Professional Documents
Culture Documents
Dynamics CHPTR 18 PDF
Dynamics CHPTR 18 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 B
(b) A = 359 N , B = 664.1 N
Solving, we find µA µB
N
(a) a = 0.3 m/s 2 A B
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
469
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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
470
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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
471
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) a = 0.981 m/s 2
NB
(b) NA = 809.5 N , NB = 2 58 N NA
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
472
A B
b c
MG : −NA b + NB c − FB h = 0
NA = 0 h
NB
NA
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
473
Solution:
M 50 N-m
(a) M = Iα ⇒ α = = = 2.5 rad/s2 .
I 20 kg-m2
α = 2.5 rad/s2 .
ω = 95.5 rpm.
Solution:
F 5N
(a) F = ma ⇒ a = = = 4.905 m/s 2
m 10 N
9.81 m/s2
aG =(4.905 m/s )j. 2
l Fl (5 N)(4 m)
(b) MG : −F = Iα ⇒ α = − =− = −10 rad/s 2 .
2 2I 2(1 kg -m 2 )
aA = aG + α × rA/G
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
474
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 = Iα ⇒ α = − =− = −10 rad/s 2.
2 2I 2( 1 kg- m2 )
aB = aG + α × rB/G
Td (10 N)(0.3 m)
α= = = 0.075 rad/s2 .
I (40 kg-m2 )
To reach maximum angular velocity it takes
π rad
(15◦/s)
ω 180◦
ω = αt ⇒ t = = = 3.49 s
α (0.075 rad/s2 )
During this time, the astronaut has rotated through
1 2 1
θ1 = αt = (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
◦ π rad
θ2 = ωt = (15 /s) (10 s − 3.49 s) = 1.704 rad.
180◦
The total rotation is then
180◦ ◦
θ = θ1 + θ2 = (0.457 + 1.704) rad = 124 .
π rad
θ = 124◦ .
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
475
(a) How long does it take the rotor to turn ten revolu-
tions?
(b) What is the rotor’s angular velocity (in rpm) when
it has turned ten revolutions?
ω = 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 , αA , αB , αC .
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 )αA
100 mm
MB : TAB (0.2 m) − TBC (0.1 m) = (0.045 kg-m2 )αB
100 mm
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
476
Solution:
M : (140 N-m) − (0.02 N-m/s2 )ω2 = (225 kg-m2 )α
140 0.02
α= rad/s2 − rad/s4 ω2
225 225
dω
(a) α=ω = (0.622 rad/s2 ) − (0.0000889 rad/s4 )ω2
dθ
ω 620(2π ) rad
ωd ω
= dθ
0 (0.622 rad/s ) − (0.0000889 rad/s
2 4
)ω2 0
Solving we find
1 rev 60 s
ω = 59.1 rad/s = 565 rpm
2π rad 1 min
1 rev 60 s
ω = 83.7 rad/s = 799 rpm
2π rad 1 min
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
477
a = (0.1 m)α.
Solving we find
d = 0.818 m.
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
478
4 kg
20 kg
T1 , T2 , Ox , Oy , a, α.
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)α.
Solving we find
d = 0.721 m, T2 = 80.8 N.
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
479
22.2 N
T1 − (0.2)(22.2 N ) = 2
a,
9.18 m/s
a = ( 0.152 m ) α.
Solving we find
T1 = 4.83 N , α = 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.
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
480
3g 3(9.81 m/s2 )
α= = = 12.3 rad/s2 .
2L 2(1.2 m)
α = 12.3 rad/s2 .
3g ◦ 3(9.81 m/s2 ) ◦
α= cos 45 = cos 45
2L 2(1.2 m)
α = 8.67 rad/s2 .
3g ◦ 3(9.81 m/s2 ) ◦
α= 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 + α × rG/O − ω2 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.
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
481
90◦
1 2 3g 3g
ω = sin θ =
2 2L 0 2L
3g 3(9.81 m/s2 )
ω= = = 4.95 rad/s.
L (1.2 m)
ω = 4.95 rad/s.
