Kinematics of Rigid Bodies

Chapter – 15

2-1
Contents
Introduction Absolute and Relative Acceleration in
Translation Plane Motion
Rotation About a Fixed Axis: Velocit Analysis of Plane Motion in Terms of a
y Parameter
Rotation About a Fixed Axis: Acceler Sample Problem 15.6
ation Sample Problem 15.7
Rotation About a Fixed Axis: Repres Sample Problem 15.8
entative Slab Rate of Change With Respect to a Rot
Equations Defining the Rotation of a ating Frame
Rigid Body About a Fixed Axis Coriolis Acceleration
Sample Problem 5.1 Sample Problem 15.9
General Plane Motion Sample Problem 15.10
Absolute and Relative Velocity in Pl Motion About a Fixed Point
ane Motion
General Motion
Sample Problem 15.2
Sample Problem 15.11
Sample Problem 15.3
Three Dimensional Motion. Coriolis Ac
Instantaneous Center of Rotation in celeration
Plane Motion
Frame of Reference in General Motion
Sample Problem 15.4
Sample Problem 15.15
Sample Problem 15.5

15 - 2
 Applications

A battering ram is an example of curvilinear translation – the

ram stays horizontal as it swings through its motion.

2-3
 Applications

How can we determine the velocity of the tip of a turbine blade?

15 - 4
 Applications

Planetary gear systems are used to get high reduction ratios

with minimum weight and space. How can we design the
correct gear ratios?

2-5
 Applications

Biomedical engineers must determine the velocities and

accelerations of the leg in order to design prostheses.

2-6
Introduction

• Kinematics of rigid bodies: relations between

time and the positions, velocities, and
accelerations of the particles forming a rigid
body.
• Classification of rigid body motions:
- translation:
• rectilinear translation
• curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion

15 - 7
Translation

• Consider rigid body in translation:

- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
• For any two particles in the body,
  
rB rA  rB A
• Differentiating with respect to time,
   
rB rA  rB A rA
 
v B v A
All particles have the same velocity.
• Differentiating with respect to time again,
rB rA  rB A rA
 
a B a A
All particles have the same acceleration.
15 - 8
Rotation About a Fixed Axis. Velocity

• Consider rotation of rigid body about a

fixed axis AA’

• Velocity vector v dr dt of the particle P

is tangent to the path with magnitudev ds dt
s BP  r sin  
ds 
v   lim r sin   r sin 
dt t  0 t

• The same result is obtained from


 dr  
v   r
dt
  

  k  k angular velocity

15 - 9
 Concept Quiz

What is the direction of the velocity

of point A on the turbine blade? w

a) → A
b) ← y
L
c) ↑
d) ↓ x
 
v A  r

v A  kˆ  Liˆ

v A  L ˆj
15 - 10
Rotation About a Fixed Axis. Acceleration

• Differentiating to determine the acceleration,


 dv d  
a    r 
dt dt
 
d   dr
 r   
dt dt

d   
 r   v
dt

d 
•  angular acceleration
dt
  
 k  k  k

• Acceleration of P is combination of two

vectors,
     
a  r    r
 
 r tangential acceleration component
  
  r radial acceleration component
15 - 11
Rotation About a Fixed Axis. Representative
Slab
• Consider the motion of a representative slab in
a plane perpendicular to the axis of rotation.

• Velocity of any point P of the slab,

    
v  r  k r
v  r

• Acceleration of any point P of the slab,

     
a  r    r
  
 k r   2 r

• Resolving the acceleration into tangential and

normal components,
  
at k r a t  r
 
a n   2 r a n  r 2

15 - 12
 Concept Quiz

What is the direction of the normal

acceleration of point A on the turbine w
blade?
a) → A
b) ← y
L
c) ↑
d) ↓ x

an   r
2


an   ( Liˆ)
2

 2ˆ
an L i
15 - 13
Equations Defining the Rotation of a Rigid Body About a Fixed Axis

• Motion of a rigid body rotating around a fixed axis

is often specified by the type of angular
acceleration.
d d
• Recall   or dt 
dt 
d d 2 d
  2 
dt dt d

• Uniform Rotation, a = 0:
  0   t

• Uniformly Accelerated Rotation, a = constant:

  0   t
  0   0t  12  t 2
 2  02  2    0 
15 - 14
 Sample Problem 5.1

SOLUTION:
• Due to the action of the cable, the
tangential velocity and acceleration of
D are equal to the velocity and
acceleration of C. Calculate the initial
angular velocity and acceleration.
• Apply the relations for uniformly
accelerated rotation to determine the
velocity and angular position of the
Cable C has a constant acceleration of 9
pulley after 2 s.
in/s2 and an initial velocity of 12 in/s,
both directed to the right. • Evaluate the initial tangential and
normal acceleration components of D.
Determine (a) the number of revolutions
of the pulley in 2 s, (b) the velocity and
change in position of the load B after 2 s,
and (c) the acceleration of the point D on
the rim of the inner pulley at t = 0.
15 - 15
Sample Problem 5.1

SOLUTION:
• The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.
   
v  v  12 in. s 
D 0 C 0
a 
D t  aC 9 in. s 

vD 0 r0 aD t r

vD 0 12 aD t 9
0   4 rad s   3 rad s 2
r 3 r 3
• Apply the relations for uniformly accelerated rotation to
determine velocity and angular position of pulley after 2 s.
 
  0  t 4 rad s  3 rad s 2 2 s  10 rad s
 
  0t  12 t 2 4 rad s 2 s  12 3 rad s 2 2 s 2
14 rad
 1 rev 
N 14 rad   number of revs N 2.23 rev
 2 rad 

vB r 5 in.10 rad s  vB 50 in. s 
y B r 5 in.14 rad  y B 70 in.
15 - 16
Sample Problem 5.1

• Evaluate the initial tangential and normal acceleration

components of D.
aD t aC 9 in. s 
aD n rD02 3 in.4 rad s 2 48 in s2

aD t 9 in. s2  aD n 48 in. s2 

Magnitude and direction of the total acceleration,

aD  aD t2  aD 2n

 92  482 aD 48.8 in. s 2

aD n
tan  
aD t
48

9  79.4

15 - 17
Group Problem Solving

• Evaluate the initial tangential and normal

acceleration components of D.
aD t aC 9 in. s 
aD n rD02 3 in.4 rad s 2 48 in s2

aD t 9 in. s2  aD n 48 in. s2 

Magnitude and direction of the total acceleration,

aD  aD t2  aD 2n

 92  482 aD 48.8 in. s 2

aD n
tan  
aD t
48

9  79.4
15 - 18
 Group Problem Solving

SOLUTION:
• Using the linear velocity and
accelerations, calculate the angular
velocity and acceleration.

