans.

vC>A = -1.20 m>s

Ans:
vC = 2.40 m>s 30°b

753
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–136.

Rod AB rotates counterclockwise with a constant angular C B

velocity v = 3 rad>s. Determine the velocity and
acceleration of point C located on the double collar when
u = 45°. The collar consists of two pin-connected slider
blocks which are constrained to move along the circular path
and the rod AB. v = 3 rad/s
u
A

0.4 m
SOLUTION
rC>A = 50.400i + 0.400j 6
vC = - vCi
vC = vA + Ω * rC>A + (vC>A)xyz
-vCi = 0 + (3k) * (0.400i + 0.400j) + (vC>A cos 45°i + vC>A sin 45°j)
-vCi = 0 - 1.20i + 1.20j + 0.707vC>Ai + 0.707vC>A j
-vC = - 1.20 + 0.707vC>A
0 = 1.20 + 0.707vC>A
vC = 2.40 m>s d  Ans.
vC>A = -1.697 m>s
#
aC = aA + Ω * rC>A + Ω * (Ω * rC>A) + 2Ω * (vC>A)xyz + (aC>A)xyz
(2.40)2
-(aC)ti - j = 0 + 0 + 3k * [3k * (0.4i + 0.4j)] + 2(3k) * [0.707( -1.697)i
0.4
+ 0.707( - 1.697)j] + 0.707aC>Ai + 0.707aC>A j

-(aC)ti - 14.40j = 0 + 0 - 3.60i - 3.60j + 7.20i - 7.20j + 0.707aC>Ai + 0.707aC>A j

-(aC)t = -3.60 + 7.20 + 0.707aC>A

-14.40 = - 3.60 - 7.20 + 0.707aC>A

aC>A = -5.09 m>s2

(aC)t = 0

Thus,
(2.40)2
aC = (aC)n = = 14.4 m>s2 T  Ans.
0.4

Ans:
vC = 2.40 m>s d
aC = 14.4 m>s2 T

754
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–137.

At the
At the instant
instant shown,
shown, rod
rod AB has an
AB has an angular
angular velocity
velocity
2 vv AB 33rad/s
rad>s
vAB = 3 rad>s and an angular acceleration aAB = 5 rad>s
= 3 rad>s and an angular acceleration = 5 rad>s2..
v a AB
AB AB
AA aaAB 5 rad>s2 2
5rad/s
AB
Determine the
Determine the angular
angular velocity
velocity and
and angular
angular acceleration
acceleration of
of
rod CD
rod CD at
at this
this instant.
instant. The
The collar
collar at C is
at C is pin connected to
pin-connected to
CD and slides over AB. 6060
CD and slides over AB. CC
0.75
0.75 mm

BB

SOLUTION 0.50.5
mm

rC>A = (0.75 sin 60°)i - (0.75 cos 60°)j

DD
rC>A = {0.6495i - 0.375j} m

vC = vCD * rC>D

= (vCDk) * (0.5j)

= { -0.5vCDi} m>s

a C = aCD * rCD - v2CD rCD

= (aCDk) * (0.5j) - v2CD(0.5j)

aC = { -0.5 aCDi - v2CD(0.5)j} m>s2

vC = vA + Æ * rC>A + (vC>A)xyz

-0.5vCDi = 0 + (3k) * (0.6495i - 0.375j) + vC>A sin 60°i - vC>A cos 60°j

-0.5vCD = 1.125 + 0.866vC>A

0 = 1.9485 - 0.5vC>A

vC>A = 3.897 m>s

vCD = - 9.00 rad>s = 9.00 rad>sb Ans.

#
a C = a A + Æ * rC>A + Æ * (Æ * rC>A) + 2Æ * (vC>A)xyz + (a C>A)xyz

a C = 0 + (5k) * (0.6495i - 0.375j) + (3k) * [(3k) * (0.6495i - 0.375j)]

+ 2(3k) * [3.897(0.866)i - 0.5(3.897)j] + 0.866a C>A i - 0.5a C>A j

0.5 aCD i - ( -9.00)2(0.5)j = 0 + 1.875i + 3.2475j - 5.8455i + 3.375j + 11.6910i

+ 20.2488j + 0.866a C>A i - 0.5a C>A j

0.5 aCD = 7.7205 + 0.866a C>A

-40.5 = 26.8713 - 0.5aC>A

aC>A = 134.7 m>s2

aCD = 249 rad>s2b

d Ans.

