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Dinamica PDF
Dinamica PDF
4 N is applied
to the 1023 N refrigerator as shown. Friction is negligible.
1524 mm
711.2 mm
A
`
355.6 mm 355.6 mm
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) 2
a = 1.28 m/s
A B
(b) A = 359 N , B = 664.1 N
Solving, we find A B
N
(a) a = 0.3 m/s 2 A B
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469
Problem 18.3 As the 2800-N airplane begins its take-
off run at t = 0, its propeller exerts a horizontal force
T = 1000 N. Neglect horizontal forces exerted on the T
wheels by the runway.
4m 3m
(a) What distance has the airplane moved at t = 2 s? W
(b) what normal forces are exerted on the tires at A A 5m B
and B? 2m
MG : NB (2 m ) NA (5 m )
+ T (1 m ) = 0
1 2 1
(a) The distance is given by d = at = (3 .5 m/s 2)(2 s)2 = 7 m
2 2
d =7 m
(b) The forces were found to be
NA = 943 N, NB = 1860 N
MG : NB (2 m) NA (24 m)
T (2 m) = 0.
Putting in the numbers for NA and NB and solving, we find
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470
Problem 18.5 The crane moves to the right with con-
stant acceleration, and the 800-kg load moves without
swinging.
5 5
A B
1m
1.5 m 1.5 m
1.0 m
Fy = FA cos 5 + FB cos 5 800g = 0.
mg
The sum of the moments about the center of mass:
1.5 m 1.5 m
MCM = 1.5FA cos 5 + 1.5FB cos 5
FA sin 5 FB sin 5 = 0.
a = 0.858 m/s2 ,
FA = 3709 N ,
FB = 4169 N
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471
Problem 18.6 The total weight of the go-cart and
driver is 1068 N. The location of their combined center
of mass is shown . The rear drive wheels together exert
a 106 . 7 N horizontal force on the track. Neglect the
horizontal forces exerted on the front wheels.
(a) What is the magnitude of the go-carts accelera-
tion?
(b) What normal forces are exerted on the tires at A 381 mm
and B? 152.4 mm 101.6 mm
A B
406.4 mm
1524 mm
Solution:
1068 N
Fx : ( 1 0 6 . 7 N ) = 2
a
9.81 m/s
Fy : NA + NB (1068 N ) = 0
1068 N
MG : NA (0.406 m)+ NB (1.118 m )+(106.7 N) (0.381 m)= 0
Solving we find
106.7 N
(a) 2
a = 0.981 m/s
NB
(b) NA = 809.5 N , NB = 2 58 N NA
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472
Problem 18.7 The total weight of the bicycle and rider is
711.7 N. The location of their combined center of mass
is shown. The dimensions shown are b = 5 3 3 . 4 m m ,
c = 406.4 mm, and h = 965 mm What is the largest
acceleration the bicycle can have without the front wheel
leaving the ground? Neglect the horizontal force exerted
on the front wheel by the road.
A B
b c
MG : NA b + NB c FB h = 0
NA = 0 h
NB
NA
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473
Problem 18.8 The moment of inertia of the disk about 50 N-m
O is I = 20 kg-m2 . At t = 0, the stationary disk is sub-
jected to a constant 50 N-m torque.
Solution:
M 50 N-m
(a) M = I = = = 2.5 rad/s2 .
I 20 kg-m2
= 2.5 rad/s2 .
= 95.5 rpm.
Solution:
F 5N
(a) F = ma a = = = 4.905 m/s 2
m 10 N
9.81 m/s2
2
aG =(4.905 m/s )j.
l Fl (5 N)(4 m)
(b) MG : F = I = = = 10 rad/s 2 .
2 2I 2(1 kg -m 2 )
aA = aG + rA/G
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474
Problem 18.10 The 10-N bar is on a smooth horizontal y
table. The figure shows the bar viewed from above. Its
moment of inertia about the center of mass is I =
1kg-m2 . The bar is stationary when the force F = 5 N
is applied in the direction parallel to the y axis. At that
instant, determine the acceleration of point B. A 2m 2m B
Solution:
F
F 5N
F = ma a = = = 4.905 m/s 2 x
m 10 N
9.81 m/s2
l Fl (5 N)(4 N )
MG : F = I = = = 10 rad/s 2.
2 2I 2( 1 kg- m2 )
aB = aG + rB/G
Td (10 N)(0.3 m)
= = = 0.075 rad/s2 .
I (40 kg-m2 )
To reach maximum angular velocity it takes
rad
(15/s)
180
= t t = = = 3.49 s
(0.075 rad/s2 )
During this time, the astronaut has rotated through
1 2 1
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
2 = t = (15 /s) (10 s 3.49 s) = 1.704 rad.
180
The total rotation is then
180
= 1 + 2 = (0.457 + 1.704) rad = 124 .
rad
= 124 .
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475
Problem 18.12 The moment of inertia of the heli-
copters 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) How long does it take the rotor to turn ten revolu-
tions?
(b) What is the rotors angular velocity (in rpm) when
it has turned ten revolutions?
= 195 rpm.
Problem 18.13 The moments of inertia of the pulleys Solution: The tension in each belt changes as it goes around each
are IA = 0.0025 kg-m2 , IB = 0.045 kg-m2 , and IC = pulley.
0.036 kg-m2 . A 5 N-m counterclockwise couple is ap- The unknowns are TAB , TBC , A , B , C .
plied to pulley A. Determine the resulting counterclock-
wise angular accelerations of the three pulleys. We will write three dynamic equations and two constraint equations
MA : (5 N-m) TAB (0.1 m) = (0.0025 kg-m2 )A
100 mm
MB : TAB (0.2 m) TBC (0.1 m) = (0.045 kg-m2 )B
100 mm
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476
Problem 18.14 The moment of inertia of the wind-
tunnel fan is 225 kg-m2 . The fan starts from rest. The
torque exerted on it by the engine is given as a func-
tion of the angular velocity of the fan by T = 140
0.022 N-m.
(a) When the fan has turned 620 revolutions, what is its
angular velocity in rpm (revolutions per minute)?
(b) What maximum angular velocity in rpm does the
fan attain?
Strategy: By writing the equation of angular motion,
determine the angular acceleration of the fan in terms of
its angular velocity. Then use the chain rule:
d d d d
= = = .
dt d dt d
Solution:
M : (140 N-m) (0.02 N-m/s2 )2 = (225 kg-m2 )
140 0.02
= rad/s2 rad/s4 2
225 225
d
(a) = = (0.622 rad/s2 ) (0.0000889 rad/s4 )2
d
620(2 ) rad
d
2 4
= d
0 (0.622 rad/s ) (0.0000889 rad/s )2 0
Solving we find
1 rev 60 s
= 59.1 rad/s = 565 rpm
2 rad 1 min
1 rev 60 s
= 83.7 rad/s = 799 rpm
2 rad 1 min
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477
Problem 18.15 The moment of inertia of the pulley
about its axis is I = 0.005 kg-m2 . If the 1-kg mass A is 100 mm
released from rest, how far does it fall in 0.5 s?
a = (0.1 m).
Solving we find
d = 0.818 m.
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478
Problem 18.16 The radius of the pulley is 125 mm
and the moment of inertia about its axis is I = 0.05
kg-m2 . If the system is released from rest, how far does
the 20-kg mass fall in 0.5 s? What is the tension in the
rope between the 20-kg mass and the pulley?
4 kg
20 kg
T1 , T2 , Ox , Oy , a, .
We have five dynamic equations and one constraint equation available.
We will use three dynamic equations and the one constraint equation
a = (0.125 m).
Solving we find
d = 0.721 m, T2 = 80.8 N.
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479
Problem 18.17 The moment of inertia of the pulley is
0.54 kg-m2 . The coefficient of kinetic friction between 22.2 N 22.2 N
the 22.2 N weight and the horizontal surface is k = 0.2.
Determine themagnitudeof the acceleration of the 22.2 N 152.4 mm 152.4 mm
weight in each case .
8. 9 N 8. 9 N
(a) (b)
22.2 N
T1 (0.2)(22.2 N ) = 2
a,
9.18 m/s
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 .
22.2 N 8.9 N
T1 (0.2)(22.2 N ) = 2
a, T2 (8.9 N ) = 2
a.
9.81 m/s 9.81 m/s
Solving we find
a = 0.167 m /s 2
Note that (b) has more inertia than (a) and therefore has to accelerate
more slowly.
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480
Problem 18.18 The 5-kg slender bar is released from
1.2 m
rest in the horizontal position shown. Determine the
bars counterclockwise angular acceleration (a) at the
instant it is released, and (b) at the instant when it has
rotated 45 .
Solution:
(a) The free-body diagram is shown.
L 1
MO : mg = mL2
2 3
3g 3(9.81 m/s2 )
= = = 12.3 rad/s2 .
2L 2(1.2 m)
= 12.3 rad/s2 .
3g 3(9.81 m/s2 )
= cos 45 = cos 45
2L 2(1.2 m)
= 8.67 rad/s2 .
