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PROBLEM 15.133
Knowing that at the instant shown bar AB has an angular
velocity of 4 rad/s and an angular acceleration of 2 rad/s2, both
clockwise, determine the angular acceleration (a) of bar BD,
(b) of bar DE by using the vector approach as is done in Sample
Problem 15.16.
PROBLEM 15.133 (Continued)
PROBLEM 15.134
Knowing that at the instant shown bar AB has an angular velocity of 4 rad/s
and an angular acceleration of 2 rad/s2, both clockwise, determine the angular
acceleration (a) of bar BD, (b) of bar DE by using the vector approach as is
done in Sample Problem 15.16.
PROBLEM 15.134 (Continued)
PROBLEM 15.135
Robert’s linkage is named after Richard Robert (1789–1864) and can be used
to draw a close approximation to a straight line by locating a pen at Point F.
The distance AB is the same as BF, DF and DE. Knowing that at the instant
shown bar AB has a constant angular velocity of 4 rad/s clockwise, determine
(a) the angular acceleration of bar DE, (b) the acceleration of Point F.
PROBLEM 15.135 (Continued)
PROBLEM 15.136
For the oil pump rig shown, link AB causes the beam
BCE to oscillate as the crank OA revolves. Knowing
that OA has a radius of 0.6 m and a constant
clockwise angular velocity of 20 rpm, determine the
velocity and acceleration of Point D at the instant
shown.
PROBLEM 15.136 (Continued)
PROBLEM 15.137
Denoting by
A
r
the position vector of Point A of a rigid slab that is in plane
motion, show that (a) the position vector
C
r
of the instantaneous center of rotation is
2A
CA
ω
×
= + ωv
rr
where
ω
is the angular velocity of the slab and
A
v
is the velocity of Point A,
(b) the acceleration of the instantaneous center of rotation is zero if, and only if,
AA A
α
ω
= +×avωv
where
α
=kα
is the angular acceleration of the slab.
PROBLEM 15.138*
The drive disk of the scotch crosshead mechanism shown has an angular
velocity
ω
and an angular acceleration
α
, both directed counterclockwise.
Using the method of Section 15.4 B, derive expressions for the velocity and
acceleration of Point B.
