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CH18 PDF
CH18 PDF
4 N is applied
to the 1023 N refrigerator as shown. Friction is negligible.
(a)
(b)
1524 mm
711.2 mm
A
`
355.6 mm 355.6 mm
F = 133.4 N
1023 N
1524 mm
Fy : A + B 1 0 2 3 N = 0
MG : (1 33 . 4 N )(0.813 m.) A(0.356 m) + B(0 . 3 5 6 m ) = 0
Solving we find
711.2 mm
(a)
a = 1.28 m/s
(b)
A = 359 N , B = 664.1 N
Fx : (133.4 N ) (0.1)(A + B) =
1023 N
9.81 m/s
F = 133.4 N
a
1023 N
Fy : A + B 1 0 2 3 N = 0
1524 mm
711.2 mm
(0.1)(A + B)(0.711 m ) = 0
Solving, we find
(a)
a = 0.3 m/s 2
(b)
A = 256.6 N , B = 765.1 N
B
N
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469
Problem 18.3 As the 2800-N airplane begins its takeoff run at t = 0, its propeller exerts a horizontal force
T = 1000 N. Neglect horizontal forces exerted on the
wheels by the runway.
(a) What distance has the airplane moved at t = 2 s?
(b) what normal forces are exerted on the tires at A
and B?
T
4m
3m
W
A
5m
B
2m
W
a,
g
Fy : NA + NB W = 0
MG : NB (2 m ) NA (5 m )
+ T (1 m ) = 0
Putting in the numbers for T , W , and g and solving we find
NA = 943 N,
NB = 1860 N,
(a)
(b)
a = 3.5 m/s 2.
1 2
1
at = (3 .5 m/s 2)(2 s)2 = 7 m
2
2
d =7 m
NA = 943 N,
NB = 1860 N
T
A
5m
3m
B
26 m
2m
W
a,
g
Fy : NA + NB W = 0,
MG : NB (2 m) NA (24 m)
T (2 m) = 0.
Putting in the numbers for NA and NB and solving, we find
a = 2.31 m/s2 ,
T = 700 kN,
W = 2980 kN.
470
v = 9.23 m/s.
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Problem 18.5 The crane moves to the right with constant acceleration, and the 800-kg load moves without
swinging.
(a)
(b)
1m
1.5 m
1.5 m
FB
FA
1.0 m
mg
1.5 m 1.5 m
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471
381 mm
152.4 mm
101.6 mm
B
A
406.4 mm
1524 mm
Solution:
Fx : ( 1 0 6 . 7 N ) =
1068 N
9.81 m/s
Fy : NA + NB (1068 N ) = 0
1068 N
Solving we find
106.7 N
(a)
a = 0.981 m/s
(b)
NA = 809.5 N , NB = 2 58 N
472
NA
NB
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B
b
711.7 N
Find: a so that NA = 0
711.7 N
a
Fx : FB =
9.81 m/s2
Fy : NA + NB (711.7 N ) = 0
MG : NA b + NB c FB h = 0
NA = 0
Solving we find NB = 711.7 N , FB = 300 N, a = 4.15 m/s 2
NA
FB
NB
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473
50 N-m
(a)
Solution:
(a)
M = I =
50 N-m
M
=
= 2.5 rad/s2 .
I
20 kg-m2
= 2.5 rad/s2 .
(b)
1 rev
2 rad
60 s
1 min
= 95.5 rpm.
= 95.5 rpm.
2m
2m
F
x
Solution:
(a)
F = ma a =
F
=
m
5N
10 N
= 4.905 m/s 2
9.81 m/s2
aG =(4.905 m/s )j.
2
(b)
MG : F
Fl
(5 N)(4 m)
l
= I =
=
= 10 rad/s 2 .
2
2I
2(1 kg -m 2 )
aA = aG + rA/G
= (4.905 m/s 2 )j + (10 rad/s2 )k (2 m)i
aA = (24.9 m/s2 )j.
474
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2m
2m
Solution:
F
F = ma a =
F
=
m
5N
10 N
= 4.905 m/s 2
9.81 m/s2
MG : F
Fl
(5 N)(4 N )
l
= I =
=
= 10 rad/s 2.
2
2I
2( 1 kg- m2 )
aB = aG + rB/G
= (4.905 m/s 2 )j + (10 rad/s 2)k (2 m)i
aB = (15.1 m/s 2 )j.
T
300 mm
Td
(10 N)(0.3 m)
= 0.075 rad/s2 .
=
I
(40 kg-m2 )
180
=
= t t =
= 3.49 s
(0.075 rad/s2 )
During this time, the astronaut has rotated through
1 =
1 2
1
t = (0.075 rad/s2 )(3.49 s)2 = 0.457 rad.
2
2
After this time, the astronauts turns at the fixed rate. He rotated an
additional angle given by
rad
180
rad
= 124 .
= 124 .
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475
Problem 18.12 The moment of inertia of the helicopters rotor is 420 N-m 2. The rotor starts from rest.
At t = 0, the pilot begins advancing the throttle so that
the torque exerted on the rotor by the engine (in N-m)
is given as a function of time in seconds by T = 200t.
(a)
200t
T
=
= 0.476t
I
420
(b)
= 0.238t 2 ,
= 0.0794t 3 .
1 rev
2 rad
t = 9.25 s.
60 s
1 min
= 195 rpm
= 195 rpm.
TAB , TBC , A , B , C .
100 mm
100 mm
B
200 mm
200 mm
476
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Problem 18.14 The moment of inertia of the windtunnel fan is 225 kg-m2 . The fan starts from rest. The
torque exerted on it by the engine is given as a function of the angular velocity of the fan by T = 140
0.022 N-m.
(a)
(b)
d d
d
d
=
=
.
dt
d dt
d
Solution:
=
(a)
=
0
d
= (0.622 rad/s2 ) (0.0000889 rad/s4 )2
d
d
(0.622 rad/s ) (0.0000889 rad/s
2
)2
620(2 ) rad
d
0
Solving we find
= 59.1 rad/s
(b)
1 rev
2 rad
60 s
1 min
= 565 rpm
1 rev
2 rad
60 s
1 min
= 799 rpm
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477
100 mm
T , Ox , Oy , , a.
a = 6.54 m/s2 ,
= 65.4 rad/s2 .
1
1 2
at = (6.54 m/s2 )(0.5 s)2
2
2
d = 0.818 m.
478
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4 kg
20 kg
1
1 2
at = (5.77 m/s2 )(0.5 s)2 = 0.721 m.
2
2
d = 0.721 m, T2 = 80.8 N.
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479
22.2 N
22.2 N
152.4 mm
152.4 mm
8. 9 N
8. 9 N
(a)
(b)
T2 = 8.9N.
(T1 T2 ) ( 0.152 m ) = ( 0.54 kg-m 2),
T1 (0.2)(22.2 N ) =
22.2 N
2
9.18 m/s
a,
a = ( 0.152 m ) .
Solving we find
T1 = 4.83 N , = 1.14 rad/s2,
a = 0.174 m/s 2
(b)
T2 = 8 . 9 N .
(T1 T2 ) ( 0.152 m ) = (0.54 kg-m 2), a = ( 0.152 m ) ,
T1 (0.2)(22.2 N ) =
22.2 N
2
9.81 m/s
a, T2 (8.9 N ) =
8.9 N
9.81 m/s
a.
Solving we find
T1 = 4.8 N , T 2 = 8.75 N , = 1.10 rad/s2 ,
a = 0.167 m /s 2
Note that (b) has more inertia than (a) and therefore has to accelerate
more slowly.
480
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1.2 m
Solution:
(a)
L
1
= mL2
2
3
3(9.81 m/s2 )
3g
=
= 12.3 rad/s2 .
2L
2(1.2 m)
= 12.3 rad/s2 .
(b)
L
1
cos 45 = mL2
2
3
3(9.81 m/s2 )
3g
cos 45 =
cos 45
2L
2(1.2 m)
= 8.67 rad/s2 .
