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0593_C04*_fm Page 124 Monday, May 6, 2002 2:06 PM
124 Dynamics of Mechanical Systems
n
θ z
P
D
O
circle
r
R C n t
FIGURE P4.11.7 Q
A leaning disk rolling on a circle. n r
P
r
O
ω n y
Q C r i
O
W α n
FIGURE P4.11.8 x
An unwinding differential pulley.
P4.11.8 A differential pulley W is being unwound as in Figure P4.11.8. Let the inner and
outer radii of W be 12 cm and 18 cm, and let the angular speed and angular acceleration
2
of W be 15 rad/sec and 3 rad/sec , respectively, in the directions shown. Determine the
velocities and accelerations of points O, C, P, and Q of W when they are in the positions
shown. Express the results in terms of unit vectors n and n .
y
x