• Using the angular velocity,

determine the normal acceleration.
A series of small machine components
being moved by a conveyor belt pass over • Determine the total acceleration
a 6-in.-radius idler pulley. At the instant using the tangential and normal
shown, the velocity of point A is 15 in./s to acceleration components of B.
the left and its acceleration is 9 in./s2 to the
right. Determine (a) the angular velocity
and angular acceleration of the idler
pulley, (b) the total acceleration of the
machine
component at B.
15 - 19
 Group Problem Solving

Find the angular velocity of the idler v= 15 in/s B at= 9 in/s2

pulley using the linear velocity at B.
v r
15 in./s (6 in.)  2.50 rad/s

Find the angular velocity of the idler

pulley using the linear velocity at B.
a r
2  1.500 rad/s 2
9 in./s (6 in.)

Find the normal acceleration of point B. What is the direction of

the normal acceleration
an r 2 of point B?
a n 37.5 in./s 2
(6 in.)(2.5 rad/s) 2 Downwards, towards
the center

15 - 20
 Group Problem Solving

B at= 9 in/s2 Find the total acceleration of the

machine component at point B.

an= 37.5 in./s 2 at 9.0 in./s 2 a n 37.5 in./s 2

Calculate the magnitude

a  9.02  37.52 38.6 in./s 2

at= 9 in/s2 Calculate the angle from

the horizontal
 37.5  o
 arctan   76.5
 9.0 
Combine for a final answer
aB
a B 38.6 in./s 2 76.5
an= 37.5 in/s 2

15 - 21
 Golf Robot

Not ours – maybe Tom Mase has pic? A golf robot is used to test new
equipment. If the angular
velocity of the arm is doubled,
what happens to the normal
acceleration of the club head?
If the arm is shortened to ¾ of its
original length, what happens to
the tangential acceleration of the
club head?

If the speed of the club head is

constant, does the club head have
w,a any linear accelertion ?
2 - 22
 Example – General Plane Motion

The knee has linear velocity and acceleration from both

translation (the runner moving forward) as well as rotation
(the leg rotating about the hip).

2 - 23
 General Plane Motion

• General plane motion is neither a translation nor

a rotation.
• General plane motion can be considered as the
sum of a translation and rotation.
• Displacement of particles A and B to A2 and B2
can be divided into two parts:
- translation to A2 and B1
- rotation of B1 about A2 to B2
15 - 24
Absolute and Relative Velocity in Plane Motion

• Any plane motion can be replaced by a translation of an

arbitrary reference point A and a simultaneous rotation
about A.   
v B v A  v B A
  
vB A  k rB A vB A r
   
v B v A   k rB A
15 - 25
 Absolute and Relative Velocity in Plane Motion

• Assuming that the velocity vA of end A is known, wish to determine the

velocity vB of end B and the angular velocity w in terms of vA, l, and q.
• The direction of vB and vB/A are known. Complete the velocity diagram.

vB vA vA
tan   cos
vA v B A l
v B v A tan  vA

l cos
15 - 26
 Absolute and Relative Velocity in Plane Motion

• Selecting point B as the reference point and solving for the velocity vA of end
A and the angular velocity w leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity w of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
15 - 27
 Absolute and Relative Velocity in Plane Motion

• Assuming that the velocity vA of end A is known, wish to determine the

velocity vB of end B and the angular velocity w in terms of vA, l, and q.
• The direction of vB and vB/A are known. Complete the velocity diagram.

vB vA vA
tan   cos
vA v B A l
v B v A tan  vA

l cos
15 - 28
 Absolute and Relative Velocity in Plane Motion

• Selecting point B as the reference point and solving for the velocity vA of end
A and the angular velocity w leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity w of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
15 - 29
 Sample Problem 15.2

SOLUTION:
• The displacement of the gear center in
one revolution is equal to the outer
circumference. Relate the translational
and angular displacements.
Differentiate to relate the translational
and angular velocities.
• The velocity for any point P on the gear
The double gear rolls on the may be written as
stationary lower rack: the velocity of      
vP v A  vP A v A  k rP A
its center is 1.2 m/s.
Determine (a) the angular velocity of Evaluate the velocities of points B and D.
the gear, and (b) the velocities of the
upper rack R and point D of the gear.

15 - 30
Sample Problem 15.2

SOLUTION:
• The displacement of the gear center in one revolution is
equal to the outer circumference.
For xA > 0 (moves to right), w < 0 (rotates clockwise).

xA 
 x A  r1
2 r 2

y
Differentiate to relate the translational and angular
velocities.
x
v A  r1
vA 1.2 m s   
    k  8 rad s k
r1 0.150 m

15 - 31
 Sample Problem 15.2

     
• For any point P on the gear, vP v A  vP A v A  k rP A

Velocity of the upper rack is equal to Velocity of the point D:

velocity of point B:
        
vR vB v A  k rB A vD v A  k rD A
     
1.2 m s i  8 rad s k 0.10 m  j 1.2 m s i  8 rad s k  0.150 m i
 
1.2 m s i  0.8 m s i
    
vR 2 m s i vD 1.2 m s i  1.2 m s  j
vD 1.697 m s

15 - 32
 Sample Problem 15.3

SOLUTION:
• Will determine the absolute velocity of
point D with
  
v D v B  v D B
• The velocity vB is obtained from the
given crank rotation data.

The crank AB has a constant • The directions of the absolute velocity vD

clockwise angular velocity of 2000 and the relative velocity v D B are
rpm. determined from the problem geometry.
For the crank position indicated, • The unknowns in the vector expression
determine (a) the angular velocity of are the velocity magnitudes v D and v D B
the connecting rod BD, and (b) the which may be determined from the
velocity of the piston P. corresponding vector triangle.
• The angular velocity of the connecting
rod is calculated from v D B .
15 - 33
Sample Problem 15.3

SOLUTION:
• Will determine the absolute velocity of point D with
  
vD vB  vD B

• The velocity vB is obtained from the crank rotation data.

rev   min   2 rad 
 AB  2000      209.4 rad s
 min   60 s   rev 
vB AB  AB 3 in.209.4 rad s 

The velocity direction is as shown.

