CHAPTER 15

PROBLEM 15.1
The motion of a rotor is defined by the relation = 8t 6(t 2) , where
and t are expressed in radians and seconds, respectively. Determine
(a) when the angular acceleration is zero, (b) the angular coordinate and
angular velocity at that time.
3

SOLUTION
Angular coordinate:

= 8t 3 6 (t 2 ) radians

Angular velocity:

d
= 24t 2 12 (t 2 ) rad/s
dt

Angular acceleration:

d
= 48t 12 rad/s 2
dt

zero,
(a) When the angular acceleration is zero.
48 t 12 = 0

t = 0.250 s

(b) Angular coordinate and angular velocity at t = 0.250 s.

= (8 )(0.250 ) ( 6 )(0.250 2 )
3

= 18.25 radians

= ( 24 )(0.250 ) (12 )( 0.250 2 )

2

= 22.5 rad/s

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819

PROBLEM 15.2
The motion of an oscillating flywheel is defined by the relation
= 0 e3 t cos 4 t , where is expressed in radians and t in seconds.
Knowing that 0 = 0.5 rad, determine the angular coordinate, the angular
velocity, and the angular acceleration of the flywheel when (a) t = 0,
(b) t = 0.125 s.

SOLUTION
= 0.5 e3 t cos 4 t
=

d
= 0.5 3 e 3 t cos 4 t 4 e3 t sin 4 t
dt

d
= 0.5 9 2e 3 t cos 4 t + 12 2e 3 t sin 4 t + 12 2e3 t sin 4 t 16 2e3 t cos 4 t
dt

(
= 0.5 ( 24 e

2 3 t

(a)

sin 4 t 7 2e3 t cos 4 t

= ( 0.5 )

t = 0,

= 0.500 rad

= (0.5 )( 3 ) = 4.71

= (0.5 ) 7 2 = 34.5
(b) t = 0.125 s,

cos 4 t = cos

= 0,
2

sin 4 t = sin

= 4.71 rad/s
= 34.5 rad/s 2

=1
2

e 3 t = 0.30786

= (0.5 )( 0.30786 )( 0 ) = 0

= 0

= (0.5 )( 0.30786 )( 4 ) = 1.93437

= (0.5 )( 0.30786 ) 24 2 = 36.461

= 1.934 rad/s
= 36.5 rad/s 2

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820

PROBLEM 15.3
The motion of an oscillating flywheel is defined by the relation
= 0 e7 t / 6 sin 4 t , where is expressed in radians and t in seconds.
Knowing that 0 = 0.4 rad, determine the angular coordinate, the angular
velocity, and the angular acceleration of the flywheel when
(a) t = 0.125 s, (b) t = .

SOLUTION
= 0e7 t/6 sin 4 t
=

d
7 7 t/6

e
sin 4 t + 4 e7 t/6 cos 4 t
= 0
dt
6

49 2 7 t/6

d
28 2 7 t/6
28 2 7 t/6
= 0
e
sin 4 t
e
cos 4 t
e
cos 4 t 16 2e7 t/6 sin 4 t
dt
6
6
36

49 2
28 2
= 0e 7 t/6 16
cos 4 t
sin 4 t +
36
3

(a) 0 = 0.4 rad,

t = 0.125 s
e 7 (0.125)/6 = 0.63245, 4 t =

, sin = 1, cos = 0
2
2
2

= (0.4 )(0.63245)(1) = 0.25298 radians

(b)

t = ,

= 0.253 rad

7
= (0.4 )(0.63245 )
(1) = 0.92722 rad/s
6

= 0.927 rad/s

49 2

= ( 0.4 )(0.63245 ) 16
(1) = 36.551 rad/s 2
36

= 36.6 rad/s 2

e 7 t/6 = 0

= 0
= 0
= 0

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821

PROBLEM 15.4
A flywheel executes 1800 revolutions while it coasts to rest from speed
of 6000 rpm. Assuming uniformly accelerated motion, determine (a) the
time required for the flywheel to coast to rest, (b) the time required for
the flywheel to execute the first 900 revolutions.