Ans:
vCD = 9.00 rad/s b
aCD = 249 rad/s2d

755
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–138.
At the instant u = 60°, link CD has an angular velocity B
AtAt
vthe =instant
CDthe 4instant =u 60°
rad>su and =an , link
60°, CDCD
link
angular hashasan an
angular
acceleration angular rad>s2.
aCD =velocity
2velocity BB
2 2
vCD = 4=rad>s
Determine
v CD 4 rad>sandangular
the an an
and angular
angularacceleration
velocityacceleration
and angular == 2 rad>s . of.
2 rad>s
aacceleration
aCD CD
Determine
Determine
rod AB at thethis
angular
the velocity
angular
instant. andand
velocity
The collar angular
C is acceleration
atangular of of
acceleration
pin-connected to C
rodrod
DCABAB
andat at
thisthis
slidesinstant. The
instant.
over AB. Thecollar at at
collar C isC pin-connected
is pin connected to to CC
DCDC andandslides over
slides AB.
over AB.
2 ft
2 ft2 ft
CD = 4 rad/s
SOLUTION = 4=rad /s 2
SOLUTION CDCD
CD5 42 rad>s
rad/s
Coordinate Axes:
Axes: The origin of both the fixed and moving frames of reference are = 2 rad /s2 2
CDCD 5 2 rad>s
Coordinate
located atAxes:
pointThe origin
A. The x, y,ofz both theframe
moving fixed and movingtoframes
is attached of reference
and rotates areAB
with rod
= 60°
located
since at point
collar C A. Thealong
slides moving
x, y, zrod AB. frame is attached to and rotates with rod AB
=5
60°
608
since collar C slides along rod AB. A D
Kinematic
Kinematic Equations:
Equation: Applying Eqs. 16–24 and 16–27, we have
AA 2 ft DD
Kinematic Equation: Applying Eqs. 16–24 and 16–27, we have
vC = vA + Æ * rC>A + (vC>A)xyz [1] 2 ft2 ft
vC = vA + Æ * rC>A + (vC>A)xyz [1]
aC = aA + Æ * rC>A + Æ * (Æ * rC>A) + 2Æ * (vC>A)xyz + (aC>A)xyz [2]
aC = aA + Æ * rC>A + Æ * (Æ * rC>A) + 2Æ * (vC>A)xyz + (aC>A)xyz [2]
Motion Motion of C with respect
of mMoo vitn
iognreference Motioton m
ofoCvinwgitrhefrersepnecet
of moving reference to moving reference
vA = 0 rC>A = {2i} ft
vA = 0 rC>A = {2i} ft
aA = 0 (vC>A)xyz = (yC>A)xyz i
aA = 0 (vC>A)xyz = (yC>A)xyz i
Æ = - vAB k (aC>A)xyz = (aC>A)xyz i
Æ =# - vAB k (aC>A)xyz = (aC>A)xyz i
# Æ = - aAB k
Æ = - aAB k
The velocity and acceleration of collar C can be determined using Eqs. 16–9 and
The16velocity
–14 withandrC>Dacceleration
= {2 cos 60°iof+collar C canft be
2 sin 60°j} = determined
{1i + 1.732j}using
ft. Eqs. 16–9 and
16–14 with rC>D = {2 cos 60°i + 2 sin 60°j} ft = {1i + 1.732j} ft.
vC = vCD * rC>D = - 4k * (1i + 1.732j) = {6.928i - 4.00j} ft>s
vC = vCD * rC>D = - 4k * (1i + 1.732j) = {6.928i - 4.00j} ft>s
aC = aCD * rC>D - v2CD rC>D
aC = aCD * rC>D - v2CD rC>D
= - 2k * (1i + 1.732 j) - 42 (1i + 1.732 j)
= -2k * (1i + 1.732 j) - 42 (1i + 1.732 j)
= {- 12.54i - 29.71 j} ft>s
= { - 12.54i - 29.71 j} ft>s
Substitute the above data into Eq. [l] yields
Substitute the above data into Eq. [l] yields
vC = vA + Æ * rC>A + (vC>A)xyz
vC = vA + Æ * rC>A + (vC>A)xyz
6.928i - 4.00j = 0 + ( -vABk) * 2i + (yC>A)xyz i
6.928i - 4.00j = 0 + ( -vABk) * 2i + (yC>A)xyz i
6.928i - 4.00 j = (yC>A)xyz i - 2vAB j
6.928i - 4.00 j = (yC>A)xyz i - 2vAB j
Equating i and j components, we have
Equating i and j components, we have
(yC>A)xyz = 6.928 ft>s
(yC>A)xyz = 6.928 ft>s
vAB = 2.00 rad>s b Ans.
vAB = 2.00 rad>s Ans.
Substitute the above data into Eq. [2] yields
#
Substitute the above data into Eq. [2] yields
aC = aA +# Æ * rC>A + Æ * (Æ * rC>A) + 2Æ * (vC>A )xyz + (aC>A)xyz
aC = aA + Æ * rC>A + Æ * (Æ * rC>A) + 2Æ * (vC>A )xyz + (aC>A)xyz
- 12.54i - 29.71j = 0 + ( - aABk) * 2i + ( -2.00k) * [(-2.00k) * 2i]
- 12.54i - 29.71j = 0 + ( - aABk) * 2i + ( -2.00k) * [(- 2.00k) * 2i]
+ 2( - 2.00k) * 6.928i + (aC>A)xyz i
+ 2( - 2.00k) * 6.928i + (aC>A)xyz i
- 12.54i - 29.71j = C (aC>A)xyz - 8.00 D i - (2aAB + 27.71)j
- 12.54i - 29.71j = C (aC>A)xyz - 8.00 D i - (2aAB + 27.71)j
Equating i and j components, we have
Equating i and j components, we have
(aC>A)xyz = - 4.536 ft>s2 Ans:
(aC>A)xyz = - 4.536 ft>s2 vAB = 2.00 rad>s b
aAB = 1.00 rad s2 b Ans. aAB = 1.00 rad>s2 b
aAB = 1.00 rad s2 Ans.
756
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–139.
The block B of the “quick-return” mechanism is confined to
move within the slot in member CD. If AB is rotating at a
constant rate of vAB = 3 rad>s, determine the angular A 50 mm D
velocity and angular acceleration of member CD at the
instant shown.
30
vAB  3 rad/s
B

