Problems.

Kinematics of particles
1-1. Determine the equation of the path, velocity, and acceleration of the point if the equation
of motion of the particle in Cartesian coordinates is given as follows
2π 2π
a) x =
t 3 + 2, 3 − t 3 , b) x 10
y=
= = cos t, y 10 sin t
5 5
in which coordinates are x , y in cm, and time t in second.

Ans: a) x  y  5, v  3t 2 2, a  6t 2; b) x 2 +=
y 2 100, =v 4π , =a 1, 6π 2 .

1-2. A car traveling on a straight road with a velocity of 25 m/s is stopped with a constant
acceleration of 3 m/s2. Determine the velocity of the car when t = 4 s, the distance traveled in
the first 4 s, and the time from the start of the braking until the car stops.
1-3. A car moves on a straight line with velocity= v (12 − 3t 2 ) m/s , time t in seconds. When
t = 1 s, the car is 10 m on the left from the origin. Determine the acceleration of the car when
t = 4 s and the distance traveled from t = 0 to t = 10 s.
1-4. Car A starts moving at t = 0, it keeps a constant acceleration of 2 m/s2 until it reaches a
speed of v = 30 m/s and then keep constant speed. When t = 0, car B moves in the opposite
direction with a speed vB = 20 m/s. Initially the two cars are 2000 m apart. Determine the
distance traveled by car A until it meets car B.
1-5. Two cars A and B are moving in the same direction with the same speed of 20 m/s, car B
is ahead of car A. Due to an obstacle in front, car B suddenly stops with an acceleration of 4
m/s2, 0.75 s later car A is also stopped with an acceleration of 5 m/s2. Determine the minimum
distance between two vehicles to avoid a collision between them.
1-6. A car travels along a straight road with the speed shown by the v - t graph. Determine the
expression and draw the graph of acceleration and traveled distance as function of time:
a(t ), x (t ) ; velocity and acceleration as function of traveled distance: v(x ), a(x ) .

v [m/s] v [m/s]

60
20

20

100 300 360 t [s] 5 20 30 t [s]

Prob. 1-6 Prob. 1-7

1-7. From experimental data, the motion of a jet plane while traveling along a runway is
defined by the v - t graph shown, v(t ) . Draw the a(t ) and s(t ) graphs for the motion. Also
determine the traveled distance after 30 s.
1-8. Due to air resistance, an object falls freely from rest with acceleration as a function of
velocity
= a 9.81(1 − 0.0001v 2 ) m/s2 . Find the expression for the velocity v(t ) and the maximum
velocity that the object can reach.

1
1-9. The AB rod of length l rotates around the fixed axis A according to the law ϕ = κ t 2 , rad.
On the rod there is a slider G moving according to the law =
r l (1 − κ t 2 ) , m. Find the velocity
and acceleration of the point G when ϕ = π / 4 . Determine the angle ϕ when G reaches the
axis A.

B
B
r

 r 
eϕ G eϕ
 ϕ ϕ
er A 
A er
Prob. 1-9 Prob. 1-10

1-10. Because of telescopic action, the end of the industrial robotic arm extends along the path
of the limacon r= (1 + 0.5 cos ϕ ) m. At the instant ϕ = π / 4 , the arm has an angular velocity
ϕ = 0.6 rad/s, which is increasing at ϕ = 0.25 rad/s2. Determine the radial and transverse
components of the velocity and acceleration of the object held in its grip B at this instant, using
 
unit vectors er and eϕ .
1-11. The motorcycle is traveling at 1 m/s when y
it is at A. If the speed is then increased at y = 0.5x 2
v = 0.1 m/s2, determine its speed and
acceleration at the instant t = 5 s.