SOLUTION
= 1800 rev = 3600 radians

Angular coordinate:

0 = 6000 rpm = 200 rad/s

Initial angular velocity:

Angular acceleration:

d
d
=
= constant
dt
d

d = d

0 d = d
0
1
= 02
2

( 200 ) = 17.4533 rad/s2

02
=
2
( 2 )(3600 )
2

=
rest:
(a) Time required to coast to rest.

= 0 + t
t=

0 0 200
=

17.4533

t = 36.0 s

(b) Time to execute the first 900 revolutions:

revolutions.

= 900 rev = 1800 radians

= 0t +

1 2
t
2

1800 = 200 t

1
(17.4533) t 2
2

t 2 72t + 648 = 0
t=

72

(72 )2 ( 4 )(648)
2

t = 10.54 s

PROPRIETARY MATERIAL. 2007 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed, reproduced
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822

PROBLEM 15.5
When the power
power to
to an
an electric
electric motor
motor isis turned
turned on,
on the motor reaches its
and when
when the
the power
power isis turned
turned off,
off the
rated speed of 2400 rpm in 4 s, and
motor coasts to rest in 40 s. Assuming uniformly accelerated motion,
determine the number of revolutions that the motor executes (a) in
reaching its rated speed, (b) in coasting to rest.

SOLUTION
1 = 2400 rpm =
(a )

( 2400 )( 2 )
60

= 80 rad/s,

1 = 0 + t = t,
1 = 0t +

0 = 0,

t1 = 4 s

1 80
=
= 20 rad/s 2
t
4

1 2
1
160
t = 0 + ( 20 ) 42 = 160 rad =
= 80 rev
2
2
2

( )

1 = 80 rev
(b)

1 = 80 rad/s,

2 = 0,

2 = 1 + (t2 t1 ) ,
2 1 = 1 (t2 t1 ) +

t2 t1 = 40 s

2 1 0 80
=
= 2 rad/s 2
t2 t1
40

1
1
2
2
(t2 t1 ) = (80 )( 40 ) + ( 2 )( 40 )
2
2

= 1600 radians =

1600
= 800 rev
2

2 1 = 800 rev

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823

PROBLEM 15.6
15.6
PROBLEM
The angular
angular acceleration
acceleration of
of aa flywheel
flywheel is
is defined
defined by
by the
the relation
relation
The
2
t t
0.2
==3030
e e0.2
, , where
and seconds,
seconds,
where and
and t tare
areexpressed
expressedinin rad/s
rad/s2 and
respectively. Knowing
Knowing that
that =
= 00 and
and =
= 00 at
at tt =
= 0,
0, determine
determine the
the angular
angular
respectively.
= 0.5
0.5 s.
s.
velocity and
and angular
angular coordinate
coordinate of
of the
the particle
particle when
when tt =
velocity

SOLUTION
d
dt

Angular acceleration:

= 30 e0.2t =

Angular velocity:

= 0 + 0 dt

= 0 + 30 0 e 0.2t dt
t

30 0.2t t
e
0
0.2

= 150 1 e 0.2t =
When t = 0.5 s,

d
dt

0.2 0.5
= 150 1 e ( )( )

)
= 14.27 rad/s

Angular coordinate:

= 0 + 0 dt

= 0 + 150 0 1 e 0.2t dt
t

= 150t

150 0.2t t
e
0
0.2

= 150t 750 1 e0.2t

When t = 0.5 s,

0.2 0.5
= (150 )(0.5 ) 750 1 e ( )( )

)
= 3.63 radians

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824

PROBLEM 15.7
15.7
PROBLEM
0.5w, ,
The angular acceleration of
of aa shaft
shaftisisdefined
definedby
bythe
therelation
relationa==0.5
is expressed in
in
in rad/s.
rad/s. Knowing that at
where a
in rad/s22 and w
at tt = 00,
the angular velocity of the shaft is 30 rad/s, determine (a) the number of
revolutions the shaft will execute before coming to rest, (b) the time
required for the shaft to come to rest, (c) the time required for the angular
velocity of the shaft to reduce to 2 percent of its initial value.

