13 Edcap 18

18–1.
www.elsolucionario.net
At a given instant the body of mass m has an angular IC

velocity V and its mass center has a velocity vG. Show that rG/IC
its kinetic energy can be represented as T = 12IICv2, where
IIC is the moment of inertia of the body determined about
the instantaneous axis of zero velocity, located a distance
rG>IC from the mass center as shown. G
vG V
SOLUTION
1 1
T = my2G + IG v2 where yG = vrG>IC
2 2
1 1
= m(vrG>IC)2 + IG v2
2 2
1
= A mr2G>IC + IG B v2 However mr2G>IC + IG = IIC
2
1
= I v2 Q.E.D.
2 IC
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18–2.
The wheel is made from a 5-kg thin ring and two 2-kg
slender rods. If the torsional spring attached to the wheel’s
center has a stiffness k = 2 N # m>rad, and the wheel is 0.5 m
rotated until the torque M = 25 N # m is developed, O
determine the maximum angular velocity of the wheel if it
is released from rest.
M
SOLUTION
Kinetic Energy and Work: The mass moment of inertia of the wheel about point O is
1
IO = mRr 2 + 2 ¢ m l2 ≤
12 r
(2)(12) d
1
= 5(0.52) + 2c
12
= 1.5833 kg # m2
Thus, the kinetic energy of the wheel is
1 1
T = I v2 = (1.5833) v2 = 0.79167 v2
or
2 O 2
laws
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teaching
Since the wheel is released from rest, T1 = 0. The torque developed is M = ku = 2u.
in
Here, the angle of rotation needed to develop a torque of M = 25 N # m is
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2u = 25 u = 12.5 rad
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The wheel achieves its maximum angular velocity when the spacing is unwound that
on
United
use
and
M
is when the wheel has rotated u = 12.5 rad. Thus, the work done by q is
by
the
student
work
for
12.5 rad
(including
the
UM = Mdu = 2u du
protected
L L0
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12.5 rad
work
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= u †
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2
= 156.25 J
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Principle of Work and Energy:

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T1 + © u 1 - 2 = T2
0 + 156.25 = 0.79167 v2
v = 14.0 rad/s Ans.
18–3.
The wheel is made from a 5-kg thin ring and two 2-kg slender
rods. If the torsional spring attached to the wheel’s center has
a stiffness k = 2 N # m>rad, so that the torque on the center
of the wheel is M = 12u2 N # m, where u is in radians,
0.5 m
O
determine the maximum angular velocity of the wheel if it is
rotated two revolutions and then released from rest.
M
SOLUTION
1
Io = 2c (2)(1)2 d + 5(0.5)2 = 1.583
12
T1 + ©U1 - 2 = T2
4p
1
0 + 2u du = (1.583) v2
L0 2
(4p)2 = 0.7917v2
v = 14.1 rad/s Ans.
or
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*18–4.
The 50-kg flywheel has a radius of gyration of k0 = 200 mm M ⫽ (9 u1/2) N⭈m

about its center of mass. If it is subjected to a torque of
M = (9u1>2) N # m, where u is in radians, determine its
angular velocity when it has rotated 5 revolutions, starting
from rest. O
SOLUTION
Kinetic Energy and Work: The mass moment inertia of the flywheel about its mass
center is IO = mkO2= 50(0.22) = 2 kg # m2. Thus, the kinetic energy of the flywheel is
1 1
T = I v2 = (2)v2 = v2
2 O 2
Since the wheel is initially at rest, T1 = 0 . Referring to Fig. a, W, Ox, and Oy do

no work while M does positive work. When the wheel rotates
2p rad
u = (5 rev) ¢ ≤ = 10p, the work done by M is
1 rev
10p
UM = Mdu = 9u1>2du
L L0
or
laws
= 6u3>2 `
10p
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in
0
copyright
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Dissemination
= 1056.52 J
permitted.
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not

the
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is
learning.
on
United
T1 + ©U1 - 2 = T2
use
and
by
the
0 + 1056.52 = v2
student
work
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(including
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v = 32.5 rad>s Ans.

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18–5.
The spool has a mass of 60 kg and a radius of gyration

kG = 0.3 m. If it is released from rest, determine how far its
center descends down the smooth plane before it attains an
angular velocity of v = 6 rad>s. Neglect friction and the
mass of the cord which is wound around the central core.
0.5 m
0.3 m
SOLUTION G
T1 + ©U1 - 2 = T2
1 1 A
0 + 60(9.81) sin 30°(s) = C 60(0.3)2 D (6)2 + (60) C 0.3(6) D 2
2 2 30⬚
s = 0.661 m Ans.
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18–6.
Solve Prob. 18–5 if the coefficient of kinetic friction

between the spool and plane at A is mk = 0.2.
0.5 m
0.3 m
SOLUTION G
sG sA
=
0.3 (0.5 - 0.3)
A
sA = 0.6667sG 30
+a©Fy = 0; NA - 60(9.81) cos 30° = 0
NA = 509.7 N
T1 + ©U1 - 2 = T2
1
0 + 60(9.81) sin 30°(sG) - 0.2(509.7)(0.6667sG) = C 60(0.3)2 D (6)2
2
or
1
laws
+ (60) C (0.3)(6) D 2
2
Web)
teaching
in
sG = 0.859 m
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Ans.
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18–7.
The double pulley consists of two parts that are attached to v 20 rad/s
one another. It has a weight of 50 lb and a radius of gyration
about its center of kO = 0.6 ft. If it rotates with an angular
velocity of 20 rad>s clockwise, determine the kinetic energy
0.5ft 1 ft
of the system. Assume that neither cable slips on the pulley.
O
SOLUTION
1 1 1
T = I v2 + mA v2A + mB v2B
2 O O 2 2
1 50 1 20 1 30 B 30 lb
T = a (0.6)2 b (20)2 + a b C (20)(1) D 2 + a b C (20)(0.5) D 2 A 20 lb
2 32.2 2 32.2 2 32.2
= 283 ft # lb Ans.
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*18–8.
The double pulley consists of two parts that are attached to v ⫽ 20 rad/s
one another. It has a weight of 50 lb and a centroidal radius
of gyration of kO = 0.6 ft and is turning with an angular
velocity of 20 rad> s clockwise. Determine the angular
0.5 ft 1 ft
velocity of the pulley at the instant the 20-lb weight moves
O
2 ft downward.
SOLUTION
Kinetic Energy and Work: Since the pulley rotates about a fixed axis,
vA = vrA = v(1) and vB = vrB = v(0.5). The mass moment of inertia of the
50 B 30 lb
pulley about point O is IO = mkO 2 = ¢ ≤ (0.62) = 0.5590 slug # ft2. Thus, the A 20 lb
32.2
kinetic energy of the system is
1 1 1
T = I v2 + mAvA2 + mBvB2
2 O 2 2
1 1 20 1 30
= (0.5590)v2 + ¢ ≤ [v(1)]2 + ¢ ≤ [v(0.5)]2
2 2 32.2 2 32.2
or
= 0.7065v2
laws
Web)
teaching
Thus, T1 = 0.7065(202) = 282.61 ft # lb. Referring to the FBD of the system shown
in
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in Fig. a, we notice that Ox, Oy, and Wp do no work while WA does positive work and
Dissemination
WB does negative work. When A moves 2 ft downward, the pulley rotates
permitted.
World
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not
SA SB
the
of
is
u =
learning.
=
on
United
rA rB
use
and
by
the
2 SB
student
work
for
=
1 0.5
(including
the
protected
of
solely
SB = 2(0.5) = 1 ft c
work
is
assessing
this
work
Thus, the work of WA and WB are

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UWA = WA SA = 20(2) = 40 ft # lb
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UWB = - WB SB = - 30(1) = - 30 ft # lb
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T1 + U1 - 2 = T2
282.61 + [40 + ( -30)] = 0.7065 v2
v = 20.4 rad>s Ans.
18–9.
If the cable is subjected to force of P = 300 N, and the spool 400 mm

starts from rest, determine its angular velocity after its center
of mass O has moved 1.5 m. The mass of the spool is 100 kg
and its radius of gyration about its center of mass is P ⫽ 300 N
kO = 275 mm. Assume that the spool rolls without slipping. O
200 mm
SOLUTION
Kinetic Energy and Work: Referring to Fig. a, we have
vO = vrO>IC = v(0.4)
The mass moment of inertia of the spool about its mass center is
IO = mkO2 = 100(0.2752) = 7.5625 kg # m2. Thus, the kinetic energy of the spool is
1 1
T = mvO2+ IOv2
2 2
1 1
= (100)[v(0.4)]2 + (7.5625)v2
2 2
= 11.78125v2
Since the spool is initially at rest, T1 = 0. Referring to Fig. b, W, N, and Ff do no
or
laws
work P does positive work. When the center O of the spool moves to the right by
Web)
teaching
rP>IC
in
0.6
s = ¢ ≤ (1.5) = 2.25 m. Thus, the work done
rO> IC O
SO = 1.5 m, P displaces sP =
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0.4 Dissemination
by P is
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the
of
UP = Psp = 300(2.25) = 675 J

is
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the

student
work
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(including
T1 + ©U1 - 2 = T2
the
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is
0 + 675 = 11.78125v2
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v = 7.57 rad>s Ans.

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18–10.
The two tugboats each exert a constant force F on the ship.

These forces are always directed perpendicular to the
ship’s centerline. If the ship has a mass m and a radius of
gyration about its center of mass G of kG, determine the F
angular velocity of the ship after it turns 90°. The ship is
originally at rest.
d
G
SOLUTION
Principle of Work and Energy: The two tugboats create a couple moment of –F
p
M = Fd to rotate the ship through an angular displacement of u = rad. The mass
2
moment of inertia about its mass center is IG = mk2G. Applying Eq. 18–14, we have
T1 + a U 1 - 2 = T2
1
0 + Mu = I v2
2 G
p 1
b = A mk2G B v2
or
0 + Fda
laws
2 2
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in
1 pFd
v = Ans.
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18–11.
At the instant shown, link AB has an angular velocity

vAB = 2 rad>s. If each link is considered as a uniform
vAB 2 rad/s A
slender bar with a weight of 0.5 lb>in., determine the total
kinetic energy of the system.
3 in.
4 in.
SOLUTION C B
6 5 in.
vBC = = 1.5 rad>s
4
vC = 1.5(4 22) = 8.4853 in.>s

45
rIC - G = 2(2)2 + (4)2 = 4.472 D
vG = 1.5(4.472) = 6.7082 in.>s
8.4853
vDC = = 1.697 rad>s
5
1 1 3(0.5) 3 2 1 4(0.5) 6.7082 2 1 1 4(0.5) 4 2