s
1-12. A boat is traveling along a circular path
having a radius of ρ = 50 m with a speed
x
v = 0.6t m/s, t in second. Determine the
magnitude of the boat's velocity and acceleration Prob. 1-11
when t = 3 s; and traveled distance after 3 s.
1-13. An airplane moves on a curve in the vertical plane according to the law
r 2 = (2500 cos 2ϕ ) km2 . When ϕ = π / 6 , its derivatives are ϕ= 5 ⋅ 10−3 rad/ s and
ϕ= 2 ⋅ 10−3 rad/ s2 . At this moment, determine velocity and acceleration of the airplane, using
 
unit vectors er and eϕ .
1-14. The crank OA of a slider-crank mechanism rotates about axis O with the law   t ,
where  = const. Givens OA = r and AB = l , determine:
a) equation of motion and velocity of the slider B.
b) equation of motion and velocity of a point M on the connecting link AB, AM = b.
r 2  sin 2t
Ans: x B  r cos t  l 2  r 2 sin2 t , vB  r  sin t  .
2 l 2  r 2 sin2 t

2
 B
y
A
ϕ r M
B
 ϕ
eϕ  O
er
x
O
Prob. 1-13 Prob. 1-14

Problems. Rotation about a fixed axis

2-1. The angular velocity of the disk is defined by = ω (5t 2 + 2) rad/s , where t is in
seconds. Determine the magnitudes of the velocity and acceleration of point A on the rim of
the disk when t = 0.5 s. The radius of the disk is R = 0.8 m.

A
A
r
R θ
O θ

Prob. 2-1/2-2 Prob. 2-3

2-2. The motor turns the disk with an angular position of=
θ (4t 2 + 15t ) rad , where t is in
second. Determine:
a) the number of revolutions, the angular velocity, and angular acceleration of the disk
when t = 10 s.
b) the magnitudes of the velocity and the n and t components of acceleration of the point
A on the rim of the disk when t = 10 s.
2-3. The bucket is hoisted by the rope that wraps around a drum wheel of radius r = 20 cm.
If the angular displacement of the wheel = is θ (0.5t 3 + 15t ) rad , where t is in seconds,
determine the velocity and acceleration of the bucket when t = 3 s.

2-4. When only two gears are in mesh, the driving gear 1 and the driven gear 3 will always
turn in opposite directions. In order to get them to turn in the same direction an idler gear 2 is
used. In the case shown, determine the angular velocity of gear 3 when t = 5 s, if gear 1 starts
from rest and has an angular acceleration α= 1 (3t + 2) rad/s2, where t in seconds.

3
 C r RC rA
3 C
A
2 1
α1

s
Prob. 2-4 Prob. 2-5

2-5. For a short period of time, the motor turns gear A with a constant angular acceleration
of α A = 4.5 rad/s2 , starting from rest. Determine the velocity of the cylinder and the distance
it travels in three seconds. The cord is wrapped around pulley D which is rigidly attached to
gear B.
2-6. Starting at (ωA)0 = 3 rad/s, when θ = 0, s = 0, pulley A is given an angular acceleration
α = (0.6θ) rad/s2, where θ is in radians. Determine the speed of block B when it has risen s =
0.5 m. The pulley has an inner hub D which is fixed to C and turns with it. The radius of the
pulleys and the drum are rA = 5 , rC = 7.5 , RC = 15 cm.

rA RC
rC rA
A C A
θ C rD
rB
rC B D

s Prob. 2-7
Prob. 2-6

2-7. The pulley transmission in an aerobic machine is shown in Figure. The pedals are fixed
to the pulleys A. The pulley B is rigidly connected to the pulley C, and the pulley D is rigidly
connected to the flywheel D. The pulley A initially rotates at ωA = 3 rad/s, and then is
accelerated an angular acceleration of αA = 4 rad/s2, determine the angular velocity of the
flywheel D after 2 revolutions of the pulley A. The radius of the pulleys is given: rA = 120,
rB = 20, rC = 150, rD = 30 mm.

2-8. A transmission using spur gears is shown in the figure. Two spur gears 2 and 3 are
fixed to the same shaft. The number of teeth of gears are z 1 = 15, z 2 = 60, z 3 = 20 and
z 4 = 80 , respectively. The winch drum has a diameter d = 300 mm. Motor A has a constant
angular velocity of n  960 rpm. Determine: (a) gear ratio of the transmission box; (b) the
angular velocity of the winch B, rpm; (c) velocity of the block C, cm/s.
Ans: a) i  16; b) nB  60 rpm; c) vC  94, 25 cm/s.