1
+ (3 kg)(0.6 m)2 + (3 kg)(0.1 m)2
12
ID = 0.467 kg-m2 .
(b)
α = 23.1 rad/s2 .
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
482
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
α= = 23.1 rad/s2 .
0.467 kg-m2
From Newton’s Second Law we have
m 2 12gx l (4 m)
Mfixed point : mgx = I α = (l + 12x 2 )α ⇒ α = 2 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)
α= = 4.20 rad/s2 . α = 4.20 rad/s2 . α= = 4.25 rad/s2 α = 4.25 rad/s2 .
(4 m)2 + 12(1 m)2 (4 m)2 + 12(1.15 m)2
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
483
= 1780 kg-m2 .
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
484
700 mm
a = α × rCM/O − ω2 rCM/O
Bx = −11.0 N , By = 108.5 N .
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
485
700 mm
aB = α × rB/A − ωAB
2 r
B/A = −ωAB (0.7i) (m/s ).
2 2
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).
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
486
Solution: The total moment about the center of mass must equal
zero:
M = (18)(Ff sin 5◦ ) − (2)(Ff cos 5◦ )
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
487
m
m
50 x
0
90
z B
50°
− (0.6)2 (0.76 cos 15◦ i − 0.76 sin 15◦ j)
Bx
MB
= −0.323i − 0.149j (m/s ) 2
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).
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
488
30⬚
◦
F : mg sin 30 − f = ma
a = rα
Solving, we find
mgr 2 sin 30◦
a=
I + mr 2
= 3.27 m/s2 .
From the kinematics we have
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
489
30⬚
MG : −f R = −I α,
◦
F : mg sin 30 − f = ma,
◦
F : N − mg cos 30 = 0,
a = Rα,
f = µs N.
Putting in the numbers and solving, we find
D D
MG : −f R = −I α,
a = Rα,
mgr 2 sin θ
Solving, we find a =
I + mr 2
g
For the ring Iring = mr 2 ⇒ aring = sin θ
2
1 2 2g
For the disk Idisk = mr ⇒ adisk = sin θ
2 3
The velocities are then
4
vring = 2aring D = gD sin θ , vdisk = 2adisk D = gD sin θ
3
The ratio is
√
vring gD sin θ vring √
= = 3/4 = 3/4
vdisk 4 vdisk
gD sin θ
3
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
490
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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
491
Solution: The force in the spring is kx. There are five unknowns
(Ox , Oy , T , a, α), four dynamic equations, and one constraint equation.
MO : (kx)R − T R = −I α,
Fy : T − mg = −ma,
a = Rα
Solving we find
(a)
R(mg − kx)
α=
I + mR 2
α = 14.7 rad/s2 .
(b)
T = 41.7 N.
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
492
Solution: The force in the spring is kx. There are five unknowns
(Ox , Oy , T , a, α), four dynamic equations, and one constraint equation.
MO : (kx)R − T R = −I α,
Fy : T − mg = −ma,
a = Rα
Solving we find
R 2 (mg − kx) dv
a= =v
I + mR 2 dx
0 x R 2 (mg − kx) R2 x
vdv = dx = (mg − kx) d x = 0
0 0 I + mR 2 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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
493
(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 α
We have, at x = −0.5 m
− kx − f = ma0x
N − mg = 0
− Rf = I0 α
a0x = −Rα
f = µs N
µs = f/N = 100/441.5
µs = 0.227
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
494
Fx : F − f = ma,
Fy : N − mg = 0,
1 2
MG : −f r = − mr α,
2
a = rα,
f = µs 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) µs = = = 0.278 µs = 0.278.
