6 PLANE KINEMATICS OF RIGID

BODIES

6// I cc =- Z.O/bO :::: 'l'3 r"<!V /..5 2 con5f.

(.02- \;: ) 2 2-
(/6'00/60 = /36-0 rev
u/'=2cX&)' A./=6l= 20<.. ::: ~ = j(IZ-3ta)dt- :::[12t--t3 J 2= 16n:tct' (Cv)
2(1/3)
o 0
3 _ 3
() -=J(12 -3t~dt = I!U - i3] 7 raa' (aw)
6 / I
2 a=C1.=~ '7,."
17r)
(V)
'rA
2
=-
J
-f (V)l
48
l
2
2
z: -

1J'JC -ivfClI nt-f~6t",.. o/Iuo.,.> /..$

r =L =. 3 IrJ.
4/3 N = (I b T 7) /2. rr ::' 3. b(, rev

I &=2t~1-3i212J .._- _..-_.-_.-.-_.-------------1

---~-,
..,
6/3 w=e= 667.1-6t
2. t
2.
~----- ..... fan e ::::
re( = 0( ._ o. (;
W s: I 2
~. /2'= "t .;.6 -C, t:.;. - 2. = 0

rQ'-,t,.
ft/h~1? raa/S, '" / -r r: reo 1. eo 2 800 J.'

I~/S (t,=-2S) rJ~' 2,. uA-=rwW=---=f?raa/s

I reo \ A A) /00
Wh~n eo= 72raa/5 7Z=6t/.;.6t-, t1.ft -12.=0 1,&3\' 2) =3S'.TA rOd-
J
l--'''-- .~ thu 5 C{= o. G (6'
'. a O,'{ 5Z
t =3 s (t=--'ls)
\" (J //!{:; o. SO f'YI 15
when t=/s , 6).= 2(/3) -1-3(/2)1-2. = 7rad
"-- __ .__ ..r

"fvh~n t= 35
J
r9::. 2(3J) f 3(3~-f 2. z- ?3 md

So LlB =- [13 - 7= 76 r?7c;"

f------.

6/4

4.9 radls Z

{3' /7 - Zr'Z ('20) L , '2

./ <: r ==-:;r- =-3600m./s~

6/5' J 0<. = k8 4= k (16 x 217) k = c!- o: =. ~e: a 8 = V'qn L f C? l'

t:)
c:ze = V et13 7. _ Q 2
n
) 'olT '
CA.)

~ c/w = fc( dB
16 (2E7)

wL._ 2 =f....
3217"
cif) = (3271) '2.:= 64
~ = V4500 3600 2
- z.::: 2 700 in./J~c 2

J<- J } 2 rrr 2. r e) TT , _ V 1 (120)2. , z

2. 0 0 fOr A ) CC - -
n r = -- ..3 =- 4(fOO In. /s~c
U) ::: 2.0.2 rad/J ,/ 2 , 1~---Z~~~-_~2
~ = V On .;.~ : } 4fJoo -f 2700
= 5510 1~./.s~c2
6//0 I ArcCl t = de 6/14 '2 ut = r; CUB
~r,tI from s)
Under co : Curl//!'
Ud
, "<, Thws e-, '2 eot3 z: r; (~
4 '- --:, - -~ t Cl{(2) = 0 - 4-, ~ = - 2 rQg/s
P .50 rhaT

W'= (.0tw
:..~ tu:: W = /0-1-(_2) s: -24 noah C r;, A
o 4 8 '0 ' 5 10 '1-4- 's
8 C 51n?llarly 0( =(!j ) 20(
(V~,.a<t/5
)
:
I
oy J/',.,.,Jar rriQn.:Jk5
WA .: 01., t So the;! co: (.r,) Zo( f
C '2 I

I ? rb
I
c 'i 1

' ~-
tu
10
-t,s
For P
)
a
n
c- rz C<.~/-:=: I/(!!)~
Ilrz I
t r
J

C(
c
= rz cc C
.: r: (!!) ~
2 r: 1

a. = y'an2 f ~
2
.s.r ?
eX
I 2
r 4 2 4
/ i- (_') 0: t
r:
P
rz I
2
1

t = vKk
-1- !-Q n -1(Wo fk)
V -:<
61/ S r = /:; r
t---- _ _ -o :=: Ct..J Ir

------~==__=_~ ,
w z: a>o f kG' = as/di-
.....
~=
I

CFX!." ::: cu~ x 6 '" bc.o ~

)

2
k/hc:rc. & x~ = ~
,
a
-r? = eo:
- -U.: cvk- x bCUel
_ =: - o a: _Ir: "",here" !}X; =-.!';
o t
eo
I dB__ =f:t :?c = ~ F :::eX.!5 6!'t ~ be<~)
I
U-b ~"-' ,'>l-k
--I o
J Co
0
-Ike
0
X X

I----a 3!' - 2i = 4!o : (i'X. t-/y)

=4jX.-4lY
nlt.-r5 3 = - 1y , .Y s: - 3/4 rn

- 2= 4 X- X. = -12. rn

---1-6_/_/_7!!"=o/X.!'
-..J =: 2!SX(-3j- f-4i)=-6i-6'!:' in./sec
a ::Cl..) X (cv x r) f C! X.F
- = ;1: x -(- 6~'-g/) -3~ x (-3; -I- 4'/)
= (12!:'-16/ ) -r- (9/ i- 12i) = 24i - ~. In'/ scc. z

c2 = /2 i -/6J' = 4(3 L.'- 4J') /n./.5Cc. 2-

/r I - - 4OoC;,,' f 2400/r I'i?oolf -17 .~ -, -, - ,) , 4
~o - Cl = 9,/ -1-/2 to = 3(4t..-_ 1-3.; /rl,/.5Cc.
rnm/s -~ _ -
4l?

or U-:::- 4i f Z,4,/ 1-1.?!r n->/s 6/16'

For

a::: t}Jx (0) x.rJ J k

IT
L
z: ~
8
_ o. S m/5
=t;9x~= 4-0 = -I:>-oi -160/- IZO!!-
-----
-30
2.4 1,!1 rn/52
F"r L~ ~z:< 2tZL K

_z
0.5
aL"'~
r: 0.0208 /51

 6/i1 CU :: 3 raet'/s 6/8'4 EC= 0(: - 0./6 =0.64-0.16
O[)
-::.O.48m
AC: "O.A ern 30:: 0.32V3
\ z- 0.S!J4rn
\

WOD \~ ~= OA UJ
OA
::0.08(2) " 0,16 tn/s
~

Ot--

~A
r ---
0,12 rn
.D

J
,

\
\
0,03 m
B
if..::
to

cv;::
6
ifC.
AC

~
AC -
tr:>

- ~
A

= (),

0,554
oAg 0.16
0.!J-S4
J39 rn/s

= 0.2 S>9 raq

s
,/i ',-.
e "-..~ 0.08
CVV'

// -/~~'A./rn
0.32 lIA~--'
v:::::
.J)
OD UJ
Ol)
:: 0.120):: 0, 3 6 rn/s
w m 2~d~
~ "
VA= OA UJ
OA
= 0./5(4) =0,60m/s . -, 0.16 0 0
&::sm 0,3'2=30
CV= (l{ f ~)j AD = (0,60+0,36)/0.03
:: .32 rad/s cw C:: /n~ranraneous c~nfe,... o/' xer
ve/oclfy for ABC
6/5'2 cc' = 60~O /80:: 240 rnrn A, ~:: 2. m/s So ~:: Zkos .300 :::t ""/5
I
I
v3
OC':: !i?2./80 =300 mm
60 130" 0.2"", tu = CO t: V"D:: 4/('j _ 4c-
I AD CD CD 0.2 coS:30" - y:: /3.33
1
If= oA eo0 =0.100(/0)
A 18'0 A I v:8 nut./:, CW
mM = /0 rn/s I
El C L~'
, ~':!'-
.... 8
El if:: AC CO = AC eo
~c,:: ~~C' ........... O.l A AC CO
0\ 01 ~B=
<, m
eo L ~O -', C o ,lC:"
:: 0.Zcos30(13,33)=Z.31 m/s
- /,0 30 -' D
GO m",,"" I go mVYl. - = z.s n;>o',<5 <, ~

"" I 0./ ro . .3
ccw
'" I !/::: 6C'C() '=-5C',.\
"" I 5 se "'-'AB

"" I = (0.180-l-0.240)2.s-
'" I :' /.05 rn/s
"'", I 1),;= ~A 4

""I li: 2 Z t-;; ; Za ~A

c
\j e. ,(ors
.. ra, L-
W" s: -zr./~ = ,!!:,cVQA = ~ (qo)
C~nfer)
4/2 = 360 r~,,:1'17/"

