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PROBLEM 15.209
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
120 mm.c=
PROBLEM 15.209 (Continued)
PROBLEM 15.210
Two shafts AC and EG, which lie
in the vertical yz plane, are
connected by a universal joint at
D. Shaft AC rotates with a constant
angular velocity
1
ω
as shown. At
a time when the arm of the
crosspiece attached to shaft AC is
vertical, determine the angular
velocity of shaft EG.
PROBLEM 15.211
Solve Problem 15.210, assuming
that the arm of the crosspiece
attached to the shaft AC is
horizontal.
PROBLEM 15.210 Two shafts
AC and EG, which lie in the
vertical yz plane, are connected by
a universal joint at D. Shaft AC
rotates with a constant angular
velocity
1
ω
as shown. At a time
when the arm of the crosspiece
attached to shaft AC is vertical,
determine the angular velocity of
shaft EG.
PROBLEM 15.212
Rod BC has a length of 42 in.and is connected by a
ball-and-socket joint to collar B and by a clevis
connection to collar C. Knowing that collar B moves
toward A at a constant speed of 19.5 in./s, determine at
the instant shown (a) the angular velocity of the rod,
(b) the velocity of collar C.
PROBLEM 15.212 (Continued)
PROBLEM 15.213
Rod AB has a length of 275 mm and is
connected by a ball-and-socket joint to
collar A and by a clevis connection to
collar B. Knowing that collar B moves
down at a constant speed of 1.35 m/s,
determine at the instant shown (a) the
angular velocity of the rod, (b) the
velocity of collar A.
PROBLEM 15.213 (Continued)
Resolving into components,
: 0 0 0.225 0.027735
Bs
ωω
=++i
(1)
: 0 1.35 0.270416
s
ω
=− +−j
(2)
A=vk
PROBLEM 15.214
For the mechanism of the Prob.15.204, determine the
acceleration of collar A.
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 15.214 (Continued)
/ ///
, where
A B AB AB AB AB AB AB
=+ = ×+ ×aaa a r vαω
/
AB A
/ / / / //AB A AB A AB AB B AB AB
or
( )
2
// /AB A AB B AB
v⋅= ⋅−
ra ra
(2)
