Engineering Mechanics: Dynamics: Solutions Manual

Solutions Manual
Engineering Mechanics: Dynamics

1st Edition
Gary L. Gray
The Pennsylvania State University
Francesco Costanzo
The Pennsylvania State University
Michael E. Plesha
University of Wisconsin–Madison
With the assistance of:

Chris Punshon
Andrew J. Miller
Justin High
Chris O’Brien
Chandan Kumar
Joseph Wyne
Version: August 10, 2009
The McGraw-Hill Companies, Inc.

Copyright © 2002–2010
Gary L. Gray, Francesco Costanzo, and Michael E. Plesha
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It
may be used and/or possessed only by permission of McGraw-Hill, and must be surrendered upon
request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without
the permission of McGraw-Hill, is prohibited.
Dynamics 1e 3
Important Information about

this Solutions Manual
Even though this solutions manual is nearly complete, we encourage you to visit
http://www.mhhe.com/pgc
often to obtain the most up-to-date version. In particular, as of July 30, 2009, please note the following:
_ The solutions for Chapters 1 and 2 have been accuracy checked and have been edited by us. They are
in their final form.
_ The solutions for Chapters 4 and 7 have been accuracy checked and should be error free. We will be
adding some additional detail to these solutions in the coming weeks.
_ The solutions for Chapters 3, 6, 8, and 9 are being accuracy checked and the accuracy checked versions
should be available by the end of August 2009. We will be adding some additional detail to these
solutions in the coming weeks.
_ The solutions for Chapter 10 should be available in their entirety by the end of August 2009.
All of the figures in Chapters 6–10 are in color. Color will be added to the figures in Chapters 1–5 over the
coming weeks.
Contact the Authors

If you find any errors and/or have questions concerning a solution, please do not hesitate to contact the
authors and editors via email at:
dyn_solns@email.esm.psu.edu
We welcome your input.
August 10, 2009

4 Solutions Manual
Accuracy of Numbers in Calculations

Throughout this solutions manual, we will generally assume that the data given for problems is accurate to
3 significant digits. When calculations are performed, all intermediate numerical results are reported to 4
significant digits. Final answers are usually reported with 3 significant digits. If you verify the calculations in
this solutions manual using the rounded intermediate numerical results that are reported, you should obtain
the final answers that are reported to 3 significant digits.
August 10, 2009

568 Solutions Manual
Chapter 5 Solutions
Problem 5.1
Use the definition of impulse given in Eq. (5.5) to compute the impulse of the
forces shown during the interval 0 t 2 s.
Solution
Using the definition of impulse, we have
Z t2
Impulse D FE .t / dt:
t1
Hence, for the blue curve we have

2s ˇ 2 s
t3
Z
2 2
ˇ
Impulse D 0:3 t 2t dt; ) Impulse D 0:3 t ˇˇ D 0:4 lbs.
0 3 0
For the green curve we have

2s 2t ˇ2 s
ˇ
e
Z
2t

Impulse D 0:3 1 e dt ) Impulse D 0:3t C 0:3 ˇ D 0:453 lbs.
0 2 ˇ0
For the red curve we have

2s
ˇ2 s
t 2 ˇˇ
Z
Impulse D .1 t/ dt ) Impulse D t D 0 lbs.
0 2 ˇ0
August 10, 2009

Dynamics 1e 569
Problem 5.2
The total mass of the Earth is me D 5:97361024 kg. Modeling the Earth (with everything in and on it)
as an isolated system and assuming that the center of the Earth is also the center of mass of the Earth,
determine the displacement of the center of the Earth due to
(a) a 2 m jump off the surface by a 85 kg person;
(b) the Space Shuttle, with a mass of 124;000 kg, reaching an orbit of 200 km;
(c) 170;000 km3 of water being elevated 50 m (these numbers are estimates based on publicly available
information about the Aswan Dam at the border between Egypt and Sudan). Use 1 g=cm3 for the
density of water.
Solution
We begin by choosing the center of mass of the system as the fixed origin of an inertial reference frame. Since
the system is isolated, the velocity of the system’s center of mass must remain constant and therefore equal to
zero. This implies that the center of mass of the system must remain at the origin of our coordinate system.
Consequently, assuming that the motion of the Earth and of an object P occurs along a line, and designating
this line as the x axis of a coordinate system, we must have
me xe C mP xP mP xP
0D ) xe D ; (1)
me C mP me
where xe and xP are the x coordinates of the center of the Earth and of the object P , respectively, and where
mP is the mass of the object P .
Now, let d denote the distance by which the Earth is displaced. Then the displacement of the Earth is
simply the absolute value of the result obtained in Eq. (1), i.e.,
ˇ ˇ
ˇ mP xP ˇ
d Dˇ ˇ ˇ: (2)
me ˇ
Using Eq. (2) in the three cases listed in the problem statement, and recalling that me D 5:97361024 kg,
we have
24
(a) xe D 28:510 m, where we set mP D 85:0 kg and xP D 2:00 m;
12
(b) xe D 4:1510 m, where we set mP D 124;000 kg and xP D 200 km D 200103 m;
6
(c) xe D 1:4210 m, where we set
m 3

g 0:001 kg=g
3
mP D .170;000 km / 1000 1:00 3 D 170:01015 kg and xP D 50 m:
km cm .0:01 m=cm/3
August 10, 2009

Problem 5.3
Consider an elevator that moves with an operating speed of 2:5 m=s. Suppose
that a person who boards the elevator on the ground floor gets off on the fifth
floor. Assuming that the elevator has achieved operating speed by the time it
reaches the second floor and that it is still moving at its operating speed as it
passes the fourth floor, determine the momentum change of a person with a
mass of 80 kg between the second and fourth floors if each floor is 4 m high. In
addition, determine the impulse of the person’s weight during the same time
interval.
Solution
Let the subscripts 1 and 2 denote the time instants at which the elevator goes by floors 1 and 2, respectively.
Observe that the person riding in the elevator moves with the same velocity of the elevator. Hence, denoting
this velocity by vE and observing that this velocity is constant, we have we have
v1 D mE
mE v2 ;
that is,
The change in momentum is equal to zero.
The impulse of the weight force is

Z t2
. mg |O/ dt ) mg .t2 t1 / |O:
t1
Letting d be the distance between floors 2 and 4, and letting v be the operating speed of the
elevator, then, since v is constant, we have that the time interval in traveling from the second to the fourth
floor is
d
t2 t1 D :
v
Consequently, the impulse of the weight force acting on the person during the time interval .t1 ; t2 / is
Z t2
mgd
. mg |O/ dt D |O;
t1 v
so that we have
Impulse of the weight D . 2510 Ns/ |O ;
where we have used the following numerical data: m D 80:0 kg, g D 9:81 m=s2 , d D 8:00 m, and
v D 2:5 m=s.
August 10, 2009

Dynamics 1e 571
Problem 5.4
A 180 gr (7000 gr D 1 lb) bullet goes from rest to 3300 ft=s in 0:0011 s. Deter-
mine the magnitude of the impulse imparted to the bullet during the given time
interval. In addition, determine the magnitude of the average force acting on
the bullet.
Solution
Let the subscripts 1 and 2 denote the time instants when the bullet is at rest and when the bullet has a speed
v2 D 3300 ft=s, respectively. Let FE represent the total force acting on the bullet. The magnitude of the
impulse of FE is equal to the magnitude of the change in momentum of the bullet during the time interval
.t1 ; t2 /. Hence, we have
t2 t2
ˇZ ˇ ˇZ ˇ
FE dt ˇˇ D ˇmE FE dt ˇˇ D mv2 D 2:64 lbs,
ˇ ˇ ˇ ˇ ˇ ˇ ˇ ˇ
ˇ
ˇ v2 v1 ˇ D ˇmE
mE v2 ˇ ) ˇ
ˇ
t1 t1
where we have used the following numerical data:

1 1 4
m D .180 gr/ D 7:98610 lbs2 =ft and v2 D 3300 ft=s: (1)
.7000 gr=lb/ .32:2 ft=s2 /
Recalling that the average force over the time interval .t1 ; t2 / can be computed by dividing the change in
momentum during the time interval by t2 t1 , then the magnitude of the average force acting on the bullet is
ˇ
ˇE ˇ
ˇ mv2
ˇFavg ˇ D D 2400 lb;
t2 t1
where, in addition to the data in Eq. (1) we have used the fact that t2 t1 D 0:0011 s.
August 10, 2009

Problem 5.5
A 3400 lb car is parked as shown. Determine the impulse of the normal reaction force acting on the car
during the span of an hour if D 15ı .
Solution
Using the FBD on the right and writing the equilibrium equation in the y direction, we
have X
Fy W N mg cos D 0 ) N D mg cos :
Then the impulse of the normal reaction for the time interval of duration t D 1 h is
Z t
Impulse of N D .N |O/ dt D mgt cos |O:
0
therefore, using the above equation we have
Impulse of N D .11:8106 lbs/ |O @ 15ı ;
where we have used the following numerical data: mg D 3400 lb, t D 3600 s, and D 15:0ı .
August 10, 2009

Dynamics 1e 573
Problem 5.6
An airplane performs a turn at constant speed and elevation so as to change its

course by 180ı . Let A and B designate the beginning and end points of the
turn. Assuming that the change in mass of the plane due to fuel consumption
is negligible, is the airplane’s momentum at A different from the airplane’s
momentum at B? In addition, again neglecting the change in mass between A
and B, is the total work done on the plane between A and B positive, negative,
or equal to zero?
Solution
Yes the momentum is different because the momentum of an object is a vector quantity. Hence, even if the
mass and the speed of the plane are constant, the fact that the direction of the plane at B is different from that
at A implies that the momentum of the plane has changed. By contrast the plane’s kinetic energy at A and B
is the same and therefore the total work done on the plane between A and B is equal to zero.
August 10, 2009

Problems 5.7 and 5.8
The takeoff runway on carriers is much too short for a modern jetplane to take off on its own. For this
reason, the takeoff of carrier planes is assisted by hydraulic catapults (Fig. A). The catapult system is
housed below the deck except for a relatively small shuttle that slides along a rail in the middle of the
runway (Fig. B). The front landing gear of carrier planes is equipped with a tow bar that, at takeoff, is
attached to the catapult shuttle (Fig. C). When the catapult is activated, the shuttle pulls the airplane along
the runway and helps the plane reach its takeoff speed. The takeoff runway is approximately 300 ft long,
and most modern carriers have three or four catapults.
Problem 5.7 In a catapult-assisted takeoff, assume that a 45;000 lb plane goes from 0 to 165 mph in 2 s
while traveling along a rectilinear and horizontal trajectory. Also assume that throughout the takeoff the
plane’s engines are providing 32;000 lb of thrust.
(a) Determine the average force exerted by the catapult on the plane.
(b) Now suppose that the takeoff order is changed so that a small trainer aircraft must take off first. If
the trainer’s weight and thrust are 13,000 and 5850 lb, respectively, and if the catapult is not reset to
match the takeoff specifications for the smaller aircraft, estimate the average acceleration to which the
trainer’s pilots would be subjected and express the answer in terms of g. What do you think would
happen to the trainer’s pilot?
Problem 5.8 If the carrier takeoff of a 45;000 lb plane subject to the 32;000 lb thrust of its engines were
not assisted by a catapult, estimate how long it would take for a plane to safely take off, i.e., to reach a
speed of 165 mph starting from rest. Also, how long a runway would be needed under these conditions?
Solution to 5.7
Part (a). Let t1 and t2 be the time instants at which the plane starts and reaches
the takeoff speed, respectively. Using the expression of average force in terms of
change in momentum, the average average force acting on the airplane during the
time interval of duration t2 t1 is
E 2 / p.t
p.t E 1/
FEavg D ; (1)
t2 t1
E 1 / and p.t
where p.t E 2 / are the linear momenta of the airplane at time instants t1 and t2 , respectively. Since
the motion is in the horizontal direction and using the FBD on the right, the x component of Eq. (1) is
mf .vx2 vx1 / mf .vx2 vx1 /
.Favg /c C F t D ) .Favg /c D F t D 137;100 lb; (2)
t2 t1 t2 t1
where .Favg /c is the average force due to the catapult, F t D 32;000 lb is the engines’ thrust, vx1 D 0,
vx2 D 165 mph D 242:0 ft=s, and mf D .45;000 lb/=.32:2 ft=s2 / D 1398 slug is the mass of the first
August 10, 2009
Dynamics 1e 575
airplane. Expressing .Favg /c to three significant digits, we have

Favg c
D 137;000 lb: (3)
Part (b). Repeating the calculations in Part (a) for the small trainer, we have
m t .vx2 vx1 /
.Favg /c C F t D ; (4)
t2 t1
where F t and m t are the thrust and the mass of the trainer, respectively. Observe that the average acceleration
of the trainer is given by
vx2 vx1
.aavg / t D : (5)
t2 t1
Therefore, using Eq. (4), we have
.Favg /c C F t
.aavg / t D ; (6)
mt
from which we compute
.aavg / t D 354 ft=s2 D 11:0g;
where we have used the following numerical data: .Favg /c D 137;100 lb (see Eq (2)), F t D 5850 lb, and
m t D .13;000 lb/=.32:2 ft=s2 / D 403:7 slug.
As far as answering what would happen to the trainer’s pilot is concerned, we can speculate that the pilot
would likely black out.
August 10, 2009

Solution to 5.8
Let t1 and t2 be the time instants at which the plane starts and reaches the takeoff
speed, respectively. Then, using the linear impulse–momentum principle, we have
that the average force acting on the plane is
E 2/
p.t E 1/
p.t m.vx2 vx1 /
FEavg D ) FT D ; (7)
t2 t1 t2 t1
where, referring to the FBD shown, we have used the impulse–momentum principle only in the horizontal
direction.
Letting t1 D 0 and recalling that vx1 D 0, solving Eq. (7) for t2 , we have
mvx2
t2 D D 10:6 s;
FT
where we have used the following numerical data: m D .45;000 lb/=.32:2 ft=s2 / D 1398 slug, vx2 D
165 mph D 242:0 ft=s, and FT D 32;000 lb.
Next, using the work-energy principle to find the total distance d needed to take off, we have
T1 C U1-2 D T2 ; (8)
where T1 D 0, U1-2 D FT d , and T2 D 21 mv22 , so that we have
mv22
FT d D 21 mv22 ) dD ) d D 1280 ft,
2FT
where we have used the following numerical data: m D .45;000 lb/=.32:2 ft=s2 / D 1398 slug, v2 D vx2 D
165 mph D 242:0 ft=s, and FT D 32;000 lb.
August 10, 2009

Dynamics 1e 577
Problem 5.9
A 60 ton railcar and its cargo, a 27 ton trailer, are moving to the right at 4 mph
when they come into contact with a bumper that is able to bring the system to
a stop in 0:78 s. Determine the magnitude of the average force exerted on the
railcar by the bumper.
Solution
Let the subscripts 1 and 2 denote the time instants when the train first comes into
contact with the spring and when the train first comes to a stop, respectively. Then,
using the relation between the change in linear momentum of a particle over a time
interval of duration t2 t1 and the average force over the same time interval, we have
that the magnitude of the average force is
ˇ ˇ v ˇ
ˇ E ˇ ˇˇ mE mEv1 ˇˇ mv1
ˇ
2
ˇFavg ˇ D ˇ ) Favg D D 40;600 lb,
t2 t1 ˇ t2 t1
where we have used the fact that v2 D 0 and we have used the following numerical data: m D .60:0 ton C
27:0 ton/.2000 lb=ton/.32:2 ft=s2 / 1 D 5404 slug, v1 D 4:00 mph D 5:867 ft=s, and t2 t1 D 0:780 s.
August 10, 2009

Problem 5.10
In a simple force-controlled experiment, two curling stones A and B are made to slide
over a sheet of ice. Initially, A and B are at rest on the start line. Then they are acted
upon by identical and constant forces FE , which continually push A and B all the way
to the finish line. Let pEAFL and pEBFL denote the momentum of A and B at the finish
line, respectively, assuming that the forces FE are the only nonnegligible forces acting
in the plane of motion. If mA < mB , which of the following statements is true?
ˇ ˇ ˇ ˇ
(a) ˇpEAFL ˇ < ˇpEBFL ˇ.
ˇ ˇ ˇ ˇ
(b) ˇpEAFL ˇ D ˇpEBFL ˇ.
ˇ ˇ ˇ ˇ
(c) ˇpEAFL ˇ > ˇpEBFL ˇ.
ˇ ˇ
(d) There is not enough information given to make a comparison between ˇpEA ˇ and
ˇ ˇ FL
ˇpEB ˇ.
FL
Solution
Since mB > mA , B will take more time to cross the finish line. From the definition of impulse for a constant
force Z t2
FE .t / dt D pE .t2 / pE .t1 / ) FE .t2 t1 / D pE .t2 / pE .t1 / ;
t1
we see that a constant force

ˇ ˇ ˇ overˇ a longer time interval will cause B to have more momentum than A
acting
at the finish line: (i) ˇpEAFL ˇ < ˇpEBFL ˇ is true.
August 10, 2009

Dynamics 1e 579
Problem 5.11
A 30;000 lb airplane is flying on a horizontal trajectory with a speed v0 D

650 mph when, at point A, it maneuvers so that at point B it is set on a steady
climb with D 40ı and a speed of 600 mph. Assuming that the change in mass 3
of the plane between A and B is negligible, determine the impulse that had to NAVY
3
be exerted on the plane in going from A to B.
Solution
Referring to the figure on the right, we can describe the velocitities if the plane at A and B,
respectively, as vEA D v0 {O and vEB D vB .cos {O C sin |O/, v0 is the speed at A and vB is the
speed at B. Then, applying the linear impulse–momentum principle, we have that the total
impulse exerted on the plane between A and B is
Z tB
FET dt D m.E vB vEA /;
tA
where m is the mass of the plane and FET is the total external force acting on the plane. Hence, using the
component system shown, we have
Z tB
W
FET dt D

.vB cos v0 / {O C vB sin |O ;
tA g
so that our numerical answer is

Z tB
FET dt D . 260103 {O C 527103 |O/ lbs ;
tA
W D 30;000 lb;
g D 32:2 ft=s2 ;
1
vB D .600 mph/.5280 ft=mi/.3600 s=h/ D 880:0 ft=s;
ı
D 40:0 ;
1
v0 D .650 mph/.5280 ft=mi/.3600 s=h/ D 953:3 ft=s:
August 10, 2009

Problem 5.12
A 1600 kg car, when on a rectilinear and horizontal stretch of road, can go from
rest to 100 km=h in 5:5 s.
(a) Assuming that the car travels on such a road, estimate the average value of
the force acting on the car for the car to match the expected performance.
(b) Recalling that the force propelling a car is caused by the friction between
the driving wheels and the road, and again assuming that the car travels on a
rectilinear and horizontal stretch of road, estimate the average value of the
friction force acting on the car for the car to match the expected performance.
Also estimate the coefficient of friction required to generate such a force.
Solution
Part (a). Let the subscripts 1 and 2 denote the time instants when the car starts from rest
and reaches the speed of 100 km=h, respectively. Then, using the relation between average
force and changes in linear momentum over a given time interval, we have
mEv2 mE v1
FEavg D : (1)
t2 t1
Using the component system shown on the right and since the car moves along a straight line, we have
vE1 D 0E and vE2 D v2 {O; (2)
where v2 D 100 km=h. Therefore, substituting Eqs. (2) into Eq. (1) and evaluating the magnitude of the
result, we have
ˇFEavg ˇ D 8081 N
ˇ ˇ
(3)
where we have used the following numerical data: m D 1600 kg, v2 D .100 km=h/.3600 s=hr/ 1 D
27:78 m=s, and t2 t1 D 5:5 s. Expressing the above result using three significant figures, the answer to
Part (a) of the problem is ad follows:
ˇFEavg ˇ D 8080 N:
ˇ ˇ
Part (b). The only force acting on the car is the force generated by friction between the wheels and the
road. Thus, the magnitude of the average force needed to accelerate the car from rest to 100 km=h is that in
Eq. (3). With this in mind, from the definition of static friction (since we are assuming no slip) we have that
jFf j s jN j; (4)
where N is the normal reaction force between the car and the ground and Ff D ˇFEavg ˇ. Since the car does
ˇ ˇ
not move in the vertical direction, the normal force N will have to equilibrate the car’s weight, i.e., N D mg.
Substituting this result into Eq. (4), we have
ˇFEavg ˇ
ˇ ˇ
s D 0:515;
mg
where we have used the following numerical data: ˇFEavg ˇ D 8081 N (see Eq. (3)), m D 1600 kg, and
ˇ ˇ
g D 9:81 m=s2 .
August 10, 2009
Dynamics 1e 581
Problem 5.13
A 1600 kg car, when on a rectilinear and horizontal stretch of road and when
the tires do not slip, can go from rest to 100 km=h in 5:5 s. Assuming that
the car travels on a straight stretch of road with a 40% slope and that no slip
occurs, determine how long it would take to attain a speed of 100 km=h if the
car were propelled by the same maximum average force that can be generated
on a horizontal road.
Solution
We start the solution of this problem by determining the average force that acts on the car when it travels on a
horizontal surface going from zero to 100 km=s in 5:5 s. Let the subscripts 1 and 2 denote the time instants
when the car starts from rest and reaches the speed of 100 km=h, respectively. Then, letting vh1 and vh2 be
the horizontal components of velocity corresponding to the the time instants t1 and t2 respectively, using the
relation between the notion of average force and the change in momentum (over a given time interval), we
have
mvh2 mvh1
Favg D ) Favg D 8081 N; (1)
t2 t1
where we have used the following numerical data: m D 1600 kg, vh2 D .100 km=h/.3600 s=hr/ 1 D
27:78 m=s, vh1 D 0, and t2 t1 D 5:50 s.
Now, we turn the analysis of the motion of the car along the incline. Referring to
the FBD shown on the right, as indicated by the problem statement, we assume that the
car is subject to a force equal to favg acting in the direction of motion. Hence, applying
Newton’s second law in the x direction, we have
X Favg
Fx W mg sin C Favg D max ; ) ax D g sin :
m
Next, since ax is constant, we can apply the following constant acceleration equation: vx2 D vx1 Cax .t2 t1 /.
Let the initial time t1 D 0 so that vx1 D 0. Then, letting vx2 D 100 km=s, we can solve for t2 , namely the
time needed to achieve vx2 . Specifically, we have
vx2 mvx2
vx2 D ax t2 ) D t2 ) t2 D D 19:7 s,
ax Favg mg sin
where we have used the following numerical data: m D 1600 kg, vx2 D .100 km=h/.3600 s=hr/ 1 D
27:78 m=s, Favg D 8081 N (see Eq. (1)), g D 9:81 m=s2 , D tan 1 .40=100/ D 21:80ı .
August 10, 2009

Problem 5.14
A 5 81 oz baseball traveling at 80 mph rebounds off a bat with a speed of 160 mph.
The ball is in contact with the bat for roughly 10 3 s. The incoming velocity of
the ball is horizontal, and the outgoing trajectory forms an angle ˛ D 31ı angle
with respect to the incoming trajectory.
(a) Determine the impulse provided to the baseball by the bat.
(b) Determine the average force exerted by the bat on the ball.
(c) Determine how much the angle ˛ would change (with respect to 31ı ) if we
were to neglect the effects of the force of gravity on the ball.
Solution
Part (a). let the subscripts 1 and 2 denote the time instants immediately before and after
the bat his the ball, respectively. Hence, v1 and v2 are the pre and postimpact speeds
and the corresponding pre and, using the component system on the right, the postimpact
velocities can be written as
vE1 D v1 {O D . 117:3 ft=s/ {O; (1)
vE2 D v2 .cos ˛ {O C sin ˛ |O/ D .201:2 {O C 120:9 |O/ ft=s; (2)
where we have used the following numerical data: v1 D 80 mph D 117:3 ft=s, v2 D 160 mph D 234:7 ft=s,
and ˛ D 31ı . The impulse on the ball is given by the change in momentum. That is, using the FBD shown on
the right, Z tf
FEb mg |O dt D mE

Impulse D v2 mE v1 D 3:168 {O C 1:203 |O lbs; (3)
0
where in addition to the results in Eqs. (1) and (2), we have used the following numerical data m D
.5 18 oz/.16:0 oz=lb/ 1 .32:2 ft=s2 / 1 D 9:948 10 3 slug. Expressing the answer to Part (a) using three
significant digits, we have
Impulse D .3:17 {O C 1:20 |O/ lbs :
Part (b). Using the first of Eqs. (3), we can write

Z tf Z tf Z tf Z tf
Impulse D FEb mg |O dt D FEb dt mg |O dt D tf .FEb /avg mg |O dt (4)
0 0 0 0
tf
1 1
Z
FEb

) avg
D Impulse C mg |O dt D Impulse C mgtf |O : (5)
tf 0 tf
Using the value of the impulse in Eq. (3), and recalling that mg D 5 81 oz D 0:3203 lb, and tf D 10 3 s, we
then have
FEb avg D 3168 {O C 1203 |O lb;

(6)
which, when expressed using three significant digits, becomes
FEb

avg
D .3170 {O C 1200 |O/ lb :
August 10, 2009

Dynamics 1e 583
Part (c). To answer the final question, we can again use Eq. (3), solve it for vE2 , and neglect mg to find
1 tf E
Z
vE2 D vE1 C Fb dt: (7)
m 0
Now, taking advantage of the average force from Eq. (6), we have
Z tf
FEb dt D tf FEb D Œ.3168 {O C 1203 |O/ lb.10 3 s/ D .3:168 {O C 1:203 |O/ lbs; (8)
0 avg
so that,
vE2 D .201:2 {O C 120:9 |O/ ft=s: (9)
The above value for vE2 is identical, to four significant figures, to that in Eq. (2). Therefore, within the accuracy
of our calculation, the resulting value of ˛ would be unchanged with respect to the given value of 31ı .
Within the accuracy of our calculation (4 significant figures), ˛ remains equal to 31ı .
August 10, 2009