1.2 m
L
1
cos 45 = mL2
2
3
3(9.81 m/s2 )
3g
cos 45 =
cos 45 = 8.67 rad/s2
2L
2(1.2 m)
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481
1.2 m
1
L
3g
cos = mL2 =
cos
2
3
2L
3g
d
=
cos
d
2L
3g
1 2
=
sin
2
2L
=
3g
=
L
90
=
0
0
d =
90
3g
cos d
2L
3g
2L
3(9.81 m/s2 )
= 4.95 rad/s.
(1.2 m)
= 4.95 rad/s.
0.2 m
(a)
D
0.4 m
0.2 m
0.2 m
1
(2 kg)(0.4 m)2 + (2 kg)(0.4 m)2
12
1
(3 kg)(0.6 m)2 + (3 kg)(0.1 m)2
12
ID = 0.467 kg-m2 .
(b)
MD : [(2 kg)(0.4 m) + (3 kg)(0.1 m)](9.81 m/s2 ) = (0.467 kg-m2 )
= 23.1 rad/s2 .
482
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0.2 m
D
0.4 m
0.2 m
0.2 m
1
(2 kg)(0.4 m)2 + (2 kg)(0.4 m)2
12
+
1
(3 kg)(0.6 m)2 + (3 kg)(0.1 m)2
12
= 0.467 kg-m2 .
The angular acceleration is given by
MD : [(2 kg)(0.4 m) + (3 kg)(0.1 m)](9.81 m/s2 ) = (0.467 kg-m2 )
=
10.8 N-m
0.467 kg-m2
= 23.1 rad/s2 .
Dx = 27.5 N, Dy = 23.6 N.
m
x
l
(b)
1
ml 2 + mx 2 .
12
point
: mgx = I =
m 2
12gx
(l + 12x 2 ) = 2
12
l + 12x 2
(4 m)
l
= 1.15 m.
x= =
12
12
x = 1.15 m.
12g(l 2 12x 2 )
=0
(l 2 + 12x 2 )2
= 4.20 rad/s2 .
= 4.25 rad/s2 .
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483
y
1.80 m
1.40 m
C
0.30 m
0.80 m
x
A
0.70 m
= 47.0 .
= tan1
1.4 m
The rotational equation of motion is now
MA : (14 kN) sin (1.4 m) (14 kN) cos (0.8 m)
(320 kg)(9.81 m/s2 )(1.80 m) = (1780 kg-m2 ) .
Solving, we find = 0.581 rad/s2 .
B
30
O
A
x
484
F = 18,807 N .
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C
00
3 m
m
40
x
A
700 mm
MB + rCM/B
i
mg = MB + 0.3 cos 40
0
j
0.3 sin 40
117.7
k
0 = 0.
0
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485
C
0
30 m
m
40
A
700 mm
MB
mg
Bx
i
aG = 2.8i + 0
0.2298
j
k
0
4 0.9193i 0.7713j
0.1928 0
i
MG = MB + rB/G B = 0.2298
35.37
j
k
0.1928 0
97.43
0
= MB k 29.21k (N-m).
Note I = 3 kg-m2 and BC = 4k (rad/s2 ), from which
MB = 29.21 + 3(4) = 17.21 N-m .
486
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y
2m
2m
Ff
Fr
G
5
18 m
6
12m
x
where I = 4.5 106 kg-m2 . Solving for the counterclockwise angular acceleration is = 0.000427 rad/s2 .
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487
50
z
15
mm
90
760
i
aB =
0
0.76 cos 15
j
0
0.76 sin 15
mg
k
0.3
0
By
50
Bx
MB
i
+
0
0.45 cos 50
j
0
0.45 sin 50
aB = 0.323i 0.149j
k
2
0
Bx i + By (18)(9.81) j = 18(1.059i + 0.374j).
Solving, we obtain Bx = 19.1 N, By = 183.3 N.
The equation of angular motion is
or
MG = IBC BC :
488
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MG = IBC BC = 0:
30
F : mg sin 30 f = ma
a = r
Solving, we find
a=
mgr 2 sin 30
I + mr 2
(2 kg)(9.81 m/s2 )(0.08 m)2 sin 30
0.0064 kg-m2 + (2 kg)(0.08 m)2
= 3.27 m/s2 .
From the kinematics we have
v = at = (3.27 m/s2 )(2 s) = 6.54 m/s.
v = 6.54 m/s.
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489
30
F : N mg cos 30 = 0,
a = R,
f = s N.
Putting in the numbers and solving, we find
N = 17.0 N, f = 3.27 N, a = 3.27 m/s2 , = 40.9 rad/s2 , s = 0.192.
Problem 18.34 A thin ring and a homogeneous circular disk, each of mass m and radius R, are released from
rest on an inclined surface. Determine the ratio vring /vdisk
of the velocities of the their centers when they ave rolled
a distance D.
mgr 2 sin
I + mr 2
g
sin
2
1 2
2g
mr adisk =
sin
2
3
vring
gD sin
= 3/4
=
vdisk
4
gD sin
3
490
vring
= 3/4
vdisk
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101.6 mm
203.2 mm
W
.
I
+m
2
R
2D
=
ay
2D(I + R 2 m)
.
R2 W
W
= 18.1 kg,
g
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491
m
x
Solution: The force in the spring is kx. There are five unknowns
(Ox , Oy , T , a, ), four dynamic equations, and one constraint equation.
MO : (kx)R T R = I ,
Fy : T mg = ma,
a = R
Solving we find
(a)
=
R(mg kx)
I + mR 2
= 14.7 rad/s2 .
(b)
T = m(g R) = (5 kg)(9.81 m/s2 [0.1 m][14.7 rad/s2 ])
T = 41.7 N.
492
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m
x
dv dx
dv
dv
=
=
v.
dt
dx dt
dx
Solution: The force in the spring is kx. There are five unknowns
(Ox , Oy , T , a, ), four dynamic equations, and one constraint equation.
MO : (kx)R T R = I ,
Fy : T mg = ma,
a = R
Solving we find
dv
R 2 (mg kx)
=v
I + mR 2
dx
a=
vdv =
R 2 (mg kx)
R2
dx =
2
I + mR
I + mR 2
Thus
mgx
(mg kx) d x = 0
2 mg
1 2
kx = 0 x = 0 or x =
2
k
x = 0.727 m.
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493
(a)
x0 = 0.5
mg
k = 600 N/m
Fs
m = 45 kg
R = 0.3 m
f
I0 = 12 mR 2 = 2.025 N-m2 , Fs = kx
Fx :
Fs f = ma0x
Fy : N mg = 0
M0 :
f R = I0
(b)
494
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If the disk rolls on the surface, what is the acceleration of its center?
What minimum coefficient of static friction is necessary for the disk to roll instead of slipping when
the force is applied?
1 2
mr ,
2
a = r,
f = s N.
Solving, we find
(a)
(b)
a=
2F
=
3m
s =
3
2(10 N)
= 5.45 m/s 2.
12 N
a = 5.45 m/s 2.
9.81 m/s 2
(10 N)
F
=
= 0.278
3mg
3(12 N)
s = 0.278.
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495
Fy : N mg = 0
W
MG : k NR =
RW
2
mR 2 a
5
Solving we find
=
5k g
= 14.49 rad/s2 , a = k g = 0.59 m /s2
2R
k N
496
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Slipping.
mg
Fx : N = ma
Fy : N mg = 0
N
MG : N R =
2
mR 2
3
Solving we find
a = g v = v0 gt, s = v0 t
=
1
gt 2
2
3g
3g
=
t
2R
2R
3
2v0
gt t =
= 0.765 s
2
5g
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497
F
300 mm
F
W
I
RF I
= F
.
R
R
From Newtons second law: F f = max , where ax is the acceleration of the center of mass. Assume that the disk rolls. At the point of
contact aP = 0; from which 0 = aG + rP /G 2 rP /G .
