CH 15

COSMOS: Complete Online Solutions Manual Organization System
Chapter 15, Solution 78.
v D = 10 in./s ,
CD =
v B = 8 in./s
vD + vB 10 + 8
=
= 4 rad/s
BD
4.5
vD
10
= 2.5 in.
4
CA = 3.0 2.5 = 0.5 in.
C lies 0.500 in. to the right of A.
(a)
(b)
v A = 0.5 = ( 0.5 )( 4 ) = 2 in./s
v A = 2.00 in./s
(c)
v D v A = 12 in./s
Cord DE is unwrapped at 12.00 in./s.

v B v A = 6 in./s
Cord BF is unwrapped at 6.00 in./s.
Vector Mechanics for Engineers: Statics and Dynamics, 8/e, Ferdinand P. Beer, E. Russell Johnston, Jr.,
Elliot R. Eisenberg, William E. Clausen, David Mazurek, Phillip J. Cornwell
2007 The McGraw-Hill Companies.
Bar AB. (rotation about A)

v B = vB
60
Bar CD. (rotation about D)

vC = vC
Bar BC. Locate its instantaneous center (point I) by noting that velocity directions at two points are known.
Extend lines AB and CD to intersect at I. For the given configuration, point I coincides with D.
Locate point M, the midpoint of bar BC. From geometry, triangle ICM is an equilateral triangle.
IM = AB = CD = 10 in.,
BC =
IB = 10 3 in.
vM
( 7.8)(12) = 9.36 rad/s
=
IM
10
vB = ( IB ) BC = 10 3 ( 9.36 ) = 162.12 in./s
(a)
AB =
162.12
vB
=
= 16.21 rad/s
AB
10
(b)
AB = 16.21 rad/s
BC = 9.36 rad/s
CD = 9.36 rad/s
vC = ( IC ) BC = (10 )( 9.36 ) = 93.6 in./s
(c)
CD =
vC
93.6
=
= 9.36 rad/s
DC
10
= 30,
R = 18 in.,
Geometry.
AB =
v B = vB ,
Pin B :
18
= 20.7846 in.
cos30
a B = aB
= 6 rad/s, = 4 rad/s2
Let rod AC be a rotating frame of reference.
v B = ( AB ) = [ 20.7846
30 ]
30] + 20.7847 2
a B = [ 20.7846
30
Motion of B relative to the frame.

v B/ AC = [u
30] ,
= 6 rad/s
v B = v B + v B/ AC ,
Velocity Analysis.
vB
[ = 20.7846
30
a B/ AC = [u&
30] + [ u
30 ]
: 0 = ( 20.7846 )( 6 ) sin 30 + u cos30

u = 72.000 in./s,
: vB = ( 20.7846 )( 6 ) cos 30 + 72.000sin 30
vB = 144.000 in./s
Coriolis acceleration.
Acceleration analysis.
[ aB
] = [ 20.7846
= [83.1384
= [947.14
v B = 144.0 in./s
2 u = ( 2 )( 6 )( 72.000 ) = 864 in./s2
a B = a B + a B/ AC + [ 2 u
30] + 20.7847 2
30] + [ 748.246
30] + [ 748.246
30] ,
30] + [ u&
30 + [u&
30] + [ u&
30
= 4 rad/s 2
30 + [1728
30 + [864
30 ]
30 ]
30
: 0 = 947.14sin 30 748.246 cos30 + u& cos 30

u& = 1295.51 in./s2
: aB = 947.14 cos30 748.246sin 30 + 1295.51sin 30
= 1094 in./s 2
a B = 1094 in./s 2
Earth makes one revolution ( 2 radians ) in 23.933 h = 86160 s.

=
2
= 72.926 106 rad/s j
86160
u = 600 mi/hr = 880 ft/s
Speed of sled.
Velocity of sled relative to the Earth.

v P/earth = 880 ( sin i + cos j)
ac = 2 v P/earth
ac = ( 2 ) 72.926 106 j 880 ( sin i + cos j)

= 0.12835sin k
At latitude , = 40,
ac = 0.12835sin 40k
= 0.0825k ft/s 2
ac = 0.0825 ft/s 2 west
Coordinates.
x A = ( x A )0 + r , y A = r
xB = 0, yB = r
xC = x A , yC = 0
xP = x A + e sin
yP = r + e cos
( x A )0
Data:
= 24 in.
r = 10 in.
e = 7 in.
AC = AC , BD = BD
Velocity analysis.
v P = v A + v P/ A = [ r AC
v P = [ xP BD
v P/F = [ u cos
] + [e AC
] + ( e cos ) BD
] + [ u sin ]
Use v P = v P + v P/F and resolve into components.

