Dynamic Exercises

Faculty of Physical and Formal
Sciences and Engineering. P. 1 / 55

Catholic University of Program. Professional in Dynamics Laboratory
Mechanical Engineering,
Santa Maria Electrical Mechanics and Guide DATE
Mechatronics. 07/12/2015
MSc. Eng.
teacher Fernando D. Siles
Issue Plane Motion of Rigid Bodies Nates
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Surnames CALLO ZEGARRA JUAN WASHINGTON CODE N° 2014242401
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TICONA CHAMBI SAMUEL
DIAZ LAZO MICHAEL
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PRACTICE N° 11 GP. No. 8
SOLVE THE FOLLOWING EXERCISES:
Problem No. 1
The bent bar OAB rotates around the vertical axis OB. At the
instant considered, its angular velocity and acceleration are,
respectively, 20 rad/s and 200 rad/s 2 , both clockwise when
viewed from the positive Y axis. Collar D moves along the
bar, and at the instant considered, OD =8 in. The velocity
and acceleration of the collar relative to the bar are,
respectively, 50 in/s and 600 in/s 2 , both upward. Determine
a) the velocity of the collar, b) the acceleration of the collar.
r =8 ( sen 30+ cos 30 )=4 i+6.93 j
Vd
V 0=Vb+
b
(
Vb=Ωnr= −2 b
rad
s )
∗( ( 4 i+6.93 j ) ) =80
Vd=¿
Vd=¿
ad
ad =ad ‘ + + ac
x
ad =Ω∗r + Ω∗( Ω∗r ) =(−200 ) j∗( 4+ 6.93 j )−20 j∗801=800 k−1600
ad =−1300i+520 j+1800 k
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Problem No. 2
The bent bar shown rotates at a constant rate =

3 rad/s. Knowing that collar C is moving toward
point D at a constant relative speed u=34 in/s,
determine for the position shown the velocity and
acceleration of C if a) x =5 in., b) x = 15in.
V0=3 rad/s
D1=0
U=34m/s
U=0
Vc=
Ω∗rc
d ( 3 i) (
− 5 i+
16
3j )
=−16∈¿ s
Vc
j
=ud−34 (
15 i−8 j
12
=30i−16 j)
Ω∗rc
Vc ´ = =31∗I
d
Vc=Vc ´ +Cci 7=−16 k +30 i−16 j
Vc 30 i−16 j−16 k
ac =0 Ω=0
Ω∗rc
ac = +Ω∗Vc=0+0
a
ac 15≠ 5 igualaronla parte a
ac
ac=ac + +ac=0+0+ac
g
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ac =0
ac=16 ∈¿ s
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Problem No. 3
The circular plate shown in the figure rotates around its

vertical diameter at a constant rate ω1= 10 rad/s. Knowing
that in the position shown the disk lies in the XY plane and
that point D of element CD moves upward at a constant
relative speed u = 1.5 m/s, determine a) the velocity of D, b) D acceleration.
v 0=10∈¿ s
u=1.0 m/s
velocidad vd=vu+ vd /u
vd= ( 1.5s m ) i+(10 k )(0.50 cos 30 i+0.2 sen 30 j)

( √23 + √2)10
❑
❑
vd=1.0 m/s
vd=3.8 m/s
a0 2
aceleracion a 0=ac+ =w + αr
c
a 0=0+20+ 0
2
a 0=20 m/s
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Problem No. 4
A disc of 180 mm radius rotates at the constant rate

ω2=12 rad/s, with respect to the arm CD, which in turn
rotates at the constant rate ω1=8 rad/s around the Y
axis. Determine at the instant shown the velocity and
acceleration of point A on the edge of the disk.
ra
=( 0.15 m ) i+ 0.18 j−0.36 k
b
ra
=0.18 j
c
v 0=Ω∗rab
¿ 8(0.1i+0.18 j−0.36 k )
¿−2.88 i−1.2 k
aA=Ω∗vA
¿ 8 i(−2.88 j−1.2 k)
¿−9.6 i+23.0 j
Problem No. 5
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The vertical plate shown is welded to the EFG arm and the complete unit rotates at
the constant speed ω1=1.6 rad/s around the Y axis. At the same time, a continuous
linked belt moves around the perimeter of the plate at a constant speed u = 4.5
in./s. For the position shown, determine the acceleration of the belt link located a) at
point A and b) at point B.
ra
=−5 i+19 j
c
Ω∗ra
Va= =1.6 j∗( 5 i+19 j )=8∈ ¿ k ¿
b s
a
v =4.6∈k
r
va
va=va+ =8 k +¿
r
3
−U
aA=Ω∗va=12.8∈ ¿ j aA= =−6.25 j ac=2 Ω∗u=14.4 ¿
s r
(
aA=aA + aa+ac= 27.2 ¿2 i+ ¿
s )
Problem No. 6
Two discs, each 130 mm radius, are welded to

