Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

Dinmica de Maquinaria

Rogelio Daro Gutirrez Carrillo

Dinmica de Maquinaria
If the collar at A is moving downward with an acceleration aA = {~5k}
ft/s2, at the instant its speed is VA = 8 ft/s, determine the velocity and
acceleration of the collar at B at this instant.

Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

vA=8ft/s

Rogelio Daro Gutirrez Carrillo

Dinmica de Maquinaria

Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

Cuando la barra AB est en la posicin que se muestra, el collarn se

mueve a una velocidad de A = {3i} m s y aceleracin de aA = {0.5i} m/s2.
Determine la aceleracin del collarn B en este instante. Suponga que la
velocidad y aceleracin angulares de AB son perpen-diculares a la
barra.

Rogelio Daro Gutirrez Carrillo

Dinmica de Maquinaria

Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

La manivela AB se utiliza para convertir movimiento rotacional en traslacin del

collarn C. La barra BC de 150 mm esta conectada a la manivela y al collarn
con juntas de bola y receptculo. Si la manivela tiene una aceleracin angular
de 2 rad/s2 partiendo del reposo en la posicin que se muestra en la figura,
determine la velocidad y la aceleracin del collarn.

Rogelio Daro Gutirrez Carrillo

Dinmica de Maquinaria

Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

The rod AC is attached to collars at its ends by ball-and-socket joints. If

disk A has an angular velocity of A = 10 rad/s, determine the angular
velocity of the rod and the velocity of collar B at the instant shown.
Assume angular velocity of the rod is directed perpendicular to the rod

Rogelio Daro Gutirrez Carrillo

Dinmica de Maquinaria

Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

At the instant shown, the cab of the excavator is rotating about the z axis
with a constant angular velocity of Z = 0.3 rad/s. At the same instant
= 60, and boom OBC has an angular velocity of = 0.6 rad/s, which is
increasing at = 0.2 rad/s2, both measured relative the cab. Determine the
velocity and acceleration of point C on the grapple at this instant

Rogelio Daro Gutirrez Carrillo

Dinmica de Maquinaria

Ans vp = -25.5i -13.4j +20.5k ft/s

ap = 161i -249j -39.9k ft/s2

Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

At the instant shown, the arm OA of the conveyor belt is rotating about the z axis with
a constant angular velocity 1= 6 rad/s, while at the same instant the arm is rotating
upward at a constant rate 2 = 4 rad/s. If the conveyor is running at a constant rate
= 5 ft/s, determine the velocity and acceleration of the package P at the instant
shown. Neglect the size of the package.

If the conveyor is running at a rate = 5

ft/s, which is increasing at a = 8 ft/s2,
determine the velocity and acceleration
of the package P at the instant shown.

1= 6 rad/s

Ans vp = -25.5i -13.4j +20.5k ft/s

ap = 161i -243j -33.9k ft/s2

Rogelio Daro Gutirrez Carrillo

Dinmica de Maquinaria

Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

At the instant shown, the helicopter is moving upwards with a velocity vh =

4 ft/s and has an acceleration aH = 2 ft/s2. At the same instant the frame H,
not the horizontal blade, is rotating about a vertical axis with a constant angular
velocity h = 0.9 rad/s. If the tail blade B is rotating with a constant angular
velocity b/h = 180 rad/s, measured relative to H, determine the velocity and
acceleration of point P, located on the tip of the blade, at the instant the blade is
in the vertical position.

Rogelio Daro Gutirrez Carrillo

Dinmica de Maquinaria
At the instant shown, the boom is rotating about the z axis with an angular velocity
1 = 2 rad/s and angular acceleration 1= 0.8 rad/s2. At this same instant the swivel
is rotating at 2 = 3 rad/s when 2 = 2 rad/s2, both measured relative to the boom.
Determine the velocity and" acceleration of point P on the pipe at this instant.

Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

Ans vp = 2i + 20j m/s

ap = -101i -14.8j m/s2

Rogelio Daro Gutirrez Carrillo

Dinmica de Maquinaria
The triangular plate ABC is supported at A by a ball-and-socket joint and at C by the
xz plane. The side AB lies in the x-y plane. At the instant = 60, = 2 rad/s, = 3
rad/s2, and point C has the coordinates shown. Determine the angular acceleration of
the plate and the acceleration of point C at this instant.

Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

Ans ac = 99.6i 117k ft/s2

= 10.4i + 30j +3k rad/s2

Rogelio Daro Gutirrez Carrillo

Dinmica de Maquinaria
At the instant shown, the industrial manipulator is rotating about the z axis at 1= 5rad/s,
and about joint B at 2 = 2 rad/s. Determine the velocity and acceleration of the grip A at
this instant, when =30 = 45 and r = 1.6m.

vA = -8.66i + 2.26j + 2.26k m/s

aA = -22.6 -47.8j + 4.53k m/s2

Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

Ans

Rogelio Daro Gutirrez Carrillo

Dinmica de Maquinaria
At a given instant, the antenna has an angular motion 1= 3 rad/s and 1 = 2 rad/s2
about the z axis. At this same instant = 30, the angular motion about the x axis is
2 = 1.5 rad/s, and 2 = 4 rad/s2. Determine the velocity and acceleration of the
signal horn A at this instant. The distance from O to A is d = 3 ft.

Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

Ans vA = -7.79i -2.25j +3.9k ft/s

aA = 8.3i -35.2j + 7.02k ft/s2

Rogelio Daro Gutirrez Carrillo

Semestre 2012-I

UNAM, FACULTAD DE INGENIERA

Dinmica de Maquinaria

Rogelio Daro Gutirrez Carrillo