:
( r + e cos ) AC
= ( e cos ) BD + ( cos ) u
( e sin ) AC
= xP BD
( sin ) u
(1)
(2)
(a) = 0.
x A = 24 in.
tan =
xP = 24 in.
e cos
7
=
,
xP
24
AC = 20 rad/s
= 16.26
Substituting into Eqs. (1) and (2),
(10 + 7)( 20) = 7 BD + ( cos16.26) u
(1)
0 = 24 BD (sin16.26) u
(2)
Solving simultaneously,
BD = 3.81 rad/s,
u = 326.4 in./s,
(b) = 90.
BD = 3.81 rad/s
v P/F = 27.2 ft/s
16.26
xP = 24 + (10) + 7 = 46.708 in.

2
=0
Substituting into Eqs. (1) and (2),
(10)( 20) = u
(1)
u = 200 in./s = 16.67 ft/s
( 7)( 20) = 46.708 BD

BD = 2.9973 rad/s,
(2)
BD = 3.00 rad/s
v P/F = 16.67 ft/s
rB/ A = ( 200 mm ) j,
Relative position vectors.
rD/B = (160 mm ) i
rD/E = ( 60 mm ) i (120 mm ) j
AB = ( 4 rad/s ) k
Velocity analysis.
v B = AB rB/ A = ( 4k ) ( 200 j) = ( 800 mm/s ) i

v D/B = BD rD/B = BDk 160i = 160 BD j
v D = DE + rD/E = DE k ( 60i 120 j) = 120 DE i 60 DE j
v D = v B + v D/B
i:
Resolve into components.
120 DE = 800 + 0
DE = 6.6667 rad/s
j: 60 DE = 160 BD + 0
BD = 2.5 rad/s
AB = 0, AB = ( 4 rad/s ) k
a B = AB rB/ A 2ABrB/ A = 0 ( 4 ) ( 200 j) = 3200 mm/s2 j

2
2
a D/B = BD rD/B BD
rB/D = BDk (160i ) ( 2.5 ) (160i )
= 160 BD j 1000 mm/s 2 i

2
2
a D = DE rD/E DE
rD/E = DEk ( 60i 120 j) ( 6.6667 ) ( 60i 120 j)
) (
= 120 DE i 60 DE j + 2666.7 mm/s 2 i + 5333.3 mm/s2 j
a D = a B + a D/B
Resolve into components.
DE = 30.556 rad/s 2
i:
120 DE + 2666.7 = 0 1000
j:
60 DE + 5333.3 = 160 BD + 3200
BD = 24.792 rad/s2
(a )
BD = 24.8 rad/s2
(b)
DE = 30.6 rad/s2
Geometry.
( AD ) = 180 mm
Triangle ABD is equilateral.

AB = 5 rad/s ,
Velocity analysis.
v B = vB
30,
v D = vD
Locate point I, the instantaneous center of bar BD, by drawing IB perpendicular to v B and ID
perpendicular to v D . Point I coincides with A.
vB = (0.18)(5) = 0.9 m/s
BD =
vB
= 5 rad/s
0.18
vD = 0.18 BD = 0.9 m/s
DE =
vD
= 5 rad/s
0.18
AB = 0
Bar AB. (Rotation about A)

2
a B = ( a B )t + ( a B )n = 0 + ( 0.18 ) AB
Bar BD.
60 = 4.5 m/s 2
60
BD
( Plane motion = Translation with B + Rotation about B )
)t (
a D = a B + a D/B + a D/B
)n
= [4.5
60] + [0.18 BD
2
30] + [0.18 BD
= [4.5
60] + [0.18 BD
30] + [4.5
60]
(1)
DE
Bar DE. (Rotation about E)
2
a D = ( a D )t + ( a D ) n = [0.18 DE ] + [0.18 DE
= [0.18 DE ] + [4.5
60]
(2)
Match the expressions (1) and (2) for a D and resolve into components.
:
4.5 = 2.25 + 0.18 BD cos 30 2.25
BD =
:
9
= 57.735 rad/s 2
0.18cos 30
0.18 DE = 3.8971 ( 0.18 )( 57.735) sin 30 3.8971
DE = 57.735sin 30 = 28.868 rad/s 2

(a) Angular acceleration of bar BD.
BD = 57.7 rad/s 2
(b) Angular acceleration of bar DE.
DE = 28.9 rad/s 2
= 10 rad/s
r = 1.5 in.
Velocity analysis.
Point C is the instantaneous center of the wheel.
v A = r = (1.5 )(10 ) = 15 in./s
= 30 rad/s2
Point A moves on a circle of radius .
= R + r = 6 + 1.5 = 7.5 in.

aC = aC
Since the wheel does not slip,
a C = a A + a C/ A
v2
+ A
[ aC ] = ( a A )t
+ [ r
(15 )2
] + 7.5
= ( a A )
t
= ( a A )t
)t + ( aC/ A )n
+ [ 30
+ (1.5 )( 30 )
] + [ 45
: ( a A )t + 45 = 0
Components.
] + r 2
2
+ (1.5 )(10 )
] + [150 ]
( a A )t
aC = 30 + 150
= 45 in./s
aC = 120 in./s
(a) Acceleration of point A.

