MEL1010 Engineering Mechanics
Tutorial 8: Relative Velocity, Instant Center of Zero Velocity and Relative
Acceleration
27 Marks
Answer all of the following questions. Mention valid assumptions wherever applicable
1-4: Relative velocity, 5-6: Instant Center of Zero Velocity, 7-9: Relative Acceleration
1 The rider of the bicycle shown pumps steadily to
maintain a constant speed of 16 km/h against a slight
head wind. Calculate the maximum and minimum
magnitudes of the absolute velocity of the pedal A.
Ans. (𝑣𝐴 )𝑚𝑎𝑥 = 5.3 m/s, . (𝑣𝐴 )𝑚𝑖𝑛 = 3.56 m/s
2 Rod CB slides through the pivoted collar attached to
link OA. If CB has a clockwise angular velocity of 2
rad/s, determine the angular velocity 𝜔𝑂𝐴 of link OA
when θ = 60°.
Ans. 𝜔𝑂𝐴 = 4 rad/s CW
3 Each of the sliding bars A and B engages its respective
rim of the two riveted wheels without slipping.
Determine the magnitude of the velocity of point P for
the position shown.
Ans. 𝑣𝑃 = 0.9 m/s
4 For the instant represented the rotating link D has an
angular velocity 𝜔 = 2 rad/s, and its slot is vertical.
Also θ = 60° momentarily. Determine the velocity of
end A of link AB for this instant.
Ans. 𝑣𝐴 = 660 mm/s
5 End A of the link has a downward velocity 𝜐𝐴 of 2 m/s
during an interval of its motion. For the position
where θ = 30°, determine the angular velocity 𝜔 of AB
and the velocity 𝜐𝐺 of the midpoint G of the link.
(Use Instant Center of Zero Velocity Method)
Ans. 𝜔 = 11.55 rad/s CW, 𝑣𝐺 = 1.155 m/s
6 End A of the slender pole is given a velocity 𝜐𝐴 to the
right along the horizontal surface. Show that the
magnitude of the velocity of end B equals 𝜐𝐴 when the
midpoint M of the pole comes in contact with the
semicircular obstruction.
(Use Instant Center of Zero Velocity Method)
7 The center O of the disk has the velocity and
acceleration shown in the figure. If the disk rolls
without slipping on the horizontal surface, determine
the velocity of A and the acceleration of B for the
instant represented.
𝒗𝐴 = 5.12 𝒊 + 2.12𝒋 m/s
𝒂𝐵 = −16.25 𝒊 + 2.5𝒋 m/s2
8 Determine the angular acceleration of link AB and the
linear acceleration of A for θ = 90° if 𝜃̇ = 0 and 𝜃̈ = 3
rad/𝑠 2 at that position. Carry out your solution using
vector rotation.
Ans. 𝜶𝐴𝐵 = −4𝒌 rad/s 2 , 𝒂𝐴 = 1.6 𝒊 m/s 2
9 Link OA has a constant counterclockwise angular
velocity 𝜔 during a short interval of its motion. For the
position shown determine the angular accelerations
of AB and BC.
Ans. 𝛼𝐴𝐵 = 2𝜔2 , 𝛼𝐵𝐶 = 0