714_Dynamics 11ed Manual

714_Dynamics 11ed Manual - Engineering Mechanics - Dynamics...

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Engineering Mechanics - Dynamics Chapter 20 Problem 20-46 At the instant shown, the base of the robotic arm is turning about the z axis with angular velocity ω 1 , which is increasing at ' 1 . Also, the boom segment BC is rotating with angular velociy BC which is incrasing at ' BC . Determine the velocity and acceleration of the part C held in its grip at this instant. Given: 1 4 rad s = ' 1 3 rad s 2 = BC 8 rad s = ' BC 2 rad s 2 = a 0.5 m = b 0.7 m = Solution: ω 0 BC 1 = α 1 BC ' BC ' 1 = r b 0 0 = v C ω r × = v C 0 2.8 5.6 m s = a C α r × ωω r × () × + = a C 56 2.1 1.4 m s 2 = Problem 20-47 The load is being lifted upward at a constant rate
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