Problem 5.15
In an unfortunate incident, a 2:75 kg laptop computer is dropped onto the floor from a height
of 1 m. Assuming that the laptop starts from rest, that it rebounds off the floor up to a height
of 5 cm, and that the contact with the floor lasts 10 3 s, determine the impulse provided by
the floor to the laptop and the average acceleration to which the laptop is subjected when in
contact with the floor (express this result in terms of g, the acceleration of gravity).
Solution
Modeling the laptop as a particle of mass m, to determine the impulse provided by the floor
to the laptop we need to determine the change in velocity of the laptop due to its collision
with the ground. The velocity with which the laptop hits the ground can be related to the
height from which the laptop is dropped using the work-energy principle. Let À and Á be the
positions of the laptop when it is first dropped and when it reached the ground, respectively.
Referring to the FBD shown, assuming that the laptop is only subject to gravity, and setting the datum from
gravity at the ground, we have
T1 C V1 D T2 C V2 ; (1)
where
T1 D 0; V1 D mgh1 ; T2 D 12 v22 ; V2 D 0: (2)
Substituting Eqs. (2) into Eq. (1) and solving for v2 , we have
p
v2 D 2gh1 D 4:429 m=s; (3)
where we have used the following numerical data: g D 9:81 m=s2 and h1 D 1:00 m. Similarly, letting Â
and Ã be the position of the laptop right after impact and when reaching the maximum rebound height,
respectively, then applying the work-energy principle again, we have that have
p
v3 D 2gh4 D 0:9905 m; (4)
where we have used the following numerical data: g D 9:81 m=s2 and h4 D 5:00 cm D 0:0500 m. Hence,
using the component system shown on the right, the velocity of the laptop right before impact and right after
impact are
vE2 D .4:429 m=s/ |O and vE3 D .0:9905 m/ |O: (5)
Now, applying the impulse–momentum principle, we can say that the impulse provided by the floor is
Impulse D pE3 pE2 D mE
v3 mE
v2 :
Recalling that m D 2:75 kg, and using the numerical results in Eqs. (5), we have
Impulse D .14:9 |O/ Ns :
Next, applying the formula for the average acceleration, we have

vE3 vE2
aEavg D ; (6)
t2 t1
which, recalling that t2 t1 D 110 3s and using again the numerical results in Eqs. (5), gives
aEavg D .5420 |O/ m=s D 552g |O :
August 10, 2009

Dynamics 1e 585
Problem 5.16
A train is moving at a constant speed v t relative to the ground, when a person who initially at rest (relative
to the train) starts running and gains a speed v0 (relative to the train) after a time interval t . Had the
person started from rest on the ground (as opposed to the moving train), would the magnitude of the total
impulse exerted on the person during t be smaller than, equal to, or larger than the impulse needed to
cause the same change in relative velocity in the same amount of time on the moving train? Assume that
the person always moves in the direction of motion of the train.
Solution
The two impulses in question are the same. This is because the train is moving at a constant velocity with
respect to the ground. Hence, if the ground can be chosen as an inertial reference frame then the train can
also be chosen as an inertial reference frame. Therefore a given change in velocity in a given amount of time,
either on the train or on the ground, will require the same impulse.
August 10, 2009

Problem 5.17
A train is decelerating at a constant rate, when a person who initially at rest (relative to the train) starts
running and gains a speed v0 (again relative to the train) after a time interval t. Had the person started
from rest on the ground (as opposed to the moving train), would the magnitude of the total impulse exerted
on the person during t be smaller than, equal to, or larger than the impulse needed to cause the same
change in velocity in the same amount of time on the moving train? Assume that the person always moves
in the direction of motion of the train and that the train does not reverse its motion during the time interval
t .
Solution
The magnitude of the total impulse in question would be greater. Suppose the ground is chosen as an inertial
frame. Then the train cannot be taken as an inertial frame. The use of the impulse-momentum principle
requires that velocity changes be measured by an inertial observer. One such observer would perceive the
change in speed of the person on the train to be smaller than it would have been on the ground due to the fact
that the train is decelerating. Therefore, for a given change in speed over a given time interval, a person on a
decelerating train requires a smaller impulse than a person on the ground.
August 10, 2009

Dynamics 1e 587
Problem 5.18
A car of mass m collides head-on with a truck of mass 50m. What is the ratio between the magnitude of
the impulse provided by the car to the truck and the magnitude of the impulse provided by the truck to the
car during the collision?
Solution
The ratio of the impulse imparted onto the truck by the car is necessarily equal and opposite to the impulse
provided by the truck. This result is a direct consequence of Newton’s third law.
August 10, 2009

Problems 5.19 through 5.21
These problems are an introduction to perfectly plastic impact (which we will

cover in Section 5.2). In each problem, model the vehicles A and C as particles
and treat the swarm of bugs B hitting the vehicles as a single particle. Also
assume that the swarm of bugs sticks perfectly to each vehicle (this is what is
meant by a perfectly plastic impact).
Problem 5.19 An 80;000 lb semitruck A (the maximum weight allowed in

many states) is traveling at 70 mph when it encounters a swarm of mosquitoes
B. The swarm is traveling at 1 mph in the opposite direction of the truck.
Assuming that the entire swarm sticks to the truck, the mass of each mosquito
is 2 mg, and that all of these mosquitoes do not significantly damage the truck,
how many mosquitoes must have hit the truck if it slows down by 2 mph on
impact? If the same number of mosquitoes hit a small SUV C weighing 3000 lb,
by how much will the SUV slow down?

many states) is traveling at 70 mph when it encounters a swarm of worker bees
Assuming that the entire swarm sticks to the truck, the mass of each bee is
0:1 g, and that all of these bees do not significantly damage the truck, how many
bees must have hit the truck if it slows down by 2 mph on impact? If the same
number of bees hit a small SUV C weighing 3000 lb, by how much will the
SUV slow down?

many states) is traveling at 70 mph when it encounters a swarm of dragonflies
Assuming that the entire swarm sticks to the truck, the mass of each dragonfly
is 0:25 g, and that all of these dragonflies do not significantly damage the truck,
how many dragonflies must have hit the truck if it slows down by 2 mph on
impact? If the same number of dragonflies hit a small SUV C weighing 3000 lb,
by how much will the SUV slow down?
Solution to 5.19
Referring to the FBD shown, the system’s linear momentum is conserved. Using the subscripts
1 and 2 to denote the pre- and postimpact conditions, respectively, in the x direction we have
mA .vAx /1 C nmm .vBx /1 D mA .vAx /2 C nmm .vBx /2 D .mA C nmm /vx2 ; (1)
where mm is the mass of a single mosquito, n is the number of mosquitoes, and where we have set
.vAx /2 D .vBx /2 D vx2 since the mosquitoes will move with the truck after impact. Solving Eq. (1) for n
and recalling that vx2 D .vAx /1 2 mph, we have
mA Œ.vAx /1 vx2
nD D 5:317108 mosquitos; (2)
mm Œvx2 .vBx /1
where we have used the following numerical data: mA D .80;000 lb/=.32:2 ft=s2 / D 2484 slug, .vAx /1 D
70:0 mph D 102:7 ft=s, vx2 D 68:0 mph D 99:73 ft=s, mm D .2:00 10 6 kg/.14:59 kg=slug/ 1 D
August 10, 2009
Dynamics 1e 589
1:37110 7 slug, and .vBx /1 D 1:00 mph D 1:467 ft=s. Expressing the above result to three significant
figures, we have
n D 5:32108 mosquitos: (3)
To determine the effect of the mosquitoes on the SUV, we solve Eq. (1) for vx2 after having replaced mA
with mC . This gives,
mC .vC x /1 C nmm .vBx /1

vx2 D D 56:98 ft=s D 38:85 mph; (4)
mC C nmm
3000 lb
where .vC x /1 D .vAx /1 and where we have used the following numerical data: mC D 32:2 ft=s2
D
8
93:17 slug, .vC x /1 D 70:0 mph D 102:7 ft=s, n D 5:31710 mosquitos (see Eq. (2)), mm D 2:00 mg D
.10 6 kg/.14:59 kg=slug/ 1 D 1:37110 7 slug, and .vBx /1 D 1:00 mph D 1:467 ft=s. Thus the SUV
will slow down by .vC x /1 vx2 , i.e.,
Slowdown D 45:7 ft=s D 31:2 mph:
August 10, 2009

Solution to 5.20
mA .vAx /1 C nmb .vBx /1 D mA .vAx /2 C nmb .vBx /2 D .mA C nmb /vx2 ; (5)
where mb is the mass of a single bee, n is the number of bees, and where we have set .vAx /2 D .vBx /2 D vx2
since the bees will move with the truck after impact. Solving Eq. (5) for n and recalling that vx2 D
.vAx /1 2 mph, we have
mA Œ.vAx /1 vx2
nD D 9:174106 bees; (6)
mb Œvx2 .vBx /1
70:0 mph D 102:7 ft=s, vx2 D 68:0 mph D 99:73 ft=s, mb D 0:100 g D .10:0 4 kg/.14:59 kg=slug/ 1 D
figures, we have
n D 9:170106 bees: (7)
To determine the effect of the bees on the SUV, we solve Eq. (5) for vx2 after having replaced mA with
mC . This gives,
mC .vC x /1 C nmb .vBx /1
vx2 D D 54:23 ft=s D 36:98 mph;
mC C nmb
3000 lb
D
6
93:17 slug, .vC x /1 D 70:0 mph D 102:7 ft=s, n D 9:174 10 bees (see Eq. (6)), mb D 0:100 g D
August 10, 2009

Dynamics 1e 591
Solution to 5.21
mA .vAx /1 C nmd .vBx /1 D mA .vAx /2 C nmd .vBx /2 D .mA C nmd /vx2 ; (8)
where md is the mass of a single dragonfly, n is the number of dragonflies, and where we have set .vAx /2 D
.vBx /2 D vx2 since the dragonflies will move with the truck after impact. Solving Eq. (5) for n and recalling
that vx2 D .vAx /1 2 mph, we have
mA Œ.vAx /1 vx2
nD D 2:906106 dragonflies; (9)
md Œvx2 .vBx /1
70:0 mph D 102:7 ft=s, vx2 D 68:0 mph D 99:73 ft=s, md D 0:250 g D .10 3 kg/.14:59 kg=slug/ 1 D
figures, we have
n D 2:91106 dragonflies: (10)
To determine the effect of the dragonflies on the SUV, we solve Eq. (5) for vx2 after having replaced mA
with mC . This gives,
mC .vC x /1 C nmd .vBx /1

vx2 D D 50:06 ft=s D 34:13 mph;
mC C nmd
3000 lb
D
6
93:17 slug, .vC x /1 D 70:0 mph D 102:7 ft=s, n D 2:90610 dragonflies (see Eq. (9)), md D 0:250 g D
August 10, 2009

Problem 5.22
Solve Example 5.4 by directly applying Eq. (5.14), using the same assumptions
made in that solution. Note that, unlike Example 5.4, the velocity of the person
relative to the platform does not appear in the solution.
Solution
Equation (5.14) is a direct consequence of the impulse–momentum principle for

a system, i.e.,
d
FE D

mEvG ; (1)
dt
where vEG is the velocity of the system’s center of mass G. Observe that FEx D 0.
Hence, using Eq. (1), we have
0 D mvGx ) C D mvGx ; (2)
where C is a constant. Since the system is initially stationary, we have C D 0. In turn, this implies that
xG
0 D mvGx D m ) xG D constant: (3)
dt
If the position of the G does not change with time, then letting the subscripts 1 and 2 denote the initial time
instant and a generic subsequent time instant, respectively, we must have
xG1 D xG2 : (4)
Applying the definition of center of mass to the platform-person

system, we have that, at any instant,
xA mA C xB mB
xG D : (5)
mA C mB
Substituting Eq. (5) into Eq. (4), and using the coordinate system
shown to the right, we have
Lfp mp C 0mfp xp mp C xp mfp
D : (6)
mp C mfp mp C mfp
Letting the time t2 be the instant when the person reaches the right end of the platform, i.e., letting xp D xfp
in Eq. (6) and then solving for .xfp /2 , we have
Lfp mp
.xfp /2 D ;
mp C mfp
which is exactly the same result expressed by Eq. (10) in Example 5.4.
August 10, 2009

Dynamics 1e 593
Two persons A and B weighing 140 and 180 lb, respectively, jump off a floating
platform (in the same direction) with a velocity relative to the platform that
is completely horizontal and with magnitude v0 D 6 ft=s for both A and B.
The floating platform weighs 800 lb. Assume that A, B, and the platform are
initially at rest.
Problem 5.23 Neglecting the water resistance to the horizontal motion of the
platform, determine the speed of the platform after A and B jump at the same
time.
platform, and knowing that B jumps first, determine the speed of the platform
after both A and B have jumped.
platform, and knowing that A jumps first, determine the speed of the platform
after both A and B have jumped.
Solution to 5.23
Referring to the FBD on the right, there are no external forces acting on the system.
Therefore, the momentum is conserved in the x direction. Let the subscripts 1 and
2 represent the time instants immediately before and after the jump, respectively.
Then we must have
mA .vAx /1 C mB .vBx /1 C mP .vP x /1

D mA .vAx /2 C mB .vBx /2 C mP .vP x /2 : (1)
All masses are initially at rest and .vAx /2 D .vBx /2 . Because the velocity v0 is a relative velocity we must
have
v0 D .vAx /2 .vP x /2 ) .vAx /2 D .vP x /2 v0 :
Consequently, Eq. (1) becomes

0 D .vP x /2 v0 .mA C mB / C mP .vP x /2 ;
which can be solved for .vP x /2 to obtain
.mA C mB /v0 .WA C WB /v0

.vP x /2 D D ; (2)
mA C mB C mP WA C WB C WP
where we have multiplied both the numerator and denominator by the acceleration due to gravity g to obtain
the last expression. Observing that the platform moves only in the x direction, then vP 2 D j.vP x /2 j so that
we have
vP 2 D 1:71 ft=s;
where we have used the following numerical data: WA D 140 lb, WB D 180 lb, WP D 800 lb, and
v0 D 6:00 ft=s.
August 10, 2009

Solution to 5.24
There are no external forces acting on the system. Therefore, the momentum is
conserved in the x direction. Let the subscripts 1, 2, 3, and 4 represent the time
instants immediately before B jumps, right after B jumps, right before A jumps,
and right after A jumps, respectively. Then we must have

All masses are at rest at time t1 and .vAx /2 D .vP x /2 . Because v0 is a relative velocity, we have
.vBx /2 .vP x /2 D v0 ) .vBx /2 D .vP x /2 v0 :

0 D mB .vP x /2 v0 C .mA C mP /.vP x /2 ;

mB v0
.vP x /2 D D .vP x /3 D .vAx /3 :
mA C mB C mP
Since momentum is conserved in the x direction between time instants t3 and t4 , we have
mA .vAx /3 C mP .vP x /3 D mA .vAx /4 C mP .vP x /4 : (4)
Again, because v0 is a relative velocity, we must write
.vAx /4 .vP x /4 D v0 ) .vAx /4 D .vP x /4 v0 :
Then, Eq. (4) can be rewritten as
.mA C mP /mB v0
D mA .vP x /4 v0 C mP .vP x /4 ;
mA C mB C mP
mA v0 mB v0 WA v0 WB v0
.vP x /4 D C D C ; (5)
mA C mP mA C mB C mP WA C WP WA C WB C WP
where we have multiplied both the numerator and denominator of each fraction by the acceleration due to
gravity g to obtain the last expression. Observing that the platform moves only in the x direction, then
vP 4 D j.vP x /4 j so that we have
vP 4 D 1:86 ft=s;
where we have used the following numerical data: WA D 140 lb, WB D 180 lb, WP D 800 lb, and
v0 D 6:00 ft=s.
August 10, 2009

Dynamics 1e 595
Solution to 5.25
There are no external forces acting on the system. Therefore, the momentum is
conserved in the x direction. Let the subscripts 1, 2, 3, and 4 represent the time
instants immediately before A jumps, right after A jumps, right before B jumps,
and right after B jumps, respectively. Then we must have

All masses are at rest at time t1 and .vBx /2 D .vP x /2 . Because v0 is a relative velocity, we have
.vAx /2 .vP x /2 D v0 ) .vAx /2 D .vP x /2 v0 :

0 D mA .vP x /2 v0 C .mB C mP /.vP x /2 ;

mA v0
.vP x /2 D D .vP x /3 D .vBx /3 :
mA C mB C mP
Since momentum is conserved in the x direction between time instants t3 and t4 , we have
mB .vBx /3 C mP .vP x /3 D mB .vBx /4 C mP .vP x /4 : (7)
Again, because v0 is a relative velocity, we must write
.vBx /4 .vP x /4 D v0 ) .vBx /4 D .vP x /4 v0 :
Then, Eq. (7) becomes
.mB C mP /mA v0
D mB .vP x /4 v0 C mP .vP x /4 ;
mA C mB C mP
mB v0 mA v0 WB v0 WA v0
.vP x /4 D C D C ; (8)
mB C mP mA C mB C mP WB C WP WA C WB C WP
where we have multiplied both the numerator and denominator by the acceleration due to gravity g to obtain
the last expression. Observing that the platform moves only in the x direction, then vP 4 D j.vP x /4 j so that
we have
vP 4 D 1:85 ft=s:
August 10, 2009

Problem 5.26
At the instant shown a group of three space-junk fragments with masses m1 D

7:45 kg, m2 D 3:22 kg, and m3 D 8:45 kg are traveling as shown with v1 D
7701 m=s, v2 D 6996 m=s, and v3 D 6450 m=s. Assume that the velocity vectors
of the fragments are coplanar, that vE1 and vE2 are parallel, and that is measured
with respect to a line perpendicular to the direction of both vE1 and vE2 . Furthermore,
assume that the system is isolated and that, because of gravity, the fragments will
eventually form a single body. Determine the common velocity of the fragments
after they come together if D 25ı .
Solution
Since the system is isolated, the velocity of the center of mass of the system is
conserved. When the objects form a single body they will travel with a velocity
equal to the initial velocity of the mass center. We write the initial velocities as
vE1 D v1 |O; vE2 D v2 |O; and v3 D v3 cos {O v3 sin |O: (1)
The velocity of the center of mass of the system is therefore
m1 vE1 C m2 vE2 C m3 vE3 m3 v3 cos {O C .m2 v2 m1 v1 m3 v3 sin /|O

vEG D D :
m1 C m2 C m3 m1 C m2 C m3
Using the problem’s given we then have
vEG D . 2580 {O 3030 |O/ m=s;
where we have used the following numerical data , m1 D 7:45 kg, m2 D 3:22 kg, m3 D 8:45 kg, v1 D
7701 m=s, v2 D 6996 m=s, v3 D 6450 m=s, and D 25ı .
August 10, 2009

Dynamics 1e 597
Problem 5.27
A 180 lb man A and a 40 lb child C are at the opposite ends of a 250 lb floating
platform P with a length Lfp D 15 ft. The man, child, and platform are initially
at rest at a distance ı D 1 ft from a mooring dock. The child and the man move
toward each other with the same speed v0 relative to the platform. Determine
the distance d from the mooring dock where the child and man will meet.
Assume that the resistance due to the water to the horizontal motion of the
platform is negligible.
Solution
There are no external forces in the x direction so momentum is conserved in this

direction. Since the system is initially at rest, the position of the center of mass must
remain constant. The man and child will meet in the center of the platform because
they move with equal speed relative to the platform. Let the subscripts 1 and 2 denote
the initial time and the time at which A and C meet, respectively. Then we must have,
mA xA1 C mC xC1 C mP xP1 D mA xA2 C mC xC 2 C mP xP 2 ; (1)
where, referring to the coordinate system shown to the below,
xC1 D ı D 1 ft, mP1 D xC1 C 12 Lfp , xA1 D xC1 CLfp , and xA2 D xC 2 D xP 2 D d C 21 Lfp . Consequently,
Eq. (1) becomes
mA .xC1 C Lfp / C mC xC1 C mP xC1 C 12 Lfp D .mA C mC C mP /d:

(2)
Multiplying Eq. (2) through by the acceleration due to gravity g and solving for d we obtain
WA .xC1 C Lfp / C WC xC1 C WP xC1 C 12 Lfp

dD D 10:7 ft;
WA C WC C WP
where we have used the following numerical data: WA D 180 lb, WC D 40:0 lb, WP D 250 lb, Lfp D 15:0 ft,
xC1 D 1:00 ft.
August 10, 2009

Problem 5.28
A man A, with a mass mA D 85 kg, and a child C , with a mass mC D 18 kg,

are at the opposite ends of a floating platform P , with a mass mP D 150 kg
and a length Lfp D 6 m. Assume that the man, child, and platform are initially
at rest and that the resistance due to the water to the horizontal motion of the
platform is negligible. Suppose that the man and child start moving toward
each other in such a way that the platform does not move relative to the water.
Determine the distance covered by the child until meeting the man.
Solution
There are no external forces in the x direction so momentum is conserved in this

direction. Since the system is initially at rest, the center of mass does not move. Let
the subscripts 1 and 2 denote the time instants corresponding to the initial and final
positions, respectively. Since we want the platform to remain stationary we can use
it as an inertial frame of reference. Choosing a coordinate system with origin at xC1 ,
as shown, we have
mA xA1 C mP xP1 C mC xC1 D mA xA2 C mP xP 2 C mC xC 2 ; (1)

) mA xA1 D mA xA2 C mC xC 2 ; (2)
given that xC1 D 0. When the man and child meet xA2 D xC 2 and Eq. (2) becomes
mA xA1 D .mA C mC /xC 2 ;
which, recalling that xA1 D Lfp , can be solved for xC 2 to obtain
mA Lfp
xC 2 D : (3)
mA C mC
Observing that the distance covered by the child is d D jxC 2 j, we have
mA Lfp
dD D 4:95 m;
mA C mC
where we have used the following numerical data: mA D 85:0 kg, mC D 18:0 kg, mP D 150:0 kg, and
Lfp D 6:00 m.
August 10, 2009

Dynamics 1e 599
Problem 5.29
The 28;000 lb A-10 Thunderbolt is flying at a constant speed of 375 mph when
it fires a 4 s burst from its forward-facing seven-barrel Gatling gun. The gun
fires 13:2 oz projectiles at a rate of 4200 rounds=min. The muzzle velocity of
each projectile is 3250 ft=s. Assuming that each of the plane’s two jet engines
maintains a constant thrust of 9000 lb, that the plane is subject to a constant air
resistance while the gun is firing (equal to that before the burst), and that the
plane flies straight and level, determine the plane’s change in velocity at the end
of the 4 s burst.
Solution
Referring to the FBD shown, FT , D, and L are the engine thrust, aerodynamic drag,
and the aerodynamic lift, respectively. Based on the information given, we have
that the forces FT and D balance each other exactly so that the momentum in the
x direction is conserved. Let Wi be the weight of the airplane and the remaining
rounds, after the i th round has been fired. Let WR D 13:2 oz: D 0:8250 lb be the
weight of a single round. The quantities vi and mi refer to the velocity and mass of
the plane (including the rounds yet to be fired) when the i th round, with velocity vRi
and mass mR , is fired. Thus, the balance of impulse and momentum gives
mi 1 .vi 1 /x D mi .vi /x C mR .vRi /x : (1)
The weight of the plane after after the i th round is fired is given by Wi D WT iWR , where WT D
28;000 lb. Observe that, for i D 0, v0 D 550 ft=s. ALso, when a round is fired, its velocity relative to the
plane is equal to the muzzle velocity vM D 3250 ft=s, so that
.vRi /x D .vi /x C vM ; (2)
Recalling that 4200 rounds are fired each minute, we have that NTR , the total number of rounds fired in 4 s is
4200
NTR D 4 D 280:
60
Substituting Eq. (2) into Eq. (1), we obtain
WT .i 1/WR WT iWR WR
.vi 1 /x D .vi /x C Œ.vi /x C vM : (3)
g g g
Finally, solving for .vi /x , we obtain

1
.vi /x D fŒWT .i 1/WR .vi 1 /x WR vM g : (4)
WT C .1 i /WR
This is a recursion relation. To find the velocity of the plane after 280 rounds have been fired will require a
short computer program. Using one such program, we obtain that airplane’s change in speed (v), is
.v280 /x D 523:1 ft=s ) v D 26:9 ft=s:
This result was obtained using Mathematica with the following two alternative codes.
August 10, 2009
Recursion via a For Loop

5280.
vInitial ! 375.0 " ;
3600.
For!i ! 1, i # 281, i$$, If"i % 1, vFinal ! vInitial;#;
28 000.0 $ $1 & i%
1 13.2 13.2
28 000.0 $ $1 & i%
vFinal ! vFinal & 3250. ;&
13.2 16. 16.
16.
'v ! vFinal & vInitial
!26.9233
Recursion via Function Definition

vAirplane"i_# :!
28 000.0 $ $1 & i%
1 13.2 13.2
28 000.0 $ $1 & i%
vAirplane"i & 1# & 3250. ;
13.2 16. 16.
16.
5280.
vAirplane"0# ! 375.0 " ;
3600.
'v ! Block"'$RecursionLimit ! Infinity(, vAirplane"280## & vAirplane"0#
!26.9233
August 10, 2009

Dynamics 1e 601
Problem 5.30
A person P on a cart on rails is receiving packages from people standing on a

stationary platform. Assume that person P and the cart have a combined weight
of 350 lb and start from rest. In addition suppose that a person PA throws a
package A weighing 60 lb, which is received by person P with a horizontal
speed vA D 4:5 ft=s. After person P has received the package from person PA ,
a second person PB throws a package B weighing 80 lb, which is received by
person P with a horizontal speed relative to P and in the same direction as the
velocity of P of 5:25 ft=s. Determine the final velocity of the person P and the
cart. Neglect any friction or air resistance acting on P and the cart.
Solution
The FBD of the system when P receives the package from PA shows that there are no
forces in the horizontal direction. Then, recalling that the cart starts from rest, we must
have
mA
mA .vAx /1 D .mP C mA /.vP x /2 ) .vP x /2 D .vAx /1 ; (1)
mP C mA
where the subscripts 1 and 2 identify the states of the system before and after P receives the package from
PA , respectively, .vAx /1 D 4:5 ft=s, and where we have accounted for the fact that, after P receives the
package, P and the package have a common velocity.
Let 3 denote the system after P receives the package from PB . The FBD of the
system in going from 2 to 3 also indicates that the linear momentum of the system in
the x direction is conserved, so that we have
.mP C mA /.vP x /2 C mB .vBx /2 D .mP C mA C mB /.vP x /3 ; (2)
where, based on the problem statement
.vBx /2 .vP x /2 D .vB=P /2 D 5:25 ft=s ) .vBx /2 D .vB=P /2 C .vP x /2 : (3)
Substituting Eq. (3) into Eq. (2) and then using the second of Eqs. (1), we have
mA mB
mA .vAx /1 C mB .vB=P /2 C .vAx /1 D .mP C mA C mB /.vP x /3 ; (4)
mP C mA
which can be rewritten as
mP C mA C mB
mA .vAx /1 C mB .vB=P /2 D .mP C mA C mB /.vP x /3 : (5)
mP C mA
Multiplying each mass terms in Eq. (5) by the acceleration due to gravity g, i.e., replacing each mass term by
the corresponding weight term, and solving for .vP x /3 , we have
WA WB
.vP x /3 D .vP x /final D .vAx /1 C .vB=P /2 ; (6)
WP C WA WP C WA C WB
which, given that the motion fo P is only in the x direction gives
vP /final D .1:52 ft=s/ {O