SOLUTION
vC = 0

aC = 0

30 200 mm
Æ = - vCD k
#
Æ = aCD k

rB>C = {0.2i} m C

vBB>C)xyz i
(vB>C)xyz = (y

(aB>C)xyz = (aB>C)xyz i

vB = vAB * rB>A = (3k) * (- 0.05 sin 30°i - 0.05 cos 30°j)

= {0.1299i - 0.075j} m>s

aB = aAB * rB>A - v2AB rB>A

= 0 - (3)2(- 0.05 sin 30°i - 0.05 cos 30°j)

= {0.225i + 0.3897j} m>s2

vB = vC + Æ * rB>C + (vB>C)xyz

0.1299i - 0.075j = 0 + (- vCDk) * (0.2i) + (yB>C)xyz i

vB

vBB>C)rel i - 0.2vCDj
0.1299i - 0.075j = (y

Solving:

vBB>C)xyz = 0.1299 m>s

(y

vCD = 0.375 rad>sb Ans.

#
aB = aC + Æ * rBC + Æ * (Æ * rB>C) + 2Æ * (vB>C)xyz + (aB>C)xyz

0.225i + 0.3897j = 0 + (aCDk) * (0.2i) + (- 0.375k) * C ( -0.375k) * (0.2i) D

+ 2(- 0.375k) * (0.1299i) + (aB>C)xyz i

0.225i + 0.3897j = C (aB>C)xyz - 0.028125 D i + (0.2aCD - 0.097428)j

Equating the i and j components and solving,

(aB>C)xyz = 0.2531 m>s2

aCD = 2.44 rad>s2d Ans.

Ans:
vCD = 0.375 rad>sb
aCD = 2.44 rad>s2d

757
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–140.

At the instant shown rod AB has an angular velocity vAB  4 rad/s

vAB = 4 rad>s and an angular acceleration aAB = 2 rad>s2. A aAB  2 rad/s2
Determine the angular velocity and angular acceleration of
rod CD at this instant.The collar at C is pin connected to CD
60 0.5 m
and slides freely along AB.
0.75 m
C D

B
SOLUTION
Coordinate Axes: The origin of both the fixed and moving frames of reference are
located at point A. The x, y, z moving frame is attached to and rotate with rod AB
since collar C slides along rod AB.

