Problem 2 (Mechanics)

Three cylinders with the same mass, the same length and the same external radius are initially
resting on an inclined plane. The coefficient of sliding friction on the inclined plane, , is known and
has the same value for all the cylinders. The first cylinder is empty (tube) , the second is homogeneous
filled, and the third has a cavity exactly like the first, but closed with two negligible mass lids and
filled with a liquid with the same density like the cylinders walls. The friction between the liquid and
the cylinder wall is considered negligible. The density of the material of the first cylinder is n times
greater than that of the second or of the third cylinder.
Determine:
a) The linear acceleration of the cylinders in the non-sliding case. Compare all the
accelerations.
b) Condition for angle of the inclined plane so that no cylinders is sliding.
c) The reciprocal ratios of the angular accelerations in the case of roll over with sliding of
all the three cylinders. Make a comparison between these accelerations.
d) The interaction force between the liquid and the walls of the cylinder in the case of
sliding of this cylinder, knowing that the liquid mass is ml.
Solution Problem 1
The inertia moments of the three cylinders are:

1
1
1
1
1 R 4 r 4 h, I 2 2R 4 h mR 2 , I 3 2 R 4 r 4 h,
2
2
2
2
Because the three cylinders have the same mass :
I1

m 1 R 2 r 2 h 2R 2 h

(1)

(2)

it results:

r 2 R 2 1 2 R 2 1 , n 1
1
n
2

(3)

The inertia moments can be written:

1
I1 I 2 2 I 2 ,
n

1 1 I

I3 I 2 2 1
n n n

(4)

In the expression of the inertia momentum I 3 the sum of the two factors is constant:
1 1

2 2
n n

independent of n, so that their products are maximum when these factors are equal:
1 1
1 1

2
; it results n = 1, and the products 2 1 . In fact n > 1, so that the products is
n n
n n

les than 1. It results:

I1 > I 2 > I 3

(5)

For a cylinder rolling over freely on the inclined plane (fig. 1.1) we can write the equations:
mg sin F f ma
N mg cos 0
F f R I

(6)
(7)

where is the angular acceleration. If the cylinder doesnt slide we have the condition:

a R

(8)

Solving the equation system (6-8) we find:

g sin
I ,
1
mR 2

Ff

mg sin
mR 2
1
I

(9)

The condition of non-sliding is:

Ff < N = mgsin

mR 2

tg < 1
I1

(10)

Fig. 1.1
In the case of the cylinders from this problem, the condition necessary so that none of them slides is
obtained for maximum I:

mR2 4n 1
tg 1
I1 2n 1
The accelerations of the cylinders are:

(11)

a1

2 g sin
2 g sin
a3
2 g sin
1 , a2
1 .
,
3 (1 )
3 (1 ) 2
3
n
n

(12)

The relation between accelerations:

a1 < a2 < a3

(13)

In the case than all the three cylinders slide:

F f N mg cos
and from (7) results:
R
mg cos
I
for the cylinders of the problem:

1 : 2 : 3

(14)
(15)

1 1 1
1

: : 1: 1 : n
I1 I 2 I 3
n

1 < 2 < 3

(16)

In the case that one of the cylinders is sliding:

mg sin F f ma , F f mg cos , (17)
a g sin cos
(18)

Let F be the total force acting on the liquid mass ml inside the cylinder (fig.1.2), we can write:

Fx ml g sin ml a ml g sin cos , Fy ml g cos 0 (19)

cos
F Fx2 Fy2 ml g cos 1 2 ml g
(20)
cos
where is the friction angle tg .