{
"metadata": {
"name": "",
"signature": "sha256:42c46a13a1122c47945ac8a4d546584dee7d6901a84a063f9d2cb3b7f703c59b"
},
"nbformat": 3,
"nbformat_minor": 0,
"worksheets": [
{
"cells": [
{
"cell_type": "heading",
"level": 1,
"metadata": {},
"source": [
"Chapter1-Basic kinematics"
]
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex1-pg15"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"##CHAPTER 1 ILLUSRTATION 1 PAGE NO 15\n",
"#calculate inclination of slotted bar with vertical \n",
"##TITLE:Basic kinematics\n",
"##Figure 1.14\n",
"import math\n",
"pi=3.141\n",
"AO=200.## distance between fixed centres in mm\n",
"OB1=100.## length of driving crank in mm\n",
"AP=400.## length of slotter bar in mm\n",
"##====================================\n",
"OAB1=math.asin(OB1/AO)*57.3## inclination of slotted bar with vertical in degrees\n",
"beeta=(90-OAB1)*2.## angle through which crank turns inreturn stroke in degrees\n",
"A=(360.-beeta)/beeta## ratio of time of cutting stroke to the time of return stroke \n",
"L=2.*AP*math.sin(90.-beeta/2.)/57.3## length of the stroke in mm\n",
"print'%s %.2f %s %.3f %s'%('Inclination of slotted bar with vertical= ',OAB1,' degrees' 'Length of the stroke=',L,' mm')\n",
"\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"Inclination of slotted bar with vertical= 30.00 degreesLength of the stroke= -13.790 mm\n"
]
}
],
"prompt_number": 1
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex2-pg16"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"##CHAPTER 1 ILLUSRTATION 2 PAGE NO 16\n",
"#calculate ratio of time taken on the cutting to the return\n",
"##TITLE:Basic kinematics\n",
"##Figure 1.15\n",
"import math\n",
"OA=300.## distance between the fixed centres in mm\n",
"OB=150.## length of driving crank in mm\n",
"##================================\n",
"OAB=math.asin(OB/OA)## inclination of slotted bar with vertical in degrees\n",
"beeta=(90/57.3-OAB)*2.## angle through which crank turns inreturn stroke in degrees\n",
"A=(360/57.3-beeta)/beeta## ratio of time of cutting stroke to the time of return stroke \n",
"print'%s %.1f %s'%('Ratio of time taken on the cutting to the return stroke= ',A,'')\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"Ratio of time taken on the cutting to the return stroke= 2.0 \n"
]
}
],
"prompt_number": 2
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex3-pg16"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"##CHAPTER 1 ILLUSRTATION 3 PAGE NO 16\n",
"#calculate ratio of time taken on the cutting to the return stroke \n",
"##TITLE:Basic kinematics\n",
"##Figure 1.16\n",
"import math\n",
"OB=54.6/57.3## distance between the fixed centres in mm\n",
"OA=85./57.3## length of driving crank in mm\n",
"OA2=OA\n",
"CA=160.## length of slotted lever in mm\n",
"CD=144.## length of connectin rod in mm\n",
"##================================\n",
"beeta=2.*(math.cos(OB/OA2))## angle through which crank turns inreturn stroke in degrees\n",
"A=(360/57.3-beeta)/beeta## ratio of time of cutting stroke to the time of return stroke \n",
"print'%s %.1f %s'%('Ratio of time taken on the cutting to the return stroke= ',A,'')\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"Ratio of time taken on the cutting to the return stroke= 2.9 \n"
]
}
],