.E ;
where we have used the following numerical data: WA D 60:0 lb, WP D 350 lb, WB D 80:0 lb, .vAx /1 D
4:50 ft=s, and .vB=P /2 D 5:25 ft=s.
August 10, 2009
Problem 5.31
The spacecraft shown is out in space and is far enough from any other mass (e.g., planets, etc.) so as not to
be affected by any gravitational influence (i.e., the net external force on the rocket is approximately zero).
The system (i.e., the spacecraft and all its fuel) is at rest when it starts at A, and it thrusts all the way to B
along the straight line shown using internal chemical rockets (which work by ejecting the fuel mass at very
high speeds out the tail of the rocket). We are given that the mass of the system at A is m and that it has
ejected half of its mass in thrusting from A to B. What will be the location of the system’s mass center
when the spacecraft reaches B?
Solution
The system’s center of mass will not move from its initial position. the reason for this is that the rocket and
its fuel form an isolated system, that is, a system with no external forces acting on it. The linear momentum
of an isolated system is conserved. Since the momentum is conserved we know that the center of mass cannot
change its velocity. Since the system was initially at rest, then the center of mass of the system will have to
remain in its initial position.
August 10, 2009

Dynamics 1e 603
Problem 5.32
Energy storage devices that use spinning flywheels to store energy are starting
to become available. To store as much energy as possible, it is important that
the flywheel spin as fast as possible. Unfortunately, if it spins too fast, internal
stresses in the flywheel cause it to come apart catastrophically. Therefore, it is
important to keep the speed at the edge of the flywheel below about 1000 m=s.
In addition, it is critical that the flywheel be almost perfectly balanced to avoid
the tremendous vibrations that would otherwise result. With this in mind, let the
flywheel D, whose diameter is 0:3 m, rotate at ! D 60;000 rpm. In addition,
assume that the cart B is constrained to move rectilinearly along the guide
tracks. Given that the flywheel is not perfectly balanced, that the unbalanced
weight A has mass mA , and that the total mass of the flywheel D, cart B, and
electronics package E is mB , determine the following as a function , the
masses, the diameter, and the angular speed of the flywheel:
(a) the amplitude of the motion of the cart,
(b) the maximum speed achieved by the cart.
Neglect the mass of the wheels, assume that initially everything is at rest, and
assume that the unbalanced mass is at the edge of the flywheel. Finally, evaluate
your answers to Parts (a) and (b) for mA D 1 g (about the mass of a paper clip)
and mB D 70 kg (the mass of the flywheel might be about 40 kg).
Solution
Part (a). The position of the unbalanced mass A attached to the flywheel is
described in polar coordinates. Expressing the unit vectors uO r and uO in terms
of {O and |O, we have
uO r D cos {O C sin |O; (1)

uO D sin {O C cos |O: (2)
The velocity A relative to B can now be expressed as
vEA=B D r P uO D r P sin {O C r P cos |O; (3)
where r D d=2 D 0:1500 m is the radius of the flywheel. We can determine the absolute velocities of A and
B as
vEB D vB {O and vEA D vEB C vEA=B D .vB r! sin /O{ C .r! cos /|O;
where the angular velocity P is a constant: !. Therefore, the total momentum of the system is
pE D mA vEA C mB vEB D ŒmA .vB r! sin / C mB vB {O C mA r! cos |O (4)
Since there are no external forces acting the in the x direction, the component of momentum in this direction
is conserved. Thus,
.mA C mB /vB mA r! sin D C; (5)
August 10, 2009

where C is a constant. We can express the angle as !t since the angular velocity ! is a constant. Thus, we
can rewrite Eq. (5) as
.mA C mB / vB mA r! sin !t D C; (6)
Since we know the cart starts from rest, we have
vEB .0/ D 0; ) C D 0: (7)
Knowing the value of the constant in Eq. (6) from Eq. (7), we can solve for the velocity of the cart
mA r! sin !t
vB D : (8)
mA C mB
Integrating the velocity of the cart with respect to time, we find that
mA r
xB D cos !t C K; (9)
mA C mB
where K is a constant. Recalling that the amplitude of the oscillation is the term in front of the term cos !t,
we have
mA r
Amplitude D D 2:1410 6 m;
mA C mB
where we have used the following numerical data: mA D 1 g D 1:00 10 3 kg, r D 0:1500 m, and
mB D 70:0 kg.
Part (b). The maximum speed achieved by the cart occurs when sin !t D 1 in Eq. (8). This gives
mA r!
.vB /max D D 0:0135 m=s;
mA C mB
where we have used the following numerical data: mA D 1 g D 1:00 10 3 kg, r D 0:1500 m, ! D
.60;000 rpm/.2 rad=rev/=.60 s=min/ D 6283 rad=s, and mB D 70:0 kg.
August 10, 2009

Dynamics 1e 605
Problem 5.33
The 135 lb woman A sits atop the 90 lb cart B, both of which are initially at rest. If
the woman slides down the frictionless incline of length L D 11 ft, determine the
velocity of both the woman and the cart when she reaches the bottom of the incline.
Ignore the mass of the wheels on which the cart rolls and any friction in their bearings.
The angle D 26ı .
Solution
Let À be when the person is at the top of the incline and Á be when
the person is at the bottom of the incline. All forces doing work are
conservative. Choosing the datume for the potential energy of gravity at
the Á, then at À and Á the kinetic and potential energies of the person
and the cart are:
2 2
T1 D 0; T2 D 12 mA vA2 C 21 mB vB2 ; V1 D mA gL sin ; V2 D 0:
Hence, using the work-energy principle, we have

2 2
T1 C V1 D T2 C V2 ) 2gmA L sin D mA vA2 C mB vB2 : (1)
The above equation has two unknowns, namely the speeds vA2 and vB2 . Now observe that the problem
requires that we find the velocities of the cart and the woman. Hence, we need to derive additional equations
to accomplish this task. Clearly, we need to take into account the slope of the incline. Second, referring to
the FBD on the right, we notice that there are no external forces acting in the x direction so that the linear
momentum of the system is conserved in the x direction, i.e.,

mA vAx 1 C mB vBx 1 D mA vAx 2 C mB vBx 2 ) 0 D mA vAx 2 C mB vBx 2 ; (2)
where we have used the fact that A and B are initially at rest.
Next we need to deal with the kinematics of the problem. Using the component system shown, observing
that the cart will be moving in the positive x direction, and that the relative velocity of A with respect to be
must B must be in the direction of the unit vector uO t , we have

vEB2 D vB2 {O and vEA=B 2 D vA=B 2 uO t D vA=B 2 cos {O vA=B 2 sin |O; (3)

where vA=B 2 is the component of the relative velocity of A with respect to B in the direction of uO t . Then,
using relative kinematics, we have

vEA2 D vEA=B 2 C vEB2 ) vEA2 D vB2 vA=B 2 cos {O vA=B 2 sin |O: (4)
The last of Eqs. (4) implies that

2
ˇ ˇ2 2 2
C vA=B 2 sin 2 D vB2
2

vA2 D ˇvEA2 ˇ D vB2 vA=B 2
cos 2vB2 vA=B 2
cos C vA=B 2
: (5)
Furthermore, the first of Eqs. (3) along with the last of Eqs. (4) imply that

vAx 2 D vB2 vA=B 2 cos and vBx 2 D vB2 : (6)
August 10, 2009

Finally, substituting the result in Eq. (5) into the last of Eqs. (1) and substituting Eqs. (6) into the last of
Eqs. (2) we have
2 2 2
2mA gL sin D mA vB2 2vB2 vA=B 2 cos C vA=B 2 C mB vB2 ; (7)

0 D mA vB2 vA=B 2 cos C mB vB2 ; (8)

which is a system of two equations inthe two unknowns vA=B 2 and vB2 . We can solve this system by first
solving Eq. (8) with respect to vA=B 2 . This gives
mA C mB
vA=B 2
D vB2 : (9)
mA cos
Substituting the result in Eq. (9) into Eq. (7) and simplifying, we have
.mA C mB /.mA C mB mA cos2 / 2

2mA gL sin D vB2
mA cos2
s
2
2gmA L sin cos2
) vB2 D D 13:24 ft=s; (10)
.mA C mB /.mA C mB mA cos2 /
where the quantity vB2 is necessarily positive since it is a speed, and where we have used the following
numerical data: mA D .135 lb/=.32:2 ft=s2 / D 4:193 slug, mB D .90:0 lb/=.32:2 ft=s2 / D 2:795 slug,
D 26:0ı , L D 11:0 ft, g D 32:2 ft=s2 . Substituting this result into Eq. (9), we then obtain

vA=B 2 D 24:55 ft=s; (11)
where we have used the appropriate values listed right below Eq. (10). Finally, substituting the results of
Eqs. (10) and (11) into the first of Eqs. (3) and the last of Eqs. (4), we have
vEA D . 8:83 {O 10:8 |O/ ft=s and vEB D .13:2 ft=s/ {O ;
where, again, we have used the appropriate values listed right below Eq. (10).
August 10, 2009

Dynamics 1e 607
Problem 5.34
An Apollo Lunar Module A and Command and Service Module B are moving
through space far from any other bodies (so that their gravitational effects can
be ignored). When D 30ı , the two craft are separated using an internal linear
elastic spring whose constant is k D 200;000 N=m and is precompressed 0:5 m.
Noting that the mass of the Command and Service Module is about 29;000 kg
and that the mass of the Lunar Module is about 15;100 kg, determine their post-
separation velocities if their common preseparation velocity is 11;000 m=s.
Solution
Let À be when the spring is compressed and Á be post-separation. Referring

to the FBD on the right, observe that the system is isolated. Furthermore,
considering the individual FBDs of A and B, we observe that no force is
acting on either A or B in the x direction. These observations, imply that the
x components of the moment of A and B individually are conserved and that
the y component of the linear momentum of the system is conserved, i.e.,
mA .vAx /1 D mA .vAx /2 ; mA .vBx /1 D mA .vBx /2 ; (1)

mA .vAy /1 C mB .vBy /1 D mA .vAy /2 C mB .vBy /2 : (2)
Next, we observe that the system is conservative so that the work-energy

principle gives:
T1 C V1 D T2 C V2 ; (3)
where
V1 D 21 kı12 ; T1 D 12 mA vA2 1 C 21 mB vB
2
1
D 12 .mA C mB /v02 ; (4)
T2 D 21 mA vA2 2 C 21 mB vB
2
D 12 mA .vAx /22 C .vAy /22 C 12 mB .vBx /22 C .vBy /22 ;

V2 D 0; 2
(5)
and where the x and y components of the velocities for A and B at À are:
.vAx /1 D v0 sin D .vBx /1 and .vAy /1 D v0 cos D .vBy /1 : (6)
Substituting the first of Eqs. (6) into Eqs. (1) and simplifying, we have
.vAx /2 D v0 sin D .vBx /2 : (7)
Next, substituting Eqs. (4) and (5) into Eq. (3), we have
1 2 1 2 1 2 2 2 2
1
2 .mA C m B /v0 C 2 kı 1 D 2 m A .vAx /2 C .vAy /2 C 2 mB .vBx /2 C .vBy /2 (8)
The, substituting the last of Eqs. (6) into Eq. (2), and substituting Eqs. (7) into Eq. (8), we obtain the following
system of two equations in the two unknowns .vAy /2 and .vBy /2 :
.mA C mB /v0 cos D mA .vAy /2 C mB .vBy /2 ; (9)

2 2
1 1 1
2 2 2
1 2 2 2

2 .mA C m B /v0 C 2 kı1 D 2 mA v 0 sin C .vAy / 2 C 2 mB v 0 sin C .vBy /2 : (10)
To solve this system, we being with solving Eq. (9) for .vBy /2 to obtain
mA C mB mA
.vBy /2 D v0 cos .vAy /2 : (11)
mB mB
August 10, 2009
Substituting the result in Eq. (11) into Eq. (10), simplifying, and rearranging, we have

mA mA mA
1
m
2 A 1 C .vAy /22 .mA C mB /v0 cos .vAy /2 C cos2 .mA C mB /v02 1 2
2 kı1 D 0; (12)
mB mB 2mB
„ ƒ‚ … „ ƒ‚ … „ ƒ‚ …
˛ ˇ
which, upon recognizing that the terms ˛, ˇ, and are constants, can simply be given the form of the familiar
the second order algebraic equation
8 p
< ˇ C ˇ 2 4˛ D 9528 m=s;
2 p 2˛
˛.vAy /2 ˇ.vAy /2 C D 0 ) .vAy /2 D (13)
:ˇ ˇ 2 4˛
2˛ D 9525 m=s;
where we have used the definition of the parameters ˛, ˇ, and given in Eq. (12), and where we have
used the following numerical data: mA D 15;100 kg, mB D 29;000 kg, v0 D 11;000 m=s, D 30ı ,
k D 200;000 N=m, and ı1 D 0:5 m. Next, using Eq. (11), we have
(
9525 m=s for .vAy /2 D 9528 m=s;
.vBy / D (14)
9527 m=s for .vAy /2 D 9525 m=s:

Now, we observe that for our solution to be meaningful, we must have vAy 2
< vBy 2 . Hence, the only
acceptable solutions is as follows:
.vAy /2 D 9525 m=s and .vBy /2 D 9527 m=s:
Putting everything together, the final result for the velocities of A and B after separation is given by
vEA2 D .5500 {O C 9520 |O/ m=s and vEB2 D .5500 {O C 9530 |O/ m=s @ 60ı ;
where the final results have been expressed to three significant digits and we have used Eqs. (7) along with
the numerical data listed below Eq. (13) to evaluate the x components of the velocities of A and B after
separation.
August 10, 2009

Dynamics 1e 609
In the ride shown, a person A sits in a seat that is attached via a cable of length
L to a freely moving trolley B of mass mB . The total mass of the person and
the seat is mA . The trolley is constrained by the beam to move only in the
horizontal direction. The system is released from rest at the angle D 0 and
it is allowed to swing in the vertical plane. Neglect the mass of the cable and
treat the person and the seat as a single particle.
Problem 5.35 Determine the velocities of the trolley and the rider the first
time that D 0ı . Evaluate your solution for WA D 100 lb, WB D 20 lb,
L D 15 ft, and 0 D 70ı .
Problem 5.36 As in Prob. 5.35, determine the velocities of the trolley and
the rider the first time that D 0ı . After doing so, for given g, L, mA , and
0 , determine the maximum velocity achievable by the rider at D 0ı and the
corresponding value of mB . Evaluate your solution for WA D 100 lb, L D 15 ft,
and 0 D 70ı . What would be the motion of B for this value of mB ?
Problem 5.37 Determine the velocity of the trolley and the speed of the rider
for any arbitrary value of .
Problem 5.38 Determine the equations needed to find the velocity of

the trolley and the rider for any arbitrary value of . Clearly label all equations
and list the corresponding unknowns, showing that you have as many equations
as you have unknowns. Solve the equations for the unknowns, and then plot
the velocity of the trolley and the speed of the rider as a function of the angle
for both halves of a full swing of the rider. Use WA D 100 lb, WB D 20 lb,
L D 15 ft, and 0 D 70ı .
Solution to 5.35
Let À be at release and Á be when D 0 for the first time. All forces doing
work are conservative. Hence, the work-energy principle can be written as:
T1 C V1 D T2 C V2 ; (1)
where, observing that at Á vEA2 and vEB2 do not have a component in the y
direction, i.e., vEA2 D .vAx /2 {O and vEB2 D .vBx /2 {O,
T1 D 0; T2 D 21 mA .vAx /22 C 21 mB .vBx /22 ;

V1 D mA gL cos 0 ; V2 D mA gL;
so that Eq. (1) becomes
mA gL cos 0 D 12 mA .vAx /22 C 12 mB .vBx /22 mA gL:
Observe that the linear momentum of the system is conserved in the x direction. Hence we must have
0 D mB .vBx /2 C mA .vAx /2 :
August 10, 2009
We have two equations for .vAx /2 and .vBx /2 whose solution is
s
2mB gL .1 cos 0 /
vEA2 D .vAx /2 {O D {O D . 10:3 {O/ ft=s ;
mA C mB
s
2
2mA gL .1 cos 0 /
vEB2 D .vBx /2 {O D {O D .51:5 {O/ ft=s ;
mB .mA C mB /
where we have used the following numerical data: mA D .100 lb/=.32:2 ft=s2 / D 3:106 slug, mB D
.20 lb/=.32:2 ft=s2 / D 0:6211 slug, g D 32:2 ft=s2 , L D 15 ft, and 0 D 70ı .
August 10, 2009

Dynamics 1e 611
Solution to 5.36
Let À be at release and Á be when D 0 for the first time. All forces doing
work are conservative. Hence, the work-energy principle can be written as:
T1 C V1 D T2 C V2 ; (2)
where, observing that in Á vEA2 and vEB2 do not have a component in the y
direction, i.e., vEA2 D .vAx /2 {O and vEB2 D .vBx /2 {O,
T1 D 0; T2 D 21 mA .vAx /22 C 21 mB .vBx /22 ;

V1 D mA gL cos 0 ; V2 D mA gL;
mA gL cos 0 D 12 mA .vAx /22 C 12 mB .vBx /22 mA gL:
Observe that the linear momentum of the system is conserved in the x direction. Hence we must have
0 D mB .vBx /2 C mA .vAx /2 :
We have two equations for .vAx /2 and .vBx /2 whose solution is

s s
2
2mB gL .1 cos 0 / 2mA gL .1 cos 0 /
.vAx /2 D and .vBx /2 D : (3)
mA C mB mB .mA C mB /
Focusing on .vAx /2 , observe that for fixed values of mA , g, L, and 0 , mB is the only variable in first of
Eqs. (3). Next observe that, the argument of the square root in the first of Eqs. (3) is a monotonic increasing
function of mB . That is, the larger mB the larger the absolute value of .vAx /2 . Therefore, the largest absolute
value of .vAx /2 is achieved for mB ! 1. Taking the limit of the first of Eqs. (3) as mB ! 1 gives
p
lim .vAx /2 D 2gL.1 cos 0 /:
mB !1
Finally, using the second of Eqs. (3) observe that
lim .vBx /2 D 0:
mB !1
In conclusion, using the problem’s data we have
.vA /max D 25:2 ft=s and .vB / D 0 for mB ! 1;
where we have used the following numerical data: mA D .100 lb/=.32:2 ft=s2 / D 3:106 slug, mB D
.20 lb/=.32:2 ft=s2 / D 0:6211 slug, g D 32:2 ft=s2 , L D 15 ft, and 0 D 70ı .
August 10, 2009

Solution to 5.37
Let À be at release and Á be an arbitrary value of . All forces doing work

are conservative. Hence, the work-energy principle can be written as:
T1 C V1 D T2 C V2 ; (4)
where
T1 D 0; T2 D 21 mA vA2 C 12 mB vB
2
;
V1 D mA gL cos 0 ; V2 D mA gL cos ;
mA gL .cos cos 0 / D 21 mA vA2 C 12 mB vB

2
mA gL:
Since B can only move in the x direction and since the length of the cable connecting A and B is constant,
we must have
vEA=B D LP .cos {O C sin |O/ ) vAx D vBx C LP cos and vAy D LP sin :
Observing that the system’s linear momentum is conserved in the x direction, we have
0 D mB vBx C mA vAx :
The equations developed so far can be combined in the following system of 3 equations in the 3 unknowns P ,
vA , andvBx :
mA gL.cos cos 0 / D 12 mA vA2 C 12 mB vBx

2
mA gL;
0 D mB vBx C mA .vBx C LP cos /;
2 2
vA2 D vBx C LP cos C LP sin :
mA
Letting r D mB , the solution to these equations can be written as
s
1Cr 2gL.cos cos 0 /
P D ;
L cos r2 C r C .1 C r/2 tan2
s
2gL.cos cos 0 /
vEB D vBx {O D ˙ {O ;
r2 C r C .1 C r/2 tan2
and s
p Œ1 C 2r.1 C r/ .1 C 2r/ cos 2 .cos cos 0 /
vA D 2gL :
.1 C r/.1 C 2r cos 2 /
August 10, 2009

Dynamics 1e 613
Solution to 5.38
Let À be at release and Á be an arbitrary value of . All forces doing work

are conservative. Hence, the work-energy principle can be written as:
T1 C V1 D T2 C V2 ; (5)
where
T1 D 0; T2 D 21 mA vA2 C 12 mB vB
2
;
V1 D mA gL cos 0 ; V2 D mA gL cos ;
mA gL .cos cos 0 / D 21 mA vA2 C 12 mB vB

2
mA gL:
Since B can only move in the x direction and since the length of the cable connecting A and B is constant,
we must have
vEA=B D LP .cos {O C sin |O/ ) vAx D vBx C LP cos and vAy D LP sin :
Observing that the system’s linear momentum is conserved in the x direction, we have
0 D mB vBx C mA vAx :
The equations developed so far can be combined in the following system of 3 equations in the 3 unknowns P ,
vA , andvBx :
mA gL.cos cos 0 / D 12 mA vA2 C 12 mB vBx

2
mA gL;
0 D mB vBx C mA .vBx C LP cos /;
2 2
vA2 D vBx C LP cos C LP sin :
Using Mathematica to solve these equations and generate the plots, we have:
1 1
T1 ! 0; V1 ! "mA g L Cos!Θ0"; T2 ! mA vA2 $ mB vBx2 ; V2 ! "mA g L Cos!Θ";
2 2
vAx ! vBx $ L Θdot Cos!Θ"; vA ! #vBx $ L Θdot Cos!Θ"$2 $ #L Θdot Sin!Θ"$2 ;

WEP ! T1 $ V1 % T2 $ V2 %% FullSimplify; IMP ! 0 % mB vBx $ mA vAx %% FullSimplify;
sol ! FullSimplify!Solve!&WEP, IMP', &Θdot, vBx'",
Assumptions & mA $ mB ' 0 && mA ( Reals && mB ( Reals";
params ! !Θ0 # 70 °, mA # 100 " 32.2, mB # 20 " 32.2, L # 15, g # 32.2#;

Plot$!vA ". sol$$1%% ". params, vBx ". sol$$1%% ". params#, !Θ, 70 °, $70 °#,
PlotStyle # !Red, Blue#, Frame # True,
FrameTicks # !!Automatic, None#, !!$70 °, $35 °, 0 °, 35 °, 70 °#, None##,
GridLines # Automatic, AspectRatio # 1, FrameLabel # !"Θ°", "velocity &ft"s'"#,
PlotLabel # "First half of a full swing"%
Plot!"vA #. sol!!2$$ #. params, vBx #. sol!!2$$ #. params%, "Θ, 70 °, "70 °%,

PlotStyle # "Red, Blue%, Frame # True,
FrameTicks # ""Automatic, None%, """70 °, "35 °, 0 °, 35 °, 70 °%, None%%,
GridLines # Automatic, AspectRatio # 1, FrameLabel # ""Θ°", "velocity &ft#s'"%,
PlotLabel # "Second half of a full swing"$
August 10, 2009

First half of a full swing Second half of a full swing

50 20
B 10 A
velocity !ft"s#
40
velocity !ft"s#
0
30 !10
20 !20
A !30 B
10 !40
0 !50
!70 "!35 " 0 35 " 70 " !70 "! 35 " 0 35 " 70 "
Θ" Θ"
August 10, 2009

Dynamics 1e 615
Problem 5.39
A tower crane is lifting a 10;000 lb object B at a constant rate of 7 ft=s while

rotating at a constant rate of P D 0:15 rad=s. In addition, B is moving outward
with a radial velocity of 1:5 ft=s. Assume that the object B does not swing
relative to the crane (i.e., it always hangs vertically) and that the crane is fixed
to the ground at O.
(a) Determine the radial velocity required of the 20 ton counterweight A to

prevent the horizontal motion of the system’s center of mass.
(b) Find the total force acting on A and on B.
(c) Determine the velocity and acceleration of the mass center of the system
when A moves as determined in Part (a).
Solution
Part (a). By definition of center of mass of a system of particles, we must have
mA vEA C mB vEB D .mA C mB /E

vG : (1)
Considering the figure to the right, we have
uO RA D uO RB and uO A D uO B : (2)
To prevent the horizontal motion of the system’s center of mass, the sum of the radial
components of momentum of A and B must be equal to zero. This gives
mB
vA uO RA / C mB .E
mA .E vB uO RB / D 0 ) vAR D vBR D 0:3751 ft=s; (3)
mA
where vAR and vBR are the radial components of velocity for A and B, respectively,
and where we have used the following additional numerical values: vBR D 1:5 ft=s,
mA D .20 ton/.2000 lb=ton/=.32:2 ft=s2 / D 1242 slug and mB D .10;000 lb/=.32:2 ft=s2 / D 310:6 slug.
Expressing vAR to three significant digits, we have
vAR D 0:375 ft=s:
Part (b). Applying Newton’s 2nd law to A and B, we have

X X
FR W FAR D mA aAR ; FR W FBR D mB aBR ; (4)
X A X B
F W FA D mA aA ; F W FB D mB aB ; (5)
X A X B
F´ W FA´ D mA aA´ ; F´ W FB´ D mB aB´ ; (6)
A B
where, using the acceleration kinematics equations in cylindrical coordinates, we have
aAR D P 2 RA ; aBR D P 2 RB ; aA D 2vAR P ; aB D 2vBR P ; aA´ D 0; aB´ D 0; (7)