3mg 3(12 N)
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
495
Solution: Given
W = 186.8 N , g = 9.81 m/s2, m = W/g, R = 0.102 m , µk = 0.06
We have
W
Fx : µk N = ma
Fy : N − mg = 0
µ RW
W
2
MG : µk NR = mR 2 a
5
Solving we find
5µk g
α= = 14.49 rad/s2 , a = µk g = 0.59 m /s2
2R
From kinematics we learn that
W
α = 14.49 rad/s2 , ω = (14.49 rad/s2 )t − (40 rad/s)
µk N
a = 0.59 m/s 2, v = ( 0.59 m/s)t
when we reach a steady motion we have N
v = −Rω ⇒ (0.59 m/s )t = −(0.102 m)[(14.49 rad/s )t − (40 rad/s)]
2 2
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
496
(a) Slipping.
mg
Fx : −µN = ma
µΝ
Fy : N − mg = 0
N
2
MG : −µN R = mR 2 α
3
Solving we find
1
a = −µg ⇒ v = v0 − µgt, s = v0 t − µgt 2
2
3µg 3µg
α=− ⇒ ω=− t
2R 2R
3 2v0
v = −Rω ⇒ v0 − µgt = µgt ⇒ t = = 0.765 s
2 5µg
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
497
−RF − I α Iα
f = = −F − . f
R R N
4F 2000
ax = = = 6.67 m/s2 .
3m 300
F 500
f = F − max = − =− = −167 N.
3 3
ax 6.67
α=− =− = −22.22 rad/s2 .
R 0.3
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
498
Sun gear
Solution: F
MS = 200 N-m
er
Sun Gear: M0 : MS − 3RF = IS αS F R
r
C IP
G O Is
Planet Gears: Mc : Gr − F r = IP αP
Ms
et
F
Ft : F + G = mP act 3 small disks F
2αP rP = −RαS
αS = 3.95 rad/s2 ,
G = 9.63 N,
αP = −5.49 rad/s2 ,
F = 27.9 N.
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
499
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
= aB j + 1.732αi + αj,
from which ax = 1.732α. Substitute into (1), (2) and (3) to obtain three
equations in three unknowns: −1.732P + N = I α, P = m(1.732)α,
N − mg = −mα. Solve: (a) α = 1.84 rad/s2 , P = 57.3 N, (b) N =
143.47 N
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
500
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 α
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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
501
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 θ = mL2 α
2 3
3g 3(9.81 m/s2 ) ◦
α= cos θ = cos 60
2L 2(1 m)
α = 7.36 rad/s2 .
(b) The surface is smooth. There are four unknowns (N, ax , ay , α),
three dynamic equations, and one constraint equation (the y
component of the acceleration of the point in contact with the
ground is zero).
Fx : 0 = max ,
Fy : N − mg = may ,
L 1
MG : N cos θ = mL2 α
2 12
L
ay + α cos θ = 0
2
Solving, we find
6g cos θ 6(9.81 m/s2 ) cos 60◦
α= = = 16.8 rad/s2 .
L(1 + 3 cos θ )
2 (1 m)(1 + 3 cos2 60◦ )
α = 16.8 rad/s2 .
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
502
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 α
2
We can solve the last equation for α 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 α
2
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
503
0.91 m 0.31 m
Solution: Given Ay
g = 9.81 m/s , Wbar = 22.2 N , Wdisk = 44.5 N ,
2
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 αdisk
2
Fy : Ay − mdisk g = mdisk aydisk
Kinematic constraint
Solving we find
αdisk = 3.58 rad/s2 , αbar = −12.5 rad/s2 , aydisk = −34.0 m/s2 ,
Ay = −0.556 N
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
504
120 mm
from which
L L
− Ay + By = Ib αb .
2 2
from which
L
aby = αb .
2
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
505
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 αB
Kinematic constraints
aBy = aAy , aBy = RαB
We also have
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
506
0.102 m
0.102 m
WA Wdisk
mA = , mdisk = , R = 0.102 m, T = 66.7 N
g g
The FBDs
T4 Wdisk
The dynamic equations
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 α1
T3
M2 : T1 R − T4 R = I α2
The kinematic constraints
WA
a1 = Rα1 , a2 = Rα2 , a1 = 2Rα2 , aA = a2
We also have
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
507
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 θ
L L 2
MG : cos θ By + sin θ Bx = IG α (3)
2 2
m
Fx : − Bx = Ma0x (4)
G
Fy : N − By − Mg = 0 (5) θ
mg (L / 2) sin θ
From kinematics, ω = 0 (initially)
O
x
a0 = aG + αk × r0/G Bx
L L By
where r0/G = cos θi − sin θj
2 2
By = 13.97 N, N
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
508
L=1m m = 2 kg
L
M = 5 kg θ 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 θ By + sin θ Bx = IG α (3)
2 2 Mg
a0 = aG + α × r0/G = 0
N
Bx = −6.91 N, By = 14.78 N,
µs = 0.108
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
509
1m 0.25 m
◦
− Oy (0.5 m) sin 40 = 0,
1
= (1 kg)(0.25 m)2 α,
2
a = (0.25 m)α.