"prompt_number": 3
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex4-pg 17"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"##CHAPTER 1 ILLUSRTATION 4 PAGE NO 17\n",
"#calculate velocity position and Angular velocity connection\n",
"##TITLE:Basic kinematics\n",
"##Figure 1.18,1.19\n",
"import math\n",
"pi=3.141\n",
"Nao=180.## speed of the crank in rpm\n",
"wAO=2.*pi*Nao/60.## angular speed of the crank in rad/s\n",
"AO=.5## crank length in m\n",
"AE=.5\n",
"Vao=wAO*AO## velocity of A in m/s\n",
"##================================\n",
"Vb1=8.15## velocity of piston B in m/s by measurment from figure 1.19\n",
"Vba=6.8## velocity of B with respect to A in m/s\n",
"AB=2## length of connecting rod in m\n",
"wBA=Vba/AB## angular velocity of the connecting rod BA in rad/s\n",
"ae=AE*Vba/AB## velocity of point e on the connecting rod\n",
"oe=8.5## by measurement velocity of point E\n",
"Do=.05## diameter of crank shaft in m\n",
"Da=.06## diameter of crank pin in m\n",
"Db=.03## diameter of cross head pin B m\n",
"V1=wAO*Do/2.## velocity of rubbing at the pin of the crankshaft in m/s\n",
"V2=wBA*Da/2.## velocity of rubbing at the pin of the crank in m/s\n",
"Vb=(wAO+wBA)*Db/2.## velocity of rubbing at the pin of cross head in m/s\n",
"ag=5.1## by measurement\n",
"AG=AB*ag/Vba## position and linear velocity of point G on the connecting rod in m\n",
"##===============================\n",
"print'%s %.3f %s %.3f %s %.3f %s %.3f %s %.3f %s %.3f %s %.3f %s'%('Velocity of piston B=',Vb1,' m/s''Angular velocity of connecting rod= ',wBA,' rad/s''velocity of point E=',oe,' m/s'' velocity of rubbing at the pin of the crankshaft=',V1,' m/s' 'velocity of rubbing at the pin of the crank =',V2,' m/s''velocity of rubbing at the pin of cross head =',Vb,' m/s''position and linear velocity of point G on the connecting rod=',AG,' m')\n",
"\n",
"\n",
"\n",
"\n",
" \n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"Velocity of piston B= 8.150 m/sAngular velocity of connecting rod= 3.400 rad/svelocity of point E= 8.500 m/s velocity of rubbing at the pin of the crankshaft= 0.471 m/svelocity of rubbing at the pin of the crank = 0.102 m/svelocity of rubbing at the pin of cross head = 0.334 m/sposition and linear velocity of point G on the connecting rod= 1.500 m\n"
]
}
],
"prompt_number": 4
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex5-pg 19"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"##CHAPTER 1 ILLUSRTATION 5 PAGE NO 19\n",
"#calculate linear velocity at various point\n",
"##TITLE:Basic kinematics\n",
"##Figure 1.20,1.21\n",
"import math\n",
"pi=3.141\n",
"N=120.## speed of crank in rpm\n",
"OA=10.## length of crank in cm\n",
"BP=48.## from figure 1.20 in cm\n",
"BA=40.## from figure 1.20 in cm\n",
"##==============\n",
"w=2.*pi*N/60.## angular velocity of the crank OA in rad/s\n",
"Vao=w*OA## velocity of ao in cm/s\n",
"ba=4.5## by measurement from 1.21 in cm\n",
"Bp=BP*ba/BA\n",
"op=6.8## by measurement in cm from figure 1.21\n",
"s=20.## scale of velocity diagram 1cm=20cm/s\n",
"Vp=op*s## linear velocity of P in m/s\n",
"ob=5.1## by measurement in cm from figure 1.21\n",
"Vb=ob*s## linear velocity of slider B\n",
