END OF UNIT ASSESSMENT: Examination

COLLEGE: Science

SCHOOL: School of Engineering

MODULE: Statics and Dynamics

MODULE CODE: EGR1016M - 1415

LEVEL: ONE

EXAMINER: Dr Colin Dowding

DATE: 15 May 2015

START TIME: 9.00 am

TIME ALLOWED: 3 Hours

==========================================================

INSTRUCTIONS TO STUDENTS:

QUESTIONS TO ANSWER: Answer any FOUR (4) Questions

MARKING SCHEME: All questions carry TWENTY FIVE (25)

marks

MATERIALS PROVIDED: None

MATERIALS ALLOWED: Scientific Calculators; Graphical

Calculators are NOT allowed

NOTES TO STUDENTS: No further marks will be awarded for

answers to a fifth question. Clearly cross
out any answers to a question that you
do not wish to be considered for
marking.
Page 1 of 14
Page 2 of 14
LIST OF STATICS EQUATIONS

SINE RULE EQUATIONS OF EQUILIBRIUM

∑ 𝐹𝑥 = 0 ; ∑ 𝐹𝑦 = 0; ∑ 𝐹𝑧 = 0
𝐴 𝐵 𝐶
= =
sin(𝑎) sin(𝑏) sin(𝑐)

∑ 𝑀𝑥 = 0 ; ∑ 𝑀𝑦 = 0; ∑ 𝑀𝑧 = 0
COSINE RULE

𝐶 = √𝐴2 + 𝐵2 − 2𝐴𝐵 cos(𝑐) FRICTION

𝐹𝑆 = 𝜇𝑆 𝑁
FORCES
𝑇2 = 𝑇1 𝑒 𝜇𝛽
𝑭 = 𝐹𝑥 𝒊 + 𝐹𝑦 𝒋 + 𝐹𝑧 𝒌

CENTROIDS
2 2 2
𝐹𝑅 = √𝐹𝑅𝑥 + 𝐹𝑅𝑦 + 𝐹𝑅𝑧
∫ 𝑥̃𝑑𝐴
𝑥=
∫ 𝑑𝐴
𝑨
𝒖𝑨 =
𝐴
∫ 𝑦̃𝑑𝐴
𝑦=
𝐴𝑥 𝐴𝑦 𝐴𝑧 ∫ 𝑑𝐴
cos𝛼 = ; cos𝛽 = ; cos𝛾 =
𝐴 𝐴 𝐴
∫ 𝑧̃ 𝑑𝐴
𝑧=
𝑭 = 𝐹𝒖 ∫ 𝑑𝐴

CALCULUS RULES
𝑭𝑹 = ∑ 𝑭 = ∑ 𝐹𝑥 𝒊 + ∑ 𝐹𝑦 𝒋 + ∑ 𝐹𝑧 𝒌
Chain Rule:

𝑑𝑦 𝑑𝑦 𝑑𝑢
MOMENTS = .
𝑀𝑜 = 𝐹 𝑑 𝑑𝑥 𝑑𝑢 𝑑𝑥

Product Rule:
𝑴𝒐 = 𝒓 × 𝑭
𝑑(𝑢. 𝑣) 𝑑𝑣 𝑑𝑢
=𝑢 +𝑣
𝑑𝑥 𝑑𝑥 𝑑𝑥
𝑴𝑨 = 𝒖𝑨 ∙ 𝑴𝒐
Quotient Rule:

𝑔′(𝑥) . ℎ(𝑥) − 𝑔(𝑥). ℎ′(𝑥)

Quadratic Formula 𝑓 ′ (𝑥) =
[ℎ(𝑥)]2

√𝑏 2 + 4𝑎𝑐 − 𝑏
𝑥=
2𝑎
Page 3 of 14
LIST OF DYNAMICS EQUATIONS

MOTION ANALYSIS RIGID BODY MOTION

𝑑𝑠 𝑑2 𝑠 𝜔=
𝑑𝜃
; 𝛼=
𝑑𝜔
𝑣= ; 𝑎= 2 𝑑𝑡 𝑑𝑡
𝑑𝑡 𝑑𝑡
𝛼 𝑑𝜃 = 𝜔 𝑑𝜔
∫ 𝑎 𝑑𝑠 = ∫ 𝑣 𝑑𝑣; 𝑎 = 𝑣(𝑑𝑣/𝑑𝑠)
3⁄ 𝑣 = 𝜔×𝑟𝑃 ; 𝑎𝑡 = 𝛼×𝑟𝑃
𝑑𝑦 2 2
𝑣2 [1+( ) ]
𝑑𝑥
𝑎𝑛 = 𝜌
; 𝜌= 𝑑2 𝑦 𝑎𝑛 = 𝜔×(𝜔×𝑟𝑃 ) = −𝜔2 𝑟
| 2|
𝑑𝑥

