430 CHAPTER 17 PLANAR KINETICS OF A RIGID BODY: FORCE AND A C C E L E R AT I O N

EXAMPLE 17.6
The motorcycle shown in Fig. 17–11a has a mass of 125 kg and a center
of mass at G1 , while the rider has a mass of 75 kg and a center of mass
at G2 . Determine the minimum coefficient of static friction between
the wheels and the pavement in order for the rider to do a “wheely,”
i.e., lift the front wheel off the ground as shown in the photo. What
acceleration is necessary to do this? Neglect the mass of the wheels
and assume that the front wheel is free to roll.
(© R.C. Hibbeler)
735.75 N
1226.25 N
G2
G1 0.3 m

0.6 m

FB B 0.7 m A
B A 0.4 m 0.4 m
0.7 m (a)
0.4 m 0.4 m NA ⬇ 0
NB
SOLUTION
=

Free-Body and Kinetic Diagrams. In this problem we will consider

17 both the motorcycle and the rider as a single system. It is possible first to
75 kg aG
determine the location of the center of mass for this “system” by using
125 kg aG 0.3 m the equations x =  苲x m> m and y =  苲 y m> m. Here, however, we will
consider the weight and mass of the motorcycle and rider separately as
0.6 m
shown on the free-body and kinetic diagrams, Fig. 17–11b. Both of these
parts move with the same acceleration. We have assumed that the front
B
(b)
wheel is about to leave the ground, so that the normal reaction NA ⬇ 0.
The three unknowns in the problem are NB , FB , and aG .
Fig. 17–11 Equations of Motion.

+ Fx = m(aG)x;
S FB = (75 kg + 125 kg)aG (1)
+ c Fy = m(aG)y; NB - 735.75 N - 1226.25 N = 0
a + MB = (mk)B; -(735.75 N)(0.4 m) - (1226.25 N)(0.8 m) =
-(75 kg aG)(0.9 m) - (125 kg aG)(0.6 m) (2)
Solving,
aG = 8.95 m>s2 S Ans.
NB = 1962 N
FB = 1790 N
Thus the minimum coefficient of static friction is

FB 1790 N
(ms)min = = = 0.912 Ans.
NB 1962 N
 17.4 EQUATIONS OF MOTION: ROTATION ABOUT A FIXED AXIS 445

EXAMPLE 17.9
At the instant shown in Fig. 17–15a, the 20-kg slender rod has an
angular velocity of v = 5 rad>s. Determine the angular acceleration
and the horizontal and vertical components of reaction of the pin
on the rod at this instant.

O 60 N  m
v  5 rad/s

3m

(a)

SOLUTION 60 N  m
On
Free-Body and Kinetic Diagrams. Fig. 17–15b. As shown on the O G
kinetic diagram, point G moves around a circular path and so it has two
components of acceleration. It is important that the tangential Ot
1.5 m
component at = arG act downward since it must be in accordance with 20 (9.81) N
the rotational sense of A. The three unknowns are On , Ot , and a.

=
Equation of Motion.
17
+ Fn = mv2rG;
d On = (20 kg)(5 rad>s)2(1.5 m)
mv2rG IGA
+ T Ft = marG; -Ot + 20(9.81)N = (20 kg)(a)(1.5 m)
O G
c + MG = IGa; Ot(1.5 m) + 60 N # m = 3 121 (20 kg)(3 m)2 4 a rG
Solving
marG
On = 750 N Ot = 19.05 N a = 5.90 rad>s2 Ans. (b)
A more direct solution to this problem would be to sum moments
Fig. 17–15
about point O to eliminate On and Ot and obtain a direct solution for a.
Here,

c + MO = (mk)O; 60 N # m + 20(9.81) N(1.5 m) =

3 121 (20 kg)(3 m)2 4 a + [20 kg(a)(1.5 m)](1.5 m)
a = 5.90 rad>s2 Ans.

Also, since IO = 13 ml2 for a slender rod, we can apply

c + MO = IOa; 60 N # m + 20(9.81) N(1.5 m) = 3 13(20 kg)(3 m)2 4 a

a = 5.90 rad>s2 Ans.

NOTE: By comparison, the last equation provides the simplest solution

for a and does not require use of the kinetic diagram.
 446 CHAPTER 17 PLANAR KINETICS OF A RIGID BODY: FORCE AND A C C E L E R AT I O N

EXAMPLE 17.10
The drum shown in Fig. 17–16a has a mass of 60 kg and a radius of
0.4 m gyration kO = 0.25 m. A cord of negligible mass is wrapped around
A O the periphery of the drum and attached to a block having a mass of 20 kg.
If the block is released, determine the drum’s angular acceleration.

