PROBLEM 15.202
In Problem 15.201 the speed of Point B is known to be constant.
For the position shown, determine (a) the angular acceleration of the
guide arm, (b) the acceleration of Point C.
PROBLEM 15.201 Several rods are brazed together to form the
robotic guide arm shown, which is attached to a ball–and–socket joint
at O. Rod OA slides in a straight inclined slot while rod OB slides in a
slot parallel to the z-axis. Knowing that at the instant shown
vB
(9 in./s) ,=k
determine (a) the angular velocity of the guide arm,
(b) the velocity of Point A, (c) the velocity of Point C.
PROBLEM 15.202 (Continued)
PROBLEM 15.202 (Continued)
(a) Angular acceleration:
2
(1.125 rad/s )=kα
PROBLEM 15.203
Rod AB of length 25 in. is connected by ball–and–socket joints to
collars A and B, which slide along the two rods shown. Knowing
that collar B moves toward Point E at a constant speed of
20 in./s, determine the velocity of collar A as collar B passes
through Point D.
PROBLEM 15.204
Rod AB of length 13 in. is connected by ball-and–socket joints to collars
A and B, which slide along the two rods shown. Knowing that collar B
moves toward point D at a constant speed of 36 in./s, determine the
velocity of collar A when b = 4 in.
PROBLEM 15.205
Rods BC and BD are each 840 mm long and are
connected by ball–and-socket joints to collars that
may slide on the fixed rods shown. Knowing that
collar B moves toward A at a constant speed of 390
mm/s, determine the velocity of collar C for the
position shown.
PROBLEM 15.206
Rod AB is connected by ball–and–socket joints to collar A and to the
16-in.–diameter disk C. Knowing that disk C rotates counterclockwise at
the constant rate
0
3
ω
=
rad/s in the zx plane, determine the velocity of
collar A for the position shown.
PROBLEM 15.207
Rod AB of length 29 in. is connected by ball–and–socket joints
to the rotating crank BC and to the collar A. Crank BC is of
length 8 in. and rotates in the horizontal xz plane at the constant
rate
0
10
ω
=
rad/s. At the instant shown, when crank BC is
parallel to the z axis, determine the velocity of collar A.
PROBLEM 15.208
Rod AB of length 300 mm is connected by ball–and–socket
joints to collars A and B, which slide along the two rods
shown. Knowing that collar B moves toward Point D at a
constant speed of 50 mm/s, determine the velocity of collar A
when
80 mm.c=
PROBLEM 15.208 (Continued)
/
DC
r