Relative Motion Analysis:

𝑑𝑣 𝑑2 𝑟
𝑎= = = 𝑎𝑥 𝑖 + 𝑎𝑦 𝑗 + 𝑎𝑧 𝑘 𝒂𝐵 = 𝒂𝐴 + 𝛼×𝒓𝐵/𝐴 − 𝜔2 𝒓𝐵/𝐴
𝑑𝑡 𝑑𝑡 2
Sliding Rotating Axis:
𝑣 = 𝑟̇ 𝑢𝑟 + 𝑟𝜃̇𝑢𝜃 ; 𝑣 = √𝑟̇ + 𝑟𝜃̇ 𝑣𝐵 = 𝑣𝐴 + (𝑣𝐵/𝐴 ) + 𝛺×𝑟𝐵/𝐴
𝑥𝑦
𝑎 = (𝑟̈ − 𝑟𝜃̇ 2 )𝑢𝑟 + (𝑟𝜃̈ + 2𝑟̇ 𝜃̇)𝑢𝜃
𝑎𝐵 = 𝑎𝐴 + (𝑎𝐵 ) + 2𝛺× (𝑣𝐵 )
Absolute dependent motion: 𝐴 𝑥𝑦 𝐴 𝑥𝑦

𝑣𝐴 = −𝑣𝐵 + 𝛺̇×𝑟𝐵/𝐴 + 𝛺(𝛺×𝑟𝐵/𝐴 )

Relative motion: 2nd Moment of Inertia

𝑟𝐵 = 𝑟𝐴 + 𝑟𝐵/𝐴 𝐼 = ∫𝑉 𝑟 2 𝜌 𝑑𝑉

NEWTON’S 2nd LAW 𝐼 = 𝐼𝐺 + 𝑚𝑑 2

∑ 𝐹 = 𝑚𝑎𝐺
𝐼
𝑑𝜃 𝑟
𝐼 = 𝑚𝑘 2 ; 𝑘 = √𝑚
𝑡𝑎𝑛 𝜓 = 𝑟 𝑑𝑟 = 𝑑𝑟
𝑑𝜃
1 1
∑ 𝑀𝐺 = 𝐼𝑃 𝛼; 𝐼0 = 𝑚𝑙 2 ; 𝐼𝐺 = 𝑚𝑙 2
3 12
WORK & ENERGY
𝑇1 + |𝑈1−2 | = 𝑇2 Sum of kinetic moments:
1
𝑇 = 2 𝑚𝑣 2 ∑ 𝑀𝑃 = ∑(ℳ𝑘 )𝑃

1
|𝑈1−2 | = 𝑚𝑣2 2 − 𝑚𝑣1 2
1 General Plane Motion:
2 2
∑ 𝑀𝐼𝐶 = 𝐼𝐼𝐶 𝛼
𝑈1−2 = 𝐹 𝑐𝑜𝑠 𝜃 (𝑠2 − 𝑠1 )
WORK & ENERGY
𝑇1 + 𝑉1 = 𝑇2 + 𝑉2
1 1
𝑇 = 𝑚𝑣𝐺 2 + 𝐼𝐺 𝜔2
IMPULSE & MOMENTUM 2 2
(𝑣 ) −(𝑣 )
𝑒 = (𝑣𝐵 )2−(𝑣𝐴)2 IMPULSE & MOMENTUM
𝐴 1 𝐵 1
(𝐻𝑃 )𝑖 = 𝑟×𝑚𝑖 𝑣𝑖 ; 𝐻𝐺 = 𝐼𝐺 𝜔
(𝑣𝐺 )1 = (𝑣𝐺 )2
𝐻𝑂 = 𝐼𝐺 𝜔 + 𝑟𝐺 (𝑚𝑣𝐺 )

Page 4 of 14
𝐻𝐴 = 𝐼𝐺 𝜔 + (𝑑)(𝑚𝑣𝐺 )

Page 5 of 14
Answer FOUR out of FIVE questions

1. A smooth 5kg sliding pin, B, must follow the path shown in Figure Q1, which
is defined by the relation 𝑟 = 4𝜃 2 . Pin B is driven along its path by a slotted
arm, B-O, which at this point in time is rotating about point O with the
π
following motion characterstics: θ = 5 rad; θ̇ = 3rad.s-1; & θ̈ = 1rad.s-2.