SOLUTION I
Free-Body Diagram. Here we will consider the drum and block
separately, Fig. 17–16b. Assuming the block accelerates downward at a,
(a)
it creates a counterclockwise angular acceleration A of the drum.
The moment of inertia of the drum is
IO = mk2O = (60 kg)(0.25 m)2 = 3.75 kg # m2
There are five unknowns, namely Ox , Oy , T, a, and a.
60 (9.81) N Equations of Motion. Applying the translational equations of
motion Fx = m(aG)x and Fy = m(aG)y to the drum is of no
O consequence to the solution, since these equations involve the
0.4 m Ox unknowns Ox and Oy . Thus, for the drum and block, respectively,
T y a + MO = IOa; T(0.4 m) = (3.75 kg # m2)a (1)
Oy A
17 T
x
+ c Fy = m(aG)y; -20(9.81)N + T = -(20 kg)a (2)
a Kinematics. Since the point of contact A between the cord and
drum has a tangential component of acceleration a, Fig. 17–16a, then
a +a = ar; a = a(0.4 m) (3)
20 (9.81) N Solving the above equations,
(b)
T = 106 N a = 4.52 m>s2
a = 11.3 rad>s2d Ans.
SOLUTION II
Free-Body and Kinetic Diagrams. The cable tension T can be
60 (9.81) N eliminated from the analysis by considering the drum and block as a
IOa single system, Fig. 17–16c. The kinetic diagram is shown since moments
will be summed about point O.
0.4 m
O
Ox
= 0.4 m O
Equations of Motion. Using Eq. 3 and applying the moment
equation about O to eliminate the unknowns Ox and Oy , we have
Oy
a + M O = (ᏹk )O; [20(9.81) N] (0.4 m) =
#
(3.75 kg m2)a + [20 kg(a 0.4 m)](0.4 m)
a = 11.3 rad>s2 Ans.
20(9.81) N (20 kg)a
NOTE: If the block were removed and a force of 20(9.81) N were
(c)
applied to the cord, show that a = 20.9 rad>s2. This value is larger
Fig. 17–16 since the block has an inertia, or resistance to acceleration.
 458 CHAPTER 17 PLANAR KINETICS OF A RIGID BODY: FORCE AND A C C E L E R AT I O N

EXAMPLE 17.12

100 N Determine the angular acceleration of the spool in Fig. 17–20a. The
spool has a mass of 8 kg and a radius of gyration of kG = 0.35 m. The
cords of negligible mass are wrapped around its inner hub and
outer rim.
SOLUTION I
Free-Body and Kinetic Diagrams. Fig. 17–20b. The 100-N force
G A
causes aG to act upward. Also, A acts clockwise, since the spool winds
around the cord at A.
0.5 m
0.2 m There are three unknowns T, aG , and a. The moment of inertia of
the spool about its mass center is
IG = mk2G = 8 kg(0.35 m)2 = 0.980 kg # m2
(a)
Equations of Motion.
+ c Fy = m(aG)y; T + 100 N - 78.48 N = (8 kg)aG (1)
100 N c + MG = IGa; 100 N(0.2 m) - T(0.5 m) = (0.980 kg # m2)a (2)
T Kinematics. A complete solution is obtained if kinematics is used to
relate aG to a. In this case the spool “rolls without slipping” on the cord
at A. Hence, we can use the results of Example 16.4 or 16.15 so that,
17 G
A (c +) aG = ar; aG = a (0.5 m) (3)
0.5 m
0.2 m Solving Eqs. 1 to 3, we have
a = 10.3 rad>s2 Ans.
aG = 5.16 m>s 2
78.48 N
T = 19.8 N
SOLUTION II
=

Equations of Motion. We can eliminate the unknown T by summing

moments about point A. From the free-body and kinetic diagrams
Figs. 17–20b and 17–20c, we have
c + MA = (mk)A; 100 N(0.7 m) - 78.48 N(0.5 m)
(8 kg) aG
= (0.980 kg # m2)a + [(8 kg)aG](0.5 m)
Using Eq. (3),
(0.980 kgm2) A A
0.5 m
G a = 10.3 rad>s2 Ans.
SOLUTION III
Equations of Motion. The simplest way to solve this problem is to
realize that point A is the IC for the spool. Then Eq. 17–19 applies.
(b)
c + MA = IAa; (100 N)(0.7 m) - (78.48 N)(0.5 m)
Fig. 17–20 = [0.980 kg # m2 + (8 kg)(0.5 m)2]a
a = 10.3 rad>s2
 17.5 EQUATIONS OF MOTION: GENERAL PLANE MOTION 461

EXAMPLE 17.15
The uniform 50-kg bar in Fig. 17–23a is held in the equilibrium position
by cords AC and BD. Determine the tension in BD and the angular C D
acceleration of the bar immediately after AC is cut.

SOLUTION
Free-Body and Kinetic Diagrams. Fig. 17–23b. There are four A B
unknowns, TB , (aG)x , (aG)y , and a.
3m

(a)
Equations of Motion.

+ Fx = m(aG)x;
S 0 = 50 kg (aG)x 50(9.81) N TB
(aG)x = 0
G
+ c Fy = m(aG)y; TB - 50(9.81)N = -50 kg (aG)y (1) B
1 1.5 m
a + MG = IGa; TB(1.5 m) = J (50 kg)(3 m)2 R a (2)
12

17

Kinematics. Since the bar is at rest just after the cable is cut, then its IGA
angular velocity and the velocity of point B at this instant are equal to
zero. Thus (aB)n = v2B >rBD = 0. Therefore, aB only has a tangential
(50 kg)(aG)x
component, which is directed along the x axis, Fig. 17–23c. Applying
the relative acceleration equation to points G and B, (50 kg)(aG)y

(b)
aG = aB + A * rG/B - v2rG/B
- (aG)yj = aBi + (ak) * (-1.5i) - 0
-(aG)yj = aBi - 1.5aj (aG)y

Equating the i and j components of both sides of this equation, G (aG)x ⫽ 0 B aB

rG/B
0 = aB ␻⫽0 ␣ 1.5 m

(aG)y = 1.5a (3) (c)

Fig. 17–23
Solving Eqs. (1) through (3) yields

a = 4.905 rad>s2 Ans.

TB = 123 N Ans.
(aG)y = 7.36 m>s2