the 500 mm CD bar. The bar and disc unit
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rotates at the constant rate ω2=3 rad/s with respect to arm AB. Knowing that at the
instant shown ω2 = 4 rad/s, determine the velocity and acceleration of a) point E, b)
point F.
3 rad 1.7 m
Va=Ω∗R a /Ω= (0.25 j)=( )k
s s
Va/b=(4 rad /s)(0.5 i)=(2m/ s) j
Ve
Ve=Vd+ Vf =Vb+Vf ∗d
d
Ve= ( 1.7s m k)+( 4 rads )( 0.13 ) Vg= 1.7s m +4 rad /s (0.13)

1.7 m 2.35 m
Ve= k +0.65 jVg=1.7 j+0.65 j= j
s s
Problem No. 7
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The 24-in. in length is connected by ball joints to the rotating arm AB and the collar
C that slides on the fixed bar DE. Knowing that the length of arm AB is 4 in. and
which rotates at the constant rate ω1=10 rad/sec, determine the speed of collar C
when
Vb=w 1 k∗r b /a
¿ 10 k∗(−4 i)
¿−40 j
Vc=Vck
Vc=Vb+Vc /b
Vc
=wbc∗r b /c
b
( 8 i−16 j+16 k ) ( vck )=8 i−16 j+16 k ¿ (−40)
Vc=40∈ ¿ k ¿
s
Problem No. 8
The rod AB with a length of 125 mm is attached

to a vertical bar that rotates around the axis and
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at a constant speed ω1 =5 rad/s. If the angle formed by the rod AB and the vertical
increases at the constant speed dβ/dt = 3 rad/s, determine the velocity and
acceleration of the end B of the rod when β= 30°.
b
r =0.0625 i−(6.10826) j
a
b 5 rad
Vb=Ω∗r = ∗( 0.0625 ) =−0.3125 k
a s
b b
a
m
s ( m
r =w∗r = 0.1825 j +(0.32 i)
a s )
b '
v =V b +Vbj
a
0.3125 k =+0.1025 j+0.3246 j

'
ab=Ω∗v b =5 j ( 0.3135 ) k
ab=−( 105625 ) i
ab=ab +a b /c+ ac
2
¿ (−2.13 i+0.074 j−3.25 k ) m/s
Problem No. 9
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The fixed pin b on the crank AB slides freely along the slot in the CDE element.
If AB rotates with the motion shown, determine the angular velocity of CDE at
the instant shown.
Vb=Ωab∗( 0.3 m )=3 m/s
Vb=Wcos ( 0.3 )=0. . wcdr
3 m/s
=0.3 Wcd / sen 45
sen 90
wcde=5 ❑√ 2 rad / s
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Problem No. 10
The pin B fixed on the gear slides freely along the groove of the link Ab. If the center
O of the gear moves with the indicated velocity and acceleration, determine the
angular velocity and acceleration of the link at this instant.
v0 3
w= = =20 rad /s
120 0.15
vb=6 m/s
b 2
ab=ad + α∗r −w ∗r b /d
d
ab 1−( ab ) n=3i−60 j
vb= (6 sen 30 i−6 cos 30 j )=( 3 i−5.196 j ) m/s

2
ab=(−50.46 i−32.6 j ) m/ s
Problem No. 11
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The gin mechanism is used in a packing system to convert constant angular
motion into intermittent angular motion. Star wheel A makes one-sixth of a
revolution for each full revolution of drive wheel B and accompanying guide C.
To do this, bolt P, which is fixed at B, slides into one of the radial slots of A, so
wheel A rotates and then leaves the slot. If B has a constant angular velocity of
Wb=4rad/s. Determine Wa and αA of wheel A at the instant shown.
4 rad /s
vob= =9 rad / s
5.235
2
ab=ab+ αrd /b−w rb /d
aa−ab=6 j+10 i−4 k
va=vb+ va/b
va=6 j+ 10i−4 k +4 k (0.4)(sen 30+ cos 30)
va=8.4 j+3.7 i+4 k
aa−ab=aa /d
aa=0+ 42 ( 0.33 ) +0
2
aa=35 m/s
Problem No. 12
A slider b slides along a guide made in a 500mm diameter disc that rotates
around a vertical axis. At the instant
represented.W=3rad/s. w=8rad/
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2 250 mm −50 mm
s . s=200 mm , s= y s= . Determine the velocity Vb and the
s s
2
acceleration ab of the cursor at that instant.
w=3 rad / s
w=8 rad /s
s=200 mm
s=250 mm
2
s=−50 m/s
vb=va+ w
vb=
250 mm
s
i+ 2
(
8 rad
s ( 0.2 )
j
)
0.25 m 4 m
vb= i+ j
S s
2
ab=ad + w +αr
ab=0.25+6.4 (0.2)
2
ab=12.5 m/s
Problem No. 13
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A bead B slides
through a ring that
rotates around
the y-axis. At the
instant
represented. The ring of 50 cm diameter is in the yz plane yw=8rad/s, w=12 rad/