• The direction of the absolute velocity vD is horizontal.


The direction of the relative velocity vD B is
perpendicular to BD. Compute the angle between the
horizontal and the connecting rod from the law of sines.
sin 40 sin 
  13.95
8 in. 3 in.

15 - 34
 Sample Problem 15.3

• Determine the velocity magnitudes vD and vD B

from the vector triangle.
vD vD B 628.3 in. s
 
sin 53.95 sin 50 sin76.05

vD 523.4 in. s 43.6 ft s vP vD 43.6 ft s

vD B 495.9 in. s

   vD B l BD
vD vB  vD B vD B 495.9 in. s
 BD  
l 8 in. 

62.0 rad s  BD 62.0 rad s k

15 - 35
Group Problem Solving

In the position shown, bar AB has

an angular velocity of 4 rad/s
clockwise. Determine the angular
velocity of bars BD and DE.

Which of the following is true?

a) The direction of vB is ↑
b) The direction of vD is →
c) Both a) and b) are correct

2 - 36
 Group Problem Solving

SOLUTION:
• The displacement of the gear center in
one revolution is equal to the outer
circumference. Relate the translational
and angular displacements.
Differentiate to relate the translational
and angular velocities.
• The velocity for any point P on the gear
may be written as
     
vP v A  vP A v A  k rP A

Evaluate the velocities of points B and D.

In the position shown, bar AB has an
angular velocity of 4 rad/s clockwise.
Determine the angular velocity of bars
BD and DE.

2 - 37
 Group Problem Solving

y
Determine the angular velocity of bars
x BD and DE.
How should you proceed?

wAB= 4 rad/s Determine vB with respect to A, then work

your way along the linkage to point E.

Write vB in terms of point A, calculate vB.

vB v A   AB rB /A

 AB  (4 rad/s)k

rB/A  (7 in.)i vB  AB rB/A ( 4k ) ( 7i)

vB (28 in./s)j

Does it make sense that vB is in the +j direction?

2 - 38
vD ,
Group Problem Solving

y Determine vD with respect to B.

x
 BD  BD k rD/B  (8 in.)j
vD vB   BD rD/B 28 j  ( BD k ) ( 8 j)
wAB= 4 rad/s vD 28 j  8 BD i
Determine vD with respect to E, then
equate it to equation above.
 DE DE k rD /E  (11 in.)i  (3 in.)j
vD  DE rD /E (DE k ) ( 11i  3j)
vD  11DE j  3DE i

Equating components of the two expressions for v D

j: 28  11DE  DE  2.5455 rad/s  DE 2.55 rad/s

3
i : 8BD  3DE BD   BD  BD 0.955 rad/s
8
2 - 39
Instantaneous Center of Rotation in Plane Motion

• Plane motion of all particles in a slab can always be

replaced by the translation of an arbitrary point A and a
rotation about A with an angular velocity that is
independent of the choice of A.
• The same translational and rotational velocities at A are
obtained by allowing the slab to rotate with the same
angular velocity about the point C on a perpendicular to
the velocity at A.
• The velocity of all other particles in the slab are the
same as originally defined since the angular velocity and
translational velocity at A are equivalent.
• As far as the velocities are concerned, the slab seems to
rotate about the instantaneous center of rotation C.

15 - 40
Instantaneous Center of Rotation in Plane Motion

• If the velocity at two points A and B are known, the

instantaneous center of rotation lies at the intersection
of the perpendiculars to the velocity vectors through A
and B .
• If the velocity vectors are parallel, the instantaneous
center of rotation is at infinity and the angular velocity
is zero.
• If the velocity vectors at A and B are perpendicular to
the line AB, the instantaneous center of rotation lies at
the intersection of the line AB with the line joining the
extremities of the velocity vectors at A and B.
• If the velocity magnitudes are equal, the instantaneous
center of rotation is at infinity and the angular velocity
is zero.

15 - 41
Instantaneous Center of Rotation in Plane Motion

• The instantaneous center of rotation lies at the intersection

of the perpendiculars to the velocity vectors through A and B
. v v v
 A  A v B BC  l sin  A
AC l cos l cos
v A tan 
• The velocities of all particles on the rod are as if they were
rotated about C.
• The particle at the center of rotation has zero velocity.
• The particle coinciding with the center of rotation changes
with time and the acceleration of the particle at the
instantaneous center of rotation is not zero.
• The acceleration of the particles in the slab cannot be
determined as if the slab were simply rotating about C.
• The trace of the locus of the center of rotation on the body
is the body centrode and in space is the space centrode.
15 - 42
Instantaneous Center of Rotation in Plane Motion

At the instant shown, what is the

approximate direction of the velocity
of point G, the center of bar AB?

a)
G b)
c)
d)

15 - 43
 Sample Problem 15.4

SOLUTION:
• The point C is in contact with the stationary
lower rack and, instantaneously, has zero
velocity. It must be the location of the
instantaneous center of rotation.
• Determine the angular velocity about C
based on the given velocity at A.
• Evaluate the velocities at B and D based on
The double gear rolls on the their rotation about C.
stationary lower rack: the velocity
of its center is 1.2 m/s.
Determine (a) the angular velocity
of the gear, and (b) the velocities of
the upper rack R and point D of the
gear.

15 - 44
Sample Problem 15.4

SOLUTION:
• The point C is in contact with the stationary lower rack
and, instantaneously, has zero velocity. It must be the
location of the instantaneous center of rotation.
• Determine the angular velocity about C based on the
given velocity at A.
v 1.2 m s
v A rA  A 8 rad s
rA 0.15 m
• Evaluate the velocities at B and D based on their rotation
about C.
vR vB rB 0.25 m 8 rad s 
 
vR 2 m s i

rD 0.15 m  2 0.2121 m
vD rD 0.2121 m 8 rad s 
vD 1.697 m s
  
vD 1.2i  1.2 j m s 

15 - 45
 Sample Problem 15.5

SOLUTION:
• Determine the velocity at B from the
given crank rotation data.
• The direction of the velocity vectors at B
and D are known. The instantaneous
center of rotation is at the intersection of
the perpendiculars to the velocities
The crank AB has a constant through B and D.
clockwise angular velocity of 2000 • Determine the angular velocity about
rpm. the center of rotation based on the
For the crank position indicated, velocity at B.
determine (a) the angular velocity of • Calculate the velocity at D based on its
the connecting rod BD, and (b) the rotation about the instantaneous center
velocity of the piston P. of rotation.