(b)
N
For F = 1000 N the acceleration is
ax =
aG = ax i = Rj
i
= 0
0
j
0
R
2 Rj
k
2 Rj = Ri 2 Rj,
0
4000
4F
=
= 13.33 m/s2 .
3m
300
2F
2k g
RF + Rk gm
=
+
= 53.6 rad/s2 .
I
mR
R
4F
2000
=
= 6.67 m/s2 .
3m
300
For F = 500 N, the friction force is
f = F max =
F
500
=
= 167 N.
3
3
498
6.67
ax
=
= 22.22 rad/s2 .
R
0.3
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Ring gear
0.18 m.
0.86 m
M
0.50 m
Solution:
MS = 200 N-m
Sun Gear:
Planet Gears:
er
M0 :
Mc :
MS 3RF = IS S
Gr F r = IP P
r
C IP
F
O
et
Ft : F + G = mP act
3 small disks
Is
Ms
F
F
Problem 18.44 In Problem 18.43, what is the magnitude of the tangential force exerted on the sun gear
by each planet gear at their point of contact when the
200 N-m couple is applied to the sun gear?
Solution: See the solution to Problem 18.43. Solving the 5 eqns
in 5 unknowns yields
S = 3.95 rad/s2 ,
G = 9.63 N,
aGt = 0.988 m/s2 ,
P = 5.49 rad/s2 ,
F = 27.9 N.
F is the required value.
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499
30
4m
i
M = 1
P
j
k
i
1.732 0 + 1
0
0
0
mg
j
k
1.732 0
N
0
A
N
i
aG = aA i + 0
1
j
k
0
= aA i 1.732i j
1.732 0
i
aG = aB + rG/B , aG = aB + 0
1
j
k
0
1.732 0
= aB j + 1.732i + j,
from which ax = 1.732. Substitute into (1), (2) and (3) to obtain three
equations in three unknowns: 1.732P + N = I , P = m(1.732),
N mg = m. Solve: (a) = 1.84 rad/s2 , P = 57.3 N, (b) N =
143.47 N
500
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4m
20
NA
aA = aG + rA/G
= ax i + ay j + k
L
L
cos 30 j
sin 30 i +
2
2
30
L
L
= ax cos 30 i + ay sin 30 j
2
2
mg
aB = aG + rB/G
= ax i + ay j + k
L
L
sin 30 i + cos 30 j
2
2
L
L
= ax + cos 30 i + ay + sin 30 j
2
2
NB
20
cos 30 = 0
2
aB (sin 20 i + cos 20 j)
L
L
Fx : NA + NB sin 20 = max
Fy : NB cos 20 mg = may
MG : NA
L
cos 30 + NB cos 20
sin 30
2
2
+ NB sin 20
cos 30
2
=
1
mL2
12
CCW
Also
ax = 4.07 ft/s2 , ay = 5.31 ft/s2 , NA = 43.7 N, NB = 86.2 N
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501
1m
60
Solution:
(a)
The surface is rough. The lower end of the bar is fixed, and the
bar rotates around that point.
MB : mg
1
L
cos = mL2
2
3
3(9.81 m/s2 )
3g
cos =
cos 60
2L
2(1 m)
= 7.36 rad/s2 .
(b)
1
L
cos =
mL2
2
12
L
cos = 0
2
Solving, we find
=
6g cos
6(9.81 m/s2 ) cos 60
=
= 16.8 rad/s2 .
2
L(1 + 3 cos )
(1 m)(1 + 3 cos2 60 )
= 16.8 rad/s2 .
502
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A
O
1.2 m
0.3 m
L = 1.2 m
mB = 14 kg
R = 0.3 m
Ox
mD = 9 kg
A
mog
Oy
mBg
O is a fixed point
For the bar
IG =
1
1
mB L 2 =
(14)(1.2)2 = 1.68 N-m2
12
12
IOB = IG + mB
2
L
2
Fx : Ox = O = maGx
Fy : Oy mB g mD g = (mB + mD )aGy
M0 :
L
mB g LmD g = IT
2
We can solve the last equation for without finding the location
and acceleration of the center of mass, G. Solving,
= 9.38 rad/s2
(b)
(clockwise)
In this case, only the moment of inertia changes. Since the disk
is on a smooth pin, it does not rotate. It acts only as a point mass
at a distance L from point O.
= mD L2 and IT = IOB + IOD
= 19.68 N-m2
In this case, IOD
We now have
M0 :
L
mB g LmD g = IT
2
(clockwise)
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503
A
O
0.91 m
0.31 m
Solution: Given
Ay
mbar =
Ax
Ox
Wbar
Wdisk
, mdisk =
g
g
Oy
Wbar
L = 0.91 m , R = 0.31 m
Ay
Wdisk
The FBDs
The dynamic equations
MO : mbar g
L
1
Ay L = mbar L2 bar
2
3
MGdisk : Ay R =
1
mdisk R 2 disk
2
Kinematic constraint
bar L = aydisk disk R
Solving we find
disk = 3.58 rad/s2 , bar = 12.5 rad/s2 , aydisk = 34.0 m/s2 ,
Ay = 0.556 N
Thus
504
CW
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40 mm
120 mm
Ax
By
Ay
By
Bx
f
N
Bx
Wb
Wd
L
L
Ay +
By ,
2
2
from which
L
L
Ay +
By = Ib b .
2
2
L
L
i =
b j,
2
2
from which
aby =
L
b .
2
b ,
By + Wd = Rmd +
R
R
L
L
Ay +
By = Ib b ,
2
2
Ay Wb + By = mb
L
b .
2
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505
120 mm
Solution: Given
T2
T
mBg
The FBDs
The dynamic equations
FyB : T2 + T mB g By = mB aBy
By
By
FyA : By mA g = mA aAy
MB : T2 R + T R = IB B
Kinematic constraints
aBy = aAy , aBy = RB
Solving we find
mAg
We also have
aBy = 0.805 m/s2 , B = 6.70 rad/s, T2 = 68.0 N, By = 84.9 N
506
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0.102 m
0.102 m
Solution: Given
mA =
Wdisk
T2
WA
Wdisk
, mdisk =
, R = 0.102 m, T = 66.7 N
g
g
The FBDs
The dynamic equations
Fy1 : T2 + T T1 mdisk g = mdisk a1
T4
Wdisk
T1
T3
M2 : T1 R T4 R = I 2
WA
a1 = R1 , a2 = R2 , a1 = 2R2 , aA = a2
Solving we find
aA = 0.96 m/s2
We also have
a1 = 1.93 m/s 2, a2 = 0.96 m/s 2, 1 = 19.0 rad/s2 , 2 = 9.48 rad/s2
T1 = 74.7 N , T2 = 60.9 N , T3 = 97.9 N , T4 = 72.1 N
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507
Solution: L = 1 m, m = 2 kg M = 5 kg
Assume directions for Bx , By , IG =
1
mB L 2
12
Fx : Bx = maGx
(1)
Fy : By mg = mB aGy
(2)
MG :
Fx :
1m
L
L
cos By +
sin Bx = IG
2
2
Bx = Ma0x
y
L cos
2
(3)
m
(4)
Fy : N By Mg = 0
(5)
G
(L / 2) sin
mg
O
a0 = aG + k r0/G
where
r0/G =
Bx
By
L
L
cos i sin j
2
2
a0x
0
(6)
(7)
Mg
M
(aGx , aGy , a0x , , Bx , By , N),
Bx
By
O
Solving, we get
Bx = 5.77 N,
By = 13.97 N,
aGx = 2.88 m/s2 ,
= 9.86 rad/s2 ,
508
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m = 2 kg
M = 5 kg
IG =
1
mL2 = 0.167 kg-m2
12
Fx :
Bx = maGx
(1)
Fy :
By mg = maGy
(2)
MG :
G
mg
Bx
By
L
L
cos By +
sin Bx = IG
2
2
(3)
Mg
By
Fx :
Fy :
Bx s N = ma0x = 0
(4)
N By Mg = 0
(5)
Bx
s N
From kinematics,
a0 = aG + r0/G = 0
(6)
(7)
By = 14.78 N,
= 8.44 rad/s2
s = 0.108
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509
40
1m
0.25 m
rod
: Ox (0.5 m) cos 40
Oy (0.5 m) sin 40 = 0,
Fx
rod
: Ox = (0.4 kg)a,
Fy
rod
MG
=
disk
: M f (0.25 m)
1
(1 kg)(0.25 m)2 ,
2
Fxdisk : Ox f = (1 kg)a,
a = (0.25 m).
