KINEMATICS OF

RIGID BODIES
RELATIVE VELOCITY
RELATIVE
ACCELERATION
PROBLEMS
1. The circular disk rolls to the left without slipping. If

a A/ B 2.7 j m / s 2 , determine the velocity and
acceleration of the center O of the disk. (5/126)

a A/ B 2.7 j m / s 2 vO ? , aO ?
2. The end rollers of bar
AB are constrained to the
slot shown. If roller A has
a downward velocity of 1.2
m/s and this speed is
constant over a small
motion interval, determine
the tangential acceleration
of roller B as it passes the
topmost position. The value
of R is 0.5 m. (5/133)
vA = 1.2 m/s (cst), aBt = ? R = 0.5 m
3. At the instant represented the velocity of point A of
the 1.2 m bar is 3 m/s to the right and is constant for an
interval including the position shown, determine the
tangential acceleration of point B along its path and the
angular acceleration of the bar. (5/140)
 vA = 3 m/s (cst), aB and a.

0.5cos60=0.25

vB / A vB 0.50 60

0.25 30

y
vA vB / A vB x

v B v A v B / A , v A 3i

v B v B cos 60 i v B sin 60 j 0.5v B i 0.866 v B j

v B / A rB / A k 1.17 i 0.25 j
1.2 m
0.25 m
1.17j 0.25i

0.5v B i 0.866 v B j 3i 1.17j 0.25i 1.17 m

j 0.866 v B 1.17 , v B 1.35

i B 3 0.25 ,
0.5 v 3.24 rad / s v B 4.38 m / s
1.35
 vA = 3 m/s (cst), aB and a.

aB a A aB / A
0.5cos60=0.25
aA 0 a Bn

a B a Bn a Bt 0.50 60
aB / An
0.25
a B / A a B / An a B / At

30 y
aB / At a Bt x

a Bt a Bt cos 60 i a Bt sin 60 j a Bn a Bn cos 30 i a Bn sin 30 j

v B 2 4.38 2
a Bn 38 .37 m / s 2
r 0.5

a Bn 38 .37 cos 30 i 38 .37 sin 30 j 33 .23i 19 .185 j








a B / An rB / A 3.24 k 3.24 k 1.17 i 0.25 j
12.28i 2.62 j

or a B / An rB/ A 2
1.2(3.24 ) 2
12 .60 m / s 2

 vA = 3 m/s (cst), aB and a.

0.5cos60=0.25
a Bn
0.50 60
aB / An
0.25

30 y
aB / At a Bt x

a B / At a rB / A ak 1.17 i 0.25 j


1.17aj 0.25ai

33 .23i 19 .185 j a Bt cos 60 i a Bt sin 60 j 12 .28i 2.62 j 1.17aj 0.25ai

i 33 .23 a Bt cos 60 12 .28 0.25a , a Bt 41 .9 0.5a

j 19 .185 a Bt sin 60 2.62 1.17a , 19

. 185
36 29 0.433a 2.62 1.17a
.
58.095
a 36 .24 rad / s 2 , a Bt 23 .78 m / s 2
4. The elements of a
simplified clam-shell
bucket for a dredge are
shown. With the block at
O considered fixed and
with the constant
velocity v of the control
cable at C equal to 0.5
m/s, determine the
angular acceleration a of
the right hand-bucket
jaw when q = 45 as the
bucket jaws are closing .
(5/148)
 block at O considered fixed, vC =0.5 m/s (cst), determine the
angular acceleration a of the right hand-bucket jaw when q = 45
as the bucket jaws are closing
sine theorem
O
600 500
600 mm
sin 67 .5 sin
380 mm

50 .34 460 mm
B y
67.5
x
OB
C

v B vO v B / O , vO 0
aOB
v B v B / O OB rB / O OB k 0.46 i 0.38 j


v B 0.46OB j 0.38OB i

y 67.5

v B vC v B / C , vC 0.5 j m / s
= 22.5
v B / C CB rB / C CB k 0.5 cos 22 .5i 0.5 sin 22 .5 j
x

0.46i 0.19 j
CB
v B 0.5 j 0.46CB j 0.19CB i aCB
= 45
v BOB v BCB
 block at O considered fixed, vC =0.5 m/s (cst), determine the
angular acceleration a of the right hand-bucket jaw when q = 45
as the bucket jaws are closing
v BOB v BCB

0.46OB j 0.38OB i 0.5 j 0.46CB j 0.19CB i O

382.94 mm
i 0.38OB 0.19CB , OB 0.5CB 50.34
600 mm
j 0.46 OB 0.5 0.46CB , 0.69CB 0.5
B
0.5CB
y 461.91 mm
CB 0.725 rad / s , OB 0.362 rad / s
x
a B aO a B / O , aO 0 OB

a B / O a B / On a B / Ot
aOB


a B / On OB OB rB / O 0.362 k 0.362 k 0.46 i 0.38 j



0.167 j 0.138i

a B / On 0.0604 i 0.0500 j m / s 2 y 67.5
= 22.5
x
a B / Ot a OB rB / O a OB k 0.46 i 0.38 j



