Kinematics of Rigid Bodies: 3-D

Worksheet 3.5(b) : Disk-Yoke Motion

z 300
E 400 At the instant as shown in Figure W3.5(b), the disk is
Z spinning at the rate s = 5 rad/s and is decreasing at 6
s 300
rad/s2 relative to yoke CD while at the same time the
x
p yoke is turning at the rate q = 3 rad/s and is increasing
B 400
at 4 rad/s2, determine
z D A
y
a) the absolute angular velocity and angular
x X acceleration of the disk, and
C O
b) the absolute velocity and acceleration of point E on
600 the disk.
y q

Y All dimensions are in mm Theory: Motion analysis using

Figure W3.5(b) R = Ru (A)

R = R u + R (B)

R = R u + 2( R u) + R + (R) (C)
Assumption(s):
Solution:
a) The absolute angular velocity and angular acceleration of disk D are, respectively

disk = q + s = q j + s i where q = 3 rad/s and s = 5 rad/s

disk = disk = q + s = q j + q j + s i + s i where q = 4 rad/s2; s = 6

rad/s2

Choosing of the rotating coordinate Cxyz to be q i.e. = q i = (q j)i = q k and

j =(q j)j = 0

disk = q j + q(0) + s i + s( q k) = q j + s i sq k
Substituting numerical values, we obtain

disk = q j + s i = 3j + 5i = 3J + 5I rad/s since I = i and J = j [ans]

disk = 4j + ( 6)i (5)( 3)k = 4J 6I + 15K rad/s since K = k
2
[ans]

b) The absolute velocity and acceleration of point E can now be determined by writing
RE = CD + DE and let R1 = CD; R2 = DE (1)
= R1 + R2

vE = R E = R 1 + R 2 or vE = vD + vE/D (2)
 aE = R E = R 1 + R 2 or aE = aD + aE/D (3)

where each of the terms in eqs.(1), (2), and (3) can be analyzed using eqs.(A), (B), and (C),
respectively.

Approach I: (We choose of the rotating frame to be the same as of the body i.e. = )

Yoke CD and R1: 1 = yoke CD = q = q j = 3j = 3J rad/s since J = j

1 = 1 = yoke CD = q = q j + q j = 4J rad/s2 where q = 4 rad/s2 and

j = (q j)j = 0

RD = R1 = R1u1 = 0.4k = 0.4K m

vD = R D = R 1 = R1 u1 + 1R1 where R1 = 0 m/s

= 0 + ( 3J)(0.4K) m/s
= 0 +( 1.2I ) = 1.2I m/s

= R
aD = R D = R u1 + 21 R u1 + 1R1 + 1(1R1) where = 0 m/s2
R
1 1 1 1

= 0 + 2( 3J)(0) + (4J)(0.4K) + ( 3J)( 1.2I) m/s2

= 0 + 0 +( 1.6I )+( 3.6K ) m/s2
= 1.6I 3.6K m/s2

Disk D and R2: 2 = disk = 3J + 5I rad/s

2 = 2 = disk = 4J 6I + 15K rad/s2

RE/D = R2 = R2u2 = 0.3k = 0.3K m (since K = k = u2)

vE/D = R 2 = R 2 u2 + 2R2 where R 2 = 0 m/s

= 0 + ( 3J + 5I)(0.3K) cm/s
= 0 + ( 0.9I 1.5J ) cm/s = 0.9I 1.5J m/s

= R 2u2 + 22( R u2) + 2R2 + 2(2R2)

aE/D = R where R 2 = 0 m/s2
2 2

= 0 + 2( 3J + 5I)(0) + (4J 6I + 15K)(0.3K) + ( 3J + 5I)( 0.9I 1.5J) m/s2

= 0 + 0 + ( 1.2I + 1.8J ) + ( 2.7K 7.5K ) m/s2
= 1.2I + 1.8J 10.2K m/s2
From (2) vE = ( 1.2I) + ( 0.9I 1.5J) = 2.1I 1.5J m/s [ans]
From (3) aE = (1.6I 3.6K) + (1.2I + 1.8J 10.2K) = 2.8I + 1.8J 13.8K m/s2 [ans]
Kinetics of Rigid Bodies: 2-D
Problem Statement: Slider A is connected to Data & Diagram:
slider B through a rigid uniform link AB of length l
Y
= 500 mm and mass m = 2 kg as shown. The
system is initially at rest when it is subjected to a
constant force F applied at its midsection which
results in the slider A having a uniformly A
accelerated motion of 10 m/s to the right. Use
2
m, l
= tan 1(3/4) and all surfaces of contact are
smooth. Also neglect the mass of sliders A and F G
B.
X
Find:
B
Determine immediately at this instant
a) the acceleration of link AB, Assumption(s):
b) the applied force F,
c) the reactions at A and B, and
What is the velocity of the sliders A and B after
a displacement of 0.8 m?