Solving, we find
Ox = 3.29 N, Oy = 3.92 N,
f = 11.5 N, a = 8.23 m/s2 ,
= 32.9 rad/s2 , M = 3.91 N-m.
M = 3.91 N-m, = 32.9 rad/s2 .
510
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6m
6m
3m
T cos 45 (6 m)
T sin 45 (3 m)
=
1
3
40 N
9.81 m/s2
(45 m 2 ),
Fx : T cos 45 =
80 N
(14 m/s2 )
9.81 m/s 2
L = 45 m, d = 6 2 m, = 63.4 .
x = L cos +
d 2 L2 sin2
L2 cos sin
x = L sin
d 2 L2 sin2
L2 cos sin
= L sin
d 2 L2 sin2
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511
6m
6m
3m
T cos 45 (6 m)
T sin 45 (3 m )
=
1
3
40 N
9.81 m/s2
(45 m2 ),
80 N
9.81 m/s2
(14 m/s2 )
L = 45 m, d = 6 2 m , = 63.4 .
x = L cos +
d 2 L2 sin2
L2 cos sin
x = L sin
d 2 L2 sin2
Since the velocity x = 0, then we know that the angular velocity =
= 0. Taking one more derivative and setting = 0, we find
L2 cos sin
(14 m/s2 )
x = L sin
d 2 L2 sin2
L2 cos sin
= L sin
d 2 L2 sin2
Solving these equations, we find that
= 1.56 rad/s2 , N = 28 . 5 N,
512
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y
B
0.4 m
A
10 rad/s
0.4 m
0.8 m
1
(8 kg)([0.8 m]2 + [0.4 m]2 )(37.5 rad/s2 ) = 20 N-m.
12
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513
0.4 m
C
0.4 m
0.2 m
Solution: Given
Bx
Ax
Ay
mAB g
By
By
The FBDs
The dynamic equations
MA : mAB g
mBC g
LAB
1
+ By LAB = mAB LAB 2 AB
2
3
1
mBC LBC 2 BC
12
AB = 20.6 rad/s2
CW
We also find
aBCx = 8.23 m/s2 , aBCy = 4.12 m/s2
N = 244 N, Bx = 51.2 N, By = 76.5 N,
514
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R2 m
RT
.
+ IR + I F
Strategy:
diagrams.
Fx
Gx
Fx = Fx + fR = mR a,
Fy
Gy
Fy = NR mR g Fy = 0,
MRaxle
Fy
a
= RfR T = IR = IR
R
Front Wheel :
mBg
Gy
mRg
Fx
mFg
Gx
T
Fx = Gx + fF = mF a,
fR
NR
fF
NF
Fy = NF mF g Gy = 0,
a
MFaxle = RfF = IF = IF
R
Car Body:
Fx = Fx Gx = mB a,
Fy = Fy + Gy mB g = 0.
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515
Problem 18.61 The combined mass of the motorcycle and rider is 160 kg. Each 9-kg wheel has a 330mm radius and a moment of inertia I = 0.8 kg-m2 . The
engine drives the rear wheel by exerting a couple on it.
If the rear wheel exerts a 400-N horizontal force on the
road and you do not neglect the horizontal force exerted
on the road by the front wheel, determine (a) the motorcycles acceleration and (b) the normal forces exerted on
the road by the rear and front wheels. (The location of
the center of mass of the motorcycle not including its
wheels, is shown.)
723 mm
649 mm
1500 mm
(1)
Front Wheel :
Fx = Bx + fF = m a,
(2)
Fy = By + NF m g = 0,
(3)
M = fF (0.33) = I .
(4)
Ax
Bx
M
Ay
By
mg
Rear Wheel :
Fx = Ax + fR = m a,
(5)
Fy = Ay + NR m g = 0,
(6)
Ay
M
By
Ax
m
wg
fR
M = M fR (0.33) = I .
(7)
NR
Bx
wg
fF
NF
Motorcycle:
Fx = Ax Bx = ma,
(8)
Fy = Ay By mg = 0,
(9)
(10)
516
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a = 9.34 m/s2 ,
(b)
M = 516 N-m.
B
O
12 cm
Solution: Let be the clockwise angular acceleration of the handle. The acceleration of B is:
aB = aA + AB rB/A :
i
aB i = (6/12)i + 0
1
15 cm
j
k
0
AB
0.5
0
6 cm
O
(1).
66.7 N
The free body diagrams of the handle and object B are as shown. Note
that = arctan(6/12) = 26.6 . Newtons second law for the object
B is
C cos = (0.15 /9.81 )aB ,
(2)
N
The equation of angular motion for the handle is
(15/12)F (6/12)C cos = (0.16 )
(3).
aA = (6/12)
B
aB
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517
4 rad/s
A
B
6 rad/s
aBC
By
The FBD
The kinematics
Bx
aB = aA + AB rB/A AB rB/A
2
Fy : By = may
MG : Bx (0.5 m) sin By (0.5 m) cos =
Solving we find
518
BC = 17.0 rad/s2
1
m(1.0 m)2 BC
12
CCW
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2m
2m
O
P
aQ = a0 + 0Q rQ/0
i
=
0
2 cos 45
j
0
2 sin 45
k
OQ
0
Q
OQ
PQ
G
45
Qy
Qx
Qy
Qx
The acceleration of P is
6N
6N
aP = aQ + P Q rP /Q
i
aP i = 2OQ sin 45 i 2OQ cos 45 j +
0
2 cos 45
j
0
2 sin 45
M0 = I0 OQ :
(1)
(2).
k
P Q .
0
j
0
sin 45
k
P Q .
0
Fx = Qx = (6/9.81 )aGx
(6)
Fy = N Qy 6 = (6/9.81 )aGy
(7)
M = (N + Qy + Qx )(cos 45 ) =
1
(6/9.81)(2)2 P Q
12
(5).
(8).
Hence,
aGx = 2OQ sin 45 + P Q sin 45
(3);
(4).
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519
Fx = Qx P = (6/9.81 )aGx
M = (N P + Qy + Qx )(cos 45 ) =
1
(6/9.81)(2)2 P Q
12
Problem 18.67 The 4-kg slender bar is pinned to 2kg sliders at A and B. If friction is negligible and the
system is released from rest in the position shown, what
is the angular acceleration of the bar at that instant?
or
and
1.2 m
j
k
0
AB ,
1.2
0
45
(1);
aB sin 45 = aA + 0.5AB ,
(2).
0.5 m
j
k
0
AB ,
0.6
0
A
aA
or
aGx = 0.6AB ,
(3);
y
and
aGy = aA + 0.25AB ,
AB
(4);
The free body diagrams are as shown. The equations of motion are
Slider A:
Ay
N Ax = 0
and
(5),
(2)(9.81) + Ay = 2aA ,
Slider B :
x
aB
Ax
(6);
B
By
(7);
(4)(9.81)
Bx
and
(8);
Bar: Ax + Bk = 4aGx
and
Ay + By (4)(9.81) = 4aGy
(9);
L=
Ay
Ax
(10);
1
(4)L2 AB
12
(0.5)2 + (1.2)2 m
N
(2)(9.81)
By
(11),
Bx
(2)(9.81)
and
arctan(0.5/1.2) = 22.6 .