0.46a OB j 0.38a OBi CB
aCB
a B 0.0604 i 0.0500 j 0.46a OB j 0.38a OB i
= 45
 block at O considered fixed, vC =0.5 m/s (cst), determine the
angular acceleration a of the right hand-bucket jaw when q = 45
as the bucket jaws are closing

aB aC aB / C , aC 0
O
a B / C a B / C n a B / Ct

382.94 mm





aB / Cn CB CB rB / C 0.725k 0.725k 0.46i 0.19 j

50.34
600 mm

0.167 j 0.069i
B

aB / Cn 0.0604i 0.025 j m / s 2
y 461.91 mm
aB / Ct a CB rB / C a CB k 0.46i 0.19 j

x
OB
0.46a CB j 0.19a CBi

aB aB / C 0.0604i 0.025 j 0.46a CB j 0.19a CB i
aOB

aBOB aBCB
67.5
y
= 22.5
x
i 0.0604 0.38a OB 0.0604 0.46a CB , a OB 1.21a CB

j 0.0500 0.46 a OB 0.025 0.46a CB , 0.75a CB 0.075 CB

aCB
1.21a CB
= 45
a CB 0.1 rad / s 2 , a OB 0.121 rad / s 2
5. The elements of a power hacksaw are shown in the figure. The saw
blade is mounted in a frame which slides along the horizontal guide.
If the motor turns the flywheel at a constant counterclockwise speed
of 60 rev/min, determine the acceleration of the blade for the
position where q = 90, and find the corresponding angular
acceleration of the link AB. (5/153)
 = 60 rev/min (cst), determine the acceleration of the blade for
q = 90, a AB ?

vB vO vB / O , vO 0 = 60 rev/min (cst) = 6.28 rad/s

vB vB / O OB rB / O 6.28k 0.1i 0.628 j
B
450
100
A
439

v A vB v A/ B 0.628 j AB k 0.439i 0.1 j


v A 0.628 j 0.439 AB j 0.1 ABi

v A v A i

v Ai 0.628 j 0.439 AB j 0.1 ABi AB y y
aAB
x x

j 0 0.628 0.439 AB
AB 1.43 rad / s (cw)

i v A 0.1 AB
v A 0.143 m / s ()
 = 60 rev/min (cst), determine the acceleration of the blade for
q = 90, a AB ?
450
aB aO aB / O , aO 0 , aB / O aB / On aB / Ot 100

0 439

aB / On

OB OB rB / O 6.28k
6.28

k


0 .1


i 3.94i

m / s 2

0.628 j
a A aB a A/ B , aB 3.94i

a A/ B a A/ Bn a A/ Bt

a A/ Bn AB AB rA/ B




1.43k 1.43k 0.439i 0.1 j




aAB
AB y y

0.628 j 0.143i x x

a A/ Bn 0.898i 0.204 j m / s 2

a A/ Bt a AB rA/ B

a AB k 0.439i 0.1 j

0.439a AB j 0.1a AB i
 = 60 rev/min (cst), determine the acceleration of the blade for
q = 90, a AB ?

a A a Ai

a A i 3.94 i 0.898 i 0.204 j 0.439 a AB j 0.1a AB i

i a A 3.94 0.898 0.1a AB

a A 4.838 0.1a AB

j 0 0.204 0.439 a AB

AB y y
aAB
a AB 0.465 rad / s 2 x x

a A 4.88 m / s 2
6. In the
mechanism shown,
the flexible band F
is attached at E to
the rotating sector
and leads over the
guide pulley. F is
given a constant
velocity of 4 m/s as
shown. For the
instant when BD is
perpendicular to OA,
determine the
angular acceleration
of BD. (5/154)
vE = 4 m/s (cst), BD perpendicular to OA, determine the angular
acceleration of BD.
7. At a given instant, the gear has the angular motion
shown. Determine the accelerations of points A and B on
the link and the links angular acceleration at this instant.
 Determine aA, aB and aAB

v A vC v A / C rA / C 6k j 6i

0

v B v A v B / A 6i AB rB / A 6i AB k 8 cos 60 i 8 sin 60 j


4i 6.93 j

v B 6i 4 AB j 6.93 ABi

v B v B i

v B i 6i 4 AB j 6.93 ABi rB / A

j 0 4 AB , AB 0
vB / A
aAB
i v B 6 6.93 ABi y
AB
y x
v B 6 cm / s x
C
 Determine aA, aB and aAB
2
a A aC a A / C r j r ai r j 3(36 ) j (1)(12 )i (1)(36 )6 j
2

a A 108 j 12 i 36 j , a A 12 i 72 j , a A 73 cm / s 2

a B a A a B / A a A a B / A a B / An a B / At

a A / Bn AB AB rB / AB

0

a A / Bt a AB rB / A a AB k 4i 6.93 j


4a AB j 6.93a AB i
rB / A

a B a B i 12 i 72 j 4a AB j 6.93a ABi
aB / At

j 0 72 j 4a AB , a AB 18 rad / s 2 (cw) aAB

y
AB
y x
i a B 12 6.93(18)
x
a B 112 .74 cm / s 2
, a B 112 .74 i cm / s 2 C
8. Slider A moves in a parabolic slot
with speed = 3s m/s and
acceleration s = 12 m/s2 at the O
instant shown. Cylinder E, which
rotates about a horizontal axis
passing through O is connected to
slider A by rod AB. Point B is fixed
on the outer rim of cylinder AB.
Determine the angular
accelerations of the cylinder E and
rod AB. Also find the absolute
acceleration of point B for this
instant.
For slider A, s = 3 m/s and s = 12 m/s2. Point B is fixed on the
outer rim of cylinder AB. Determine aE, aAB, aB .