𝜃, 𝜃̇, 𝜃̈

O
FIGURE Q 1

a) What is the best analysis technique for this problem? [1 Mark]

POLAR

b) Draw a free body diagram to showing a frame of [5 Marks]

reference for analysis of this problem.

at

a P
n
̇, ̈

θ
O

Page 6 of 14
Answer FOUR out of FIVE questions

c) Show that the radial velocity of pin B is 24m.s-1 [5 Marks]

𝑑𝑟 𝑑𝜃2
𝑟̇ = =4 ; 1 MARK
𝑑𝑡 𝑑𝑡

Function of of a function… Chain rule

𝑑𝑦 𝑑𝑦 𝑑𝑢 𝑑𝑟 𝑑 𝑑𝜃 𝑑𝑟
= 𝑑𝑢 . 𝑑𝑥  = 4 𝑑𝜃 . 𝑑𝑡  4 𝑑𝑡 = 4.2. 𝜃̇ = 8𝜃̇ 3 MARKS
𝑑𝑥 𝑑𝑡

Sustitute in values:
𝑟̇ = 8×3 = 24𝑚. 𝑠 −1 1 MARK

IF STUDENT FAILS TO USE CHAIN RULE

𝜋
 𝑟̇ = 8𝜃 = 8× 5 = 5.03𝑚. 𝑠 −1 2 MARKS

d) What is the radial direction of the velocity at this time? [2 Marks]

π
𝜃 = rad = 36°
5

e) Show that the radial acceleration of pin B is 8m.s-1 [3 Marks]

𝑑𝑟̇ 𝑑𝜃 ̇
𝑟̈ = = 8 𝑑𝑡 = 8𝜃̈ = 8𝑚. 𝑠 −2
𝑑𝑡

f) Show that the rate of change speed is 156.8m.s-2. [5 Marks]

Any comment stating that this is a pure magnitude so Pythagoras 1 MARK

𝑎 = √𝑎𝜃 2 + 𝑎𝑟 2 1-2 MARK

2 2
𝑎 = √(𝑟𝜃̈ + 2𝑟̇ 𝜃̇) + (𝑟̈ − 𝑟𝜃̇ 2 ) 2 MARKS

2 2
2 2
𝜋 𝜋
𝑎 = √((4 (5) ) 8 + 2×24×3) + (8 − (4 (5) ) 32 ) = 156.76𝑚. 𝑠 −2 1 MARK

g) Show that the torque required from the motor to [4 Marks]

this achieve motion is 1149.45N.m.
Page 7 of 14
Answer FOUR out of FIVE questions

𝑀 = 𝐹𝜃 ×𝑟; 1 MARK
𝐹𝜃 = 𝑚𝑎𝜃 ; 1 MARK
𝑀 = 𝑚𝑎𝜃 ×𝑟; 1 MARK
𝑀 = 𝑚(𝑟𝜃̈ + 2𝑟̇ 𝜃̇)×𝑟; 1 MARK

𝑀 = 𝑚 ((4𝜃 2 )𝜃̈ + 2(8𝜃̇ )𝜃̇) ×4𝜃 2 ;

Substitute in Values:

𝜋2 𝜋2
𝑀 = 5 ((4 ) 1 + 2(8×3)3) ×4 = 1149.45N.m 1 MARK
5 5

Page 8 of 14
Answer FOUR out of FIVE questions

2. A 15kg rod with a diameter of 0.05m is constrained so that its ends are pined
to massless sliders that run along smooth slots as shown in Figure Q2. The
rod begins at rest when θ = 20° and is accelerated by a force P = 100N
acting vertically down on slider A until θ = 60°.