4
2-9. A transmission using spur gears and bevel gears is shown in the figure. The spur gear 2
and bevel gear 3 are fixed to the same shaft. The number of teeth of gears are: z1, z2, z3 and z4,
respectively. If the gear 1 is started from rest with a constant angular acceleration 1  2
rad/s2, determine the angular acceleration and angular velocity of gear 4 at time t = 5 s from
starting.
z4
B 3 z3
A z1 z2
d
ω4
2 z4

ω1 4
z2 z3
C 1 z1

Prob. 2-8 Prob. 2-9

2-10. Determine the angular velocity of rod AB when θ= 30° , if the bar DC and the center
of the roller C with a radius of r = 100 mm move forward at a constant rate v = 5 m/s.

B
r
r B C
v A
A
 O
D C 

x
Prob. 2-10 Prob. 2-11

2-11. Determine the velocity of the rod AB for any angle θ of cam C as the cam rotates with
a constant angular velocity ω . The pin connection at O does not cause an interference with the
motion of plate B on C.

Problems. Relative Motion of a particle

3-1. The equation of motion of a car on a ferry is given by s(t ) =s 0 + b(α t + e −α t − 1) . The
ferry moves in the water with a constant velocity v . Determine the absolute velocity and
acceleration of the car.

5
 s(t )
M
B C
s(t)
A v

water  A  D

Prob. 3-1 Prob. 3-2

3-2. The arm AB of a parallelogram mechanism ABCD rotates with an equation of motion
  t / 16 rad, time t in second. On the rod BC, a small ball M moves with s  t 2 / 8 m.
2

Givens: AB = DC = 0,5 m, AD = BC. Determine the absolute velocity and acceleration of the
point M when t  2 s.
Ans: va  0, 356 m/s ; aa  0,133 m/s2.
3-3. The right triangle frame rotates around the edge AB with a constant angular velocity
0 . A slider M moves on the hypotenuse with a relative velocity of u = const. Determine the
absolute velocity and acceleration of the slider M as the function of a distance s.
3-4. The circular frame of radius R rotates around the vertical axis AB with a constant
angular velocity 0 . A slider M moves on the ring with a relative velocity of u = const.
Determine the absolute velocity and acceleration of the slider M as the function of an angle ϕ.

Ans: va  u 2  R 2  2 1  cos  ,
2

2 2
aa  (u 2 / R) cos   R 2 (1  cos )  (u 2 / R) sin    4u 2  2 sin2  .
   

u
M B

s
B
u 

M
R
0

A C
0 A

Prob. 3-3 Prob. 3-4

3-5. At the instant shown, ball B is rolling along the slot in the disk with a velocity of 600
mm/s and an acceleration of 150 mm/s2, both measured relative to the disk and directed away
from O. If at the same instant the disk has the angular velocity and angular acceleration shown,
determine the velocity and acceleration of the ball at this instant.

6
 4 y
3
B P

A
0.3 m

ω x
O

Prob. 3-5 Fig. Prob. 3-6

3-6. Rod OAB is rotating counterclockwise with the constant angular velocity ω = 5 rad/s.
In the position shown, collar P is sliding toward A with the speed of 0.8 m/s, increasing at the
rate of 8 m/s2, both measured relative to the rod. Determine the absolute velocity and
acceleration of P in this position.

3-7. When the crank OA of the scotch yoke is in

the position θ = 40°, its angular velocity is 8 rad/s,
and its angular acceleration is 140 rad/s2, both A 0
B
clockwise. Calculate the velocity and acceleration of θ
the sliding rod BK in this position. Given is OA =
0.2 m. K O
s

3-8. A planar mechanism is shown in figure with

Prob. 3-7
OA = r , OB = r 3 and BC = 2r 3 . The arm
rotates uniformly about O with an angular velocity 0 . It leads a horizontal translation of the
rod DE. At instant, ϕ = π / 6 , determine a velocity and acceleration of rod DE.

x C

D
D C E E

0
O
ϕ A h
A ϕ
O

B
B
Prob. 3-8 Prob. 3-9

7
3-9. A planar mechanism is shown in figure with OA = r , OB = r 3 and h = 2r 3 . The
arm rotates uniformly about O with an angular velocity 0 . It leads a horizontal translation of
the rod DE. At instant, ϕ = π / 2 , determine: a) angular velocity and acceleration of rod BC;
b) velocity and acceleration of rod DE.