3g 3(9.81 m/s2 )
= cos 45 = cos 45 = 8.67 rad/s2
2L 2(1.2 m)
Using kinematics we find the acceleration of the center of mass.
aG = aO + rG/O 2 rG/O
aG = 0 + (8.67)k (0.6)( cos 45 i sin 45 j)
(4.16)2 (0.6)( cos 45 i sin 45 j)
Fy : Oy mg = may
O = 87.0 N.
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481
Problem 18.20 The 5-kg slender bar is released from
rest in the horizontal position shown. Determine the 1.2 m
magnitude of its angular velocity when it has fallen to
the vertical position.
90
1 2 3g 3g
= sin =
2 2L 0 2L
3g 3(9.81 m/s2 )
= = = 4.95 rad/s.
L (1.2 m)
= 4.95 rad/s.
1
+ (3 kg)(0.6 m)2 + (3 kg)(0.1 m)2
12
ID = 0.467 kg-m2 .
(b)
= 23.1 rad/s2 .
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482
Problem 18.22 The object consists of the 2-kg slender A y
bar ABC welded to the 3-kg slender bar BDE. The y
axis is vertical. At the instant shown, the object has a 0.2 m
counterclockwise angular velocity of 5 rad/s. Determine B D E
x
the components of the force exerted on it by the pin
0.4 m 0.2 m
support. 0.2 m
1
+ (3 kg)(0.6 m)2 + (3 kg)(0.1 m)2
12
= 0.467 kg-m2 .
The angular acceleration is given by
10.8 N-m
= = 23.1 rad/s2 .
0.467 kg-m2
From Newtons Second Law we have
m 2 12gx (4 m)
Mfixed point : mgx = I = (l + 12x 2 ) = 2 l
x= = = 1.15 m. x = 1.15 m.
12 l + 12x 2 12 12
(a) Using the given numbers we have The corresponding angular acceleration is
2
12(9.81 m/s )(1 m) 12(9.81 m/s2 )(1.15 m)
= = 4.20 rad/s2 . = 4.20 rad/s2 . = = 4.25 rad/s2 = 4.25 rad/s2 .
(4 m)2 + 12(1 m)2 (4 m)2 + 12(1.15 m)2
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483
Problem 18.24 Model the arm ABC as a single rigid y
body. Its mass is 320 kg, and the moment of inertia
about its center of mass is I = 360 kg-m2 . Point A is 1.80 m
stationary. If the hydraulic piston exerts a 14-kN force 1.40 m C
on the arm at B what is the arms angular acceleration? B 0.30 m
0.80 m
A x
0.70 m
= 1780 kg-m2 .
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484
Problem 18.26 Arm BC has a mass of 12 kg and the y
moment of inertia about its center of mass is 3 kg-m2 .
Point B is stationary and arm BC has a constant coun-
terclockwise angular velocity of 2 rad/s. At the instant C
shown, what are the couple and the components of force 00
exerted on arm BC at B? 3 m
m
40
x
A B
700 mm
a = rCM/O 2 rCM/O
Bx = 11.0 N , By = 108.5 N .
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485
Problem 18.27 Arm BC has a mass of 12 kg and the y
moment of inertia about its center of mass is 3 kg-m2 .
At the instant shown, arm AB has a constant clockwise
angular velocity of 2 rad/s and arm BC has counter- C
clockwise angular velocity of 2 rad/s and a clockwise 0
30 m
angular acceleration of 4 rad/s2 . What are the couple m
and the components of force exerted on arm BC at B? 40
x
A B
700 mm
2 r 2 2
aB = rB/A AB B/A = AB (0.7i) (m/s ).
2 r
aG = aB + BC rG/B BC G/B
i j k
aG = 2.8i + 0 0 4 0.9193i 0.7713j
0.2298 0.1928 0
By mg = maGy ,
= MB k 29.21k (N-m).
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486
Problem 18.28 The space shuttles attitude control y
engines exert two forces Ff = 8 kN and Fr = 2 kN. The
force vectors and the center of mass G lie in the x y 2m
plane of the inertial reference frame. The mass of the
2m
shuttle is 54,000 kg, and its moment of inertia about the
axis through the center of mass that is parallel to the z Ff Fr
Solution: The total moment about the center of mass must equal
zero:
M = (18)(Ff sin 5 ) (2)(Ff cos 5 )
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487
Problem 18.30 Points B and C lie in the x y plane. y
The y axis is vertical. The center of mass of the 18-
kg arm BC is at the midpoint of the line from B to
C, and the moment of inertia of the arm about the
axis through the center of mass that is parallel to the
z axis is 1.5 kg-m2 . At the instant shown, the angular 760
mm
C
velocity and angular acceleration vectors of arm AB
are AB = 0.6k (rad/s) and AB = 0.3k (rad/s2 ). The
angular velocity and angular acceleration vectors of
arm BC are BC = 0.4k (rad/s) and BC = 2k (rad/s)2 .
Determine the force and couple exerted on arm BC at B. A 15
m
m
50 x
0
90
z B
50
(0.6)2 (0.76 cos 15 i 0.76 sin 15 j)
Bx
2 MB
= 0.323i 0.149j (m/s )
2 r
aG = aB + BC rG/B BC aB = 0.323i 0.149j
G/B
i j k
+ 0 0 2
0.45 cos 50 0.45 sin 50 0
Bx i + By (18)(9.81) j = 18(1.059i + 0.374j).
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488
Problem 18.31 Points B and C lie in the x y plane. Solution: From the solution of Problem 18.30, the acceleration of
The y axis is vertical. The center of mass of the 18- point B is aB = 0.323i 0.149j (m/s2 ). If BC = 0, the acceleration
kg arm BC is at the midpoint of the line from B of the center of mass G of arm BC is
to C, and the moment of inertia of the arm about
2 r
aG = aB BC
the axis through the center of mass that is parallel G/B = 0.323i 0.149j
30
F : mg sin 30 f = ma
a = r
Solving, we find
mgr 2 sin 30
a=
I + mr 2
= 3.27 m/s2 .
From the kinematics we have
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489
Problem 18.33 The radius of the 2-kg disk is R =
80 mm. Its moment of inertia is I = 0.0064 kg-m2 . What
minimum coefficient of static friction is necessary for the R
disk to roll, instead of slip, on the inclined surface? (See
Active Example 18.2.)
30
MG : f R = I ,
F : mg sin 30 f = ma,
F : N mg cos 30 = 0,
a = R,
f = s N.
Putting in the numbers and solving, we find
D D
MG : f R = I ,
a = R,
mgr 2 sin
Solving, we find a =
I + mr 2
g
For the ring Iring = mr 2 aring = sin
2
1 2 2g
For the disk Idisk = mr adisk = sin
2 3
The velocities are then
4
vring = 2aring D = gD sin , vdisk = 2adisk D = gD sin
3
The ratio is
vring gD sin vring
= = 3/4 = 3/4
vdisk 4 vdisk
gD sin
3
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490
Problem 18.35 The stepped disk weighs 178 N and its
moment of inertia is I = 0.27 kg-m 2. If the disk is
released from rest, how long does it take its center to
fall 0.91 m? (Assume that the string remains vertical.)
101.6 mm
203.2 mm
W
ay = .
I
2
+m W
R
2D 2D(I + R 2 m)
t= = .
ay R2 W
W
For D = 0.91 m , R = 0.102 m, W = 178 N, m = = 18.1 kg,
g
I = 0.27 kg-m 2, t = 0.676 s
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491
Problem 18.36 The radius of the pulley is R = R
100 mm and its moment of inertia is I = 0.1 kg-
m2 . The mass m = 5 kg. The spring constant is k =
135 N/m. The system is released from rest with the
spring unstretched. At the instant when the mass has
fallen 0.2 m, determine (a) the angular acceleration of
the pulley, and (b) the tension in the rope between the
mass and the pulley.
k m
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 = 41.7 N.
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492
Problem 18.37 The radius of the pulley is R = 100 mm R
and its moment of inertia is I = 0.1 kg-m2 . The mass
m = 5 kg. The spring constant is k = 135 N/m. The sys-
tem is released from rest with the spring unstretched.
What maximum distance does the mass fall before re-
bounding?
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
R 2 (mg kx) dv
a= =v
I + mR 2 dx
0
x R 2 (mg kx) R2 x
vdv = 2
dx = (mg kx) d x = 0
0 0 I + mR I + mR 2 0
Thus
1 2 2 mg
mgx kx = 0 x = 0 or x =
2 k
The maximum distance is
2 mg 2(5 kg)(9.81 m/s2 )
x= = = 0.727 m x = 0.727 m.
k 135 N/m
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493
Problem 18.38 The mass of the disk is 45 kg and its
radius is R = 0.3 m. The spring constant is k = 60 N/m.
The disk is rolled to the left until the spring is com-
k R
pressed 0.5 m and released from rest.
(a) If you assume that the disk rolls, what is its angular
acceleration at the instant it is released?
(b) What is the minimum coefficient of static friction
for which the disk will not slip when it is released?