P = 100N

A
G
θ

FIGURE Q 2

a) Draw a Free body Diagram of this problem. [5 Marks]

(vA)

ω
2

I A
C
G θ

(vA)
2
B

b) One solution route for this problem employs [5 Marks]

Work & Energy. This theory is related to the
Equation of motion; using calculus, show how.
𝑎 𝑑𝑠 = 𝑣 𝑑𝑣
𝑑𝑣 𝑖𝑛𝑡𝑜
𝑎 = 𝑣 𝑑𝑠 ⇒ 𝐹 = 𝑚𝑎:

𝐹 𝑑𝑠 = 𝑚𝑣 𝑑𝑣
Integrating:
𝑠 𝑣
𝐹 ∫𝑠 2 𝑑𝑠 = ∫𝑣 2 𝑚𝑣 𝑑𝑣
1 1

1 1
𝐹(𝑠2 − 𝑠1 ) = 2 𝑚𝑣2 2 − 2 𝑚𝑣1 2 = 𝑇2 = |𝑈1−2 |

Page 9 of 14
Answer FOUR out of FIVE questions

c) Show that the distance between the instantaneous [4 Marks]

centre of zero velocity and the centre of gravity of
the rod is rG/IC = 0.65m at the starting position and
the ending position. Use this to relate linear velocity
to angular velocity.

Will accept any any diagrams indicating similar trianges as two marks

1.3 2 1.3 2 1.3

𝑟𝐺/𝐼𝐶 = √( cos 𝜃) + ( sin 𝜃) = = 0.65𝑚
2 2 2

𝑣 = 𝜔×𝑟;
𝑣𝐺/𝐼𝐶 = 𝜔𝐺 ×𝑟𝐺/𝐼𝐶 ;
𝑣𝐺/𝐼𝐶 = 0.65𝜔𝐺

d) Write an energy balance equation for the system. [4 Marks]

𝑇1 + 𝑉1 + 𝑈1−2 = 𝑇2 + 𝑉2;
1 1
0 + 𝑚𝑔ℎ1 + 𝐹𝑠 = 𝑚𝑣𝐺 2 + 𝐼𝐺 𝜔2 + 𝑚𝑔ℎ2 ;
2 2

1 𝑑 2
𝐼𝐺 = [12 𝑚 (3 (2) + 𝑙2 )]

0 + 𝑚𝑔(0.65 cos 20) + 𝐹(𝑙 cos 20 − 𝑙 cos 60)

1 1 1 𝑑 2
= 2 𝑚𝑣𝐺 2 + 2 [12 𝑚 (3 (2) + 𝑙2 )] 𝜔2 + 𝑚𝑔(0.65 cos 60);

e) Show that the Work Done by Force P is 57.16J. [2 Marks]

𝐹(𝑙 cos 20 − 𝑙 cos 60) = 57.16J

f) Show that the angular velocity of the rod is 4.84rad.s-1 [5 Marks]

when 𝜃 = 60°.
0 + 15×9.81(0.65 cos 20) + 100(1.3 cos 20 − 1.3 cos 60)
1 1 1
= 2 15×𝑣𝐺 2 + 2 [12 15(3×0.00252 + 1.32 )] 𝜔2 + 15×9.81(0.65 cos 60);

89.88 + 57.16 = 7.5𝑣𝐺 2 + 1.06𝜔2 + 47.82

Page 10 of 14
Answer FOUR out of FIVE questions

99.22 = 7.5𝑣𝐺 2 + 1.06𝜔2

𝑣𝐺/𝐼𝐶 = 0.65𝜔𝐺 ;
99.22 = 7.5(0.65𝜔𝐺 )2 + 1.06𝜔2 ;
99.22 = 3.17𝜔𝐺 2 + 1.06𝜔2 ;
93.83 = 3𝜔𝐺 2 + 𝜔𝐺 2;
93.83 = 𝜔𝐺 2 (3 + 1);
93.83
√(3+1) = 𝜔𝐺 = 4.84rad.s-1

Page 11 of 14
Answer FOUR out of FIVE questions

3. A smooth 4kg target, A, that has the form of a thin circular disk is struck by
a 20g bullet, B, with a coefficient of restitution of 0.75 that is travelling at
400m.s-1 normal to the face of the target, as shown in Figure Q3.

z z

0.25m
400m.s-1
0.15m

FIGURE Q 3

a) This problem involves impact. Which of the following [1 Mark]

dynamic analysis techniques can be used to model
such an events?
i. Kinemtatics
ii. Work and Energy
iii. Impulse and Motmentum

iii. IMPULSE & MOMENTUM 1 MARK

b) Using calculus, develop the Equation of Motion to consider [5 Marks]

scenarios that relate a constant mass to velocity,
force and time.
𝑑𝒗
∑ 𝑭 = 𝑚𝒂 = 𝑚 ; 1 MARK
𝑑𝑡
∑ 𝑭 𝑑𝑡 = 𝑚 𝑑𝒗; 1 MARK
𝑡 𝑣
∑ ∫𝑡 2 𝑭 𝑑𝑡 = 𝑚 ∫𝑣 2 𝑑𝒗 1 MARK
1 1
𝑡
∑ ∫𝑡 2 𝑭 𝑑𝑡 = 𝑚𝒗2 − 𝑚𝒗1 ; 1 MARK
1