a A = 45 in./s 2
+ 30 in./s2
= [ 45
] + [30 ] + [r ] + r 2
] + [30 ] + (1.5)( 30 )
= 105 in./s 2
(c) Acceleration of point C.
a A = 54.1 in./s 2
a B = a A + a B/ A
(b) Acceleration of point B.

a B = [ 45
33.7
) t + ( a B/ A ) n
2
+ (1.5 )(10 )
+ 75 in./s 2
aC = aC
a B = 129.0 in./s 2
35.5
aC = 120 in./s 2
Radius of ball: 4.3 in. = 0.35833 ft

At the given instant, the origin is not moving.
v A = rA : 14.4i 14.4j + 10.8k =
0.35833 0.35833
14.4i 14.4 j + 10.8k = 0.35833 zi + 0.35833 z j + 0.35833 x y k

i : 0.35833 z = 14.4
z = 40.186 rad/s
j: 0.35833 z = 14.4
z = 40.186 rad/s
k : 0.35833 x y = 10.8
x y = 30.140 rad/s
i
v D = rD : 28.8i + 21.6k = x
0
0.71667
28.8i + 21.6k = 0.71667 z i + 0.71667 xk

i : 0.71667 z = 28.8
k:
0.71667 x = 21.6
z = 40.186 rad/s
x = 30.140 rad/s
y = x 30.140 = 0
= (30.1 rad/s ) i ( 40.2 rad/s ) k
(a) Angular velocity.

(b) Velocity of point C.
vC = rC = ( 30.140i 40.186k ) 0.35833j

= 14.4i + 10.8k
vC = (14.4 ft/s ) i + (10.8 ft/s) k
Total angular velocity.
= 2 j + 1k
= ( 4 rad/s ) j + ( 5 rad/s ) k
Angular acceleration.
Frame Oxyz is rotating with angular velocity = 1k.
& =
& Oxyz +
=
= 0 + 1k ( 2 j + 1k ) = 1 2i
= ( 5 )( 4 ) i = 20i
= 20.0 rad/s2 i
Geometry.
rA = (120 mm ) i + (180 mm ) k
Method 1
Let the rigid body DCB be a rotating frame of reference.
Its angular velocity is
= 1i + 2k = (1.2 rad/s ) i + (1.5 rad/s ) k.
Its angular acceleration is
= 1i 2k = 1 2 j = 1.8 rad/s2 j.
Motion of the coinciding point A in the frame.

v A = rA = (1.2i + 1.5k ) (120i + 180k )
= 216 j + 180 j = ( 36 mm/s ) j
a A = rA + v A
= ( 1.8j) (120i + 180k ) + (1.2i + 1.5k ) ( 36 j)
) (
= 216k 324i 43.2k + 54i = 270 mm/s 2 i + 172.8 mm/s2 k
Motion of point A relative to the frame.

v A/F = ui = ( 60 mm/s ) i,
Velocity of point A.
a A/F = 0
v A = v A + v A/F
v A = ( 60.0 mm/s ) i ( 36.0 mm/s ) j
2 v A/F
2 v A/F = ( 2 )(1.2i + 1.5k ) 60i = 180 mm/s2 j

a A = a A + a A/F + 2 v A/F
Acceleration of point A.
) (
) (
a A = 270 mm/s 2 i + 180.0 mm/s 2 j + 172.8 mm/s2 k
Method 2
Let frame Dxyz, which at instant shown coincides with DXYZ, rotate with an angular velocity
= 1i = 1.2i rad/s. Then the motion relative to the frame consists of the rotation of body DCB about the z
axis with angular velocity 2k = (1.5 rad/s ) k plus the sliding motion u = ui = ( 60 mm ) i of the rod AB
relative to the body DCB.
Motion of the coinciding point A in the frame.
v A = rA = 1.2i (120i + 180k ) = ( 216 mm/s ) j
a A = v A = 1.2i ( 216 j) = 259.2 mm/s 2 k
Motion of point A relative to the frame.