6'/i3 c; = ,"nsronfanec:>ws cen/~r

/'l{ cw
/
.5' 12 . -1/5' , ) - 3Q.
A =- Sin
VD Si" f3:: s;;;;;:5o , I"
(-;--_
/2 Y2 (h) ~= oc W ::
D
yllO = /20 a.
~",OA waA ;:: 'lOa

~fifu::: ~-~ 'V:.=v+ZV:

a.. a-' BD'"
= ~Ooa.
Z%
'<Ios: "'W 8 =-=
a..12
cw
6/91 I Cl __ -laC a=rot=o.5(0.Z)
~__
--
[I 6 T A I
=- O. / rn / s
2

C,::;r-:c--::1::!:::--=====-::-====:::J1 ~ = r az z: 0.5(0. 5)
6 .3 YY1 3 I"Yl. ;: O. 25" "'"Is 2

t.:28/A 0.25-0./ .2
FbI' h ~(J...., o{:co -=- ,; =- O. os r4J/s ccu
AB 3
a = -t( 8 1- -a.c/p = o. Z 5 f 3/0.005')
- C ('
': 0.4 rn/s 2.

,qp= 9 =- _~ +-.::z% = 0.1- 0(0.05)) b= 2 ~_._

Z.7 /
Vz 0.150:
=-9nul3js'"
a = 3 raq'/s

1.{; =- r=a) = 0.2 (3) = 0.6 rn/s or y;; = - o. 6i 1'>1/5

q z; Y'~ = O. 2 (9) z: /, 8n?j.) ~ Or ,:70 = -I. fit' rn/s 2

o
 6/771 ----"'" -/-J(,

fa)
14" ~ FroY>7 Sa~'pI,," P,-ob. 6//4
A B\ 0 =
u!3 =(CfeJ,., Iq 280 ,ft/.sce 2-

VA/B = ~ = 65; 4 ,/J'/SCC Z:;:: 6.5. 45 .H/.uc

(aA/.!I)n=(65:45)/;~ = 3670 .:ft/5ec.z

4./3 ~ ~)11
~
a::
-;.q
13, 90S':;
-
t' .f't/Si!Cz

1~~la
~
(6 )

(3:=Sir1'~
14
A~-VB 1:;;:;n~O
q.A=go f-(gA/o)t f- (gAlo)n
=20.92 o ~= 10,280 ron 20.Q2
(tZA/o)/ OAoIoA= 0./6 (0.832)= o. /33 YH/s
z Cl.. = -3930i. .:H/.5i!cz
-;4 -
o
(CiA1) r; OA eo.OAZ =O./G (2.50) 7= 0.'19"- ""'/~ . A .----===-13
\ IOJ'" ~.:: 10,280 - 3670 ./f/jiXZ.

~=v'rO.b67T o. /33(1-(0.9%/ Cl =- 6610 I.' .ff/SCc.Z

-A
:: /. Z If >Y1 /5 2

6/9f 1

t3

0'- !Z13= -30.~.!: rn/s'

1---.,.---_._----

6/991 %~2<'~
---

~M
U ---------

Z{=O.3rn../.5
1

y, Vci,-::4= o. 3/rz.:: 0.2/2 . Ie:;, 1.

6/961 I CLA= 0, -.::18= -30.8j 1'>'1/5

2

'A 13
\ <" I ~8= -77.01: rad/-!.Z
O' I

,et' G I ~t:} s: 11. .:ro-,-.:;//5

~. :}~-- - -.: q&-'" ~A f-((?G/,4),.., +- (,gC;/A)t;
- '2. (2 2
(ClG/""')n = GA ~6= o, j /J.55) = 13.33 r'Yl15

(CiGIA)t = GA O(AI3 =0. / (77.0):: 7, 70J?-1/~il

Fro rn dlClj re; H'1

(c2B/A)f= 4o/Vi '" 28',2; rnrn/sZ

0(= (USIA)-tl_ ::. 2~.2f? :: 14./(/0-3) rad/.s1 cvv'

I AB 2.000
 =- ~ ract/s
qA =: q.g 1-(9AI8)" -I (C;ZAleJ
t ; ~e::- ~h 6/10) 2(0.~)
0.3 ,3

o ,,~+-=-~
--. A Z-;4 = 0 B
Cl' = Q,8-y.. ::. QAx.

(~)Y7=0)' (C2A)t: bcYO.<l 7.[=0.4 ""/5 I 0.3 0.3

O('OA
- -----* 2 (0. i?)_ 16 rod
L (CZAja)n= L(VtJ/l!)2= ~/i:' ~=o.a 0.-:3' -"3 5Z
--"'---"'_ m /-52

~
q;.=o
--- 3
ra)=
::<It
.so he< A= 'V8?./.t
(;) I )
(UA/6)
n

cw t7o = /00 C2 =..La

gD = -00 r( g...p/c,) n

; .!.(z)(o.~):: ~
r (~D/~) t
.: 0.533 ""/-5 ~
300 1.3)( 3 :.4,X'. .3 3

(tZ.///0)17= O. Z (/1/3/= /. 4-22 ""'/.$ 2 4Dt.~~o)~n:.-,,==a=o~

,:.;(

6/10/ -s; = rea = 10 (4) = 40 /. /sec = Z1j (c<;ro ) t = O. 2(161.3) = 1.06 7 m /:' 1. /
/

A
12" B q8 = -qA 1-[~8~)n r (qg/A)t Up= V (1.4Z2 -0.533)"'+(1.067)2 (CZ]J/O)t / /~
/

60
5" CUAI.3=O so (C<g/,A)n=O
= VI. 928 c; /.38'f?Y>'1/s2 'I
~ = 10 (4-):. 160 In/sec..2.
10"
4ra~ 'S~c C (tZo) = v.;:>.j - = 4O/S:3ZO sec.
In.
o 17 Co'18c 2
60"
o

of.. I&'5 =- 15AO

;A 8 ::. I 2. --~--'----
cvv

6/lol/- Cl-t4 $.6-t-4 11'1 2-

o 2 v
----;0 -- __
1(, J
Cl s:
0
IS~

aA= -5:6 /f/.$c,'

~/ p-r~ CC -
_ /tZ
t ' >4IS
)
t /4B
- _
- ----
5.6 t-
I(,/IZ
4

6/102
21%.
{/.z/ t'O- " Wg.o=0
V-o z "" S') (1

=-
2 (.2.4)
'" 0 ..30 ",/s~
_._--">-.....J.-.-:- - - - !2pz: f- [l%
~ A = 2So-lot1 / 3 ) - 0 13 no ~z
2:>0 f Q. Q - _. __ /_'>
ClP/o :(ClP/o); ;~{7.2).:: 6 /f/se-c2

~8 '" Eo + (e8/0)" t- (g8/.,)t

fa ) =BoW2=0.2S(I.2)~S.7~l!!
ll/o " Q.2S,.$'

,
\ (0.8/")" ",/S1
\ ,. 5.1/'
\
\all
\
s 0.30 ./s
(o.~/jI)t
 W= 1.5t- Z. 5'
6/105 z: 3 nUI/scc. V:=~4=2':/I/sa (~)= :'4:2 .H,,-
/611 Z A IZ ) Y rz Sec.
Fro,.,., Proh 6/104
Q =Z :If/sce. Z __ t/:13=2 6-= 3 /1/.5~c (~) =.....Z:.j if
12 I Y /2 .5~z.
o 2.
CC z: 7. 2 rad/S~c ") CV: ~:: 0.4 rad/,jer:; CCW
30/12
Pap" 90 .f-(q.PkJn t- (q.P/o \~
eX.:: ~ :: /. Z rad/.sec2 (CIN
IQ 2 Z 30/12
( <2plo)n = Tz 3 s: 7. 5" .H/su;.
B Fn>/'YI d/uc;ras-n a::: Ci: = /j
.:I//.5"'G
L _ 0 --=_:.....- __
(uP.0)" = ;c: 7.Z. = 6 JI/sCG Z J _

_~ z; -qo +-(!JC/o)n f ({le/o)t

z: IJ - Wro .4-li- + /220(1.2)J-
/ - /2
= 3) - 0.267,/ .H/scc. 2.