Solution: +
x0 = 0.5 mg
k = 600 N/m
Fs
O
m = 45 kg
R = 0.3 m
f x
I0 = 12 mR 2 = 2.025 N-m2 , Fs = kx
N
Fx : Fs f = ma0x
Fy : N mg = 0
M0 : f R = I0
We have, at x = 0.5 m
kx f = ma0x
N mg = 0
Rf = I0
a0x = R
f = s N
s = f/N = 100/441.5
s = 0.227
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494
Problem 18.39 The disk weighs 12 N and its radius
is 6 cm . It is stationary on the surface when the force
F = 10 N is applied.
Fx : F f = ma,
Fy : N mg = 0,
1 2
MG : f r = mr ,
2
a = r,
f = s N.
Solving, we find
2F 2(10 N)
(a) a= = = 5.45 m/s 2. a = 5.45 m/s 2.
3m 12 N
3
9.81 m/s 2
F (10 N)
(b) s = = = 0.278 s = 0.278.
3mg 3(12 N)
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495
Problem 18.40 A186.8 N sphere with radiusR=101.6 mm 0
is placed on a horizontal surface with initial angular
velocity 0 = 40 rad/s. The coefficient of kinetic fric-
tion between the sphere and the surface is k = 0.06.
What maximum velocity will the center of the sphere
attain, and how long does it take to reach that velocity?
Solution: Given
W = 186.8 N , g = 9.81 m/s2, m = W/g, R = 0.102 m , k = 0.06
We have
W
Fx : k N = ma
Fy : N mg = 0
RW
W
2
MG : k NR = mR 2 a
5
Solving we find
5k g
= = 14.49 rad/s2 , a = k g = 0.59 m /s2
2R
From kinematics we learn that
W
= 14.49 rad/s2 , = (14.49 rad/s2 )t (40 rad/s)
k N
a = 0.59 m/s 2, v = ( 0.59 m/s)t
when we reach a steady motion we have N
2 2
v = R (0.59 m/s )t = (0.102 m)[(14.49 rad/s )t (40 rad/s)]
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496
Problem 18.41 A soccer player kicks the ball to a
teammate 8 m away. The ball leaves the players foot
moving parallel to the ground at 6 m/s with no angu-
lar velocity. The coefficient of kinetic friction between
the ball and the grass is k = 0.32. How long does it
take the ball to reach his teammate? The radius of the
ball is 112 mm and its mass is 0.4 kg. Estimate the balls
moment of inertia by using the equation for a thin spher-
ical shell: I = 23 mR 2 .
(a) Slipping.
mg
Fx : N = ma
Fy : N mg = 0
N
2
MG : N R = mR 2
3
Solving we find
1
a = g v = v0 gt, s = v0 t gt 2
2
3g 3g
= = t
2R 2R
3 2v0
v = R v0 gt = gt t = = 0.765 s
2 5g
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497
Problem 18.42 The 100-kg cylindrical disk is at rest F
when the force F is applied to a cord wrapped around
it. The static and kinetic coefficients of friction between 300 mm
the disk and the surface equal 0.2. Determine the angular
acceleration of the disk if (a) F = 500 N and (b) F =
1000 N.
Strategy: First solve the problem by assuming that the
disk does not slip, but rolls on the surface. Determine the
friction force, and find out whether it exceeds the product
of the coefficient of friction and the normal force. If it
does, you must rework the problem assuming that the
disk slips.
RF I I
f = = F . f
R R N
2F RF + Rk gm 2F 2k g
ax = . = = + = 53.6 rad/s2 .
I I mR R
m+ 2
R
4F 2000
ax = = = 6.67 m/s2 .
3m 300
F 500
f = F max = = = 167 N.
3 3
ax 6.67
= = = 22.22 rad/s2 .
R 0.3
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498
Problem 18.43 The ring gear is fixed. The mass and
moment of inertia of the sun gear are mS = 320 kg and 0.18 m.
Ring gear
IS = 40 kg-m2 . The mass and moment of inertia of each
planet gear are mP = 38 kg and IP = 0.60 kg-m2 . If a
couple M = 200 N-m is applied to the sun gear, what 0.86 m M
is the latters angular acceleration?
0.50 m
Sun gear
Solution: F
MS = 200 N-m
er
Sun Gear: M0 : MS 3RF = IS S F R
r
C IP
G O Is
Planet Gears: Mc : Gr F r = IP P
Ms
et
F
Ft : F + G = mP act 3 small disks F
2P rP = RS
S = 3.95 rad/s2 ,
G = 9.63 N,
P = 5.49 rad/s2 ,
F = 27.9 N.
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499
Problem 18.45 The 18-kg ladder is released from rest
in the position shown. Model it as a slender bar and
neglect friction. At the instant of release, determine
(a) the angular acceleration of the ladder and (b) the
normal force exerted on the ladder by the floor. (See
Active Example 18.3.) 30
4m
M = rB/G P + rA/G N, mg
A
i j k i j k N
M = 1 1.732 0 + 1 1.732 0
P 0 0 0 N 0
from which ay = .
Similarly,
i j k
aG = aB + rG/B , aG = aB + 0 0
1 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
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500
Problem 18.46 The 18-kg ladder is released from rest
in the position shown. Model it as a slender bar and
neglect friction. Determine its angular acceleration at the
instant of release.
30
4m
20
Fy : NB cos 20 mg = may
L L
MG : NA cos 30 + NB cos 20 sin 30
2 2
L 1
+ NB sin 20 cos 30 = mL2
2 12
Solving five equations in five unknowns we have
Also
ax = 4.07 ft/s2 , ay = 5.31 ft/s2 , NA = 43.7 N, NB = 86.2 N
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501
Problem 18.47 The 4-kg slender bar is released from
rest in the position shown. Determine its angular
acceleration at that instant if (a) the surface is rough
and the bar does not slip, and (b) the surface is smooth.
1m
60
Solution:
(a) The surface is rough. The lower end of the bar is fixed, and the
bar rotates around that point.
L 1
MB : mg cos = mL2
2 3
3g 3(9.81 m/s2 )
= cos = cos 60
2L 2(1 m)
= 7.36 rad/s2 .
Fx : 0 = max ,
Fy : N mg = may ,
L 1
MG : N cos = mL2
2 12
L
ay + 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 .
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502
Problem 18.48 The masses of the bar and disk are
14 kg and 9 kg, respectively. The system is released
from rest with the bar horizontal. Determine the bars A
angular acceleration at that instant if O
1.2 m
(a) the bar and disk are welded together at A,
0.3 m
(b) the bar and disk are connected by a smooth pin
at A.
Strategy: In part (b), draw individual free-body
diagrams of the bar and disk.
Solution:
(a) L = 1.2 m R = 0.3 m Ox O C G A
mog
mB = 14 kg mD = 9 kg Oy mBg
O is a fixed point
For the bar
1 1
IG = mB L 2 = (14)(1.2)2 = 1.68 N-m2
12 12
2
L
IOB = IG + mB
2
The total moment of inertia of the welded disk and bar about
O is
Fy : Oy mB g mD g = (mB + mD )aGy
L
M0 : 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,
(b) 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.
In this case, IOD = mD L2 and IT = IOB + IOD = 19.68 N-m2
We now have
L
M0 : mB g LmD g = IT
2
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503
Problem 18.49 The 22.2 N horizontal bar is connected
to the 44.5 N disk by a smooth pin at A. The system is
released from rest in the position shown. What are the A
angular accelerations of the bar and disk at that instant? O
0.91 m 0.31 m
Solution: Given Ay
2
g = 9.81 m/s , Wbar = 22.2 N , Wdisk = 44.5 N , Ax
Ox
Wbar Wdisk
mbar = , mdisk =
g g Oy
Wbar Ay
L = 0.91 m , R = 0.31 m Wdisk
The FBDs
1
MGdisk : Ay R = mdisk R 2 disk
2
Fy : Ay mdisk g = mdisk aydisk
Kinematic constraint
Solving we find
disk = 3.58 rad/s2 , bar = 12.5 rad/s2 , aydisk = 34.0 m/s2 ,
Ay = 0.556 N
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504
Problem 18.50 The 0.1-kg slender bar and 0.2-kg
cylindrical disk are released from rest with the bar
horizontal. The disk rolls on the curved surface. What is 40 mm
the bars angular acceleration at the instant it is released?
120 mm
from which
L L
Ay + By = Ib b .
2 2
from which
L
aby = b .
2
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505
Problem 18.51 The mass of the suspended object A is
8 kg. The mass of the pulley is 5 kg, and its moment of
T
inertia is 0.036 kg-m2 . If the force T = 70 N, what is
the magnitude of the acceleration of A?
120 mm
Solution: Given T2
mA = 8 kg, mB = 5 kg, IB = 0.036 kg-m2 T
By
FyA : By mA g = mA aAy
MB : T2 R + T R = IB B
Kinematic constraints
aBy = aAy , aBy = RB
We also have
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506
Problem 18.52 The suspended object A weighs 89 N.
