1/4

SOLUTION 8
MP2002 Kinematics and Dynamics of Machinery

8.1 (Homework)
A uniform slender rod, of length L = 750 mm and mass m = 2 kg and
2
12
1
mL I
G
= , hangs freely from a hinge at A. If a force P of magnitude
12 N is applied at B horizontally to the left (h = L), determine
(a) the angular acceleration of the rod,
(b) the components of the constraint force at A.

Solution
Kinematic Analysis:
i j k r a
GA G

375 . 0 )

375 . 0 (

= = =


Rod AB rotates about a fixed point A, so we have
2
2
2 2
3
1
2 12
1
mL
L
m mL mr I I
GA
G A
=
|
.
|

\
|
+ = + = = 0.375 (kg m
2
)
Dynamic Analysis:
For Rod A

A A
I M =
k r i
GA

375 . 0 )

12 ( =


375 . 0 ) 75 . 0 )( 12 ( =
24 = (rad/s)
i a
G

9 =

(rad/s)

G
a m F

=
)

9 ( 2

12

2 i j F i F i j g
y
A
x
A
= + +

62 . 19
6

=
=
y
A
x
A
F
F
(N)
A
B
I
A

G
a
G
=
y
A
F
A
L
12N
B
mg
G
i

x
A
F
2/4
8.2 (Homework)
The 2-kg collar C is free to slide in the vertical plane along the smooth
rod AB, which is welded onto collar A as shown. The collar A is sliding
along the vertical shaft with acceleration 4 m/s
2
upward.
Determine:
(a) the acceleration of collar C
(b) the force acting on collar C by rod AB

Solution
Kinematics Analysis:
Acceleration of collar C
we can find
t
A C A C
a a a
/

+ =
t A C
e a j

4
/
+ =

Dynamic Analysis:
For collar C:
C n
a m e N j mg

= +

= ( )
t A C
e a j m

4
/
+
Changing the coordinates by
j i e
t

45 sin

45 cos

+ = , j i e
n

45 sin

45 cos

+ =
Then
i

:

45 cos 45 cos
/ A C
ma N = (1)
j

: ) 45 sin 4 ( 45 sin
/

A C
a m N mg + = + (2)
Solving (1) and (2)
765 . 9
/
=
A C
a (m/s
2
), 53 . 19 = N (N),
Therefore,
49 . 7
/
= + =
t
A C A C
a a a

(m/s
2
) -157.2
o
.

C
45
A
B
n
e
t
e
N
mg
i

3/4
8.3 (Wilson & Sadler, Q10.8, p.759) (Tutorial)
The crank of the slider-crank mechanism of the figure has an
instantaneous angular velocity of 10 rad/s clockwise and an angular
acceleration of 200 rad/s
2
clockwise. Acceleration information is given
in the figure.
The connecting rod has a mass of 15 kg and a mass moment of inertia
of 7500 kg-mm
2
about its mass center G
2
. The slider has a mass of 8
kg. The crank has a moment of inertia of 4000 kg-mm
2
about its
stationary center of mass G
1
.
Determine all bearing forces and the input torque T
1
for the position
shown.

82

36

44 . 186

90

OB =30 mm
BC =90 mm
a
G2
= 3810 325
o
mm/s
2

2
= 66.3 rad/s
2
(ccw)
a
G3
= 5800 mm/s
2

<t'F;z
)
J
pJ
tbt
0,G,
h=irtfq
{,
%r=or------
$tnn'
Ftr
ttZ
rJ
lot
ca=&S,
ry rma=o
E?.=a
r!
to)
g"aI4$"
rx
/rZ
Effi
EB.0
r!
tol
lt
FJ
Lt
4fl,vq*
hia
E*ffi!
tqP
T,
,Fol
,
i!
,r!
,
rl
toJ
E!
rl
frl
1t
r-J
A
,
I
o3
.J
,fr1
r
I
-"'l
-+---_-t
-
-
ri_lro
"
g
wft*"t"J '
zBr
t-,.*W
:t{B=O
-
?
Tr.;$
-G.*rr36td*la=o
.-.
Ti=
a.?L
t,
ETr
ia:
'$+Ffl$rrfu*o
r
h|rl!.at
rU
o
tr
$JiiW+b$rf+E}o-
"'
fif
*
-3i'ril
tEEo
-
E}t$lnl,'26-Errs-+
cs,
+ri'
+
Tf,-rzq:
fl}'r:
t
1ri
-fir?
Prhri
o
i";b,
f;-nf=o+ETsprr
Efsao:
t-tr.f
O
Tf-tterA
E?*$.trr
ZTIEo:
EfI*c'
f.I-Tt.il)fiar#6.r
et
EJ*EI=.',
Eio4-?td
4/4
Additional Questions

8.4 A pipe (thin ring) with mass 500 kg and radius of 0.5 m rolls down
a ramp without slipping as shown. If the ramp is fixed horizontally,
determine the angular acceleration of the pipe and forces between the
pipe and ramp.

Solution:
Kinematic Analysis:
t n p
e r e r k r a ) (

= = =


125
2
= = mr I
p
(kg m
2
)

Dynamic Analysis:
For pipe:

P P
I M =
)

(
2
k mr e F e r
t n
=
125 = Fr (1)

p
a m F

=
) (

t t n
e r m j mg e F e N = +
Changing the coordinates by
n t
e e i 30 sin 30 cos

= ,
n t
e e j 30 cos 30 sin

+ =
Then
n
e : 0 ) 30 (cos =

mg N (2)
t
e : r m mg F = ) 30 (sin

(3)
Solving (1), (2) and (3)
9 . 4 = (rad/s)

= =
= =
1225 ) 30 (sin
5 . 4243 ) 30 (cos
r m mg F
mg N

(N)

P
a
P
A
30
B
t
e
n
e

p

=
P
N
30
B
t
e
n
e
mg
F
i