T = c a b a b d (2)2 + c da b + c a b a b d(1.5)2
2 3 32.2 12 2 32.2 12 2 12 32.2 12
or
laws
b a b d (1.697)2 = 0.0188 ft # lb
1 1 5(0.5) 5 2
Web)
teaching
+ c a Ans.
in
2 3 32.2 12
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*18–12.
Determine the velocity of the 50-kg cylinder after it has

descended a distance of 2 m. Initially, the system is at rest.
The reel has a mass of 25 kg and a radius of gyration about its A 75 mm
center of mass A of kA = 125 mm.
SOLUTION
T1 + ©U1 - 2 = T2
2
1 v
0 + 50(9.81)(2) = [(25)(0.125)2] ¢ ≤
2 0.075
1
+ (50) v2
2
v = 4.05 m>s Ans.
or
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in
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18–13.
The wheel and the attached reel have a combined weight of 7.5 in.
50 lb and a radius of gyration about their center of
kA = 6 in. If pulley B attached to the motor is subjected to A 4.5 in.
a torque of M = 40(2 - e -0.1u) lb # ft, where u is in radians,
3 in.
M B
determine the velocity of the 200-lb crate after it has moved
upwards a distance of 5 ft, starting from rest. Neglect the
mass of pulley B.
SOLUTION
Kinetic Energy and Work: Since the wheel rotates about a fixed axis
,
vC = vrC = v(0.375). The mass moment of inertia of A about its mass center is
b A 0.52 B = 0.3882 slug # ft2. Thus, the kinetic energy of the
50
IA = mkA 2 = a
32.2
system is
T = TA + TC
1 1
= IA v2 + mC vC 2
2 2
1 1 200
= (0.3882)v2 + a b C v(0.375) D 2
or
2 2 32.2
laws
Web)
teaching
= 0.6308v2
in
copyright
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Since the system is initially at rest, T1 = 0. Referring to Fig. b, Ax, Ay, and WA do no Dissemination
permitted.
work, M does positive work, and WC does negative work. When crate C moves 5 ft
World
States
instructors
not
sC 5
the
of
is
upward, wheel A rotates through an angle of uA = = = 13.333 rad. Then,

learning.
on
United
r 0.375
use
and
by
rA 0.625
the
pulley B rotates through an angle of uB = u = a b (13.333) = 33.33 rad

student
rB A
work
0.25
for
.
(including
Thus, the work done by M and WC is

the
protected
of
solely
work
is
assessing
33.33 rad
this
UM = MduB = 40 A 2 - e - 0.1u B du
work
and
of
integrity
L L0
provided
This
is
the
part
33.33 rad
= c 40 A 2u + 10e - 0.1u B d 2
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= 2280.93 ft # lb
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UWC = - WC sC = - 200(5) = - 1000 ft # lb
T1 + ©U1 - 2 = T2
0 + [2280.93 - 1000] = 0.6308v2
v = 45.06 rad>s
Thus,
vC = 45.06(0.375) = 16.9 ft>s c Ans.
18–14.
The wheel and the attached reel have a combined weight of 7.5 in.
50 lb and a radius of gyration about their center of
kA = 6 in. If pulley B that is attached to the motor is A 4.5 in.
subjected to a torque of M = 50 lb # ft, determine the
3 in.
M B
velocity of the 200-lb crate after the pulley has turned
5 revolutions. Neglect the mass of the pulley.
SOLUTION
Kinetic Energy and Work: Since the wheel at A rotates about a fixed axis,
vC = vrC = v(0.375). The mass moment of inertia of wheel A about its mass center
b A 0.52 B = 0.3882 slug # ft2. Thus, the kinetic energy of the
50
is IA = mkA 2 = a
32.2
system is
T = TA + TC
1 1
= IA v2 + mC vC 2
2 2
1 1 200
= (0.3882)v2 + a b C v(0.375) D 2
or
2 2 32.2
laws
Web)
= 0.6308v2
teaching
in
copyright
Wide
Since the system is initially at rest, T1 = 0. Referring to Fig. b, Ax, Ay, and WA do no Dissemination
permitted.
work, M does positive work, and WC does negative work. When pulley B rotates
World
States
instructors
not
the
of
2p rad
is
uB = (5 rev)a b = 10p rad, the wheel rotates through an angle of

learning.
on
United
1 rev
use
and
by
rB 0.25
the
uA = uB = a b (10p) = 4p. Thus, the crate displaces upwards through a

student
work
for
rA 0.625
(including
the
distance of sC = rC uA = 0.375(4p) = 1.5p ft. Thus, the work done by M and WC is

protected
of
solely
work
is
assessing
UM = MuB = 50(10p) = 500p ft # lb

this
work
and
of
integrity
provided
UWC = - WC sC = - 200(1.5p) = -300p ft # lb

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T1 + ©U1 - 2 = T2
0 + [500p - 300p] = 0.6308v2
v = 31.56 rad>s
Thus,
vC = 31.56(0.375) = 11.8 ft>s c Ans.
18–15.
The 50-kg gear has a radius of gyration of 125 mm about its

center of mass O. If gear rack B is stationary, while the 25-kg C
P ⫽ 150 N
gear rack C is subjected to a horizontal force of P = 150 N,
determine the speed of C after the gear’s center O has 150 mm
moved to the right a distance of 0.3 m, starting from rest. O
SOLUTION
Kinetic Energy and Work: Referring to Fig. a,
vC vC
v = = = 3.333vC
rC>IC 0.3
Then,
vO = vrO>IC = (3.333vC)(0.15) = 0.5vC
The mass moment of inertia of the gear about its mass center is IO = mkO2 =
50(0.1252) = 0.78125 kg # m2. Thus, the kinetic energy of the system is
T = TA + TC
= c mAvO 2 + IOv 2 d + mC vC2

1 1 1
or
laws
2 2 2
Web)
teaching
= c (50)(0.5vC)2 + (0.78125)(3.333vC)2 d + (25) vC2
in
1 1 1
copyright
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2 2 2 Dissemination
permitted.
World
States
= 23.090vC 2
instructors
not
the
of
is
learning.
on
United
use
and
Since the system is initially at rest, T1 = 0. Referring to Fig. b, WC, WA, F, and N do
by
the
student
work
for
no work, while P does positive work. When the center O of the gear travels to the
(including
the
protected
of
right through a distance of sO = 0.3 m, P displaces horizontally through a distance

solely
work
is
rC>IC
sO = a b(0.3) = 0.6 m. Thus, the work done by P is
0.3
assessing
of sC =
this
work
rO>IC 0.15
and
of
integrity
provided
This
is
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UP = PsD = 150(0.6) = 90 J
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T1 + ©U1-2 = T2
0 + 90 = 23.090vC 2
vC = 1.97 m>s
*18–16.
Gear B is rigidly attached to drum A and is supported by 300 mm

two small rollers at E and D. Gear B is in mesh with gear C
and is subjected to a torque of M = 50 N # m. Determine A
the angular velocity of the drum after C has rotated
10 revolutions, starting from rest. Gear B and the drum B
have 100 kg and a radius of gyration about their rotating 200 mm
axis of 250 mm. Gear C has a mass of 30 kg and a radius of
gyration about its rotating axis of 125 mm. E D
C
150 mm
SOLUTION
Kinetic Energy and Work: Since gear B is in mesh with gear C and both gears rotate
M ⫽ 50 N⭈m
about fixed axes, vC = a b vA = a b v = 1.333vA. The mass moment of the
rB 0.2
rC 0.15 A
drum and gear C about their rotating axes are IA = mAk2 = 100(0.252) =
6.25 kg # m2 and IC = mCk2 = 30(0.1252) = 0.46875 kg # m2. Thus, the kinetic energy
of the system is
T = TA + TC
1 1
= I v 2 + ICvC 2
2 A A 2
1 1
or
(6.25)vA2 + (0.46875)(1.333vA)2
laws
=
2 2
Web)
teaching
in
= 3.5417vA2
copyright
Wide
Dissemination
permitted.
World
States
Since the system is initially at rest, T1 = 0. Referring to Fig. a, M does positive work.
instructors
not
b = 20p, the work done by M is

the
of
2p rad
is
learning.
When the gear C rotates u = (10 rev)a

on
United
1 rev
use
and
by
the
student
UM = 50(20p) = 1000p J
work
for
(including
the
protected

of
solely
work
is
assessing
T1 + ©U1-2 = T2
this
work
and
of
integrity
provided
0 + 1000p = 3.5417vA2
This
is
the
part
courses
any
and
vA = 29.8 rad>s Ans.

of
destroy
their
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sale
18–17.
The center O of the thin ring of mass m is given an angular v0

velocity of v0. If the ring rolls without slipping, determine s
its angular velocity after it has traveled a distance of s down r
the plane. Neglect its thickness. O
SOLUTION
T1 + ©U1-2 = T2 u
1 1
(mr2 + mr2)v0 2 + mg(s sin u) = (mr2 + mr2)v2
2 2
g
v = v0 2 + 2 s sin u Ans.
A r
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
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18–18.
If the end of the cord is subjected to a force of P = 75 lb,

determine the speed of the 100-lb block C after P has
moved a distance of 4 ft, starting from rest. Pulleys A and B 4 in.
are identical, each of which has a weight of 10 lb and a B
radius of gyration of k = 3 in. about its center of mass.
A
4 in.
SOLUTION P = 75 lb
C
Kinetic Energy and Work: Referring to Fig. a, we have
vD = vArD>IC = vA(0.6667)
(vG)A = vC = vArC>IC = vA(0.3333)
Since pulley B rotates about a fixed axis, its angular velocity is
vD vA(0.6667)
vB = = = 2vA
rB 0.3333
The mass moment of inertia of pulleys A and B about their resperctive mass centers
10 3 2
are (IA)G = (IB)G = mk2 = ¢ ≤ ¢ ≤ = 0.01941 slug # ft2. Thus, the kinetic
or
laws
32.2 12
Web)
teaching
enegry of the system is
in
copyright
Wide
Dissemination
T = TA + TB + TC
permitted.
World
States
instructors
not
1 1 1 1
the
of
= B mA(vG)A2 + (IG)AvAR2 + (IG)BvB2+ mCvC2

is
learning.
on
2 2 2 2
United
use
and
by
the
1 10 1 1
student
work
= B ¢ ≤ [vA(0.3333)]2 + (0.01941)vA2R + (0.01941)(2vA)2

for
(including
2 32.2 2 2
the
protected
of
solely
work
is
1 100
assessing
¢ ≤ [vA(0.3333)]2
this
+
2 32.2
work
and
of
integrity
provided
This
is
the
part
= 0.2383vA2
courses
any
and
of
destroy
Since the system is initially at rest, T1 = 0. Referring to Fig. b, R 1, R 2, and WB do no

their
will
sale
work, P does positive work, and WA and WC do negative work. When P moves
sD = 4 ft downward, the center of the pulley moves upward through a distance of
rC>IC 0.3333
sC = s = (4) = 2 ft. Thus, the work done by WA, WC, and P is
rD>IC D 0.6667
UWA = - WAsC = - 10(2) = - 20 ft # lb
UWC = - WCsC = - 100(2) = - 200 ft # lb
UP = PsD = 75(4) = 300 ft # lb
T1 + ©U1 - 2 = T2
0 + [- 20 + ( - 200) + 300] = 0.2383vA2
vA = 18.32 rad>s
Thus,
vC = 18.32(0.3333) = 6.11 ft>s c Ans.