The pulleys are identical, each weighing 44.5 N and hav-
T
ing moment of inertia 0.03 kg-m2 . If the force T =
66 .7 N, what is the magnitude of the acceleration of A?
0.102 m
0.102 m
WA Wdisk
mA = , mdisk = , R = 0.102 m, T = 66.7 N
g g
The FBDs
T4
The dynamic equations Wdisk
Fy1 : T2 + T T1 mdisk g = mdisk a1 T1
Fy2 : T4 + T1 T3 mdisk g = mdisk a2
Fy3 : T3 mA g = mA aA
M1 : T R T2 R = I 1
T3
M2 : T1 R T4 R = I 2
The kinematic constraints
WA
a1 = R1 , a2 = R2 , a1 = 2R2 , aA = a2
We also have
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507
Problem 18.53 The 2-kg slender bar and 5-kg block
are released from rest in the position shown. If fric-
tion is negligible, what is the blocks acceleration at that
instant? (See Example 18.5.)
1m
Solution: L = 1 m, m = 2 kg M = 5 kg 55
1
Assume directions for Bx , By , IG = mB L 2
12
Fx : Bx = maGx (1)
Fy : By mg = mB aGy (2) y
L cos
L L 2
MG : cos By + sin Bx = IG (3)
2 2
m
Fx : Bx = Ma0x (4)
G
Fy : N By Mg = 0 (5)
mg (L / 2) sin
From kinematics, = 0 (initially)
O
x
a0 = aG + k r0/G Bx
L L By
where r0/G = cos i sin j
2 2
By = 13.97 N, N
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508
Problem 18.54 The 2-kg slender bar and 5-kg block
are released from rest in the position shown. What
minimum coefficient of static friction between the block
and the horizontal surface would be necessary for the
block not to move when the system is released? (See
Example 18.5.)
L=1m m = 2 kg
L
M = 5 kg G
mg
1
IG = mL2 = 0.167 kg-m2
12
Fx : Bx = maGx (1) Bx
By
Fy : By mg = maGy (2)
L L
MG : cos By + sin Bx = IG (3)
2 2 Mg
a0 = aG + r0/G = 0
N
Bx = 6.91 N, By = 14.78 N,
s = 0.108
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509
Problem 18.55 As a result of the constant couple M
applied to the 1-kg disk, the angular acceleration of the 40
0.4-kg slender bar is zero. Determine M and the coun-
terclockwise angular acceleration of the rolling disk.
1m 0.25 m
Oy (0.5 m) sin 40 = 0,
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,
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510
Problem 18.56 The slender bar weighs 40 N and the
crate weighs 80 N . At the instant shown, the velocity of
the crate is zero and it has an acceleration of 14 m/s2
toward the left. The horizontal surface is smooth. Deter-
mine the couple M and the tension in the rope. 6m
3m 6m
T cos 45 (6 m)
N N
T sin 45 (3 m)
1 40 N
= (45 m 2 ),
3 9.81 m/s2
80 N
Fx : T cos 45 = (14 m/s2 )
9.81 m/s 2
The constraint equation is derived from the triangle shown. We have
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
x = L sin (14 m/s 2)
d 2 L2 sin2
L2 cos sin
= L sin
d 2 L2 sin2
Solving these equations, we find that
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511
Problem 18.57 The slender bar weighs 40 N and the
crate weighs 80 N. At the instant shown, the veloc-
ity of the crate is zero and it has an acceleration of
14 m/s2 toward the left. The coefficient of kinetic friction
between the horizontal surface and the crate is k = 0.2.
6m
Determine the couple M and the tension in the rope.
3m 6m
T cos 45 (6 m)
N
N
T sin 45 (3 m )
1 40 N
= (45 m2 ),
3 9.81 m/s2
80 N
Fx : T cos 45 + (0.2)N = (14 m/s2 )
9.81 m/s2
Fy : T sin 45 + N (80 N ) = 0.
The constraint equation is derived from the triangle shown. We have
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
x = L sin (14 m/s2 )
d 2 L2 sin2
L2 cos sin
= L sin
d 2 L2 sin2
Solving these equations, we find that
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512
Problem 18.58 Bar AB is rotating with a constant y
clockwise angular velocity of 10 rad/s. The 8-kg slender
B
bar BC slides on the horizontal surface. At the instant
shown, determine the total force (including its weight)
acting on bar BC and the total moment about its center 0.4 m
of mass.
10 rad/s C
Solution: We first perform a kinematic analysis to find the angular A x
acceleration of bar BC and the acceleration of the center of mass of
bar BC. First the velocity analysis: 0.4 m 0.8 m
= (4 + 0.4 BC )i + (4 + 0.8 BC )j
Since C stays in contact with the floor, we set the j component to zero
BC = 5 rad/s. Now the acceleration analysis.
aB = aA + AB rB/A AB 2 rB/A
aC = aB + BC rC/B BC 2 rC/B
Since C stays in contact with the floor, we set the j component to zero
BC = 37.5 rad/s2 . Now we find the acceleration of the center of
mass G of bar BC.
aG = aB + BC rG/B BC 2 rG/B
The total force and moment cause the accelerations that we just cal-
culated. Therefore
1
M = I = (8 kg)([0.8 m]2 + [0.4 m]2 )(37.5 rad/s2 ) = 20 N-m.
12
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513
Problem 18.59 The masses of the slender bars AB A B
and BC are 10 kg and 12 kg, respectively. The angular
velocities of the bars are zero at the instant shown
and the horizontal force F = 150 N. The horizontal
surface is smooth. Determine the angular accelerations
of the bars. 0.4 m
C F
0.4 m 0.2 m
Solution: Given Bx
mAB = 10 kg, mBC = 12 kg, g = 9.81 m/s2 Ax
Ay
LAB = 0.4 m, LBC = 0.42 + 0.22 m, F = 150 N mAB g By By
The FBDs
FBCy : By mBC g + N = mBC aBCy
1
MBCG : (Bx F )(0.2 m) + (By + N)(0.1 m) = mBC LBC 2 BC
12
The kinematic constraints
aBCx = BC (0.2 m)
AB LAB + BC (0.2 m) = 0
Solving we find AB = 20.6 rad/s2 , BC = 41.2 rad/s2
We also find
aBCx = 8.23 m/s2 , aBCy = 4.12 m/s2
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514
Problem 18.60 Let the total moment of inertia of the
cars two rear wheels and axle be IR , and let the total
moment of inertia of the two front wheels be IF . The
radius of the tires is R, and the total mass of the car,
including the wheels, is m. If the cars engine exerts a
torque (couple) T on the rear wheels and the wheels do
not slip, show that the cars acceleration is
RT
a= .
R2 m + IR + I F
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 motorcy-
cle and rider is 160 kg. Each 9-kg wheel has a 330-
mm 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 motor-
cycles 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
A 649 mm B
1500 mm
a = 0.33. (1)
Front Wheel :
Fx = Bx + fF = m a, (2)
Fy = By + NF m g = 0, (3) Ax
Bx
M = fF (0.33) = I . (4)
M By
Ay mg
Rear Wheel :
Ay
Fx = Ax + fR = m a, (5) By
Ax Bx
M m
Fy = Ay + NR m g = 0, (6) m wg wg
fR fF
M = M fR (0.33) = I . (7)
NR NF
Motorcycle:
Fx = Ax Bx = ma, (8)
Fy = Ay By mg = 0, (9)
M = M + (Ax + Bx )(0.723 0.33)
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516
Problem 18.62 In Problem 18.61, if the front wheel
lifts slightly off the road when the rider accelerates,
determine (a) the motorcycles acceleration and (b) the
torque exerted by the engine on the rear wheel.
6 cm
B
O
12 cm
aB = aA + AB rB/A :
15 cm
i j k
C
aB i = (6/12)i + 0 0 AB 6 cm
1 0.5 0
O
we see that AB = 0 and
aB = (6/12) (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 C
B is
A aA = (6/12) i
Solving Equations (1)(3) with F = 0.89 N, we obtain = 6.8 rad/s2
B aB
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517
Problem 18.64 The bars are each 1 m in length and 4 rad/s
have a mass of 2 kg. They rotate in the horizontal plane. A B
Bar AB rotates with a constant angular velocity of
4 rad/s in the counterclockwise direction. At the instant 6 rad/s
shown, bar BC is rotating in the counterclockwise
aBC
direction at 6 rad/s. What is the angular acceleration of
bar BC?
The kinematics
Bx
2
aB = aA + AB rB/A AB rB/A
G
= 0 + 0 (4 rad/s)2 (1 m)i = (16 m/s2 )i
aG = aB + BC rG/B BC 2 rG/B
Fy : By = may
1
MG : Bx (0.5 m) sin By (0.5 m) cos = m(1.0 m)2 BC
12
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518
Problem 18.65 Bars OQ and PQ each weigh 6 N. Q
The weight of the collar P and friction between the
collar and the horizontal bar are negligible. If the system
is released from rest with = 45 , what are the angular
2m 2m
accelerations of the two bars?