2
s ,ϕ=30 and ϕ=10rad/s=constant. Determine the velocity Vb and the
acceleration ab of the bead at that instant.
w=8 rad /¿ yes w=12 rad /s 2 ϕ=30 ϕ=10 rad /s Escriba aquí la ecuación. Vb=Va+ wr
Vb=0+8 rad / s Vb 8 ri ab=w 2 r + αr ab=¿
Problem No. 14
The shuttle C in the figure oscillates in both

directions due to the rotation of the 0.50m
diameter wheel d. If said wheel rotates with
a constant angular velocity equal to 30
rpm, determine the velocity Vc and the
acceleration a of the shuttle at the instant
represented, at which member AB is
horizontal.
Va Vd
=
sen 37 sen 53
Vc=Vdtg 53
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Vd=1.18 m/s
2
aB=ab+ w +αr
2
aB=5.0 m/s
Problem No. 15
The thin plate ABCD of mass 8 kg is held in

the indicated position by the wire BH and
two links AE and DF. Ignoring the mass of
the links, determine a) the acceleration of
the plate, b) the force of each link
immediately after the wire BH is cut.
Escriba aquí la ecuación.

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Problem No. 16
A uniform rod BC weighing 8 lb is

connected to a collar A by a 10-in. chord
AB. Neglecting the masses of the collar
and rope, determine (a) the minimum
constant acceleration for which the rope
and rod will be in a straight line, (b) the
corresponding tension in the rope.
2 fcos 20−mgsen 20
f =22.66 n
❑ ❑
∑
❑
MA =∑ MA
❑
8
8= atg 67.38
32.2
a=13.42
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Ra+matg 67.38=w
8
Ra= ∗( 13.42 ) ( 2.4 )∗8
32
Ra=0.002 n
tcos 67.38=ina
Ra+tsen 67.38 w=0
Ra+tsen 67.28=w
8
tcos 67.38= ∗(13.42)
32.2
t=8.67 n
Problem No. 17
The support bracket shown is used to transport a

cylindrical can from one elevation to another. If µs
= 0.25 between the can and the bracket,
determine (a) the magnitude of the upward
acceleration a for which the can will slide on the
bracket and (b) the smallest ratio h/d for which the
can will tip over before sliding. .
❑ ❑
∑ fx=∑ fx ' macos 30=a ( 0.75 ) N
❑ ❑
Efy=fx N −mg=masen 30
macos 30−mg=mase n30

2
a=1.5 m/s
❑ ❑
∑
❑
Ma=∑ Ma
❑
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d h d
mg = + ma sen 30
s gmCOA 30 2
d h
= h=2.6
2 ( 0.5 ) 2 ( 1.3 )
Problem No. 18
A fully filled barrel and its contents have

a combined weight of 200 lbs. A cylinder
C is connected to the barrel at a height h
= 22 in. as the picture shows. If µs =0.40
and µk = 0.35, determine the maximum
weight of C so that the barrel does not
tip over.

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Problem No. 19
A uniform rectangular plate has a mass of 5 kg

and is held in position by three ropes, as
shown in the figure. Knowing that θ= 30°,
determine, immediately after cutting the rope
CF, a) the acceleration of the plate, b) the
tension in the ropes AD and BE.
❑ ❑
∑ fy=∑ fy
❑ ❑
( f 2+ f 1 ) coa 30−mg=−masen 30
2
ma cos 30−mg=−masen 30
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a ( sen130 )=g
a=4.905 m/ s
eftg 30=5(4.905)
f =21024 N
Problem No. 20
The 15 lb bar BC connects a disc