August 10, 2009
where, denoting by RA0 and RB0 the initial radial coordinates of A and B, and recalling that the radial
velocities of A and B are constant, we must have
RA D RA0 C vAR t and RB D RB0 C vBR t: (8)
Substituting the kinematics relations in Eqs. (7) and (8) into Eqs. (4)–(6), we then obtain the following
expression for the forces acting on A and B:
FEA D mA ŒP 2 .RA0 C vAR t / uO RA C 2mA P vAR uO A ; (9)
FEB D mB ŒP 2 .RB0 C vBR t / uO RB C 2mB P vBR uO B : (10)
Recalling that vAR is given by the last of Eqs. (3), and recalling that mA D 1242 slug, mB D 310:6 slug,
P D 0:15 rad=s, vRB D 1:5 ft=s, RA0 D 16 ft, and RB0 D 25 ft, we can evaluate Eqs. (9) and (10)
FEA D Œ.447 lb/ C .10:5 lb=s/t uO RA C .140 lb/ uO A ;

FEB D Œ.175 lb/ C .10:5 lb=s/t uO RB C .140 lb/ uO B :
Part (c). Recall that the origin of the chosen coordinate system is on the crane’s axis of rotation. Then,
because mA mB , we anticipate that the center of mass G of the system will be between A and the origin
of the coordinate system. We now define the following cylindrical component system attached to the mass
center:
uO RG D uO RA ; uO G D uO A ; and kO D uO RG uO G :
Recalling that vB´ is constant, the coordinates of the mass center are
mA RA0 mB RB0
RG D D 7:798 ft; G D ; ´G D ´0 C vG´ t; (11)
mA C mB
where the numerical values of mA , mB , RA0 , and RB0 have already been given, the fact that RG > 0
confirms that G is located somewhere between the origin and A, and where ´0 and vG´ are constants that
can be determined as follows:
mA ´A0 C mB ´B0 mA vA´ C mB vB´ mB vB´
´0 D ; and vG´ D D ; (12)
mA C mB mA C mB mA C mB
where we have used the fact that vA´ D 0, and where we recall that vB´ D 7 ft=s.
Next, we recall that, in cylindrical components, the velocity of G has the following generic form:
vEG D RP G uO RG C RPG uO G C Ṕ G k:
O (13)
Therefore, taking the time derivatives of Eqs. (11) and taking advantage of the relations in Eq. (12), Eq. (13)
can be written as follows:
mA RA0 mB RB0 mB vB´ O
vEG D PG uO G C k ) O
vEG D .1:17 ft=s/ uO G C .1:40 ft=s/ k;
mA C mB mA C mB
where we have used the following numerical data: mA D 1242 slug, mB D 310:6 slug, PG D 0:15 rad=s,
g D 32:2 ft=s2 , vRB D 1:5 ft=s, RA0 D 16 ft, and RB0 D 25 ft. Similarly, for the acceleration we have

aEG D RR G RG PG 2
uO RG C RG R C 2RP P uO G C Ŕ kO ) aEG D RG PG 2
uO RG ;
which implies that
2 mA RA0 mB RB0
aEG D PG uO RG D . 0:176 ft=s/ uO RG :
mA C mB
August 10, 2009

Dynamics 1e 617
Problem 5.40
An 8600 lb Ford Excursion A traveling with a speed vA D 55 mph collides

head-on with a 1990 lb Smart Fortwo B traveling in the opposite direction with
a speed vB D 35 mph. Determine the postimpact velocity of the two cars if the
impact is perfectly plastic.
Solution
The collision can be modeled as a (one dimensional) direct central

impact. Using the impact-relevant FBD shown, we have conservation
of momentum along the LOI, i.e.,
C C
mA vAx C mB vBx D mA vAx C mB vBx ; (1)
where mA and mB are the masses of A and B, respectively, and where vAx D 55 mph and vBx D 35 mph.
Because the impact is perfectly plastic we must have
C C
vAx D vBx : (2)
C C
Equations (1) and (2) form a system of two equations in the two unknowns vAx and vBx whose solution is
C C mA vAx C mB vBx WA vAx C WB vBx

vAx D vBx D D ; (3)
mA C mB WA C WB
where the last expression has been obtained by multiplying each mass term by the acceleration due to gravity
g to replace the terms in question with their corresponding weights. Recalling that the motion is only in the x
direction, we have
vEAC D vEB
C
D . 55:9 ft=s/ {O ;
where we have used the following numerical data: WA D 8600 lb, WB D 1990 lb, vAx D vA D 55 mph D
80:67 ft=s, and vBx D vB D 35 mph D 51:33 ft=s.
August 10, 2009

The ballistic pendulum used to be a common tool for the determination of

the muzzle velocity of bullets as a measure of the performance of firearms
and ammunition (nowadays, the ballistic pendulum has been replaced by the
ballistic chronograph, an electronic device). The ballistic pendulum is a simple
pendulum that allows one to record the maximum swing angle of the pendulum
arm caused by the firing of a bullet into the pendulum bob.
Problem 5.41 Letting L be the length of the pendulum’s arm (whose mass
is assumed to be negligible), mA be the bob’s mass, and mB be the mass of
the bullet, and assuming that the pendulum is at rest when the weapon is fired,
derive the formula that relates the pendulum’s maximum swing angle to the
impact velocity of the bullet.
Problem 5.42 Let L D 1:5 m and mA D 6 kg. For George Washington’s

0.58 caliber pistol, which fired a roundball of mass mB D 87 g, it is found
that the maximum swing angle of the pendulum is max D 46ı . Determine the
preimpact speed of the bullet B.
Problem 5.43 Suppose we want to build a ballistic pendulum to test rifles

using standard NATO 7:62 mm ammunition, i.e., ammunition for which a (sin-
gle) cartridge weighs roughly 147 gr (1 lb D 7000 gr) and the muzzle speed is
typically 2750 ft=s. If the pendulum’s length is taken to be 5 ft, and if we are to
fire from a short distance so that there is a negligible decrease in speed before
the bullet reaches the pendulum, what is the minimum weight we need to give
to the pendulum bob to avoid having the pendulum swing to an angle greater
than 90ı ?
Solution to 5.41
Let vB denote the speed of the bullet B before impact. Since B is initially traveling in the
horizontal direction and the block A is stationary, we can write vBx D vB and vAx D 0. Since B
C C
becomes embedded in A, using the component system shown, we have vAx D vBx D v2 , where
v2 denotes the common speed of A and B after impact. Next, referring to the impact-relevant
FBD shown, impulse-momentum principle in the x direction gives
mB vB
mB vB D .mA C mB /v2 ) v2 D : (1)
mA C mB
Let Á and Â be the positions right after impact and when the pendulum is at maximum
swing angle, respectively. The only force doing work between Á and Â is gravity. Hence,
we have
T2 C V2 D T3 C V3 ; (2)
where, given the last of Eqs. (1) and our choice of datum,
2
mB vB

1
T2 D 2 .mA C mB / ; V2 D 0; T3 D 0; V3 D .mA C mB /gL.1 cos m /: (3)
mA C mB
August 10, 2009

Dynamics 1e 619
Substituting Eqs. (3) into Eq. (2), and solving for m , we have
2
mB .vB /2

1
m D cos 1 :
2gL.mA C mB /2
August 10, 2009

Solution to 5.42
C C
mB vB
mB vB D .mA C mB /v2 ) v2 D : (4)
mA C mB
we have
T2 C V2 D T3 C V3 ; (5)
2
mB vB

1
mA C mB
Substituting Eqs. (6) into Eq. (5), solving for vB , we have
2
mB .vB /2 mA C mB p
D 2gL.1 cos m / ) vB D 2gL.1 cos m / D 210 m=s,
.mA C mB /2 mB
where we have used the following numerical data: mA D 6 kg, mB D 87 g D 8710 3 kg, g D 9:81 m=s2 ,
L D 1:5 m, and m D 46ı .
August 10, 2009

Dynamics 1e 621
Solution to 5.43
C C
mB vB
mB vB D .mA C mB / v2 ) v2 D : (7)
mA C mB
we have
T2 C V2 D T3 C V3 ; (8)
2
mB vB

1
mA C mB
Substituting Eqs. (9) into Eq. (8), recalling that vBx is equal to the preimpact speed of the bullet, and solving
for mA with m D 90ı , we have
2
2
mB vB mB v
2
D 2gL ) mA D p B mB D 0:0993 slug,
.mA C mB / 2gL

147 gr 1
mB D D 0:0006522 slug;
7000 gr=lb 32:2 ft=s2
vB D 2750 ft=s;
g D 32:2 ft=s2 ;
L D 5 ft:
August 10, 2009

Problem 5.44
A 323 gr bullet (1 lb D 7000 gr) hits a 2 kg block that is initially at rest. After
the collision, the bullet becomes embedded in the block, and they slide a
distance of 0:31 m. If the coefficient of friction between the block and the
ground is k D 0:7, determine the preimpact speed of the bullet. Although the
definition of the unit “grain” is given in terms of pounds, express the answer in
SI units.
Solution
Let Á and Â be the positions of A is right after impact and at the end of sliding, respectively.
Applying the work-energy principle between Á and Â, we have
T2 C V2 C .U1-2 /np D T3 C V3 ; (1)
where, letting d be the distance over which A slides and referring to the FBD shown,
T2 D 12 .mA CmB /v22 ; V2 D 0; T3 D 0; V3 D 0; and .U1-2 /np D Fd D k .mA CmB /gd: (2)
Substituting Eqs. (2) into Eq. (1), and solving for v2 , we have
1
C mB /v22
p
2 .mA k .mA C mB /gd D 0 ) v2 D 2k gd : (3)
Now that we know the postimpact speed of A, we consider the impact between the block and the
bullet. Let’s observe that
C C
vAx D 0; vAx D vBx D v2 :
Conserving momentum in the x direction, we have
p
mB vBx D .mA C mB /v2 ) mB vBx D .mA C mB / 2k gd ; (4)
which, observing that vBx coincides with the preimpact speed of the bullet, yields the following result
mA C mB p
vB D 2k gd D 199 m=s;
mB

323 gr 1
mB D .14:59 kg=slug/ D 0:02091 kg;
7000 gr=lb 32:2 ft=s2
k D 0:7;
mA D 2 kg;
g D 9:81 m=s2 ;
d D 0:31 m:
August 10, 2009

Dynamics 1e 623
Problem 5.45
The official rules of tennis specify that
“The ball shall have a [re]bound of more than 53 in: (134:62 cm)
and less than 58 in: (147:32 cm) when dropped 100 in: (254:00 cm)
upon a concrete base.”
Understanding the expression “when dropped” as “when dropped from rest,”

determine the range of acceptable CORs for the collision of a tennis ball with
concrete.
Solution
We assume that the ball is only subject to (constant) gravity and, when in contact with
the ground, to a reaction force normal to the ground. Hence, the preimpact velocity can
be determined using constant acceleration equations, as follows:
.vy /2 D 0 C 2g.hi 0/ ) .vy /2 D 2ghi ) vy D

p
2ghi : (1)
where hi D 100:0 in. We assume that the ground does not move due to the collision
with the ball. Hence, given that the motion in only in the y direction, the collision in question is completely
governed by the COR equation. Hence, we have
p
vyC .vyC /ground D eŒ.vy /ground vy ) vyC D evy ) vyC D e 2ghi ; (2)
where we have used the expression for vy derived in the last of Eqs. (1). We now consider two cases. One in
which the ball rebounds to the minimum allowable height hRL D 53:00 in:, and the other in which the ball
rebounds to the maximum allowable height hRU D 58:00 in. Using the same method employed to derive
Eq. (1), we have that hRL and hRU are related to vyC as follows:
p p
.vyC /L D 2ghRL and .vyC /U D 2ghRU ; (3)
where .vyC /U and .vyC /L are the values of vyC corresponding to the two cases considered, respectively. In
both of the cases considered, we still have that vyC must also conform to the result in the last of Eqs. (2).
Therefore, for the case in which the rebound height is hRL , letting e D eL , we must have
s
p p hRL
eL 2ghi D 2ghRL ) eL D D 0:7280; (4)
hi
where we have used the following numerical data: hRL D 53 in: and hi D 100 in. For the case in which the
rebound height is hRU , letting e D eU we must have
s
p p hRU
eU 2ghi D 2ghRU ) eU D D 0:7616; (5)
hi
where we have used the following numerical data: hRU D 58 in: and hi D 100 in. Thus, expressing the final
result using three significant figures, we must have
0:728 e 0:762:
August 10, 2009

Problem 5.46
The official rules of basketball specify that a basketball is properly inflated
“such that when it is dropped onto the playing surface from a height
of about 1800 mm measured from the bottom of the ball, it will
rebound to a height, measured to the top of the ball, of not less
than about 1200 mm nor more than about 1400 mm.”
Based on this rule, and understanding the expression “when it is dropped” as

“when it is dropped from rest,” determine the range of acceptable CORs for the
collision between the ball and the court’s surface.
Solution
We assume that the ball is only subject to (constant) gravity and, when in contact with
the ground, to a reaction force normal to the ground. Hence, the preimpact velocity can
be determined using constant acceleration equations, as follows:
.vy /2 D 0 C 2g.hi 0/ ) .vy /2 D 2ghi ) vy D

p
2ghi : (1)
where hi D 1800 mm. We assume that the ground does not move due to the collision
with the ball. Hence, given that the motion in only in the y direction, the collision in
question is completely governed by the COR equation. Hence, we have
p
vyC .vyC /ground D eŒ.vy /ground vy ) vyC D evy ) vyC D e 2ghi ; (2)
where we have used the expression for vy derived in the last of Eqs. (1). We now consider two cases. One
in which the ball rebounds to the minimum allowable height hRL D 1:2 m, and the other in which the ball
rebounds to the maximum allowable height hRU D 1:4 m. Using the same method employed to derive Eq. (1),
we have that hRL and hRU are related to vyC as follows:
p p
.vyC /L D 2ghRL and .vyC /U D 2ghRU ; (3)
where .vyC /U and .vyC /L are the values of vyC corresponding to the two cases considered, respectively. In
both of the cases considered, we still have that vyC must also conform to the result in the last of Eqs. (2).
Therefore, for the case in which the rebound height is hRL , letting e D eL , we must have
s
p p hRL
eL 2ghi D 2ghRL ) eL D D 0:8165; (4)
hi
where we have used the following numerical data: hRL D 1:2 m and hi D 1:8 m. For the case in which the
rebound height is hRU , letting e D eU we must have
s
p p hRU
eU 2ghi D 2ghRU ) eU D D 0:8819; (5)
hi
where we have used the following numerical data: hRU D 1:4 m and hi D 1:8 m. Thus, expressing the final
result using three significant figures, we must have
0:817 e 0:882:
August 10, 2009

Dynamics 1e 625
Problem 5.47
Consider a direct central impact for two spheres. Let mA , mB , and e denote the
mass of sphere A, the mass of sphere B, and the COR, respectively. If sphere B
is at rest before the collision, determine the relation that mA , mB , and e need to
satisfy in order for A to come to a complete stop right after impact.
Solution
The impact-relevant FBD of the system is shown to the right. This FBD implies the
conservation of linear momentum of the system in the x direction (which is also the LOI),
i.e.,
C C C
mA vAx C mB vBx D mA vAx C mB vBx ) mA vA D mB vB ; (1)
where we have accounted for the fact that B is initially at rest and that A comes to a stop right after impact.
In addition to the above equation, we must enforce the COR equation, i.e., The COR equation is
C C C

vBx vAx D e vAx vBx ) vBx D evAx ; (2)
where, again, we have accounted for the fact that B is initially at rest and that A comes to a stop right after
impact. Substituting the last of Eqs. (2) into the last of Eqs. (1) and canceling the term vAx , we see that the
relation mA , mB , and e must satisfy is
mA D e mB :
August 10, 2009

Car A, with mA D 1550 kg, is stopped at a red light. Car B, with mB D

1865 kg and a speed of 40 km=h, fails to stop before impacting car A. After
impact, cars A and B slide over the pavement with a coefficient of friction
k D 0:65.
Problem 5.48 How far will the cars slide if the cars become entangled?
Problem 5.49 How far will the cars slide if the COR for the impact is e D 0:2?
Solution to 5.48
We take the LOI to be parallel horizontal. Hence, the impact-relevant FBD is as shown to the
right and it implies conservation of linear momentum in the x direction, i.e,
C C
mB vBx D mA vAx C mB vBx ; (1)
E If the cars become entangled, then
where we have accounted for the fact that vEA D 0.
C C
vAx D vBx D vxC ; (2)
where vxC is the common value of the horizontal component of the velocity of the two cars. Substituting
Eq. (2) into Eq. (1) and solving for vxC , we have
mB vBx
vxC D : (3)
mA C mB
Now, let À and Á be the positions of the two cars right after the impact and when they
come to a stop, respectively. The FBD of the system between À and Á is shown to the
right, where we have modeled the two entangled cars as a single particle. applying the
work-energy principle between À and Á we have
T1 C V1 C .U1-2 /nc D T2 C V2 ; (4)
where, using the result in Eq. (3),
mB vBx 2

T1 D 12 .mA C mB / ; V1 D 0; T2 D 0; V2 D 0; (5)
mA C mB
and where, calling d the distance A and B slide into the intersection, and accounting for the fact that
F D k N D k .mA C mB /g, we have
.U1-2 /nc D k .mA C mB /gd: (6)
Substituting Eqs. (5) and (6) into Eq. (4) we have
mB vBx 2

1
2 .mA C m B / k .mA C mB /gd D 0;
mA C mB
which, recalling that vBx D vB , can be solved for d to obtain
2
mB .vB /2
dD D 2:89 m;
2k g.mA C mB /2
where we have used the following numerical data: mA D 1550 kg, mB D 1865 kg, vB D 40 km=h D
11:11 m=s, k D 0:65, and g D 9:81 m=s2 .
August 10, 2009
Dynamics 1e 627
Solution to 5.49
We will assume that the LOI is parallel to the street and the street is horizontal. Hence, the
impact-relevant FBD is as shown to the right and it implies conservation of linear momentum
in the x direction, i.e,
C C
mB vBx D mA vAx C mB vBx ; (7)
where we have accounted for the fact that the preimpact velocity of A is equal to zero. Given that the two
cars rebound off of one another, we must enforce the COR equation, which can be written as
C C
vAx vBx D evBx ; (8)
where again we have accounted for the fact that A does not move before impact. Equations (7) and (8) form a
C C
system of two equations in the two unknowns vAx and vBx whose solution is
C
mB vBx .1 C e/ C
vBx .mB e mA /
vAx D and vBx D : (9)
mA C mB mA C mB
After the impact A and B no longer interact. Let À and Á be the positions of the
two cars right after the impact and when they come to a stop, respectively. The FBDs
of the A and B between À and Á are shown to the right.
Aplying the work-energy principle between À and Á for A, we have
TA1 C VA1 C .U1-2 /Anc D TA2 C VA2 : (10)
where, using the result in Eq. (3),
mB vBx .1 C e/ 2

1
TA1 D 2 mA ; VA1 D 0; TA2 D 0; VA2 D 0; (11)
mA C mB
and where, calling dA the distance A slides into the intersection, and accounting for the fact that FA D
k NA D k mA g, we have
.U1-2 /Anc D k mA gdA : (12)
Substituting Eqs. (11) and (12) into Eq. (10) we have
mB vBx .1 C e/ 2

1
2 mA k mA gdA D 0;
mA C mB
which can be solved for dA to obtain
mB vBx .1 C e/ 2

1
dA D D 4:16 m;
2k g mA C mB
where we have used the following numerical data: mA D 1550 kg, mB D 1865 kg, vB D 40 km=h D
11:11 m=s, e D 0:2, k D 0:65, and g D 9:81 m=s2 . Repeating the process for the determination of dA for
the case of B, we obtain
vBx .mB e mA / 2

1
dB D D 2:01 m;
2k g mA C mB
where we have used the numerical data listed below the previous result.
August 10, 2009
A platform bench scale consists of a 120 lb plate resting on linear elastic springs
whose combined spring constant is k D 5000 lb=ft. Let W D k.ı ı0 / be the
weight measurement actually provided by the scale (that is, it reads zero pounds
when nothing is on the plate), where ı0 is the spring’s compression due to the
weight of the scale’s plate.
Problem 5.50 A 50 lb sack of portland cement is dropped (from rest) onto the
scale from a height h D 4 ft measured from the scale’s plate (there is no rebound
of the sack). Determine the maximum weight displayed by the scale.
Problem 5.51 Repeat Prob. 5.50 with h D 0 ft.
Solution to 5.50
We denote the cement sack by A and the scale plate by B. Referring to the FBD to the right,
before impact we assume that A moves only due to gravity. Hence, the preimpact velocity of A
can be computed via constant acceleration equations, as follows:
sP 2 D sP02 C 2ac .s s0 / ) .vAy /2 D 2gh ) vAy D

p
2gh: (1)
Since spring forces are not impulsive, the impact-relevant FBD is that shown to the right.
The A-Bimpact is an unconstrained perfectly plastic impact with LOI coinciding with the
y axis. This implies that the system’s momentum is conserved through the impact, i.e.,
C C
mA vAy C mB vBy D mA vAy C mB vBy : (2)
Recalling that B is initially at rest, that the preimpact velocity of A is given in the last of Eqs. (1), and that
C C C C
the impact is perfectly plastic, i.e., vAy D vBy , we can solve Eq. (2) for vAy and vBy to obtain
p
C C
mA 2gh
vAy D vBy D : (3)
mA C mB
The maximum weight displayed corresponds to the maximum displacement of the scale’s
plate, which we can determine using the work-energy principle. Let Á be just after impact
and Â be at maximum spring compression. Referring to the FBD to the right, we assume that
the only forces acting on the system between Á and Â are gravity and the spring force. This
allows to write the work-energy principle as follows:
T2 C V2 D T3 C V3 ; (4)
where, letting v denote the common speed of A and B and choosing the datum for gravity at Á,
T2 D 12 .mA C mB /v22 ; V2 D 12 kı22 ; T3 D 0; V3 D 21 kı32 .mA C mB /g.ı3 ı2 /: (5)

C
Observing that ı2 D ı0 D mB g=k (to equilibrate the weight of the scale’s plate), recalling that v2 D jvAy j
(given given by Eq. (3)), substituting Eqs. (5) into Eq. (4), yields an equation in ı3 whose solutions is
q
2
g .mA C mB /mA gk 2 Œ2hk C .mA C mB /g
ı3 D .mA C mB / ˙ : (6)
k .mA C mB /k 2
August 10, 2009
Dynamics 1e 629
We observe that the term in Eq. (6) to the right of ˙ symbol is larger than the term to left of the symbol. This
observation is important because it tell us that the only meaningful root of the problem is that characterized
by the C sign, i.e.,
q
2
g .mA C mB /mA gk 2 Œ2hk C .mA C mB /g
ı3 D .mA C mB / C : (7)
k .mA C mB /k 2
Consequently, given that the maximum weight displayed by the scale is Wmax D k.ı3 ı0 /, we have
q
2
.mA C mB /mA gk 2 Œ2hk C .mA C mB /g
Wmax D mA g C D 819 lb;
.mA C mB /k
where we have used the following numerical data: mA D .50 lb/=.32:2 ft=s2 / D 1:553 slug, g D 32:2 ft=s2 ,
mB D .120 lb/=.32:2 ft=s2 / D 3:727 slug, k D 5000 lb=ft, and h D 4 ft.
August 10, 2009

Solution to 5.51
If h were different from zero, we would have to solve the problem by first computing the
speed with which the cement sack strikes the scale’s plate. Then we would have to solve
the impact problem associated to the collision between the cement sack and the scale’s plate.
This would give us the velocity with which the sack and plate move right after impact. Finally,
we would need to compute the distance that the plate moves after impact in order for the
sack and the plate to come to rest. With the above in mind, if h D 0, then the impact part of the problem is
characterized by a trivial solution, that is, the postimpact velocity of the sack and the plate is equal to zero.
Hence, the only part of the problem that remains to be solved, concerns the calculation of the maximum
displacement achieved by the plate in order to stop the motion of the sack.
We denote the sake and the plate with A and B, respectively. We will determine the
maximum displacement of the scale’s plate using the work-energy principle. Let À be right
after the A is placed on B and Á be at maximum spring compression. Referring to the FBD
to the right, we assume that the only forces acting on the system between À and Á are gravity
and the spring force. This allows to write the work-energy principle as follows:
T1 C V1 D T2 C V2 ; (8)
where, letting v denote the common speed of A and B and choosing the datum for gravity at À,
T1 D 0; V1 D 12 kı12 ; T2 D 0; V2 D 12 kı22 .mA C mB /g.ı2 ı1 /; (9)
where we have accounted for the fact that A and B start from rest and that the system is again at rest in Á.
Observing that ı1 D ı0 D mB g=k (to equilibrate the weight of the scale’s plate), Eqs. (9) into Eq. (8), yields
a second order algebraic equation in ı2 with the following two roots:
mB g mB g mA g
ı2 1
D and ı2 2
D C2 : (10)
k k k
The first root corresponds to the release position of the system. Hence, the only acceptable solution is given
by the second root. Using such a root, and recalling that the maximum weight displayed by the scale is
Wmax D k.ı2 ı0 /, we have
Wmax D 2mA g D 100 lb;
where we have used the fact that mA g D 50 lb.
August 10, 2009