O
P
i j k
45 P
O x
aQ = a0 + 0Q rQ/0 = 0 0 OQ
2 cos 45 2 sin 45 0
Qy Qy
= 2OQ sin 45 i 2OQ cos 45 j.
Qx Qx
The acceleration of P is
6N 6N
O
aP = aQ + P Q rP /Q N
i j k From the diagrams:
aP i = 2OQ sin 45 i 2OQ cos 45 j + 0 0 P Q .
2 cos 45
2 sin 45 0 The equation of angular motion of bar OQ is M0 = I0 OQ :
Hence,
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519
Problem 18.66 In Problem 18.65, what are the angular
accelerations of the two bars if the collar P weighs 2 N?
1
Solution: In the solution of Problem 18.65, the free body diagram M = (N P + Qy + Qx )(cos 45 ) = (6/9.81)(2)2 P Q
12
of bar PQ has a horizontal component P to the left where P is the
force exerted on the bar by the collar. Equations (6) and (8) become and the equation of motion for the collar is P = (2/9.81)aP solving
equations (19), we obtain OQ = P Q = 4.88 rad/s2 .
Fx = Qx P = (6/9.81 )aGx
B
and aB sin 45 = aA + 0.5AB , (2).
i j k
aG = aGx i + aGy j = aA j + 0 0 AB , A
0.25 0.6 0
aA
or aGx = 0.6AB , (3); G
y AB
and aGy = aA + 0.25AB , (4);
B
x
The free body diagrams are as shown. The equations of motion are aB
Slider A:
Ay
N Ax = 0 (5),
Ax
1 By
(L/2)[(Bx Ax ) cos + (By Ay ) sin ] = (4)L2 AB (11), P
12
Bx
where L= (0.5)2 + (1.2)2 m
(2)(9.81)
and arctan(0.5/1.2) = 22.6 .
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520
Problem 18.68 The mass of the slender bar is m and
the mass of the homogeneous disk is 4m. The system
is released form rest in the position shown. If the disk R
rolls and the friction between the bar and the horizon-
tal surface is negligible, show that the disks angular
acceleration is = 6g/95R counterclockwise.
2R
Solution: For the bar: The length of the bar is L = 5R. Apply By
Newtons second law to the free body diagram of the bar: Bx = maGx , Bx
By + NA mg = maGy , where aGx , aGy are the accelerations of the 4 mg
Bx By
center of mass of the bar. The moment about the bar center of mass is NA
f
R mg ND
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 R IB
4mg By = 0, RBy + Rf = ID D (3) RBy RNA Bx = D ,
2 2
From kinematics: Since the system is released from rest, AB = (4) f Bx = 4RmD ,
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 (5) ND 4mg By = 0,
of the disk is
(6) RBy + Rf = ID D .
i j k
aB = aD + D rB/D = aD + 0 0 D = RD i RD j.
From (1), (2), and (3)
R 0 0
mg 9mR IB
The acceleration of the center of mass of the bar in terms of the By = + D .
acceleration of B is 2 16 4R
RAB
= aA i + RAB j. 6g
2 aD = .
95R
From the constraint on the motion, aA = aA i. Equate the expressions
D
for aG , separate components and solve: AB = . Substitute to
2
5R R
obtain aGx = D , aGy = D . Collect the results:
4 2
5Rm
(1) Bx = D ,
4
Rm
(2) By + NA mg = D ,
2
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521
Problem 18.69 Bar AB rotates in the horizontal plane y
with a constant angular velocity of 10 rad/s in the coun-
terclockwise direction. The masses of the slender bars C
BC and CD are 3 kg and 4.5 kg, respectively. Deter- B
mine the x and y components of the forces exerted on
bar BC by the pins at B and C at the instant shown.
10 rad/s 0.2 m
D
A x
0.2 m 0.2 m
= (2 m/s)i
10 rad/s
vC = vB + BC rC/B A
D
0.4 m
= (2 m/s)i + BC k (0.2 m)i = (2 m/s)i + (0.2 m)BC j
vD = vC + CD rD/C Cx
Bx
= (2 m/s)i + (0.2 m)BC j + CD k (0.2 m)(i j)
Acceleration Dx
aB = aA + AB rB/A AB 2 rB/A Dy
aD = aC + CD rD/C CD 2 rD/C 1
MG1 : (Cy By )(0.1 m) = (3 kg)(0.2 m)2 (200 rad/s2 )
12
= (20 m/s2 )i + ([0.2 m]BC 20 m/s2 )j + CD k
1
MD : Cx (0.2 m) + Cy (0.2 m) = (4.5 kg)( 2[0.2 m])2 (200 rad/s2 )
2
(0.2 m)(i j) (10 rad/s) (0.2 m)(i j) 3
Solving we find
= (40 m/s2 + [0.2 m]CD )i + ([0.2 m][BC + BC ])j
Bx = 220 N, By = 50 N
Since D is pinned we find BC = 200 rad/s2 , CD = 200 rad/s2 Cx = 190 N, Cy = 70 N
= (20 m/s2 )j + (200 rad/s2 )k (0.1 m)i (10 rad/s)2 (0.1 m)i
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522
Problem 18.70 The 2-kg bar rotates in the horizontal
plane about the smooth pin. The 6-kg collar A slides on
the smooth bar. At the instant shown, r = 1.2 m, =
0.4 rad/s, and the collar is sliding outward at 0.5 m/s
relative to the bar. If you neglect the moment of inertia
of the collar (that is, treat the collar as a particle), what A
is the bars angular acceleration?
Solution: Diagrams of the bar and collar showing the force they e
exert on each other in the horizontal plane are: the bars equation of er
N
angular motion is
r
M0 = I0 : Nr = 13 (2)(2)2 (1) N
d2r 2 dr
F = ma: N e = m r e r + r + 2 e .
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
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).
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523
Problem 18.72 The axis L0 is perpendicular to both
segments of the L-shaped slender bar. The mass of the
bar is 6 kg and the material is homogeneous. Use inte-
gration to determine the moment of inertia of the bar 1m
about L0 .
LO
2m
1
Iv = r 2 dm = (22 + y 2 )A dy
m 0
13 26
= A = kg-m2 .
3 3
Therefore I0 = Ih + Iv = 14 kg-m2 .
l
I= r 2 dm + r 2 dm.
0 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
2l x 2l . The distance to a differential dx is r = l 2 + x 2 . Thus
the definition becomes
l 1
2
I = A r 2 dr + A l
(l 2 + x 2 ) dx
0 2
l 1
r3 x3 2
I = A + A l 2 x +
3 0 3 1
2
1 1 17
= ml 2 +1+ = ml 2
3 12 12
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524
Problem 18.74 The slender bar lies in the xy plane. y
Its mass is 6 kg and the material is homogeneous. Use
integration to determine its moment of inertia about the
z axis.
2m
50
x
1m
6 kg
Solution: The density is = = 2 kg/m
3m y
1 m
Iz = x 2 d x
0
2 m
+ [(1 m + s cos 50 )2 + (s sin 50 )2 ] d s 2m
0
Iz = 15.1 kg-m2 50
x
1m
2 m
+ [(1 m + s cos 50 )2 ] d s 2m
0
Iy = 12.0 kg-m2 50
x
1m
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525
Problem 18.76 The homogeneous thin plate has mass y
m = 12 kg and dimensions b = 1 m and h = 2 m.
Determine the mass moments of inertia of the plate about
the x, y, and z axes.
h
Strategy: The mass moments of inertia of a thin plate x
of arbitrary shape are given by Eqs. (18.37)(18.39) in
terms of the moments of inertia of the cross-sectional
area of the plate. You can obtain the moments of inertia b
of the triangular area from Appendix B.
Solution:
y
m = 12 kg
Area = 12 bh
h
x
= mass/Area
dm = dA
b
From Appendix B,
12 1
1 3 1 3 Iy = IyA = h b3 = (2)(1)3
IxA = bh IyA = hb 36 3
36 36
Iy = 0.667 kg-m2
1
Area = (1)(2) = 1 m2
2
Iz = Ix + Iy
= 12 kg/m2
Iz = 2.667 + 0.667 kg-m2
Ix = y 2 dA = y 2 dA
Iz = 3.333 kg-m2
Ix = IxA , Iy = IyA
1
Ix = 12 (1)(2)3 = 2.667 kg-m2
36
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526
Problem 18.77 The brass washer is of uniform thick- y
ness and mass m.
Ro
(a) Determine its moments of inertia about the x and
Ri
z axes.
(b) Let Ri = 0, and compare your results with the val- x
ues given in Appendix C for a thin circular plate.
Solution:
Ro
Ri
(a) The area moments of inertia for a circular area are
R4
Ix = Iy = .
4
4
Ix = (R Ri4 )
4 o
m
The area mass density is , thus for the plate with a circular
A
cut,
m m
= ,
A (Ro2 Ri2 )
m(Ro4 Ri4 ) m 2
I(x -axis) = = (R + Ri2 )
4(Ro2 Ri2 ) 4 o
m 2
I(z-axis) = 2I(x -axis) = (R + Ri2 ).