0 02 3 2r 0 2 2
Ans: BC  , BC  , vDE  , aDE  r .
4 8 3 3 0

3-10. At the instant shown rod BC has an angular velocity ω = 4 rad/s and an angular
acceleration α = 2 rad/s2. Determine the angular velocity and angular acceleration of rod OA
at this instant, BA = 0.75 m, θ = 60°. The collar at A is pin connected to OA and slides freely
along BC.

A
1.2 m/s
B B

ω,α C
0.5 m 0.2 m
O θ
θ
A O
C
Prob. 3-10 Prob. 3-11

3-11. The slider B pin connected to the sliding rod BC can slide along on the rotating arm
OA. Rod BC is sliding to the left with the constant velocity of 1.2 m/s. Determine the angular
velocity and angular acceleration of OA when θ = 60°.

3-12. The end A of a vertical rod AB is hinged to a block sliding along the rod OC and turns
the latter round axis O. The distance from O to AB is l. Determine the velocity and acceleration
of the rod AB as function of the angle ϕ, and=ω ϕ= , α ϕ .

l l 2l sin 
Ans: vAB  2
, aAB  2
 3
2.
cos  cos  cos 

B D
C E
, 
A O r A

,  15 cm
yA β
O ϕ
C
l K 30 cm F

B
Prob. 3-12 Prob. 3-13

8
3-13. A coulise mechanism at instant is shown in figure, arm OA in horizontal and   60 .
Arm OA of length r = 20 cm rotating about O generates a rotation of BCD about C and a
vertical translation of rod EF. At instant, the arm OA rotates with   10 rad/s and   2
rad/s2 (both counter-clockwise). Determine: (a) angular velocity of the arm BCD and velocity
of the rod EF; (b) angular acceleration BCD and acceleration of the rod EF.

3-14. Motion of the slider M in the horizontal track makes the arm COD rotating about axis
O and the bar AB moving in vertical track. At the instant θ = 60°, the slider M has a velocity
vM  10 cm/s and an acceleration aM  2 cm/s2 (to the right). Given h1  34.64 cm and
h2  15 cm, determine: (a) angular velocity of the arm OC, velocity of AB; (b) angular
acceleration OC. (c) write a constraint equations if position parameters θ , x , y are chosen.

Ans: OC  0, 5 rad/s; vAB  23 cm/s; OC  0, 39 rad/s2.

C
M D ω A
B
 O
vM E D
y
h2
θ θ
O
h1 A B
Prob. 3-14 x Prob. 3-15

3-15. A coulise mechanism at instant has a position as shown, OD ⊥ OB, θ = 40°. Determine
the angular velocity of the rod AB of length L, if the rod OD has an angular velocity ω, and
zero acceleration.

Angular velocity addition

3-16. Arm AB rotates around the z-axis with the constant angular velocity ω1 = 3 rad/s. The
  
disk spins about the arm with the constant angular velocity ω2/1 = 10 rad/s. Let [i , j , k ] be unit
vectors of the frame Bxyz. For the position shown, compute the angular velocity and
acceleration of the disk.
      
Ans: ω = ωx + ωz = ω2/1i + ω1k , α = ω1ω2/1 j .

9
 z y
ω2/1

B ϕ 150 mm B 
ω2/1 y

x D 
ω1 120 mm
A z C
ω1 x
Fig. Prob. 3-17
Fig. Prob. 3-16

3-17. Arm DCB of L form rotates about horizontal axis z with the constant velocity ω1 = 5
rad/s. The disk of radius r = 150 mm spins about the arm with the constant angular velocity
  
ω2/1 = 4 rad/s. Let [i , j , k ] be unit vectors of the frame Cxyz. For the position shown, compute
the angular velocity and acceleration of the disk.
      
Ans:   5k  4 j rad/s,   1  2/1  20i rad/s2 .