15 - 46
 Sample Problem 15.5

SOLUTION:
• From Sample Problem 15.3,
  
vB 403.9i  481.3 j in. s  vB 628.3 in. s
 13.95
• The instantaneous center of rotation is at the intersection
of the perpendiculars to the velocities through B and D.
• Determine the angular velocity about the center of
rotation based on the velocity at B.
B 40   53.95
D 90   76.05 vB BC  BD
vB 628.3 in. s
 BD    BD 62.0 rad s
BC CD 8 in. BC 10.14 in.
 
sin 76.05 sin 53.95 sin50 • Calculate the velocity at D based on its rotation about
the instantaneous center of rotation.
BC 10.14 in. CD 8.44 in.
vD CD  BD 8.44 in.62.0 rad s 

vP vD 523 in. s 43.6 ft s

15 - 47
 Instantaneous Center of Zero Velocity

What happens to the location of the instantaneous center of

velocity if the crankshaft angular velocity increases from
2000 rpm in the previous problem to 3000 rpm?

What happens to the location of the instantaneous center of

velocity if the angle b is 0?
2 - 48
 Group Problem Solving

In the position shown, bar AB has an angular velocity of 4

rad/s clockwise. Determine the angular velocity of bars BD
and DE.

2 - 49
 Group Problem Solving

What is the velocity of B? vB ( AB ) AB (0.25 m)(4 rad/s) 1 m/s

What direction is the velocity of B?

What direction is the velocity of D?

wAB= 4 rad/s
vB

Find b b

 tan  1
0.06 m
21.8
vD
0.15 m

2 - 50
 Group Problem Solving

Locate instantaneous center C at intersection of lines drawn

perpendicular to vB and vD.
Find distances BC and DC
B 0.1 m 0.1 m
C BC   0.25 m
b tan tan 21.8°
0.25 m 0.25 m
vB 100 mm
DC 
cos

cos21.8°
0.2693 m

Calculate wBD
D vB ( BC )BD
1 m/s (0.25 m)BD
vD  BD 4 rad/s
Find wDE
0.25 m 1 m/s 0.15 m
vD ( DC )BD  (4 rad/s) vD ( DE )DE ;  DE ;  DE 6.67 rad/s
cos cos cos

2 - 51
 Absolute and Relative Acceleration in Plane Motion

As the bicycle accelerates, a point on the top of the wheel will

have acceleration due to the acceleration from the axle (the
overall linear acceleration of the bike), the tangential
acceleration of the wheel from the angular acceleration, and
the normal acceleration due to the angular velocity.

2 - 52
 Absolute and Relative Acceleration in Plane Motion

• Absolute acceleration of a particle of the slab,

  
a B a A  a B A

• Relative acceleration aB A associated with rotation about A includes

tangential and normal components,
 
a B A t  k rB A a B A t r


aB A    2 rB A a B A n r 2

n

15 - 53
Absolute and Relative Acceleration in Plane Motion

• Given aA and vA ,

 
determine a B and  .
  
a B a A  a B A
  
a A  a B A   a B 
A t
n

• Vector result depends on sense of aA and the

relative magnitudes of a A and a B A 
n
• Must also know angular velocity w.
15 - 54
 Absolute and Relative Acceleration in Plane Motion

• Write aB aA  aB A in terms of the two component

equations,

 x components: 0 a A  l 2 sin  l cos
2
 y components:  a B  l cos  l sin

• Solve for aB and a.

15 - 55
Analysis of Plane Motion in Terms of a Parameter

• In some cases, it is advantageous to determine the

absolute velocity and acceleration of a mechanism
directly.
x A l sin y B l cos

v A  x A v B  y B
l cos  l sin
l cos  l sin

a A  x A a B  y B
 l 2 sin  l cos  l 2 cos  l sin
 l 2 sin  l cos  l 2 cos  l sin

15 - 56
 Concept Question

You have made it to the kickball

championship game. As you try to kick
home the winning run, your mind
naturally drifts towards dynamics.
Which of your following thoughts is
TRUE, and causes you to shank the ball
horribly straight to the pitcher?

A) Energy will not be conserved when I kick this ball

B) In general, the linear acceleration of my knee is equal to
the linear acceleration of my foot
C) Throughout the kick, my foot will only have tangential
acceleration.
D) In general, the angular velocity of the upper leg (thigh)
will be the same as the angular velocity of the lower leg
2 - 57
 Sample Problem 15.6

SOLUTION:
• The expression of the gear position as a
function of q is differentiated twice to
define the relationship between the
translational and angular accelerations.

• The acceleration of each point on the

gear is obtained by adding the
acceleration of the gear center and the
The center of the double gear has a
relative accelerations with respect to the
velocity and acceleration to the right
center. The latter includes normal and
of 1.2 m/s and 3 m/s2, respectively.
tangential acceleration components.
The lower rack is stationary.
Determine (a) the angular acceleration
of the gear, and (b) the acceleration of
points B, C, and D.

15 - 58
Sample Problem 15.6

SOLUTION:
• The expression of the gear position as a function of q
is differentiated twice to define the relationship
between the translational and angular accelerations.

x A  r1
v A  r1  r1
vA 1.2 m s
    8 rad s
r1 0.150 m

a A  r1  r1

aA 3 m s2
  
r1 0.150 m



  k  20 rad s 2 k 

15 - 59
Sample Problem 15.6

• The acceleration of each point

is obtained by adding the
acceleration of the gear center
and the relative accelerations
with respect to the center.
The latter includes normal and
tangential acceleration
components.