2 o
m 2
Ix -axis = R ,
4 o
m 2
I(z-axis) = R ,
2 o
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527
Problem 18.78 The homogenous thin plate is of uni- y
form thickness and weighs 20 N. Determine its moment 1
y = 4 4 x 2 m
of inertia about the y axis.
The distance from the y-axis is x, where x varies over the range
m W
4 x 4. Let = = be the area mass density. The mass
A gA
W
of an element y dx is dm = y dx. Substitute into the definition:
gA
4
W x2
Iy -axis = x2 4 dx
gA 4 4
+4
W 4x 3 x5 W
= = [68.2667].
gA 3 20 4 gA
The area is
4 4
x2 x3
A= 4 dx = 4x = 21.333 m2
4 4 12 4
W 20
I(y -axis) = (3.2) = (3.2) = 6.52 kg-m2 .
g 9.81
W
Solution: The differential mass is dm = dy dx. The distance
gA
of a mass element from the x-axis is y, thus
x2
W +4 4 4
I= dx y 2 dy
gA 4 0
+4 3
W x2
= 4 dx
3gA 4 4
4
W 3 5 x7
= 64x 4x 3 + x
3gA 20 448 4
W
= [234.057].
3gA
From the solution to Problem 18.78, A = 21.333 ft2 . Thus the moment
of inertia about the x-axis is
W (234.057) W
Ix -axis = = (3.657) = 7.46 kg-m 2.
3g (21.333) g
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528
Problem 18.80 The mass of the object is 10 kg. Its
moment of inertia about L1 is 10 kg-m2 . What is its
moment of inertia about L2 ? (The three axes are in the
same plane.)
0.6 m 0.6 m
L L1 L2
from which
Solution: Divide the object into two l pieces, each corresponding is the moment of inertia about the center of the bar. From the parallel
to a bar of mass m. By definition I = 0 r 2 dm. For the first bar, the axis theorem, the moment of inertia about O is
differential mass is dm = Adr, from which the moment of inertia
about one end is
ml 2 ml 2 17 2
I0 = + l2m + = ml
l 3 12 12
l r3 ml 2
I1 = A r 2 dr = A = .
0 3 0 3
l 2l
2 2 r3 ml 2
I2 = A r dr = A =
l
2 3 l
2 12
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529
Problem 18.83 Use the parallel-axis theorem to deter-
mine 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.
Use the results of Problem 18.98 for the moment of inertia of a bar
about its center. For the first bar,
2
l ml 2 7
I1 = m+ = ml 2 .
4 12 48
2
l ml 2 7
I2 = m+ = ml 2 .
4 12 48
The composite:
7
Ic = I1 + I2 = ml 2
24
x
0.6 m 2m
30 kg
Solution: The density is = = 10 kg/m
3m
1 1
Iz = (10 kg)(1.0 m)2 + (20 kg)(2 m)2
3 12
Iz = 74 kg-m2
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530
Problem 18.85 The mass of the homogeneous slender
bar is 30 kg. Determine the moment of inertia of the bar
about the z axis through its center of mass.
4 cm
x
mass is m = 0 .155 kg. Its length is L =
Solution: The Bars 8 cm
L1 + L 2 + L 3 = 8 + 82 + 82 + (4) = 31.9 cm. The masses of the
parts are therefore,
L1 8
M1 = m= (0.155) = 0.0390 kg,
L 31.9
L2 2(64)
M2 = m= (0.155) = 0.0551 kg,
L 31.9
L3 4
M3 = m= (0.155) = 0.0612 kg.
L 31.9
1 1
I(z axis) = m1 L21 + m2 L22 + I3 + m3 [(8 + 2.55)2 + (4)2 ]
3 3
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531
Problem 18.87 Determine the moment of inertia of the
bar in Problem 18.86 about the z axis through its center
of mass.
y1 L1 + y2 L2 + y3 L3
Solution: In the solution of Problem 18.86, it is shown that the y=
L1 + L2 + L3
moment of inertia of the bar about the z axis is I(z axis) = 11.6 kg-cm 2.
The x and y coordinates of the center of mass coincide with the cen-
troid of the bar: 0 + (4) 82 + 82 + (4)(4)
= = 3.00 cm.
8 + 82 + 82 + (4)
x1 L1 + x2 L2 + x3 L3
x=
L1 + L2 + L3 The moment of inertia about the z axis is
2(4)
(4)(8) + (4) 82 + 82 + 8 + (4) I(z axis) = I(z axis) (x2 + y2 ) (0.155) = 3.44 kg-cm2 .
= = 6.58 cm ,
8 + 82 + 82 + (4)
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
mF
xE = xF .
mE
WF 26688
mF = = = 2720 kg,
g 9.81
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532
Problem 18.89 The mass of the homogeneous thin plate y
is 36 kg. Determine the moment of inertia of the plate
about the x axis. 0.4 m 0.4 m
0.3 m
0.3 m
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
from which
36
= = 100 kg/m2 .
0.36
1 1
Ix -axis = (0.4)(0.63 ) + (0.4)(0.3)3 = 3.24 kg-m2
3 3
from which
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533
Problem 18.91 The mass of the homogeneous thin plate y
is 20 kg. Determine its moment of inertia about the
x axis. 1000 mm
400 mm
400 mm
x
200 200
mm mm
1
+ (0.4 m)(0.6 m) = 0.36 m2
2
20 kg
= = 55.6 kg/m2 800
0.36 m2
200
Using the integral tables we have
1 1
Ix = (0.2 m)(0.8 m)3 + (0.2 m)(0.4 m)3 + (0.2 m)(0.4 m)(0.6 m)2 400
3 12
1 1 200 x
+ (0.6 m)(0.4 m)3 + (0.6 m)(0.4 m)(0.667 m)2
36 2
= 0.1184 m4
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534
Problem 18.92 The mass of the homogeneous thin plate
is 20 kg. Determine its moment of inertia about the
y axis.
1 1
+ (0.4 m)(0.6 m)3 + (0.6 m)(0.4 m)(0.6 m)2
36 2
= 0.0552 m4
2m
x
m 5
= = = 0.1852 kg/m2 .
A 27
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535
Problem 18.94 The mass of the homogeneous thin plate
is 2 kg. Determine the moment of inertia of the plate
about the axis through point O that is perpendicular to
the plate.
80 mm
10 mm
30 mm
O
30
mm
130 mm
1 1
Ix = (130)(80)3 (10)4 + (30)2 A2
12 4
Therefore
m
I(x axis) = Ix = 2150 kg-mm2 ,
A1 A 2
m
I(y axis) = Iy = 16700 kg-mm2 .
A1 A 2
Then
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536
Problem 18.95 The homogeneous cone is of mass m. y
Determine its moment of inertia about the z axis, and
compare your result with the value given in Appendix C.
(See Example 18.10.) x
z
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
h
3mR 2 h 3mR 2 z5 3mR 2
Iz-axis = z4 dz = =
2h5 0 2h5 5 0 10
m 3m
Solution: The mass density is = = . The differential
V R2 h
element of mass is dm = r 2 dz.. The moment of inertia of this
elemental disk about an axis
through its center of mass, parallel to the
1 2
x- and y-axes, is dIx = r dm. Use the parallel axis theorem,
4
1 2
Ix = r dm + z2 dm.
m 4 m
R
Noting that r = z, then
h
R4
r 2 dm = z4 dz,
h4
R2
and z2 dm = z4 dz. Substitute:
h2
R4 h
R2 h
Ix = z4 dz + z4 dz,
4h4 0 h2 0
h
3mR 2 3m z5 3 2 3 2
Ix = + 3 =m R + h = Iy .
4h5 h 5 0 20 5
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537
Problem 18.97 The homogeneous object has the shape y
of a truncated cone and consists of bronze with mass
density = 8200 kg/m3 . Determine the moment of
inertia of the object about the z axis.
x
60 mm
180 mm z
180 mm
z
1 2 1 1 z
(Iz )element = mr = [(r 2 )dz]r 2 = (0.167z)4 dz.
2 2 2 dz
We integrate this result to obtain the mass moment of inertia about the
z axis for the cone:
0.36 5 0.36
1 z
I(z axis) = (0.167)4
0.18 2 5 0.18
5 0.36
1 z
= (8200)(0.167)4
2 5 0.18
= 0.0116 kg-m2 .
1 2 1
(Ix )element = mr + mz2 = [(r 2 )dz]r 2 + [(r 2 )dz]z2
4 4
1
= (0.167z)4 dz + (0.167z)2 z2 dz.
4
0.36 0.36
1
I(x axis) = (0.167)4 z4 dz + (0.167)2 z4 dz
4 0.18 0.18
= 0.844 kg-m2 .
