Roll №: ____________________
Amrita Vishwa Vidyapeetham
Amrita School of Engineering, Amritapuri Campus
Department of Mechanical Engineering
ME 100 - Engineering Mechanics
S2 ECE,EEE Tutorial 7: Planar Kinematics of Rigid bodies 18.04.2011
1. Bar AB as shown in the figure rotates with clock wise angular velocity of 10
rad/s. Determine the angular velocity of bar BC and the velocity of point C.
5. 5. A system of meshing gears includes gear A, which is held stationary. Rod
A’C’ rotates with a speed ω1 of 5 rad/s. What is the angular speed of gear C?
2. Bar AB in figure rotates with a clockwise angular velocity of 10 rad/s. What
is the vertical velocity v and acceleration a of the rack of the rack and pinion The gears have the following diameters: D A = 600 mm, D B = 350 mm, D c =
gear? 200 mm.
6. A piston, connecting rod, and crankshaft of an engine are represented she-
matically. The engine is rotating at 3000 rpm. At the position shown, what
is the velocity of pin A relative to the engine block and what is the angular
velocity of the connecting rod AB?
3. A jet fighter plane has just taken off and is retracting its landing gear. At
the end of its run on the ground, the plane is moving at a speed of 200
km/hr. If the diameter of the tires is 460 mm and if we neglect the loss of
angular speed ω of the wheels due to wind friction after the plane is in the
air, what is the angular speed ω and the angular acceleration of the left
wheel (under the wing) at the instant shown in the diagram? Take ω2 =
0.4 rad/s and ώ2= 0.2 rad/s2 at the instant of interest.
7. The crank AB has a constant clockwise angular velocity of 200 rpm. What
are the velocity and acceleration of the piston P?
4. An amusement park ride consists of a stationary vertical tower with arms
that can swing outward from the tower and at the same time can rotate
about the tower. At the ends of the arms, cockpits containing passengers
can rotate relative to the arms. Consider the case where cockpit A rotates
8. A wheel rotates with an angular speed of 20 rad/s. A connecting rod con-
at angular speed ω2 relative to arm BC, which rotates at angular speed ω1
nects points A on the wheel with a slider at B. Compute the angular velocity
relative to the tower. If θ is fixed at 90 o, what are the total angular velocity
of the connecting rod and the velocity of the slider when the apparatus is in
and the angular acceleration of the cockpit relative to the ground? Use ω1 =
the position shown in the diagram.
0.2 rad/s and ω2 = 0.6 rad/s.
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Ms.Beena AS, Br.Rupesh,Mr.Rakesh N and Jaiganesh N
12. A ferris wheel is out of control. At the instant shown, it has an angular
speed ω1 equal to 0.2 rad/s and a rate of change of angular speed ώ1 of
0.04 rad/s2 relative to the ground. At this instant a “chair” shown in the di -
9. In an amusement park ride, the cockpit containing two occupants can rotate agram has an angular speed ω2 relative to the ferris wheel equal to 0.25
at an angular speed ω1 relative to the main arm OB. The arm can rotate rad/s and a rate of change of speed ώ2, again relative to the ferris wheel,
with angular speed ω2 relative to the ground. For the position shown in the equal to 0.03 rad/s2. In the figure, we have shown details of the passenger
diagram and for ω1 = 2 rad/s and ω2 = 0.2 rad/s, find the velocity of point A at this instant. Note that the hinge of the seat is at A. How many g’s of ac -
(corresponding to the position of the eyes of an occupant) relative to the celeration is the passenger’s head subject to?
ground.
13. A truck is moving at a constant speed of 1.7 m/s at time t. The truck load-
ing compartment has at this instant a constant angular speed of 0.1 rad/s
at an angle of 45 o. A cylinder of radius 300 mm rolls relative to the com-
partment at a speed 1 rad/s, accelerating at a rate of 0.5 rad/s 2 at time t.
What are the velocity and acceleration of the center of the cylinder rela-
tive to the ground at time t? The distance d at time t is 5 m.
10. A tank is moving over rough terrain while firing its main gun at a fixed tar-
get. The barrel and turret of the gun partly compensate for the motion of
the tank proper by giving the barrel an angular velcocity ω1 relative to the
turret and, simultaneously, by giving the turret an angular velocity ω2 rela-
tive to the tank proper such that any instant the velocity of end A of the bar-
rel has zero velocity in the X and Z directions relative the ground reference.
What should these angular velocities be for the following translational mo-
tion of the tank: V TANK = 10 i + 4 k m/s.
14. The turret of the main gun of a destroyer has at time t an angular veloc-
ity ω1= 2 rad/s and a rate of change of angular velocity ώ 1= 3 rad/s2 both
relative to the ship. The gun barrel has ω 2 = 0.5 rad/s and ώ2 = 0.3 rad/s2
relative to the turret. Find the acceleration of the tip A of the gun at time
t relative to the destroyer.
11. A crane moves to the right at a speed of 5 km/hr. The boom OB, which is
15 m long, is being raised at an angular speed ω2 relative to the cab of 0.4
rad/s, while the cab is rotating at an angular speed ω1 of 0.2 rad/s relative
to the base. What is the velocity of pin B relative to the ground at the in-
stant when OB is at an angle of 35 o with the ground? The axis of rotation O
of the boom is 1 m from the axis of rotation A-A of the cab, as shown in the
diagram.
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Ms.Beena AS, Br.Rupesh,Mr.Rakesh N and Jaiganesh N