"print'%s %.2f %s %.2f %s'%('Linear velocity of slider B= ',Vb,' cm/s''Linear velocity of point P= ',Vp,' cm/s')\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"Linear velocity of slider B= 102.00 cm/sLinear velocity of point P= 136.00 cm/s\n"
]
}
],
"prompt_number": 13
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex6-pg20"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"#calculate angular velocity at various points\n",
"##CHAPTER 1 ILLUSRTATION 6 PAGE NO 20\n",
"##TITLE:Basic kinematics\n",
"##Figure 1.22,1.23\n",
"import math\n",
"pi=3.141\n",
"AB=6.25## length of link AB in cm\n",
"BC=17.5## length of link BC in cm\n",
"CD=11.25## length of link CD in cm\n",
"DA=20.## length of link DA in cm\n",
"CE=10.\n",
"N=100.## speed of crank in rpm\n",
"##========================\n",
"wAB=2.*pi*N/60.## angular velocity of AB in rad/s\n",
"Vb=wAB*AB## linear velocity of B with respect to A\n",
"s=15.## scale for velocity diagram 1 cm= 15 cm/s\n",
"dc=3.## by measurement in cm\n",
"Vcd=dc*s\n",
"wCD=Vcd/CD## angular velocity of link CD in rad/s\n",
"bc=2.5## by measurement in cm\n",
"Vbc=bc*s\n",
"wBC=Vbc/BC## angular velocity of link BC in rad/s\n",
"ce=bc*CE/BC\n",
"ae=3.66## by measurement in cm\n",
"Ve=ae*s## velocity of point E 10 from c on the link BC\n",
"af=2.94## by measurement in cm\n",
"Vf=af*s## velocity of point F\n",
"print'%s %.3f %s %.3f %s %.3f %s %.3f %s'%('The angular velocity of link CD= ',wCD,' rad/s'' The angular velocity of link BC= ',wBC,'rad/s'' velocity of point E 10 from c on the link BC= ',Ve,' cm/s' ' velocity of point F= ',Vf,' cm/s')\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"The angular velocity of link CD= 4.000 rad/s The angular velocity of link BC= 2.143 rad/s velocity of point E 10 from c on the link BC= 54.900 cm/s velocity of point F= 44.100 cm/s\n"
]
}
],
"prompt_number": 12
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex7-pg21"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"##CHAPTER 1 ILLUSRTATION 7 PAGE NO 21\n",
"##TITLE:Basic kinematics\n",
"#calculate Linear velocity slider and angular velocity of link\n",
"##Figure 1.24,1.25\n",
"import math\n",
"pi=3.141\n",
"Noa=600## speed of the crank in rpm\n",
"OA=2.8## length of link OA in cm\n",
"AB=4.4## length of link AB in cm\n",
"BC=4.9## length of link BC in cm\n",
"BD=4.6## length of link BD in cm\n",
"##=================\n",
"wOA=2.*pi*Noa/60.## angular velocity of crank in rad/s\n",
"Vao=wOA*OA## The linear velocity of point A with respect to oin m/s\n",
"s=50.## scale of velocity diagram in cm\n",
"od=2.95## by measurement in cm from figure\n",
"Vd=od*s/100.## linear velocity slider in m/s\n",
"bd=3.2## by measurement in cm from figure\n",
"Vbd=bd*s\n",
"wBD=Vbd/BD## angular velocity of link BD\n",
"print'%s %.1f %s %.1f %s '%('linear velocity slider D= ',Vd,' m/s' 'angular velocity of link BD= ',wBD,' rad/s')\n",
"\n",
"\n",
"\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"linear velocity slider D= 1.5 m/sangular velocity of link BD= 34.8 rad/s \n"
]
}
],
"prompt_number": 1
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex8-pg22"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"##CHAPTER 1 ILLUSRTATION 8 PAGE NO 22\n",
"#calculate Angular velocity of link CD\n",
"##TITLE:Basic kinematics\n",
"import math\n",
"pi=3.141\n",