Dynamics 1e 631
A 31;000 lb truck A and a 3970 lb sports car B collide at an intersection. Right

before the collision the truck and the sports car are traveling at vA D 60 mph
and vB D 50 mph. Assume that the entire intersection forms a horizontal
surface.
Problem 5.52 Letting the line of impact be parallel to the ground and to the
preimpact velocity of the truck, determine the postimpact velocities of A and B
if A and B become entangled. Furthermore, assuming that the truck and the
car slide after impact and that the coefficient of kinetic friction is k D 0:7,
determine the position at which A and B come to a stop relative to the position
they occupied at the instant of impact.
Problem 5.53 Letting the line of impact be parallel to the ground and to the
preimpact velocity of the truck, determine the postimpact velocities of A and B
if the contact between A and B is frictionless and the COR e D 0. Furthermore,
assuming that the truck and the car slide after impact and that the coefficient of
kinetic friction is k D 0:7, determine the position at which A and B come to
a stop relative to the position they occupied at the instant of impact.
Problem 5.54 Letting the line of impact be parallel to the ground and to
the preimpact velocity of the truck, determine the postimpact velocities of A
and B if the contact between A and B is frictionless and the COR e D 0:1.
Furthermore, assuming that the truck and the car slide after impact and that the
coefficient of kinetic friction is k D 0:7, determine the position at which A
and B come to a stop relative to the position they occupied at the instant of
impact.
Solution to 5.52
We model A and B as particle and the overall impact as an unconstrained perfectly plastic
impact with LOI parallel to the y direction. Therefore, the impact is governed by the
following equations:
C C
C C
mA vAy C mB vBy D mA vAy C mB vBy ; (2)
C C
vAx D vBx ; (3)
C C
vAy D vBy ; (4)
where Eqs. (1) and (2) represent the conservation of linear momentum for the system along the x and y
directions, respectively, and where Eqs. (3) and (4) express the fact that A and B move together after the
impact. The preimpact velocity components are known. Specifically, we have vAx D 0, vAy D vA D 60 mph,
vBx D vB D 50 mph, and vBy D 0. Therefore, Eqs. (1)–(4) form a system of four equations in the four
C C C C
unknowns vAx , vAy , vBx , and vBy , whose solution is
C C
mB vB C C
mA vA
vAx D vBx D D 8:326 ft=s and vAy D vBx D D 78:01 ft=s; (5)
mA C mB mA C mB
August 10, 2009

where we have used the following numerical data: mA D .31;000 lb/=.32:2 ft=s2 / D 962:7 slug, mB D
.3970 lb/=.32:2 ft=s2 / D 123:3 slug, vA D 60 mph D 88:00 ft=s, and vA D 50 mph D 73:33 ft=s. Hence,
when expressed to three significant digits, the postimpact velocities of A and B are
vEAC D vEB
C
D .8:33 {O C 78:0 |O/ ft=s : (6)
Right after impact, A and B slide as a single particle along a straight line with the same
direction as the postimpact velocity vector of A and B. Let À be immediately after impact
and Á be when the system comes to rest at a distance r relative to À (in the direction of
vEAC D vEB
C
). As shown in the FBD to the right (top view of A and B as a single particle), A and B are subject
only to the friction force F , which will act opposite to the direction of motion. Since A and B do not move
in the direction perpendicular to the ground, the combined weight of A and B will be equilibrate by a normal
force N , i.e., N D .mA C mB /g. Consequently, the magnitude of the friction force F is
F D k N D k .mA C mB /g: (7)
Observing that F in Eq. (7) is constant, the application of the work-energy principle between À and Á gives
T1 k .mA C mB /gr D T2 ; (8)
where
T1 D 21 .mA C mB /.v C /2 and T2 D 0; (9)
where, referring to Eq. (5),
q q
vC D C 2
.vAx C 2
/ C .vAy C
/ D .vBx C
/2 C .vBy /2 D 78:45 ft=s (10)
is the common postimpact speed of A and B. Substituting Eqs. (9) in Eq. (8) and solving for r, we have
.v C /2
rD D 136:5 ft; (11)
2k g
where we have used the result in Eq. (10) and the given numerical value of k D 0:7.
As already discussed, the postimpact motion of A and B is in the direction of the postimpact (common)
velocity of A and B. Referring to Eqs. (5) and (10), this direction is described by the following unit vector
C C C C
vAx {O C vAx |O vBx {O C vBx |O
uO r D q Dq D 0:1061 {O C 0:9944 |O: (12)
C 2 C 2 C C
.vAy / C .vAy / .vBy /2 C .vBy /2
Now that the unit vector uO r is known, we can express the vector describing Á relative to À as rE D r uO r ,
which gives
rE D .14:5 {O C 136 |O/ ft :
August 10, 2009

Dynamics 1e 633
Solution to 5.53
We model A and B as particles and the overall impact as an unconstrained elastic impact
with LOI parallel to the y direction. Therefore, the impact is governed by the following
equations:
C C
C
vAx D vAx (14)
C
vBx D vBx ; (15)
C C
vBy vAy D e.vAy vBy /; (16)
where Eqs. (13)–(16) represent the conservation of linear momentum for the system along the LOI, the con-
servation of linear momentum for particle A perpendicular to the LOI, the conservation of linear momentum
for particle B perpendicular to the LOI, and the COR equation for the system, respectively. The preimpact
velocity components are known. Specifically, we have vAx D 0, vAy D vA D 60 mph D 88:00 ft=s,
vBx D vB D 50 mph D 73:33 ft=s, and vBy D 0. Therefore, Eqs. (25)–(28) form a system of four equations
C C C C
in the four unknowns vAx , vAy , vBx , and vBy , whose solution is
C C
mA vAy
vAx D vAx D 0; vAy D D 78:01 ft=s; (17)
mA C mB
C C
mA vAy
vBx D vBx D 73:33 ft=s; vBy D D 78:01 ft=s; (18)
mA C mB
where, in addition to the data already indicated, we also used the following numerical data: mA D
.31;000 lb/=.32:2 ft=s2 / D 962:7 slug, mB D .3970 lb/=.32:2 ft=s2 / D 123:3 slug, and e D 0. Hence,
the postimpact velocities of A and B are
vEAC D 78:0 |O ft=s C

and vEB D .73:3 {O C 78:0 |O/ ft=s :
Right after impact, A and B slide as along straight lines with the same direction as their
respective postimpact velocity vectors. Let À be immediately after impact and Á be when
the system comes to rest at a distance. In going from À to Á A and B will travel the distances
rA and rB respectively. As shown in the FBD to the right (top view of A and B), A and B
are subject only to the friction forces FA and FB , respectively. The friction on A will act
opposite to the direction of the motion of A. Similarly, the friction on B will act opposite to the direction of
the motion of B. Since A and B do not move in the direction perpendicular to the ground, the weights of A
and B will be equilibrate by corresponding normal forces NA and NB such that NA D mA g and NN D mB g.
Consequently, the magnitudes of the friction forces FA and FB are
FA D k NA D k mA g and FB D k NB D k mB g: (19)
Observing that FA and FB in Eq. (19) are constant, the application of the work-energy principle between À
and Á for A and B individually gives
TA1 k mA grA D TA2 and TB1 k mB grB D TB2 ; (20)
where the kinetic energy terms are
TA1 D 21 mA .vAC /2 ; TA2 D 0; C 2

TB1 D 21 mA .vB / ; TB2 D 0; (21)
August 10, 2009
and where vAC and vBC

are the postimpact speeds of A and B, respectively, which, using Eqs. (17) and (18),
have the following values:
q q
vAC D .vAxC 2
/ C .vAyC 2
/ D 78:01 ft=s and vB C
D .vBx C C
/2 C .vBy /2 D 107:1 ft=s: (22)
Substituting Eqs. (21) into (the appropriate) Eqs. (20) and solving for rA and rB we have
.vAC /2 C 2
.vB /
rA D D 135:0 ft and rB D D 254:4 ft; (23)
2k g 2k g
where we have used Eqs. (22) and the given value of k .
As already discussed, the postimpact motion of A and B is in the direction of vEAC and vEB C
, respectively.
Referring to Eqs. (17) and (18), these directions are described by the following unit vectors
C C
vBx {O C vBy |O
uO rA D |O and uO rB D q D 0:6849 {O C 0:7286 |O: (24)
C C
.vBx /2 C .vBy /2
Now that the unit vectors uO rA and uO rB are known, we can express the vectors describing Á relative to À for
A and B as rEA D rA uO rA and rEB D rB uO rB , respectively. Therefore, using eqs. (23) and (24), we can write
(using three significant figures)
rEA D 135 |O ft and rEB D .174 {O C 185 |O/ ft :
August 10, 2009

Dynamics 1e 635
Solution to 5.54
We model A and B as particles and the overall impact as an unconstrained elastic impact
with LOI parallel to the y direction. Therefore, the impact is governed by the following
equations:
C C
C
vAx D vAx (26)
C
vBx D vBx ; (27)
C C
vBy vAy D e.vAy vBy /; (28)
where Eqs. (25)–(28) represent the conservation of linear momentum for the system along the LOI, the con-
servation of linear momentum for particle A perpendicular to the LOI, the conservation of linear momentum
for particle B perpendicular to the LOI, and the COR equation for the system, respectively. The preimpact
velocity components are known. Specifically, we have vAx D 0, vAy D vA D 60 mph D 88:00 ft=s,
vBx D vB D 50 mph D 73:33 ft=s, and vBy D 0. Therefore, Eqs. (25)–(28) form a system of four equations
C C C C
in the four unknowns vAx , vAy , vBx , and vBy , whose solution is
C C
.mA e mB /vAy
vAx D vAx D 0; vAy D D 77:01 ft=s; (29)
mA C mB
C C
mA .1 C e/vAy
vBx D vBx D 73:33 ft=s; vBy D D 85:81 ft=s; (30)
mA C mB
where, in addition to the data already indicated, we also used the following numerical data: mA D
.31;000 lb/=.32:2 ft=s2 / D 962:7 slug, mB D .3970 lb/=.32:2 ft=s2 / D 123:3 slug, and e D 0:1. Hence, the
postimpact velocities of A and B are
vEAC D 77:0 |O ft=s C

and vEB D .73:3 {O C 85:8 |O/ ft=s :
Right after impact, A and B slide as along straight lines with the same direction as their
respective postimpact velocity vectors. Let À be immediately after impact and Á be when
the system comes to rest at a distance. In going from À to Á A and B will travel the distances
rA and rB respectively. As shown in the FBD to the right (top view of A and B), A and B
are subject only to the friction forces FA and FB , respectively. The friction on A will act
opposite to the direction of the motion of A. Similarly, the friction on B will act opposite to the direction of
the motion of B. Since A and B do not move in the direction perpendicular to the ground, the weights of A
and B will be equilibrate by corresponding normal forces NA and NB such that NA D mA g and NN D mB g.
Consequently, the magnitudes of the friction forces FA and FB are
FA D k NA D k mA g and FB D k NB D k mB g: (31)
Observing that FA and FB in Eq. (31) are constant, the application of the work-energy principle between À
and Á for A and B individually gives
TA1 k mA grA D TA2 and TB1 k mB grB D TB2 ; (32)
where the kinetic energy terms are
TA1 D 21 mA .vAC /2 ; TA2 D 0; C 2

TB1 D 21 mA .vB / ; TB2 D 0; (33)
August 10, 2009
and where vAC and vBC

are the postimpact speeds of A and B, respectively, which, using Eqs. (29) and (30),
have the following values:
q q
vAC D .vAxC 2
/ C .vAyC 2
/ D 77:01 ft=s and vB C
D .vBx C C
/2 C .vBy /2 D 112:9 ft=s: (34)
Substituting Eqs. (33) into (the appropriate) Eqs. (32) and solving for rA and rB we have
.vAC /2 C 2
.vB /
rA D D 131:6 ft and rB D D 282:8 ft; (35)
2k g 2k g
where we have used Eqs. (34) and the given value of k .
As already discussed, the postimpact motion of A and B is in the direction of vEAC and vEB C
, respectively.
Referring to Eqs. (29) and (30), these directions are described by the following unit vectors
C C
vBx {O C vBy |O
uO rA D |O and uO rB D q D 0:6497 {O C 0:7602 |O: (36)
C C
.vBx /2 C .vBy /2
Now that the unit vectors uO rA and uO rB are known, we can express the vectors describing Á relative to À for
A and B as rEA D rA uO rA and rEB D rB uO rB , respectively. Therefore, using eqs. (35) and (36), we can write
(using three significant figures)
rEA D 132 |O ft and rEB D .184 {O C 215 |O/ ft :
August 10, 2009

Dynamics 1e 637
Problem 5.55
Although competition rules prohibit significant difference in size, typical coin-

operated pool tables may present players with a significant difference in diam-
eter between the typical object ball (i.e., a colored ball) and the cue ball (i.e.,
the white ball). In fact, once an object ball goes into a pocket, it is captured by
the table whereas a cue ball must always be returned to the player; and it is not
uncommon for the return mechanism to use the difference in ball diameter to
separate the cue ball from the rest. Given this, suppose we want to hit a ball rest-
ing against the bumper in such a way that, after the collision, it moves along the
bumper. Modeling the contact between balls as frictionless, establish whether
or not it is possible to execute the shot in question with (a) an undersized cue
ball and (b) an oversized cue ball.
Solution
It is possible to execute the shot in case (a) (undersized cue ball) but not in case (b) (oversized cue ball). The
reason is that to execute the shot in question, the LOI of the impact must be parallel to the bumper. Since
the object ball is assumed to be at rest and touching the bumper, we have that the LOI can be parallel to the
bumper if the cue ball is either of the same size as the object ball or smaller than the object ball. If the cue
ball is larger than the object ball then the LOI will not be directed “into the bumper.” Consequently, right after
impact, the object ball will tend to rebound off the bumber.
August 10, 2009

Problem 5.56
Competition billiard balls and tables need to adhere to strict standards (see the
Billiard Congress of America for standards in the United States). Specifically,
billiard balls must weigh between 5.5 and 6 oz, and they must be 2:25˙0:005 in:
in diameter.
Using the theory presented in this section, establish whether or not it is possible
to have a moving ball A hit a stationary ball B so that A stops right after the
impact, if A and B have the same diameter but not the same weight (since it
appears possible to have a weight difference of up to 0:5 oz while staying within
regulations). Assume that the COR e D 1.
Solution
If the pre-impact velocity of A had a non-zero component of velocity perpendicular to the LOI,
then this component of velocity would be conserved through the impact. This consideration
implies that for A to stop after impact, at the very least, its preimpact velocity must be entirely
parallel to the LOI. Working under this assumption and using the component system shown, the
preimpact velocities of A and B are
vEA D vA |O and E
vEB D 0;
where vA is the preimpact speed of A, having assumed that A is initially moving in the positive y direction.
Consequently, the conservation of linear momentum in the y direction reads
C C
mA vA D mA vAy C mB vBy ; (1)
and the COR equation reads

C C
vBy vAy D evA : (2)
C C
Equations (1) and (2) are two equations in the two unknowns vAy and vBy , whose solution is
C .mA mB e/vA C mA vA .e C 1/
vAy D and vBy D : (3)
mA C mB mA C mB
C
To check whether or not it is possible for A to stop, we set vAy D 0 in Eq. (3), then we have
.mA mB e/vA
D0 ) mA D mB e: (4)
mA C mB
C
Recalling that the COR e D 1, we have that vAy can only be equal zero if the masses are identical.
Given the assumptions, it is not possible to have a moving ball A

hit a stationary ball B so that A stops right after the impact.
August 10, 2009

Dynamics 1e 639
Problem 5.57
Competition billiard balls and tables need to adhere to strict standards (see the
Billiard Congress of America for standards in the United States). Specifically,
billiard balls must weigh between 5.5 and 6 oz, and they must be 2:25˙0:005 in:
in diameter.
Professional billiard players can easily impart to a ball a speed of 20 mph.
Assume the tolerance on the ball diameter to be 1=100 in: instead of 5=1000 in:
and determine the outcome of the collision between (a) a 2:26 in: diameter ball
traveling at 20 mph with a stationary 2:24 in: diameter ball (i.e., each ball is
at the extreme limit of tolerance relative to the nominal diameter) and (b) a
2:24 in: diameter ball traveling at 20 mph with a stationary 2:26 in: diameter
ball. Assume that the COR e D 1 and that the weights of the two balls are
identical. Furthermore, assume that the contact between the balls and the table
can be treated as essentially frictionless.
Solution
Part (a). Let A be the incoming ball and B the stationary ball. Also, let
be the angle the LOI forms with the horizontal.
1 rA rB
D sin D 0:2546ı ; (1)
rA C rB
where rA D 2:24 in: and rB D 2:26 in. The preimpact velocity components of A and B are:
vAx D vA D 20 mph D 29:33 ft=s; vAy D 0; vBx D 0; and vBy D 0: (2)
The impact-relevant FBD shows that there are no external impulsive forces on the
system in the x direction. Hence, recalling that mA D mB and accounting for the
preimpact conditions in Eqs. (2), we have
C C C C
mA vAx D mA vAx C mB vBx ) vAx D vAx C vBx : (3)
The COR equation holds only along the LOI and it is most easily written using the pq component system.
C C
This gives vBp vAp D evAp . Observe that
vAp D vAx cos vAy sin ; vBp D vBx cos vBy sin ; (4)
vAq D vAx sin C vAy cos vBq D vBx sin C vBy cos : (5)
C
Using Eqs. (4) and since that vBy D 0, for the COR equation in the xy component system we have
C C C

vBx vAx cos C vAy sin D evAx cos : (6)
C
The impact-relevant FBD of A implies that vAq D vAq , which, with Eqs. (5), gives
C C
vAx sin D vAx sin C vAy cos : (7)
August 10, 2009

C C C
Equations (3), (6), and (7) form a system of three equations in the three unknowns vAx , vAy , vBx whose
solution is
v .2 e e cos 2 / .1 C e/vAx sin 2 2.1 C e/vAx cos2
C
vAx D Ax ; vAyC
D ; vBxC
D :
3 C cos 2 3 C cos 2 3 C cos 2
Recalling that A and B are the large and small balls, respectively, e D 1 and using the numerical data in
Eq. (1) and the first of Eqs. (2), the above equations yield the following result:
C 4 C
vElarge ball D .2:9010 {O C 0:130 |O/ ft=s and vEsmall ball D 29:3 {O ft=s :
Part (b). Again, let A be the incoming ball and B the stationary ball and
again let be the angle the LOI forms with the horizontal. This time this
angle is given by
rB rA
D sin 1 D 0:2546ı ; (8)
rA C rB
where, again, rA D 2:24 in: and rB D 2:26 in.
The preimpact velocity components of A and B are:
vAx D vA D 20 mph D 29:33 ft=s; vAy D 0; vBx D 0; and vBy D 0: (9)
The impact-relevant FBD, shows that there are no external impulsive forces on the
system in the x direction. Hence, recalling that mA D mB and accounting for the
preimpact conditions in Eqs. (9),
C C C C
mA vAx D mA vAx C mB vBx ) vAx D vAx C vBx : (10)
The COR equation holds only along the LOI and it is most easily written using the
C C
pq component system. This gives vBp vAp D evAp . Observe that
vAp D vAx cos C vAy sin ; vBp D vBx cos C vBy sin ; (11)
vAq D vAx sin C vAy cos vBq D vBx sin C vBy cos : (12)
C
Using Eqs. (11), the preimpact conditions in Eqs. (9), and the fact that vAy D 0, the COR equation can be
rewritten in the xy component system to give
C C C

vBx vAx cos C vBy sin D evAx cos : (13)
C
The impact-relevant FBD of just B implies that vBq D vBq . Hence, using the second
of Eqs. (12) and the preimpact conditions in Eqs. (9), we have
C
0D vBx sin C vBy cos : (14)
Equations (10), (13), and (14) form a system of three equations in the three unknowns
C C C
vAx , vBx , vBy whose solution is
C
vAx .2 e e cos 2 / C
2.1 C e/vAx cos2 C
.1 C e/vAx sin 2
vAx D ; vBx D ; vBy D :
3 C cos 2 3 C cos 2 3 C cos 2
Recalling that this time A and B are the small and large balls, respectively, e D 1, and using the numerical
data in Eq. (8) and the first of Eqs. (9), the above equations yield the following result:
C C 4
vElarge ball D .29:3 {O C 0:130 |O/ ft=s and vEsmall ball D 2:9010 {O ft=s:
August 10, 2009

Dynamics 1e 641
Problem 5.58
On a billiard table, the COR for the impact between a ball and any of the four
bumpers should be the same. Assuming that this is the case, determine the
angle ˇ after two banks as a function of the initial incidence angle ˛.
Solution
In studying the collision between the ball and the bumper, we model the bumper as a stationary object. We
denote the ball by A and the table by B. In addition, we denote by v0 the initial speed of the ball. We will
denote the first and second collision via the subscripts 1 and 2, respectively.
We now study the first collision. Referring to the FBD on the right, we see that the linear
momentum of A is conserved in the direction perpendicular to the LOI, i.e.,
C C
.vAx /1 D .vAx /1 ) .vAx /1 D v0 cos ˛: (1)
In addition to the conservation of linear momentum, the collision between the ball and the bumper is governed
by the COR equation, i.e.,
C C C C
.vAy /1 .vBy /1 D eŒ.vBy /1 .vAy /1 ) .vAy /1 D e.vAy /1 ) .vAy /1 D ev0 sin ˛; (2)
where we have accounted for the fact that the table is stationary.
We now observe that the postimpact velocity components of A after the first impact are the
preimpact velocity components of the velocity of A for the second impact, i.e.,
.vAx /2 D v0 cos ˛: and .vAy /2 D ev0 sin ˛: (3)
Next, referring to the FBD to the right, we see that the LOI of the second impact is parallel to the x axis.
Furthermore, we see that the linear momentum of A is conserved along the y direction, i.e.,
C C
.vAy /2 D .vAy /2 ) .vAy /2 D ev0 sin ˛: (4)
The COR equation for the second impact is

C C C
.vAx /2 .vBx /2 D eŒ.vBx /2 .vAx /2 ) .vAx /2 D ev0 cos ˛; (5)
where, we have accounted for the fact that B remains stationary.

Now that the velocity components of A after the second impact are known, we can now proceed to
compute the angle ˇ as follows:
" #
C
.v /

1 Ax 2 1 ev0 cos ˛
ˇ D tan C
D tan ) ˇ D tan 1 .cot ˛/.
.vAy /2 ev0 sin ˛
August 10, 2009

Problem 5.59
Newton’s cradle is a common desk toy consisting of a number of identical

pendulums with steel balls as bobs. These pendulums are arranged in a row in
such a way that, when at rest, each ball is tangent to the next and the cords are
all vertical. Assume that the COR for the impact of a ball with the next is e D 1.
Explain why if you release the ball to the far left from a certain angle, the ball
in question comes to a stop after impact while all the other balls do not seem to
move except for the ball to the far right, which swings upward and achieves a
maximum swing angle equal to the initial release angle of the ball to the far left.
Solution
Treat each impact as only involving two balls. Because the COR e D 1 and the masses
are identical we see from the solution to Problem 5.47 that ball 1 will come to a complete
stop after impacting with ball 2. We also see that ball 2 will have a post impact velocity
identical to the pre impact velocity of ball 1. Each ball in the train is tangent to the next
so it will not appear to move at all during its impact with the next ball. Ball 4 impacts
ball 5 which is free to move. Ball 5 will have a post impact velocity equal to the pre impact velocity of ball 1.
The work-energy principle tells us that ball 5 will stop moving when it has reached the initial height ball 1
was released from. Finally, since the lengths of the pendulums are identical the maximum swing angle of ball
5 is equal to the initial release angle of ball 1.
August 10, 2009

Dynamics 1e 643
Problem 5.60

Explain why if you release the two balls to the far left from a certain angle, the
balls in question come to a stop right after impact while all the other balls do
not seem to move except for the two balls to the far right, which swing upward
and achieve a maximum swing angle equal to the initial release angle of the
two balls to the far left.
Solution
Treat each impact as only involving two balls. The first impact will occur between
balls 2 and 3. Because the COR e D 1 and the masses are identical we see from the
solution to Problem 5.47 that ball 2 will come to a complete stop after impacting with
ball 3. We also see that ball 3 will have a post impact velocity identical to the pre
impact velocity of ball 2. Call this velocity v0 . At the same instant ball 2 impacts ball 3 ball 1 impacts ball 2.
Ball 1 will stop and ball 2 will have a post impact velocity v0 .
Now balls 2 and 3 have velocity v0 . When ball 3 impacts ball 4 ball 3 stops and ball 4 has a post impact
velocity v0 , ball 3 is impacted by ball 2, ball 2 stops and ball 3 has a post impact velocity v0 .
Now balls 3 and 4 have velocity v0 . When ball 4 impacts ball 5 ball 4 stops and ball 5 has a post impact
velocity v0 , ball 4 is impacted by ball 3, ball 3 stops and ball 4 has a post impact velocity v0 . The work-energy
principle tells us that balls 4 and 5 will stop moving when they have reached the initial height balls 1 and 2
were released from. Finally, since the lengths of the pendulums are identical the maximum swing angle of
balls 4 and 5 are equal to the initial release angle of balls 1 and 2.
August 10, 2009

Problem 5.61

Predict the swing pattern of the system in the figure if you release from rest,
and from a given angle, three of the five balls.
Solution
Treat each impact as only involving two balls. The first impact will occur between
balls 3 and 4. Because the COR e D 1 and the masses are identical we see from the
solution to Problem 5.47 that ball 3 will come to a complete stop after impacting with
ball 4. We also see that ball 4 will have a post impact velocity identical to the pre
impact velocity of ball 3. Call this velocity v0 . At the same instant ball 3 impacts ball 4 ball 2 impacts ball 3.
Ball 2 will stop and ball 3 will have a post impact velocity v0 . Also at the same instant ball 1 will impact ball
2. Ball 1 will stop and ball 2 will have a post impact velocity v0 .
Now balls 2, 3, and 4 have velocity v0 . When ball 4 impacts ball 5 ball 4 stops and ball 5 has a post
impact velocity v0 , ball 4 is impacted by ball 3, ball 3 stops and ball 4 has a post impact velocity v0 . At the
same instant ball 2 impacts ball 3. Ball 2 stops and ball 3 has a post impact velocity v0 .
Now balls 3, 4, and 5 have velocity v0 and there are no other balls in the train to impact so they will all
swing together as a unit. The work-energy principle tells us that balls 3, 4, and 5 will stop moving when
they have reached the initial height balls 1, 2, and 3 were released from. Finally, since the lengths of the
pendulums are identical the maximum swing angle of balls 3, 4, and 5 are equal to the initial release angle of
balls 1, 2, and 3.
Balls 3, 4, and 5 will swing up as a single unit until reaching the height that
balls 1, 2, and 3 were released from while balls 1 and 2 will hang motionless.
August 10, 2009