     
  
aB a A  aB A a A  aB A  aB A
t n

   
a A   k rB A   2rB A

  
2 
  
 3 m s i  20 rad s k 0.100 m  j  8 rad s   0.100 m  j
2 2

  
2  2 
  2 
 3 m s i  2 m s i  6.40 m s j 

 
  
aB  5 m s 2 i  6.40 m s 2 j  aB 8.12 m s 2

15 - 60
Sample Problem 15.6

      2
aC a A  aC A a A   k rC A   rC A

  
2 
  
 3 m s i  20 rad s k  0.150 m  j  8 rad s 2  0.150 m  j
2

  
 
  
 3 m s 2 i  3 m s 2 i  9.60 m s 2 j



 
2 
ac  9.60 m s j
      
aD a A  aD A a A   k rD A   2 rD A

  
2 
 
 3 m s i  20 rad s k  0.150 m i  8 rad s 2  0.150m i
2 

  
 
  
 3 m s 2 i  3 m s 2 j  9.60 m s 2 i



  
2 
aD  12.6 m s i  3 m s j 
2 
aD 12.95 m s 2
15 - 61
 Sample Problem 15.7

SOLUTION:
• The angular acceleration of the
connecting rod BD and the acceleration
of point D will be determined from
     
 t 
a D a B  a D B a B  a D B  a D B n
• The acceleration of B is determined
from the given rotation speed of AB.

Crank AG of the engine system has a • The directions of the accelerations

  
constant clockwise angular velocity of  t 
a D , a D B , and a D B n are
2000 rpm. determined from the geometry.
For the crank position shown,
• Component equations for acceleration
determine the angular acceleration of
the connecting rod BD and the of point D are solved simultaneously
acceleration of point D. for acceleration of D and angular
acceleration of the connecting rod.

15 - 62
Sample Problem 15.7

SOLUTION:
• The angular acceleration of the connecting rod BD and
the acceleration of point D will be determined from
     
 t 
aD aB  aD B aB  aD B  aD B n
• The acceleration of B is determined from the given rotation
speed of AB.

 AB 2000 rpm 209.4 rad s constant

 AB 0
2
aB r AB  12 
3 ft 209.4 rad s 2 10,962 ft s 2


   
aB  10,962 ft s  cos 40 i  sin 40 j 
2

15 - 63
Sample Problem 15.7

• The directions of the accelerations aD , aD

 
B t , and 
a D B n
are determined
 from the geometry.

aD aD i

From Sample Problem 15.3, wBD = 62.0 rad/s, b = 13.95o.

aD B n BD BD2
128 ft 62.0 rad s 2 2563 ft s 2

aD B n 2563 ft s2  cos13.95 i  sin 13.95 j 

aD B t BD BD 128 ft  BD 0.667 BD
The direction of (aD/B)t is known but the sense is not known,
  
 t
aD B 0.667 BD sin 76.05 i cos 76.05 j 
15 - 64
Sample Problem 15.7

• Component equations for acceleration of point D are solved

simultaneously.
     
 t 
aD aB  aD B aB  aD B  aD B n
x components:
 aD  10,962 cos 40  2563 cos13.95  0.667 BD sin 13.95

y components:
0  10,962 sin 40  2563 sin 13.95  0.667 BD cos13.95


 
 BD  9940 rad s 2 k
aD  9290 ft s i
2 


15 - 65
 Sample Problem 15.8

SOLUTION:
• The angular velocities are determined
by simultaneously solving the
component equations for
  
v D v B  v D B

• The angular accelerations are determined

by simultaneously solving the
In the position shown, crank AB has a
component equations for
constant angular velocity w1 = 20 rad/s
  
counterclockwise. a D a B  a D B
Determine the angular velocities and
angular accelerations of the connecting
rod BD and crank DE.

15 - 66
Sample Problem 15.8

SOLUTION:
• The angular velocities are determined by simultaneously
solving the component equations for
  
vD vB  vD B

     
vD  DE rD  DE k  17i  17 j 
 
 17 DE i  17 DE j
     
vB  AB rB 20k 8i  14 j 
 
 280i  160 j
     
vD B  BD rD B  BDk 12i  3 j 
 
 3 BDi  12 BD j

x components:  17 DE  280  3 BD

y components:  17 DE 160  12 BD

   
 BD  29.33 rad s k  DE 11.29 rad s k
15 - 67
Sample Problem 15.8

• The angular accelerations are determined by

simultaneously solving the component equations for
  
aD aB  aD B
   2 
aD  DE rD   DE rD
    
 DE k  17i  17 j  11.29   17i  17 j 
2
   
 17 DE i  17 DE j  2170i  2170 j
   2  2  
aB  AB rB   ABrB 0  20  8i  14 j 
 
 3200i  5600 j
   2 
aD B  BD rB D   BD rB D
    
 B D k 12i  3 j  29.332 12i  3 j 
   
 3 B D i  12 B D j  10,320i  2580 j

x components:  17 DE  3 BD  15,690

y components:  17 DE  12 BD  6010
 

 2
 BD  645 rad s k  
 2
 DE  809 rad s k 
15 - 68
Group Problem Solving

Knowing that at the instant

shown bar AB has a constant
angular velocity of 4 rad/s
clockwise, determine the angular
acceleration of bars BD and DE.

Which of the following is true?

a) The direction of aD is
b) The angular acceleration of BD must also be constant
c) The direction of the linear acceleration of B is →
2 - 69
 Group Problem Solving

SOLUTION:
• The angular velocities were determined
in a previous problem by simultaneously
solving the component equations for
  
v D v B  v D B

• The angular accelerations are now

determined by simultaneously solving
the component equations for the relative
Knowing that at the instant acceleration equation.
shown bar AB has a constant
angular velocity of 4 rad/s
clockwise, determine the
angular acceleration of bars
BD and DE.

2 - 70
 Group Problem Solving

From our previous problem, we used the relative

velocity equations to find that:

wAB= 4 rad/s
 DE 2.55 rad/s  BD 0.955 rad/s

We can now apply the relative acceleration

equation with  AB 0

2
Analyze a B a A   AB rB /A   AB rB /A
Bar AB
2
a B   AB rB/A  (4) 2 ( 7i ) 112 in./s 2i

Analyze Bar BD
2
a D a B   BD rD /B  BD rD /B 112i   BD k ( 8 j)  (0.95455) 2 (  8 j)
a D (112  8  BD )i  7.289 j
2 - 71
 Group Problem Solving

Analyze Bar DE
2
a D  DE rD /E  DE rD /E
 DE k ( 11i  3j)  (2.5455)2 ( 11i  3 j)
wAB= 4 rad/s
 11 DE j  3 DE i  71.275i  19.439 j

a D ( 3 DE  71.275)i  (11 DE  19.439) j

From previous page, we had: a D (112  8  BD )i  7.289 j

Equate like components of aD

j: 7.289  (11 DE  19.439)  DE  2.4298 rad/s 2

i: 112  8 BD [ (3)( 2.4298)  71.275]  BD  4.1795 rad/s 2

2 - 72
 Concept Question

If the clockwise angular velocity of crankshaft AB is

constant, which of the following statement is true?
a) The angular velocity of BD is constant
b) The linear acceleration of point B is zero
c) The angular velocity of BD is counterclockwise
d) The linear acceleration of point B is tangent to the path
2 - 73
 Applications

Rotating coordinate systems are often used to analyze mechanisms

(such as amusement park rides) as well as weather patterns.