520
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2R
Solution: For the bar: The length of the bar is L = 5R. Apply
Newtons second law to the free body diagram of the bar: Bx = maGx ,
By + NA mg = maGy , where aGx , aGy are the accelerations of the
center of mass of the bar. The moment about the bar center of mass is
By
Bx
Bx
NA
4 mg
By
f
R
RBy RNA Bx = IB AB .
2
For the disk: Apply Newtons second law and the equation of angular
motion to the free body diagram of the disk. f Bx = 4maDx , ND
4mg By = 0, RBy + Rf = ID D
From kinematics: Since the system is released from rest, AB =
D = 0. The acceleration of the center of the disk is aD = RD i.
The acceleration of point B in terms of the acceleration of the center
of the disk is
aB = aD + D rB/D
i
= aD + 0
R
j
0
0
k
D = RD i RD j.
0
2 r
aG = aB + AB rG/B AB
G/B
= aB +
ND
mg
i
0
= aB +
j
0
R
AB
R
IB
Bx = D ,
2
2
(3)
RBy RNA
(4)
f Bx = 4RmD ,
(5)
ND 4mg By = 0,
(6)
RBy + Rf = ID D .
mg
9mR
IB
+
16
4R
D .
21Rm
ID
+
D .
R
4
RAB
i RAB j,
2
mg
1
.
93Rm
ID
IB
+
+
16
R
4R
AB
aG = R D
i R(D + AB )j.
2
D =
aG = aA + aAB rG/A
= aA
i
0
= aA +
j
0
R
2
AB
RAB
i + RAB j.
2
IB =
1
5
mL2 =
mR 2 .
12
12
6g
.
95R
(1)
Bx =
(2)
By + NA mg =
Rm
D ,
2
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521
y
C
0.2 m
10 rad/s
D
x
0.2 m
0.2 m
0.2 m
Velocity
vB = vA + AB rB/A
0.2 m
10 rad/s
vC = vB + BC rC/B
0.4 m
Cx
vD = vC + CD rD/C
= (2 m/s)i + (0.2 m)BC j + CD k (0.2 m)(i j)
Bx
Cy
Cy
By
Dx
Acceleration
aB = aA + AB rB/A AB 2 rB/A
= 0 + 0 (10 rad/s)2 (0.2 m)j = (20 m/s2 )j
aC = aB + BC rC/B BC 2 rC/B
= (20 m/s2 )j + BC k (0.2 m)i (10 rad/s)2 (0.2 m)i
= (20 m/s2 )i + ([0.2 m]BC 20 m/s2 )j
aD = aC + CD rD/C CD 2 rD/C
= (20 m/s2 )i + ([0.2 m]BC 20 m/s2 )j + CD k
(0.2 m)(i j) (10 rad/s) (0.2 m)(i j)
2
Dy
The FBDs
The dynamics
FBCx : Bx + Cx = (3 kg)(10 m/s2 )
1
(3 kg)(0.2 m)2 (200 rad/s2 )
12
MD : Cx (0.2 m) + Cy (0.2 m) =
1
(4.5 kg)( 2[0.2 m])2 (200 rad/s2 )
3
Solving we find
= (40 m/s2 + [0.2 m]CD )i + ([0.2 m][BC + BC ])j
Since D is pinned we find BC = 200 rad/s2 , CD = 200 rad/s2
Bx = 220 N, By = 50 N
Cx = 190 N, Cy = 70 N
522
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2m
Solution: Diagrams of the bar and collar showing the force they
exert on each other in the horizontal plane are: the bars equation of
angular motion is
M0 = I0 :
Nr = 13 (2)(2)2
N e = m
N
r
(1)
er
d2r
dr
2
e .
r
+
r
+
2
e
r
dt 2
dt
Equating e components,
dr
N = m r + 2 = (6)[r + 2(0.5)(0.4)] (2).
dt
Solving Equations (1) and (2) with r = 1.2 m gives = 0.255 rad/s2
Problem 18.71 In Problem 18.70, the moment of inertia of the collar about its center of mass is 0.2 kg-m2 .
Determine the angular acceleration of the bar, and compare your answer with the answer to Problem 18.70.
Solution: Let C be the couple the collar and bar exert on each
other: The bars equation of angular motion is
M0 = I0 :
Nr C = 13 (2)(2)2
(1).
C = 0.2
(2).
(3)
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523
1m
LO
2m
dm
Ih =
x 2 dm =
x 2 A dx =
16
8
A =
kg-m2 .
3
3
LO
dm
(b)
(22 + y 2 )A dy
r 2 dm =
LO
(a)
dx
dy
26
13
A =
kg-m2 .
3
3
I0 = Ih + Iv = 14 kg-m2 .
Therefore
O
l
r 2 dm +
r 2 dm.
m
For the first bar, the differential mass is dm = A dr. Assume that
the second bar is very slender, so that the mass is concentrated at a
distance l from O. Thus dm = A dx, where x lies between
the limits
l
2
I = A
r3
3
= ml 2
524
1
2
(l 2 + x 2 ) dx
l
1
x3 2
+ A l 2 x +
3 1
0
1
1
+1+
3
12
=
17
ml 2
12
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2m
50
x
1m
1 m
Iz =
6 kg
= 2 kg/m
3m
x 2 d x
+
2 m
2m
Iz = 15.1 kg-m2
50
x
1m
1 m
Iy =
6 kg
= 2 kg/m
3m
x 2 d x
+
2 m
2m
[(1 m + s cos 50 )2 ] d s
50
Iy = 12.0 kg-m2
1m
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525
Solution:
y
m = 12 kg
Area = 12 bh
h
x
= mass/Area
dm = dA
b
From Appendix B,
IxA =
1 3
bh
36
IyA =
1 3
hb
36
1
Area = (1)(2) = 1 m2
2
= 12 kg/m2
Ix =
12
1
h b3 = (2)(1)3
36
3
Iy = 0.667 kg-m2
Iz = Ix + Iy
Iz = 2.667 + 0.667 kg-m2
y 2 dA =
Iy = IyA =
y 2 dA
Iz = 3.333 kg-m2
Ix = IxA , Iy = IyA
Ix = 12
526
1
(1)(2)3 = 2.667 kg-m2
36
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y
Ro
Ri
x
Solution:
(a)
Ri
Ro
R4
.
4
4
(R Ri4 )
4 o
m
The area mass density is , thus for the plate with a circular
A
cut,
m
m
=
,
A
(Ro2 Ri2 )
from which the moments of inertia
I(x -axis) =
m(Ro4 Ri4 )
4(Ro2 Ri2 )
m 2
(R + Ri2 )
4 o
m 2
(R + Ri2 ).
2 o
Let Ri = 0, to obtain
Ix -axis =
m 2
R ,
4 o
I(z-axis) =
m 2
R ,
2 o
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527
Problem 18.78 The homogenous thin plate is of uniform thickness and weighs 20 N. Determine its moment
of inertia about the y axis.
1
y = 4 4 x 2 m
r 2 dm.
m
The distance from the y-axis is x, where x varies over the range
W
m
=
be the area mass density. The mass
4 x 4. Let =
A
gA
W
of an element y dx is dm =
y dx. Substitute into the definition:
gA
Iy -axis =
W
gA
W
gA
x2
x2 4
dx
4
4
x5
4x 3
3
20
+4
4
W
[68.2667].
gA
The area is
A=
x2
4
4
x3
= 21.333 m2
dx = 4x
12 4
I(y -axis) =
W
dy dx. The distance
gA
+4
x2
4 4
dx
+4
y 2 dy
x2
4
3
W
3gA
4
3 5
x7
W
x
64x 4x 3 +
3gA
20
448 4
W
[234.057].
3gA
dx
From the solution to Problem 18.78, A = 21.333 ft2 . Thus the moment
of inertia about the x-axis is
Ix -axis =
528
W
W (234.057)
=
(3.657) = 7.46 kg-m 2.