A
180 mm
r
y ω2/1 ω2/1
D r
ω1 z C
C E
O ω1
B A B
D l
x
z
360 mm
x y
150 mm O

Fig. Prob. 3-18 Fig. Prob. 3-19

3-18. Arm ODC rotates about vertical axis y with the constant velocity ω1 = 5 rad/s. The
disk of radius r = 180 mm spins about the shaft DC of the arm with the constant angular
  
velocity ω2/1 = 4 rad/s. Let [i , j , k ] be unit vectors of the frame Oxyz. For the position shown,
compute the angular velocity and acceleration of the disk.
      
Ans: ω =ω1 j + ω2/1k , α =ω1 j × ω2/1k =ω1ω2/1i .

3-19. Arm ABC rotates about vertical axis z with the constant velocity ω1 = 5 rad/s. The disk
of radius r = 150 mm spins about the vertical shaft BD of the arm with the constant angular
  
velocity ω2/1 = 4 rad/s. Let [i , j , k ] be unit vectors of the frame Oxyz. For the position shown,
compute the angular velocity and acceleration of the disk.
     
Ans: ω =ω1k + ω2/1k , α =ω1k × ω2/1k =0 .

10
3-20. Determine angular velocity vector of body B if frame A rotates about fixed axis z0 with
 
angular velocity and acceleration ω1, α1 and body B rotates about z1 with relative angular
 
velocity and acceleration ω2/1, α 2/1 . The angle between two axes z1 and z0 is β .

A ω3/2
z0 z
ω1  z3
A z1
C

ω1 O  θ
 ω2/1 y
ω2/1
β 

B x

Fig. Prob. 3-20 Fig. Prob. 3-21

3-21. Table 1 rotates about vertical axis z with the constant velocity ω1 = 3 rad/s. Relative
rotation of cylinder 2 with regard to table 1 is described by angle θ. Disc 3 of center C and
radius R = 127 mm spins about axis z3 of cylinder 2 with constant angular velocity
  
ω3/2 = 10 rad/s. Let [i , j , k ] be unit vectors of the frame Oxyz. At instant   30,   0,   2
rad/s2. For the position shown, compute the angular velocity and acceleration of the cylinder 2
and the disk 3.

Problems. General planar motion

4-1. The disk is moving to the right such that it has an angular velocity ω = 4 rad/s and
angular acceleration α = 2 rad/s2 at the instant shown. If it does not slip at contact point,
determine the velocity and acceleration of point A.

, 
A  r = 0.1m A

45° O O C
vO
r = 0.5 m θ

A B
Prob. 4-1 Prob. 4-2 Prob. 4-3
4-2. A bowling ball is cast on the "alley" with a backspin of ω = 10 rad/s while its center O
has a forward velocity of vO = 8 m/s. Determine the velocity of the contact point A touching the
alley.

11
4-3. A rod AB of length l = 4 m is pin-connected to two sliders A and B. At the instant shown
θ = 40°, the slider A has the velocity vA = 4 m/s and acceleration aA = 3 m/s2 both
downward. At instant, determine:
a) the angular velocity of the rod AB and the velocity of end B.
b) the velocity of the middle point C of the bar at the instant
c) the angular acceleration of the rod AB and acceleration of end B of the rod.
A
r L
4-4. If bar OA has an angular velocity ω = 6 rad/s,
ϕ
determine the velocity and acceleration of the slider B O B
at the instant ϕ = 45° and θ = 30°. Length of two links θ
are OA = r = 0.2 m and AB = L = 0.5 m.
Prob. 4-4

4-5. The crank OA is rotating with an angular velocity ω = 8 rad/s. Determine the velocity of
the collar B at the instant θ = 45°. Also, sketch the location of bar AB when θ = 0°, 30° and
60° to show its general plane motion.