18–19.
When u = 0°, the assembly is held at rest, and the torsional C

spring is untwisted. If the assembly is released and falls
downward, determine its angular velocity at the instant 450 mm
u = 90°. Rod AB has a mass of 6 kg, and disk C has a mass 75 mm
of 9 kg. B
k ⫽ 20 N⭈m/rad
u
SOLUTION A
Kinetic Energy and Work: Since the rod rotates about a fixed axis, (vG)AB =
vrGAB = v(0.225) and (vG)C = vrGC = v(0.525). The mass moment of the rod
1 1
and the disk about their respective mass centers are (IAB)G = ml2 = (6)(0.452)
12 12
1 1
= 0.10125 kg # m2 and (IC)G = mr2 = (9)(0.0752) = 0.0253125 kg # m2. Thus,
2 2
the kinetic energy of the pendulum is
1 1
T = © mvG 2 + IGv 2
2 2
= c (6)[v(0.225)]2 + (0.10125)v2 d + c (9)[v(0.525)]2 + (0.0253125)v2 d

1 1 1 1
2 2 2 2
or
= 1.4555v2
laws
Web)
teaching
I v2, where IO = c (6)(0.452)
1 1
in
This result can also be obtained by applying T =
2 O
copyright
Wide
12
Dissemination
+ 6(0.2252) d + c (9)(0.0752) + 9(0.5252) d = 2.9109 kg # m2. Thus,

1
permitted.
World
States
instructors
2 not
the
of
is
learning.
on
United
1 1
use
and
T = IOv2 = (2.9109)v2 = 1.4555v2

by
the
2 2
student
work
for
(including
Since the pendulum is initially at rest, T1 = 0. Referring to Fig. a, Ox and Oy do no

the
protected
of
solely
work, WC and WAB do positive work, and M does negative work. When u = 90°,
work
is
assessing
WAB and WC displace vertically through distances of hAB = 0.225 m and

this
work
hC = 0.525 m. Thus, the work done by WAB, WC, and M is

and
of
integrity
provided
This
is
the
part
UWAB = WABhAB = 6(9.81)(0.225) = 13.24 J

courses
any
and
of
destroy
UWC = WChC = 9(9.81)(0.525) = 46.35 J

their
will
sale
p>2
UM = - Mdu = - 20udu = - 24.67 J
L L0
T1 + ©U1 - 2 = T2
0 + [13.24 + 46.35 + ( - 24.67)] = 1.4555v2
v = 4.90 rad>s Ans.
*18–20.
If P = 200 N and the 15-kg uniform slender rod starts from

rest at u = 0°, determine the rod’s angular velocity at the
instant just before u = 45°. 600 mm
A
45° u P ⫽ 200 N
B
SOLUTION
Kinetic Energy and Work: Referring to Fig. a,
rA>IC = 0.6 tan 45° = 0.6 m
Then
rG>IC = 30.32 + 0.62 = 0.6708 m
Thus,
(vG)2 = v2rG>IC = v2(0.6708)
or
laws
Web)
teaching
1
The mass moment of inertia of the rod about its mass center is IG = ml2
in
12
copyright
Wide
1
= (15)(0.62) = 0.45 kg # m2. Thus, the final kinetic energy is Dissemination
12
permitted.
World
States
instructors
not
the
of
1 1
is
m(vG)22 + IG v2 2
learning.
T2 =
on
United
2 2
use
and
by
the
student
1 1
work
for
(15)[w2(0.6708)]2 + (0.45) v2 2
(including
=
the
2 2
protected
of
solely
work
is
= 3.6v2 2
assessing
this
work
and
of
integrity
provided
Since the rod is initially at rest, T1 = 0. Referring to Fig. b, NA and NB do no work,

This
is
the
part
while P does positive work and W does negative work. When u = 45°, P displaces
courses
any
and
through a horizontal distance sP = 0.6 m and W displaces vertically upwards

of
destroy
through a distance of h = 0.3 sin 45°, Fig. c. Thus, the work done by P and W is
their
will
sale
UP = PsP = 200(0.6) = 120 J
UW = - Wh = - 15(9.81)(0.3 sin 45°) = - 31.22 J
T1 + ©U1 - 2 = T2
0 + [120 - 31.22] = 3.6v22
v2 = 4.97 rad>s Ans.
18–21.
A yo-yo has a weight of 0.3 lb and a radius of gyration

kO = 0.06 ft. If it is released from rest, determine how far it
must descend in order to attain an angular velocity
v = 70 rad>s. Neglect the mass of the string and assume
that the string is wound around the central peg such that the
mean radius at which it unravels is r = 0.02 ft.
SOLUTION
O
r
vG = (0.02)70 = 1.40 ft>s
T1 + ©U1 - 2 = T2
1 0.3 1 0.3
0 + (0.3)(s) = a b(1.40)2 + c(0.06)2 a b d(70)2
2 32.2 2 32.2
s = 0.304 ft Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
will
sale
18–22.
If the 50-lb bucket is released from rest, determine its 3 ft

velocity after it has fallen a distance of 10 ft. The windlass A B
can be considered as a 30-lb cylinder, while the spokes are
slender rods, each having a weight of 2 lb. Neglect the
pulley’s weight. 4 ft
0.5 ft
A
0.5 ft
SOLUTION
Kinetic Energy and Work: Since the windlass rotates about a fixed axis, vC = vArA
vC vC
or vA = = = 2vC. The mass moment of inertia of the windlass about its
rA 0.5
C
mass center is
A 0.752 B d = 0.2614 slug # ft2

1 30 1 2 2
IA = a b A 0.52 B + 4 c a b A 0.52 B +
2 32.2 12 32.2 32.2
Thus, the kinetic energy of the system is
T = TA + T C
or
1 1
= I v2 + mCvC 2
laws
2 A 2
Web)
teaching
in
1 1 50
copyright
Wide
= (0.2614)(2vC)2 + a bv 2
2 2 32.2 C Dissemination
permitted.
World
States
instructors
= 1.2992vC 2
not
the
of
is
learning.
on
United
use
and
Since the system is initially at rest, T1 = 0. Referring to Fig. a, WA, Ax, Ay, and RB
by
the
do no work, while WC does positive work. Thus, the work done by WC, when it
student
work
for
displaces vertically downward through a distance of sC = 10 ft, is

(including
the
protected
of
UWC = WCsC = 50(10) = 500 ft # lb

solely
work
is
assessing
this
work
and
of
integrity
provided

This
is
the
part
T1 + ©U1-2 = T2
courses
any
and
of
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0 + 500 = 1.2992vC 2
their
will
sale
vC = 19.6 ft>s Ans.
18–23.
The combined weight of the load and the platform is 200 lb,
A 4 ft M ⫽ 900 lb⭈ft
with the center of gravity located at G. If a couple moment
of M = 900 lb # ft is applied to link AB, determine the 2 ft
angular velocity of links AB and CD at the instant u = 60°. 1 ft G
C B
The system is at rest when u = 0°. Neglect the weight of
the links. 3 ft
u
D
SOLUTION
Kinetic Energy and Work: Since the weight of the links are negligible and the crate
and platform undergo curvilinear translation, the kinetic energy of the system is
mvG2 = a b v 2 = 3.1056vG2
1 1 200
T =
2 2 32.2 G
Since the system is initially at rest, T1 = 0. Referring to Fig. a, Bx, By, Dx, and Dy do
no work while M does positive work and W does negative work. When u = 60°, W
displaces upward through a distance of h = 4 sin 60° ft = 3.464 ft. Thus, the work
done by M and W is
UM = Mu = 900 a b = 300p ft # lb
p
3
or
laws
UW = - Wh = - 200(3.464) = - 692.82 ft # lb
Web)
teaching
in
copyright
Wide
T1 + ©U1-2 = T2 Dissemination
permitted.
World
States
0 + [300p - 692.82] = 3.1056vG2

instructors
not
vG = 8.966 ft >s
the
of
is
learning.
on
United
use
and
by
Thus,
the
student
work
for
(including
vG 8.966
the
vAB = vCD = = = 2.24 rad>s Ans.

protected
of
r
solely
4
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
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sale
*18–24.
The tub of the mixer has a weight of 70 lb and a radius of

gyration kG = 1.3 ft about its center of gravity. If a constant θ
torque M = 60 lb # ft is applied to the dumping wheel,
determine the angular velocity of the tub when it has rotated 0.8 ft
u = 90°. Originally the tub is at rest when u = 0°.
SOLUTION
G
T1 + ©U1 - 2 = T2
M
p 1 70 1 70
0 + 60( ) - 70(0.8) = c ( )(1.3)2 d (v)2 + [ ] (0.8v)2
2 2 32.2 2 32.2
v = 3.89 rad>s Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
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18–25.
The tub of the mixer has a weight of 70 lb and a radius of

gyration kG = 1.3 ft about its center of gravity. If a constant u
torque M = 60 lb # ft is applied to the tub, determine its
angular velocity when it has rotated u = 45°. Originally the 0.8 ft
tub is at rest when u = 0°.
SOLUTION G
Kinetic Energy and Work: The mass moment of inertia of the tub about point O is
M
IO = mkG2+ mrG2
70 70
= (1.32) + (0.82)
32.2 32.2
= 5.0652 slug # ft2
Thus, kinetic energy of the tub is

1 1
T = I v2 = (5.0652)v2 = 2.5326 v2
2 O 2
Initially, the tub is at rest. Thus, T1 = 0. Referring to the FBD of the tub, Fig. a, we
or
laws
notice that Ox and Oy do no work while M does positive work and W does negative
work. Thus, the work done by M and W are
Web)
teaching
in
UM = Mu = 60 a b = 15p ft # lb
p
copyright
Wide
Dissemination
permitted.
World
States
instructors
UW = - Wh = - 70 [0.8 (1 - cos 45°)] = - 16.40 ft # lb

not
the
of
is
learning.
on
United
use

and
by
the
student
T1 + U1 - 2 = T2
work
for
(including
the
0 + [15p + (- 16.40)] = 2.5326 v2

protected
of
solely
work
is
assessing
v = 3.48 rad>s Ans.

this
work
and
of
integrity
provided
This
is
the
part
courses
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and
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18–26.
Two wheels of negligible weight are mounted at corners A

and B of the rectangular 75-lb plate. If the plate is released A
from rest at u = 90°, determine its angular velocity at the 3 ft
instant just before u = 0°. 1.5 ft
u
SOLUTION B
Kinetic Energy and Work: Referring Fig. a,
(vG)2 = vrA>IC = v a 20.752 + 1.52 b = 1.677v2
The mass moment of inertia of the plate about its mass center is
a b (1.52 + 32) = 2.1836 slug # ft2. Thus, the final
1 1 75
IG = m(a2 + b2) =
12 12 32.2
kinetic energy is
1 1
T2 = m(vG)22 + v22
2 2
a b (1.677v2)2 + IG (2.1836)v22
1 75 1
or
=
laws
2 32.2 2
Web)
teaching
= 4.3672v2 2
in
copyright
Wide
Since the plate is initially at rest, T1 = 0. Referring to Fig. b, NA and NB do no work, Dissemination
permitted.
World
States
while W does positive work. When u = 0°, W displaces vertically through a distance
instructors
not
the
of
of h = 20.752 + 1.52 = 1.677 ft, Fig. c. Thus, the work done by W is

is
learning.
on
United
use
and
UW = Wh = 75(1.677) = 125.78 ft # lb
by
the
student
work
for