SOLUTION
= 0.5 ,

(a )
Integrating,

30 d = 0.5 0 d ,

d
= 0.5
dt
Integrating,

60
= 9.55 rev
2

dt = 2

= 9.55 rev

t
0
0 dt = 2 30

t = 2 ln
(c)

d = 0.5d

30 = 0.5

= 60 radians =

(b)

d
= 0.5 ,
d

0
=
30

t =

= (0.02 )(30 ) = 0.6 rad/s

d

t
0.6
0 dt = 2 30

t = 2 ln

0.6
= 2 ln 50
30

t = 7.82 s

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825

PROBLEM 15.8
The angular acceleration of an oscillating disk is defined by the relation
= k . Determine (a) the value of k for which = 12 rad/s when
= 0 and = 6 rad when = 0, (b) the angular velocity of the disk
when = 3 rad.

SOLUTION
= k ,

d
= k ,
d

d = k d

0
6
12 d = k 0 d

Integrating,

k =

(a )

62

122
= k
0
2
2

122
= 9 s 2
62

k = 9.00 s 2

3
12 d = k 0 d

32

2 122

= 9
0
2
2
2

(b)

2 = 122 (9 )(3) = 63 rad 2 /s 2

2

= 7.94 rad/s

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826

PROBLEM 15.9
The rectangular block shown rotates about the diagonal OA with a
constant angular velocity of 6.76 rad/s. Knowing that the rotation is
counterclockwise as viewed from A, determine the velocity and
acceleration of point B at the instant shown.

SOLUTION
rA/O = (.127 m) i + (.792 m ) j + (.305 m) k
rB/O = (.127 m) i + (.396 m ) j
lOA =

(.127 )2 + (.792)2 + (.305)2

= .858 m

Angular velocity.
velocity:
=

6.76
rA/O =
(.127 i + .792 j + .305 k )
.858
lOA

= (1.0 rad/s ) i + (6.24 rad/s ) j + ( 2.4 rad/s ) k

Velocity of
of point
point B.
B:
v B = rB/O
i
j
k
v B = 1.0 6.24 2.4 = .95 i + .305 j .396 k
.127 .396 0
v B = (.95 m/s) i + (.305 m/s) j (.396 m/s ) k

Acceleration
of point
point B.
B:
Acceleration of
aB = v B
aB =

i
1.0
.95

j
6.24
.305

k
2.4
.396

= 3.2 1.884 j + 6.233 k

) (

) (

a B = 3.2 m/s 2 i 1.88 m/s 2 j + 6.23 m/s 2 k

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827

PROBLEM 15.10
In Prob. 15.9, determine the velocity and acceleration of point B at the
instant shown, assuming that the angular velocity is 3.38 rad/s and
decreases at the rate of 5.07 rad/s 2.

SOLUTION
rA/O = (.127 m ) i + ( .792 m) j + (.305 m ) k
rB/O = (.127 m) i + (.396 m) j

(.127 )2 + (.792)2 + (.305)2

lOA =

= .858 m

velocity.
Angular velocity:
=

3.38
rA/O =
(.127i + .792j + .305k )
.858
lOA

= ( 0.5 rad/s ) i + (3.12 rad/s ) j + (1.2 rad/s ) k

Velocity of
of point
point B.
B:
v B = rB/O
k
i
j
v B = 0.5 3.12 1.2 = .475 i + .15 j .198 k
.127 .396 0
v B = (.475 m/s) i + ( .15 m/s ) j (.198 m/s ) k

Angular
Angular acceleration:
Acceleration.
=

5.07
rA/O =
(.127 i + .792 j + .305 k )
.858
lOA

) (

) (

= 0.75 rad/s 2 i 4.68 rad/s2 j 1.8 rad/s 2 k

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or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited distribution to teachers and
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828