Dynamics 1e 645
Problem 5.62
If an impact is an event spanning an infinitesimally small time interval, is the total potential energy of two
colliding objects conserved through the impact? What about the potential energy of each individual object?
Solution
Answer to the first question. In an impact the potential energy of the system is conserved. The reason is
that in an infinitesimal time interval our impact model allows objects to change velocity but not position. No
change in position implies that there cannot be a change in potential energy through an impact for any of the
colliding objects and therefore for the system as a whole.
Answer to the second question. In an impact the potential energy of each colliding object is conserved.
The reason is that in an infinitesimal time interval our impact model allows objects to change velocity but not
position. No change in position implies that there cannot be a change in potential energy through an impact
for any of the colliding objects.
August 10, 2009

Problem 5.63
If an impact is an event spanning an infinitesimally small time interval, is the total kinetic energy of two
colliding objects conserved through an impact? What about the kinetic energy of each individual object?
Solution
Answer to the first question. In general, the kinetic energy of a two colliding particles is not conserved
during the impact. To explain why this is the case, let’s begin with observing that we model impacts as events
that take place in an infinitesimal time interval and that cause the colliding objects to change velocity but
not position. This implies that there cannot be a change in potential energy through an impact for any of
the colliding objects. With this in mind, applying the work energy principle, the difference between the
total pre- and postimpact kinetic energies of the system measures the work done during the impact by the
impulsive forces acting on the system. The total kinetic energy would be conserved if the total work done by
the impulsive forces were equal to zero. In turn this would happen if the work done during the deformation
phase of the impact were equal and opposite to the work done during the restitution phase. Such a case
corresponds to the case in which the collision is perfectly elastic, i.e., the COR e D 1. Hence, whenever the
impact is not perfectly elastic, the total kinetic energy of the system is not conserved.
Answer to the second question. In general, the kinetic energy of the individual particles is not conserved
during the impact. The explanation for this answer can be given by consider an example in which a moving
particle collides with a stationary particle. After the collision, the particle that was initially stationary would
be moving, and this clearly indicates that the kinetic energy of that particle has changed. In general, such an
impact would cause a change in the speed of the particle that was initially moving so that the kinetic energy
of his particle also changes from before to after the impact.
August 10, 2009

Dynamics 1e 647
Two spheres, A and B, with masses mA D 1:35 kg and mB D 2:72 kg, respec-
tively, collide with vA D 26:2 m=s, and vB D 22:5 m=s.
Problem 5.64 Compute the postimpact velocities of A and B if ˛ D 45ı , ˇ D

16ı , the COR is e D 0:57, and the contact between A and B is frictionless.
Problem 5.65 Compute the postimpact velocities of A and B if ˛ D 45ı ,

ˇD 16ı , the COR is e D 0, and the contact between A and B is frictionless.
Solution to 5.64
The impact in this problem is a typical two-dimensional oblique central

impact. We have selected an xy coordinate system with the x axis aligned
with the LOI. The impact is therefore characterized by the following four
equations:
C C
C
vAy D vAy ; (2)
C
vBy D vBy ; (3)
C C
vAx vBx D e.vBx vAx /: (4)
The above four equations express, in order, the conservation of the linear momentum of the system along
the LOI, the conservation of the linear momentum of particle A in the direction normal to the LOI, the
conservation of the linear momentum of particle B in the direction normal to the LOI, and the COR equation.
Observe that the preimpact velocities are given and are
vAx D vA cos ˛; vAy D vA sin ˛; vBx D vB cos ˇ; vBy D vB sin ˇ: (5)
Substituting Eqs. (5) into Eqs. (1)–(4) and solving for the postimpact velocities of A and B, we have
C 1
vAx D Œ mA vAx cos ˛ C e mB .vAx cos ˛ C vBx cos ˇ/ C mB vBx cos ˇ; (6)
mA C mB
vAy D vA sin ˛ (7)
C 1
vBx D Œ mA vAx cos ˛ e mA .vAx cos ˛ C vBx cos ˇ/ C mB vBx cos ˇ; (8)
mA C mB
C
vBy D vB sin ˇ; (9)
Substituting the problem’s data in Eqs. (6)–(9), we then obtain
vEAC D . 23:6 {O C 18:5 |O/ m=s C

and vEB D . 0:717 {O 6:20 |O/ m=s ;
where we have used the following numerical data: mA D 1:35 kg, mB D 2:72 kg, vA D 26:2 m=s, vB D
22:5 m=s, ˛ D 45ı , ˇ D 16ı , and e D 0:57.
August 10, 2009

Solution to 5.65
The impact in this problem is a typical two-dimensional oblique central

impact. We have selected an xy coordinate system with the x axis aligned
with the LOI. The impact is therefore characterized by the following four
equations:
C C
C
vAy D vAy ; (11)
C
vBy D vBy ; (12)
C C
The above four equations express, in order, the conservation of the linear momentum of the system along
the LOI, the conservation of the linear momentum of particle A in the direction normal to the LOI, the
conservation of the linear momentum of particle B in the direction normal to the LOI, and the COR equation.
Observe that the preimpact velocities are given and are
vAx D vA cos ˛; vAy D vA sin ˛; vBx D vB cos ˇ; vBy D vB sin ˇ: (14)
Substituting Eqs. (14) into Eqs. (10)–(13) and solving for the postimpact velocities of A and B, we have
C 1
vAx D Œ mA vAx cos ˛ C e mB .vAx cos ˛ C vBx cos ˇ/ C mB vBx cos ˇ; (15)
mA C mB
vAy D vA sin ˛ (16)
C 1
vBx D Œ mA vAx cos ˛ e mA .vAx cos ˛ C vBx cos ˇ/ C mB vBx cos ˇ; (17)
mA C mB
C
vBy D vB sin ˇ; (18)
Substituting the problem’s data in Eqs. (15)–(18), we then obtain
vEAC D . 8:31 {O C 18:5 |O/ m=s C

and vEB D . 8:31 {O 6:20 |O/ m=s ;
where we have used the following numerical data: mA D 1:35 kg, mB D 2:72 kg, vA D 26:2 m=s, vB D
22:5 m=s, ˛ D 45ı , ˇ D 16ı , and e D 0.
August 10, 2009

Dynamics 1e 649
A 1:34 lb ball is dropped on a 10 lb incline with ˛ D 33ı . The ball’s release

height is h1 D 5 ft, and the height of the impact point relative to the ground
is h2 D 0:3 ft. Assume that the contact between the ball and the incline is
frictionless, and let the COR for the impact be e D 0:88.
Problem 5.66 Compute the distance d at which the ball will hit ground for
the first time if the incline cannot move relative to the floor.
Problem 5.67 Compute the distance d at which the ball will hit ground for
the first time if the incline can slide without friction relative to the floor.
Solution to 5.66
When ball A is dropped (from rest) over the incline, ball A first falls under the action of gravity and therefore
the velocity with which ball A impacts the incline is found using the following constant acceleration equation:
sP 2 D sP02 C 2ac .s s0 / ) vAy D

p
2gh1 : (1)
Thus, referring to the figure shown to the right, the component of the pre-impact
velocity of A are p
vAx D 0 and vAy D 2gh1 : (2)
Since the incline cannot move, then A is subject to the external impulsive force N .
Consequently, the only component of the momentum of A that is conserved is that
along the q direction and we can write
C
vAq D vAq : (3)
The COR equation for the collision is only applicable along the LOI. Hence, letting B denote the incline, we
have
C C C
vAp vBp D e.vBp vAp / ) vAp D evAp ; (4)
where we have accounted for the fact that the incline B does not move. We now rewrite Eqs. (3) and (4) in
the xy component system. To do this, observe that the components of the velocity of A in the p and q can be
expressed in terms of the x and y components as follows:
vAp D vEA uOp D vAx {O uOp C vAy |O uOp ; D vAx sin ˛ C vAy cos ˛; (5)
vAq D vEA uO q D vAx {O uO q C vAy |O uO q ; D vAx cos ˛ vAy sin ˛: (6)
Using the result in Eqs. (5) and (6) to rewrite Eqs. (3) and (4), allows us to rewrite (3) and (4) as follows
p C C
2gh1 sin ˛ D vAx cos ˛ vAy sin ˛; (7)
C C
p
vAx sin ˛ C vAy cos ˛ D e 2gh1 cos ˛; (8)
C C
Equations (7) and (8) form a system of two equations in the two unknowns vAy and vAx whose solution is
r
C
p C gh1
vAx D .1 C e/ 2gh1 cos ˛ sin ˛ and vAy D Œ.e 1/ C .1 C e/ cos 2˛: (9)
2
August 10, 2009

Now that we have the postimpact velocity of A we can find d solving a projectile problem. Hence, we
first find the time A takes to reach the floor after the initial impact using the constant acceleration equation
s D s0 C sP0 t C 0:5ac t 2 with s in the y direction, where s D 0, s0 D h2 , sP0 D vAy
C
, and ac D g. This gives
C 1 2 1 C q
C 2

0 D h2 C vAy t 2 gt ; ) tD vAy ˙ 2gh2 C .vAy / : (10)
g
C
Observe that the argument of the square root in the result of Eq. (10) is larger than vAy . Hence, the only
physically acceptable root is
1h C q
C 2
i
tD vAy C 2gh2 C .vAy / : (11)
g
Next, since the velocity of A is constant in the x direction, we can now say that
C
d D vAx t: (12)
Substituting the Eq. (11) into Eq. (12), we find
s r
2 gh1
dD .1 C e/h1 cos ˛ sin ˛ Œ.e 1/ C .1 C e/ cos 2˛
gh1 2
q
C 2gh2 C 12 gh1 Œ.e 1/ C .1 C e/ cos 2˛2 D 6:24 ft;
where we have used the parameters: g D 32:2 ft=s2 , h1 D 5 ft, h2 D 0:3 ft, e D 0:88, and ˛ D 33ı .
August 10, 2009

Dynamics 1e 651
Solution to 5.67

p
2gh1 : (13)
Thus, referring to the figure shown to the right, the component of the pre-impact velocity of
A are p
vAx D 0 and vAy D 2gh1 : (14)
Recall that the incline is initially at rest and that, after impact, it can only move in the
horizontal direction. Hence, we must have
C
vBx D 0; vBy D 0; and vBy D 0: (15)
Referring to the impact-relevant FBD shown, we see that the system is acted upon by an external impulsive
force in the y direction. Hence, the only component of the system’s linear momentum that is conserved is
that in the x direction, i.e.,
C C
mA vAx C mB vBx D mA vAx C mB vBx : (16)
Substituting the first of Eqs. (14) and the first of Eqs. (15) into Eq. (16), we have
C C
mA vAx D mB vBx : (17)
We now consider the impact-relevant FBDs of A and B individually

(shown to the right). From the FBD of A we see that the momentum
of A must be conserved in the direction perpendicular to the LOI. This
condition is more easily expressed in the pq component system and is
given by
C
vAq D vAq : (18)
Additionally, we can enforce the COR equation. This equation concerns velocity components along the LOI
and, again, is more easily expressed in the pq component system as
C C
vAp vBp D evAp ; (19)
where we have accounted for the fact that B is at rest before the impact. We now need to rewrite Eqs. (18)
and (19) in the xy component system. To do so, observe that, for A we have
vAp D vEA uOp D vAx {O uOp C vAy |O uOp D vAx sin ˛ C vAy cos ˛; (20)
vAq D vEA uO q D vAx {O uO q C vAy |O uO q D vAx cos ˛ vAy sin ˛: (21)
For B we have similar relations. However, recalling that B can only move in the x direction, the only relation
we need is as follows:
vBp D vBx sin ˛: (22)
Substituting the results in Eqs. (20)–(22) into Eqs. (18) and (19), gives
p C C
C C C
p
vAx sin ˛ C vAy cos ˛ vBx sin ˛ D e 2gh1 cos ˛; (24)
August 10, 2009

where we have enforced Eqs. (14). Now observe that Eqs. (17), (23), and (24) form a system of three
C C C
equations in the three unknowns vAx , vBx , and vAy whose solution is
p
C
2gh1 .1 C e/mB sin 2˛
vAx D ; (25)
mA C 2mB mA cos 2˛
p
C
2gh1 fmA C mB .1 e/ ŒmA C mB .1 C e/ cos 2˛g
vAy D ; (26)
mA 2mB C mA cos 2˛
p
C
2gh1 .1 C e/mA sin 2˛
vBx D : (27)
mA 2mB C mA cos 2˛
Now that we have the postimpact velocity of A we can find d solving a projectile problem. Hence, we
first find the time A takes to reach the floor after the initial impact using the constant acceleration equation
s D s0 C sP0 t C 0:5ac t 2 with s in the y direction, where s D 0, s0 D h2 , sP0 D vAy
C
, and ac D g. This gives
C 1 2 1h C q
C 2
i
0 D h2 C vAy t 2 gt ) tD vAy ˙ 2gh2 C .vAy / : (28)
g
C
Observe that the argument of the square root in the result of Eq. (28) is larger than vAy . Hence, the only
physically acceptable root is
1h C q
C 2
i
tD vAy C 2gh2 C .vAy / : (29)
g
Since the velocity of A is constant in the x direction, we can now say that
C
d D vAx t: (30)
Substituting Eq. (29) into Eq. (30) along with the results in Eqs. (25) and (26), we find
p (p
2.1 C e/h1 mB sin 2˛ 2gh1 ŒmA C mB e mB .mA C mB C e mB / cos 2˛
dDp
gh1 .mA C 2mB mA cos 2˛/ mA 2mB C mA cos 2˛
s )
2gh1 ŒmA C mB e mB .mA C mB C e mB cos 2˛/2
C 2gh2 C
. mA 2mB C mA cos 2˛/2
D 5:27 ft;
where we have used the parameters:
g D 32:2 ft=s2 ;
h1 D 5 ft;
h2 D 0:3 ft;
e D 0:88;
1:34 lb
mA D D 0:04161 slug;
32:2 ft=s2
10 lb
mB D D 0:3106 slug;
32:2 ft=s2
˛ D 33ı :
August 10, 2009

Dynamics 1e 653
Problem 5.68
A 1:34 lb ball is dropped on a 10 lb incline with ˛ D 33ı . The ball’s release

height is h1 D 5 ft, and the height of the impact point relative to the ground
is h2 D 0:3 ft. Assume that the contact between the ball and the incline is
frictionless, and let the COR for the impact be e D 0:88. Compute the distance
d at which the ball will hit ground for the first time if the combined stiffness of
the supporting springs is k D 50 lb=in: Assume that the incline can move only
vertically.
Solution

p
2gh1 : (1)
Thus, denoting the incline by B, the component of the pre-impact velocities of A and B are
p
vAx D 0; vAy D 2gh1 ; and vEB D 0: (2)
Referring to the FBD shown to the right, because the incline is supported by springs (as
opposed to a rigid surface), the collision between A and the incline can be modeled as
an unconstrained oblique impact with LOI perpendicular to the incline surface. Hence,
the system’s momentum is conserved along the LOI and the individual momenta of A
and the incline, respectively, are conserved in the direction perpendicular to the LOI.
These considerations yield the following three equations:
C C
mA vAp D mA vAp C mB vBp ; (3)
C
vAq D vAq ; (4)
C
0 D vBq ; (5)
where we have accounted for the pre-impact condition expressed by the third of Eqs. (2). In addition to the
consequence of the impulse–momentum principle, we can write the COR equation, which holds only along
the LOI and therefore is written as
C C
vAp vBp D evAp ; (6)
where, again, we have accounted for the fact that the incline is at rest before the impact.
Now we rewrite Eqs. (3)–(6) in the xy component system. To do so, observe that we have
vAp D vEA uOp D vAx {O uOp C vAy |O uOp D vAx sin ˛ C vAy cos ˛; (7)
vAq D vEA uO q D vAx {O uO q C vAy |O uO q D vAx cos ˛ vAy sin ˛: (8)
Similarly, for B we have
vBp D vBx sin ˛ C vBy cos ˛ and vAq D vAx cos ˛ vAy sin ˛: (9)
Using Eqs. (7)–(9), Eqs. (3)–(6) can be rewritten as

p C C C C
mA 2gh1 cos ˛ D mA .vAx sin ˛ C vAy cos ˛/ C mB .vBx sin ˛ C vBy cos ˛/; (10)
August 10, 2009
p C C
C C
0 D vBx cos ˛ vBy sin ˛; (12)
p C C C C
e 2gh1 cos ˛ D vAx sin ˛ C vAy cos ˛ vBx sin ˛ vBy cos ˛; (13)
where we have accounted for the first two of Eqs. (2). Equations (10)–(13) form a system of four equations
C C C C C C C C
in the four unknowns vAx , vAy , vBx , and vBy . Eliminating vBx , and vBy and solving for vAx , and vAy , we
have
C
p .1 C e/mB cos ˛ sin ˛
vAx D 2gh1 D 13:59 ft=s; (14)
mA C mB
r
C gh1 .1 C e/mB cos 2˛ C mB .e 1/ 2mA
vAy D D 2:981 ft=s; (15)
2 mA C mB
1:34 lb
where we have used the following numerical data: g D 32:2 ft=s2 , h1 D 5 ft, e D 0:88, mA D 32:2 ft=s2
D
10 lb
0:04161 slug, mB D D 0:3106 slug, and ˛ D
32:2 ft=s2
33ı .
Now that we have the components of the postimpact velocity of A, we proceed to solve a projectile
problem to determine the required distance d . We begin by finding the time tf that A takes to reach the
floor via the constant acceleration equation y D y0 C yP0 tf C 12 ac tf2 where y D 0, y0 D h2 , yP0 D vAy
C
, and
ac D g. By doing so, we obtain
1h C q
C 2
i
tf D vAy ˙ 2gh2 C .vAy / : (16)
g
C
Observing that the square root term in Eq. (16) is larger than vAy , the only meaningful solution for tf is
1h C q
C 2
i
tf D vAy C 2gh2 C .vAy / D 0:2575 s: (17)
g
Finally, since the x component of the velocity of A is constant, we have
C
d D vAx tf ) d D 3:50 ft, (18)
where we have used the result in Eqs. (14) and (17).
August 10, 2009

Dynamics 1e 655
Problem 5.69
Consider two balls A and B that are stacked one on top of the other and dropped
from rest from a height h. Let eAG D 1 be the COR for the collision of ball A with
the ground, and let eAB D 1 be the COR for the collision between balls A and B.
Finally, assume that the balls can move only vertically and that mA mB , that
is, that mB =mA 0. Model the combined collision as a sequence of impacts,
and predict the rebound speed of ball B as a function of h and g, the acceleration
due to gravity.
Solution
We denote the Earth as “ball G” and we treat it as being initially stationary and
as having a mass far larger than the mass of ball A. Next, we observe that both
A and B drop due to gravity by the same height h. Using the FBD to the right, in
which we have neglected air resistance, the preimpact speed of either ball can be
computed using constant acceleration equations as follows:
yP 2 D yP02 2g.y y0 / ) .vy /2 D 2gh ) vAy D vBy D

p
2gh: (1)
To model the overall impact as a sequence of impacts meansp that the first impact
is between ball A, traveling with a downward speed equal to 2gh, and the Earth,
which is stationary. The second impact is between ball A, traveling upward after
having rebounded
p off of the Earth, and ball B traveling with a downward speed
equal to 2gh.
We start with the analysis of the first impact. The motion is completely in the y
direction, which is also the LOI. Each impact is an unconstrained perfectly elastic
impact. Therefore the linear momentum of the system formed by balls A and G is
conserved through the impact, i.e.,
C C
mA .vAy /1 C mG .vGy /1 D mA .vAy /1 C mG .vGy /1 ; (2)
where the subscript 1 denotes the first impact. Dividing Eq. (2) by mG we have
mA mA C C
.vAy /1 C .vGy /1 D .v /1 C .vGy /1 : (3)
mG mG Ay
By assumption mA =mG 0, and therefore Eq. (3) can be written as
C
.vGy /1 D .vGy /1 D 0; (4)
which implies that the Earth is unaffected by the collision.

In addition to the conservation of momentum, the impact between A and G is also governed by the COR
equation, i.e,
C C
.vAy /1 .vGy /1 D .vGy /1 .vAy /1 : (5)
Substituting Eq. (4) into Eq. (5) and rearranging terms, we have
C
p
.vAy /1 D .vAy /1 D 2gh; (6)
where we have used the result in Eq. (1).

August 10, 2009
We will now examine the impact between the rebounding ball A with and the falling
ball B. Again, we can invoke conservation of linear momentum along the LOI, i.e.,
C C
mA .vAy /2 C mB .vBy /2 D mA .vAy /2 C mB .vBy /2 ; (7)
where the subscript 2 denotes the second impact in the sequence. Dividing Eq. (7) by mA , we have
mB C mB C
.vAy /2 C .vBy /2 D .vAy /2 C .v /2 : (8)
mA mA By
Recalling that .mB =mA / 0, Eq. (8) yields the following result:
C C
p
.vAy /2 D .vAy /2 D .vAy /1 D 2gh; (9)
C
where we have used the fact that .vAy /2 coincides with .vAy /1 , and where we have used the result in Eq. (6).
Again, we wee that the velocity of A is essentially unaffected by the collision with B.
Next, we write the COR equation for the second impact, i.e.,
C C

.vAy /y .vBy /2 D eAB .vBy /2 .vAy /2 : (10)
p
Recalling that eAB D 1 and that, from Eq. (1), .vBy /2 D 2gh, substituting the result in Eq. (9) into
C
Eq. (10), and solving for .vBy /2 , we obtain
C
p
.vBy /2 D 3 2gh: (11)
C
Consequently, denoting by vB the final postimpact speed of B, we have
C
p
vB D 3 2gh:
August 10, 2009

Dynamics 1e 657
Problem 5.70
Consider a stack of N balls dropped from rest from a height h. Let all impacts be perfectly
elastic, and assume that mi mi C1 , that is, that mi C1 =mi 0, with i D 1; : : : ; N 1
and mi being the mass of the i th ball. Model the combined collision as a sequence of
impacts, and predict the rebound speed of the topmost ball. Assume that the balls can
move only vertically.
Solution
We denote the Earth as “ball zero” and we treat it as being initially stationary and as having
a mass far larger than the mass of the first ball in the stack, i.e., m0 m1 . Next, we
observe that each ball drops due to gravity by the same height h as the stack as a whole.
Using the FBD to the right, in which we have neglected air resistance, the preimpact speed
of ball i (i > 0) can be computed using constant acceleration equations as follows:
yP 2 D yP02 2g.y y0 / ) .vi /y2 D 2gh ) .vi /y D

p
2gh: (1)
To model the overall impact as a sequence of impacts means that

p
the first impact is between ball 1, traveling with a downward speed equal to 2gh, and the Earth,
which is stationary.
The second impact is between ball 1, travelingpupward after having rebounded off of the Earth, and ball
2 traveling with a downward speed equal to 2gh. Once ball 2 rebounds off of ball 1, it will collide
with ball 3, and so on.
We can determine the outcome of the entire sequence of impacts by studying the impact between
ball i and ball i 1 (with i > 0). The LOI for all impacts coincides with the y axis. Each impact
is an unconstrained perfectly elastic impact. Therefore the linear momentum of the system
formed by balls i and i 1 is conserved through the impact, i.e,
C
mi 1 .vi 1 /y C mi .vi /y D mi 1 .vi 1 /y C mi .viC /y (2)
Diving Eq. (2) by the mass of ball mi 1 we have

mi mi
.vi 1 /y C .vi /y D .viC 1 /y C .v C /y : (3)
mi 1 mi 1 i
By assumption mi =mi 1 0, and therefore Eq. (3) can be written as
.viC 1 /y D .vi 1 /y ; (4)
which implies that the velocity of ball i 1 is unaffected by the collision.