2 - 74
 Rate of Change With Respect to a Rotating Frame

• With respect to the rotating Oxyz frame,

   
Q Qx i  Q y j  Qz k








Q Oxyz Q x i  Q y j  Qz k

• With respect to the fixed OXYZ frame,








   
Q OXYZ Qx i  Q y j  Qz k  Qx i  Q y j  Qz k

• Frame OXYZ is fixed.





 
 
• Q x i  Q y j  Qz k  Q Oxyz  rate of
change with respect to rotating frame.

• Frame Oxyz rotates about
fixed axisOA with angular
 
• If Q were fixed within Oxyz then Q OXYZ is
equivalent to velocity of a point in a rigid
 body
 
velocity    
 attached to Oxyz and Q x i  Q y j  Qz k  Q
• Vector function Qt  varies
in direction and magnitude. • With respect to the fixed OXYZ frame,


Q OXYZ Q 

Oxyz
 
  Q
15 - 75
Coriolis Acceleration

• Frame OXY is fixed and frame Oxy rotates with angular


velocity  .
• Position vector rP for the particle P is the same in both
frames but the rate of change depends on the choice of
frame.
• The absolute velocity of the particle P is
   
v P r OXY  r  r Oxy

• Imagine a rigid slab attached to the rotating frame Oxy

or F for short. Let P’ be a point on the slab which
corresponds instantaneously to position of particle P.
 
v P F r Oxy  velocity of P along its path on the
 slab
v P '  absolute velocity of point P’ on the slab
• Absolute velocity for the particle P may be written as
  
v P v P  v P F
15 - 76
 Coriolis Acceleration

• Absolute acceleration for the particle P is

   
 d 

a P  r   r OXY  r Oxy
dt

   
but, r OXY  r  r Oxy
 
dt

d 


r Oxy r Oxy   r Oxy

        
  
v P  r  r Oxy a P  r    r  2 r Oxy  r Oxy
  • Utilizing the conceptual point P’ on the slab,
v P  v P F      
a P  r    r 
 
a P F r 
Oxy

• Absolute acceleration for the particle P becomes

    
a P a P  a P F  2 r Oxy
  
a P   a P F  a c
    
ac 2 r Oxy 2 v P F  Coriolis acceleration

15 - 77
Coriolis Acceleration

• Consider a collar P which is made to slide at constant

relative velocity u along rod OB. The rod is rotating at
a constant angular velocity w. The point A on the rod
corresponds to the instantaneous position of P.
• Absolute acceleration of the collar is
   
a P a A  a P F  a c
where
     
a A  r    r  a A  r 2
 
a P F r Oxy 0
  
ac 2 v P F ac 2u

• The absolute acceleration consists of the radial and

tangential vectors shown

15 - 78
 Coriolis Acceleration

• Change in velocity over Dt is represented by the

sum of three vectors

v  RR   TT   T T 
• TT  is due to change in direction of the velocity
of point A on the rod,
TT  
lim  lim v A r r 2 a A
t  0 t t  0 t
     
   recall, a  r    r 
A a  r 2
A
at t , v v A  u
   • RR  and T T  result from combined effects of
at t  t , v  v A  u 
relative motion of P and rotation of the rod
 RR  T T   r 
lim     lim  u  
t  0 t t  t  0 t t 
u  u 2u
  
recall, ac 2 v P F ac 2u
15 - 79
 Concept Question

You are walking with a y

constant velocity with
respect to the platform, x w
v
which rotates with a constant
angular velocity w. At the
instant shown, in which
direction(s) will you
experience an acceleration
(choose all that apply)?
a) +x
b) -x         
a P  r    r  2 r Oxy  r Oxy
c) +y
d) -y
e) Acceleration = 0

2 - 80
 Sample Problem 15.9

SOLUTION:
• The absolute velocity of the point P
may be written as
  
v P v P  v P s
• Magnitude and direction of velocity

v P of pin P are calculated from the
radius and angular velocity of disk D.
• Direction of velocity vP of point P’ on
S coinciding with P is perpendicular to
Disk D of the Geneva mechanism rotates
radius OP.
with constant counterclockwise angular
velocity wD = 10 rad/s. • Direction of velocity vP s of P with
respect to S is parallel to the slot.
At the instant when f = 150o, determine
(a) the angular velocity of disk S, and • Solve the vector triangle for the
(b) the velocity of pin P relative to disk angular velocity of S and relative
S. velocity of P.
15 - 81
Sample Problem 15.9

SOLUTION:
• The absolute velocity of the point P may be written as
  
vP vP  vP s

• Magnitude and direction of absolute velocity of pin P are

calculated from radius and angular velocity of disk D.
vP R D 50 mm10 rad s  500 mm s

• Direction of velocity of P with respect to S is parallel to

slot.
From
r 2 the
R 2law
 l 2of cosines,
2 Rl cos 30 0.551R 2 r 37.1 mm

From the law of cosines,

sin sin 30 sin 30
 sin    42.4
R r 0.742
The interior angle of the vector triangle is
 90  42.4  30 17.6

15 - 82
 Sample Problem 15.9

• Direction of velocity of point P’ on S coinciding with P is

perpendicular to radius OP. From the velocity triangle,

vP vP sin  500 mm s sin 17.6 151.2 mm s

151.2 mm s
r s s 
37.1 mm
 
 s  4.08 rad s k

vP s vP cos  500 m s cos17.6

  
vP s 477 m s  cos 42.4 i  sin 42.4 j 

vP 500 mm s

15 - 83
 Sample Problem 15.10

SOLUTION:
• The absolute acceleration of the pin P may
be expressed as
   
a P a P   a P s  a c

• The instantaneous angular velocity of Disk

S is determined as in Sample Problem
15.9.
• The only unknown involved in the
acceleration equation is the instantaneous
In the Geneva mechanism, disk D angular acceleration of Disk S.
rotates with a constant counter-
clockwise angular velocity of 10 • Resolve each acceleration term into the
rad/s. At the instant when j = 150o, component parallel to the slot. Solve for
determine angular acceleration of the angular acceleration of Disk S.
disk S.