centered at A to the crank CD. Knowing
that the disc was made to rotate at a
constant speed of 180 rpm, determine, for the position shown, the vertical
components of the forces exerted by the pins at B and C on the bar BC.
❑
∑
❑
fy=15 fcocos 30
❑
∑
❑
Mb=15 ( 15 )=fco sen 30∗30
15 N=fco
0.13 N=fy
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15
Efx= ∗(81.62)
32.2
fx=38.02
2r
ab=−w
ab=18.85(0.66)
2
ab=94.25 ft /t
ag=ab +ab /g
ab
=ag /sen 60
sen 90
2
ag=81.62 ft /s
Problem No.21
Three bars, each weighing 8 lb, are welded together

and connected by pins to the two links BE and CF.
Neglecting the weight of the links, determine the force
in each link immediately after the system is released
from rest.
❑ ❑
∑ fy=∑ fy
❑ ❑
24−2 fsen 50=masen 40

❑ ❑
∑
❑
fx=∑ f
❑
2 Fcos 330=macos 40
2 f =macos 40 cos 30
24−mbcos 40 sen 50/cos 50=masen 40
2
a=20.7∈¿ s
F=7.7 N
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Problem No. 22
At the instant shown, the

angular velocity of links BE and
CF is 6 rad/s counterclockwise
and is decreasing at a rate of
12 rad/s 2 . If the length of each
link is 300 mm and the weight
of the links is neglected,
determine a) the force P and b)
the corresponding force in
each link. The weight of the AD
rod is 6 kg.
2
a=a+ αr+ w r
a=12 ( 0.3 ) +6( 0.3)

2
a=14.4 m/ s
❑
∑
❑
fx=¿ 2 fsen30+ p=macos 30
p=65.8 N
❑
∑
❑
fy=mg−2 fcos30=masen 30
f =4 N
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Problem No. 23
The 180 mm radius disc is at rest when it comes into

contact with a belt moving at constant speed.
Neglecting the weight of link AB and knowing that the
coefficient of kinetic friction between the disc and the
belt is 0.40, determine the angular acceleration of the disc while sliding occurs .
❑
∑
❑
fy=ff =mg
❑
∑
❑
mg=Iα−f (0.8)
1 2
∗mr α =mg(0.18)
2
0.18 α=9.81 (2)

2
α =3.5 rad / s
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Problem No.24
The brake drum, 150mm radius, is attached to a larger

steering wheel not shown. The moment of inertia of the
total mass of the drum and the flywheel is 75 kg.m 2 . A
belt brake is used to control the movement of the system
and the coefficient of kinetic friction between the belt and
the drum is 0.25. If force P of 100 N is applied when the
initial angular velocity of the system is 240 rpm
clockwise, determine the time required for the system to
stop. Show that the same result is obtained if the initial
angular velocity of the system is 240 rpm
counterclockwise.
❑
∑
❑
fy 400+ y=my
❑
∑
❑
fx N=0
❑
∑
❑
Mg=400 ( 0.15 )=Iα
400 ( 0.15 )=75 α
8 rad
0. 2
=α
s
240= ( 260π )=0.8 t−−−→ t=31.1 s

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Problem No.25
The brake drum, 8 in. radio, is attached to a larger steering

wheel not shown. The total mass moment of inertia of the
drum and flywheel is 14 lb .ft .s 2 and the coefficient of kinetic
friction between the drum and brake shoe is 0.35. If the
angular velocity of the steering wheel is 360 rpm
counterclockwise when a force P of magnitude 75 lb is applied to pedal C, determine the
number of revolutions made by the steering wheel before stopping.
❑
∑
❑
Mg
0.35 ( 67.5 ) ( 0.66 )=Iα
1.1rad
2
=α
s
2
360 =2 ( 1.1 ) o
o=163.6 rev
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Problem No.26
A band of negligible mass passes between cylinders A and B and is

pulled to the right with a force P. Cylinders A and B weigh,
respectively, 5 and 20 lb. The shaft of cylinder A can slide freely in a vertical groove and the
coefficients of friction between the belt and each of the cylinders are µs = 0.50 and µk =
0.40. For P=3.6 lb, determine a) if slip occurs between the belt and any cylinder, b) the
angular acceleration of each cylinder.
1
∗5
2
∗1
1.6
1
3()
=
32.2
9
∗α
2
α =61.8 rad /s
1.6 ( 13 )=1/2( α5 )( 19 )α
2
α =61.8 rad /s
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Problem No.27
Disc B has an angular velocity ω0 when it