Kinematic Equations:
Kinematic Equation: Applying Eqs. 16–24 and 16–27, we have

vC = vA + Æ * rC>A + (vC>A)xyz [1]

#
aC = aA + Æ * rC>A + Æ * (Æ * rC>A) + 2Æ * (v C>A)xyz + (a C>A)xyz [2]

Motion of moving reference

vA = 0
aA = 0
Æ = 4k rad>s
#
Æ = 2k rad>s2

Motion of C with respect to moving reference

rC>A = 50.75i6m
(vC>A)xyz = (yC>A)xyz i
(a C>A)xyz = (aC>A)xyz i

The velocity and acceleration of collar C can be determined using Eqs. 16–9 and
16–14 with rC>D = { - 0.5 cos 30°i - 0.5 sin 30°j }m = {- 0.4330i - 0.250j} m.

vC = vCD * rC>D = - vCDk * (- 0.4330i - 0.250j)

= - 0.250vCDi + 0.4330vCDj

aC = a CD * rC>D - v2CD rC>D

= -aCD k * (- 0.4330i - 0.250j) - v2CD( - 0.4330i - 0.250j)

= A 0.4330v2CD - 0.250 aCD B i + A 0.4330aCD + 0.250v2CD B j

Substitute the above data into Eq.[1] yields

v C = vA + Æ * rC>A + (vC>A)xyz

- 0.250 vCD i + 0.4330vCDj = 0 + 4k * 0.75i + (yC>A)xyz i

- 0.250vCD i + 0.4330vCD j = (yC>A)xyz i + 3.00j

Equating i and j components and solve, we have

(yC>A)xyz = - 1.732 m>s

vCD = 6.928 rad>s = 6.93 rad>s b Ans.

758
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–140. Continued

Substitute the above data into Eq.[2] yields

#
aC = aA + Æ * rC>A + Æ * (Æ * rC>A) + 2Æ * (vC>A)xyz + (aC>A)xyz

C 0.4330 A 6.9282 B - 0.250 aCD D i + C 0.4330aCD + 0.250 A 6.9282 B D j

= 0 + 2k * 0.75i + 4k * (4k * 0.75i) + 2 (4k) * ( -1.732i) + (aC>A)xyz i

(20.78 - 0.250aCD)i + (0.4330 aCD + 12)j = C (aC>A)xyz - 12.0 D i - 12.36j

Equating i and j components, we have

(aC>A)xyz = 46.85 m>s2

aCD = - 56.2 rad>s2 = 56.2 rad>s2 d Ans.

Ans:
vCD = 6.93 rad>sb
aCD = 56.2 rad>s2d

759
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–141.
The disk rotates with the angular motion shown.
Determine the angular velocity and angular acceleration
of the slotted link AC at this instant. The peg at B is fixed A
to the disk.
30 0.75 m

0.3 m B
SOLUTION
30
vB = -6(0.3)i = -1.8i

aB = -10(0.3)i - (6)2(0.3)j = - 3i - 10.8j

v  6 rad/s
vB = vA + Æ * rB>A + (vB>A)xyz a  10 rad/s2 C

-1.8i = 0 + (vACk) * (0.75i) - (vB>A)xyz i

-1.8i = -(vB>A)xyz

(vB>A)xyz = 1.8 m>s

0 = vAC(0.75)

vAC = 0 Ans.
#
aB = aA + Æ * rB>A + Æ * (Æ * rB>A) + 2Æ * (vB>A)xyz + (aB>A)xyz

-3i - 10.8j = 0 + aA>Ck * (0.75i) + 0 + 0 -aA>B i

-3 = -aA>B

aA>B = 3 m>s2

-10.8 = aAC(0.75)

aAC = 14.4 rad>s2b Ans.

Ans:
vAC = 0
aAC = 14.4 rad>s2b

760
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–142.