ω, α
B
B 0.5 m

1.5 m 45°
0.5 m r
M O

60°
A
0 0.3 m
O θ
A
0.3 m
Prob. 4-6
Prob. 4-5

4-6. At a given instant the wheel is rotating with the angular velocity and angular acceleration
shown, ω = 2 rad/s and α = 6 rad/s2. Determine the acceleration of block B at this instant.
4-7. The slider B moves horizontally with a velocity v = 4 m/s and an acceleration a = 3
m/s2, both to the right. Determine the angular velocity and angular acceleration of the arm OA
of length 0.15 m at this instant as shown.
y
ω
A
O
x A

0
0.4 m
60°
B O
B

Prob. 4-7 Prob. 4-8

12
4-8. A disc B of radius R rolls without slipping on a horizontal line. The arm OA of length r
rotates with a constant angular velocity 0 . At instant, the mechanism has the position as
shown, determine: a) the velocity of point B and the angular velocity of the rod AB and the
cylinder; b) the acceleration of point B and the angular acceleration of the disc.
Ans.:
= a) vA ω=
0
r , ωAB ω0=
/ 3, vB ω0r 3=
/ 3, ωd ω0r 3 / 3R.

=b) aB 2=
r ω02 / 9, αd aB / R.

4-9. At instant a hinge four-bar mechanism has a position as shown. Length of bars are given:
OA = r, BC = R, and AB = l. If bar OA has a constant angular velocity 0 , determine: (a) the
angular velocity the bar AB and BC; (b) the angular acceleration of the bar AB and BC.
Ans.:
= a) vA ω=
0
r , ωAB ω0r 2= / 2, ωBC ω0r 2 / 2R ,
/ 2l, vB ω0r 2 =

b)
= aBn ω=
2
BC
R ω02r 2 / 2R , ….

0.6 B
O 0
90°
45° A
B
A 0.6 0

O 90° 60°
C
C
Prob. 4-9 Prob. 4-10

4-10. At instant a hinge four-bar mechanism has a position as shown (dimension in meter). If
bar OA has an constant angular velocity 0  10 rad/s, determine the angular velocity and
acceleration of the bar CB.
C
Ans.: BC  5 rad/s; BC  43, 30 rad/s2. B

4-11. At instant a hinge four-bar mechanism has a A

30° D
position as shown. If bar AB has an angular velocity
ω = 6 rad/s, determine the angular velocity and
Prob. 4-11
acceleration of the bar CD. Length of two links are AB
= BC = 0.6 m.

4-12. The flywheel rotates with an angular velocity ω = 2 rad/s and an angular acceleration
α = 6 rad/s2. Determine the angular accelerations of links AB and BC at this instant.

13
 A
C
L = 0.5 m 30° 2
D A
B
O
B

ω0
r = 0.3 m y
60° O
ω, α R = 0.4 m A
O 1
C x
ω
Prob. 4-12 Prob. 4-13 Prob. 4-14

4-13. The crankshaft OA rotates at ω = 50 rad/s about the fixed axis through point O, and the
rod CD is fixed to the disk. Determine the angular velocity of rod CD fixed to the disk C at the
instant shown, AB ⊥ CD. Givens are: CD = 0.2 m, BC = BD, OA = 0.12 m, AB = 0.5 m.
4-14. The cylinder 2 rolls without slipping on the fixed cylinder 1. If the connected bar OA is
rotating with an angular velocity of ωOA = 5 rad/s, determine the angular velocity of cylinder 2.
Two cylinders have the same radius r.

4-15. A six link planar mechanism at instant is shown with OA = CD = DB = r = 20 cm, AB =

2r. If the arm OA rotates with constant angular velocity ω0 = 10 rad/s, determine: a) angular
velocity of the rod BC; b) the velocity and acceleration of slider E.

A B B
O
0
O D R
M C
E
30° h
C
A

Prob. 4-15 Prob. 4-16

4-16. A stepped cylinder (radius r and R) rolls without slipping on a horizontal line. A block A
moves down with a velocity v  at [m/s]. The rope is unstretched. Determine: a) the angular
velocity of the cylinder; (b) the acceleration of the center C; (c) the velocity and the
acceleration of point M;
Ans: a) vB = at, ω =
vA = at / (R + r ), a / (R + r ) , =
α= b) vC rat / (R + r ),

=aC ra / (R + r ) , c) vM =ω R 2 + r 2 , aM = (aC + Rω 2 )2 + (Rα )2 .