comes into contact with disc A, which is at
rest. Show that a) the final angular velocities
of the disks are independent of the friction
coefficients µk between the disks whenever µk 0, b) that the final angular
velocity of disk B depends only on ω0 and the ratio of the masses m A and m B
of the two discs.
❑ ❑
∑ MA =∑ Ma
❑ ❑
Fr=Iaαα
αa=2 P/ MaRa
❑ ❑
∑
❑
Mb=∑ Mb
❑
Frb=Ibαb
αb=2 p/ MbRb
Wb−2 Pah
Wb−αbt =
MbRb
WaRa=WbRb
T =¿
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Problem No.28
The 20 lb joint AB is connected with a pin to a

movable frame at A and held in a vertical
position by the spring BC, which can withstand
a maximum tension of 10 lb. Determine the
maximum acceleration of the frame without the spring breaking. What are the
corresponding components of the reaction at pin A?
❑
∑
❑
Ma →10 cos 53 ( 7 )=ma(3.5)
2
a=19.38 ft /s
❑
∑
❑
fy → fy=10 sen 53 fy=8 N
❑
∑
❑
fx →10 cos 53→ fx=6 N
6 N =fx
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Problem No.29
At the instant shown, Joint CD rotates with an

angular velocity of w=6rad/s. sis is subjected to
a torque moment M=450N*m, determine the
force developed at joint AB, the horizontal and
vertical components of the reaction at bolt D.
and the angular acceleration of link CD at this
instant. The mass of the block is 50kg and its center of mass is at G. Ignore the
mass of joints AB and CD
❑
∑
❑
fx Bx=Dx
❑
∑
❑
fx → Bx=Dx
❑
∑
❑
fy → 450+mg ( 0.1 ) + Bx ( 0.8 ) =0.5 ma
4500+ MG+8 Bx=ma Escriba aquí la ecuación.
Bx=488 .8 N
Dx=488.8 N

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Problem No.30
The 4Mg container contains nuclear waste material

embedded in concrete. If the mass of the clamping beam
BD is 50 kg, determine the maximum vertical acceleration a
of the system so that each of the couplers AB and CD is not
subjected to a force of more than 30 kN and the couplers
EF and GH a a force of more than 34kN
❑
∑
❑
fy → 4050∗9.81 →60000 N +68000 cos 30=ma
18 m
−1583. 2
=a
s
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Problem No.31
The forklift has a mass of 70kg and a center of mass at

G. Determine the maximum upward acceleration of the
120kg reel so that the reaction on the wheels is no
more than 600N.
❑ ❑
∑
❑
fy=∑ fye
❑
2 ( 600 )−190 ( 9.81 )=ma
663.9=a 70/32.2
−305.4 m
2
=a
s
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Problem No.32
The 50kg packaging rests on the platform whose

coefficient of static friction is Us=0.5. If the support
arms have an angular velocity of w=1rad/s.
Determine the maximum angular acceleration α that they can have without the
packaging turning over or slipping at the instant ϕ=30
❑
∑
❑
fx → 2 fcos 60=macos 30
❑
∑
❑
fy → 2 fsen60+ mg=masen 30
−2 fsen 60+mg=2 fcos 60 cos 60/cos 30
mg=2 f /cos 30
212.4 N =F
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Problem No. 33
A uniform plate weighs 50lb. Arm AB is subjected to a

torque M=10lb*ft and has a clockwise angular velocity
of 2rad/s when ϕ=30.Determine the force developed
in arm CD and the tangential component of the
acceleration of the center of mass of the plate at this
instant. Ignore the mass of arms AB and CD
❑ ❑ ❑ ❑
∑
❑
fx=∑ x → ∑ fy=∑ fy
❑ ❑ ❑
cx =masen30 →−cy +65=macos 30
−50 lb ( 0.5 )=−macos 3 ( 0.5 ) + masen30
−50 lb ( 0.5 )=ma(sen 30−cos 30 ( 0.5 ) )
−50 ( 0.5 ) =0.07 ma
−357.14=am
230=a
50
Cx= sen 30∗230
32.2
Cx=178.57 N
30
Cy+ 65= (230)cos 30
32.2
cy =244.3 N
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Problem No.34
If the hydraulic cylinder BE exerts a vertical force f=1.5Kn

