SPME 425

Homework #5-Angular Kinematics

 

Using the information below, compute the following 2 vectors.

                a) a_S - the linear acceleration of the CM of the shank

            b) a_F - the linear acceleration of the CM of the foot

All information required to compute these values is provided below and in the sketch.

  

K -  knee joint

S -  center of mass of the shank

F -  center of mass of the foot

 

r_s   =  0.10  i + 0j - 0.20 k  m

r_f   =  0.30  i + 0j - 0.50 k  m

 

I _{CG SHANK}  = 0.040  kg m²

I _{CG FOOT}    = 0.003  kg m²

 

^m _SHANK  ^{= 3.0 kg}

^m _FOOT    ^{= 1.0 kg}

 

^w_{SHANK + FOOT} ^{= -3.0 j rad/s}

 

^a_{SHANK + FOOT} ^{= -500.0 j rad/s2}