"Noa=60.## speed of crank in rpm\n",
"OA=30.## length of link OA in cm\n",
"AB=100.## length of link AB in cm\n",
"CD=80.## length of link CD in cm\n",
"##AC=CB\n",
"##================\n",
"wOA=2.*pi*Noa/60.## angular velocity of crank in rad/s\n",
"Vao=wOA*OA/100.## linear velocity of point A with respect to O\n",
"s=50.## scale for velocity diagram 1 cm= 50 cm/s\n",
"ob=3.4## by measurement in cm from figure 1.27\n",
"od=.9## by measurement in cm from figure 1.27\n",
"Vcd=160.## by measurement in cm/s from figure 1.27\n",
"wCD=Vcd/CD## angular velocity of link in rad/s\n",
"print'%s %.d %s'%('Angular velocity of link CD= ',wCD,' rad/s')\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"Angular velocity of link CD= 2 rad/s\n"
]
}
],
"prompt_number": 10
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex9-pg23"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"##CHAPTER 1 ILLUSRTATION 9 PAGE NO 23\n",
"#calculate velcity of Ram and anugular velocity of link and velocity of slidingof the block\n",
"##TITLE:Basic kinematics\n",
"##Figure 1.28,1.29\n",
"import math\n",
"pi=3.141\n",
"Nao=120.## speed of the crank in rpm\n",
"OQ=10.## length of link OQ in cm\n",
"OA=20.## length of link OA in cm\n",
"QC=15.## length of link QC in cm\n",
"CD=50.## length oflink CD in cm\n",
"##=============\n",
"wOA=2.*pi*Nao/60.## angular speed of crank in rad/s\n",
"Vad=wOA*OA/100.## velocity of pin A in m/s\n",
"BQ=41.## from figure 1.29 \n",
"BC=26.## from firure 1.29 \n",
"bq=4.7## from figure 1.29\n",
"bc=bq*BC/BQ## from figure 1.29 in cm\n",
"s=50.## scale for velocity diagram in cm/s\n",
"od=1.525## velocity vector od in cm from figure 1.29\n",
"Vd=od*s## velocity of ram D in cm/s\n",
"dc=1.925## velocity vector dc in cm from figure 1.29\n",
"Vdc=dc*s## velocity of link CD in cm/s\n",
"wCD=Vdc/CD## angular velocity of link CD in cm/s\n",
"ba=1.8## velocity vector of sliding of the block in cm\n",
"Vab=ba*s## velocity of sliding of the block in cm/s\n",
"print'%s %.3f %s %.2f %s %.1f %s '%('Velocity of RAM D= ',Vd,' cm/s''angular velocity of link CD= ',wCD,' rad/s'' velocity of sliding of the block= ',Vab,' cm/s')\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"Velocity of RAM D= 76.250 cm/sangular velocity of link CD= 1.93 rad/s velocity of sliding of the block= 90.0 cm/s \n"
]
}
],
"prompt_number": 9
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex10-pg24"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"##CHAPTER 1 ILLUSRTATION 10 PAGE NO 24\n",
"##TITLE:Basic kinematics\n",
"#calculate linear velocity abd radial component of accerlation and anugular velocity of connecting rod and anugular accerlation of connecting rod\n",
"##Figure 1.30(a),1.30(b),1.30(c)\n",
"import math\n",
"pi=3.141\n",
"Nao=300.## speed of crank in rpm\n",
"AO=.15## length of crank in m\n",
"BA=.6## length of connecting rod in m\n",
"##===================\n",
"wAO=2.*pi*Nao/60.## angular velocity of link in rad/s\n",
"Vao=wAO*AO## linear velocity of A with respect to 'o'\n",
"ab=3.4## length of vector ab by measurement in m/s\n",
"Vba=ab\n",
"ob=4.## length of vector ob by measurement in m/s\n",
"oc=4.1## length of vector oc by measurement in m/s\n",
"fRao=Vao**2./AO## radial component of acceleration of A with respect to O\n",