?!-D= {la f- rt].D/o)n + (q,D/o)t

~/i-O.2G,&,-2i = O.733/-2i fl/..fcc2

{J
(;/106 W=20 rad/s
,--...
!:{::: ?a f .f{18 b/lo'i
~8 =gA 4- (ga/A)n 4- (58/.4)t
..--... 0(= lOO V= t{= ifc;o/fi BA !?
VB~dj;Z Z'c '{ /)
<=
2
"8 (80/,/2).
t

= &. CO_ 0.3(20) 45" 'B ({l8 " = BO .! '" 10 ..!.

~~~/ fZ - -rz ~ (E!fj),. = .f0 i rnm/s z.
6 ~4V-o 457C .:: 4.24 rn/s (a ft/') t = AB a'8
~"""'A ~ -t' = 1500e"'If-"
at3 qc

q.
1 ({38)t = OB 80 c(06 ~6l = i
=_4'c= !f8 f-(Qc/8)n f(t!!-c/e)t ~ 1J r
Ig",/' ) - a
u/A n :: AB ~A8J"'/50rO.377
_
)2J
_
(ucjj3)n:: CB u/= O. 3(202.):: 120 ;n/.sz S b3f/luf~ '7~t- :::21.3:! "''''/05 2

(tlc/a)f :::CB 0( = 0. 3 (/00) = 30 rnj,~s",,1.

__ (~_CI.-,,8-,-).:..:h__ 40!..;.80ot'08:!=21.3j+ISOo'Ae i Si ...
,.,,!}

a=a G z: 120/12 f- 30/'2 0( = 40 :: 0.26 7 ra.d/s ~ ccw

A8 15'0
c::: /5'0 = /06.1 rn/s Z 0( ==- 21.3,: 0.267 ro.dls& CW
Vz 08 80
a :: ';::'4-0--'-2-+-2-,.-3-2::-"7:: 45:3 .
m/s:Z
8
6//09 a
-(7 = (io 1-(9c,/0)" f- (q.c;/a)t
!!S//// Y, ~13=-1. 309/f
raa'/S
8
(12&/8)Y) = I~ (aA1B)n = I~ (/015) :c 290 H/sec' (I"~ f
(c?;'/8 )t = i$. (QA/e)t = ~ (1030) i: 2 :>80 ./r/.5cc. z
A-OO 'llf'
/4 :o LUoe=4n./(l/s '!!-13=c:!0l3x(':!?oaxJ"o8)
iZA tJ('j/a = Y(ZtJ8'O) 2..,. (Z'10) 2= 2S9(' ~f/st:C 2 ----- ----X-
. o. =4!:rX(4!:)([O.J2L-+O.lbj]
H~rn #/Q,!j""W7 Fa/';= O.04(3.!'.1-41) m. I = -1.92j -2.56} rn/sz
\\ ~ = 7&' 70 .:Hkt:e.'
!Ala::: -0.3{'7.!: -0./601 m .
\\ /. __ ---'v'------li ~ =. ~f
\ \

\\ \ ,,- -(a,11/13 ) t (~A/8)n= ~A8x(~uA8XJAI8)

\ z: I. 30 9!:: X (/.309 tr x [-0. 367i -0. 160j])

\ \ :=0.6Z8j-f0.274j m/52 -
= 2srtG
,
/\
\ _- - - %/13 :ff/scc 2
([J.R/I3J
t z: dAS Is x [-0. 367; - o./~il
\ = -0. 3670(A6/ +0.160 dAsf
-<.-f 5",.b5r;-luI~J ~9W.:7~ Co~:f::!.of i e:/ k ....
s . :1

'rCZA/,q)n ~~-/.92.+o.6Zf?rO./GOcl.At3 2 ~=-2.2.9!:.WI/S

o = -2.5'6 o. 2 74 -0- 3670(,11e j Sol. /5 SYAa= - 6. 23/: rod/!,"1

~ = Q = 313 gAl" ~G= ~:: ~ =2.36 n.~ b/IIZ y B q,Cl = _Q !- q..8

-f- J' A 41
AC, o.3/1Z sec ~60 100
~8 = !:!!13/(iYecX. '8k) +::!a eX lslc
(~/L3)n= O.3(Z.36)'l.::/.G'7 rn/.52. A __ T" _

I C -060, 180 = 5.'il3f! X (5. 83!! X o.llJi)

A----tl aB aD o '80 80
I "'0 I I tU t-ot.I3CJsxO.Jf?..j rn/52
0 , Wo '0 .. -1- --- 8C /I
I :";>,
C z: - 6.I2Sj - O.l8ot{Jci rn/s Z
I 450~' DI,.,..,. In rrrrr:
L -=----= - x.
f3 ~= 0Joxf'3{XCVo) = IO!:! X (10'[:)( [-0.06j +o.08iJ)
.fZJ)= _CZI3I-(q.P/B)r; r: (q,J)/a)& = 6.'
_
- !?~ / In/s 7. (01
-OA
= 0)

u-ho-c (CiD/a)Y):: ~~(a.A/8Jn = 1-(/.661):: 2.22 m/.5 (1ZtU4 )n z: CJJAI3 X (fYA J3x ..rBJA) = ;.sir .:< (2. 5!r X [0.24-; +o.I/J)
= - /.5_1.. -0.625/ rn/S2
(aple ) t = :::: (C2-4!S)t::: Z. 2 Z YVI/52.
(UBA)-t = ~6~ X (O.Z~j +0.1:/)= -0./~13; +0.24~8j
,5,,f):Jh'/ui-e Ih a cc a/', ~fwah;""" ?' C9vP/~ :' ~/c~.
f5 er -O./8d
CC
=: 6 -/.5'-O/~B /5_ ~
150/.
-6./25' = -11-0.625 +0.240( :!-AB- IO.-1Zl! rad/~
AB
(CX8C = - 19.2.1!r' /Odls
 (120)(2".) /
ere.;., So 60 r 200 ". cc 62fl "'''''/$

"8 pcrallel to ~ -so ~:: '8. "",0\,," 0

2/ (ZOOK)"
EA:: ~B +EA/ai 1t8,"(aa)ne ~/r =-:;:0-
:: 7900 /6 .

(a....
)" (ZOO,.J'l!2S
D "" ~/~O -Is"
~ . _~z
r:~'ftit~<
~
a<l \
,-.~~-----
Clp:= /997 "''''/6Z
I ,
"e " 7'100 """'/5 '(~),,::.3I{'O
",ls2.

J;J.Q.." 0.467 ra.d/s.l. CCW

-1-50

vc/'-0 ,.. ~~
r
~ lJe w
lJC
eo 0.15 /50(.tr)
~o
"" 2 .36 ",/5
(.Vco"" "C-/o/co = 2.36/0.375

= 6.22 rAdls
X-:J a><e6 J."'V'e ""'I"far
i ~ . rbJ sx I"C/) = 2.3(, ",/s
"'elo,,;', of
For cons!-. Accel.J tr'=2a .5, a = (Z.3(,)"" 0463/nls~
e "2(6) -.-'--------'- <v" ~ '" ~ 2 0./0 raJ/s
riSe

9.4 = Eo +- (gA/o)n + &~./o)-t I 30 =- o.-1-6 3.1 ./s~ ~ := Y'A + f!,1x!: + Yr,/ i ~ xE :: 0./0(30).i. " 3, m/s

(aAA,)" :: AO W~(-)) = -0.375(0.22<! = -14.80) I'>1/S" 22.5) = ISi + 3J. + !f'rel J t7'r./ = -18i +- 22.5) mlsj No
fa.;,) t
n/O
== Ao etA
0-
i =- 00 t'
-
~ 0.463 i
-
rn/s!L !!',.el differs fro", -!!'A./~ b'j tu", ~.(!:.

EA:: 0.9ZS i -14.80 J ",,/s2.

Zf4 s: 72 },-;-n/h.
I

A r'l3u/a-r ve/oc: >6; <7/ Cl 'lt~;;

~\ (
!:O~OA jj W= !2/3.6:0.2racl'/5
lOO /e
:::;2 = : , __
'"'lA:

-0./.2#
.
ro,d
. Z/:=- 7Zkm/h--/4
8 ,
60 0J=O,Zj:;

i -r = _A18
r: =
rac/Is
-30'J' rri
:: 2.0 rn/s :
x:
Thus -20t' = 20c: + O,2!!x{-30i) f- Fre/

Yr~
/= - 4O.!-' - 6 i = - 46 .i 1'>7/5

CUr'yaTIr'e 0./ road for A has 170 e:f/ec:1

on ~ / >j he",,""!'li'