The wheel is rotating with the angular velocity and angular A

acceleration at the instant shown. Determine the angular
velocity and angular acceleration of the rod at this instant. 300 mm
The rod slides freely through the smooth collar. O C

SOLUTION v  8 rad/s B
a  4 rad/s2
Reference Frame: The xyz rotating reference frame is attached to C and coincides
with the XYZ fixed reference frame at the instant considered, Fig. a. Thus, the 720 mm
motion of the xyz reference frame with respect to the XYZ frame is
.#
vC = aC = 0 vAB = - vABk
Ω Ω
vAB = -aAB k

From the geometry shown in Fig.a,

rA>C = 20.32 + 0.722 = 0.78 m

0.72
u = tan-1 a b = 67.38°
0.3

For the motion of point A with respect to the xyz frame,

rA>C = [ -0.78i] m vrel)xyz i

(vrel)xyz = (v (arel)xyz = (arel)xyz i

Since the wheel A rotates about a fixed axis, vA and aA with respect to the XYZ
reference frame can be determined from

vA = v * rA

= ( - 8k) * ( - 0.3 cos 67.38°i + 0.3 sin 67.38°j)

= [2.215i + 0.9231j] m>s

aA = a * rA - v2 rA

= ( - 4k) * ( - 0.3 cos 67.38°i + 0.3 sin 67.38° j) - 82( -0.3 cos 67.38°i + 0.3 sin 67.38°j)

= [8.492i - 17.262j] m>s2

Velocity: Applying the relative velocity equation, we have

vA = vC + Ω
vAB * rA>C + (vrel)xyz

2.215i + 0.9231j = 0 + ( -vABk) * (- 0.78i) + (v

v rel)xyz i

vrel)xyz i + 0.78vAB j
2.215i + 0.9231j = (v

Equating the i and j components yields

vrel)xyz = 2.215 m>s

(v

0.78v AB = 0.9231 vAB = 1.183 rad>s = 1.18 rad>s b Ans.

Acceleration: Applying the relative acceleration equation.

.#
aA = aC + ΩvAB * rA>C + Ω vAB * (v ΩAB * rA>C) + 2v ΩAB * (vrel)xyx + (arel)xyz

8.492i - 17.262j = 0 + (- a ABk) * ( - 0.78i) + ( - 1.183k) * [( -1.183k) * (- 0.78i)] + 2( -1.183k) * (2.215i) + (a rel)xyzi

8.492i - 17.262j = C A arel B xyz + 1.092 D i + A 0.78aAB - 5.244 B j

Equating the j components yields
Ans:
- 17.262 = 0.78aAB - 5.244 vAB = 1.18 rad>sb
aAB = 15.4 rad>s2d
aAB = - 15.41 rad>s2 = 15.4 rad>s2 d Ans.

761
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–143.

Peg B on the gear slides freely along the slot in link AB. If 150 mm B
the gear’s center O moves with the velocity and
vO  3 m/s
acceleration shown, determine the angular velocity and aO  1.5 m/s2 600 mm
angular acceleration of the link at this instant.
O
150 mm
SOLUTION A

Motion: The IC of the gear is located at the point where the gear and
Gear Motion:
the gear rack mesh, Fig. a. Thus,
vO 3
v = = = 20 rad>s
rO>IC 0.15
Then,
vB = vrB>IC = 20(0.3) = 6 m>s :
aO 1.5
Since the gear rolls on the gear rack, a = = = 10 rad>ss.2By
. Byreferring
referringtoto
Fig.
Fig.
b, b,
r 0.15
aB = aO + a * rB>O - v2 rB>O

(aB)t i - (aB)n j = 1.5i + ( -10k) * 0.15j - 202(0.15j)

(aB)t i - (aB)n j = 3i - 60j

Thus,
(aB)t = 3 m>s2 (aB)n = 60 m>s2
Reference Frame:
Reference Frame: The x¿y¿z¿ rotating reference frame is attached to link AB and
coincides with the XYZ fixed reference frame, Figs. c and d. Thus, vB and aB with
respect to the XYZ frame is

vB = [6 sin 30°i - 6 cos 30° j] = [3i - 5.196j] m>s

aB = (3 sin 30° - 60 cos 30°)i + ( -3 cos 30° - 60 sin 30°)j

= [ -50.46i - 32.60j] m>s2

For motion of the x¿y¿z¿ frame with reference to the XYZ reference frame,
#
vA = aA = 0 vAB = -vABk vAB = -aAB k
For the motion of point B with respect to the x¿y¿z¿ frame is

rB>A = [0.6j]m (vrel)x¿y¿z¿ = (vrel)x¿y¿z¿ j (arel)x¿y¿z¿ = (arel)x¿y¿z¿ j

Velocity: Applying the relative velocity equation,

vB = vA + vAB * rB>A + (vrel)x¿y¿z¿

3i - 5.196j = 0 + ( -vABk) * (0.6j) + (vrel)x¿y¿z¿ j

3i - 5.196j = 0.6vAB i + (vrel)x¿y¿z¿j

Equating the i and j components yields

3 = 0.6vAB vAB = 5 rad>s b Ans.