15 - 84
Sample Problem 15.10

SOLUTION:
• Absolute acceleration of the pin P may be expressed as
   
aP aP  aP s  ac
• From Sample Problem 15.9.
 
 42.4  S  4.08 rad s k
  
vP s 477 mm s  cos 42.4 i  sin 42.4 j 
• Considering each term in the acceleration equation,
aP R D 2
500mm10 rad s 2 5000 mm s 2

  
aP  5000 mm s cos 30 i  sin 30 j 
2 

  
aP aP n  aP t

   
aP n  r S  cos 42.4 i  sin 42.4 j 
2
 
aP t r S  sin 42.4 i  cos 42.4 j 
 
aP t  S 37.1mm sin 42.4 i  cos 42.4 j 
note: aS may be positive or negative
15 - 85
Sample Problem 15.10

• The direction of the Coriolis acceleration is obtained


by rotating the direction of the relative velocity vP s
by 90o in the sense of wS.
  
 
ac  2 S vP s  sin 42.4 i  cos 42.4 j 
 
24.08 rad s 477 mm s  sin 42.4 i  cos 42.4 j 
  
 3890 mm s 2  sin 42.4 i  cos 42.4 j 



• The relative acceleration aP s must be parallel to
the slot.

• Equating components of the acceleration terms

perpendicular to the slot,
37.1 S  3890  5000 cos17.7 0
 S  233 rad s
 
 S  233 rad s k

15 - 86
 Group Problem Solving

The sleeve BC is welded to an arm that rotates about stationary point A

with a constant angular velocity w = (3 rad/s) j. In the position shown
rod DF is being moved to the left at a constant speed u=16 in./s relative
to the sleeve. Determine the acceleration of Point D.

SOLUTION:
• The absolute acceleration of point D may
be expressed as

aD aD '  aD BC  ac

• Determine the acceleration of the virtual

point D’.

• Calculate the Coriolis acceleration.

• Add the different components to get the
overall acceleration of point D.
15 - 87
 Group Problem Solving

Given: u= 16 in./s, w = (3 rad/s) j.

Find: aD

Write overall expression for aD



aD  r    r   2 r 
 r
Oxy Oxy

Do any of the terms go to zero?



 
a  r     r  2  r
D  Oxy

 r
Oxy

Determine the normal acceleration term of the virtual point D’

 
a D    r  
where r is from A to D

(3 rad/s)j  (3 rad/s)j [  (5 in.)j  (12 in.)k ]

 (108 in./s 2 )k

2 - 88
 Group Problem Solving



 
aD  r     r  2  r  Oxy

 r
Oxy

Determine the Coriolis acceleration of point D

aC 2 v D /F
(3 rad/s)j (16 in./s)k
(96 in./s 2 )i

Add the different components to

obtain the total acceleration of point D

a D a D  a D /F  aC
 (108 in./s 2 )k  0  (96 in./s 2 )i

a D (96 in./s 2 )i  (108 in./s 2 )k

2 - 89
 Group Problem Solving

In the previous problem, u and w

were both constant. w

What would happen if u was

increasing?
a) The x-component of aD would increase
b) The y-component of aD would increase
c) The z-component of aD would increase
d) The acceleration of aD would stay the same

What would happen if w was increasing?

a) The x-component of aD would increase
b) The y-component of aD would increase
c) The z-component of aD would increase
d) The acceleration of aD would stay the same
15 - 90
Motion About a Fixed
Point
• The most general displacement of a rigid body with a
fixed point O is equivalent to a rotation of the body
about an axis through O.
• With the instantaneous axis of rotation and angular

velocity  , the velocity of a particle P of the body

is  dr  
v   r
dt
and the acceleration of the particle P is

       d
a  r    r   .
dt

• The angular acceleration  represents the velocity of

the tip of .
• As the vector  moves within the body and in space,
it generates a body cone and space cone which are
tangent along the instantaneous axis of rotation.
• Angular velocities have magnitude and direction and
obey parallelogram law of addition. They are vectors.
15 - 91
General Motion

• For particles A and B of a rigid body,

  
v B v A  v B A

• Particle A is fixed within the body and motion of

the body relative to AX’Y’Z’ is the motion of a
body with a fixed point
   
v B v A   rB A
• Similarly, the acceleration of the particle P is
  
a B a A  a B A
     
a A   rB A    rB A 

• Most general motion of a rigid body is equivalent to:

- a translation in which all particles have the same
velocity and acceleration of a reference particle A, and
- of a motion in which particle A is assumed fixed.

15 - 92
 Concept Question

The figure depicts a model of a

coaster wheel. If both w1 and w2
are constant, what is true about
the angular acceleration of the
wheel?

a) It is zero.
b) It is in the +x direction
c) It is in the +z direction
d) It is in the -x direction
e) It is in the -z direction

15 - 93
 Sample Problem 15.11

SOLUTION:
   
With 1 0.30 j  2 0.50k
  
r 12 cos 30 i  sin 30 j 

 
10.39i  6 j
• Angular velocity of the boom,
The crane rotates with a constant   
 1   2
angular velocity w1 = 0.30 rad/s and the
• Angular acceleration of the boom,
boom is being raised with a constant       
angular velocity w2 = 0.50 rad/s. The  1   2  2  2 Oxyz    2
length of the boom is l = 12 m.  
1  2
Determine:
• angular velocity of the boom, • Velocity of boom tip,
  
• angular acceleration of the boom, v  r
• velocity of the boom tip, and • Acceleration of boom tip,
• acceleration of the boom tip.          
a  r    r   r   v
15 - 94
 Sample Problem 15.11

