angular de 4 rad. fia. la cual decweee a razén de iO ren calcular para dicho. fr la veloc! angular de la rueda de la desnch eslabén de conexiin AB SOLUCION- Por condiciones del problema se afirma (Ver dicgrama ) Ore AK mavser «ce. = 10K maysuen OK maser ; oC 9 = BA = @=V2 eet Ras OB =r, = yea O.A =r, = aj XK naysoce Peta. (Radio de tos atecs) Pela. (Rodio de tor discos) ba ecuacisn de velocidades rela tivas entre A y B es Y= We (w= Ox = ok x BI =~ BaL Donde. f Vg = wyxr, = ak x( S342) al-2ag Wo = as * © = Qigk eCVETA 4 2j)= Sustituyendo valores y drden ~ 80k = (842, VERT AB =—0 53BIma/ser Reg sw = 24 +22, —- ow " S 2 8654 raw sen a pow causes the tanger to move shes i 50 1d it is mounted on a shaft b mt eel the cam is ne the inetant show, from it center. we cane eaten ot contane anata teed of = 15 eae and @ = 60°. Determine the velocity and acce! CF the plunger at hie‘The distance between the plunger and the pivot is E+ bcos 0 , r Taking the time derivatives of this b relationship gives the velocity and bcos @ acceleration of the plunger ve pe -bG sine a= j= -b6 sin O - b bcos 8 when 0 = 60°, w= 15 rad/s 5) (0 6 = 0 rad/s* 15 rad/s), and « v = -35(-15) sin 60° = 455 mm/s T seseeee Ans. a = -35(0) sin 60° ~ 35(-15)7cos 60° -3937.5 mm/s = 3940 mm/s” as seeeeeeess Ans. 44-25 the mechaniam shown is used to convert the rotary motion of the arm AB into tranelational motion of the plunger ©. Express the velocity and acceleration of the plunger in terms of 8, 0, a, and b, the angular position, angular velocity, angular acceleration, and length of the rod AB. The distance between the yoke and the pivot i x= bcos 8 b Taking the time derivatives of this relationship gives the velocity and acceleration of the yoke A x Cc vak=-pOeind a= 5 = -p6 sin@ ~ b bcos 8 = -ba sin 8 ~ bU*cos 0 Ans.14-32 The wheel is rotating clockwise at a constant rate of 120 rev/min. Pin D is fastened to the wheel at a point 125 mm from its center and slides in the slot of arm AB. Determine the angular velocity ©,, of arm AB at the instant shown. Using the law of cosines gives 2? = 1257 + 3757 ~ 2(125)(375) cos o a and taking the tine derivative of Bq. a gives 2€k = 250(375) @ sin & At the instant shown, = 60°, £ = 331.285 am, 4 = 120 rev/min) = 4m rad/s, and ; D & = 1539.854 mm/s Then, the law of sines f (25 mm + —ré gA -4 A 375 wm c 2& sin @ = 125 sin ® (bp) and taking the derivative of Bq. b gives bain @ + £8 cos 0 = 125 6 cos > At the instant shown, @ = 19.073", and 0.901 rade eeeeeee ceseese Ans "aD 14-38" AB the 75-mm long arm AB oscillates, the pin 2 elides up and down in the glot of arm cD. Given that @ = 3 sin 2mt rad where t is in seconds, determine the angular velocity 0, and the angular acceleration @,, of the arm CD when t2o18. solution Using the law of cosines gives 2 = 2507 + 75% + 2(250)(75) cos 6 (a2€b = -2(250)(75) 8 sin 0 2? + &b = -(250)(75) 8 sin @ = (250)(75) 6” cos @ where © = 3 sin ant rad, 6 = 6m cos 2nt rad/s, and 6 = -12n" sin ant rad/s”. similarly, using the law of sines gives sin ® _ _sin @ 7 £ sin o= 75 sin @ 0 and taking two time derivatives of Eq. b bain o + tb cos 6 = 75 8 cos 0 % sin + 26 cos > + Lb cos > - L6" sind = 75 6 cos - 75 6” sin® ttmen € = 0.1 8, © = 1.76336 rad = 101.0328, 6 = 15.2496 rad/s C, 5 = -69.6145 raq/s”, 4 = 246.0777 am, & = -1136.78 mm/s, £ = 3334.92 am/s? ¢= 17.3483", @ = 0.50962 rad/s = -67.85195 rad/s” Ogg * 92520 eave G - Ans. fgg = 67-9 vaa/s” C + Ane. 14-95 Sliders A and B are constrained to nove in vertical and horizontal elote, respectively, and are connected by @ 32-in. long rigid roa. At the instant