Solving, we find
Ox = 3.29 N, Oy = −3.92 N,
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
510
3m 6m
◦
− T cos 45 (6 m)
N N
◦
− T sin 45 (3 m)
1 40 N
= (45 m 2 )α,
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, θ = 63.4 .
x = L cos θ + d 2 − L2 sin2 θ
L2 cos θ sin θ
ẋ = −L sin θ − θ̇
d 2 − L2 sin2 θ
Since the velocity ẋ = 0, then we know that the angular velocity
ω = θ̇ = 0. Taking one more derivative and setting ω = 0, we find
L2 cos θ sin θ
ẍ = −L sin θ − θ̈ ⇒ −(14 m/s 2)
d 2 − L2 sin2 θ
L2 cos θ sin θ
= −L sin θ − α
d 2 − L2 sin2 θ
Solving these equations, we find that
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
511
3m 6m
◦
− T cos 45 (6 m)
N
N
◦
− T sin 45 (3 m )
1 40 N
= (45 m2 )α,
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 , θ = 63.4 .
x = L cos θ + d 2 − L2 sin2 θ
L2 cos θ sin θ
ẋ = −L sin θ − θ̇
d 2 − L2 sin2 θ
Since the velocity ẋ = 0, then we know that the angular velocity ω =
θ̇ = 0. Taking one more derivative and setting ω = 0, we find
L2 cos θ sin θ
ẍ = −L sin θ − θ̈ ⇒ −(14 m/s2 )
d 2 − L2 sin2 θ
L2 cos θ sin θ
= −L sin θ − α
d 2 − L2 sin2 θ
Solving these equations, we find that
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
512
Since C stays in contact with the floor, we set the j component to zero
⇒ ωBC = −5 rad/s. Now the acceleration analysis.
aB = aA + αAB × rB/A − ωAB 2 rB/A
Since C stays in contact with the floor, we set the j component to zero
⇒ αBC = 37.5 rad/s2 . Now we find the acceleration of the center of
mass G of bar BC.
The total force and moment cause the accelerations that we just cal-
culated. Therefore
1
M = Iα = (8 kg)([0.8 m]2 + [0.4 m]2 )(37.5 rad/s2 ) = 20 N-m.
12
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
513
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 αBC
12
The kinematic constraints
We also find
aBCx = −8.23 m/s2 , aBCy = 4.12 m/s2
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
514
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 α = IF −
R
Car Body:
Fx = −Fx − Gx = mB a,
Fy = Fy + Gy − mB g = 0.
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
515
A 649 mm B
1500 mm
a = 0.33α. (1)
Front Wheel :
Fx = Bx + fF = mω a, (2)
Fy = By + NF − mω g = 0, (3) Ax
Bx
M = −fF (0.33) = Iα . (4)
M By
Ay mg
Rear Wheel :
Ay
Fx = Ax + fR = mω a, (5) By
Ax Bx
M m
Fy = Ay + NR − mω g = 0, (6) m wg wg
fR fF
M = M − fR (0.33) = I α. (7)
NR NF
Motorcycle:
Fx = −Ax − Bx = ma, (8)
Fy = −Ay − By − mg = 0, (9)
M = −M + (Ax + Bx )(0.723 − 0.33)
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
516
6 cm
B
O
12 cm
aB = aA + αAB × rB/A : β
15 cm
i j k
C
aB i = (6/12)αi + 0 0 αAB 6 cm
1 −0.5 0
O
we see that αAB = 0 and
aB = (6/12)α (1).