(vrel)x¿y¿z¿ = - 5.196 m>s

Acceleration: Applying the relative acceleration equation.
#
aB = aA + vAB * rB>A + vAB * (vAB * rB>A) + 2vAB * (vrel)x¿y¿z¿ + (a rel)x¿y¿z¿

-50.46i - 32.60j = 0 + (- aABk) * (0.6j) + (- 5k) * [(-5k) * (0.6j)] + 2( -5k) * ( -5.196j) + (arel)x¿y¿z¿j

-50.46i - 32.60j = (0.6aAB - 51.96)i + C (arel)x¿y¿z¿ - 15 D j

Equating the i components,

Ans:
-50.46 = 0.6a AB - 51.96 vAB = 5 rad>s b
22 aAB = 2.50 rad>s2 b
aAB = 2.5
2.50rad>s
rad>s b Ans.

762
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as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*16–144.

A ride in an amusement park consists of a rotating platform

P, having a constant angular velocity vP = 1.5 rad>s, and Y
four cars, C, mounted on the platform, which have constant
angular velocities vC>P = 2 rad>s measured relative to the
platform. Determine the velocity and acceleration of the
passenger at B at the instant shown. C
A
0.75 m vP  1.5 rad/s
C
X
P C B
SOLUTION vC/ P  2 rad/s
3m

Motion of moving reference. C

Fix the x,y,z axes to the platform with the origin at O.

vO = (1.5)(3)j = 4.5j

aO = (aC)n = -(1.5)2(3)i = - 6.75i

Æ = 1.5k
#
Æ = 0

Motion of A with respect to moving reference.

rA>O = 0.75j

(vA>O)xyz = 2(0.75)j = 1.5j

(aA>O)xyz = (aA>O)n = - (2)2(0.75)i = - 3i

vB = vO + Æ * rB>O + (vB>O)xyz

= 4.5j + (1.5k) * (0.75j) + 1.5j

vB = {7.12j} m>s Ans.

$
aB = aO + Æ * rB>O + Æ * (Æ * rB>O) + 2Æ * (vB>O)xyz + (aB>O)xyz

= -6.75i + 0 + 1.5k * [(1.5k) * (0.75i)] + 2(1.5k) * (1.5j)]- 3i

aB = { -15.9i} m>s2 Ans.

Ans:
vB = [7.12j] m>s
aB = [ -15.9i] m>s2

763
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–145.

A ride in an amusement
amusement park consists of a rotating arm AB v¿ 0.5 rad/s
having aaconstant
constantangular
angularvelocity
velocity
vAB 2 rad>s.
= 2= rad>s
vAB The
about car
point
mounted
A and a car at the end of
mounted at the
the arm hasthe
end of a arm
constant
whichangular
has a
B
velocity
constant V′ = {−0.5k}
angular rad>s,
velocity V measured
¿ = 5-0.5k6relative
rad>s,tomeasured
the arm.
At the toinstant shown, 10 ft
relative the arm. At thedetermine the determine
instant shown, velocity and
the y 60 2 ft
acceleration of the passenger
velocity and acceleration of theatpassenger
C. at C.
vAB 2 rad/s C

SOLUTION
30
x
rB>A = (10 cos 30° i + 10 sin 30° j) = {8.66i + 5j} ft A

vB = vAB * rB>A = 2k * (8.66i + 5j) = {- 10.0i + 17.32j} ft>s

aB = aAB * rB>A - v2AB rB>A

= 0 - (2)2 (8.66i + 5j) = {-34.64i - 20j} ft>s2

Æ = (2 - 0.5)k = 1.5k

vC = vB + Æ * rC>B + (vC>B)xyz

= -10.0i + 17.32j + 1.5k * ( -2j) + 0

= { -7.00i + 17.3j} ft>s Ans.