In addition to the conservation of momentum, each impact is also governed by the COR equation, i.e,
.viC /y .viC 1 /y D .vi 1 /y .vi /y : (5)
Substituting Eq. (4) into Eq. (5) and rearranging terms, we have
.viC /y D 2.viC 1 /y .vi /y : (6)

August 10, 2009
Recall that the index i is such that i > 0. In this case, we can replace the expression for .vi /y with that given
in the last of Eqs. (1). Hence, Eq. (6) can be written as
p
.viC /y D 2.viC 1 /y C 2gh: (7)
We are now ready to determine the outcome of the collision sequence. In doing so, we must keep in mind
that the meaning of the superscripts C and is confined to an individual impact. Therefore, for example, the
postimpact velocity of, say, ball 3 with ball 2 is also the preimpact velocity of ball 3 for the impact between
ball 4 and ball 3. Consequently, recalling that the preimpact velocity of ball 0 is equal to zero, we then have
p
Impact between Balls 0 and 1: By Eq. (4), .v0C /y D 0, so that, by Eq. (7), .v1C /y D 2gh;
p p
Impact between Balls 1 and 2: By Eq. (4), .v1C /y D 2gh, so that, by Eq. (7) .v2C /y D 3 2gh;
p p
Impact between Balls 2 and 3: By Eq. (4), .v2C /y D 3 2gh, so that, by Eq. (7) .v3C /y D 7 2gh;
p p
Impact between Balls 3 and 4: By Eq. (4), .v3C /y D 7 2gh, so that, by Eq. (7) .v4C /y D 15 2gh;
. . . and so on.
By carefully reviewing the sequence of solutions just generated, we conclude that the velocity of ball i
right after the collision with ball i 1 is given by
.viC /y D 2i 1/ 2gh:
p
Consequently, recalling that the motion of each ball is only in the y direction, for the N th ball we have
p
C
vN D 2N 1 2gh:
August 10, 2009

Dynamics 1e 659
Problem 5.71
A ball is dropped from rest from a height h0 D 1:5 m. The impact between the ball and the floor has a
COR e D 0:92. Find the formula that allows you to compute the rebound height hi of the i th rebound.
Furthermore, find the formula that provides the total time required to complete i rebounds. Finally,
compute the time tstop that the ball will take to stop bouncing. Hint: A formula you may find useful in the
solution of this problem is that of the limit value of a geometric series: N
P 1 i N
i D0 e D .e 1/=.e 1/,
with jej < 1.
Solution
Computation of the formula for hi . We assume that the ball is only subject
to gravity (assumed to be constant) and, when in contact with the ground, to a
reaction force normal to the ground. Consequently, referring to the figure to the
right, consider a ball dropping from a position yA to a position yB , and let vA and
vB be the speeds of the ball at A and B respectively. Using constant acceleration
equations, we have
v.yB /2 D v.yA /2 2g.yA yB /; (1)
In our problem the balls rebounds various times. We will use the index i to denote the i th rebound, whereby
this rebound is the event that causes the ball to drop from rest from a height hi 1 and rebound to a maximum
height hi . Hence, assuming that the motion of the ball is only in the vertical direction, applying Eq. (1) and
observing that for y D hi 1 we have v.hi 1 / D 0, the vertical component of velocity with which the ball
strikes the ground (i.e., reaches the point with y D 0) is
p
viy D 2ghi 1 : (2)
We will treat the ground as stationary. Hence, because the motion is completely along the LOI, the impact
between the ball and the ground is governed by the COR equation so that
C
p
viy D eviy ) viC D e 2ghi 1 : (3)
The maximum height reached after the i th rebound is hi and recalling that we must have v.hi / D 0, this
height can be computed using Eq. (1) again as follows:
v 2 .hi / D v 2 .0/ 2g.hi 0/ ) 0 D .viC /2 2ghi ) hi D e 2 hi 1; (4)
where the last expression was obtained by substituting the result in Eqs. (3). Recalling that h0 is the height
from which the ball is dropped before the first rebound, then a repeated application of the result in Eq. (4)
gives
h1 D e 2 h0 ) h2 D e 2 h1 D e 4 h0 ) ) hi D e 2i h0 . (5)
Keeping in mind that 0 < e < 1, notice that the above solution indicates for it is necessary that i ! 1 for
hi ! 0.
August 10, 2009

Computation of the formula for the total time. Using constant acceleration formulas, recall that the
vertical position y of the ball is related to time by the following formula:
y D y.t0 / C y.t
P t0 / 1
2 g.t t0 /2 ; (6)
P 0 / are the position and velocity in the y direction at time

where t0 is a reference time and where y.t0 / and y.t
t0 . We now consider the i th rebound again. Applying Eq. (6), for when the ball drops from y D hi 1 and
hits the ground, we have
s
2hi 1
0 D hi 1 12 gŒ.tdrop /i 2 ) .tdrop /i D : (7)
g
C
p
When the ball rebounds off of the ground it will leave the ground with a velocity viy D e 2ghi 1 (see
Eq. (3)) and then it will reach a maximum height hi D e 2 hi 1 (see Eq. (4)). Hence, applying Eq. (6) for
when the ball goes from the ground and reaches y D hi C1 , we have
2
1
e 2 hi 1 2
C
p
hi D 0 C viy traise 2 g.traise / ) 1 D 0 C e 2ghi 1 .traise /i 2 gŒ.traise /i
s
2hi 1
) .traise /i D e : (8)
g
Therefore, the overall time taken by the i th rebound is

s s
2hi 1 2h0
ti D .tdrop /i C .traise /i D .1 C e/ D .1 C e/e i 1
; (9)
g g
where we have used the last of Eqs. (5) to express hi 1 in terms of h0 . Given the result in Eq. (9), and
denoting ti the total time taken by i rebounds (i.e., the time needed for the ball to achieve the height hi ), ti is
found by the summation
s s s
i i i 1
" #
X
j 1 2h0 2h0 X j 1 2h0 X j
ti D .1 C e/e D .1 C e/ e D .1 C e/ e : (10)
g g g
j D1 j D1 j D0
Using the suggestion made in the problem statement, we can then write the final expression for ti in Eq. (10)
as follows:
s
2h0 .e i 1/
ti D .1 C e/ : (11)
g .e 1/
We have already observed that the ball will require an infinite number of rebounds to come to rest. Hence, the
elapsed time until the ball comes to rest is found by computing the limit of ti as i ! 1. Observing again
that 0 < e < 1 and that e i ! 0 for i ! 1, we have
s s
2h0 .e i 1/ 1Ce 2h0
tstop D lim .1 C e/ D D 13:3 s;
i !1 g .e 1/ 1 e g
where we have used the data e D 0:92, and h0 D 1:5 m.
August 10, 2009

Dynamics 1e 661
At the instant shown, a truck A, of weight WA D 31;000 lb, and a car B, of

weight WB D 3970 lb, are traveling with speeds vA D 35 mph and vB D
34 mph, respectively.
Problem 5.72 Choosing point O as the moment center, determine the angular
momentum (with respect to O) of A and B individually at this instant.
Problem 5.73 Choosing point O as the moment center, determine the angular
momentum (with respect to O) of the particle system formed by A and B at
this instant.
Problem 5.74 Choosing point Q as the moment center, determine the angular
momentum (with respect to Q) of the particle system formed by A and B at
this instant.
Solution to 5.72
Using the cartesian coordinate system shown to the right, we have that
rEA=O D .12 {O 3 |O/ ft; rEB=O D .2 {O C 13 |O/ ft; (1)

vEA D .35 |O/ mph D .51:33 |O/ ft=s; vEB D .34 {O/ mph D .49:87 {O/ ft=s: (2)
The angular momentum of A about O is:
hEO O

A
D rEA=O mA vEA D .rA=O /x mA vAy k: (3)
Hence, recalling that mA D .31;000 lb/=.32:2 ft=s2 / D 962:7 slug, we have
hEO D 593103 kO slugft2 =s

A
:
Similarly, the angular momentum of B about O is
hEO O

B
D rEB=O mB vEB D .rB=O /y mB vBx k: (4)
Hence, recalling that mB D .3970 lb/=.32:2 ft=s2 / D 123:3 slug, we have
hEO 79:9103 kO slugft2 =s

A
D :
August 10, 2009

Solution to 5.73
The definition of angular momentum for the given system of particles about point
O is
XN
E hEOi ) hEO D hEO A C hEO B ;

hO D (5)
i D1
where
hEO D rEA=O mA vEA and hEO B D rEB=O mB vEB ;

A
(6)
where hEO A and hEO B are the angular momenta of A and B about O, respectively.

To perform the required calculation, using the cartesian coordinate system shown to the right, we begin with
describing the following position vectors:
rEA=O D .12 {O 3 |O/ ft; rEB=O D .2 {O C 13 |O/ ft; (7)

Then, the angular momentum of A about O is
hEO O

A
D rEA=O mA vEA D .rA=O /x mA vAy k: (9)
hEO D 593:0103 kO slugft2 =s:

A
(10)
Similarly the angular momentum of B about O is
hEO O

B
D rEB=O mB vEB D .rB=O /y mB vBx k: (11)
hEO 79:94103 kO slugft2 =s:

B
D (12)
Substituting the results in Eqs. (10) and (12) into Eq. (5) and expressing the final result to three significant
digits, we have
hEO D 513103 kO slugft2 =s :
August 10, 2009

Dynamics 1e 663
Solution to 5.74
The definition of angular momentum for the given system of particles

about point Q is
N
X
hEQ D hEQi hEQ D hEQ C hEQ

) A B
; (13)
i D1
where
hEQ hEQ

A
D rEA=Q mA vEA and B
D rEB=Q mB vEB ; (14)
where hEQ A and hEQ B are the angular momenta of A and B about Q, respectively. To perform the required

calculation, using the cartesian coordinate system shown to the right, we begin with describing the following
position vectors:
rEA=Q D . 27:5 {O 3 |O/ ft; rEB=Q D . 37:5 {O C 13 |O/ ft; (15)

Then, the angular momentum of A about Q is
hEQ O

A
D rEA=Q mA vEA D .rA=Q /x mA vAy k: (17)
hEQ D 1:359106 kO slugft2 =s:

A
(18)
Similarly the angular momentum of B about O is
hEQ O

B
D rEB=Q mB vEB D .rB=Q /y mB vBx k: (19)
hEQ 79:94103 kO slugft2 =s:

B
D (20)
Substituting the results in Eqs. (18) and (20) into Eq. (13) and expressing the final result to three significant
digits, we have
hEQ D 1:44106 kO slugft2 =s :
August 10, 2009

Problem 5.75
Consider the situation depicted in the figure. At the instant shown, how are the
angular momenta of particle P with respect to O and Q related?
Solution
ˇ ˇ ˇ ˇ
At the instant shown hEO D hEQ .The reason is that ˇhEO ˇ D ˇhEQ ˇ since it is easy to see that
ˇ ˇ ˇ ˇ
ˇ ˇ ˇ ˇ
ˇE ˇ ˇE ˇ
ˇhO ˇ D mvP h; and ˇhQ ˇ D mvP h;
Since the direction of hE is given by the right-hand rule, we see that hEO points out of the page and hEQ points
into the page.
August 10, 2009

Dynamics 1e 665
Problem 5.76
Consider the situation depicted in the figure. At the instant shown, how are the
angular momenta of particle P with respect to O and Q related?
Solution
ˇ ˇ ˇ ˇ
At the instant shown hEO D hEQ . The reason is that ˇhEO ˇ D ˇhEQ ˇ since it is easy to see that
ˇ ˇ ˇ ˇ
ˇ ˇ ˇ ˇ
ˇE ˇ ˇE ˇ
ˇhO ˇ D mvP h; and ˇhQ ˇ D mvP h;
where h is the perpendicular distance between the line between line OQ, and the velocity vector vEP . Since
the direction of hE is given by the right-hand rule, we see that both hEO and hEQ point into the page and so must
be equal.
August 10, 2009

Problem 5.77
A rotor consists of four horizontal blades each of length L D 4 m and mass

m D 90 kg cantilevered off of a vertical shaft. Assume that each blade can be
modeled as having its mass concentrated at its midpoint. The rotor is initially at
rest when it is subjected to a moment M D ˇt, with ˇ D 60 Nm=s. Determine
the angular speed of the rotor after 10 s.
Solution
From the rotor’s FBD we see that the weight of each blade and the force
N do not contribute a moment about the ´ axis because they are parallel
to the ´ axis. Hence, applying the angular impulse–momentum principle
in the ´ direction we have
Z t2
M dt D hO´ .t2 / hO´ .t1 /; (1)
t1
where t1 D 0 and t2 D 10 s and where

L P L
hO´ .t1 / D 0 and hO´ .t2 / D 4 m .t2 / ; (2)
2 2
where P is the angular velocity of the rotor, assumed positive if in the positive ´ direction, and where we have
accounted for the fact that the system starts from rest and that, due to the symmetry of the system, the total
angular momentum about the ´ axis of the system is 4 times the angular momentum about the ´ axis of a
single blade.
Now observe that Z t2 Z t2
2
M dt D ˇt dt D 12 ˇ t22 t12 D 12 ˇt22 : (3)
t1 t1
Substituting Eqs. (2) and (3) into Eq. (1) and then solving for P .t2 /, we have
ˇt22
P .t2 / D ; (4)
2mL2
which gives
P .t2 / D 2:08 rad=s;
after substituting the following numerical data: ˇ D 60 Nm=s, t2 D 10 s, m D 90 kg, and L D 4 m.
August 10, 2009

Dynamics 1e 667
Problem 5.78
The object shown is called a speed governor, a mechanical device for the
regulation and control of the speed of mechanisms. The system consists of
two arms of negligible mass at the end of which are attached two spheres, each
of mass m. The upper end of each arm is attached to a fixed collar A. The
system is then made to spin with a given angular speed !0 at a set opening
angle 0 . Once it is in motion, the opening angle of the governor can be varied
by adjusting the position of the collar C (by the application of some force). Let
represent the generic value of the governor opening angle. If the arms are free
to rotate, that is, if no moment is applied to the system about the spin axis after
the system is placed in motion, determine the expression of the angular velocity
! of the system as a function of !0 , 0 , m, d , and L, where L is the length of
each arm and d is the distance of the top hinge point of each arm from the spin
axis. Neglect any friction at A and C .
Solution
The FBD shown implies that the moment of the external forces about
the ´ axis is equal to zero. Because the ´ axis is fixed we can then say
that the angular momentum in the ´ direction is conserved, i.e.,
hO´ .0/ D hO´ ; (1)
where hO´ .0/ and hO´ denote the ´ component of the angular momen-
tum of the system at the initial time and at a generic subsequent time,
respectively. Due to the symmetry of the system, the system’s angular
momentum is
hO´ D 2m.L sin C d /!.L sin C d /; (2)
where ! is the angular velocity of the system. Recalling that at the initial time !.0/ D !0 and .0/ D 0 ,
substituting Eq. (2) into Eq. (1) and solving for !, we have
.L sin 0 C d /2
!D !0 :
.L sin C d /2
August 10, 2009

Consider the motion of a projectile P of mass mP D 18:5 kg, which is shot with
an initial speed vP D 1675 m=s as shown in the figure. Ignore aerodynamic
drag forces.
Problem 5.79 Compute the projectile’s angular momentum with respect to

the point O as a function of time from the time it exits the barrel until the time
it hits the ground.
Problem 5.80 Choose point O as moment center. Then verify the validity of
the angular impulse-momentum principle as given in Eq. (5.65) by showing
that the time derivative of the angular momentum does, in fact, equal the
moment.
Problem 5.81 Knowing that the helicopter E happens to have the same
horizontal coordinate of the projectile at the instant the projectile leaves the gun
and that it moves at a constant speed vE D 15 m=s as shown, and treating E as
a moving moment center, verify the angular impulse-momentum principle as
given in Eq. (5.64).
Solution to 5.79
By definition, the angular momentum of P with respect to O is
hEO D rEP =O mP vEP : (1)
Hence, to provide the answer to this problem, we need to find expres-

sions for rEP =O and vEP as functions of time. To do so, for convenience,
we let D 20ı and we define a Cartesian coordinate system with
origin at O, as shown in the figure the right. Then, applying standard solutions methods for projectile
problems, we have that the x and y coordinates of point P are
1 2
xP D xPP .0/t and yP D yPP .0/t 2 gt ; (2)
where
xPP .0/ D vP .0/ cos and yPP .0/ D vP .0/ sin ; (3)
where vP .0/ D 1675 m=s.

Next, observing that rEP =O D xP {O C yP |O and that, since O is a fixed point, vEP D xPP {O C yPP |O, using
Eqs. (2) and (3) into Eq. (1), we have
hEO D fvP .0/t cos {O C ŒvP .0/t sin 1 2

2 gt |Og mfvP .0/ cos {O C ŒvP .0/ sin gt |Og: (4)
Carrying out the cross products, simplifying, and recalling that time is being measured in seconds, we then
have
hEO D 21 mP gt 2 vP .0/ cos kO D 143103 kgm2 =s3 t 2 kO

;
where we have used the following numerical data: mP D 18:5 kg, g D 9:81 m=s2 , vP .0/ D 1675 m=s, and
D 20ı .
August 10, 2009
Dynamics 1e 669
Solution to 5.80
Choosing the fixed point O as moment center, the application of Eq. (5.65) on p. 390 of the textbook, reads
E O D hEP O :
M (5)
E O and hEP O independently of one

In order to verify the relationship for the projectile, we need to calculate M
another, and finally check that they are equal.
P
We begin with calculating hEO . To do so, we recall that, by definition,
the angular momentum of P with respect to O is
hEO D rEP =O mP vEP : (6)
To find expressions for rEP =O and vEP as functions of time, we let

D 20ı and we define a Cartesian coordinate system with origin at
O, as shown in the figure the right. Then, applying standard solutions methods for projectile problems, we
have that the x and y coordinates of point P are
1 2
where
where vP .0/ D 1675 m=s.

Next, observing that rEP =O D xP {O C yP |O and that, since O is a fixed point, vEP D xPP {O C yPP |O,
substituting Eqs. (7) and (8) into Eq. (6), we have
hEO D fvP .0/t cos {O C ŒvP .0/t sin 1 2

2 gt |Og mfvP .0/ cos {O C ŒvP .0/ sin gt |Og: (9)
Carrying out the cross products and simplifying, we then have

P
hEO D 1 2
2 mP gt vP .0/ cos kO ) hEO D mP gvP .0/t cos : (10)
We now proceed to compute the moment of the forces acting on P with respect to O.
Referring to the FBD to the right, consistently with the calculation carried out so far, we treat
this problem as a projectile problem and therefore we assume that the only force acting on
P is its weight mP g. Then, we have
E O D rEP =O . mg/ |O:
M (11)
Hence, recalling again that rEP =O D xP {O C yP |O and that, since O is a fixed point, vEP D xPP {O C yPP |O,
using Eqs. (2) and (3) into Eq. (11), we have
E O D .xP {O C yP |O/ . mg |O/ D
M mgxP kO ) EO D
M O
mP gvP .0/t cos k: (12)
Comparing the results in Eqs. (10) and (12) we see that indeed Eq. (5) is verified. We formalize this result as
follows:
P E O D hEP O .
Since hEO D EO D
mP gvP .0/t cos and M O it is indeed true that M
mP gvP .0/t cos k,
August 10, 2009

Solution to 5.81
Choosing the point E as moment center, the application of Eq. (5.64) on p. 390 of the textbook, reads
E E D hEP E C vEE mE
M vP : (13)
E E and hEP E C vEE mE

In order to verify this relationship for the projectile, we need to calculate the terms M vP
independently of one another, and finally check that they are equal.
P
We begin with calculating hEE . To do so, we recall that, by definition,
the angular momentum of P with respect to E is
hEE D rEP =E mP vEP : (14)
To find expressions for rEP =E and vEP as functions of time, we let

D 20ı and we define a Cartesian coordinate system with origin
at O, as shown in the figure the right. We model P as a projectile.
Hence, applying standard solutions methods for projectile problems,
we have that the x and y coordinates of point P are
1 2
where
where vP .0/ D 1675 m=s. In addition, since E moves at constant velocity, we have
x E D vE t and yE D `: (17)
Next, observing that rEP =E D .xP xE / {O C .yP yE / |O and that vEP D xPP {O C yPP |O, substituting
Eqs. (15)–(17) into Eq. (14), we have
hEE D fŒvP .0/ cos vE t {O CŒvP .0/t sin 1 2

2 gt ` |Og mfvP .0/ cos {O CŒvP .0/ sin gt |Og: (18)
Carrying out the cross products and simplifying, we then have
hEE D gt 2 /vP .0/ cos C mvE t Œgt O

˚1
2 m.2` vP .0/ sin k: (19)
Then, taking the time derivative of the above expression we obtain
P
hEE D Œ2mgvE t mgvP .0/t cos O
mvE vP .0/ sin k: (20)
Next, we calculate the term vEE mEvP . Revalling that vEP D xPP {O C yPP |O and vEE D xP E {O C yPE |O, using the
kinematics relations in Eqs. (16) and (17), we have
vEE mE
vP D ŒmvE vP .0/ sin O
mgvE t k:
P
Hence, we have that the term hEE C vEE mE
vP is given by
P
hEE C vEE mE
vP D mgt ŒvE O
vP .0/ cos k: (21)
August 10, 2009

Dynamics 1e 671
We now proceed to compute the moment of the forces acting on P with respect to E.
Referring to the FBD to the right, consistently with the calculation carried out so far, we treat
this problem as a projectile problem and therefore we assume that the only force acting on
P is its weight mP g. Then, we have
E E D rEP =E . mg/ |O:

M (22)
Hence, recalling that rEP =E D .xP xE / {O C .yP yE / |O, substituting Eqs. (15) and (17) into Eq. (22),
and simplifying, we have
E E D mgt ŒvE
M O
vP .0/ cos k: (23)
Comparing the results in Eqs. (21) and (23) we see that indeed Eq. (13) is verified. We formalize this result
as follows:
Since
P
hEE C vEE mEvP D mgt ŒvE vP .0/ cos kO
and
E E D mgt ŒvE
M O
vP .0/ cos k;
E E D hEP E C vEE mE
it is indeed true that M vP .
August 10, 2009

The simple pendulum in the figure is released from rest as shown.
Problem 5.82 Knowing that the bob’s weight is W D 2 lb, determine its angular
momentum computed with respect to O as a function of the angle .
Problem 5.83 Use the angular impulse-momentum principle in Eq. (5.65) to deter-
mine the equations of motion of the pendulum bob.
Solution to 5.82
Let B denote the pendulum bob. To describe the angular momentum of B as a function
of the angle , we need to first describe the velocity of B as a function of . To do so,
choosing O as moment center, we will apply the angular impulse–momentum principle
to B, which states that
ME O D hEP O ; (1)
where, referring to figure to the right,
E O D L uO r Œ Fc uO r C mg.cos uO r
M sin uO / D mgL sin kO (2)
and
P
hEO D L uO r mE
v D L uO r mLP uO D mL2 P kO ) hEO D mL2 R k;
O (3)
where we have used the fact that, in polar coordinates, vE D rP uO r C r P uO and the fact that, in this problem
r D L D constant.
Substituting the last expression in Eq. (2) and the last expression in Eq. (3) into Eq. (1) and simplifying,
we obtain
g
R D sin : (4)
L
P
Recalling that we can write R D P ddr , the above equation can be rewritten as follows:
P
d P g
g g
Z Z
P D sin ) P d P D sin d ) 1 P2
2 D .cos cos 33ı /: (5)
dr L 0 33ı L L
Hence, solving for P , we obtain r

P g
D ˙ 2 .cos cos 33ı /: (6)
L
Finally, substituting this result into the expression for hEO given in the first of Eqs. (3), recalling that m D W =g,
and simplifying, we have
s
2L3 p
hEO D ˙W .cos cos 33ı / kO D ˙.3:99 lbfts/ cos 0:839 kO @ 57ı ;
g
where we have used the following data: W D 2 lb, L D 4 ft, and g D 32:2 ft=s2 .
August 10, 2009

Dynamics 1e 673
Solution to 5.83
Let B denote the pendulum bob. To apply the impulse–momentum principle to B, first
set up a polar coordinate system with origin at O. Then, referring to the FBD to the
right, choosing O as moment center, the application of the angular impulse–momentum
principle to B yields
ME O D hEP O ; (7)
where, referring to figure to the right,
E O D L uO r Œ Fc uO r C mg.cos uO r
M sin uO / D mgL sin kO (8)
and
P
hEO D L uO r mE
v D L uO r mLP uO D mL2 P kO ) hEO D mL2 R k;
O (9)
where we have used the fact that, in polar coordinates, vE D rP uO r C r P uO and the fact that, in this problem
r D L D constant.
Substituting the last expression in Eq. (8) and the last expression in Eq. (9) into Eq. (7) and simplifying,
we obtain
g
R D sin : (10)
L
Given that the pendulum cord has constant length, the pendulum cord is a physical system with one degree of
freedom. Hence, collecting all the terms in the dependent variable on one side of the equal sign in Eq. (10),
we have that the equation of motion of the pendulum bob is
g
R C sin D 0:
L
August 10, 2009

Problem 5.84
At the lowest and highest points on its trajectory, the pendulum cord, with
a length L D 2 ft, forms angles 1 D 15ı and 2 D 50ı with the vertical
direction, respectively. Determine the speed of the pendulum bob corresponding
to 1 and 2 .
Solution
The FBD shown applies to any configuration of the pendulum bob B. Using this FBD,
we see that the moment of the forces acting on B about the fixed point O is given by
E O D rEP =O FE
M
D L.sin uO R O Œ mg kO C Fc .cos kO
cos k/ sin uO R /
D mgL sin uO ; (1)
where FE is the total force acting on B and Fc is the tension in the cord. Equation (1)
shows that the ´ component of M E O is equal to zero. This fact and the fact that the ´
axis is fixed, imply that the ´ component of the angular momentum of B is conserved.
Let À and Á denote the minimum and maximum height positions achieved by B, respectively. Both at
À and Á the velocity of B can only be in the transverse direction, that is, the R and ´ components of the
velocity of B must be equal to zero. Observing that B is moving in the (positive) transverse direction, then at
À and Á the velocity vectors of B are, respectively,
vE1 D v1 uO 1 and vE2 D v2 uO 2 ; (2)
where v1 and v2 are the speeds of B at À and Á. respectively. Using Eq. (2) we then have that the angular
momenta of B at À and Á are
hEO1 D .ErB=O /1 mE
v1 D mL.sin 1 uO R1 O v1 uO D mv1 L sin 1 kO C mv1 L cos 1 uO R (3)
cos 1 k/ 1 1
and
hEO2 D .ErB=O /2 mE
v2 D mL.sin 2 uO R2 O v2 uO D mv2 L sin 2 kO C mv2 L cos 2 uO R : (4)
cos 2 k/ 2 2
As argued above, the ´ components of the the angular momenta just computed must be equal to each other
(since hO´ is a conserved quantity), so that we have
mv1 L sin 1 D mv2 L sin 2 : (5)
To find v1 and v2 we need a second equation. Observe that all the forces doing work are conservative. Hence,
the energy of B is conserved and, setting the datum at O, we must have
T1 C V1 D T2 C V2 ) mgL cos 1 C 21 mv12 D mgL cos 2 C 21 mv22 : (6)
Equation (5) and the last of Eqs. (6) form a system of 2 equations in the 2 unknowns v1 and v2 whose solution
is
s
2gL.cos 2 cos 1 /
v1 D sin 2 D 6:85 ft=s;
sin2 1 sin2 2
s
2gL.cos 2 cos 1 /
v2 D sin 1 D 2:32 ft=s;
sin2 1 sin2 2
where we have used the following numerical data: 1 D 15ı , 2 D 50ı , g D 32:2 ft=s2 , and L D 2 ft.
August 10, 2009
Dynamics 1e 675
A collar with mass m D 2 kg is mounted on a rotating arm of negligible mass

that is initially rotating with an angular velocity !0 D 1 rad=s. The collar’s
initial distance from the ´ axis is r0 D 0:5 m and d D 1 m. At some point, the
restraint keeping the collar in place is removed so that the collar is allowed to
slide. Assume that the friction between the arm and the collar is negligible.
Problem 5.85 If no external forces and moments are applied to the system,
with what speed will the collar impact the end of the arm?
Problem 5.86 Compute the moment that must be applied to the arm, as a
function of position along the arm, to keep the arm rotating at a constant angular
velocity while the collar travels toward the end of the arm.
The “speed” with which the collar impacts the end of the arm must be understood as the magnitude of the
relative velocity of the collar with respect to the end of the arm. Using a polar component system with radial
direction aligned with the arm, the relative velocity in question coincides with the radial component of the
velocity of the collar. To compute the required velocity, choosing point O to be on the axis of rotation, we
first sketch the FBDs of the arm and collar m, whose top views are displayed in the figures below.
The forces R and RR are the reactions that the ground exerts on the vertical shaft. The force N is the contact
force between the sliding mass and the arm. Focusing on the FBD of the arm (left), because the arm’s mass is
negligible, the sum of the moments about O (for the arm), must be equal to zero, i.e.,
X
MO W N r D 0 ) N D 0: (1)
Equation (1) implies that the moment about O of the external forces (i.e., N ) acting on m is equal to zero.
Since O is a fixed point, this means that the angular momentum of the collar about O is conserved. Letting the
subscripts 1 and 2 denote the instant at which m is released and a generic time instant thereafter, respectively,
we have
hEO1 D hEO2 ) rE1 mE v1 D rE2 mEv2 ; (2)
where
rE1 D r0 uO r1 ; vE1 D rP1 uO r1 C r0 P0 uO 1 ; rE2 D r uO r2 ; vE2 D rP uO r C r P uO (3)
Substituting Eq. (3) into Eq. (2), recalling that P D !0 , and simplifying, we have
2
r0
r02 !0 kO D r22 P2 kO ) P2 D !0 : (4)
r
The result in Eq. (4) allows us to compute the transverse component of the velocity. To compute the radial
component of the velocity we need to determine rP as a function of r. To do so, we consider the FBD of m and
we sum forces in the radial direction. This yields
X
Fr W 0 D mar : (5)
August 10, 2009