 b/1I9 \ x-'1 ax e s .rtt."ched' to a have. the. 0/122 r ~f P.oe
~//-J, A.

-
a n a u /ar V'e!oc;t4 w ~ IO.J:!:... ., 0.1745" raa/",;"
J J 180
= 12 k"ot, .
t --x----"l3
IT.
A r= 2 n.rnt ~:; "8 + !!lX!' to .!!'",..,( E A 12tcJXVrel
A ---~
I I c 0.1745(.0)(21,i ~?!re/
o:B !2wx:V'" II~
",10 knots-'
-
~
,
!I
= 20.94 j k"qts rW t a =tcco p
<-
- - re:
if. ! = .s: /2cv
-10'/ -20.9+/:: -10,- 32.9""j knots
re 2
V/",-12j
-re
Mr R.=6378 km., c.v =
.. '
1ir I" /rl-O....,~,.--+-.3~2,-.-'1=4~~
= J 4. 4 I<"0 t s 0.7292 (10 - ) TC7tf'/J.I
-".1 y, ------

I- ,.... 32.94
~
--
-I 10
.. .32.14
~/:::' ; ('378'f'to')(O.7292J</o"'j

or V;el=Z33/S.b)=?37
= 233 rn/s

kYY1/h
10 ~ 52.~~!/hr)

t:.... iC.~""('> I/~rh"o / t2CCe.,;

'2. -v.;: 2
12c.cJ X v;.el / co: /20 + rei/I<.
2. '2. 2-
1
a iJre/ - 2UJ R '..lie, + e. tu = 0
I
, -.4 =- 2 !11 !!'r~1 + ~rc(

-.
J(

~
= 2 (l2}(IOO)j + 0 "'''''/5''" (u;..el-rzw) <=-0, u:;,.1= RUJ
~: 100
/~
rzcro a./;~olulC' ve/oc/6;)
s: <T,.~I
x. ,,0 [v;.e/=G37/?(O.729Z)(IO") = 0.465/ k,.,..j5
<u s: 12 raJ/"
()Y 0.4b5/ (:3600)= /674 km.)h J
u ... /040 n-ti/ItY"
.., ; (S r",J/~"

6/124/ o: = cax r- + I' w'=: "6 k '" -"o~';k

~---~I--------------------------I-------~ V. of-
-u - -
V'
-re, r--~-
6;1Z1 For consfant 9. v;.:, ., h 'i Is
tlCClJ1. 2<] ~/rl'f = 0.09.26 ~ ro.&/s
/ (
v;.e./ ,,2 '1.781)(. = 22.1 "'/5
u, 25) >
!!!x!: :: O.0.,:Z6(150)(-J)= -/;1.I'I_i .
/3
,,..,50,"
t4st , Yre./ '" - 1.3.B'Ij -13.8'1,:' + 1.3.e'li :=-13.I'IJi
w :~ -v:
take. ='s> 13 af particle
D- --- I~ _r~/__ x So !:: := 0 ~A = ~lJ + i> x r + !:! x[!:'x.r) +.2!!'X!!;,,+qrc
AI R. ~ a. ::: 0; a :k </8'2.) ",,(15.8q)~=/'2~'.!!!
"4"13.S'l!J -A - -~ -;:-- -;;:0- ]s .
an a
-A
'" -8
a +2l<JXIf
- -r_1
+a-rei
~;g, !!')(~)() r: -1.sO(0.O"2~)'".J '" -1.28"'j ,"/s"
g re / e - ~o r.; +~. s: w" - 2 <J (2:J h)
.2~ X Yrt:( '" 2 (0. O.,::lf,)i x (-13.$9 ol ) sr - 2.57 j .
/,,"
R~/. ace" I. nc,-,..,al -tL> pipe /s
tln '" 2w~ w~st "" 2(0. 7.z9)(/o"~)(2Zol) Thus ~., I. 2fll. j + 0 -/ ..zS6J' -2.S7J o
+ a
- _ - _ _ - r et s
=>I 3.22 "''''/5 a west" ~r~1 2. 57;:i /.s'j a = 2..57 m/sa from B t-oA
rcl
 6//251 R~./'''''r I<> ..hjwre .:#r1# Jo/u~~n for
Pn:;/b. 6///S' .:vh~re V- = - %,,' J?4/S
-~I -
Cl) = 0. 2!r' n:rd/s ':on!5 f.
iZ =
A
!!-/3 of ~X (~)(f) f- cjJ x.!' f 2~xYreI + q.r~1

ClA= (r//p)r-i) z: - U/ J s: - 4J m/52 (t?4) ,,0

- ,.. I - /0 0 - - J t
2
~8=(V/"ay,../) =- t-4/ rn/5 (u'8)/':0

q!X(!;!/Xl')= O. 2Js;< (o.2!:r'x[-30.jJ)=/,Z) m/~2

c.Uxr=-o
6//291 ~ = t;:yKj" .f ~X(~xF) +- 2~ x !:!;el f- firel
2l:!!)(~n.1= 2(O.Zj;)>-46i)= -1?4/1'71/.5Z
I~x..rl" 10(412) = 56 ..:r6 in./secz
.ro qrd= -1/-~' -/. Zj r Ill.4/ = i
9,2 m/s 2.
y __ (_'" .~. l0?x (~x rJj = 4{2 (S:2) :: 14/.4 In./secz
t-- .....,r--------------------------I I "r = 4r2 In. -
6/126/ X-y a .es attach~d 10 B U/;;th Q'7.,7"dQr W 1
I
4s Q'\.

)i~X (.

tpl<j:'
) /2CUx V-
-
1- 2wx. -- 2(S){G)
-r~1 - . :2
~l
.r
A r=Zn.m'
#I'~/oc.,fy CV= 0./745
~/:-/0.i-32.9~j
rud'/,..,;;"
knols
('P~6.1J)
(N )
~
~
/
2Wx1.7.
~0
Igrel/:: x, " W;n./
::

secL
60 In,/sa

A -~-~:fw q", = fl" l' ~)(.:+- ~

- x (~x..!)
.
t;y <r I ~:~I
a
OlJ I
I +2E:!xY~/f-g.rel
t -rei
{/
Y a =0 eo = 0 (aAJx. = S6.56/rz - /4/,4/'12 f- 20 z; 40 -lOOt- 20" -40 B
f:!! X(q}X!") = CV!!)(
A
(wfs )(
,-
rn =-2 (0. I 745 [60] t/ C2A &:: SbJ'/rz f-141.4/l2 -60=- 40 '1-/00 -Go = g>0/nk"'c2
:: -21'f.ZL n.l?1i/h2

2~)( !!;e/ z: Zwf!)( Yrel :: 2 (0 .1745)(60)5 x (-Ioj -32,'14:/)

= _ 209. "./ -I- t" 91. 5'1' n. In" Ih 2

g8 = z,;,Wl .: /o(an4.5')('{'O)/= 104.~ 17, ,-nt"/h2

16/130 IL et A be th. p",,,t (I; 2, ~ or 4) i '1.,0('0"

.50 8re/:: 0 - /04. 'lJ f-2/?2! r 209.4./ - 65'9. If! L ef refer c c"Drd;"Qies b .{;'xed fo OM

:: - 47/t r /05j n. n-11/h2 ..

/fl. t>r,,"" eo;"",. d." t w/{J, e,,/' p.,;"f ,." rc;r".
Th.o i: ",g, i'xr -9, I- 51!)((~Jtr)=g L,f l' 6.

6//271 B'j E'l.2.jf4j Let B ~ abso/ut-e anjular I'"i"t fix.d t~ rotar,,,, r.{#r ",,# fr","# , c.i"cid~nt
"'~/oc,.tj Df OP ..,its, A. Qp s: rwaj f!p s: 1.5(2)'.1 x: 6,i ,.,/s"
= 41+;:: 10+S ~/S 'i ~~ r:(o.'1!.-0.6j){Z)1_ls"

(J "" 0 0,' 0.<' lJ ,: a ~ O."(2)t '" -'.2; "./s

o '"()\ ww I - P,. -
ar .: r - rQ % = o- 0./5(15)' = -33. 8,.,/3' l'-3 ,, J Qp = (0.-;. +a&j'){2) ,.,./s"
\.....- . - 4. -