(including
the
protected
of
solely
T1 + ©U1-2 = T2
work
is
assessing
this
0 + 125.78 = 4.3672v2 2
work
and
of
integrity
provided
This
is
the

part
courses
any
and
of
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18–27.
The 100-lb block is transported a short distance by using P ⫽ 25 lb

two cylindrical rollers, each having a weight of 35 lb. If a
horizontal force P = 25 lb is applied to the block,
determine the block’s speed after it has been displaced 2 ft 1.5 ft 1.5 ft
to the left. Originally the block is at rest. No slipping occurs.
SOLUTION
T1 + ©U1-2 = T2
1 100 1 35 vB 2 1 1 35 vB 2
0 + 25(2) = a b (vB)2 + 2 B a ba b + a a b (1.5)2 b a b R
2 32.2 2 32.2 2 2 2 32.2 3
vB = 5.05 ft>s Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
will
sale
*18–28.
The hand winch is used to lift the 50-kg load. Determine

the work required to rotate the handle five revolutions. The
gear at A has a radius of 20 mm.
rB = 130 mm 375 mm
B
SOLUTION
100 mm
20(uA) = uB (130) A
When uA = 5 rev. = 10 p
uB = 4.8332 rad
Thus load moves up
s = 4.8332(0.1 m) = 0.48332 m
U = 50(9.81)(0.48332) = 237 J Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
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sale
18–29.
A motor supplies a constant torque or twist of

M = 120 lb # ft to the drum. If the drum has a weight of 1.5 ft
M = 120 lb · ft
30 lb and a radius of gyration of kO = 0.8 ft, determine the O
speed of the 15-lb crate A after it rises s = 4 ft starting from
rest. Neglect the mass of the cord.
SOLUTION
Free Body Diagram: The weight of the crate does negative work since it acts in the
A
opposite direction to that of its displacement sw. Also, the couple moment M does
positive work as it acts in the same direction of its angular displacement u. The
reactions Ox, Oy and the weight of the drum do no work since point O does not s
displace.
Kinematic: Since the drum rotates about point O, the angular velocity of the
vA vA
drum and the speed of the crate can be related by vD = = = 0.6667 vA .
rD 1.5
When the crate rises s = 4 ft, the angular displacement of the drum is given by
s 4
u = = = 2.667 rad .
rD 1.5
or
laws
Web)
teaching
Principle of Work and Energy: The mass moment of inertia of the drum about point
in
b (0.82) = 0.5963 slug # ft2. Applying Eq. 18–13, we have
30
copyright
Wide
O is IO = mk2O = a Dissemination
32.2
permitted.
World
States
instructors
not
the
of
is
T1 + a U1 - 2 = T2
learning.
on
United
use
and
by
the
student
1 1
work
for
0 + Mu - WC sC = I v2 + mC v2C
(including
2 O 2
the
protected
of
solely
work
is
1 1 15
assessing
0 + 120(2.667) - 15(4) = (0.5963)(0.6667vA)2 + a bvA2

this
work
2 2 32.2
and
of
integrity
provided
This
is
the
part
vA = 26.7 ft s Ans.
courses
any
and
of
destroy
their
will
sale
18–30.
Motor M exerts a constant force of P = 750 N on the rope. M P ⫽ 750 N C

If the 100-kg post is at rest when u = 0°, determine the
angular velocity of the post at the instant u = 60°. Neglect
the mass of the pulley and its size, and consider the post as a
slender rod.
A
4m
SOLUTION 3m
Kinetic Energy and Work: Since the post rotates about a fixed axis, vG = vrG = v (1.5). u
The mass moment of inertia of the post about its mass center is B
1
IG = (100)(32) = 75 kg # m2. Thus, the kinetic energy of the post is
12
1 1
T = mvG2 + IGv2
2 2
1 1
= (100)[v(1.5)]2 + (75)v2
2 2
= 150v2
1
This result can also be obtained by applying T = IBv2, where IB =
2
or
1
(100)(32) + 100 (1.52) = 300 kg # m2. Thus,
laws
12
Web)
teaching
in
1 1
T = I v2 = (300)v2 = 150v2
copyright
Wide
2 B 2 Dissemination
permitted.
World
Since the post is initially at rest, T1 = 0. Referring to Fig. a, Bx, By, and R C do no
States
instructors
not
work, while P does positive work and W does negative work. When u = 60° ,
the
of
is
learning.
on
United
P displaces sP = A¿C - AC, where AC = 24 2 + 32 - 2(4)(3) cos 30° = 2.053 m

use
and
by
the
and A¿C = 24 2 + 32 = 5 m. Thus, sP = 5 - 2.053 = 2.947 m. Also, W displaces

student
work
for
vertically upwards through a distance of h = 1.5 sin 60° = 1.299 m. Thus, the work
(including
the
done by P and W is
protected
of
solely
work
is
assessing
UP = PsP = 750(2.947) = 2210.14 J

this
work
and
of
integrity
provided
UW = - Wh = - 100 (9.81)(1.299) = - 1274.36 J

This
is
the
part

courses
any
and
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destroy
T1 + ©U1-2 = T2
their
will
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0 + [2210.14 - 1274.36] = 150v2
v = 2.50 rad>s Ans.
18–31.
The uniform bar has a mass m and length l. If it is released

from rest when u = 0°, determine its angular velocity as a
function of the angle u before it slips. l
u O —
3
2l
—
3
SOLUTION
Kinetic Energy and Work: Before the bar slips, the bar rotates about the fixed axis
passing through point O. The mass moment of inertia of the bar about this axis is
l 2
ml2 + ma b = ml2. Thus, the kinetic energy of the bar is
1 1
IO =
12 6 9
I v2 = a ml2 bv2 =
1 1 1 1
T = ml2v2
2 O 2 9 18
Initially, the bar is at rest. Thus, T1 = 0. Referring to the FBD of the bar, Fig. a, we
notice that N and Ff do no work while W does positive work which is given by
UW = Wh = mg a sin ub =
l mgl
sin u
or
6 6
laws
Web)
teaching
in
copyright
Wide
Dissemination
T1 + U1-2 = T2
permitted.
World
States
instructors
mgl 1
not
the
of
0 + sin u = ml2v2
is
learning.
6 18
on
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use
and
by
3g
the
v2 = sin u
student
work
for
l
(including
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3g
protected
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v = sin u Ans.
work
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*18–32.
The uniform bar has a mass m and length l. If it is released

from rest when u = 0°, determine the angle u at which it
first begins to slip. The coefficient of static friction at O is l
θ O —
ms = 0.3. 3
2l
—
3
SOLUTION
T1 + ©U1-2 = T2
l 1 1 l
0 + m g ( sin u) = [ m l2 + m ( )2]v2
6 2 12 6
3 g sin u
v =
A l
l 1 l
a + ©MO = IO a; m g cos u( ) = [ m l2 + m( )2] a
6 12 6
3 g cos u
a =
2l
or
laws
3 g sin u l
+ ©Fn = m(aG)n ; ms N - m g sin u = m( )( )
Web)
teaching
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in
copyright
Wide
msN = 1.5 m g sin u Dissemination
permitted.
World
States
instructors
3 g cos u l
not
+ ©Ft = m(aG)t ; - N + m g cos u = m(

the
of
)( )
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learning.
2l 6
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N = 0.75 m g cos u
student
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Thus,
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1.5
this
ms =
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0.3 = 2 tan u
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18–33.
The two 2-kg gears A and B are attached to the ends of a

3-kg slender bar. The gears roll within the fixed ring gear C,
which lies in the horizontal plane. If a 10-N # m torque is
C
applied to the center of the bar as shown, determine the
400 mm
number of revolutions the bar must rotate starting from rest
in order for it to have an angular velocity of vAB = 20 rad>s.
For the calculation, assume the gears can be approximated by
thin disks.What is the result if the gears lie in the vertical plane? A B
SOLUTION 150 mm 150 mm
M = 10 N · m
Energy equation (where G refers to the center of one of the two gears):
Mu = T2
1 1 1
10u = 2a IGv2gear b + 2 a mgear b (0.200vAB)2 + IABv2AB
2 2 2
(2)(0.150)2 = 0.0225 kg # m2,

1
Using mgear = 2 kg, IG =
2
(3)(0.400)2 = 0.0400 kg # m2 and vgear =
1 200
IAB = v ,
12 150 AB
2
or
200
10u = 0.0225 a b v2AB + 2(0.200)2v2AB + 0.0200v2AB
laws
150
Web)
teaching
in
When vAB = 20 rad>s,
copyright
Wide
Dissemination
u = 5.60 rad
permitted.
World
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= 0.891 rev, regardless of orientation

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18–34.
A ball of mass m and radius r is cast onto the horizontal

surface such that it rolls without slipping. Determine its
angular velocity at the instant u = 90°, if it has an initial
speed of vG as shown.
u R
SOLUTION r vG
G
vG
Kinetic Energy and Work: Since the ball rolls without slipping, vG = vr or v = .
r
2 2
The mass moment of inertia of the ball about its mass cener is IG = mr . Thus, the
5
kinetic energy of the ball is
1 1
T = mvG2+ IGv2
2 2
vG 2
mvG2+ a mr2 b a b
1 1 2
=
2 2 5 r
7
= mv 2
10 G
7
mvG2. Referring to the FBD of the
Initially, the ball has a speed of vG. Thus, T1 =
10
ball, Fig. a, we notice that N does no work while W does negative work. When
or
laws
u = 90°, h = R (1 - cos 90°) = R. Thus,
Web)
teaching
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copyright
UW = - Wh = - mgR
Wide
Dissemination
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T1 + U1-2 = T2
not
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7 7
on
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use
mvG2 + (- mgR) = m(vG)22

and
by
10 10
the
student
work
for
1
(7vG2 - 10gR )
(including
(vG)2 =
the
A7
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(vG)2 10
This
is
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= vG2 -
part
v2 = gR>r Ans.
r A 7
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18–35.
A ball of mass m and radius r is cast onto the horizontal

surface such that it rolls without slipping. Determine the
minimum speed vG of its mass center G so that it rolls
completely around the loop of radius R + r without leaving
the track.
u R
r vG
G
SOLUTION
v2
+ T ©Fy = m(aG)y ; mg = m a b
R
v2 = gR
T1 + ©U1 - 2 = T2
1 2 2 v2G 1 1 2 gR 1
a mr b a 2 b + mv2G - mg(2R) = a mr2 b a 2 b + m(gR)
2 5 r 2 2 5 r 2
1 2 1 1 1
vG + v2G = 2gR + gR + gR
5 2 5 2
or
vG = 3 gR Ans.
laws
A7
Web)
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Dissemination
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*18–36.
At the instant shown, the 50-lb bar rotates clockwise at C

2 rad>s. The spring attached to its end always remains
vertical due to the roller guide at C. If the spring has an
unstretched length of 2 ft and a stiffness of k = 6 lb>ft,
k 4 ft
determine the angular velocity of the bar the instant it has
rotated 30° clockwise.
A
B
SOLUTION 2 rad/s
6 ft
Datum through A.
T1 + V1 = T2 + V2
1 1 50 1 1 1 50
c a b(6)2 d(2)2 + (6)(4 - 2)2 = c a b (6)2 dv2
2 3 32.2 2 2 3 32.2
1
+ (6)(7 - 2)2 - 50(1.5)
2
v = 2.30 rad>s Ans.
or
laws
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copyright
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Dissemination
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18–37.
At the instant shown, the 50-lb bar rotates clockwise at C