PROBLEM 15.10 CONTINUED

Acceleration of point B.
B:
a B = rB/O + v B
i
j
k
a B = 0.75 4.68 1.8
.127
.396
0

i
0.5
.475

j
k
3.12 1.2
.15 .198

= .7128 i .2286 j + .297 k .79776 i . 471j + 1.557 k

) (

) (

a B = .08 m/s 2 i .7 m/s 2 j + 1.85 m/s 2 k

PROPRIETARY MATERIAL. 2007 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed, reproduced
or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited distribution to teachers and
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829

PROBLEM 15.11
The assembly shown consists of two rods and a rectangular plate BCDE
which are welded together. The assembly rotates about the axis AB with a
constant angular velocity of 10 rad/s. Knowing that the rotation is
counterclockwise as viewed from B, determine the velocity and
acceleration of corner E.

SOLUTION
rB/ A = (500 mm ) i ( 225 mm ) j + (300 mm ) k = ( 0.5 m ) i (0.225 m ) j + (0.3 m ) k
l AB =

0.52 + 0.2252 + 0.32 = 0.625 m

Angular velocity vector.

vector:
=

10
rB/ A =
(0.5i 0.225j + 0.3k )
l AB
0.625
= (8 rad/s ) i (3.6 rad/s ) j + ( 4.8 rad/s ) k
rE/B = (300 mm ) k = (0.3 m ) k

Velocity of E.
E:
v E = rE/B

k
i
j
= 8 3.6 4.8 = 1.08i + 2.4 j
0 0 0.3
v E = (1.080 m/s ) i + ( 2.40 m/s ) j

Acceleration of E.
E:
i
j
k
a E = v E = 8 3.6 4.8 = 11.52i + 5.184 j + 23.088k
1.08 2.4 0

) (

) (

a E = 11.52 m/s 2 i + 5.18 m/s 2 j + 23.1 m/s 2 k

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830

PROBLEM 15.12
In Prob. 15.11, determine the velocity and acceleration of corner C,
assuming that the angular velocity is 10 rad/s and decreases at the rate of
20 rad/s 2.

SOLUTION
rB/ A = (500 mm ) i ( 225 mm ) j + (300 mm ) k = (0.5 m ) i ( 0.225 m ) j + (0.3 m ) k
l AB =

0.52 + 0.2252 + 0.32 = 0.625 m

Angular
vector:
Angular velocity
velocity vector.
=

Angular velocity vector:

acceleration vector:
vector.
Angular acceleration
=

Angular acceleration vector:

Velocity of
of C:
C.
Velocity

10
rB/ A =
(0.5i 0.225j + 0.3k )
l AB
0.625
= (8 rad/s ) i (3.6 rad/s ) j + ( 4.8 rad/s ) k

20
rB/ A =
(0.5i 0.225j + 0.3k )
0.625
l AB

) (

) (

= 16 rad/s2 i + 7.2 rad/s 2 j 9.6 rad/s 2 k

vC = rC/B
rC/B = (500 mm ) i = ( 0.5 m ) i
k
i
j
vC = 8 3.6 4.8 = 2.4 j 1.8k
0.5 0
0
vC = ( 2.40 m/s ) j (1.800 m/s ) k

Acceleration of
of C:
C.

aC = rC/B + vC
i
j
k
= 16 7.2 9.6
0.5 0
0

i
j
k
8 3.6 4.8
0 2.4 1.8

= 4.8 j + 3.6k + 18i + 14.4 j 19.2k

= 18i + 19.2 j 15.6k

) (

) (

aC = 18.00 m/s 2 i + 19.20 m/s 2 j 15.60 m/s 2 k

PROPRIETARY MATERIAL. 2007 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed, reproduced
or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited distribution to teachers and
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831

PROBLEM 15.13
The bent rod ABCD rotates about a line joining points A and D with a
constant angular velocity of 75 rad/s. Knowing that at the instant
considered the velocity of corner C is upward, determine the velocity and
acceleration of corner B.