3g (21.333)
g
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0.6 m
L
0.6 m
L1
L2
x
x
O
l
r 2 dr = A
r3
3
is the moment of inertia about the center of the bar. From the parallel
axis theorem, the moment of inertia about O is
I0 =
l
=
0
ml 2
.
3
17 2
ml 2
ml 2
+ l2m +
=
ml
3
12
12
l
2
l
2
r3
r dr = A
3
2
2l
l
2
ml 2
12
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529
Problem 18.83 Use the parallel-axis theorem to determine the moment of inertia of the T-shaped object in
Problem 18.98 about the axis through the center of mass
of the object that is perpendicular to the two bars.
Solution: The location of the center of mass of the object is
m
x=
l
+ lm
3
2
= l.
2m
4
Use the results of Problem 18.98 for the moment of inertia of a bar
about its center. For the first bar,
I1 =
2
l
ml 2
7
m+
=
ml 2 .
4
12
48
2
7
l
ml 2
=
ml 2 .
m+
4
12
48
The composite:
Ic = I1 + I2 =
7
ml 2
24
3l
4
2
(2m) +
17 2
ml
12
9
7
17
+
ml 2 =
ml 2 .
8
12
24
check .
x
0.8 m
x
0.6 m
2m
30 kg
= 10 kg/m
3m
1
1
(10 kg)(1.0 m)2 +
(20 kg)(2 m)2
3
12
+ (20 kg)[(1.6 m)2 + (0.8 m)2 ]
Iz = 74 kg-m2
530
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y=
4 cm
L1 + L 2 + L 3 = 8 +
parts are therefore,
M1 =
L1
m=
L
M2 =
L2
m=
L
M3 =
L3
m=
L
8
31.9
8 cm
(0.155) = 0.0390 kg,
2(64)
(0.155) = 0.0551 kg,
31.9
4
31.9
(0.155) = 0.0612 kg.
axis)
1
1
m1 L21 + m2 L22 + I3 + m3 [(8 + 2.55)2 + (4)2 ]
3
3
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531
x1 L1 + x2 L2 + x3 L3
L1 + L2 + L3
2(4)
(4)(8) + (4) 82 + 82 + 8 +
(4)
=
= 6.58 cm ,
8 + 82 + 82 + (4)
y=
y1 L1 + y2 L2 + y3 L3
L1 + L2 + L3
0 + (4) 82 + 82 + (4)(4)
= 3.00 cm.
8 + 82 + 82 + (4)
axis)
From which
xE =
2720
1812.5
(0.91 ) = 1.37 m
IR = IE + xE2 mE + IF + xF2 mF ,
about a mass center at the origin (xR = 0).
IE = IR xE 2 mE IF xF 2 mF .
Solve:
IE = IR xE2 mE IF xF2 mF
= 13826 3410 2983 2273
= 5151 kg-m 2
The objective is to determine values for the terms on the right from
the data given. Since the filled rocket has a mass center at the origin,
the mass center of the empty rocket is found from
0 = mE xE + mF xF ,
from which
xE =
mF
mE
xF .
WF
26688
=
= 2720 kg,
g
9.81
mE =
(WR WF )
44480 26688
= 1812.5 N.
=
g
9.81
532
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y
0.4 m
0.4 m
0.3 m
0.3 m
x
Solution: Divide the plate into two areas: the rectangle 0.4 m by
0.6 m on the left, and the rectangle 0.4 m by 0.3 m on the right. The
m
mass density is = .
A
The area is
A = (0.4)(0.6) + (0.4)(0.3) = 0.36 m2 ,
from which
=
36
= 100 kg/m2 .
0.36
1
1
(0.4)(0.63 ) +
(0.4)(0.3)3 = 3.24 kg-m2
3
3
1
1
(0.6)(0.4)3 +
(0.3)(0.4)3
3
12
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533
y
1000 mm
400 mm
400 mm
200
mm
1000
+
=
20 kg
0.36 m2
= 55.6 kg/m2
800
200
200
mm
1
1
(0.2 m)(0.8 m)3 +
(0.2 m)(0.4 m)3 + (0.2 m)(0.4 m)(0.6 m)2
3
12
+
1
1
(0.6 m)(0.4 m)3 + (0.6 m)(0.4 m)(0.667 m)2
36
2
400
200
= 0.1184 m4
Ix axis = (55.6 kg/m2 )(0.1184 m4 ) = 6.58 kg-m2
534
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1
1
(0.8 m)(0.2 m)3 +
(0.4 m)(0.2 m)3 + (0.2 m)(0.4 m)(0.3 m)2
3
12
+
1
1
(0.4 m)(0.6 m)3 + (0.6 m)(0.4 m)(0.6 m)2
36
2
= 0.0552 m4
Iyaxis = (55.6 kg/m2 )(0.0552 m4 ) = 3.07 kg-m2
y
3m
6m
3m
2m
x
5
m
=
= 0.1852 kg/m2 .
A
27
1
9(33 ) = 3.75 kg-m 2 ,
12
1
3(93 ) = 33.75 kg-m 2 .
12
Ixc =
Iyc =
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535
80 mm
10 mm
O
30 mm
30
mm
130 mm
A1 =
1
2 (130)(80)
A2 =
(10)2
mm2 ,
mm2 .
O
100 mm
Using Appendix B,
Ix =
30 mm
1
1
(130)(80)3
(10)4 + (30)2 A2
12
4
1
1
(80)(130)3
(10)4 + (100)2 A2
4
4
axis)
m
Ix = 2150 kg-mm2 ,
A1 A 2
I(y
axis)
m
Iy = 16700 kg-mm2 .
A1 A 2
Then
I(z
axis)
= I(x
I(z
axis)
= 0.0188 kg-m2 .
536
axis)
+ I(y
axis)
= 18850 kg-mm2 .
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m
V
r 2 dz =
3m 2
r dz.
R2 h
1
The moment of inertia of this disk about the z-axis is mr 2 . The
2
R
radius varies with z, r =
z, from which
h
Iz-axis =
3mR 2
2h5
z4 dz =
3mR 2
2h5
h
z5
5
=
0
3mR 2
10
Ix =
1 2
z2 dm.
r dm +
m 4
m
Noting that r =
r 2 dm =
R4
h4
and z2 dm =
Ix =
Ix =
R
z, then
h
R4
4h4
z4 dz,
R2
h2
z4 dz. Substitute:
z4 dz +
3mR 2
3m
+ 3
4h5
h
z5
5
R2
h2
h
=m
0
z4 dz,
3 2 3 2
R + h
20
5
= Iy .
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537
x
60 mm
180 mm
z
180 mm
1 2
1
1
mr = [(r 2 )dz]r 2 = (0.167z)4 dz.
2
2
2
y
x
r
z
z
dz
We integrate this result to obtain the mass moment of inertia about the
z axis for the cone:
I(z
axis)
0.36
0.18
5 0.36
1
z
(0.167)4
2
5 0.18
5 0.36
z
1
(8200)(0.167)4
2
5 0.18
= 0.0116 kg-m2 .
1 2
1
mr + mz2 = [(r 2 )dz]r 2 + [(r 2 )dz]z2
4
4
1
(0.167z)4 dz + (0.167z)2 z2 dz.
4
I(x
axis)
1
(0.167)4
4
0.36
0.18
z4 dz + (0.167)2
0.36
z4 dz
0.18
= 0.844 kg-m2 .
538
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Problem 18.99 The homogeneous rectangular parallelepiped is of mass m. Determine its moments of inertia
about the x, y, and z axes and compare your results with
the values given in Appendix C.
a
z
1
b2 dm.
12
m 2
(a + c2 )
12
Iz =
m 2
(b + a 2 )
12
1 2
b + c2 dm,
12
from which
Ix =
1
m 2
(b + c2 ) .