2 rad>s. The spring attached to its end always remains
vertical due to the roller guide at C. If the spring has an
unstretched length of 2 ft and a stiffness of k = 12 lb>ft,
k 4 ft
determine the angle u, measured from the horizontal, to
which the bar rotates before it momentarily stops.
A
B
SOLUTION 2 rad/s
6 ft
T1 + V1 = T2 + V2
1 1 50 1 1
c a b (6)2 d (2)2 + (12)(4 - 2)2 = 0 + (12)(4 + 6 sin u - 2)2 - 50(3 sin u)
2 3 32.2 2 2
61.2671 = 24(1 + 3 sin u)2 - 150 sin u
37.2671 = - 6 sin u + 216 sin2 u
Set x = sin u, and solve the quadratic equation for the positive root:
sin u = 0.4295
u = 25.4° Ans.
or
laws
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Dissemination
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is
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18–38.

kO = 0.280 m. If the 20-kg block A is released from rest,
determine the distance the block must fall in order for the 0.3 m 0.2 m
spool to have an angular velocity v = 5 rad>s. Also, what is
O
the tension in the cord while the block is in motion? Neglect
the mass of the cord.
SOLUTION
vA = 0.2v = 0.2(5) = 1 m>s
System: A
T1 + V1 = T2 + V2
1 1
[0 + 0] + 0 = (20)(1)2 + [50(0.280)2](5)2 - 20(9.81) s
2 2
s = 0.30071 m = 0.301 m Ans.
Block:
T1 + ©U1 - 2 = T2
or
laws
1
Web)
teaching
0 + 20(9.81)(0.30071) - T(0.30071) = (20)(1)2
in
2
copyright
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Dissemination
T = 163 N Ans.
permitted.
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18–39.
kO = 0.280 m. If the 20-kg block A is released from rest,
determine the velocity of the block when it descends 0.5 m. 0.3 m 0.2 m
O
SOLUTION
Potential Energy: With reference to the datum established in Fig. a, the gravitational
potential energy of block A at position 1 and 2 are
V1 = (Vg)1 = WAy1 = 20 (9.81)(0) = 0 A
V2 = (Vg)2 = - WAy2 = - 20 (9.81)(0.5) = - 98.1 J

vA vA
Kinetic Energy: Since the spool rotates about a fixed axis, v = = = 5vA.
rA 0.2
Here, the mass moment of inertia about the fixed axis passes through point O is
IO = mkO2 = 50 (0.280)2 = 3.92 kg # m2. Thus, the kinetic energy of the system is
1 1
T = I v2 + mAvA2
2 O 2
or
laws
1 1
Web)
teaching
= (3.92)(5vA)2 + (20)vA2 = 59vA2
in
2 2
copyright
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Dissemination
Since the system is at rest initially, T1 = 0
permitted.
World
States
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Conservation of Energy:
not
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is
learning.
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T1 + V1 = T2 + V2
use
and
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the
0 + 0 = 59vA2 + (-98.1)
student
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(including
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vA = 1.289 m>s
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= 1.29 m>s Ans.

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*18–40.
An automobile tire has a mass of 7 kg and radius of gyration G

kG = 0.3 m. If it is released from rest at A on the incline, 0.4 m
determine its angular velocity when it reaches the horizontal
A
plane. The tire rolls without slipping. 5m
30°
0.4 m
B
SOLUTION
nG = 0.4v
Datum at lowest point.
T1 + V1 = T2 + V2
1 1
0 + 7(9.81)(5) = (7)(0.4v)2 + [7 (0.3)2]v2 + 0
2 2
v = 19.8 rad s Ans.
or
laws
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Dissemination
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18–41.
The system consists of a 20-lb disk A, 4-lb slender rod BC,

and a 1-lb smooth collar C. If the disk rolls without slipping,
determine the velocity of the collar at the instant the rod C
becomes horizontal, i.e., u = 0°. The system is released from
rest when u = 45°.
3 ft
SOLUTION u
B
T1 + V1 = T2 + V2
0.8 ft
1 1 4 vC 2 1 1 A
0 + 4(1.5 sin 45°) + 1(3 sin 45°) = c a b (3)2 d a b + a b(vC)2 + 0
2 3 32.2 3 2 32.2
vC = 13.3 ft>s Ans.
or
laws
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copyright
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Dissemination
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18–42.
The system consists of a 20-lb disk A, 4-lb slender rod BC,

and a 1-lb smooth collar C. If the disk rolls without slipping,
determine the velocity of the collar at the instant u = 30°. C
The system is released from rest when u = 45°.
3 ft
SOLUTION u
B
vB = 0.8vA
0.8 ft
vB vC vG A
vBC = = =
1.5 2.598 1.5
Thus,
vB = vG = 1.5vBC vC = 2.598vBC
vA = 1.875 vBC
T1 + V1 = T2 + V2
or
laws
0 + 4(1.5 sin 45°) + 1(3 sin 45°)
Web)
teaching
in
1 1 20 1 20
= c a b (0.8)2 d (1.875vBC)2 + a b (1.5 vBC)2
copyright
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2 2 32.2 2 32.2 Dissemination
permitted.
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States
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1 1 4 1 4 not
+ c a b(3)2 dv2BC + a b (1.5vBC)2

the
of
is
2 12 32.2 2 32.2
learning.
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United
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by
1 1
the
+ a b (2.598vBC)2 + 4(1.5 sin 30°) + 1(3 sin 30°)

student
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for
2 32.2
(including
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is
vBC = 1.180 rad>s

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Thus,
This
is
the
part
vC = 2.598(1.180) = 3.07 ft>s

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18–43.
The door is made from one piece, whose ends move along
the horizontal and vertical tracks. If the door is in the open
position, u = 0°, and then released, determine the speed at C A
which its end A strikes the stop at C. Assume the door is a
180-lb thin plate having a width of 10 ft. 5 ft u
SOLUTION 3 ft B
T 1 + V1 = T2 + V2
1 1 180 1 180
0 + 0 = c a b (8)2 d v2 + a b (1v)2 - 180(4)
2 12 32.2 2 32.2
v = 6.3776 rad>s
vC = v(5) = 6.3776(5) = 31.9 m>s Ans.
or
laws
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*18–44.
Determine the speed of the 50-kg cylinder after it has
descended a distance of 2 m, starting from rest. Gear A has 100 mm
a mass of 10 kg and a radius of gyration of 125 mm about its 150 mm
center of mass. Gear B and drum C have a combined mass C
of 30 kg and a radius of gyration about their center of mass
of 150 mm.
A
B
200 mm
SOLUTION
Potential Energy: With reference to the datum shown in Fig. a, the gravitational
potential energy of block D at position (1) and (2) is
V1 = (Vg)1 = WD(yD)1 = 50 (9.81)(0) = 0
D
V2 = (Vg)2 = - WD(yD)2 = - 50(9.81)(2) = - 981 J
vD vD
Kinetic Energy: Since gear B rotates about a fixed axis, vB = = = 10vD.
rD 0.1
Also, since gear A is in mesh with gear B, vA = a bv = a b(10vD) = 13.33vD.

rB 0.2
rA B 0.15
The mass moment of inertia of gears A and B about their mass centers
are IA = mAkA2 = 10(0.1252) = 0.15625 kg # m2 and IB = mBkB2 = 30(0.152)
= 0.675 kg # m2.Thus, the kinetic energy of the system is
or
laws
1 1 1
T = I v 2 + IBvB2 + mDvD2
2 A A
Web)
2 2
teaching
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1 1 1
copyright
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= (0.15625)(13.33vD)2 + (0.675)(10vD)2 + (50)vD2
2 2 2 Dissemination
permitted.
World
= 72.639vD2
States
instructors
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the
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Since the system is initially at rest, T1 = 0.

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T1 + V1 = T2 + V2
(including
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0 + 0 = 72.639vD2 - 981
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assessing
vD = 3.67 m>s Ans.

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18–45.
The disk A is pinned at O and weighs 15 lb. A 1-ft rod

weighing 2 lb and a 1-ft-diameter sphere weighing 10 lb are
welded to the disk, as shown. If the spring is orginally k = 4 lb/ft
stretched 1 ft and the sphere is released from the position
shown, determine the angular velocity of the disk when it 2 ft O
has rotated 90˚.
1 ft 1 ft
A
SOLUTION
T1 + V1 = T2 + V2
1 1 1 15 1 1 2 1 2
[0 + 0 + 0] + (4)(1)2 = [ ( )(2)2]v2 + [ ( )(1)2]v2 + ( )(v )2R
2 2 2 32.2 2 12 32.2 2 32.2 G
1 2 10 1 10 1 p
+ [ ( )(0.5)2]v2 + ( )(v )2s - 2(2.5) - 10(3.5) + (4)(1 + 2( ))2
2 5 32.2 2 32.2 G 2 2
Since
(vG)S = 3.5v
(vG)R = 2.5v
or
laws
Substituting and solving, yields
Web)
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in
v = 1.73 rad s Ans.
copyright
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18–46.
The disk A is pinned at O and weighs 15 lb. A 1-ft rod

weighing 2 lb and a 1-ft-diameter sphere weighing 10 lb are
welded to the disk, as shown. If the spring is originally k ⫽ 4 lb/ft
stretched 1 ft and the sphere is released from the position
shown, determine the angular velocity of the disk when it 2 ft O
has rotated 45°.
1 ft 1 ft
A
SOLUTION
Potential Energy: From the geometry shown in Fig. a, we obtain
(yG1)2 = 2.5 sin 45° ft = 1.7678 ft and (yG2)2 = 3.5 sin 45° = 2.4749 ft. With
reference to the datum set in Fig. a, the initial and final gravitational potential
energy of the system is
(Vg)1 = W1(yG1)1 + W2(yG2)1 = 2(0) + 10(0) = 0
(Vg)2 = - W1(yG1)2 - W2(yG2)2 = - 2(1.7678) - 10(2.4749)
= - 28.284 ft # lb
p
The initial and final stretch of the spring is s1 = 1 ft and s2 = 1 + (2) = 2.5708 ft.
4
Thus the initial and final elastic potential energy of the system are
or
laws
1 1
(Ve)1 = ks 2 = (4)(12) = 2 ft # lb
2 1
Web)
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1 1
(Ve)2 = ks 2 = (4)(2.5708)2 = 13.218 ft # lb Dissemination
2 2 2
permitted.
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Kinetic Energy: The mass moment of inertia of the disk assembly about the fixed
on
United
use
and
by
axis passing through point O is

the
student
work
for
(including
the
a b (0.52) + a b (3.52) + a b(12) + a b (2.52)

2 10 10 1 2 2
protected
of
IO =
solely
work
is
5 32.2 32.2 12 32.2 32.2

assessing
this
a b(22)
1 15
work
and
of
integrity
+
provided
2 32.2
This
is
the
part
= 5.1605 slug # ft2