"fRba=Vba**2./BA## radial component of acceleration of B with respect to A\n",
"wBA=Vba/BA## angular velocity of connecting rod BA\n",
"fTba=103.## by measurement in m/s**2\n",
"alphaBA=fTba/BA## angular acceleration of connecting rod BA\n",
"print'%s %.1f %s %.1f %s %.1f %s %.1f %s %.1f %s '%('linear velocity of A with respect to O= ',Vao,' m/s''radial component of acceleration of A with respect to O= ',fRao,' m/s**2'' radial component of acceleration of B with respect to A=',fRba,' m/s**2'' angular velocity of connecting rod B= ',wBA,' rad/s'' angular acceleration of connecting rod BA= ',alphaBA,' rad/s**2')\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"linear velocity of A with respect to O= 4.7 m/sradial component of acceleration of A with respect to O= 148.0 m/s**2 radial component of acceleration of B with respect to A= 19.3 m/s**2 angular velocity of connecting rod B= 5.7 rad/s angular acceleration of connecting rod BA= 171.7 rad/s**2 \n"
]
}
],
"prompt_number": 8
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex11-pg26"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"##CHAPTER 1 ILLUSRTATION 11 PAGE NO 26\n",
"#calcualte Angular accerlation at various point\n",
"##TITLE:Basic kinematics\n",
"##Figure 1.31(a),1.31(b),1.31(c)\n",
"import math\n",
"pi=3.141\n",
"wAP=10.## angular velocity of crank in rad/s\n",
"P1A=30.## length of link P1A in cm\n",
"P2B=36.## length of link P2B in cm\n",
"AB=36.## length of link AB in cm\n",
"P1P2=60.## length of link P1P2 in cm\n",
"AP1P2=60.## crank inclination in degrees \n",
"alphaP1A=30.## angulare acceleration of crank P1A in rad/s**2\n",
"##=====================================\n",
"Vap1=wAP*P1A/100.## linear velocity of A with respect to P1 in m/s\n",
"Vbp2=2.2## velocity of B with respect to P2 in m/s(measured from figure )\n",
"Vba=2.06## velocity of B with respect to A in m/s(measured from figure )\n",
"wBP2=Vbp2/(P2B*100.)## angular velocity of P2B in rad/s\n",
"wAB=Vba/(AB*100.)## angular velocity of AB in rad/s\n",
"fAB1=alphaP1A*P1A/100.## tangential component of the acceleration of A with respect to P1 in m/s**2\n",
"frAB1=Vap1**2./(P1A/100.)## radial component of the acceleration of A with respect to P1 in m/s**2\n",
"frBA=Vba**2./(AB/100.)## radial component of the acceleration of B with respect to B in m/s**2\n",
"frBP2=Vbp2**2./(P2B/100.)## radial component of the acceleration of B with respect to P2 in m/s**2\n",
"ftBA=13.62## tangential component of B with respect to A in m/s**2(measured from figure)\n",
"ftBP2=26.62## tangential component of B with respect to P2 in m/s**2(measured from figure)\n",
"alphaBP2=ftBP2/(P2B/100.)## angular acceleration of P2B in m/s**2\n",
"alphaBA=ftBA/(AB/100.)## angular acceleration of AB in m/s**2\n",
"##==========================\n",
"print'%s %.1f %s %.1f %s'%('Angular acceleration of P2B=',alphaBP2,' rad/s**2''angular acceleration of AB =',alphaBA,' rad/s**2')\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"Angular acceleration of P2B= 73.9 rad/s**2angular acceleration of AB = 37.8 rad/s**2\n"
]
}
],
"prompt_number": 6
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex12-pg28"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"##CHAPTER 1 ILLUSRTATION 12 PAGE NO 28\n",