aQ" 1"0 +2;'0 z: 0+ 0- 0 (,J~z,;J 4-:r.J~ V"rd::re-0.6(3)=,.8 ""/s~

~ s
t.J = /0 ,...d/~ ~" '" 2~ x !!:,.~/J le, - 2(2)(I,IJi= - 7.2;' /s',
E?fo/l.3j X-'j "XIS attached to
eon s i: .2
a
-C,a
= 7.2j
-
"'Is" -c, Cl '" a =-72j~
7.2i- /~'J-'""4 _",
d/$K w;rh )( -cutis
ar / " r e j grel r o."O)'j =5.4J.') !'!rel = -s."'j, ~r.'~-SAi-
"assin:1 throtlJh ?on'tion I Z -
0.
-A
"a-p + 2t:.1)(..r
- -re.
I +~r~1 'Lo
ar e..
-
I -5.4J'
_ ,..Is"
"I A. a " -+,2" - mist a '" 3.61- - O.~j .
/s"
_( J -1 _
o.A=i'xt: +tJx(4.J><r)+2wxLT .s -a ,.~I
- - - - +r e! ~.I:: 3,0;' ",/s,!!.., :: J,r.i+O.r.) "'/s-
wxr ::g, !:!J(~1C!")= -o.ls(lO)j= -/S!. m/sa
2!:!! x !!'r.' '" 2 (10 !)x(o,/s)(s)j '" -IS J In/s 1
Z. ~ -
Erd:: - 0.15'1 !. = -3.75 i. ,.,/s"
Thus a :: or = -1.5 -IS - 3,7.5 Q - 33. B ,.,/s a.
6//3/ X= 2 Sin 4171:
I
x= ?lTcoS4TTt-
/
x..=-32lT2.sJ'n417t" Ll!:t pw I'0i"t on d:5k Co;"cld~"t

t9 =- o. 2..5,n ,j'TTi' 8 =/.6/7cos f?1Tt &=-12.8172-,,/;, ti'/7t ,../tJ, A

) )

(tl) IVr FO !/ -;.r+))' t =0

, rei = 'it. =
1/ li'lT //J. !scc
1-
Q rw" = 0.1$3. (3)L",.!..:.J. ,../s"
~:: 2g; x Yr~1f .flr~/ are/" i =0
p
fl f'T
:: 2(1,6 /7)(f?TT);' +- 0 ?U =- B =- /, 677 rad/.5~c.
)C. 0,15 tan B, ,,= 0.1$ 6 S~C'(}

x: 2S3J II7./';a:;.z tU :e.: 0 i = O.IS(Z)(h-t= 0.4 ..,/s

.2!:!X Yr_
t S Z (3 ~/ (0." 1.). 2.4 j ...
/sa
(6) ,cor x= r 2 1'n'1 SI'n 4i'7't -= ~ cos 477t =- 0.1 t::. //e se
<9=0 V;e/= X.. :='0, .t.=
" -J2772;/?/sec.l
a re l :. x = a.so e 1sec!O id" (J, ii" 0
(zJ"(!sr(~) ls1
u.:'= ,~'" -/.6 rr radpC'c.
j( '" 0,'0 c :;

,BA =fPX.,!' r9jX(f:pXF) f

eo =19
Zg)xY'rel';-
==0
8/"e'1
!3" fi r-1) -W- (-j ~)
+ ,.2.4 i + # 1.
- 0.:1.5 i +/.O$J rn/sa
0-> 'iF.: ~ C!jX.(g?XF):: -2(/. 67T)~' z -5,'12171./. ;n/.s~cZ 7T- -
a~ -IO'()':2.5'+/~'" -/,0'0 ,../s"
2~x?!"~/:: 0, grer ij = -32TT ~ I~./SC:C.;

~ = -..5;/2 17~' -321T}' = -.366} 1~./.sc:c2

6//32 /acce/. o/.6a//) <a=c a t-wx.(wxr)+-2wx ....

(' xy - -8 - - - - !'~J
O/JC~ 1:>a/1leaves A /is hor/z. t-!lrel
a.cc e/. I~ Z~ro .> a= 0

2t!::'X !!- C1
e
=rw~'}'.:9x (~)(!:-"= 2r w'Z.

~ 1 )
2",)(.1-
(j"" vecTor BA)
l" '!.jx re=r)
r:';i t-----r------------------------------------------~
6/135 Lel- P be a. jJo/nl on 80
~rCc.>'2.==rt.VZ
!-V1'th A
a.~/ 0i = up r ~/p
A

1 6" Z:q~Z;50 .: t;= {,(2) s: /2 JI7.j.s-=c

~o;: eo e ?;:!.l- = 2. rad

z.::;/p A7 6 S~C

(AnCl(ySIS 1.$ .f/m,.ohfi~q' s//ghHy .6y q;IJ','uh/;'jI P;,./ { C~ 6" :c V"J1?/

CCW

on!Ji n 01' axes n:, A.) A 2 md/sce ~ = !}p -I z~x !!;..<::/ r ffrl!'l
t2A ~ (.:lA)n z: 6(2') =: 24 in/scc Z .: (t(,p)
6/133 { n
12~ x0",i/" Z(z)(/zvz) = 48'rZ ~z, -: LIi'X'!:l;/
~
rCZp)n= 6(22)= 241;'.jS~C2 ~---4~~~~~~/
/

~
Frc;;rn dlC?Jrorn (t:2p)t = 48 11')/Jl:C 2
0(
Po
= 0<. = 48 = 8' rad/st:c
{,
2 cw
 Z;;;:= 0.4 =. t.;g = 0.2 rn/s
6/.c:"l/ - d6
A dsA c j
o.~
ds c: :: j dsc:
co ?j;- ~ _ eJ.1-0.2 _ rad So
I

AB - 0.400 = 0.:; 5 ~"7'A1

(1/1/ I O.Z t/ c :f :A
-dsc
V;: Z{, -r BOw
=- 0.2 r- 0.200 (0. 5) = 0.3 m/s

~ :: _8
_C
er: f- BC. CV v:: OC eo = ~ ~:: 0.(, O.F? ~/. 2 Yn/s
o AC 0.4
z: 0.2 r:o. /00(0,5) =: O.25' rr/s

1---,------------- ..
-- ,.
cw

c
0\=.3 n1/5 /'-'0
I I I I V=
o -=-
8.4
~ :: --4= Z 400

!?OO
rn/s
1400 ./.200
"'I Imm
I u: CB v: 1000 s: /5
I c. 8A A = 800 4= m
I

6/2/ ~ = 4 m/5) ~ '"3 n;/s C 'if=

L
z{'+Z{::
Z
Z+S
2
3.5 rn/s
V:;-l/. 4-3
W -z: ~:: --- :: 3.70 rac/Is c n/
AB 0.270

1{z: vg f- DSW = 3 f 0.0 'to (3.70) ,%=0

= 3 -I- D. 33 = 3. 33 l'Y1/s
-z; = <t rn/s
CO = ~ ~,tj1 'I {-3
AB = tiT =/~rad/s C/IV

b /.
22 S = -:fq t 2 t = ~ Zs ....
here Cl. = 2.4(Q. )
Z6 =- ~ - Aa IV =: <{ - 0.4(15')
-<. 0) <70 0 32 ;.q ~ == 3 177/5

$ (Q re= = 6 (0.06) = 0.36 tn./scc 2

Z{= Z;4+-Ac eo = 'J 1- 0.2(15)
~A
a I~"x
0" At I I

2(/00)02) == 12 1??/5
:tl ~:;).('------I
<,
I ~4-" Thtd t= Z4 (0. 36) = '14.3 sec V= 1{;+l{_ 3+ 12. I
L 2 - 2. : 7.5'n1S
" \ JZ
~ a 21(0.36) / -21
- cX= -E'::: = /.125(10 Jra~ 2
r: 32. /24 ~
w
CC 1----,,..------- --,--- -.--.------~
e/er r=- :<:.5//7 & 0= i.5/;' e -r , x.acas &

. &= _ ~ fona (-u) r

X = -X- YX'2._rZ
t t "is --/2 (100)(100)' ,..,.../s
c
c e soo zoo -- J
A 8
dSI _ dStJ _ ds<.
,.. -f-OO

"'., fJoo 300 - 200 - loo

""'I
t sa aD.<:' 200a
~OO

Q
.r:'~(IOC)=
~
~'.7 "''''/5 3 up

V' ~ ZE9- er.. - .2(400) ~ 933 ",/s "P

c soo ~ 3
6//36 k4~Y;; f- }A/p ,