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Thus, the kinetic energy of the system is

their
will
sale
1 1
T = I v2 = (5.1605)v2 = 2.5802v2
2 O 2
Since the system is at rest initally, T1 = 0
T1 + V1 = T2 + V2
0 + (0 + 2) = 2.5802v2 + (- 28.284 + 13.218)
v = 2.572 rad>s = 2.57 rad>s Ans.
18–47.
At the instant the spring becomes undeformed, the center

of the 40-kg disk has a speed of 4 m>s. From this point
determine the distance d the disk moves down the plane
before momentarily stopping. The disk rolls without k = 200 N/m
slipping.
0.3 m
SOLUTION
30°
Datum at lowest point.
T1 + V1 = T2 + V2
1 1 4 2 1 1
c (40)(0.3)2 d a b + (40)(4)2 + 40(9.81)d sin 30° = 0 + (200)d2
2 2 0.3 2 2
100d2 - 196.2d - 480 = 0
Solving for the positive root
d = 3.38 m Ans.
or
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for
(including
the
protected
of
solely
work
is
assessing
this
work
and
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This
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*18–48.
A chain that has a negligible mass is draped over the 100 mm

sprocket which has a mass of 2 kg and a radius of gyration of
kO = 50 mm. If the 4-kg block A is released from rest from O
the position s = 1 m, determine the angular velocity of the
sprocket at the instant s = 2 m.
s⫽1m
SOLUTION
T1 + V1 = T2 + V2
1 1
0 + 0 + 0 = (4)(0.1 v)2 + C 2(0.05)2 D v2 - 4(9.81)(1) A
2 2
v = 41.8 rad>s Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
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provided
This
is
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18–49.
Solve Prob. 18–48 if the chain has a mass of 0.8 kg>m. For 100 mm
the calculation neglect the portion of the chain that wraps
over the sprocket.
O
s 1m
SOLUTION
T1 + V1 = T2 + V2
1 1 A
0 - 4(9.81)(1) - 2 C 0.8(1)(9.81)(0.5) D = (4)(0.1 v)2 + C 2(0.05)2 D v2
2 2
1
+ (0.8)(2)(0.1 v)2 - 4(9.81)(2) - 0.8(2)(9.81)(1)
2
v = 39.3 rad>s Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
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is
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and
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This
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18–50.
The compound disk pulley consists of a hub and attached 100 mm

outer rim. If it has a mass of 3 kg and a radius of gyration 30 mm
kG = 45 mm, determine the speed of block A after A
descends 0.2 m from rest. Blocks A and B each have a mass
of 2 kg. Neglect the mass of the cords.
SOLUTION
B
T1 + V1 = T2 + V2
1 1 1 A
[0 + 0 + 0] + [0 + 0] = [3(0.045)2]v2 + (2)(0.03v)2 + (2)(0.1v)2 - 2(9.81)sA + 2(9.81)sB
2 2 2
sB sA
u = =
0.03 0.1
sB = 0.3 sA
Set sA = 0.2 m, sB = 0.06 m
Substituting and solving yields,
or
v = 14.04 rad>s
laws
Web)
teaching
vA = 0.1(14.04) = 1.40 m>s Ans.
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
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and
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provided
This
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18–51.
A spring having a stiffness of k = 300 N>m is attached to

the end of the 15-kg rod, and it is unstretched when u = 0°.
If the rod is released from rest when u = 0°, determine its
angular velocity at the instant u = 30°. The motion is in the
vertical plane. B
u
k 300 N/m
SOLUTION 0.6 m
Potential Energy: With reference to the datum in Fig. a, the gravitational potential A
energy of the rod at positions (1) and (2) is
A Vg B 1 = W(yG)1 = 15(9.81)(0) = 0
A Vg B 2 = - W(yG)2 = - 15(9.81)(0.3 sin 30°) = -22.0725 J
Since the spring is initially unstretched, (Ve)1 = 0. When u = 30°, the stretch of the
spring is sP = 0.6 sin 30° = 0.3 m. Thus, the final elastic potential energy of the
spring is
1 1
A Ve B 2 = ks 2 = (300) A 0.32 B = 13.5 J
2 P 2
or
laws
Thus,
Web)
teaching
in
V1 = (Vg)1 + (Ve)1 = 0 + 0 = 0
copyright
Wide
Dissemination
permitted.
V2 = (Vg)2 + (Ve)2 = - 22.0725 + 13.5 = -8.5725 J
World
States
instructors
not
the
of
is
learning.
Kinetic Energy: Since the rod is initially at rest, T1 = 0. From the geometry shown in
on
United
use
and
Fig. b, rG>IC = 0.3 m. Thus, (VG)2 = v2rG>IC = v2 (0.3). The mass moment of inertia
by
the
(15) A 0.62 B = 0.45 kg # m2. Thus,

student
1 1
work
for
of the rod about its mass center is IG = ml2 =

(including
the
12 12
protected
of
the final kinetic energy of the rod is

solely
work
is
assessing
this
work
and
of
integrity
1 1
provided
T2 = m(vG)2 2 + IGv2 2
This
is
the
part
2 2
courses
any
and
1 1
of
(15) C v2 A 0.3 B D 2 + A 0.45 B v2 2

destroy
=
their
2 2
will
sale
= 0.9v2 2
T1 + V1 = T2 + V2
0 + 0 = 0.9v2 2 - 8.5725
*18–52.
The two bars are released from rest at the position u. B

Determine their angular velocities at the instant they become
horizontal. Neglect the mass of the roller at C. Each bar has L L
a mass m and length L.
A C
SOLUTION
Potential Energy: Datum is set at point A. When links AB and BC is at their

L
initial position, their center of gravity is located 2 sin u above the datum. Their
L
gravitational potential energy at this position is mg a sin u b . Thus, the initial and
2
final potential energies are
mgL
V1 = 2 a sin u b = mgL sin u V2 = 0
2
Kinetic Energy: When links AB and BC are in the horizontal position, then vB = vAB L
which is directed vertically downward since link AB is rotating about fixed point A. Link
or
laws
BC is subjected to general plane motion and its instantaneous center of zero velocity is
Web)
teaching
in
located at point C. Thus, vB = vBCrB>IC or vABL = vBCL, hence vAB = vBC = v.
copyright
Wide
Dissemination
The mass moment inertia for link AB and BC about point A and C is
permitted.
L 2
World
States
1 1
instructors
(IAB)A = (IBC)C = mL2 + m a b = mL2. Since links AB and CD are at rest

not
the
of
2 2 3
is
learning.
on
initially, the initial kinetic energy is T1 = 0. The final kinetic energy is given by
United
use
and
by
the
student
work
for
1 1
(including
T2 = (I ) v2AB + (IBC)C v2BC

the
2 AB A 2
protected
of
solely
work
is
assessing
1 1 1 1
this
= a mL2 bv2 + a mL2 b v2

work
and
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2 3 2 3
provided
This
is
the
part
1
courses
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and
= mL2 v2
of
3
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Conservation of Energy: Applying Eq. 18–18, we have
T1 + V1 = T2 + V2
1
0 + mgL sin u = mL2 v2 + 0
3
3g
vAB = vBC = v = sin u Ans.
L
18–53.
The two bars are released from rest at the position u = 90°. B
Determine their angular velocities at the instant they
become horizontal. Neglect the mass of the roller at C. Each L L
bar has a mass m and length L.
u u
A C
SOLUTION
Potential Energy: With reference to the datum established in Fig. a, the gravitational
potential energy of the system at position 1 and 2 are
(V1)g = WAB(yGAB)1 + WBC(yGBC) 1 = mg a b + mga b = mg L

L L
2 2
(V2)g = WAB(yGAB)2 + WBC(yGBC)2 = 0
Kinetic Energy: Since the system is at rest initially, T1 = 0. Referring to the

kinematic diagram of the system at position 2 shown in Fig. b,
vB = vAB rAB = vBC rGBC>IC; vAB(L) = vBC(L)

vAB = vBC
Also,
or
laws
vGBC = vBC rGBC>IC = vBC a b
L
Web)
teaching
2
in
copyright
Wide
The mass moment of inertia of bar AB about the fixed axis passing through A is Dissemination
permitted.
IA = mL2 and the mass moment of inertia of bar BC about its mass center is
World
States
instructors
3
not
the
of
is
1
learning.
IGBC = mL2. Thus, the kinetic energy of the system is

on
United
use
12
and
by
the
1 1 1
student
work
for
T = I v 2 + IGBCvBC 2 + mBC vGBC 2

2 A AB
(including
2 2
the
protected
of
solely
work
is
L 2
a mL2 b vBC 2 + a mL2 b vBC2 + m cvBC a b d
1 1 1 1 1
assessing
=
this
2 3 2 12 2 2
work
and
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provided
1
This
is
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part
mL2 vBC2 =
3
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T1 + V1 = T2 + V2
1
0 + mg L = mL2 vBC 2
3
3g
vAB = vBC = Ans.
BL
18–54.
If the 250-lb block is released from rest when the spring is 0.375 ft
unstretched, determine the velocity of the block after it has k ⫽ 75 lb/ft
descended 5 ft. The drum has a weight of 50 lb and a radius 0.75 ft
of gyration of kO = 0.5 ft about its center of mass O.
O
SOLUTION
Potential Energy: With reference to the datum shown in Fig. a, the gravitational
potential energy of the system when the block is at position 1 and 2 is
(Vg)1 = W(yG)1 = 250(0) = 0

(Vg)2 = - W(yG)2 = - 250(5) = - 1250 ft # lb
When the block descends sb = 5 ft, the drum rotates through an angle of
sb 5
u = = = 6.667 rad. Thus, the stretch of the spring is x = s + s0 =
rb 0.75
rspu + 0 = 0.375(6.667) = 2.5 ft. The elastic potential energy of the spring is
1 2 1
(Ve)2 = kx = (75)(2.52) = 234.375 ft # lb
2 2
or
laws
Since the spring is initially unstretched, (Ve)1 = 0. Thus,
Web)
teaching
in
V1 = (Vg)1 + (Ve)1 = 0
copyright
Wide
Dissemination
V2 = (Vg)2 + (Ve)2 = - 1250 + 234.375 = - 1015.625 ft # lb
permitted.
World
States
instructors
not
the
of
Kinetic Energy: Since the drum rotates about a fixed axis passing through point O,
is
learning.
on
vb vb
United
use
and
v = = = 1.333vb. The mass moment of inertia of the drum about its mass
by
rb 0.75
the
student
work
a 0.52 b = 0.3882 slug # ft2.

50
for
center is IO = mkO 2 =
(including
the
32.2
protected
of
solely
work
is
assessing
this
work
1 1
and
of
integrity
T = IOv2 + mbvb2
provided
2 2
This
is
the
part
(0.3882)(1.333vb)2 + a bv 2
1 1 250
courses
any
and
=
2 32.2 b
of
2
destroy
their
= 4.2271vb2
will
sale

T1 + V1 = T2 + V2
0 + 0 = 4.2271vb 2 - 1015.625
vb = 15.5 ft>s T Ans.
18–55.
The 6-kg rod ABC is connected to the 3-kg rod CD. If the
system is released from rest when u = 0°, determine the A
angular velocity of rod ABC at the instant it becomes
0.5 m
horizontal.
B
0.3 m
SOLUTION C
Potential Energy: When rod ABC is in the horizontal position, Fig. a,

u
u = sin - 1 a b = 48.59°. With reference to the datum in Fig. a, the initial and final
0.3 0.4 m
0.4
gravitational potential energy of the system is D
V1 = (Vg)1 = W1(yG1)1 + W2(yG2)1
= 6(9.81)(0.8) + 3(9.81)(0.2) = 52.974 J
V2 = (Vg)2 = W1(yG1)2 + W2(yG2)2
= 6(9.81)(0.4 cos 48.59°) + 3(9.81)(0.2 cos 48.59°) = 19.466 J
or
Kinetic Energy: Since the system is initially at rest, T1 = 0. Referring to Fig. b,
laws
(vG1)2 = (vABC)2 rG1>IC = (vABC)2(0.4). Since point C is at the IC(vC)2 = 0. Then,
Web)
teaching
in
(vC)2 0
copyright
vCD = = 0. The mass moment of inertia of rod ABC about its mass
Wide
=
rC 0.4 Dissemination
1
permitted.
World
(6)(0.82) = 0.32 kg # m2. Thus, the final kinetic energy of the