For a constant mass

𝑡
𝐹𝑡12 = 𝑚(𝒗2 − 𝒗1 ) 1 MARK

c) If v = ωr, define the relative motion of the two items using [5 Marks]
the restitution relation.
(𝑣𝐵 )2 −(𝑣𝐴 )2
𝑒 = (𝑣 ) −(𝑣 ) 1 MARK
𝐴 1 𝐵 1

Page 12 of 14
Answer FOUR out of FIVE questions

𝑣𝐴 = 𝜔𝐴 𝑟𝐵(𝑥) ; 1 MARK
𝑣𝐵(𝑦)2 −(𝜔𝐴 𝑟𝐵(𝑥) )
2
𝑒 = (𝜔
𝐴 𝑟𝐵(𝑥) )1 −𝑣𝐵(𝑦)1
𝑣 −(𝜔𝐴 0.25)2
0.75 = 𝐵(𝑦)2 ; 1 MARK
0×0.25−−400
0.75×400 = 𝑣𝐵(𝑦)2 − 𝜔𝐴2 0.25; 1 MARK
300 = 𝑣𝐵(𝑦)2 − 𝜔𝐴2 0.25. 1 MARK

d) Write a conservation equation that relates the motion [5 Marks]

of both bodies before and after impact.

𝐻𝐴(𝑧)1 + 𝑀𝐵(𝑦)1 = 𝐻𝐴(𝑧)2 + 𝑀𝐵(𝑦)2 ; 1 MARK

𝐻𝐴(𝑧) = 𝐼𝑧 𝜔𝐴 ;
𝐼𝑧 𝜔𝐴1 + 𝑚𝐵 𝑣𝐵(𝑦)1 = 𝐼𝑧 𝜔𝐴2 + 𝑚𝐵 𝑣𝐵(𝑦)2 ; 1 MARK
1
𝐼𝑧 = 4 𝑚𝑟 2;
1 1
𝑚𝑟 2 𝜔𝐴1 + 𝑚𝐵 𝑣𝐵(𝑦)1 = 4 𝑚𝑟 2 𝜔𝐴2 + 𝑚𝐵 𝑣𝐵(𝑦)2 ; 1 MARK
4
1 1
×4×0.42 ×0 + 0.02×−400 = ×4×0.42 ×𝜔𝐴2 + 0.02×𝑣𝐵(𝑦)2 ;
4 4
0 − 8 = 0.16𝜔𝐴2 + 0.02𝑣𝐵(𝑦)2 ; 2 MARKS

e) Show that the angular velocity of the target has a [4 Marks]

magnitude of 84.8. State the Units of this velocity.

300 + 𝜔𝐴2 0.25 = 𝑣𝐵(𝑦)2 . 1 MARK

−8 = 0.16𝜔𝐴2 + 0.02(300 + 𝜔𝐴2 0.25); 1 MARK

−8 = 0.16𝜔𝐴2 + 6 + 𝜔𝐴2 5×10−3;

−14 = 𝜔𝐴2 (0.16 + 5×10−3 ); 1 MARK
−14
(0.16+5×10−3 )
= 𝜔𝐴2 = −84. 8̇4̇; 1 MARK

Which is 84.8 Rad.s-1 in the anti-clockwise direction

f) How many Revolutions Per Minute is the target spinning [3 Marks]

at after the impact and which way is it spinning?

Negative value = anticlockwise if initial bullet direction is negative. 1MARK

Radians(π/180) = Degrees RADIANS/(2π) = RPM

84.84.(π/180) = 4860.974 84.84/(2π) = 13.5 RPM

2 MARKS
FOR EITHER
RPM = degrees/ 360

4860.974/360 = 13.5RPM

Page 13 of 14
Answer FOUR out of FIVE questions

g) Show that the velocity of the bullet is 278.79m.s-1 [2 Marks]

after the impact. State the direction of motion clearly.

300 + 𝜔𝐴2 0.25 = 𝑣𝐵(𝑦)2 ;

𝑣𝐵(𝑦)2 = 300 + (−84. 8̇4̇×0.25) = 278.79m.s-1 1 MARK

AWAY FROM TARGET. 1 MARK

Page 14 of 14