66.7 N
The free body diagrams of the handle and object B are as shown. Note
that β = arctan(6/12) = 26.6◦ . Newton’s second law for the object C
B is β
A aA = (6/12) i
Solving Equations (1)–(3) with F = 0.89 N, we obtain α = 6.8 rad/s2
B aB
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
517
The kinematics
Bx θ
aB = aA + αAB × rB/A − ωAB rB/A 2
G
= 0 + 0 − (4 rad/s)2 (1 m)i = −(16 m/s2 )i
Fy : By = may
1
MG : Bx (0.5 m) sin θ − By (0.5 m) cos θ = m(1.0 m)2 αBC
12
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
518
θ
O
P
i j k
45° P
O x
aQ = a0 + α0Q × rQ/0 = 0 0 −αOQ
2 cos 45◦ 2 sin 45◦ 0
Qy Qy
= 2αOQ sin 45◦ i − 2αOQ cos 45◦ j.
Qx Qx
The acceleration of P is
6N 6N
O
aP = aQ + αP Q × rP /Q N
i j k
From the diagrams:
aP i = 2αOQ sin 45◦ i − 2αOQ cos 45◦ j + 0 0 αP Q .
2 cos 45◦
2 sin 45◦ 0 The equation of angular motion of bar OQ is M0 = I0 αOQ :
Equating i and j components, Qx (2 sin 45◦ ) − Qy (2 cos 45◦ ) + 6 cos 45◦ = 13 (6/9.81)(2)2 αOQ (5).
aP = 2αOQ sin 45◦ − 2αP Q sin 45◦ (1) The equations of motion of bar PQ are
0 = −2αOQ cos 45◦ + 2αP Q cos 45◦ (2). Fx = −Qx = (6/9.81 )aGx (6)
Hence,
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
519
B
and − aB sin 45◦ = −aA + 0.5αAB , (2).
i j k
aG = aGx i + aGy j = −aA j + 0 0 αAB , A
0.25 −0.6 0
aA
or aGx = 0.6αAB , (3); G
y αAB
and aGy = −aA + 0.25αAB , (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 β + (By − Ay ) sin β] = (4)L2 αAB (11), P
12
Bx
where L= (0.5)2 + (1.2)2 m
(2)(9.81)
and β arctan(0.5/1.2) = 22.6◦ .
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
520
2R
√
Solution: For the bar: The length of the bar is L = 5R. Apply By
Newton’s 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 αAB .
2
For the disk: Apply Newton’s 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 αD (3) RBy − RNA − Bx = − αD ,
2 2
From kinematics: Since the system is released from rest, ωAB = (4) f − Bx = −4RmαD ,
ωD = 0. The acceleration of the center of the disk is aD = −RαD 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 αD .
i j k
aB = aD + αD × rB/D = aD + 0 0 αD = −RαD i − RαD 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 = − + αD .
acceleration of B is 2 16 4R
RαAB
= aA − i + RαAB j. 6g
2 aD = .
95R
From the constraint on the motion, aA = aA i. Equate the expressions
αD
for aG , separate components and solve: αAB = − . Substitute to
2
5R R
obtain aGx = − αD , aGy = − αD . Collect the results:
4 2
5Rm
(1) Bx = − αD ,
4
Rm
(2) By + NA − mg = − αD ,
2
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
521
D
A x
0.2 m 0.2 m
= −(2 m/s)i
10 rad/s
vC = vB + ωBC × rC/B A
D
0.4 m
= −(2 m/s)i + ωBC k × (0.2 m)i = −(2 m/s)i + (0.2 m)ωBC j
vD = vC + ωCD × rD/C Cx
Bx
= −(2 m/s)i + (0.2 m)ωBC j + ωCD k × (0.2 m)(i − j)
Acceleration Dx
= −(20 m/s2 )j + (−200 rad/s2 )k × (0.1 m)i − (−10 rad/s)2 (0.1 m)i
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
522
Solution: Diagrams of the bar and collar showing the force they eθ
exert on each other in the horizontal plane are: the bar’s equation of er
N
angular motion is
r
M0 = I0 α: − Nr = 13 (2)(2)2 α (1) N
d2r dr
F = ma: N eθ = m − rω 2
e r + rα + 2 ω eθ .