A8~~P
lorad/s
2$ ~_6~: 0 _ ~30' C
__ 200 mm '"
AO=200YYlY>1

_~.= [lp r 2!!/ X !!re / r !Jrel

~11 + !!A/8 c !lA'" ="Q + 2~J(ff,-.1 +!!,..,
(a.p)n= up/Pc. dIOOOYi,)jfZ[200){3h) = 500013 """""/52
atJ (a,,)n' O,25(S)a = '.2S"
/ .z
/2.0:'>< Yf"'el I =: 2.(5)(1000) -::10 000 mwt,,/.s2. (a /,) O,~S(O, 74'0)&" 0.$5{' /s"
.
JOA -:: (2000)Jjoo /52
-v""A

~ -=(QA)n; ~ z: 20000 "" .. /2 -~ x ir

- r /'" Z (0. 740)(;.lf4) e: I. 707
;.,.

.5/nce cL
2
(2{))~0 e'=d =0 t//O_It;=O Fro," diaj. (a"'//J)t C ,.2S(0.92,S1)-1. 707
dt2. , BC -"'PI
= 4.0' "'1._
lZeso/ve COlon-pone" r$ p~rpe" a'/~ula".. ~ 0( (aA/e)f..::z 4.06 la ~. 2.5" rr..dlsZ Cif'
~ f/ 3d Aa AB o.e s:
CZre/(O,5) =IOOOO!} -!>()oo'j ) Qf<>/"'8660"'''''/S2

~6//j9 rC(A)t ~" 0J/co5 30 = 3/0.!?6

s-
A -oJV:=3 if
8 Jf!C
C
p
D ~(aA)n.

\~/~
=3.46.f-f/sec

(UA)hOrlZ.=O 5';"C~(1..f.\"
6" Q 1$ COrl.,n
A
'10 ..:fo' Thu s a.a IS verf/e.d

raA)n= ~/AO =(2v5)/~ 12-

= 24 H/s~,,2.

(~)t = 24/18 -::/..J.f!G H/secz

0: = 0( = fa.A) t: /3.fIG = 27. 7 r-od/S(!r;
OD 004 OA - 6/12

Vp::' %.:'l.(;; = 9(2/rj)r3.46)=6Jf/gc

G
~=: gp +2~x Y~I i- 3.rel V;el = 6/13 fI/.5,x
From d/Q,;1"an-J la,,) /
(Clp) = v,;IOp=62./~~ =Ur3 JI/XCZ are/
(a.) e- 3950 cos 17. 63<>f-3070 ~ n 12 '3
Pt
= 65'34 rnl'1"L/s'2
/ (lZp) :. OPex' ::'.3..., ~ (27.7' = 24 H/sccZ. 2wx'lJ'
i OD I c: vi / - -rei
c( =: G'6'34 = 92./ rod/52 cc ur '0 ~ !(QP)n /20 x V(-"" I '" Z 2q ~ = 48'J'f/sc-c 2
74.2'- - - 6/12 .q . If
Q::' 90'- t>-30 = /7.63 Fr??Y>1 a/C(!!. CZ = (24 + =- 4~yj. "3, / ;;;;. u-p
,. 6/140 Cp &;- 12S "f;so &- 2{t2S)(/so) cor~o.I?.37S ,..
2,
13 o.4m.
c _~=_~ f- ~~
C7J ~ 1.:3'1.2 "''''
"'"" !Ep + !!AlP .!!,.~{= !!',../p
.st" O.3m ~~ = y~ f- YBlc
I
o
u.P :: /392

(2)= 27~ .
/" A CO =- 2 ;Od TfJ(..f5
---?-- -- ~~ ~-
o ~ I- Ys~z: K f Va/c
Zi=I. 2 m/s

1
../~ if;
- C
ra: =- 0.3(2)
.
=0.6 r=/s
-, I
1ft" 1-EA . Ep -I-2!!,1t.!/nl + Er_t "
FroJ?-7 vect'or pOYJon
P is on CD (ap)" .: /s 2 (2)2.. S57 ,.,../.r~
08'/ :. ~/V -~)::: !L 06 = 0 S'.!?2..
A H ,. 130 (a., >f :: 139.2. r.) = 83 S y"",/s 1. re 3 (' A -3" s
,..d
""ee. -
- z.;:;Sic / s-c ::: 0.8';0.4
= 2 rad/s Cw

~ !C -f- !Ble :; lA -r .!B~0

Yc of ~8/c = .?~ I Ye/A .
_ X r = -2tfXO.3;' ~ o.G! rnls
.Vc - ~o -c -.
v: = CV .>< rei = WeC!:!)( (-G.4-.!!) :; -o.4wec.j
-Blc - BC - IC
J{ = /. 2..!: rn/s
J----..,------------------------, Ye/.A = t.!!8A)( '!8/A = ctJ13A If J( (0. -1!' f 0. ~)
G/14/ ,;'A -
o:
-p
L
-e-
rr-
"'A/P
z: o.4w ~, _J - O.3cv
CA
BA
_i
200 5u.b.:j;'-;hd:~ Q Je7'
tr,.., ,.8 r fl/2 3-= "93 ""p
0.6/ -O.4CUfX.j = 1.2j..' -r o. 4cu8A'/ - 0, 3LUBAj.
"A =4'00_4 q.uo/e n~specl;:e c.ocf.ficlenh of j fI;' lern?S $ evef

O. G =/.2 - O. 3CU8A J CVI3A= 2 n u l/5 1

,v8A= 21: n:~
-0.4war= O.4Wd~ I., -_h' /.) __ 71 I?7tl
D"" ",r-. '-<-'f)C- '-<./8A ~8C-?~---S-

z.s:::OB W06

= </ ~,( 2f!", 25. / in.

GO sec

F
6/146 j3 = absolu re an.jle fhrough U/h/ch 6/149 Le f P b~ a. /X)/'n/ on BC c.o/ncI4IC'/J/
wheels ~rn5 u--;'Ih A -2 __ 2 _1-
U1 = 300 r lOO - 2(300)(100 )~S 120Q

CA = Jo2Yf3 =- 36/ YnI'Yt

/00 _ 36/ 13= /3_90

5/n(-> - s/nlZOt.> I

o :: 60 - /3 = %.1 0

u;,= V;; CoS r

50 1.{;=rW l{=/OO(3) ::300 CoS 4_r
;.300 Y>?"'1/s
i Cl = V-
t: 0
= reo ) Cl =
_t __
r o: = 205' m1/s

- u;..
u:
8
= CI3 p -
CA -
500 (208)
36/
= 288 m Y>t/s

<. if 2
c2= 'l{_ 0

C r n-R.
_v'l.._P-__
- o r(r+R)
-s r- 2-
ac = __ (/-=0-__

7hu 5 c()
- AC
=
IJ - rcos&
61/5/ From Pro 6. 6/75' CU
A8
= /.4/4 rod/sec <cvv' 6//531 ?:.; = ~ -;- !:A/a, 1/0 T ~/o = VB I- 0/13
z..;; = 2 Z. 6 h/scc
'0i;;ob= =t. 6 = 4 in.js<'!!c
III
.D
If
-u:
A
= 32 /n./Jec

~/e (3 "'A/v
Vo
Ib" --~~~-=~===========
!3 B 1 UB
VA/8= 4/cos 22.0
qS=gAr ~BM = <f3/ In/scc:
iZA = Po I- qA/o z: 0 t(9A!o)n ,c-rol'YJ c//c78ron;
(a,q/o)yt: 4 '14 = 4 /i-?/s~cz 4- f- /,16/ws
cZ8.::: z z.o
(<<8/,4 ) nz: 4.37/;6 = I. /6 /n./s~cz.
.:;5.ZSlr7.lsec z
{aB./A)t
\~
~-

&=90+(3 - '0 ~~_5~J! t ~

~ P fo/"t tJ" OC &o,'"c;,'d6'" w/flt p";"l.A.
-. / "7&'.3"
VA;, u: =-400,..,,"/.1 (Prob.'/I'Ir)
I {3 A/p
1/3
I
I
<
Z;5 = /0 in./xc

1/,4/8 10
s/,.,
S/n 33.r .:: 78'-:3-;-
5. 6(; in./..5cc.

S6(; z; 0.354 n:lct/s Cw

/6 ----------------

~
A::-
/0
)
v:
A: /0
0.927
0.979 = <t.
47'
In.
Isec
S,n ('10-/3) sin 7~3u

1.7= OC V;; :: - G (9,47) = 7.6'5' In./sec

o AC '14-2;-6'2.