Theory: Equations of motion,

F = maG and MG = IG or MO = IO
and kinematics of translational motion

Solution:
a) Since the system is only in FBD and KD:
translation ( = 0), the acceleration of y
mass center G of the link is the same FA A
m, l WG = 2g x
as that of the sliders i.e. aG = aA = aB
NA
maG = 2(10) = 20 N
F G
b) Kinetics:
FB
B
[+Fx = maG,x]: FA + FB + F = maG NB
(1)

But we have FA = ANA = FB = BNB

= 0, therefore
 F = maG = 2(10) = 20 N [ans]
c)

[+Fy = maG,y]: NA + NB 2g = 0
NA + NB = 2g (2)

[+MG = IG = 0]:

NA ( 2l cos) + NB ( 2l cos) = 0 NA = NB (3)

Solving eqs.(2) and (3) yields

NA = 9.81 N and NB = 9.81 N [ans]

Kinematics: since the system in translation ( = 0), vG = vA = vB = v

v2 = v02 + 2a(x x0)
= (0)2 + 2(10)(0.8 0) v = 4 m/s [ans]
Kinetics of Rigid Bodies: 3-D
Problem Statement: Shaft AD of negligible mass Data & Diagram:
carries a uniform slender rod BE and a solid
sphere Q, each of mass m = 3 kg. The shaft which a = 100 mm
is supported by bearings at A and D is initially at
rest when a couple of moment M is applied as y Q b = 150 mm
A M
shown. The applied couple causes the resulting
B a
angular acceleration of 15 rad/s2. Note that
bearing at A and D do not support the axial load. z C
D
E a
b x
b
Find: Determine immediately after the couple has b
been applied
a) the couple M, and Assumption(s):
b) the dynamic reactions at bearing D.

Solution:

y
Ayj M = Mi
O b a
b Dyj
Az k b
z a
x
Dzk

MO = RGmaG + MG

Rod BE, RG = bi + 0.5ak; = = i; = i + i = i ( i = 0)

aG = R G = RG + (RG)

= i (bi + 0.5ak) + i[ i(bi + 0.5ak)]

= 0.5a j 0.5a 2k m/s2

RGmaG = (bi + 0.5ak)m( 0.5a j 0.5a 2k)

= m(0.25a2 i + 0.5ab 2j 0.5ab k) Nm

1
Ix= Iy= 12
ma2, I z = 0; I xy = I yz = I zx =0

rod BE = = i rad/s rod BE = i rad/s2

 [x = , y = z = 0, x = , y = z = 0]

Mx = I x x ( I y I z)y z = 1
12
ma2 Nm

My = I y y ( I z I x)z x = 0 MG = H G = 1
12
ma2 i Nm

Mz = I z z ( I x I y)x y = 0

MO, rod BE = H O = 1
3
ma2 i + 0.5ab 2j 0.5ab k Nm

Sphere Q, RG = 2bi + aj; = = i ; = i + i = i ( i = 0)

aG = R G = RG + (RG)

= i(2bi + aj) + i[ i(2bi + aj)]

= a 2j + a k m/s2

RGmaG = (2bi + aj)m( a 2j + a k)

= m(a2 i 2ab j 2ab 2 k) Nm

I x = I y = I z = 0; I xy = I yz = I zx = 0. Since all moments and products of inertia with

respect to the centroidal axis are zero, MG = H G = 0 !

MO, sphere Q = H O = m(a2 i 2ab j 2ab 2 k) Nm

MO, total = MO, rod BE + MO, sphere Q

= ( 13 ma2 i + 0.5ab 2j 0.5ab k) + m(a2 i 2ab j 2ab 2 k)

= 4
3
ma2 i + m(0.5ab 2 2ab) j m(0.5ab + 2ab 2)k Nm

External loads. In this case, the external loads consist of the weights of the rod and the solid
sphere (treated as a particle), the couple M, the static reactions at A and D, and the dynamic
reactions at A and D. However, the weights and the static reactions are balanced; therefore,
the external loads reduce to the couple M and the dynamic reactions A and D as shown. The
moments of the external forces about O:

(MO)ext = Mi + RDD = Mi + 3bi(Dyj + Dzk) = Mi 3bDzj + 3bDyk (2)

(MO)ext = (MO)eff :

M i + RD(Dy j + Dz k) = 4
3 ma2 i + m(0.5ab 2 2ab) j m(0.5ab + 2ab 2)k