#
aC = aB + Æ * rC>B + Æ * (Æ * rC>B) + 2Æ * (vC>B)xyz + (aC>B)xyz

= -34.64i - 20j + 0 + (1.5k) * (1.5k) * (- 2j) + 0 + 0

= {-34.6i - 15.5j} ft>s2 Ans.

Ans:
vC = { - 7.00i + 17.3j} ft>s
aC = { - 34.6i - 15.5j} ft>s2

764
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–146.

A ride in an amusement park consists of a rotating rotating arm

arm AB
AB v¿ 0.5 rad/s
has an
that has an angular
angularacceleration
accelerationof ofaAB when2
{1k} 2 rad>s
= 1=rad>s
AAB
when
vAB =V2AB = {2k}
rad>s rad>s
at the at the
instant instant
shown. Alsoshown.
at thisAlso at this
instant the
instant the car mounted at theofend of the B
car mounted at the end the armarmhashasanan angular
angular
10 ft
acceleration of of AA = {−0.6k}
= 5 rad>s2 2and
-0.6k6rad>s and angular
angular velocity of of y 2 ft
60
V¿ = 5
V′ {−0.5k} rad>s, measured relative
- 0.5k6 rad>s, relative toto thethe arm.
arm.
Determine the velocity and acceleration of the passenger passenger C C
vAB 2 rad/s C
at this instant.

SOLUTION 30
x
A
rB>A = (10 cos 30°i + 10 sin 30°j) = {8.66i + 5j} ft

vB = vAB * rB>A = 2k * (8.66i + 5j) = { -10.0i + 17.32j} ft>s

aB = aAB * rB>A - v2AB rB>A

= (1k) * (8.66i + 5j) - (2)2(8.66i + 5j) = { -39.64i - 11.34j} ft>s2

Æ = (2 - 0.5)k = 1.5k
#
Æ = (1 - 0.6)k = 0.4k

vC = vB + Æ * rC>B + (vC>B)xyz

= - 10.0i + 17.32j + 1.5k * ( -2j) + 0

= {- 7.00i + 17.3j} ft>s Ans.

#
aC = aB + Æ * rC>B + Æ * (Æ * rC>B) + 2Æ * (vC>B)xyz + (aC>B)xyz

= - 39.64i - 11.34j + (0.4k) * ( -2j) + (1.5k) * (1.5k) * ( -2j) + 0 + 0

= {- 38.8i - 6.84j} ft>s2 Ans.

vC = va + vC>a aC = aa + aC>a

vC = 2k - 0.5k aC = 1k - 0.6k = 0.4k

= 1.5k

Ans:
vC = { - 7.00i + 17.3j} ft>s
aC = { - 38.8i - 6.84j} ft>s2

765
© 2022 by R.C. Hibbeler. Published by Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws
as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–147.

If the slider block C is fixed to the disk that has a constant

B
counterclockwise angular velocity of 4 rad>s, determine the 40 mm
angular velocity and angular acceleration of the slotted arm
AB at the instant shown. C 60 mm
30 v  4 rad/s

180 mm

SOLUTION

vC = - (4)(60) sin 30°i - 4(60) cos 30°j = - 120i - 207.85j

60
aC = (4)2(60) sin 60°i - (4)2(60) cos 60°j = 831.38i - 480j A
Thus,

vC = vA + Ω * rC>A + (vC>A)xyz

-120i - 207.85j = 0 + ( vABk ) * (180j) - vC>Aj

-120 = -180vAB

vAB = 0.667 rad>s d Ans.

-207.85 = - vC>A

vC>A = 207.85 mm>s

#
aC = aA + 𝛀 * rC>A + 𝛀 * ( 𝛀 * rC>A ) + 2𝛀 * (vC>A)xyz + (aC>A)xyz
831.38i - 480j = 0 + (aABk) * (180j) + (0.667k) * [(0.667k) * (180j)]

+ 2(0.667k) * ( - 207.85j) -aC>A j

831.38i - 480j = - 180 aABi - 80j + 277.13i - aC>Aj

831.38 = - 180aAB + 277.13

aAB = -3.08

Thus,

aAB = 3.08 rad>s2 b Ans.

-480 = -80 - aC>A

aC>A = 400 mm>s2

Ans:
vAB = 0.667 rad>s d
aAB = 3.08 rad>s2 b

766