v A/F = 2k rA + ui = 1.5k (120i + 180k ) + 60i = (180 mm/s ) j + ( 60 mm/s ) i
a A/F = 2k rA + 2k ( 2k rA ) + u&i + 2 2 j ( ui )
= 0 + 1.5k 180 j + 0 + ( 2 )(1.5k ) ( 60i )
) (
= 180 mm/s 2 j 270 mm/s 2 i
Velocity of point A.
v A = v A + v A/F
v A = 216j + 180j + 60i
v A = ( 60 mm/s ) i ( 36 mm/s ) j
2 v A/F
2 v A/F = ( 2 )(1.2i ) (180 j + 60i ) = 432 mm/s 2 k
Acceleration of point A.
a A = a A + a A/F + 2 v A/F
a A = 259.2k + 180 j 270i + 432k
) (
) (
a A = 270 mm/s 2 i + 180.0 mm/s 2 j + 172.8 mm/s2 k
Geometry.
rD = ( 0.36 m )( cos 20i sin 20 j ) + ( 0.180 m ) k
& = 0.
Let frame Oxyz rotate about the Y axis with angular velocity = 1j and angular acceleration
Then, the motion relative to the frame consists of rotation with angular velocity 2 = 2k and angular
acceleration 2 = 0 about the z axis.
(a)
v D = rD = 3j ( 0.36cos 20i 0.36sin 20 j + 0.180k )

= 0.540i 1.08 cos 20k
v D/F = 2 rD = 4k ( 0.36cos 20i 0.36sin 20 j + 0.180k )
= 1.44sin 20i + 1.44cos 20 j)

v D = v D + v D/F = ( 0.540 + 1.44 sin 20 ) i + 1.44 cos 20 j 1.08 cos 20k
v D = (1.033 m/s ) i + (1.353 m/s ) j (1.015 m/s ) k
(b)
a D = v D = 3j ( 0.540i 1.08cos 20k )
= 3.24 cos 20i 1.62k

a D/F = 2 v D/F = 4k (1.44sin 20i + 1.44cos 20 j)
= 5.76 cos 20i + 5.76 sin 20 j

2 v D/F = ( 2 )( 3j ) (1.44 sin 20i + 1.44 cos 20 j) = 8.64 sin 20k
a D = a D + a D/F + 2 v C/ F
= ( 3.24 + 5.76 ) cos 20i + 5.76 sin 20 j (1.62 + 8.64 sin 20 ) k
) (
) (
a D = 8.46 m/s 2 i + 1.970 m/s 2 j 4.58 m/s 2 k

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COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 78.

CA = 3.0 2.5 = 0.5 in.

C lies 0.500 in. to the right of A.

v A = 0.5 = ( 0.5 )( 4 ) = 2 in./s

Cord DE is unwrapped at 12.00 in./s.

Cord BF is unwrapped at 6.00 in./s.

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 82.

Bar AB. (rotation about A)

Bar CD. (rotation about D)

vB = ( IB ) BC = 10 3 ( 9.36 ) = 162.12 in./s

vC = ( IC ) BC = (10 )( 9.36 ) = 93.6 in./s

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 177.

Let rod AC be a rotating frame of reference.

Motion of B relative to the frame.

: 0 = ( 20.7846 )( 6 ) sin 30 + u cos30

2 u = ( 2 )( 6 )( 72.000 ) = 864 in./s2

: 0 = 947.14sin 30 748.246 cos30 + u& cos 30

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 162.

Earth makes one revolution ( 2 radians ) in 23.933 h = 86160 s.

u = 600 mi/hr = 880 ft/s

Velocity of sled relative to the Earth.

ac = ( 2 ) 72.926 106 j 880 ( sin i + cos j)

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 150.

Use v P = v P + v P/F and resolve into components.

COSMOS: Complete Online Solutions Manual Organization System

Substituting into Eqs. (1) and (2),

(10 + 7)( 20) = 7 BD + ( cos16.26) u

xP = 24 + (10) + 7 = 46.708 in.

u = 200 in./s = 16.67 ft/s

( 7)( 20) = 46.708 BD

v P/F = 16.67 ft/s

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 133.

Relative position vectors.

v B = AB rB/ A = ( 4k ) ( 200 j) = ( 800 mm/s ) i

Resolve into components.

a B = AB rB/ A 2ABrB/ A = 0 ( 4 ) ( 200 j) = 3200 mm/s2 j

= 160 BD j 1000 mm/s 2 i

= 120 DE i 60 DE j + 2666.7 mm/s 2 i + 5333.3 mm/s2 j

Resolve into components.

120 DE + 2666.7 = 0 1000

60 DE + 5333.3 = 160 BD + 3200

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 125.

Triangle ABD is equilateral.

vD = 0.18 BD = 0.9 m/s

Bar AB. (Rotation about A)

Bar DE. (Rotation about E)

COSMOS: Complete Online Solutions Manual Organization System

4.5 = 2.25 + 0.18 BD cos 30 2.25

0.18 DE = 3.8971 ( 0.18 )( 57.735) sin 30 3.8971

DE = 57.735sin 30 = 28.868 rad/s 2

(b) Angular acceleration of bar DE.

COSMOS: Complete Online Solutions Manual Organization System

Chapter 15, Solution 111.

v A = r = (1.5 )(10 ) = 15 in./s

Point A moves on a circle of radius .

= R + r = 6 + 1.5 = 7.5 in.