MOTION

RELATIVE TO
ROTATING AXES
PROBLEMS
1. The disk rotates about a
fixed axis through O with
angular velocity w = 5 rad/s and
angular acceleration a = 3
rad/s2 in the directions shown
at a certain instant. The small
sphere A moves in the circular
slot, and at the same instant, b
= 30°, b = 2 rad/s and b = -4
rad/s2. Determine the absolute
velocity and acceleration of A
at this instant. (5/160)
 b = 30°, b = 2 rad/s, b= -4 rad/s2
w = 5 rad/s , a = 3 rad/s2
     
v A  vO  w  r  vrel , vO  0
    
w  r  5k    0.375 cos 30i  0.375 sin 30 j   1.625 j  0.94i
  vA, aA
 
 

 0.325i  0.188 j
    
vrel  vrel cos 60i  vrel sin 60 j  0.5 vrel i  0.866vrel j
vrel  rb  0.375(2)  0.75 m / s
  
vrel  0.375i  0.65 j m / s
    
v A  1.625 j  0.94i  0.375i  0.65 j   v
w r rel

   60°
v A  1.315i  2.275 j m / s 
arel n
v A  2.628 m / s 
arel t
 b = 30°, b = 2 rad/s, b= -4 rad/s2
           w = 5 rad/s , a = 3 rad/s2
a A  aO  w  r  w  w  r   2w  vrel  arel , aO  0
     vA, aA
w  r  3k   0.325i  0.188 j   0.975 j  0.564i
 
    
w  w  r   5k  1.625 j  0.94i   8.125i  4.7 j
  
       v
2w  vrel  10k  0.375i  0.65 j   3.75 j  6.5i w  r
  rel

arel t  rb  0.375 (4)  1.5 m / s 2 60°

2 
vrel 0.752 arel t
arel n    1.5 m / s 2

r 0.375
    
arel n  1.5 cos 30i  1.5 sin 30 j  1.3i  0.75 j
      
a A  0.975 j  0.564i  8.125i  4.7 j  3.75 j  6.5i
   
 0.75i  1.3 j  1.3i  0.75 j

  
a A  14.611i  11.475 j m / s 2
a A  18.58 m / s2
2. The crank CB revolves
ccw with a constant
angular velocity of N = 4
rad/s within a limited arc
of its motion, which causes
the slotted link ODE to
revolve. For the position
shown determine the
angular velocity and
angular acceleration of
the slotted link ODE.
(5/176)
 wCB = 4 rad/s (cst), wODE, and aODE
   
CB v A  vC  v A / C , vC  0
     
v A / C  w BC  rA / C  4k  0.12 j  0.48i
   
a A  aC  a A / C , aC  0

 
a A / Cn , a A / Ct  0
        
a A / C  w BC  w BC  rA / C   4k  0.48i  19.2 j , a A  19.2 j m / s 2
ODE y
     
v A  vO  wODE  rA / O  vrel , vO  0
     x
wODE  rA / O  wODE k  0.12i  0.12wODE j
  
vrel  vrel cos 45i  vrel sin 45 j
wODE
  
vA AC
 vA ODE vrel
   
0.48i  0.12wODE j  vrel cos 45i  vrel sin 45 j

i 0.48  vrel cos 45 , vrel  0.68 m / s 
arel

j 0  0.12wODE  vrel sin 45 , wODE  4 rad / s

0.68
 wCB = 4 rad/s (cst), wODE, and aODE
ODE
          
a A  aO  w  r  w  w  r   2w  vrel  arel , aO  0
        
w  r  a ODE k  0.12i   0.12a ODE j , w  w  r   4k   
 4

k 0.12

 
 
i   1.92i

 0.48 j
    
2w  vrel  8k  0.48i  0.48 j   3.84 j  3.84i
 
  
arel  arel cos 45i  arel sin 45 j
 
 0.707 arel i  0.707 arel j y
    
a A  0.12a ODE j  1.92i  3.84 j  3.84i
 
 0.707 arel i  0.707 arel j x
 
a ACB  a AODE
    aODE
1.92 j  1.92i  3.84 j  0.12a ODE j 
  v
 0.707 arel i  0.707 arel j rel

i  1.92  0.707 arel , arel  2.72 m / s 2
 
j 1.92  3.84  0.12a  0.707 arel a
 rel
2.72

a  64 rad / s 2
3. The crank OA
revolves cw with a
constant angular velocity
of 10 rad/s within a
limited arc of its motion.
For the position q = 30°
determine the angular
velocity of the slotted
link CB and the
acceleration of A as
measured relative to the
slot in CB.
wOA=10 rad/s (cst), q = 30°
wCB, arel
4. Determine the angular
acceleration of link EC in
the position shown, where
w = b = 2 rad/s and b = 6
rad/s2 when q = b = 60°. Pin
A is fixed to link EC. The
circular slot in link DO has a
radius of curvature of 150
mm. In the position shown,
the tangent to the slot at
the point of contact is
parallel to AO.
w = b = 2 rad/s, b = 6 rad/s2, q = b = 60°, r = 150 mm,
tangent to the slot at the point of contact is parallel to
AO, determine aEC
5. The pin A in the bell crank AOD is guided by the flanges of the
collar B, which slides with a constant velocity vB of 0.9 m/s along
the fixed shaft for an interval of motion. For the position q = 30°,
determine the acceleration of the plunger CE, whose upper end is
positioned by the radial slot in the bell crank.

q
vB = 0.9 m/s (cst), q = 30° , aCE =?

q
6. As particle A passes from the position which has an ordinate y = 2/3 m in
the curved slot, its velocity with respect to the disk and towards C is 12.5
m/s, which is decreasing at the rate of 7.5 m/s per second. The disk rotates
about B with an angular velocity of 9 rad/s and an angular acceleration of 60
rad/s2 in the directions indicated. The angle b between the telescopic arm
OB and the horizontal is constant with tan b = 7/24. The telescopic arm OB
extends with a velocity of 5 m/s which is decreasing at a rate of 2.5 m/s per
second at the instant represented. Determine the absolute velocity and
acceleration of particle A for the given instant.
y = 2/3 m, velocity with respect to the disk and towards C is 12.5 m/s, which is
decreasing at the rate of 7.5 m/s per second. b = 7/24 (cst). The telescopic arm
OB extends with a velocity of 5 m/s which is decreasing at a rate of 2.5 m/s per
second at the instant represented. Determine the absolute velocity and
acceleration of particle A for the given instant.