dt 2 dt
Equating eθ components,
dr
N = m rα + 2 ω = (6)[rα + 2(0.5)(0.4)] (2).
dt
Solving Equations (1) and (2) with r = 1.2 m gives α = −0.255 rad/s2
Solution: Let C be the couple the collar and bar exert on each
other: The bar’s equation of angular motion is
M0 = I0 α: − Nr − C = 13 (2)(2)2 α (1).
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
523
LO
2m
1
Iv = r 2 dm = (22 + y 2 )ρA dy
m 0
13 26
= ρA = 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 = ρA dr. Assume that
the second bar is very slender, so that the mass is concentrated at a
distance l from O. Thus dm = ρA 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 = ρA r 2 dr + ρA l
(l 2 + x 2 ) dx
0 −2
l 1
r3 x3 2
I = ρA + ρA l 2 x +
3 0 3 −1
2
1 1 17
= ml 2 +1+ = ml 2
3 12 12
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
524
50⬚
x
1m
6 kg
Solution: The density is ρ = = 2 kg/m
3m y
1 m
Iz = ρx 2 d x
0
2 m
◦ ◦
+ ρ[(1 m + s cos 50 )2 + (s sin 50 )2 ] d s 2m
0
x
1m
2 m
◦ 2m
+ ρ[(1 m + s cos 50 )2 ] d s
0
x
1m
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
525
Solution:
y
m = 12 kg
Area = 12 bh
h
x
ρ = mass/Area
dm = ρdA
b
From Appendix B,
12 1
1 3 1 3 Iy = ρIyA = 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
ρ = 12 kg/m2
Iz = 2.667 + 0.667 kg-m2
Ix = ρy 2 dA = ρ y 2 dA
Iz = 3.333 kg-m2
Ix = ρIxA , Iy = ρIyA
1
Ix = 12 (1)(2)3 = 2.667 kg-m2
36
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
526
Solution:
Ro
Ri
(a) The area moments of inertia for a circular area are
π R4
Ix = Iy = .
4
π 4
Ix = (R − Ri4 )
4 o
m
The area mass density is , thus for the plate with a circular
A
cut,
m m
= ,
A π(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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
527
The distance from the y-axis is x, where x varies over the range
m W
−4 ≤ x ≤ 4. Let τ = = 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
+4 x2
4− 4
W
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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
528
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 = ρAdr, from which the moment of inertia
about one end is
ml 2 ml 2 17 2
I0 = + l2m + = ml
l l 3 12 12
r3 ml 2
I1 = ρA r 2 dr = ρA = .
0 3 0 3
l 2l
2 r3 ml 2
I2 = ρA l
r dr = ρA
2
=
−2 3 l
−2 12
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
529
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 ρ = = 10 kg/m
3m
1 1
Iz = (10 kg)(1.0 m)2 + (20 kg)(2 m)2
3 12
Iz = 74 kg-m2
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
530
4 cm
x⬘
x
√ mass is m = 0 .155 kg. Its length is L =
Solution: The Bar’s 8 cm
L1 + L 2 + L 3 = 8 + 82 + 82 + π(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 4π
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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
531
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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
532
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 ρ = .
A
The area is
from which
36
ρ= = 100 kg/m2 .
0.36
1 1
Ix -axis = ρ (0.4)(0.63 ) + ρ (0.4)(0.3)3 = 3.24 kg-m2
3 3
from which
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
533
400 mm
400 mm
x
200 200
mm mm
1
+ (0.4 m)(0.6 m) = 0.36 m2
2
20 kg
ρ= = 55.6 kg/m2 800
0.36 m2
200
Using the integral tables we have
1 1 400
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
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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
534
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
ρ= = = 0.1852 kg/m2 .