on the platform, determine the force developed in the
arms AB and Cd at the instant ϕ=90. The platform is at
rest when ϕ=45. Ignore the mass of the arms and
platform. The 200kg packaging does not slip on the
platform.
❑ ❑ ❑ ❑
∑
❑
fx=∑ fx
❑
∑
❑
fy=∑ fy
❑
2 fcos 45=macos 452 fcos 45∗1500=macos 45
−2 fcos 445∗1500=2 fcos 45
f =530.3 N
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Problem No.35
Two uniform bars, ABC with mass 3 kg and DCE with mass
4 kg, are connected by a pin at C and by two ropes BD and
BE. The T-shaped assembly rotates in a vertical plane under
the combined effect of gravity and a torque M applied to bar ABC. If at the instant
shown the tension in the rope BD is 8 N, determine a) the angular acceleration of
the assembly, b) the torque M.
❑
∑
❑
mb→ 0.3 M =ma
❑
∑
❑
Ma → M ±0.3 ma
M =0.9 /m
M =30 N∗m
9=4∗a
2.25 m
2
=a
s
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Problem No. 36
A 1.5 kg light bar is welded to a 5 kg uniform

disc in the shape shown. The assembly
oscillates freely around C in a vertical plane.
If in the indicated position the assembly has
an angular velocity of 10 rad/s in a clockwise
direction, determine a) the angular
acceleration of the assembly, b) the
components of the reaction at C.
❑ ❑
∑
❑
fx=∑ fx → Cx=0
❑
❑ ❑
∑
❑
fy=∑ fy →mg+2.5=Cy
❑
Cyy=57.5
EMc
1 2
7.5= mr α
2
3
α = .008
0
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Problem No. 37
The 30kg uniform slender bar is pulled by the rope

passing over the small smooth peg A. If the bar has
an angular velocity of w=6rad/s at the instant shown,
determine the tangential and normal components of
the reaction at bolt O and the angular acceleration of the bar.
❑
300∗8
∑
❑
fy →
5
−mg=ma
2
a=6 m/s
2
a=21.6 m/s
300 ( 75 )( 0.15 )=Iα

2
18 ( 105 )=1 /2(30)(0.6) α
2
α =43.3 rad /s
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Problem No. 38
A forklift contains three packages, as indicated in

the figure. The mass of the forklift box is 750kg and
the masses of packages A, B and C are,
respectively, 300kg, 200kg and 100k. During a
short interval of time the forklift experiences an
upward acceleration of 8m/ s2 .During this interval,
determine:
a) The tension of the forklift cable.

b) The force that the floor of the forklift exerts on A.
c) The force that B exerts on C.
2 t+3500=ma
2 t=750 ( 8 ) +13500
2 t=4600+13500+ 2t=18100
t=9050 N
Problem No.39
The arc tube has a mass of 80kg and rests

on the surface of the platform for which the
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coefficient of static friction is u=0.3. Determine the maximum possible angular
acceleration α of the platform, starting from rest when ϕ=45. Without the tube
slipping on the platform
❑ ❑
∑
❑
fx=∑ fx → 2 fcosϕ=macosϕ
❑
❑ ❑
∑
❑
fy=∑ fy →2 fcosϕ−80=macosϕ
❑
20 ❑√2=ma
a=
√ 2 m/ s2
❑
2 fcosϕ−80=−2 fcosϕ
4 fcosϕ=80
f =10 √ 2
Problem No.40
In figure (a), the crank AB of the quick return

mechanism rotates with constant angular velocity v = 6 rad/s in the positive
direction. When the mechanism is in the position shown, calculate the velocity and
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acceleration of slider B relative to arm DE, and the angular velocity and acceleration
of the latter. AB
Vb=Wr
Vb=6∗10
Vb=60 ft / s
2
a=w r
2
a=300 ft /s
a=360 m/s
360=αr
α =36 rad /s
w=31.46
Problem No.41
In the position shown, the slotted plate rotates relative to bolt

A with angular velocity of v = 3 rad/s (positive direction) and angular acceleration of
a = 6 rad/s 2 (negative direction). The slider P moves along the slot with a constant
speed of 36 in/s relative to the plate, in the direction indicated. Calculate the velocity
and acceleration vectors of P at this instant.
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2
ap=aa+ w +αr
2
ap=a ( 15 ) +6 (15)
ap=87 (15)
2
ap=1305 ft /s
Vp=va+Wr
3 ft
Vp= +3(15)
s
vp=48 ft /s
Problem No.42
The collar P slides over the semicircular guide rod. A bolt attached to the collar
holds the slot in the rotating arm AB. When θ =45° , the angular velocity and
acceleration of AB are v =4 rad/s and a
v Mechatronics. 07/12/2015
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= 12 rad/s 2 , both in the positive direction. Determine the speed and acceleration
vector of collar P at this instant.
2
ap=ab+ w + αr
ap=¿
2
ap=6 a m/ s
Vp=Va+ wr
5m
vp= + 4(1.25)
s
vp=10 m/ s
Problem No.43
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Bolt P, attached to sliding rod PD, maintains a groove in the rotating arm AB. PD
rod slides to the left with constant speed
of 1.2 m/s. Determine the angular velocity and acceleration of AB when θ= 60°
1.2 vf
=
sen 30 sen 90
Vp=1.2 sen 30
Vp=0.6 m/s
2
ap=ab+ αr+ w r
2
ap=( 1.2rad /s )(0.2)
2
ap=0.28 m/s
Problem No.44
Shown in the figure is a mechanism, called a Geneva