 W'" 4.5"0 '" 1.5 raJ/s
.$00

gA 0= EtJ +&:../lJ)n + (gA/~}t

a '" -yf.8S)" + ({,75) z,

A

IC ~7S 17 = 8<13 "''''/5''

6/;'56 VAs: Yp f 2-';1 if '"2(0. zo f1)IO::: 3.46 m/s

- lP, P Z

200\~5
,--'0.0/ P
A' ~
mm.

zo ~60o.\
-- ~~
w"lOrctci

e=30o
- -
~AIP

V-
P

:30
Q

t;;; UJ =
:40
/'
<,
= Vt1!1=3.46 1-0" 30"
=2.00

~= 4. 00 rn/s
l;:4 /.. "
1...
0 0.2
I'YI/s

4.00 =2.0 mcl

5
cw
o C )
{lA'" gp j-2~u x!:;e/ + _CZre/
- 2. 2) .-
(tZA)n" AOc/')AO = o. 2(ZO 1::- 6'0 rn/s
a = (Q.,p) =:PCW~=2(O.Z{3)/02.=20{3
p n PC Z
Iz~x 1&ed cc 2(10) 2." 40 ne/52
2
5/nce ;/=0 d (Z8)-=-o i ci =0
de z J Aa

:)o(Cl.4) =-0 Qre/

t
Fr-CHtl C//'"S' ,;'11/

~el= 20 v3 = 34.6 1YJ;5 ~ IoU/an:>" C

 ;l;-= 6 kM t9 ) ~ = X = b& .secztfJ
'l1;::: b41 seczs
. 2
a6~ ~ = 2641 B sec G tu" t9
2
aB= 26w sec:'as k" c9

6/35 / ,)"''''''.9 /~fi;,/re.s/""6/ ~ rQ~o" dx or

d'/,k 8 rh~ /nre-'1roror U/hee/ A Tu,-n.s
rnrou.3han an$/t!!' qz. E9VQr'/~.7 a.rc
/I!.nJr,l,s ,!!-''pes yd'x.;:" e/z .I'ro," ~h;Gh

L<= f hdJ(..
6/31 I LClt-V 0./ 5/~cs 2r = r
S/n (77-&) 5/">(3

A~ 2r .. SIn (3
2 = 51n t9
r .
8
7TT 77'
j3__
__
~ Zcosr (3 = cos e e

o B tv/rh B=c.uo )
;3= w
d 2. . 2- ,~~ r: e
l' CoS iB := 1-51y) (3 / cos(3 = Y j- 45/Y] i9 ?vc s-r a i-:

6/32/ ~::: r: .5;1'76)

)
X = rBc068 J

//
<.-!x'" y.. = 'v
~;; cos e - rB :.s/n t9
Jor B ~ 11/2 a:= 0 - r&'2
) x Z
8u r Jor ex:' = &, = consl,;-' & =' 20( (i;r/:2)
I'
= 770{

Thu 5 a)C = -vr-

 :: r .5//7 t9) .:3 cc> s;9 = r <9 C05 6'
..50
. r' COS e r COS t9
C1.e=- j3 :: T & co~~ : t C<1, J
y /-(f5In&)2.

I ??/Ol=-AO~D c- 0./60(S:5'5)
= O.81f7 vY7/:s

( z.;;;) 4'/
y>< 4. 444 + CJ. 8'5'7 = .s:.3 3 I~
,....,
(1/:)
;4 Yrll"1
. ~ 4-444 -0, U7 = -3.
------
""'1.5

'
6/40 v: = -A
-8
z.-.r -f
-8~
~
\
,I
.1
6/45
------.-.---------t

Ve=~/~p
B ~ 2 eo ~ 1.f8~
S/~ 6-00 = S/n 30
&4
A
v: --
0
2 5/'150 Z/cos 30"
. "306 or/s =
'-;= 2 rn/S 8 Sin 30 -'--'---
0.200
-u:8,4< z: z.e wS 30 " f 2.:4' Cos .so"
0
o /
_Zi= YA .f ~4i = 1/ . .5'.s rl(tf/s
= 3.06 coS 30"'+ 2 COS So .:: 3.94 rr: 5 VGM=GAW=ilF~

wAS= ~/A = 3.94 z: 7.88 rad/S CCW

rOn? a'/;;Yr".<un Z{;:: 2/13 =- I. 16-::;- rn/ S

AB 0.5
y: V;=zJ;.+-w)(r
6/41 t;;.IB=- (?{is/ne f ves'-"";1) . , A
~
-u

=- -
-....

z/ M
-

Is I
-81A

1-8 = va i
I
WAS':: v.4la/ c: I
I
I
0J= cv}}, h/r4 = 0.200 (0.?66!--O.5j
8- ---- ---

L =: cC>I?~-/a",l..7o rhal :Vgl = -Z/ + culs X O,200(O.gU./ -o,~')

0i co,6/ = ~ cosj1 - 2/ I- O,J732WJ' f O. /oo ai j
- -
u ~, Z1J =-0, lOO a-:, 0 s: - 2 -I-O. /73 2.lV

L ~"jf/' of AB /s W =- O.~7.32 =- 11.SS rad/s I !:..u::: 1/. 5.s-Jr rad/s

inV"riant, So A

8
fnl-lJf

p"ne"t
h_ve
of ve/oc/t'f
corn-
?{ = ~ + 9->)( !'G/A = - 2/ + 11. SS!!, >( 0, /00(0. 866~'-O.5i

Q/"" J 60. .. of = -2/- + I.OOOJ

- rO,577;
-
~ ~ /0 /s 10 ~"J 45. rl."'J y& z: 0,577 ~. -1.0) h?/s
o
(IIA)",," .: 10 ~"J 4S = 7.CJ7 ""/$
tVAI5 "BA lAB c 1~~-vT ~ s: 8'1 r40.d/s COy

6/43 ~'~ r~I=I~/ol=rw=locoS4-5"

0. t'= A
~v--rtu _ = 7.0-7 rn/
32S , "45" 0 ,,'- 7.0 7 0171~.
,.,.. , I vv- -- =-21.fJ-
,/ L ~ 'v,;.=IOm/5 0.32:5 -'
.' if. = reo GW
;AA> ----
6/4f vo = ..2.- v:
18 A
z: !=.(3)
.3
= Z Jflsa 6/S2 Z-(,=rc();;:: /3(4) =- 5Z In.jsr:c

!:{ = Ye f Yc/8
J.!;= -l{; f Ye;., B
-1/:.
eO ---.!! = .2 ./I/-st:c c
(Jo -- -24"-- ~

V-=
c.. Z(.I
/3
)(:;-2) = 40 In/SeC ,r

------- ----
-------------------------J---:----r---------:::---------1
6/5"3 '''''AB B _~ = Ya {-~/~
----:
Y; zJ>o JOO.v:; = ~ox FAo
z: 10!! x (-0.06.i f- 0.08/)
= - O.Gi-O.~i rn/s

:l)1f'Y1en_ In n?r>7 ~= ~8(XI8C

AO= CUo= 10 rod/:;
= ~3c!5 j( 0,/8'/= -o'/;~ci
-
~ I
18
= CV
-AI3
X r:
-Ala
rYI Is
z: WAS!s X (- 0,24'/ -0./~)
6/50
Thus, = -O.Z4C0.tJj + O./~tJ~ r/e
D
0.075 0, GJ-o.~!. = -O,lgc.ueci - 0,Z40A8 j rO.ICUA8~
yY/
B .E'1~C7/c j /c:,...,...,.5 7/ 5cr c.u = 0.6 _ //
- :A8 0,24 - 2.5' rOa'/5
ClJBc.: s: 113 ra <t. / S
0./5
m
~A 8 = 2.S!:s. rod /s

C ~/B=AC3~8
7/ TT .---------------------------1
a.,' rn
O. / rn
= a. 25"(40) = /0 rn/5

'03 =- VA/t3 51Y;8 ;;::/or;) = 6 1'1715

-r r- :::: 0.15+0.0756
vD :::: '1 t'>'7 / s
0./5

34.4
14/12

= 29.5 rOd/xc
cw
 ~~OA
8 rn /
r0~:f!'
OO_Y-- .4
~,\!{=!:i f- '?;;/f3
.3./-
/n~"\
V ,,"

B ::.---
~--~OO
100
mm J '2>0//'1
: ,;'-"

:!...- -- ,~' U,)

VA/a
2.4.0' if.
A

X 0 OA
t=75mm -

if.
A 0.4
v;,=o.4m/s
CJ
