P5-5

The model above to the right, referred to as "Clark 38" is on display in the Boston Museum of Science. If you can't visit, refer to the brief video to see how it moves. The full reference is: Kinematic Models for Design. The left image is a clearer photo of a similar model in Karlsrhue, Germany. The fixed internal ring gear has a radius of 200mm. The arm (traced in purple) shares the same center and rotates CCW at delta.deltadeltadelta rad/s. On the arm is affixed the rotating planet gear P with a radius of 100mm attached 100mm from the center of the wheel. (there is no sun gear in this mechanism) Thus, when the arm rotates the planet both moves and rotates keeping the planet's teeth enmeshed with the ring. The coupler C is 100mm from the planet's center and also attached to the vertically affixed shaft. At the position shown the center of the planet is 10 degrees above horizontal from the center of the ring and the coupler C is elevated 10 degrees with respect to horizontal from the center of the planet. At this position, determine the angular velocity of the planet and the magnitude and direction of the velocity of coupler C.