(b2 + c2 ) m dm =
12
12
x
4R
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539
y
Al
z
Fe
600 mm
200 mm
Solution:
Ix =
1
[(2700 kg/m2 )(0.1 m)2 (0.6 m)](0.1 m)2
2
+
600 mm
x, x
1
[(7860 kg/m2 )(0.1 m)2 (0.6 m)](0.1 m)2
2
Ix = 0.995 kg-m2
1
1
(0.6 m)2 + (0.1 m)2
12
4
1
1
(0.6 m)2 + (0.1 m)2
12
4
540
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y
20 mm
x
40 mm
120 mm
Solution: We divide the machine part into the 3 parts shown: (The
dimension into the page is 0.04 m) The masses of the parts are
m1 = (2800)(0.12)(0.08)(0.04) = 1.075 kg,
m2 = (2800) 12 (0.04)2 (0.04) = 0.281 kg,
0.12
m
1
0.08
m
+
C 2
40
mm
0.12
m
0.12
m
x
0.04 m
x
0.02 m
Using Appendix C and the parallel axis theorem the moment of inertia
of part 1 about the z axis is
I(z
axis)1
1
m1 [(0.08)2 + (0.12)2 ] + m1 (0.06)2
12
= 0.00573 kg-m2 .
The moment of inertia of part 2 about the axis through the center C
that is parallel to the z axis is
= 12 m2 (0.04)2
1
2
2 m2 R
The distance along the x axis from C to the center of mass of part 2 is
4(0.04)/(3 ) = 0.0170 m. Therefore, the moment of inertia of part 2
about the z axis through its center of mass that is parallel to the axis
is
1
2
2 m2 (0.04)
Using this result, the moment of inertia of part 2 about the z axis is
I(z
axis)2
The moment of inertia of the material that would occupy the hole 3
about the z axis is
I(z
axis)3
Therefore,
I(z
axis)
= I(z
axis)1
+ I(z
axis)2
I(z
axis)3
= 0.00911 kg-m2 .
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541
axis)1
1
m1 [(0.08)2 + (0.04)2 ]
12
= 0.0007168 kg-m2
I(x
axis)2
= m2
1
1
(0.04)2 + (0.04)2
12
4
= 0.0001501 kg-m2
I(x
axis)3
= m3
1
1
(0.04)2 + (0.02)2
12
4
= 0.0000328 kg-m2 .
Therefore,
I(xaxis) = I(x
axis)1
+ I(x
axis)2
I(x
axis)3
= 0.000834 kg-m2 .
20 mm
O
100 mm
Part (3):
Part (4):
Part (1)
m1 =
R 2 h1
= 0.049 kg,
2
I1 =
m1 R 2
= 4.9 106 kg-m2 ,
4
Part (1):
Part (2):
Part (2)
10 mm
30 mm
L0
Part (4)
m4 = R 2 h = 0.294 kg,
I4 =
1
2
m4 (R 2 ) + m4 L2 = 0.003 kg-m2 .
The composite:
IL0 = I1 + I2 I3 + I4 = 0.00367 kg-m2
m3 = m1 = 0.049 kg,
I3 =
4R
3
2
4R 2
m2 + I1 + m3 L
3
= 0.00041179 kg-m2 .
542
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4 cm
2 cm
2 cm
x
Solution: Divide the object into three parts: Part (1) the rectangle
4 cm
4 cm
8 cm
4 cm
4 cm
I2 =
Part (3):
m2 (22 )
+ m2 (42 ) = 7 kg-cm2 .
2
m3 = m2 = 0.388 kg,
I3 = I2 = 7 kg-cm 2.
The composite:
Iz-axis = I1 2I2 = 91.6 kg-cm 2
Iz-axis = 0.00916 kg-m2
1
m1 (82 + 42 ) = 26.4 kg-cm2 ,
12
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543
(a)
152.4 mm
0.31 m
2.13 m
T
1334(9.81)
=
= 2.94 m /s2.
m
4448
W
T
v
35.8
= 12.1 s
=
a
2.94
The sum of the vertical forces:
Fy = R + F W = 0. The sum of
the moments:
M = 2.13 F 0.152 T 0.31R = 0. Solve: R =
3809 N,
F = 639 N
100 mm
100 mm
200 mm
200 mm
RB1
and L. Denote the difference in the tangential component of the tension in the belts by
TA = TLA TU A ,
TUB
TUA
A RA
B
TLA
TB = TLB TU B .
RC
TLB
RB2
RB1 RC
(0.2)(0.2)
C = 4C ,
C =
RA RB2
(0.1)(0.1)
B =
RC
0.2
C = 2C .
C =
RB2
0.1
544
1
2
=
C 2
(2 ) = 12.2 revolutions
4
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40 N
c
B
100 mm
100 mm
Solution:
(a)
40 N
C
a=
(b)
40
= 20 m/s2 .
2
mg = 0. The sum of
The sum of forces:
Fy = A + B
the moments about the center of mass:
M = 0.1B 0.1A
40c = 0. Substitute the value of B from the first equation into
the second equation and solve for c:
c=
mg
A
B
100
mm
100
mm
(0.1)mg (0.2)A
40
(0.1)(2)(9.81)
0.0491 m
40
for values of A 0.
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545
B
a
(a)
60
L cos
2
+ (B + Ax )
L sin
2
= IG ,
where aGx , aGy are the accelerations of the center of mass. From
kinematics,
W
Ax
Ay
2
2 r
aG = aA + rG/A AB
G/A = 20i m/s
L cos
2
+ (B + Ax )
L sin
2
= 0.
ma
W cot
. For W = mg = 19.62 N, = 60 , m =
2
2
2 kg, and a = 20 m/s 2, B = 14.34 N, from which the bar has moved
away from the cart at point B. (b) The acceleration that produces a zero
normal force is
Solve: B =
a = g cot = 5.66 m /s 2 .
546
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330 mm
15
motion,
mg sin 15 f = ma,
Rf = I .
mg
mg sin 15
. (1)
m + I /R 2
1 2
at :
2
3=
1
a(3.5)2 ,
2
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547
203.2 mm
B
305 mm A
71.2 N
35.6 N
T3
T2
(4) T2 = WR +
WL
i
= 0
2RA
j
0
0
WR
The total system: Equate (4) and (9) (the two expressions for T2 ) and
solve:
IB
+ mR aRy
RB2
T1
T1
T2
aRy =
+
WL
WR
2
IB
IA
mL
+ mR +
+
2
4
RB2
4RA
.
Substitute numerical values: aRy = 4.78 m/s2. The distance that the
71.2 N weight will fall in one-half second is
s=
aRy 2
4.78
t =
= 0.6 m
2
8
k
A = 0 + 2RA A j,
0
from which (7) aRy = 2RA A , where the change in direction of the
acceleration of the 71.2 N. weight across pulley B is taken into
account. Similarly, the acceleration of the right side relative to the
acceleration of the center of the pulley is
aAright = aRy j = aA + A (RA i) = aA + RA A j,
aRy
. Combine (5), (6), (7) and (8) and reduce
2
IA
WA
mA
ay .
to obtain (9) T2 =
+
2
2
4
4RA
from which (8) aAy =
548
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y
C
B
2.4 m
A
3.0 m
1.7 m
1.7 m
(3.4)2 + (3)2 = 4.53 m.
Ax
mg
Ay
aG = rG/A
2 r
G/B
i
j k
=
0 0 2 (3.4i + 3j)
3.4 3 0
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549
(200)(9.81)(3)
= 0.420 rad/s2 .
=
14,000
(x , y)
mg
aG = rG/O 2 rG/O
i
= 0
3
j
0
4
k
= 4i + 3j
0
Fy
x
Fx
550
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
45
203.2 mm
1016 mm
Ay Ax
17.8 N
FAx
By Bx
17.8 N
FBx
FAy
FAy
FBy
FBy
FAx
FBx
+ FBy (0.508) = Ip = 0.