A 27
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
535
10 mm
30 mm
O
30
mm
130 mm
A1 = 1
2 (130)(80) mm2 , 1
30 mm
A2 = π(10)2 mm2 . x
O
Using Appendix B, 100 mm
1 1
Ix = (130)(80)3 − π(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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
536
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 h
3mR 2 3mR 2 z5 3mR 2
Iz-axis = z4 dz = =
2h5 0 2h5 5 0 10
m 3m
Solution: The mass density is ρ = = . The differential
V π R2 h
element of mass is dm = ρπ 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
π R4
r 2 dm = ρ z4 dz,
h4
π R2
and z2 dm = ρ z4 dz. Substitute:
h2
h h
π R4 π R2
Ix = ρ z4 dz + ρ 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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
537
60 mm
180 mm z
180 mm
z
1 2 1 1 z
(Iz )element = mr = [ρ(πr 2 )dz]r 2 = ρπ(0.167z)4 dz. dz
2 2 2
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) = ρπ(0.167)4
0.18 2 5 0.18
5 0.36
1 z
= (8200)π(0.167)4
2 5 0.18
= 0.0116 kg-m2 .
1 2 1
(Ix )element = mr + mz2 = [ρ(πr 2 )dz]r 2 + [ρ(πr 2 )dz]z2
4 4
1
= ρπ(0.167z)4 dz + ρπ(0.167z)2 z2 dz.
4
0.36 0.36
1
I(x axis) = ρπ(0.167)4 z4 dz + ρπ(0.167)2 z4 dz
4 0.18 0.18
= 0.844 kg-m2 .
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
538
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 ρ =
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 1
of the plate: dIy = ρ bc , from which dIy =
3 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
m 2 m 2
1 Iy = (a + c2 ) Iz = (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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
539
2 3R 2 2 3R 2
− ρ π R3 + ρ π 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 )π(0.1 m)2 (0.6 m)](0.1 m)2
2 x, x⬘
1
+ [(7860 kg/m2 )π(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 )π(0.1 m)2 (0.6 m)] (0.6 m)2 + (0.1 m)2
12 4
Iy = 20.1 kg-m2
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
540
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 π(0.04)2 (0.04) = 0.281 kg, +
0.12
m
C 2 x – 3 x
m3 = (2800)π(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)/(3π ) = 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 .
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
541
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 = ρπ R 2 h = 0.294 kg,
ρπ 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 × 10−6 kg-m2 ,
4
IL0 = I1 + I2 − I3 + I4 = 0.00367 kg-m2
Part (2) m2 = ρwLh2 = 0.312 kg,
= 0.00108 kg-m2 .
2
4R 4R 2
I3 = − m2 + I1 + m3 L −
3π 3π
= 0.00041179 kg-m2 .
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
542
= 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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
543
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)
αA = αC = αC = 4αC ,
RA RB2 (0.1)(0.1)
RC 0.2
αB = αC = αC = 2αC .
RB2 0.1
ωC = αC t = 76.9 rad/s
1 αC 2
N =θ = (2 ) = 12.2 revolutions
2π 4π
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
544
100 mm 100 mm
Solution:
(a) From Newton’s 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.
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
545
− B + Ax = maGx , Ay − W = maGy ,
L cos θ L sin θ W
− Ay + (B + Ax ) = IG α, Ax
2 2
where aGx , aGy are the accelerations of the center of mass. From Ay
kinematics,
aG = aA + α × rG/A − ωAB
2 r
G/A = 20i m/s
2
− B + Ax = ma, Ay − W = 0,
L cos θ L sin θ
− Ay + (B + Ax ) = 0.
2 2
W cot θ ma
Solve: B = − . For W = mg = 19.62 N, θ = 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 θ = 5.66 m /s 2 .
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
546
15˚
mg a
Rf = I α.
f
From these equations and the relation a = Rα, 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 .
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
547
305 mm A
71.2 N
35.6 N
i j k
= 0 0 αA = 0 + 2RA αA j,
2RA 0 0
from which (7) aRy = −2RA αA , 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
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
548
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 .
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
549
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
550
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
Newton’s 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 α = 0.