SOLUTION
rA/D = ( 200 mm ) i + (120 mm ) j + (90 mm ) k

( 200 )2 + (120 )2 + (90 )2

d DA =
DA =

= 250 mm

rA/D
= 0.8 i + 0.48j + 0.36k
d DA

= DA = (75 )( 0.8i + 0.48 j + 0.36k ) = (60 rad/s ) i + (36 rad/s ) j + ( 27 rad/s ) k

=

d
DA = 0
dt

rB/A = ( 200 mm ) i = ( 0.2 m ) i

Velocity
Velocity of
of corner
corner B.
B:

v B = rB/ A

i
j k
= 60 36 27 = 5.4 j 7.2k
0.2 0 0
v B = (5.40 m/s ) j (7.20 m/s ) k

Acceleration
Acceleration of
of corner
cornerB:B.
a B = rB/ A + v B
k
i
j
= 0 + 60 36 27 = 405i 432 j + 324k
0 5.4 7.2

) (

) (

a B = 405 m/s 2 i 432 m/s 2 j + 324 m/s 2 k

PROPRIETARY MATERIAL. 2007 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed, reproduced
or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited distribution to teachers and
educators permitted by McGraw-Hill for their individual course preparation. If you are a student using this Manual, you are using it without permission.
832

PROBLEM 15.14
In Prob. 15.13, determine the velocity and acceleration of corner B,
assuming that the angular velocity is 75 rad/s and decreases at the rate of
600 rad/s2.

SOLUTION
rA/D = ( 200 mm ) i + (120 mm ) j + (90 mm ) k
d AD =
DA =

( 200 )2 + (120 )2 + (90 )2

= 250 mm

rA/D
= 0.8 i + 0.48j + 0.36k
d AD

= DA = (75 )( 0.8i + 0.48j + 0.36k ) = ( 60 rad/s ) i + (36 rad/s ) j + ( 27 rad/s ) k

=

d
DA = ( 600 )( 0.8i + 0.48 j + 0.36k )
dt

) (

) (

= 480 rad/s 2 i 288 rad/s 2 j 216 rad/s 2 k

rB/A = ( 200 mm ) i = ( 0.2 m ) i
Velocity of
of corner
corner B.
B:

v B = rB/ A

i
j k
= 60 36 27 = 5.4 j 7.2k
0.2 0 0
v B = (5.40 m/s ) j (7.20 m/s ) k

cornerB:
B.
Acceleration of corner
a B = rB/ A + v B
i
j
k
i
j
k
= 480 288 216 + 60 36 27
0.2
0
0
0 5.4 7.2
= 43.2 j 57.6k 405i 432 j 324k

) (

) (

a B = 405 m/s 2 i 389 m/s 2 j 266 m/s 2 k

PROPRIETARY MATERIAL. 2007 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed, reproduced
or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited distribution to teachers and
educators permitted by McGraw-Hill for their individual course preparation. If you are a student using this Manual, you are using it without permission.
833

PROBLEM 15.15
The earth makes one complete revolution around the sun in 365.24 days.
Assuming that the orbit of the earth is circular and has a radius of
149014881 km, determine the velocity and acceleration of the earth.
149014581

SOLUTION
365.24 days = 31.557 106 s,

1 rev = 2 rad

Angular velocity.
velocity:

2
= 199.11 109 rad/s
31.557 106

Velocity of
of the
the earth.
earth:

)(

v = r = 149014581 10 3 199.11 109 = 2.967 10 4 m/s

2.967 1044 m/s
v == 2.967

Acceleration of the earth.

earth:

)(

a = r 2 = 149014581 103 199.11 109

-3
= 5.9 10
m/s
m/s
103

5.910
aa==5.9
103-3 m/s

PROPRIETARY MATERIAL. 2007 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed, reproduced
or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited distribution to teachers and
educators permitted by McGraw-Hill for their individual course preparation. If you are a student using this Manual, you are using it without permission.
834