4-17. Arm OA has an angular velocity of ω and an angular acceleration of α. Length of OA is

l and the radius of disk 2 is r. If no slipping occurs between the disk 2 and the fixed curved

14
surface 1, determine: (a) the angular velocity and angular acceleration of the disk 2; (b)
velocity of the points C, D, E on the rim of the disk 2.

4-18. Arm OA has an angular velocity of ω0 and an angular acceleration of α0. If no slipping
occurs between the disk 2 and the fixed curved surface 1, determine the angular velocity and
angular acceleration of the disk 2. Length of OA is l and the radius of disk 2 is r.
B
D 2
A
A 2 A E
A C
E C D
B ω0,
ω0 O O
ω0 ω0
O
O

1 1

Prob. 4-17 Prob. 4-18

4-19. The planetary gear system is used in an automatic transmission for an automobile. By
locking or releasing certain gears, it has the advantage of operating the car at different speeds.
Consider the case where the ring gear 1 is held fixed, ω1 = 0 and the sun gear 3 is rotating at
ω3 = 5 rad/s. Determine the angular velocity of each of the planet gears 2 and shaft OA. The
radius of gear 2 and 3 are r2 and r3, respectively.

ω R
2
A A r B
1
ω3 ω0 A
ω0
O
O
2 C
3
2r=
2
R +r

1 D
Prob. 4-20
Prob. 4-19

4-20. When the crank on the Chinese windlass is turning, the rope on shaft A of radius R = 75
mm unwinds while that on shaft B of radius r = 25 mm winds up. Determine the speed at
which the block D lowers, if the crank is turning with an angular velocity ω = 4 rad/s. What is
the angular velocity of the pulley at C? The rope segments on each side of the pulley are both
parallel and vertical, and the rope does not slip on the pulley.
4-21. At the instant shown, cable CD has a velocity of 3 m/s and acceleration of 1.5 m/s2,
(both to the right) while the gear rack AB has a velocity of 1.5 m/s and acceleration of 0.75

15
m/s2 (both to the left). Determine: a) the angular velocity of the gear and the velocity of its
center O; b) the angular acceleration of the gear at this instant.

C
C D vD
B
r
O
D
R
A
vA A B 
 
vA aA
Prob. 4-21 Prob. 4-22

4-22. The square plate is confined within the slots at A and B. When θ = 30°, point A is
moving at vA = 8 m/s and aA = 4 m/s2. Determine: a) the velocity of point B, D at this instant; b)
the acceleration of point B and the angular acceleration of the plate at this instant.

4-23. The crank OA rotates clockwise with a constant angular speed of 3 rad/s, θ = −3 rad/s.
At instant θ = 35°, determine: (1) angular velocity and angular acceleration of rod AB; and (2)
the velocity and acceleration of the slider B. Givens: OA = r = 0.1 m, AB = L = 0.16 m, h =
0.08 m.

4-24. The hinge four-linkage mechanism is shown in the figure. The crank OA rotates
uniformly with angular velocity ω1 . Determine the angular velocity and angular acceleration
of the bars AB and BC, at instant ϕ1 = 40°, ω=
1
ϕ=
1
2 rad/s. Givens: l 0 = 0,45, l1 = 0,18,
l2 = 0,35, l 3 = 0, 3 (m).

y A B
r l2
L A
θ l3
O ϕ2
B x
h ϕ
l1 ϕ3
O ϕ1 C
xB
l0
Prob. 4-23 Prob. 4-24

Analytical method
4-25. Write constraint equations on position and velocity for the mechanisms shown in Figure
of Prob. 4-23 and Prob. 4-24.

16
4-26. A slider-crank mechanism is shown in figure, OA = AB = 0.3 m. At the instant shown,
θ= 60° , and rod BC is subjected to a deceleration of 10 m/s2 when the velocity is 6 m/s.
Determine the angular velocity and angular acceleration of link OA at this instant.

A
y A

L
θ
θ B C
θ
O
x B v
xB

Prob. 4-26 Prob. 4-27

4-27. Slider B moves to the right with v = 1.4 m/s and zero acceleration. At instant, θ = 20°,
determine the velocity and acceleration of slider A. Given AB = L = 1.8 m.