stop, that converts the constant angular velocity of disc A
into a “stop-and-go” motion of slotted disc B. In the
position shown, bolt P, which is attached to disc A has just
entered the slot in disc B. Calculate the angular
acceleration of B for this position. (Note that its angular velocity is zero at this
instant.)
Ra
=2 r
b
❑
∑
❑
2
ma→ F∗R=1/2 M R α
MG 1
= ∗RI M
cos 60 2
2y
I= =α
Rcosα
Fcos 60=mo
f =mg/cos 60
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Problem No.45
Bar AB rotates with a constant angular velocity of

72 rad/s in a negative direction. When the mechanism is in the position shown,
determine the angular velocity of plate BCD and the magnitude of the velocity of
vertex D.
Vd=Vb=WK (0.6)
Vdcos 35 i+ Vdsen 35 j=Vbcos 35 i−Vbsen 35 j+W (0.6)
Vdcos 35=Vbcos 35 →Vp=Vb
Vdsen 35=Vbsen 35+ 0.6 w
0=w
72 rad 36 m
Vb= = =V 0
s ( 0.5 ) S
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Problem No.46
Bolt F, which is attached to rod AF, is held in

a slot in rod BD of the parallelogram-shaped
connection ABDE. The bar AB of said
connection has a constant angular velocity of
15 rad/s in the positive direction. For the
position shown, determine the angular
acceleration of rod AF and the acceleration of
bolt F relative to rod BD.
2
af =aa+ αr+ w r
5
af =15( )
3
2
af =25 m/s
2 2
aa=af + α r +w r
25 m
s
2
=15 2
5
3 ()
+ αr
5
−50=α ( )
3
2
α =−30 rad /s
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Problem No.47
The slender curved bar OC rotates about O. At the

instant shown, OC's angular velocity is 2 rad/s and its
angular acceleration is zero. Find the angular
acceleration of bar AB at this instant.
w 10
=82/sen 60
sen 90
w 10=82/ sen 60
w=8.31 rad / s
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Problem No.48
Obtain the greatest force P that would accelerate the

uniform 20-lb bar AB to the right without causing the roller
at B to lift off the guide rail. Neglect the masses of the
rollers.
❑ ❑
∑
❑
fx=∑ fx → p=ma
❑
❑ ❑
∑
❑
fy=∑ fy
❑
Ra=Rg+ oj
❑ ❑
∑ Ma=∑ Ma
❑ ❑
P 2 sen 60+ w 4 sen 60=mpp 4 sen 60
2 psen 60+4 wsen 60= p 4 sen 60
p=40 lb
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Problem No.49
The 80-lb uniform bar AB is attached to the 110-lb

barrow C by a bolt at A and a horizontal rope at B. If the
force in the rope is 50 lb, determine the horizontal force
P acting on the wheelbarrow.
❑ ❑
∑
❑
fx=∑ fx
❑
p∗50=ma
p=90 N
❑
∑
❑
Mz → 2 sen 50 ( 80 ) =ma
74.4 m
=a
s
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Problem No.50
The 40-lb homogeneous panel, bolted to frictionless

roller A and a slight sliding collar B, is subjected to
the 15-lb horizontal force. Determine the
acceleration of the panel and the reaction on the
roller at A, given that the velocity of the panel is 3.6 ft/s to the left. Neglect friction.
❑ ❑
∑
❑
fx=∑ fx
❑
1516=ma
15=40 a /32.2
2
a=20.125 m/s
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Problem No.51
The 20-kg platform B carrying a 40-kg homogeneous box A

rolls freely down the inclined plane. The static and kinetic
coefficients of friction between A and B are 0.4 and 0.35,
respectively. (a) Show that the box will slide on the platform,
assuming that its dimensions are those required so that it
does not tip over. (b) Find the smallest ratio b/h so that the
box does not tip over.
mg=40=ma
g+2=a
12m
2
=a
s
❑
6 ma∗b h
∑
❑
mf → ∗mg=
2 2
∗cos 65∗ma ∗sen 65
2
6 12∗h
∗2=m ∗sen 65
2 2
6
=18
h
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Problem No.52
An 80 lb box is transported on a platform that is