Newton’s 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 θα,
From kinematics: the acceleration of the center of mass of the bars in (5) FAx + Ax = ( 0 . 1 2 7 ) mB sin θα,
terms of the acceleration at point A is
i j k (6) FAx sin θ + FAy cos θ − Ax sin θ + Ay cos θ = ( 7 . 8 7 ) IB α,
α
aBG = α × rG/A − ω2 rG/A =
0 0
− 0.127 cos θ − 0.127sin θ 0
(7) FBx + Bx = ( 0 . 1 2 7 ) mB sin θα,
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
551
L
rN = iL sin θ, rP = jL cos θ, rG = (i sin θ + j cos θ).
2
θ
From Newton’s second law:
P − µN = maGx , N + µP − 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 + µP j) + rN/G × (Nj − µ Ni) :
mL cos θ
i j k i j k (1) P − µN = α,
PL NL 2
MG = − sin θ cos θ
0 + sin θ − cos θ 0. mL sin θ
2 2 (2) µP + N = − α + mg.
1 µ 0 −µ 1 0 2
PL NL
(3) − (cos θ + µ sin θ) + (sin θ − µ cos θ) = IB α.
PL NL 2 2
MG = − (cos θ + µ sin θ)k + (sin θ − µ cos θ)k
2 2 Solve the first two equations for P and N:
aG = aP + α × rG/P − ω2 rG/P
θ
i j k
0 mg
= aP j + 0 α, µN
L sin θ L cos θ
− 0
2 2 N
αL cos θ αL sin θ
aG = i + aP + j,
2 2
L cos θ
from which aGx = α.
2
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
552
Ay 1067 – 222.4 N By
a = ( 0.102 ) αB . (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 ) αB . (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 ) αA . (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.
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
553
= −0.4αCDE j + 0.4ωCDE
2 i.
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
554
◦ ◦
aB = −ωAB
2 r
B/A = −(0.5 )(0.3 cos 30 i + 0.3 sin 30 j),
2
aC = aB − ωBC
2 r
C/B = aB − ωBC (0.2349i − 0.08551j).
2
aG = aC − ωCD
2 (0.125i) (m/s2 ),
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,
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
555
45° B
O
30°
aA = aB + αAB × rA/B .
L
(5) Ay L cos θ − Ax L sin θ − mg cos θ = IOA αOA ,
2
i j k
aA = aB + 0 0 αAB .
mL2 4
−L cos θ L sin θ 0 where IOA = = kg-m2 .
3 3
aA = aB − iαAB L sin θ − jαAB L cos θ (m/s2 ). The equations of motion for the right bar:
from which
LαAB
(3) aGABx = −αOA L sin θ + sin θ (m/s2 ),
2
LαAB
(4) aGABy = αOA L cos θ + cos θ.
2
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
556
L sin θ L cos θ Fx
aGOA = − αOA i + αOA j (m/s2 ).
2 2
The equations of motion: Use the solution to Problem 18.140: θ = 45◦ , αGA = 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 αs .
Hub & Planet Gears
For the hub and planet gears: R
Q
R
(2) (0.48)αHP = −0.24αs , F
F
(3) F − Q − R = mHP (0.14)(−αHP ),
M
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
557
from which β = 14.9◦ . The vectors (4) aGCRy = −0.085αBC cos β (m/s2 ).
Cx = −4755.5 N, Cy = 1266.3 N,
Equate the two expressions for the acceleration of point B, note ωAB =
ωBC = 0, and separate components:
aC = −53.15 m/s2 .
(1) − 0.05αAB sin 40◦ = aC − 0.125αBC sin β,
By
i j k Cx 5000 N Bx
aGCR = aC i + 0 0 αBC
−0.085 cos β 0.085 sin β 0 Ay
Ax
Cy M
2 (−0.085 cos βi + 0.085 sin βj) (m/s2 ),
− ωBC N
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
558
From the j component, 0.05 cos 40◦ ωAB = −0.125 cos βωBC , from
which ωBC = −66.4 rad/s. The nine equations in nine unknowns
obtained in the solution to Problem 18.127 are
(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 )
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior
to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
559