States
center is IG1 =
instructors
not
12
the
of
is
system is
learning.
on
United
use
and
by
the
student
work
1 1
for
T2 = m (v ) 2 + IG1(vABC)22
(including
2 1 G1 2
the
2
protected
of
solely
work
is
2
(6)c (vABC)2(0.4) d + (0.32)(vABC)2 2
1 1
assessing
=
this
2 2
work
and
of
integrity
provided
= 0.64vABC2
This
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T1 + V1 = T2 + V2
0 + 52.974 = 0.64vABC 2 + 19.466
(vABC)2 = 7.24 rad>s Ans.
*18–56.
If the chain is released from rest from the position shown,

determine the angular velocity of the pulley after the end B
has risen 2 ft. The pulley has a weight of 50 lb and a radius of
0.5 ft
gyration of 0.375 ft about its axis. The chain weighs 6 lb/ft.
4 ft
SOLUTION
6 ft
Potential Energy: (yG1)1 = 2 ft, (yG 2)1 = 3 ft, (yG1)2 = 1 ft, and (yG2)2 = 4 ft. With
reference to the datum in Fig. a, the gravitational potential energy of the chain at B
position 1 and 2 is
V1 = (Vg)1 = W1(yG1)1 - W2(yG2)1

A
= - 6(4)(2) - 6(6)(3) = - 156 ft # lb
V2 = (Vg)2 = - W1(yG1)2 + W2(yG2)2
= - 6(2)(1) - 6(8)(4) = - 204 ft # lb
Kinetic Energy: Since the system is initially at rest, T1 = 0. The pulley rotates about
a fixed axis, thus, (VG1)2 = (VG2)2 = v2 r = v2(0.5). The mass moment of inertia of
50
the pulley about its axis is IO = mkO 2 = (0.3752) = 0.2184 slug # ft2. Thus, the
or
laws
32.2
final kinetic energy of the system is
Web)
teaching
in
1 1 1
copyright
Wide
T = IOv2 2 + m1(VG1)2 2 + m2 (VG2)2 2 Dissemination
2 2 2
permitted.
World
States
instructors
(0.2184)v2 2 + c d [v2(0.5)]2 + c d[v2(0.5)]2 + c d[v2(0.5)]2

1 1 6(2) 1 6(8) 1 6(0.5)(p)
not
the
of
is
=
learning.
2 2 32.2 2 32.2 2 32.2

on
United
use
and
by
= 0.3787v2 2
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
T1 + V1 = T2 + V2
this
work
and
of
integrity
0 + (-156) = 0.3787v22 = ( -204)

provided
v2 = 11.3 rad >s

This
is
the
part
Ans.
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18–57.
If the gear is released from rest, determine its angular

velocity after its center of gravity O has descended a
distance of 4 ft. The gear has a weight of 100 lb and a radius
of gyration about its center of gravity of k = 0.75 ft.
1 ft
SOLUTION
Potential Energy: With reference to the datum in Fig. a, the gravitational potential
energy of the gear at position 1 and 2 is
V1 = (Vg)1 = W(y0)1 = 100(0) = 0
V2 = (Vg)2 = - W1(y0)2 = - 100(4) = - 400 ft # lb
Kinetic Energy: Referring to Fig. b, we obtain vO = vrO / IC = v(1).The mass moment

100
of inertia of the gear about its mass center is IO = mkO 2 = (0.752) = 1.7469 kg # m2.
32.2
Thus,
1 1
T = mvO2 + IOv2
2 2
or
laws
a b [v (1)]2 + (1.7469)v2
1 100 1
=
Web)
teaching
2 32.2 2
in
copyright
Wide
= 2.4262v2 Dissemination
permitted.
World
States
instructors
Since the gear is initially at rest, T1 = 0.

not
the
of
is
learning.
on
United
use
and
by
the
student
T1 + V1 = T2 + V2
work
for
(including
the
0 + 0 = 2.4262v2 - 400
protected
of
solely
work
is
assessing
v = 12.8 rad>s Ans.

this
work
and
of
integrity
provided
This
is
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18–58.
When the slender 10-kg bar AB is horizontal it is at rest and A B k C

the spring is unstretched. Determine the stiffness k of the
spring so that the motion of the bar is momentarily stopped
when it has rotated clockwise 90°.
1.5 m 1.5 m
SOLUTION
T1 + V1 = T2 + V2
1 1.5
0 + 0 = 0 + (k)(3.3541 – 1.5 )2 – 98.1 a b
2 2
k = 42.8 N>m Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
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This
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18–59.
When the slender 10-kg bar AB is horizontal it is at rest and A B k C

the spring is unstretched. Determine the stiffness k of the
spring so that the motion of the bar is momentarily stopped
when it has rotated clockwise 45°.
1.5 m 1.5 m
SOLUTION
Potential Energy: From the geometry shown in Fig. a, we obtain (yG)2 =
0.75 sin 45° = 0.5303 m and CB¿ = 232 + 1.52 - 2(3)(1.5) cos 45° = 2.2104. With
reference to the datum established in Fig. a, the initial and final gravitational
potential energy of the system is
(Vg)1 = WAB(yG)1 = 0
(Vg)2 = - WAB(yG)2 = - 10(9.81)(0.5303) = - 52.025 J
Initially, the spring is unstretched. Thus, (Ve)1 = 0. At the final position, the spring
stretches S = CB¿ - CB = 2.2104 - 1.5 = 0.7104 m. Then (Ve)1 = 0 and (Ve)2 =
1 2 1
ks = k (0.7104 2) = 0.2524k.
2 2
or
V1 = (Ve)1 + (Vg)1 = 0
laws
Web)
teaching
V2 = (Ve)2 + (Vg)2 = 0.2524k - 52.025
in
copyright
Wide
Dissemination
Kinetic Energy: Since the bar is at rest initially and stops momentarily at the final
permitted.
World
States
position, T1 = T2 = 0.
instructors
not
the
of
is
learning.
on
United
use
and
by
the
T1 + V1 = T2 + V2
student
work
for
(including
0 + 0 = 0 + 0.2524k - 52.025
the
protected
of
solely
work
is
k = 206.15 N>m = 206 N>m Ans.

assessing
this
work
and
of
integrity
provided
This
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*18–60.
If the 40-kg gear B is released from rest at u = 0°,

determine the angular velocity of the 20-kg gear A at the 0.15 m P
instant u = 90°. The radii of gyration of gears A and B
about their respective centers of mass are kA = 125 mm A u
and kB = 175 mm. The outer gear ring P is fixed.
SOLUTION 0.2 m
energy of gear B at positions (1) and (2) is
V1 = (Vg)1 = WB(yGB)1 = 40(9.81)(0) = 0
V2 = (Vg)2 = - WB(yGB)2 = - 40(9.81)(0.35) = - 137.34 J
vP
Kinetic Energy: Referring to Fig. b, vP = vArA = vA(0.15). Then, vB = =
rP>IC
vA(0.15)
= 0.375vA. Subsequently, vGB = vBrGB>IC = (0.375vA)(0.2) = 0.075vA.
0.4
The mass moments of inertia of gears A and B about their mass centers are
IA = mAkA2 = 20(0.1252) = 0.3125 kg # m2 and IB = mBkB2 = 40(0.1752) =
# 2
1.225 kg m . Thus, the kinetic energy of the system is
or
laws
Web)
teaching
T = TA + TB
in
copyright
Wide
I v 2 + c mBvGB2 + IBvB 2d
1 1 1 Dissemination
=
2 A A
permitted.
2 2
World
States
instructors
not
the
of
is
(0.3125)vA2 + c (40)(0.075vA)2 + (1.225)(0.375vA)2d

1 1 1
learning.
on
United
use
=
and
2 2 2
by
the
student
work
for
= 0.3549vA2
(including
the
protected
of
solely

work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
T1 + V1 = T2 + V2
courses
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and
of
0 + 0 = 0.3549vA2 - 137.34
destroy
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vA = 19.7 rad>s Ans.
18–61.
A uniform ladder having a weight of 30 lb is released from
rest when it is in the vertical position. If it is allowed to fall
freely, determine the angle u at which the bottom end A
starts to slide to the right of A. For the calculation, assume
the ladder to be a slender rod and neglect friction at A.
10 ft
SOLUTION u
Potential Energy: Datum is set at point A. When the ladder is at its initial and final
position, its center of gravity is located 5 ft and (5 cos u ) ft above the datum. Its A
initial and final gravitational potential energy are 30(5) = 150 ft # lb and
30(5 cos u ) = 150 cos u ft # lb, respectively. Thus, the initial and final potential
energy are
V1 = 150 ft # lb V2 = 150 cos u ft # lb
Kinetic Energy: The mass moment inertia of the ladder about point A is
b (52) = 31.06 slug # ft2. Since the ladder is initially at
1 30 30
IA = a b (102) + a
12 32.2 32.2
rest, the initial kinetic energy is T1 = 0. The final kinetic energy is given by
or
1 1
laws
T2 = I v2 = (31.06)v2 = 15.53v2
2 A 2
Web)
teaching
in
Conservation of Energy: Applying Eq. 18–18, we have
copyright
Wide
Dissemination
T1 + V1 = T2 + V2
permitted.
World
States
instructors
not
the
of
is
0 + 150 = 15.53v2 + 150 cos u

learning.
on
United
use
and
by
v2 = 9.66(1 - cos u)
the
student
work
for
(including
the
Equation of Motion: The mass moment inertia of the ladder about its mass center is
protected
of
solely
work
b (102) = 7.764 slug # ft2. Applying Eq. 17–16, we have

is
1 30
assessing
IG = a
this
12 32.2
work
and
of
integrity
provided
This
is
the
part
30
+ ©MA = ©(Mk)A; -30 sin u(5) = - 7.764a - a b [a(5)](5)
courses
32.2
any
and
of
destroy
a = 4.83 sin u
their
will
sale
+ ©Fx = m(aG)x; 30
Ax = - [9.66(1 - cos u)(5)] sin u
c
32.2
30
+ [4.83 sin u(5)] cos u
32.2
30
Ax = - (48.3 sin u - 48.3 sin u cos u - 24.15 sin u cos u)
32.2
= 45.0 sin u (1 - 1.5 cos u) = 0
If the ladder begins to slide, then Ax = 0 . Thus, for u>0,
45.0 sin u (1 - 1.5 cos u) = 0
u = 48.2° Ans.
18–62.
The 50-lb wheel has a radius of gyration about its center of 3 ft

gravity G of kG = 0.7 ft. If it rolls without slipping,
determine its angular velocity when it has rotated clockwise 0.5 ft B
90° from the position shown. The spring AB has a stiffness
k = 1.20 lb/ft and an unstretched length of 0.5 ft. The wheel 0.5 ft
G
is released from rest. k = 1.20 lb/ft A
1 ft
SOLUTION
T1 + V1 = T2 + V2
1 1 50 1 50
0 + (1.20)[2(3)2 + (0.5)2 - 0.5]2 = [ (0.7)2]v2 + ( )(1v)2
2 2 32.2 2 32.2
1
+ (1.20)(0.9292 - 0.5)2
2
v = 1.80 rad s Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
will
sale
18–63.
The uniform window shade AB has a total weight of 0.4 lb. M