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538
Problem 18.99 The homogeneous rectangular paral- y
lelepiped 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
Solution: Consider a rectangular slice normal to the x-axis of b
dimensions b by c and mass dm. The area density of this slice is =
dm
. The moment of inertia about the y axis of the centroid of a thin
bc c x
plate is the product ofthe area
density and the area moment
of inertia
1 3 1
of the plate: dIy = bc , from which dIy = c2 dm. By By symmetry, the argument can be repeated for each coordinate, to
12 12
symmetry, the moment of inertia about the z axis is obtain
1 Iy =
m 2
(a + c2 ) Iz =
m 2
(b + a 2 )
dIz = b2 dm. 12 12
12
from which
1 m 2
Ix = (b2 + c2 ) m dm = (b + c2 ) .
12 12
z
R
4R
Ix = 0.0535 kg-m2
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539
Problem 18.101 Determine the moment of inertia of
the sphere-capped cone described in Problem 18.100
about the y axis.
2 3R 2 2 3R 2
R3 + R3 4R +
3 8 3 8
Iy = 2.08 kg-m2
z Fe
600 mm
200 mm
Solution:
1 z 600 mm
Ix = [(2700 kg/m2 )(0.1 m)2 (0.6 m)](0.1 m)2
2 x, x
1
+ [(7860 kg/m2 )(0.1 m)2 (0.6 m)](0.1 m)2
2
Ix = 0.995 kg-m2
x = 0.747 m
1 1
Iy = [(2700 kg/m3 )(0.1 m)2 (0.6 m)] (0.6 m)2 + (0.1 m)2
12 4
Iy = 20.1 kg-m2
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540
Problem 18.104 The homogeneous machine part is y y
made of aluminum alloy with mass density =
2800 kg/m3 . Determine the moment of inertia of the part 20 mm
about the z axis. x z
40 mm
120 mm
40
mm
Solution: We divide the machine part into the 3 parts shown: (The
y
dimension into the page is 0.04 m) The masses of the parts are 0.12
m
1
m1 = (2800)(0.12)(0.08)(0.04) = 1.075 kg, 0.08
m x
y y
m2 = (2800) 12 (0.04)2 (0.04) = 0.281 kg, +
0.12
m
C 2 x 3 x
m3 = (2800)(0.02)2 (0.04) = 0.141 kg. 0.12 0.04 m 0.02 m
m
Using Appendix C and the parallel axis theorem the moment of inertia
1
I(z axis)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
1
2 m2 R
2 = 12 m2 (0.04)2
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 m2 (0.04)
2 m2 (0.0170)2 = 0.000144 kg-m2 .
Using this result, the moment of inertia of part 2 about the z axis is
The moment of inertia of the material that would occupy the hole 3
about the z axis is
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
Problem 18.105 Determine the moment of inertia of
the machine part in Problem 18.104 about the x axis.
Solution: We divide the machine part into the 3 parts shown in the
solution to Problem 18.104. Using Appendix C and the parallel axis
theorem, the moments of inertia of the parts about the x axis are:
1
I(x axis)1 = m1 [(0.08)2 + (0.04)2 ]
12
= 0.0007168 kg-m2
1 1
I(x axis)2 = m2 (0.04)2 + (0.04)2
12 4
= 0.0001501 kg-m2
1 1
I(x axis)3 = m3 (0.04)2 + (0.02)2
12 4
= 0.0000328 kg-m2 .
Therefore,
= 0.000834 kg-m2 .
100 mm
Solution: Divide the object into four parts:
Part (1): The semi-cylinder of radius R = 0.02 m, height h1 = 10 mm 30 mm
0.01 m.
L0
Part (2): The rectangular solid L = 0.1 m by h2 = 0.01 m by w =
0.04 m.
Part (3): The semi-cylinder of radius R = 0.02 m, h1 = 0.01 m
Part (4): The cylinder of radius R = 0.02 m, height h = 0.03 m. Part (4) m4 = R 2 h = 0.294 kg,
R 2 h1 1
Part (1) m1 = = 0.049 kg, I4 = 2 m4 (R 2 ) + m4 L2 = 0.003 kg-m2 .
2
The composite:
m1 R 2
I1 = = 4.9 106 kg-m2 ,
4
IL0 = I1 + I2 I3 + I4 = 0.00367 kg-m2
Part (2) m2 = wLh2 = 0.312 kg,
= 0.00108 kg-m2 .
2
4R 4R 2
I3 = m2 + I1 + m3 L
3 3
= 0.00041179 kg-m2 .
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542
Problem 18.107 Determine the moment of inertia of
the object in Problem 18.106 about the axis through the
center of mass of the object parallel to L0 .
= 0.066 m,
m2 (22 )
I2 = + m2 (42 ) = 7 kg-cm2 .
2
I3 = I2 = 7 kg-cm 2.
The composite:
The composite:
= 0.00246 kg-m 2
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543
Problem 18.110 The airplane is at the beginning of its
takeoff run. Its weight is 4448 N and the initial thrust T
exerted by its engine is 1334 N. Assume that the thrust
is horizontal, and neglect the tangential forces exerted T
on its wheels.
(a) If the acceleration of the airplane remains constant,
how long will it take to reach its takeoff speed of 152.4 mm
128.7 km/h
(b) Determine the normal force exerted on the forward
landing gear at the beginning of the takeoff run. 0.31 m 2.13 m
v 35.8
t= = = 12.1 s
a 2.94
The sum of the vertical forces: Fy = R + F W = 0. The sum of
R F
the moments: M = 2.13 F 0.152 T 0.31R = 0. Solve: R =
3809 N, F = 639 N
Solution: Denote the upper and lower belts by the subscripts U RB1
and L. Denote the difference in the tangential component of the ten- TUB
sion in the belts by
TUA
A RA B C RC
TA = TLA TU A ,
TLA TLB
TB = TLB TU B . RB2
RB1 RC (0.2)(0.2)
A = C = C = 4C ,
RA RB2 (0.1)(0.1)
RC 0.2
B = C = C = 2C .
RB2 0.1
C = C t = 76.9 rad/s
1 C 2
N = = (2 ) = 12.2 revolutions
2 4
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544
Problem 18.112 A 2 kg box is subjected to a 40-N 40 N
horizontal force. Neglect friction.
100 mm 100 mm
Solution:
(a) From Newtons second law, 40 = (2)a, from which 40 N
C
40
a= = 20 m/s2 .
2 mg
(b) The sum of forces: Fy = A + B mg = 0. The sum of 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 100 100
mm mm
the second equation and solve for c:
(0.1)mg (0.2)A
c=
40
(0.1)(2)(9.81)
c 0.0491 m
40
for values of A 0.
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545
Problem 18.113 The slender, 2-kg bar AB is 3 m B
long. It is pinned to the cart at A and leans against it
at B. a
B + Ax = maGx , Ay W = maGy ,
L cos L sin W
Ay + (B + Ax ) = IG , Ax
2 2
where aGx , aGy are the accelerations of the center of mass. From Ay
kinematics,
2 r 2
aG = aA + rG/A AB G/A = 20i m/s
B + Ax = ma, Ay W = 0,
L cos L sin
Ay + (B + Ax ) = 0.
2 2
W cot ma
Solve: B = . 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
a = g cot = 5.66 m /s 2 .
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546
Problem 18.114 To determine a 4.5-kg tires moment
330 mm
of inertia, an engineer lets the tire roll down an inclined
surface. If it takes the tire 3.5 s to start from rest and
roll 3 m down the surface, what is the tires moment of
inertia about its center of mass?
15
mg a
Rf = I .
f
From these equations and the relation a = R, we obtain
N
mg sin 15
a= . (1)
m + I /R 2
1 2
s= at :
2
1
3= a(3.5)2 ,
2
I = 2.05 kg-m2 .
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547
Problem 18.115 Pulley A weighs 17.8 N, IA = 0.081
kg-m 2, and IB = 0.019 kg-m2. If the system is released
from rest, what distance does the 71.2 N weight fall 203.2 mm
in 0.5 s? B
305 mm A
71.2 N
35.6 N
i j k
= 0 0 A = 0 + 2RA A j,
2RA 0 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
aRy
from which (8) aAy = . Combine (5), (6), (7) and (8) and reduce
2
WA IA mA
to obtain (9) T2 = 2
+ ay .
2 4RA 4
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548
Problem 18.116 Model the excavators arm ABC as a y
single rigid body. Its mass is 1200 kg, and the moment C
of inertia about its center of mass is I = 3600 kg-m2 . If
point A is stationary, the angular velocity of the arm is
zero, and the angular acceleration is 1.0 rad/s2 counter-
clockwise, what force does the vertical hydraulic cylin- B
der exert on the arm at B?
3.0 m
2.4 m
A x
1.7 m 1.7 m
Ax B mg
The moment of inertia about A is
Ay
IA = I + d 2 m = 28,270 kg-m2 .