attached to two parallel arms. The arms are
operated with a constant angular velocity of 2 rad/s
in the positive direction. Determine the normal and
friction forces exerted on the box by the platform
when the system is in the position shown. Assume
that the box does not slide relative to the platform
2 fcos 30=masen30
80
2 fcos 30= ∗20 sen 30
32.2
800
c= ∗tg 30
32.2
2
a=w r
a=20 m/s
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Problem No.53
The 2 kg vertical bar AB is attached to the 3 kg cart by a bolt at A and the rope
BC. Obtain the tension in the rope immediately after the assembly is released
from rest in the position shown.
tcos 54=macos 54
❑ ❑
∑
❑
FY =∑ FY
❑
300=3 a
a=100
tse 54+ 6 g=, acps 3
tcos 37=tsen66
t
=6 g
s
t=300 N
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Problem No.54
A 125 kg refrigerator is lowered to the ground by platform

C, which is controlled by the connection shown as a
parallelogram. The edges of the platform prevent the
refrigerator from rolling on its rollers at A and B. Prove that
the refrigerator will not tip over when θ = 0, ω=1.2 rad/s
and a = 1.6 rad/s . (Hint: Assume the refrigerator does not
tip over and find the reactions in A and B.)
a=¿
a=6.08 m/s
2 fcos 60=ma
f =ma/2 cos 60
f =760
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Problem No.55
To determine the inertial properties of the connecting

rod AB, it is hung from two wires, one of which will be
cut at the end. Load cells are used to measure the
force in each wire. When the rod hangs in the position
shown, the forces measured in the wires are 6.80 lb at
A and 5.20 lb at B. Immediately after cutting the wire
at B, the force on the wire at A is reduced to 3.6 lb.
Obtain: (a) the distance d that locates the center of
mass G and (b) the radius of gyration of the
connecting rod with respect to G.
H 0 cosϕ=12 /8
cosϕ=3/8
ϕ=22.
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Problem No.56
Bolt B attached to the end of the 8oz smooth

crank AB slides into a vertical slot in the 12oz
slider CD. A constant angular speed of 2000
rev/min is maintained, in the positive direction, by the torque C. Determine C as
a function of the crank angle u and use this expression to show that
gravitational forces are negligible compared to inertial forces. Neglect friction

Dynamic Exercises

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Faculty of Physical and Formal

Sciences and Engineering. P. 1 / 55

SOLVE THE FOLLOWING EXERCISES:

r =8 ( sen 30+ cos 30 )=4 i+6.93 j

ad =Ω∗r + Ω∗( Ω∗r ) =(−200 ) j∗( 4+ 6.93 j )−20 j∗801=800 k−1600

The bent bar shown rotates at a constant rate =

Vc=Vc ´ +Cci 7=−16 k +30 i−16 j

ac 15≠ 5 igualaronla parte a

The circular plate shown in the figure rotates around its

vd= ( 1.5s m ) i+(10 k )(0.50 cos 30 i+0.2 sen 30 j)

A disc of 180 mm radius rotates at the constant rate

Two discs, each 130 mm radius, are welded to

Va/b=(4 rad /s)(0.5 i)=(2m/ s) j

Ve= ( 1.7s m k)+( 4 rads )( 0.13 ) Vg= 1.7s m +4 rad /s (0.13)

( 8 i−16 j+16 k ) ( vck )=8 i−16 j+16 k ¿ (−40)

The rod AB with a length of 125 mm is attached

0.3125 k =+0.1025 j+0.3246 j

Vb=Ωab∗( 0.3 m )=3 m/s

Vb=Wcos ( 0.3 )=0. . wcdr

vb= (6 sen 30 i−6 cos 30 j )=( 3 i−5.196 j ) m/s

aa−ab=6 j+10 i−4 k

va=6 j+ 10i−4 k +4 k (0.4)(sen 30+ cos 30)

va=8.4 j+3.7 i+4 k

acceleration ab of the cursor at that instant.

represented. The ring of 50 cm diameter is in the yz plane yw=8rad/s, w=12 rad/

The shuttle C in the figure oscillates in both

The thin plate ABCD of mass 8 kg is held in

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A uniform rod BC weighing 8 lb is

Ra+tsen 67.38 w=0

The support bracket shown is used to transport a

macos 30−mg=mase n30

A fully filled barrel and its contents have

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