When it is released, it winds up around the spring-loaded O B O
core O. Motion is caused by a spring within the core, which is
coiled so that it exerts a torque M = 0.3(10 - 3)u lb # ft, where
u is in radians, on the core. If the shade is released from rest,
determine the angular velocity of the core at the instant the
shade is completely rolled up, i.e., after 12 revolutions. When 3 ft
this occurs, the spring becomes uncoiled and the radius of
gyration of the shade about the axle at O is kO = 0.9 in.
Note: The elastic potential energy of the torsional spring is
Ve = 12ku2, where M = ku and k = 0.3(10 - 3) lb # ft>rad.
A
SOLUTION
T1 + V1 = T2 + V2
1 1 0.4 0.9 2 2
0 - (0.4)(1.5) + (0.3)(10 - 3)(24p)2 = a ba b v
2 2 32.2 12
v = 85.1 rad>s Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
their
will
sale
*18–64.
The motion of the uniform 80-lb garage door is guided at its k 9 lb/ft
ends by the track. Determine the required initial stretch in
the spring when the door is open, u = 0°, so that when it C
falls freely it comes to rest when it just reaches the fully
u B
closed position, u = 90°. Assume the door can be treated as
a thin plate, and there is a spring and pulley system on each
8 ft
of the two sides of the door.
8 ft
A
SOLUTION
sA + 2 s s = l
¢sA = - 2¢ss
8 ft = - 2¢ss
¢ss = -4 ft
T1 + V1 = T2 + V2
1 1
0 + 2 c (9)s2 d = 0 - 80(4) + 2 c (9)(4 + s)2 d
2 2
9s2 = - 320 + 9(16 + 8s + s2)
or
laws
s = 2.44 ft Ans.
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
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will
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18–65.
The motion of the uniform 80-lb garage door is guided at its k ⫽ 9 lb/ft
ends by the track. If it is released from rest at u = 0°,
determine the door’s angular velocity at the instant C
u = 30°. The spring is originally stretched 1 ft when the
u B
door is held open, u = 0°. Assume the door can be treated
as a thin plate, and there is a spring and pulley system on
8 ft
each of the two sides of the door.
8 ft
A
SOLUTION
vG = 4v
sA + 2ss = l
¢sA = - 2¢ss
4 ft = - 2¢ss
¢ss = - 2 ft
T1 + V1 = T2 + V2
1 1 80 1 1 80
0 + 2c (9)(1)2 d = a b (4v)2 + c a b(8)2 dv2 - 80(4 sin 30°)
2 2 32.2 2 12 32.2
or
laws
1
+ 2 c (9)(2 + 1)2 d
Web)
teaching
2
in
copyright
Wide
v = 1.82 rad>s Dissemination
Ans.
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
of
destroy
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will
sale
18–66.
The end A of the garage door AB travels along the

horizontal track, and the end of member BC is attached to a 12 ft
A
spring at C. If the spring is originally unstretched, determine B
the stiffness k so that when the door falls downward from
rest in the position shown, it will have zero angular velocity
the moment it closes, i.e., when it and BC become vertical. 15
7 ft
Neglect the mass of member BC and assume the door is a
thin plate having a weight of 200 lb and a width and height C
of 12 ft. There is a similar connection and spring on the 2 ft 6 ft
other side of the door.
SOLUTION D 1 ft
(2)2 = (6)2 + (CD)2 - 2(6)(CD) cos 15°
CD2 - 11.591CD + 32 = 0
Selecting the smaller root:
CD = 4.5352 ft
T1 + V1 = T2 + V2
1
0 + 0 = 0 + 2 c (k)(8 - 4.5352)2 d - 200(6)
or
2
laws
Web)
teaching
k = 100 lb/ft Ans.
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
work
is
assessing
this
work
and
of
integrity
provided
This
is
the
part
courses
any
and
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destroy
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will
sale
18–67.
Determine the stiffness k of the torsional spring at A, so

that if the bars are released from rest when u = 0°, bar AB B
has an angular velocity of 0.5 rad/s at the closed position,
u = 90°. The spring is uncoiled when u = 0°. The bars have 3m 4m
a mass per unit length of 10 kg>m.
u
C
A
k
SOLUTION
energy of the system at its open and closed positions is
A Vg B 1 = WAB (yG1)1 + WBC (yG2)1

= 10(3)(9.81)(1.5) + 10(4)(9.81)(1.5) = 1030.5 J

= 10(3)(9.81)(0) + 10(4)(9.81)(0) = 0
Since the spring is initially uncoiled, (Ve)1 = 0. When the panels are in the closed
p
position, the coiled angle of the spring is u = rad. Thus,
or
laws
2
Web)
teaching
p 2 p2
in
1 2 1
(Ve)2 = ku = ka b = k
copyright
Wide
2 2 2 8 Dissemination
permitted.
World
And so,
States
instructors
not
the
of
is
V1 = A Vg)1 + (Ve)1 = 1030.5 + 0 = 1030.5 J

learning.
on
United
use
and
by
the
p2 p2
V2 = A Vg)2 + (Ve)2 = 0 +
student
k =
work
k
for
8 8
(including
the
protected
of
solely
work
is
Kinetic Energy: Since the system is initially at rest, T1 = 0. Referring to Fig. b,

assessing
this
work
(vB)2 1.5
and
of
integrity
(vB)2 = (vAB)2 rB = 0.5(3) = 1.5 m>s. Then, (vBC)2 = = = 0.375 rad>s.

provided
rB>IC 4
This
is
the
part
Subsequently, (vG)2 = (vBC)2 rG2>IC = 0.375(2) = 0.75 m>s. The mass moments of
courses
any
and
of
inertia of AB about point A and BC about its mass center are

destroy
their
will
sale
ml = [10(3)] A 32 B = 90 kg # m2
1 2 1
(IAB)A =
3 3
and
[10(4)] A 42 B = 53.33 kg # m2
1 1
(IBC)G2 = ml2 =
12 12
Thus,
1 1 1
T2 = (I ) (v ) 2 + c mBC(vG2)2 + (IBC)G2 (vBC)2 2 d
2 AB A AB 2 2 2
1 1 1
= (90) A 0.52 B + c [10(4)] A 0.752 B + (53.33) A 0.375 2 B d
2 2 2
= 26.25 J
18–67. continued
T1 + V1 = T2 + V2
p2
0 + 1030.5 = 26.25 + k
8
k = 814 N # m>rad Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
the
student
work
for
(including
the
protected
of
solely
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is
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this
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and
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provided
This
is
the
part
courses
any
and
of
destroy
their
will
sale
*18–68.
The torsional spring at A has a stiffness of

k = 900 N # m>rad and is uncoiled when u = 0°. Determine B
the angular velocity of the bars, AB and BC, when u = 0°, if
4m
they are released from rest at the closed position, u = 90°. 3m
The bars have a mass per unit length of 10 kg>m.
u
C
A
k
SOLUTION
energy of the system at its open and closed positions is

= 10(3)(9.81)(0) + 10(4)(9.81)(0) = 0

= 10(3)(9.81)(1.5) + 10(4)(9.81)(1.5) = 1030.05 J
p
When the panel is in the closed position, the coiled angle of the spring is u = rad.
2
Thus,
or
p 2
laws
1 2 1
(Ve)1 = ku = (900)a b = 112.5p2 J
Web)
2 2 2
teaching
in
copyright
Wide
The spring is uncoiled when the panel is in the open position (u = 0°). Thus, Dissemination
permitted.
World
States
(Ve)2 = 0
instructors
not
the
of
is
learning.
And so,
on
United
use
and
by
the
V1 = A Vg)1 + (Ve)1 = 0 + 112.5p2 = 112.5p2 J

student
work
for
(including
V2 = A Vg)2 + (Ve)2 = 1030.05 + 0 = 1030.05 J

the
protected
of
solely
work
is
assessing
Kinetic Energy: Since the panel is at rest in the closed position, T1 = 0. Referring to
this
work
and
of
integrity
Fig. b, the IC for BC is located at infinity. Thus,

provided
This
is
the
part
(vBC)2 = 0 Ans.
courses
any
and
Then,
of
destroy
their
will
(vG)2 = (vB)2 = (vAB)2 rB = (vAB)2 (3)

sale
The mass moments of inertia of AB about point A and BC about its mass center are
ml = [10(3)] A 32 B = 90 kg # m2
1 2 1
(IAB)A =
3 3
and
[10(4)] A 42 B = 53.33 kg # m2
1 1
(IBC)G2 = ml2 =
12 12
Thus,
1 1
T2 = (IAB)A(vAB)2 2 + mBC(vG2)2
2 2
1 1
= (90)(vAB)2 2 + [10(4)] C (vAB)2 (3) D 2
2 2
= 225(vAB)2 2
18–68. continued
T1 + V1 = T2 + V2
0 + 112.5p2 = 225(vAB)2 2 + 1030.05
(vAB)2 = 0.597 rad>s Ans.
or
laws
Web)
teaching
in
copyright
Wide
Dissemination
permitted.
World
States
instructors
not
the
of
is
learning.
on
United
use
and
by
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work
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(including
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This
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18–1.

At a given instant the body of mass m has an angular IC

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

Thus, the kinetic energy of the wheel is

Principle of Work and Energy:

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

v = 14.1 rad/s Ans.

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

The 50-kg flywheel has a radius of gyration of k0 = 200 mm M ⫽ (9 u1/2) N⭈m

Since the wheel is initially at rest, T1 = 0 . Referring to Fig. a, W, Ox, and Oy do

Principle of Work and Energy:

v = 32.5 rad>s Ans.

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

The spool has a mass of 60 kg and a radius of gyration

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

Solve Prob. 18–5 if the coefficient of kinetic friction

+a©Fy = 0; NA - 60(9.81) cos 30° = 0

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

WB does negative work. When A moves 2 ft downward, the pulley rotates

Thus, the work of WA and WB are

Principle of Work and Energy:

282.61 + [40 + ( -30)] = 0.7065 v2

v = 20.4 rad>s Ans.

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

If the cable is subjected to force of P = 300 N, and the spool 400 mm

Since the spool is initially at rest, T1 = 0. Referring to Fig. b, W, N, and Ff do no

UP = Psp = 300(2.25) = 675 J

Principle of Work and Energy:

v = 7.57 rad>s Ans.

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

The two tugboats each exert a constant force F on the ship.

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

At the instant shown, link AB has an angular velocity

vC = 1.5(4 22) = 8.4853 in.>s

vG = 1.5(4.472) = 6.7082 in.>s

1 1 3(0.5) 3 2 1 4(0.5) 6.7082 2 1 1 4(0.5) 4 2

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

Determine the velocity of the 50-kg cylinder after it has

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

upward, wheel A rotates through an angle of uA = = = 13.333 rad. Then,

pulley B rotates through an angle of uB = u = a b (13.333) = 33.33 rad

Thus, the work done by M and WC is

UWC = - WC sC = - 200(5) = - 1000 ft # lb

Principle of Work and Energy:

0 + [2280.93 - 1000] = 0.6308v2

vC = 45.06(0.375) = 16.9 ft>s c Ans.

or transmission in any form or by any means, electronic, mechanical,

photocopying, recording, or likewise. For information regarding permission(s), write to:

uB = (5 rev)a b = 10p rad, the wheel rotates through an angle of

uA = uB = a b (10p) = 4p. Thus, the crate displaces upwards through a