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549
Problem 18.118 To decrease the angle of elevation of y
the stationary 200-kg ladder, the gears that raised it are
disengaged, and a fraction of a second later a second
set of gears that lower it are engaged. At the instant
the gears that raised the ladder are disengaged, what is
the ladders angular acceleration and what are the com-
ponents of force exerted on the ladder by its support
at O? The moment of inertia of the ladder about O is
I0 = 14,000 kg-m2 , and the coordinates of its center of
mass at the instant the gears are disengaged are x = 3 m,
y = 4 m. O
x
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550
Problem 18.119 The slender bars each weigh 17.8 N
and are 254 mm. long. The homogenous plate weighs
44.5 N. If the system is released from rest in the posi- 45
tion shown, what is the angular acceleration of the bars
at that instant? 203.2 mm
1016 mm
Solution: From geometry, the system is a parallelogram, so that
the plate translates without rotating, so that the acceleration of every
point on the plate is the same. Ay Ax By Bx
Newtons second law and the equation of angular motion applied to
the plate: FAx FBx = mp aP Gx , FAy + FBy Wp = mp aP Gy . The 17.8 N 17.8 N
FAx FBx
motion about the center of mass:
FAy FBy
FAy FBy
FAy (0.508) + FAx (0.102) + FBx (0.102) FBx
FAx
+ FBy (0.508) = Ip = 0.
Newtons second law for the bars: FAy + Ay WB = mB aBGy , Substitute to obtain the nine equations in nine unknowns:
FAx + Ax = mB aBGx . FBy + By WB = mB aBGy . FBx + Bx =
mB aBGx . The angular acceleration about the center of mass: (1) FAx FBx = 0.254 mp sin ,
From kinematics: the acceleration of the center of mass of the bars in (5) FAx + Ax = ( 0 . 1 2 7 ) mB sin ,
terms of the acceleration at point A is
i j k (6) FAx sin + FAy cos Ax sin + Ay cos = ( 7 . 8 7 ) IB ,
0 0
aBG = rG/A 2 rG/A =
0.127 cos 0.127sin 0
(7) FBx + Bx = ( 0 . 1 2 7 ) mB sin ,
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551
Problem 18.120 A slender bar of mass m is released
from rest in the position shown. The static and kinetic
friction coefficients of friction at the floor and the wall
have the same value . If the bar slips, what is its angu-
lar acceleration at the instant of release?
L
rN = iL sin , rP = jL cos , rG = (i sin + j cos ).
2
From Newtons second law:
P N = maGx , N + P mg = maGy ,
where aGx , aGy are the accelerations of the center of mass. The
moment about the center of mass is
Substitute to obtain the three equations in three unknowns,
MG = rP /G (P i + P j) + rN/G (Nj Ni) :
mL cos
i j k i j k (1) P N = ,
PL NL 2
MG = sin cos
0 + sin cos 0. mL sin
2 2 (2) P + N = + mg.
1 0 1 0 2
PL NL
(3) (cos + sin ) + (sin cos ) = IB .
PL NL 2 2
MG = (cos + sin )k + (sin cos )k
2 2 Solve the first two equations for P and N:
aG = aP + rG/P 2 rG/P
i j k
0 mg
= aP j + 0 , N
L sin L cos
0
2 2 N
L cos L sin
aG = i + aP + j,
2 2
L cos
from which aGx = .
2
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552
Problem 18.121 Each of the go-carts front wheels
weighs 22.2 N and has a moment of inertia of 0.014
kg-m 2. The two rear wheels and rear axle form a single
rigid body weighing 177.9 N and having a moment of
inertia of 0.136 kg-m 2. The total weight of the go-cart
and driver is 1067 N. (The location of the center of
mass of the go - cart and driver, not including the front
wheels or the rear wheels and rear axle, is shown.) If
the engine exerts a torque of 16.3 N -m on the rear axle, 381 mm
what is the go-carts acceleration? 152.4 mm 101.6 mm
A B
406.4 mm
1524 mm
Ay 1067 222.4 N By
a = ( 0.102 ) B . (2) 16.3 N-m
Ay
Front wheel: By
Ax
177.9 N B
44.5 N x
Fx = Bx + fB = (44.5 /9.81 )a, (3) fA fB
NA NB
Fy = By + NB 10 = 0, (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)
M = 16.3 fA (0.152) = (0.136 ) A . (8)
Cart:
Fx = Ax Bx = (844.6/9.81 )a, (9)
Fy = Ay By 844.6 = 0, (10)
M = Bx [(0.381 0.102) ] + By [(1.524 0.406 )]
a = 0.91 m/s 2.
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553
Problem 18.122 Bar AB rotates with a constant angu- y
lar velocity of 10 rad/s in the counterclockwise direc-
tion. The masses of the slender bars BC and CDE are B
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. 400 mm
C D E
10 rad/s x
A
2
= 0.4CDE j + 0.4CDE i.
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554
Problem 18.123 At the instant shown, the arms of the y
robotic manipulator have the constant counterclockwise
angular velocities AB = 0.5 rad/s, BC = 2 rad/s, 250
mm
and CD = 4 rad/s. The mass of arm CD is 10 kg, and mm
the center of mass is at its midpoint. At this instant, what 0
30
force and couple are exerted on arm CD at C? B
20
30 D
C x
A
250 mm
2 r 2
aB = AB B/A = (0.5 )(0.3 cos 30 i + 0.3 sin 30 j),
2 r
aC = aB BC 2
C/B = aB BC (0.2349i 0.08551j).
2 (0.125i) (m/s2 ),
aG = aC CD
from which
For the arm CD the three equations of motion in three unknowns are
Cy = 101.15 N,
Cx = 30.05 N.
M = 12.64 N-m,
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555
Problem 18.124 Each bar is 1 m in length and has A
a mass of 4 kg. The inclined surface is smooth. If the
system is released from rest in the position shown, what
are the angular accelerations of the bars at that instant?
45 B
O
30
aA = aB + AB rA/B .
L
(5) Ay L cos Ax L sin mg cos = IOA OA ,
2
i j k
aA = aB + 0 0 AB .
mL2 4
L cos L sin 0 where IOA = = kg-m2 .
3 3
aA = aB iAB L sin jAB L cos (m/s2 ). The equations of motion for the right bar:
from which
LAB
(3) aGABx = OA L sin + sin (m/s2 ),
2
LAB
(4) aGABy = OA L cos + cos .
2
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556
Problem 18.125 Each bar is 1 m in length and has
a mass of 4 kg. The inclined surface is smooth. If the
system is released from rest in the position shown, what
is the magnitude of the force exerted on bar OA by the
support at O at that instant?
L sin L cos Fx
aGOA = OA i + OA j (m/s2 ).
2 2
The equations of motion: 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 =
Fx + Ax = maGOAx , Fy + Ay mg = maGOAy . 38.69 N, from which |F| = Fx2 + Fy2 = 42.96 N
Problem 18.126 The fixed ring gear lies in the Planet gear
horizontal plane. The hub and planet gears are bonded
together. The mass and moment of inertia of the Hub gear
combined hub and planet gears are mHP = 130 kg and Connecting
140
mm
IHP = 130 kg-m2 . The moment of inertia of the sun gear rod
340
mm
is Is = 60 kg-m2 . The mass of the connecting rod is
5 kg, and it can be modeled as a slender bar. If a 1 kN- 240 mm
m counterclockwise couple is applied to the sun gear,
what is the resulting angular acceleration of the bonded 720 mm
hub and planet gears? Sun gear
Ring gear
Solution: The moment equation for the sun gear is
(1) M 0.24F = Is s .
Hub & Planet Gears
For the hub and planet gears: R
Q
R
(2) (0.48)HP = 0.24s , F
F
(3) F Q R = mHP (0.14)(HP ),
M
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557
Problem 18.127 The system is stationary at the instant
shown. The net force exerted on the piston by the 125 m
m
exploding fuel-air mixture and friction is 5 kN to the m
m
left. A clockwise couple M = 200 N-m acts on the crank 50
AB. The moment of inertia of the crank about A is B
0.0003 kg-m2 . The mass of the connecting rod BC is 40
0.36 kg, and its center of mass is 40 mm from B on A
the line from B to C. The connecting rods moment C
of inertia about its center of mass is 0.0004 kg-m2 .
The mass of the piston is 4.6 kg. What is the pistons M
acceleration? (Neglect the gravitational forces on the
crank and connecting rod.)
from which = 14.9 . The vectors (4) aGCRy = 0.085BC cos (m/s2 ).
By
i j k Cx 5000 N Bx
aGCR = aC i + 0 0 BC
0.085 cos 0.085 sin 0 Ay
Ax
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558
Problem 18.128 If the crank AB in Problem 18.127
has a counterclockwise angular velocity of 2000 rpm at
the instant shown, what is the pistons acceleration?
2 cos ,
= aC 0.125BC sin + 0.125BC
2 sin ,
= 0.125BC cos 0.125BC
2 cos (m/s2 ),
(3) aGCRx = aC 0.085BC sin + 0.085BC
2 sin (m/s2 ),
(4) aGCRy = 0.085BC cos 0.085BC
(9) Cx 5000 = mP aC .
By = 1626.7 N, Bx = 3916.7 N,
Cx = 4042.1 N, Cy = 912.25 N,
ac = 208.25 (m/s2 )
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559