Beruflich Dokumente
Kultur Dokumente
o
25 (325, 220)
A
(75, 0)
75 mm
G
O 𝜃1
55o
120 rpm 𝑟1
𝑟2
𝜃2 ^ ^
(45.9, -65.5) Velocity of OP OP r r r
A
____ ^ ^
Acceleration of OP OP [ r r ] r 2
[ 2 r r ]
Figure 1
Position Vector Equation
⃑⃑⃑⃑⃑ ⃑⃑⃑⃑⃑ ⃑⃑⃑⃑⃑
⃑⃑⃑⃑⃑⃑ ⃑⃑⃑⃑⃑
⃑⃑⃑⃑⃑ 𝑟⏞𝑟 𝑟⏞𝑟
⃑⃑⃑⃑⃑⃑̇ ⃑⃑⃑⃑⃑̇
⃑⃑⃑⃑⃑̇ ⏞
𝑟̇ 𝑟 𝑟 𝜃̇ 𝜃 ⏞ 𝑟 ̇ 𝑟 𝑟 𝜃̇ 𝜃
But 𝑟 ̇ 𝑟̇
Thus
⃑⃑⃑⃑⃑⃑̇ ⃑⃑⃑⃑⃑̇
⃑⃑⃑⃑⃑̇ ⏞
𝑟 𝜃̇ 𝜃 ⏞ 𝑟 𝜃̇ 𝜃
⃑⃑⃑⃑⃑⃑̈ ⃑⃑⃑⃑⃑̈
⃑⃑⃑⃑⃑̈ ⏞
(𝑟̈ 𝑟 𝜃̇ )𝑟 ( 𝑟̇ 𝜃 ̇ 𝑟 𝜃 ̈ )𝜃 ⏞
(𝑟̈ 𝑟 𝜃̇ )𝑟 ( 𝑟̇ 𝜃 ̇ 𝑟 𝜃 ̈ )𝜃
But 𝑟 ̇ 𝑟̇ 𝑟̈ 𝑟̈ 𝜃̈ thus
⃑⃑⃑⃑⃑⃑̈ ⃑⃑⃑⃑⃑̈
⃑⃑⃑⃑⃑̈ ⏞
( 𝑟 𝜃̇ )𝑟 ⏞ ( 𝑟 𝜃̇ )𝑟 ( 𝑟 𝜃 ̈ )𝜃
Velocity Diagram
⃑⃑⃑⃑⃑̇ 𝑟 𝑟 𝑟
⃑⃑⃑⃑⃑ 𝑟 𝜃̇ 𝜃 ( )( )𝜃 𝜃
O
(1.04 m/s)
⃑⃑⃑⃑⃑̇
31o
B
G 𝑟1 𝜃1̇ 𝜃1
(0.19 m/s) A
⃑⃑⃑⃑⃑ 𝑟 𝜃̇ 𝜃
𝑟
𝜃̇
( ) ( )
ACCEL DIAGRAM
𝑟 𝜃̇ 𝑟 ( )( ) 𝑟 𝑟
𝑟 𝜃̇ 𝑟 ( )( ) 𝑟 𝑟
Scale : Acceleration diagram – 1 mm ≡ 0.1 m/s2
Expand
𝑟2 𝜃2̈ 𝜃2
2
(0.009925 m/s ) G (6.6 m/s2)
A 2
𝑟2 𝜃̇22 𝑟2 (13.2 m/s )
𝑟1 𝜃̇12 𝑟1
𝑟1 𝜃̇12 𝑟1
B
𝑟2 𝜃2̈ 𝜃2
O (0.3 m/s2)
⃑⃑⃑⃑⃑̈
𝜃̈ ( )
( ) ( )