shown, @ = 75° and slider B is Wn noving to the right with a constant speed of 2 An./a. Determine the acceleration i, of P slider A and the angular acceleration ayy of bar AB at this instant. a‘rom the relative velocity equation between A and 8, ¥, = V, + From th yelocity equation bets BT Vt Fay -sin 75° T - cos 75° 9) 32Wag ae I ye = -320,, cos 75° a A sive ‘AS Was as Ogg * 0.06470 rad/s G A, v, = 7-0-5359 in./s = 0.536 in./s t Then, from the relative acceleration equation between A and 5, a= 85 t Fas a, 7 = 0+ 320,,(-sin 75° T - cos 75° 3) + 32(0.06470)*(cos 75° T - sin 75° 9) The x- and y~ components x a “40. 0 = ~32G,, sin 75° + 0.03468 ye a, = 73204, cos 75° ~ 0.12941 give 2 &,5 = 0.00112 rad/s” ¢ . o a, 7 70-13870 in./s* = 0.1387 in./s” 4 14-117* The slotted plate has a constant, clockwi: angular velocity of 15 rad/s. The slider 8 has a constant apeed relative to the slot of u= 10 in./s. If a= 0 in., determine the absolute velocity ¥, and the absolute acceleration @, of the slider. Repeat for a counterclockwise angular velocity of 15 rad/s.A rotating coordinate system is chosen with origin at the center of the plate 0 and x-axis along the central slot. x When the plate rotates clockwise = 15 rad/s D = constant Vg Vet BX Tyg t Vevey G+B+ (108) -10 G) in./a = 10 in./s seeeeee teeeees Ans. B+ Gj +GK FL tO KE eae Agr Bot A Tay (@™ T5/0) * Borer =G+5+0+ 8+ 2-15 & x (-10 8) = 300 G, in./s” = 300 in./e? t then the plate rotates counterclockwise © = 15 rad/s 9) = constant Ut BHF, ig ¥y s/0 * Varo 7 8+ B+ (-10 8) = 10 8, in./s = 10 in.ja see Pe re ee ee -6+0+0+T+ 205 & x 108) 3 2 2 = -300 6, in./a® = 300 in./a” cietteteeeeeeee Rae é, I 300 I Ar 14-118" The slotted plate has a constant clockwise angular velocity of 15 rad/s. The slider A has a constant speed relative to the slot of u = 100 mm/s. If a = 200 mm and b= 0 nm, determine the absolute velocity ¥, and the absolute acceleration G, of the slider. Repeat for a counter clockwise angular velocity of 15 rad/s.A rotating coordinate system is chosen with origin at the center of the plate 0 and x-axis along the central slot. When the plate rotates clockwis 15 rad/s) = constant 7 B= FQ +B Fag t Vere = B+ (-15 &) * (-200 &) + (200 -2900 ma/s = 2.90 m/s — EAR oErE roe =O + B+ (-15 B ™ (-3000 6) + B+ 2(-15 By * (100 6) cesses Ant 42,000 &, mm/s” = 42.0 m/s” t when the plate rotates counterclockwise © = 15 rad/s 3) = constant Tg Fy + BH Fig + Tyygy = B+ (a5 B) * (2008) + (200) M/s = 3.10 m/s —> 5 3100 Bt Faso * B+ 0+ (15 B % (3000 3) +O + 2015 &) * (100 By Ans. = 48.0 m/s” cee 48,000 @ mm/s ‘YPexet yyy =0 donde # = a, = 0 ej = ay. Por tanto, 1, = ~ 2500/3 mm/s? osea ag = ~ 833j mmis? Resp. La ecuacién de la velocidad relativa es Vp = VatVgq=Vat@ X tg, donde v, =~ 150i mm/s, vs = 200j mm/s y la posicion de B relativa a Aes ¥g/4 = ~ 1001 +75j + 300k mm Por tanto 200j = - 150i + (@,i + a,j + ok) x (— 100i +75] +300k) = (3000, ~750,- 150)i- (1000, +300@,)j + (75a, +1000) k (© Aun cuando la ecuaci6n c es vectorial, sus tres componentes x: 300w,-75e, = 150 @ yi 300m, + 100@. = -200 (e) zi 750, +1000, = 0 oO tp) 4 = (@,i+ @,j + @,K) » (~1005 +75) + 300k) = 1000, + 750, +3000, = 0 Resolviendo el sistema constituido por las ecuaciones d, ¢ y g. se tiene = 05680 rad/s; @, = 0.4260 rad/s ©, = ~ 0,2959 rads osea @ = —0,5680 + 0.4260 — 0.2959 Resp. Andlogamente, la ecuacién de la aceleraci6n relativa Ay = Ag+ ag =O, tOX ty gt OX Vp C) donde a4 =0, ag=~833j mm/s? y vq), = vp— v4 = 150,0i +2000) mm/s. Por tanto, la ecuacién h de la aceleracién relativa da ~ 833) = 0+ (ait a,j + ok) x (— 1001 + 75j + 300k)