(2)
(3)
(4)
FAy + Ay WB = ( 0 . 1 2 7 ) mB cos ,
(5)
FAx + Ax = ( 0 . 1 2 7 ) mB sin ,
(6)
(7)
FBx + Bx = ( 0 . 1 2 7 ) mB sin ,
(8)
FBy + By WB = ( 0 . 1 2 7 ) mB cos ,
i
0
j
0
0.127 cos
0.127sin
(9)
aBGy = (0.127)cos ,
aP = rP /A 2 rP /A
j
0
From which
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551
L
(i sin + j cos ).
2
i
PL
MG =
sin
2
1
k
i
NL
0 +
sin
2
0
j
cos
j
cos
1
k
0.
0
PL
NL
MG =
(cos + sin )k +
(sin cos )k
2
2
From the equation of angular motion,
PL
(cos + sin ) +
2
NL
(sin cos ) = IB
2
aG = aN
from which
i
0
L sin
2
L cos
2
j
0
L cos
2
i+
aGy =
(3)
L sin
2
mg
mL
(cos sin ) +
.
2(1 + 2 )
(1 + 2 )
N =
mg
mL
(sin + cos ) +
.
2(1 + 2 )
(1 + 2 )
Substitute the first two equations into the third, and reduce to obtain
mL2 1 2
mgL 1 2
IB +
=
4
1 + 2
2
1 + 2
aG = aN + rG/N 2 rG/N
= aN i +
(2)
P =
From kinematics: Assume that at the instant of slip the angular velocity = 0. The acceleration of the center of mass in terms of the
acceleration at point N is
mL cos
,
2
mL sin
P + N =
+ mg.
2
PL
NL
(cos + sin ) +
(sin cos ) = IB .
2
2
P N =
(1)
sin mgL
Substitute IB =
j,
L sin
.
2
1 + 2
1
12
cos .
aG = aP + rG/P 2 rG/P
i
0
= aP j +
L sin
2
aG =
L cos
2
from which
552
j
0
L cos
2
i + aP +
aGx =
L sin
2
mg
j,
L cos
.
2
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381 mm
152.4 mm
A
101.6 mm
B
406.4 mm
1524 mm
a = ( 0.102 ) B . (2)
Ay
Ax
177.9 N
Ay
16.3 N-m
Front wheel:
16.3 N-m
Ax
(1)
(3)
Bx
1067 222.4 N
By
By
B
44.5 N x
fB
fA
NA
NB
(4)
M = fB (0.102 ) = (0.028 ) B .
(5)
Rear Wheel:
Fx = Ax + fA = (177.9 /9.81) a,
(6)
Fy = Ay + NA 1 7 7 . 9 = 0,
(7)
(8)
Cart:
Fx = Ax Bx = (844.6/9.81 )a,
Fy = Ay By 844.6 = 0,
(9)
(10)
(11)
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553
Problem 18.122 Bar AB rotates with a constant angular velocity of 10 rad/s in the counterclockwise direction. The masses of the slender bars BC and CDE are
2 kg and 3.6 kg, respectively. The y axis points upward.
Determine the components of the forces exerted on bar
BC by the pins at B and C at the instant shown.
y
B
400 mm
C
10 rad/s
x
400
mm
700 mm
vB = AB
700 mm
By
i
rB = 0
0
Bx
j
k
0 10
0.4 0
Cy
= 0.4(10)i = 4i (m/s).
Cx
WBC
Cx
vC = vB + BC rC/B
i
= 4i + 0
0.7
Cy
j
k
0
BC
0.4
0
i
j
=0+ 0
0
0.4 0
i
aG = 40j + 0
0.35
j
k
2 (0.35i 0.2j),
0
BC BC
0.2
0
CDE = 0.4CDE j,
0
IBC =
7
= 17.5 rad/s.
0.4
where
WCE
1
mBC L2BC = 0.1083 kg-m2 , 0.4Cy 0.15mCE g = ID CE ,
12
ID =
1
mCE L2CE + (0.15)2 mCE = 0.444 kg-m2 ,
12
i
aC = 40j + 0
0.7
aC =
j
k
2 (0.7i 0.4j) (m/s2 ).
0
BC BC
0.4
0
2 )i +
+(0.4BC 0.7BC
2 )j
(40 + 0.7BC + 0.4BC
Bx = 1959 N,
By = 1238 N,
Cx = 2081 N,
(m/s ).
Cy = 922 N.
i
j
aC = 0
0
0.4 0
2
(0.4i)
CDE CDE
0
2
= 0.4CDE j + 0.4CDE
i.
554
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250
0
30
mm
30
mm
20
D
C
x
250 mm
Cy
Cx
D
C
125
mm
mg
2 r
2
aB = AB
B/A = (0.5 )(0.3 cos 30 i + 0.3 sin 30 j),
from which
aG = 3.005i + 0.3045j (m/s2 ).
For the arm CD the three equations of motion in three unknowns are
Cy mCD g = mCD aGy , Cx = mCD aGx , M 0.125Cy = 0,
which have the direct solution:
Cy = 101.15 N,
Cx = 30.05 N.
M = 12.64 N-m,
where the negative sign means a direction opposite to that shown in
the free body diagram.
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
555
45
B
30
Ay
Ax
aA = OA rA/O
i
0
L cos
j
0
L sin
Ax
OA .
0
Ay
mg
mg
B
30
The equations of motion for the bars: for the pin supported left bar:
aA = aB + AB rA/B .
i
aA = aB +
0
L cos
j
0
L sin
AB .
0
where IOA =
mL2
3
=
L
cos = IOA OA ,
2
4
kg-m2 .
3
aGAB = aA + AB rGAB/A
0
= aA +
L cos
2
aGAB = aA +
j
0
L sin
AB
,
AB L
LAB
sin i +
cos j (m/s2 ),
2
2
L
L
L
cos + Ax
sin + B
sin cos
2
2
2
L
cos sin = ICAB AB ,
2
where IGAB =
1
1
mL2 =
kg-m2 .
12
3
from which
(3) aGABx = OA L sin +
(4) aGABy = OA L cos +
556
LAB
sin (m/s2 ),
2
LAB
cos .
2
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
aGOA = OA rG/A
aGOA =
0
= aA +
L cos
2
j
0
L sin
2
Ay
OA
,
Ax
Fy
mg
L sin
L cos
OA i +
OA j (m/s2 ).
2
2
Fx
Use the solution to Problem 18.140: = 45 , GA = 0.425 rad/s2 ,
Ax = 19.27 N, m = 4 kg, from which Fx = 18.67 N, Fy =
38.69 N, from which |F| = Fx2 + Fy2 = 42.96 N
Planet gear
Hub gear
140
mm
Connecting
rod
340
mm
240 mm
720 mm
Sun gear
Ring gear
Q
R
F
F
M
Sun Gear
Connecting Rod
1
mGR (0.582 ) = 0.561 kg-m2 .
3
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557
125 m
50
B
40
A
from which
sin
sin 40
=
,
0.05
0.125
2 r
aB = AB rB/A AB
B/A ,
j
k
0
AB
0.0321
0
i
aB = 0
0.0383
aB = aC + BC rB/C
i
= aC i + 0
0.121
j
k
0
BC
0.0321
0
Cx = 4755.5 N, Cy = 1266.3 N,
aC = 53.15 m/s2 .
aGCR
= aC i +
i
0
0.085 cos
j
0
0.085 sin
BC
0
558
0.05
A
2 r
aGCR = aC + BC rGCR/C BC
GCR/C ,
Bx
40
Cx
Cy
0.125
C
Cx
By
By
5000 N
Bx
Ay
Cy
Ax
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
2
60
= 209.44 rad/s.
vB = AB rB/A
i
0
0.05 cos 40
j
0
0.05 sin 40
k
AB .
0
i
vB = vC i +
0
0.125 cos
j
0
0.125 sin
k
BC ,
0
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
559