Mixed problems: General planar motion and relative motion

4-28. The slider-crank mechanism OAB at instant has the position as shown in the figure. The
arm OA of length r rotates uniformly with angular velocity ω0 = const. On connecting rod AB
there is a small slider M moving with relative speed u. Determine the absolute velocity of the
slider M if it is in the middle of AB.

O 0
A
M u 45°
u B
0 B M A
30°
O

C
Prob. 4-28 Prob. 4-29

4-29. The four-link mechanism OABC at instant has the position as shown in the figure, AB is
horizontal and BC is vertical. Given the lengths of the bars OA = r, BC = R, AB = l. The arm
OA rotates uniformly with angular velocity ω0. On rod AB
there is a small slider M moving with relative speed u. C
Determine the absolute velocity of the slider M, if M is in the B
middle of AB.
4-30. End A of bar ABD is being pulled to the right with the θ
h
constant speed vA = 1 m/s. When θ = 30°, determine (a) the

angular velocity of the bar; and (b) the components of the A vA
acceleration vector of point B that are parallel and
x
perpendicular to the bar.
Prob. 4-30

17
4-31. The arm AB of length r is rotating with the constant angular velocity . Determine the
angular velocity and angular acceleration of the rod BC at this instant, AB ⊥ AD,   30 .

Ans: BC   / 4, BC   2 3 / 8.

y B
B

D A θ ϕ x
A 
D C
C
0.18 m

Prob. 4-31 Prob. 4-32

4-32. The rod BC slides in a rotable tube D when the arm AB of length r = 0.10 m rotates with
a constant angular velocity θ = 12 rad/s. Determine the angular velocity and angular
acceleration of the rod BC at two positions when ϕ = 30°.

4-33. A planar mechanism is shown in figure with OA =

r and OB = h = r 3 , BC = 2h, CD = r. The arm
E D ψ
rotates uniformly about O with an angular velocity 0 . C
It leads a horizontal translation of the rod DE. At instant, h
ϕ = π / 2 , determine: a) angular velocity and ω0
acceleration of rod BC; b) velocity and acceleration of O A
rod DE. ϕ
h

θ u
4-34. The disk of radius R = 0.8 m rolls without slipping
on a horizontal platform, the pin A fixed on the disc can B
smoothly slide in the straight groove of the BC bar, OA Prob. 4-33
= R/2. At instant, AB = 2.4 m, the disk has angular
velocity   2 rad/s and angular acceleration
  4 rad/s2. Determine the angular velocity
and angular acceleration of BC.
Ans: BC  0, 5 rad/s; BC  3, 09 rad/s2.

b
2b
4-35. Determine the expression for the b
vertical velocity v of the car as a function of θ θ
the angle θ if the speed of the piston in the
cylinder is s . Give numerical results with L = L
1.5 m, b = 0.5 m, θ = 30°, s = 0.5 m/s.
Prob. 4-35

18
4-36. A system of 4 gears 1, 2-3, 4 is shown in the figure. Gear 2 and 3 are fixed together, gear
1 is fixed. The numbers of teeth of gears are: z1  60, z 2  40, z 3  50, z 4  25. If the arm OA
has an angular speed of n 0  30 rpm, determine angular speed of gears 2-3 and 4.
Ans: n 3  30, n 4  60 rpm.

O A O A

1 1 3
3 4 2
n0 0 , 0
B O A
O
2 A
1, 1
M

Prob. 4-37 Prob. 4-38

4-37. The planery gear transmission includes three gears of radius r=

1
r=
3
2r=
2
2r and the
arm OA. Determine the velocity and acceleration of the point M on the rim of gear 3
(AM⊥OA), if the arm OA has angular velocity 0 and acceleration 0 (both clockwise) and
the gear 1 has angular velocity 1 and acceleration 1 (both counter clockwise) and their
magnitudes are 1  0 , 1  0 .

Ans: vM  2r 0 10, aMx  2r (0  302 ), aMy  2r (02  30 ).

19