SOLUTION:
• Angular velocity of the boom,
  
 1   2  

 0.30 rad s  j  0.50 rad s k
• Angular acceleration of the boom,
      
 1   2  2  2 Oxyz    2
   
1  2 0.30 rad s  j 0.50 rad s k

 2 
  0.15 rad s i 
• Velocity of boom tip,
  
i j k
  
v  r  0 0.3 0.5
10.39 6 0
      

1 0.30 j  2 0.50k v  3.54 m s i  5.20 m s  j  3.12 m s k
  
r 10.39i  6 j

15 - 95
 Sample Problem 15.11

• Acceleration of boom tip,

         
a  r    r   r   v
     
i j k i j k

a  0.15 0 0 0 0.30 0.50
10.39 6 0 3 5.20  3.12
    
0.90k  0.94i  2.60i  1.50 j  0.90k



 2 
  2 
  2
a  3.54 m s i  1.50 m s j  1.80 m s k 

   
1 0.30 j  2 0.50k
  
r 10.39i  6 j

15 - 96
Three-Dimensional Motion. Coriolis
Acceleration
• With respect to the fixed frame OXYZ and rotating
frame Oxyz,


QOXYZ Q

Oxyz
 
  Q

• Consider motion of particle P relative to a rotating

frame Oxyz or F for short. The absolute velocity can
be expressed as
   
v P  r  r Oxyz
 
v P v P F
• The absolute acceleration can be expressed as
        
a P  r    r  2 r Oxyz  r Oxyz
  
a p   a P F  a c
    
ac 2 r Oxyz 2 v P F Coriolis acceleration


15 - 97
 Frame of Reference in General Motion

• With respect to OXYZ and AX’Y’Z’,

  
rP rA  rP A
  
v P v A  v P A
  
a P a A  a P A
• The velocity and acceleration of P relative to
AX’Y’Z’ can be found in terms of the velocity
and acceleration of P relative to Axyz.
    
v P v A   rP A  rP A 
Axyz
 
v P  v P F
Consider:       
- fixed frame OXYZ, a P a A   rP A    rP A 
  
- translating frame AX’Y’Z’, and  2 rP A   rP A 
Axyz Axyz
- translating and rotating frame Axyz   
or F.  a P  a PF  a c

15 - 98
 Sample Problem 15.15

SOLUTION:
• Define a fixed reference frame OXYZ at O
and a moving reference frame Axyz or F
attached to the arm at A.
• With P’ of the moving reference frame
coinciding with P, the velocity of the point
P is found from
  
For the disk mounted on the arm, v P v P  v P F
the indicated angular rotation rates
• The acceleration of P is found from
are constant.    
a P a P   a P F  a c
Determine:
• the velocity of the point P, • The angular velocity and angular
• the acceleration of P, and acceleration of the disk are
  
• angular velocity and angular     D F
acceleration of the disk.    
  F   

15 - 99
Sample Problem 15.15

SOLUTION:
• Define a fixed reference frame OXYZ at O and a
moving reference frame Axyz or F attached to the
arm at A.
    
r  Li  Rj rP A  Rj
   
 1 j D F  2 k

• With P’ of the moving reference frame coinciding

with P, the velocity of the point P is found from
  
v P v P  v P F
      
v P  r 1 j Li  Rj   1L k
     
v P F  D F rP A  2 k Rj   2 R i
  
v P   2 R i  1L k

15 - 100
Sample Problem 15.15

• The acceleration of P is found from

   
a P a P   a P F  a c
      2 
a P   r  1 j  1Lk   1 Li
   

a P F  D F   D F rP A 
  2 
 2 k   2 R i    2 R j
  
ac 2 v P F
  
21 j   2 R i  21 2 Rk
 2  2  
a P  1 L i   2 Rj  21 2 Rk
• Angular velocity and acceleration of the disk,
     
    D F  1 j   2 k
   
  F   
    
1 j 1 j   2 k   1 2 i
15 - 101
 Group Problem Solving

The crane shown rotates at the constant rate w1= 0.25 rad/s; simultaneously, the
telescoping boom is being lowered at the constant rate w2= 0.40 rad/s. Knowing
that at the instant shown the length of the boom is 20 ft and is increasing at
the constant rate u= 1.5 ft/s determine the acceleration of Point B.
SOLUTION:
• Define a moving reference frame Axyz or
F attached to the arm at A.
• The acceleration of P is found from

aB aB '  aB F  ac
• The angular velocity and angular
acceleration of the disk are
 
   B F
  
 
     
F

15 - 102
 Group Problem Solving

Given: w1= 0.25 rad/s, w2= -0.40 rad/s. L= 20 ft, u= 1.5 ft/s
Find: aB.
Equation of overall acceleration of B


aD  r    r   2 r  r 
Oxy Oxy

Do any of the terms go to zero?



 
a  r     r  2  r
D  Oxy

 r
Oxy

Let the unextending portion of the boom AB be a rotating

frame of reference. What are  and  
?

 2 i  1 j  1 j 2 i
(0.40 rad/s)i  (0.25 rad/s) j.  12 k
 (0.10 rad/s 2 )k.
15 - 103
 Group Problem Solving




aD  r     r  2  r  Oxy
 r Oxy

Determine the position vector rB/A

rB/ A rB
(20 ft)(sin 30 j  cos 30 k )
(10 ft) j  (10 3 ft)k
 
Find   r
i j k
 r  0
 0  0.10 (1 ft/s 2 )i
B

0 10 10 3

 
Find 
   r 
   rB  (0.40i  0.25 j)  (0.40i  0.25 j) (10 j  10 3k ) 
 
15 - 104
 Group Problem Solving



 
aD  r     r  2  r  Oxy

 r
Oxy

Determine the position vector rB/A

rB/ A rB
(20 ft)(sin 30 j  cos 30 k )
(10 ft) j  (10 3 ft)k
 
Find   r
i j k
 r  0
 0  0.10 (1 ft/s 2 )i
B

0 10 10 3
 

Find    r 
   rB  (0.40i  0.25 j)  (0.40i  0.25 j) (10 j  10 3k ) 
 
(1 ft/s 2 ) i  (1.6 ft/s 2 ) j  (3.8538 ft/s 2 )k
15 - 105
 Group Problem Solving



 
aD  r     r  2  r Oxy

 r
Oxy

Determine the Coriolis acceleration – first

define the relative velocity term
v B/F u (sin 30 j  cos 30 k )
(1.5 ft/s)sin 30 j  (1.5 ft/s) cos 30 k

Calculate the Coriolis acceleration

2Ω v B/F (2)(0.40i  0.25 j) (1.5sin 30 j  1.5cos30 k )
(0.64592 ft/s 2 )i  (1.03923 ft/s 2 ) j  (0.6 ft/s 2 )k

Add the terms together

a B (2.65 ft/s 2 )i  (2.64 ft/s 2 ) j  (3.25 ft/s 2 )k

15 - 106