"#calculate velocities at various point\n",
"##TITLE:Basic kinematics\n",
"##Figure 1.32(a),1.32(b),1.32(c)\n",
"import math\n",
"PI=3.141\n",
"AB=12.## length of link AB in cm\n",
"BC=48.## length of link BC in cm\n",
"CD=18.## length of link CD in cm\n",
"DE=36.## length of link DE in cm\n",
"EF=12.## length of link EF in cm\n",
"FP=36.## length of link FP in cm\n",
"Nba=200.## roating speed of link BA IN rpm\n",
"wBA=2*PI*200./60.## Angular velocity of BA in rad/s\n",
"Vba=wBA*AB/100.## linear velocity of B with respect to A in m/s\n",
"Vc=2.428## velocity of c in m/s from diagram 1.32(b)\n",
"Vd=2.36## velocity of D in m/s from diagram 1.32(b)\n",
"Ve=1## velocity of e in m/s from diagram 1.32(b)\n",
"Vf=1.42## velocity of f in m/s from diagram 1.32(b)\n",
"Vcb=1.3## velocity of c with respect to b in m/s from figure\n",
"fBA=Vba**2.*100./AB## radial component of acceleration of B with respect to A in m/s**2\n",
"fCB=Vcb**2*100./BC## radial component of acceleration of C with respect to B in m/s**2\n",
"fcb=3.52## radial component of acceleration of C with respect to B in m/s**2 from figure\n",
"fC=19.## acceleration of slider in m/s**2 from figure\n",
"print'%s %.1f %s %.1f %s %.1f %s %.2f %s %.2f %s'%('velocity of c=',Vc,' m/s''velocity of d=',Vd,' m/s''velocity of e=',Ve,' m/s'' velocity of f=',Vf,' m/s''Acceleration of slider=',Vc,' m/s**2')\n",
"\n",
"\n",
"\n",
"\n",
"\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"velocity of c= 2.4 m/svelocity of d= 2.4 m/svelocity of e= 1.0 m/s velocity of f= 1.42 m/sAcceleration of slider= 2.43 m/s**2\n"
]
}
],
"prompt_number": 5
},
{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Ex13-pg30"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"##CHAPTER 1 ILLUSRTATION 13 PAGE NO 30\n",
"#caculate angular acceleration at varoius points\n",
"##TITLE:Basic kinematics\n",
"##Figure 1.33(a),1.33(b),1.33(c)\n",
"import math\n",
"PI=3.141\n",
"N=120.## speed of the crank OC in rpm\n",
"OC=5.## length of link OC in cm\n",
"cp=20.## length of link CP in cm\n",
"qa=10.## length of link QA in cm\n",
"pa=5.## length of link PA in cm\n",
"CP=46.9## velocity of link CP in cm/s\n",
"QA=58.3## velocity of link QA in cm/s\n",
"Pa=18.3## velocity of link PA in cm/s\n",
"Vc=2.*PI*N*OC/60.## velocity of C in m/s\n",
"Cco=Vc**2./OC## centripetal acceleration of C relative to O in cm/s**2\n",
"Cpc=CP**2./cp## centripetal acceleration of P relative to C in cm/s**2\n",
"Caq=QA**2./qa## centripetal acceleration of A relative to Q in cm/s**2\n",
"Cap=Pa**2./pa## centripetal acceleration of A relative to P in cm/s**2\n",
"pp1=530.\n",
"a1a=323.\n",
"a2a=207.5\n",
"ACP=pp1/cp## angular acceleration of link CP in rad/s**2\n",
"APA=a1a/qa## angular acceleration of link PA in rad/s**2\n",
"AAQ=a2a/pa## angular acceleration of link AQ in rad/s**2\n",
"print'%s %.3f %s %.3f %s %.3f %s'%('angular acceleration of link CP =',ACP,' rad/s**2'' angular acceleration of link CP=',APA,' rad/s**2''angular acceleration of link CP=',AAQ,' rad/s**2')\n",
"\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"angular acceleration of link CP = 26.500 rad/s**2 angular acceleration of link CP= 32.300 rad/s**2angular acceleration of link CP= 41.500 rad/s**2\n"
]
}
],
"prompt_number": 4
}
],
"metadata": {}
}
]
}