I--~---~- = ~---
sin (reo - 'fI.t - 24.0) .sin 24.0
0
Z/. '" 0.4 5;" 114.8 z: o. fi'91 rrr/s
A sin 24.00

r.'
U/OA:::
?,..,
(/A/OA = o. 8'"11/ / O. 3 =--''--'--
c.g7
__ ma/s
-=-- __ CCIIV'

6/5(; V= reo = O. 3(2)

A
= o. 6 rn/s
.?;5 = ~ f- .?alA ~Lef D be po/nl on ec co/ne/denl iV/lh A

6 !7ld/S~c Yn= ~ + ~41

J
if=
A
nu = +(6)
. I
= 24 In. sec
B
,,

<: ;;:;'ZFz,/A
\
\
C !~__
'"
o /z,"
v" V-
C B/,4 V:= 24!!2:.- if
'(5" . ~ A sec 0' D
___ 0_,_6___ ~ 24.0"
si" Z4.00 51'n (1110 - 4/,/- 24,0) -;; \
z: fan-I 4:,m 30 = /3.1'1 0= 30 +(3 v
t3 12- 4 CrOS 30" s: 43 J q
j

if= 0.6 s/nZ4.0 =o,2G9rn/s ~ D

B s/ 114.8 ~= ~ cos 0' = 24 cos 43,/'1 = 17.50 In./sec

1----.--,----------------------1 /.1
cuCB-
-v::/-
:p DCwnere L DC=,142+12z-2(4)(/Z)COS30:=8.77
Y i,.,.
= ~ = 2.00 raci/s!!c CW
8'.77

Z{:::
FroYYl 5e.:7n-7~Tr'y 0/
20 il7./s~c - ve/c>c/!y
{;/60

poyson, ~/c=Z6;r7/5ec VC=ZOin/s=

~C::: C~I3C = Vel/BC= ~; = Z rod/sec CVV

o r: t q, 5' . 9' I
vA' / = - (26) = 3 In;sec "C .r .300 t:.4S 14.4r
le 13
- ,",00 (0.91#4'2.) 2'10 """'/5
(v) :::2.0-.2 (3'1) = S //?/sec ,k, I;,," I~/I
VCA .,. .300 .si n 14.4 q. ,. .300 (y.,. ).. 7S ,./1
A f- 13
Oi' . too COS' 14.41- , 77S mm
lUllS ""'9".. /i'A a 7S/77S- 0.<>9'-8"...,d/$ ccs
~o UC/co . 290/200' - 1.4-.:5".2 rAJ.h CW
 t-:4/AC,
2./0.1732. = 11. 5'5 radh
CvV

li=CG W
= O. I (11, 55)
= /. /55 n?/.s

6/65
f3 V':::6cu
A J
h=O,G=03rn
2 _. _

/t~ CD = 0.5
Z/"
.D
rY1

J)C tU =0.5(2)= /.0 n7/s

1---.--------------------1 D /~
! 0,4 A if z: 0,6
/""/62 '1r?r ,,- '1r- -r r: ,n. A m/s
0/, C ~C = !-lA f ~C~ =.Y13 f ~C/8 ~ -, L
',- 0 I W z, 2 ra.tf
Vg = 3 rn /s Z-A = 2 rn/s ",~
11/ 30 ..30 C
0'
-----. -- bO
~
60
---
l;B"= 3 '"/5 -Z:;=2 ""/5
7{= 02,S f4n 30)2 f- ~.52 : 1,52~ rn/5

;:Or J/Y<::>? 1'&J6~ho..,

clJ =CA 50

z-: = cB eo = c8 t3i = u:
8 AG -A
 6/6S' 6/7Z
- _ 5/n 50" o,S
cB - 5/n /00'"

6/73 co= 300x2TT=J1.42 rad

60 sec.

2J=oc CV

.L: (31.42) '" 2.62

/2.
-if/.xc
30 .I
~+--::-J"7 ~ =' 2 111/5 or'V= 2,62 - = /. 7'1 h1//ht
44
2 4 h 0./
--=--,
0,{-6
O./fh eT""
VD ;: CD u;. ~ -I(O.I/Wt(o./f 2 6/74 -.f ~ 2- r;:;
Cp= V(/x-!r::.) + (0,5) z: Vj7.1 t: 0.79/ rn
CA 0.1 - (0.1/3) r2 Vi
=/10 ~ J.I" ~/s p v:-P ; CP (L) s: 0, 79/ ( 2 )
::: /, SO' n-r/5
~----~-----------------------------------~
Z; = CAt{) -;: c;t Z =- 0.707 m/s

2.{= Ao e::: 6'(4) == 32 ;/7/sec

D WAt3= WAC = t:;::l/AC 3~ =VZ = /. 414 rad

/6(2 Sec
weD v,;; CC"/
6" VV

VB /6 " A
+---8
I , 8=4 rad
8' sec
I
o 19"-45"
6/71 I
I / ,,1 /
l
C r----t1::: 0.4
16 I
/
/
'Zr.-gz: BC eo = BC u~:::.l. (32.)
YYI/S
I /
se AC /6Vz
I
/
/
I /
:::22, (; in./s~
I /
w -
-: C"
C ""/ BO- --=
Vs
80
2.2 6
6 . 3. 77= rad'/sec CW

V::f3= Z/:.A= AC'if = 2 (0, 4) = 0, 8 fY1 Is

ce" c:
V -- 2 2
U=CDCU = ci? Vg z: 0,/ +0.2 o.e = 0.596 m/5
D BC' 0.3
6/'1'6 2-'B , AD = v'0.4 2._ 0./(/ 6/79 ~ A ~= ;':: 0.4 rr-/
'8 = 0,367 m. (1""" -I 12S/z &,0
300 (7:: cos 300:= 77. 9
ofl'-vI';, ~//1:/60 AO=O,3b7-0.rZ
v: ~ ~O LJ~ mrY\. =
0.247 m
v;.-
8
/2.5"mm 0
,f'f' c(= fon-' 4/3= 53,/3"
;4 A C<..h13 3, - 5 - 5" )
~ ----- O----D OC=-AO::_ro.247 'f3 \)It\,/ ~o (.3 = /?O-(d..-t-O) == /80 -/3/.11
::4 md/~~ I 20 :3.3
=0,411 m. ~It '~ :: 4'i?1l't"
/ rv>"'"
I 75"';) e (3 _ _ _
DL--- -- -- DC - 75fun~-75(!.14-6)- [16.0
/
-
AC ::
4 -
:3AO = 3(0.247) 4 I mm / 0 yY),.,
/ == O. 32~ rn : // OC:: 7S/C05(3 z: 7S/0, GS8 = /14./ mm
/ V-
I / z.e = OB C<.be ~ 0.2,(4)== o. e YYI./S C V=CU AC.=- 1..If3 - 0,3+0,114/
A Ac - AC" 0.4 -----
BC: 0./ +0. 0860
,/ 00 ra.d.
V U.J = CU = VB/,- :: . (J - 1 31
= o. 8'9 f 1'"YI/5
C AB BC 13c. 0.2 +0.411 -. 5
CCW VA _ 0,8''11
WOA= OA ():3':: 2,97 roct/s ccw

6/771 C Met7.:5urc- or co""''p,.dr e{15mnccs

f\t Aa e- v'14 z - (5sin 6cP) 2. f- S cos 60 = /5,?/ in.

~, AC~ Aa:f", 30= /5.&'/0 s: 27.3'1 In. .

,30 \ \ CI3= CO -5=Z(Ao)-5= .3/.63-5=- 26.63"1
\ \ 5' ()(- S 0 0 "
\ \ 117 - 14 SJn 60 :: 0,307 J d,=I8'.02.

\ \ W5CX" 0.95/
\ \ - ';~--:2:--(----::2.
\ C6=y 9.5"/ -f 27.38-3,0'1)

\ \l " 2(;.09 ;17.

V B 1.{;:: 65.4- .fI /~t:c (So". of.!:
\0"
o; G
4"
eo"
5" Prvb!Q.,., 6/9) 6/80 u:
A o
~
if:: AC W:: AC V8 z: 273'1 ('5-4=- 67. 3 .H/scc
A GB 26.63
2'-' ::: CG cu:=
(;r
cZ ue /C-;' /( u
:: !:-ti:.<f
26,63
G5, 4 = 64,
-...
I fl!5tX
'_"

CV::: 'Z..;;/C-i3 = G5.4/z;:3 ::_~9.5 roQ'/xc CCW