1.

The sphere P travels in

a straight line with speed
v = 10 m/s. For the instant
depicted, determine the
corresponding values of

r , r, r, , , as
measured relative to the
fixed Oxy coordinate
system. (2/134)

v = 10 m/s,
+r

21.34

vr

38.66

r , r, r, , ,

v 51.34

4m

5m
4
tan 0.8 , 38.66
5

vr 10 cos 21.34
vr r 9.314 m / s (r direction )

v r 10 sin 21.34 3.639 m / s ( direction )

r 6.4 m

v
3.639

0.569 rad / s
r
6.4

+r

a=0
r

Constant speed, a = 0

r r 2 6.4 0.5692 2.07 m / s 2

2r
2 9.314 0.569

a 2r r 0
,
r 2r
,

r
6.4
1.656 rad / s 2
ar r r 2 0

2. The slotted arm OA

forces the small pin to
move in the fixed spiral
guide defined by r = K.
Arm OA starts from rest
at = p/4 and has a

constant counterclockwise
(ccw) angular acceleration

= a. Determine the
magnitude of the
acceleration of the pin P
when = 3p/4. (2/150)

r = K, arm OA starts from rest at = p/4,

angular acceleration constant (ccw)= a
Determine a when = 3p/4

r K
,
r K
a constant
vdv ads

d
0

3p / 4

p /4

r K

d d

+r

3p p
p
4
4

2 2

ar r r 2 K K p K1 p , 3p / 4
2

3
p
ar K1
4

K 6.40

1/ 2
1/ 2
3p
K 3p
a 2r r 2 K p
p K
2
K
p

4
4
8 Kp

11
pK
4

K8.64

-r

r = K, arm OA starts from rest at = p/4,

angular acceleration constant (ccw)= a
Determine a when = 3p/4

+r

-
2

3
p
ar K1
4

11
a pK
4

K 6.40

a K8.64

+
-r

ar a
2

2
2
K 22 6.40 K 22 8.64 K 115.6

40.96
a 10.76 K

74.64

3. The hydraulic cylinder

gives pin A a constant

velocity v = 2 m/s
along its axis for an
interval of its motion
and, in turn, causes
the slotted arm to
rotate about O.
Determine the values

of r, r and for
the instant when

= 30. (2/154)

v = 2 m/s (cst), determine

+r

g 180 30 120 30
isosceles triangle

r, r, when = 30.

vr
v

30

r = 300 mm
r

120

30

300 mm

vr r v cos g 2 cos 30 1.732 m / s

v r v sin g 2 sin 30 1 m / s

=30

v
1

3.33 rad / s
r 0.3

-r

a0
ar a 0
r r 2 0.3 (3.33) 2
r 3.32 m / s 2
ar r r 2 0
2

2
r

2(1.732)(3.33)
2
a 2r r 0
r 2r

r
0.3
38.45 rad / s 2
acceleration

4. The particle P moves

along the parabolic surface
shown. When x =0.2 m, the
particle speed is v = 5 m/s.

For this instant, determine

the corresponding values of r,

r, and . Both x and y are

in meters. (2/155)

when x =0.2 m, v = 5 m/s, determine r, r , and

y 4x2 ,

x 0.2 m

y 4(0.2) 2 0.16 m
r 0.2 0.16 0.256 m
0.16
tan
0.8 ,
38.66
0.2
dy
tan a
2(4) x 8 x 8(0.2) 1.6
dx
a 58
2

b a 58 38.66 19.34
vr v cos b 5 cos19.34 4.72
vr r 4.72 m / s
v v sin b 5 sin 19.34 1.66 m / s

+t

v
1.66

6.48 rad / s
r 0.256

+r

v
b

0.16 m

-r

dy

a
dx

0.2 m

vr
a=58

5. During a portion of a vertical

loop, an airplane flies in an arc of
radius r = 600 m with a constant
speed v = 400 km /h. When the
airplane is at A, the angle made

by

with the horizontal is

b = 30, and radar tracking gives

r = 800 m and = 30. Calculate
vr, v, ar and for this instant.
(2/158)

r= 600 m, v = 400 km /h (cst), b = 30, r = 800 m and = 30,

calculate vr, v, ar ,

vr

+
30

km 1000 m 1 h
v 400

h 1 km 3600

v 111.11 m / s

30

v
+
-r

= 30
60

vr r v cos 30 96.22 m / s

= 800 m

v v sin 30 r 55.55 m / s
v 55.55

0.069 rad / s
r
800

r= 600 m, v = 400 km /h (cst), b = 30, r = 800 m and = 30,

calculate vr, v, ar ,

a=an

ar
a

30 60

30

since speed is constant, at = 0

+t

v2

111.112
an

20.58 m / s 2
r
600
a an

-t

+
-r

= 30

= 800 m

at 0

a ar a
2

ar a cos 60 20.58 cos 60 10.29 m / s 2

a a sin 60 20.58 sin 60 17.82 m / s 2
a 2r r

60

r a 2r
a 2r 17.82 2(96.22)(0.069)

r
800
0.039 rad / s 2

6. A fireworks shell P fired in a vertical trajectory has a y-acceleration given

by ay = -g-kv2, where the latter term is due to aerodynamic drag. If the speed
of the shell is 15 m/s at the instant shown, determine the corresponding
values of

r , r, r, , , . The drag parameter k has a constant value of

0.01 m-1. (2/162)

7. When the yoke A is at the position d = 0.27 m, it has a velocity of v = 2

m/s towards right which is increasing at a rate of 0.6 m/s each second. Pin P

is forced to move in the vertical slot of the yoke and the parabolic surface.
For the instant depicted, determine the velocity and acceleration of pin P in
a) Cartesian Coordinates,
b) Normal and tangential
Coordinates,
c) Polar Coordinates.

8. Particle P moves along a curvilinear path as shown in the figure. At the

instant when r = 2 m, = 30, the magnitude of its velocity is 3.2 m/s and the
velocity vector makes an angle of b = 60 with the horizontal. The y-component
of the acceleration of particle P is ay = 5 m/s2; its r -component is ar = -1.83
m/s2. Determine components of the velocity and acceleration in
Cartesian Coordinates,
Normal and Tangential Coordinates,
also radius of curvature of the
path for the same instant,
Polar Coordinates.

9. The peg moves in the curved slot defined by the equation r2 = 4sin(2) [m2],
and through the slot in the arm. At = 30, the angular velocity and angular
acceleration of the arm are = 2 rad/s and = 1.5 rad/s2, respectively.
Determine the magnitudes of the velocity and acceleration of the peg at this
instant,
a) in polar coordinates,
b) in Cartesian coordinates,
c) in normal and tangential
coordinates. Also determine

the radius of curvature r

for this instant.