Recalling that, in polar coordinates, ar D rR r P 2 , Eq. (5) can be rewritten as
d rP dr
rR D r P 2 ) rP D P 2 r ) rP dPr D P 2 r dr ) rP dPr D r04 !02 ; (6)
dr r3
where we have used Eq. (4) to derive the last expression. Recalling that at time t1 we have rP D 0 and r D r0 ,
the expression in question can be integrated as follows
rP r
dr 1 1
Z Z
P rP D
rd r04 !02 ) 2
rP D r04 !02 : (7)
0 r0 r3 r02 r2
Substituting the result in Eqs. (4) into Eq. (7), and evaluating the result for r D r0 C d , we have that the
speed with which the collar impact the end of arm is
s
1 1
jrPrDr0 Cd j D r02 !0 D 0:471 m=s;
r02 .r0 C d /2
where we have used the following numerical data: r0 D 0:5 m, omega0 D 1 rad=s, and d D 1 m.
August 10, 2009

Dynamics 1e 677
Solution to 5.85
We start the solution of the problem by sketching the FBDs of the arm and collar m, whose top view is
displayed below and where point O is a point on the axis of rotation.
Since the mass of the arm is negligible, we must have that the sum of the moments about O for the arm must
be equal to zero. This implies that we have
X MA
.MO /arm W MA Nr D 0 ) N D : (8)
r
Focusing now on the collar, observing that O is a fixed point, the application of angular impulse–
momentum principle yields,
E O D hEP O d
M ) N r kO D .Er mE
v / D vE mE
v C rE mE
a ) N r kO D rE mE
a: (9)
dt
Next, recall that in polar coordinates we have
rE D r uO r ; aE D .rR r P 2 / uO r C .r R C 2rP P / uO : (10)
In addition, we have that

P D !0 D constant ) R D 0: (11)
Substituting Eqs. (10) and Eq. (10) into the last of Eqs. (9) we have
N r kO D r uO r mŒ.rR P 0 uO D 2m!0 r rP kO
r!02 / uO r C 2r! ) N D 2m!0 r:
P (12)
Hence, substituting the result in Eq. (8) into Eq. (12) we then have
MA D 2m!0 r r:
P (13)
Given the result in Eq. (13), we will obtain MA as a function of r after we manage to express rP as a
function of r. To do so, referring to the FBD of the mass m, summing forces in the radial direction we have
X
Fr W 0 D mar ) rR D !02 r; (14)
where we have used the fact that ar D rR r P 2 D rR r!02 . Recalling that we can write rR D r.dP
P r=dr/,
Eq. (14) yields the following result:
rP r
d rP
Z Z q
rP D !02 r ) P rP D
rd r dr ) rP D !0 r 2 r02 ; (15)
dr 0 r0
where we have used the fact that rP D when r D r0 . Substituting the result in Eq. (15) into Eq. (13), we finally
have
q
MA D 2m!02 r r 2 r02 :
August 10, 2009

A collar of mass m is initially at rest on a horizontal arm when a constant

moment M is applied to the system to make it rotate. Assume that the mass
of the horizontal arm is negligible and that the collar is free to slide without
friction.
Problem 5.87 Derive the equations of motion of the system, taking advantage
of the angular impulse-momentum principle. Hint: Applying the angular
impulse momentum principle yields only one of the needed equations of motion.
Problem 5.88 Continue Prob. 5.87 by integrating the collar’s equations

of motion and determine the time the collar takes to reach the end of the arm.
Assume that the collar weighs 1:2 lb and that M D 20 ftlb. Also, at the initial
time let r0 D 1 ft and d D 3 ft.
Solution to 5.87
The FBD shown, which shows a view of the collar from above. The only contribution
to a moment in the ´ direction (out of the page) is that of the force N . Hence, we
must have that the applied moment M is such that
M D N r; (1)
With this in mind, choosing O as moment center and observing that the ´ is a fixed
axis, the application of the angular impulse–momentum principle in the ´ direction gives
M D hP O´ ; (2)
where
hEO D rE mE
v; (3)
and where
rE D r uO r and vE D rP uO r C r P uO : (4)
Substituting Eqs. (4) into Eq. (3) and carrying out the cross-product, yields
hO´ D mr 2 P ) hP O´ D 2mr rP P C mr 2 R : (5)
Substituting Eq. (5) into Eq. (2), we then obtain
M D 2mr rP P C mr 2 R ; (6)
where we recall that M is a given quantity. Now observe that the collar is not subject to any force in the r
direction, we must have mar D 0. Since ar D rR r P 2 , this then implies
rR r P 2 D 0: (7)
Summarizing, the equations of motion of the collar are
rR r P 2 D 0 and mr 2 R C 2mr rP P D M:
August 10, 2009

Dynamics 1e 679
Solution to 5.88
Using the solution of Problem 5.87 along with the problem’s numerical data and appropriate mathematical
software, we can find the function r.t / that describes the position of the collar along the arm as a function
of time. Plotting such a function, we then see that r D r0 C d D 4 ft in the vicinity of t D 0:15 s. This
observation can be confirmed by using a numerical root finding algorithm. The code to perform these
operations using Mathematica and the corresponding output is illustrated below.
EOMs ! !20.0 !! 2 $r"t#%2 Θ''"t#, r''"t# $ r"t# $Θ'"t#%2 % 0&;

1.2 1.2
r"t# r'"t# Θ'"t# #
32.2 32.2
ICs ! 'r"0# % 1.0, r'"0# % 0, Θ"0# % 0, Θ'"0# % 0(;
Solution ! NDSolve"'EOMs, ICs(, 'r, Θ(, 't, 0, 0.15(#;
Solution ! NDSolve"'EOMs, ICs(, 'r, Θ(, 't, 0, 0.16(#
!!r ! InterpolatingFunction"# 0. 0.16 $, "#%, Θ ! InterpolatingFunction"# 0. 0.16 $, "#%&&
Plot"r"t# ). Solution, 't, 0, 0.16(, AxesLabel & '"t", "r"(#

r
4.0
3.5
3.0
2.5
2.0
1.5
t
0.05 0.10 0.15
FindRoot"r"t# % 4 ). Solution, 't, 0.14(#
!t ! 0.149561&
Expressing the result of the root finding algorithm using three significant figures then gives us the following
final answer.
time to reach end of arm D 0:150 s:
August 10, 2009

Problem 5.89
A simple model of orbital motion under a central force can be constructed by

considering the motion of a disk D sliding with no friction over a horizontal
surface while connected to a fixed point O by a linear elastic cord of constant k
and unstretched length L0 . Let the mass of D be m D 0:45 kg and L0 D 1 m.
Suppose that when D is at its maximum distance from O, this distance is
r0 D 1:75 m and the corresponding speed of D is v0 D 4 m=s. Determine the
elastic cord constant k such that the minimum distance between D and O is
equal to the unstretched length L0 .
Solution
The FBD to the right implies that the angular momentum of D about
O in the ´ direction is conserved, i.e.,
.hO´ /1 D .hO´ /2 ; (1)
where the subscripts 1 and 2 denote the instants in which D achieves

the maximum and minimum distance from O, respectively. Also,
hEO D rE mE O
v D r uO r m.vr uO r C v uO / D mrv k: (2)
When D is at the maximum or minimum distance from O, vr is equal to zero (i.e., D is no longer increasing
or decreasing its distance from O). Hence, given that v > 0, we have
.hO´ /1 D mr1 v1 D mr0 v0 and .hO´ /2 D mr2 v2 D mL0 v2 ; (3)

where v1 and v2 are the speeds of D at the instants 1 and 2, respectively, and where we have enforced the
fact that r2 D L0 . Substituting Eqs. (3) into Eq. (1) and solving for v2 we have
v2 D .r0 =L0 /v0 : (4)
Since the only force doing work on D is the force Fc due to due to the elastic cord, applying the work-energy
principle, we have
T1 C V1 D T2 C V2 ; (5)
where
T1 D 12 mv02 ; V1 D 12 k.r0 L0 /2 ; T2 D 12 m.r0 =L0 /2 v02 ; V2 D 0; (6)
where we have accounted for the fact that at Á r2 D L0 and the elastic cord is unstretched. Substituting
Eq. (6) into Eq. (5) we have
2
1
2 mv0 C 12 k.r0 L0 /2 D 21 m.r0 =L0 /2 v02 ; (7)
where k is the elastic spring constant of the elastic cord. Solving Eq. (7) for k we have
m.r0 C L0 /v02
kD D 26:4 N=m;
L20 .r0 L0 /
where we have used the following numerical data: m D 0:45 kg, r0 D 1:75 m, L0 D 1 m, and v0 D 4 m=s.
August 10, 2009
Dynamics 1e 681
Problem 5.90
The body of the satellite shown has a weight that is negligible with respect to
the two spheres A and B that are rigidly attached to it, which weigh 150 lb
each. The distance between A and B from the spin axis of the satellite is
R D 3:5 ft. Inside the satellite there are two spheres C and D weighing 4 lb
mounted on a motor that allows them to spin about the axis of the cylinder at a
distance r D 0:75 ft from the spin axis. Suppose that the satellite is released
from rest and that the internal motor is made to spin up the internal masses
at a constant time rate of 5:0 rad=s2 for a total of 10 s. Treating the system as
isolated, determine the angular speed of the satellite at the end of spin-up.
Solution
The final angular velocity of the internal masses is
!i D .5:00 rad=s2 /.10:0 s/ D 50:00 rad=s; (1)
where the subscript i stands for internal. Since the system is isolated, the angular momentum of the system
must be conserved throughout the motion of the system. In particular, assuming that the spin axis of the
system does not change orientation, then the angular momentum about the spin axis must be conserved, so
that we have
.mC C mD /r 2
.mA C mB /R2 !satellite D .mC C mD /r 2 !i ) !satellite D !i : (2)
.mA C mB /R2
Using the problem’s numerical data, we have
!satellite D 0:0612 rad=s;
where, in addition to the result in Eq. (1), we have used the following numerical data:
4 lb
mC D D 0:1242 slug;
32:2 ft=s2
4 lb
mD D D 0:1242 slug;
32:2 ft=s2
150 lb
mA D D 4:658 slug;
32:2 ft=s2
150 lb
mB D D 4:658 slug;
32:2 ft=s2
r D 0:75 ft;
R D 3:5 ft:
August 10, 2009

Problem 5.91
A sphere of mass m slides over the outer surface of a cone with angle and
height h. The sphere was released at a height h0 with a velocity of magnitude
v0 and a direction that was completely horizontal. Assume that the opening
angle of the cone and the value of v0 are such that the sphere does not separate
from the surface of the cone once put in motion. In addition, assume that the
friction between the sphere and the cone is negligible. Determine the vertical
component of the sphere’s velocity as a function of the vertical position ´
(measured from the base of the cone), v0 , h, h0 , and .
Solution
The ´ component of the moment about O of the forces acting on the

sphere is equal to zero. Since the ´ axis is fixed, we have
hO´ D constant ) mv R D mv .0/R.0/; (1)
where, v .0/ D v0 and
R D .h ´/ tan ) R.0/ D .h h0 / tan : (2)
Substituting both of Eqs. (2) in Eq. (1), and solving for v , we have
h h0
v D v0 : (3)
h ´
Differentiating the first of Eqs. (2) with respect to time gives
RP D Ṕ tan ) vR D v´ tan ; (4)
where vR D RP and v´ D Ṕ . Now notice that gravity is the only force doing work on the sphere. Letting À
be the position of the particle at release and Á a generic position thereafter, we must have
T1 C V1 D T2 C V2 ; (5)
where, setting the datum as shown and letting v2 D v, we have
T1 D 21 mv02 ; V1 D mgh0 : T2 D 12 mv 2 D 12 m.vR

2
C v2 C v´2 /; V2 D mg´: (6)
Substituting the expressions in Eqs. (6) in Eq. (5) we obtain

2 2
1
2 mv0 C mgh0 D 12 m.vR C v2 C v´2 / C mg´: (7)
Substituting the expressions in Eq. (3) and the second of Eqs. (4) into Eq. (7) and solving for v´ , after
simplifying, we obtain
v "
u 2 #
u h h0
v´ D cos t2g.h0 ´/ C v02 1 ;
h ´
where the minus sign in front of cos indicates that the sphere is moving downward.
August 10, 2009
Dynamics 1e 683
Problem 5.92
Consider a planet orbiting the Sun, and let P1 , P2 , P3 , and P4 be the planet’s
position at four corresponding time instants t1 , t2 , t3 , and t4 such that t2 t1 D
t4 t3 . Letting O denote the position of the Sun, determine the ratio between
the areas of the orbital sectors P1 OP2 and P3 OP4 . Hint: (1) The area of
triangle OAB defined by the two planar vectors cE and dE as shown is given by
Area(ABC ) D jE c dEj; (2) the solution of this problem is a demonstration of
Kepler’s second law (see Section 1.1).
Solution
E O D 0 and there is conservation of angular momentum.
Gravity is a central force so M
r1 uO r mE
v1 D r2 uO r mE
v2 :
The term vE dt represents the differential displacement of the planet so we can multiply both sides by dt to get
Z t2 Z t4
r1 uO r mE
v1 dt D r2 uO r mEv2 dt ) r1 uO r mE
v1 dt D r2 uO r mE
v2 dt:
t1 t3
Using the hint we see that these integrals represent the differential area of an orbital sector. Thus we see that
for t2 t1 D t4 t3 the ratio of the orbital sectors is equal to 1.
The ratio of the orbital sectors is equal to 1.
August 10, 2009

Problem 5.93
Starting with Eq. (5.113) and using Eqs. (5.106), (5.108), and (5.109), show that the radius at apoapsis rA
can be written as shown in Eq. (5.114).
Solution
We start by repeating here for convenience Eq. (5.113) (on p. 413 of the textbook), Eq. (5.106) (on p. 412 of
the textbook), Eq. (5.108) (on p. 412 of the textbook), and Eq. (5.109) (on p. 413 of the textbook), which, in
order, are
rP
rA D ; (1)
2GmB =.rP vP2 / 1
C 2
eD ; (2)
GmB
D rP vP ; (3)

1 GmB
C D 1 : (4)
rP rP vP2
Substituting Eq. (3) into Eq. (2), we have

C rP2 vP2
eD : (5)
GmB
Next, we view Eqs. (4) and (5) as two equations in the two unknowns G and C , whose solution is
rP vP2 e
GD and C D :
.1 C e/ mB .1 C e/ rP
we then take the expression for G and substitute it into Eq. (1), which yields
rP rP
rA D
2
) rA D 2
:
2mB rP vP
1Ce 1
2 .1Ce/mB
1
rP vP
This equation can be rewritten as Eq. (5.114) (on p. 413 of the textbook), i.e.,

1Ce
rA D rP :
1 e
August 10, 2009

Dynamics 1e 685
Problem 5.94
Using the lengths shown as well as the property of an ellipse that states that
the sum of the distances from each of the foci (i.e., points O and B) to any
point on the ellipse is a constant, prove Eq. (5.122), that is, that the length
of the semiminor axis can be related to the periapsis and apoapsis radii via
p
b D rP rA .
Solution
Using the property of an ellipse given in the problem statement, we can write that:
` C ` D OP C BP D 2a ) ` D a:
Now, we can also see that:

2 2
OC C CD D `2 ) .a rP /2 C b 2 D `2 D a2 ) b 2 D a2 .a rP /2 )
b 2 D a2 a2 2
b 2 D 2arP rP2 ) b 2 D rP .2a

2arP C rP ) rP / )
p
.2a rP / D rA so b D rP rA .
August 10, 2009

Problem 5.95
An artificial satellite is launched from an altitude of 500 km with a velocity vP

that is parallel to the surface of the Earth. Requiring that the altitude at apogee
be 20;000 km, determine the velocity at B, that is, the position in the orbit when
the velocity is first orthogonal to the launch velocity.
Solution
The radius of Earth is re D 6:371106 m so
rP D re C 500 km ) rP D 6:871106 m;
rA D re C 20;000 km ) rA D 26:37106 m;
aD 1
.rA C rP /
2 ) a D 16:62106 m;
p
b D rA rP ) b D 13:46106 m:
The distance from the center of Earth to B is

q
rB D .a rP /2 C b 2 D 16:62106 m:
We can now apply Eq. (5.134) on p. 416 of the textbook directly to find the velocity at B. This gives
s s
2 1 2
2 1
vB D GmB D gre ; (1)
rB a rB a
where g D 9:81 m=s2 is the acceleration due to gravity on the surface of the Earth, and where the last
expression has been obtained by recalling that the term GmB can be replaced by t he term gre2 when the
body B is the Earth. Upon substitution of the numerical results derived earlier, Eq. (1) gives
vB D 4:89103 m=s in the direction described in the problem statement.
August 10, 2009

Dynamics 1e 687
Problem 5.96
The S-IVB third stage of the Saturn V rocket, which was used for the Apollo
missions, would burn for about 2:5 min to place the spacecraft into a “parking
orbit” and then, after several orbits, would burn for about 6 min to accelerate
the spacecraft to escape velocity to send it to the Moon. Assuming a circular
parking orbit with an altitude of 170 km, determine the change in speed needed
at P to go from the parking orbit to escape velocity. Assume that the change
in speed occurs instantaneously so that you need not worry about changes in
orbital position during the engine thrust.
Solution
For a circular orbit with an altitude of 170 km above the Earth, the radius of the orbit is
rc D re C 170 km ) rc D 6:541106 m: (1)
where re D 6:371106 m is the radius of the Earth. To determine the speed of the rocket stage while on the
circular orbit in question, we can use Eq. (5.111) on p. 413 of the textbook, which gives
s s
Gme gre2
vc D ) vc D ; (2)
rc rc
where we have replaced the term Gme with the term gre2 , in which g D 9:81 m=s2 is the acceleration due to
gravity on the surface of the Earth. To determine the escape velocity for a satellite in circular orbit, we can
use Eq. (5.128) on p. 415 of the textbook, which gives
s s
2Gme 2gre2
vesc D ) vesc D (3)
rc rc
Consequently, using Eqs. (2) and (3), the change in speed is
s
gre2 p
v D vesc vc ) v D . 2 1/ D 3:23103 m=s, (4)
rc
where we have used the numerical following numerical values: g D 9:81 m=s2 , re D 6:371106 m, and
rc D 6:541106 m (see the last of Eqs. (1)).
August 10, 2009

Problem 5.97
Using the last of Eqs. (5.131), along with Eq. (5.132), solve for the eccentricity
e as a function of E, , and GmB .
(a) Using that result, along with fact that e 0, show that E < 0 corresponds
to an elliptical orbit, E D 0 corresponds to a parabolic trajectory, and
E > 0 corresponds to a hyperbolic trajectory.
(b) Show that for e D 0, the expression you found for e leads to Eq. (5.111).
Solution
We start by repeating here for convenience Eqs. (5.131) (on p. 416 of the textbook), Eq. (5.132) (on p. 416 of
the textbook), and Eq. (5.111) (on p. 413 of the textbook), which, in order, are
s
Gm B GmB
2 D GmB a.1 e 2 /; E D ; and vc D : (1)
2a rP
Next, we solve the second of Eqs. (1) for a and substitute the result into the first of Eqs. (1) to obtain
GmB GmB .GmB /2 2
aD ) 2 D GmB .1 e2/ ) 2 D .e 1/
2E 2E s 2E
2E 2 2E 2
) e2 D 1 C ) eD 1C :
.GmB /2 .GmB /2
Part (a). Now that we have an expression for e, observe that

2E 2
E<0 ) 1C <1 ) e<1 ) elliptical orbit.
.GmB /2
2E 2
ED0 ) 1C D1 ) eD1 ) parabolic trajectory.
.GmB /2
2E 2
E>0 ) 1C >1 ) e>1 ) hyperbolic orbit.
.GmB /2
Part (b). If e D 0, then
2E 2 GmB
1C D 0; but ED so that 2 D GmB a:
.GmB /2 2a
Since e D 0 corresponds to a circular orbit, recall that for such an orbit, D rc vc , so that we can write
D rc vc ) 2 D rc2 vc2 ) rc2 vc2 D GmB a: (2)
In addition, since the orbit is circular, the semimajor a axis coincides with the orbit’s radius, so that we have
a D rc D rP , which allows us to write
s
GmB
rc2 vc2 D GmB rc ) vc D .
rc
August 10, 2009

Dynamics 1e 689
Problem 5.98
Assuming that the Sun is the only significant body in the solar system (the mass of the Sun accounts for
99.8% of the mass of the solar system), determine the escape velocity from the Sun as a function of the
distance r from its center. What is the value of the escape velocity (expressed in km/h) when r is equal to
the radius of Earth’s orbit? Use 1:9891030 kg for the mass of the Sun and 150106 km for the radius of
Earth’s orbit.
Solution
Recall that the expression for the escape velocity (strictly speaking this is a speed) of a satellite P orbiting a
body B is given by Eq. (5.128) on p. 415 of the textbook, which gives
s
2GmB
vesc D ; (1)
rP
where G D 6:67410 11 m3 =.kgs2 / is the universal gravitational constant, mB is the mass of B and rP is
the distance of P from B. In our problem the body B is the Sun. Hence, we have
r
2GmSun .1:6921010 m3=2 =s/ .1:691010 m3=2 =s/
vesc D D p ) vesc D p ,
r r r
where mSun D 1:989 1030 kg is the mass of the Sun. Now, the distance of the Earth from the Sun is
r D 150106 km D 150:0109 m. Therefore,the escape velocity of Earth is
D 4:21104 m=s D 151;000 km=h:

vesc Earth
August 10, 2009

Problem 5.99
In 1705, Edmund Halley (1656–1742), an English astronomer, claimed that

the comet sightings of 1531, 1607, and 1682 were all the same comet and that,
after some rough calculations accounting for the influence of the larger planets,
this comet would return again in 1758. Halley did not live to see the comet’s
return, but it did return late in 1758 and reached perihelion in March 1759. In
honor of his prediction, this comet was named “Halley.” Each elliptical orbit
of Halley is slightly different, but the average value of the semimajor axis a is
about 17:95 AU. Using this value, along with the fact that its orbital eccentricity
is 0:967 (the orbit is drawn to scale, but the Sun is shown to be 36 times bigger
than it should be), determine
(a) the orbital period in years of Halley’s comet, and
(b) its distance, in AU, from the Sun at perihelion P and at aphelion A. Look
up the orbits of the planets of our solar system on the Web. What planetary
orbits is Halley near to at perihelion and aphelion?
Use 1:9891030 kg for the mass of the Sun.
Solution
Part (a). Given a and the mass of the sun mS we calculate with using the result in Eq. (5.126) on p. 415
of the textbook. This yields the following result
s
4 2 a3
D ) D 2:40109 s D 76:1 yr,
GmS
where where G D 6:67410 11 m3 =.kgs2 / is the universal gravitational constant, mS D 1:9891030 kg is

the mass of the Sun, and a D 17:95 AU D 2:6851012 m (1 AU D 1:4961011 m).
Part (b). Let the distances from the Sun at P and A be denoted by rP and rA , respectively. We can
determine rP and rA as direct application of Eqs. (5.119) on p. 414 of the textbook, i.e.,
rP D a .1 e/ and rA D a.1 C e/;
which give
rP D 0:592 AU W rP is between the orbits of Mercury and Venus,
rA D 35:3 AU W rA is outside the orbit of Neptune,
where we have used the following numerical data: a D 17:95 AU and e D 0:967.
August 10, 2009

Dynamics 1e 691
Explorer 7 was launched on October 13, 1959, with an apogee altitude above the
Earth’s surface of 1073 km and a perigee altitude of 573 km above the Earth’s surface.
Its orbital period was 101:4 min.
Problem 5.100 Using this information, calculate Gme for the Earth and compare it
with gre2 .
Problem 5.101 Determine the eccentricity of the Explorer 7’s orbit as well as its
speeds at perigee and apogee.
Solution to 5.100
Recalling that the radius of the Earth re D 6371 km, we begin with computing the orbit’s the radii at perigee
and apogee. Specifically, we have
rA D 1073 km C 6371 km D 7444 km D 7:444106 m;

rP D 573 km C 6371 km D 6944 km D 6:944106 m:
Therefore, the orbit’s semimajor axis is given by
a D 12 .rA C rP / D 7194 km D 7:194106 m:
As stated in the problem, the orbital period is D 101:4 min D 6084 s. Now, using Kepler’s third law with
mB D me (me is the mass of the Earth), we have
4 2 3 4 2 a3
2 D a ) Gme D 2
D 3:971014 m3 =s2 .
Gme
Comparing this result with the following result:
gre2 D .9:81 m=s2 /.6371103 m/2 D 3:981014 m3 =s2 ;
we see that they differ by about 0:3%.
August 10, 2009

Solution to 5.101
Recalling that the radius of the Earth re D 6371 km, we begin with computing the orbit’s the radii at perigee
and apogee. Specifically, we have
rA D 1073 km C 6371 km D 7444 km D 7:444106 m; (1)

6
rP D 573 km C 6371 km D 6944 km D 6:94410 m: (2)
Therefore, the orbit’s semimajor axis is given by
a D 21 .rA C rP / D 7194 km D 7:194106 m: (3)
We now make use of Eq. (5.114) on p. 413 of the textbook, which states that

1Ce rA rP
rA D rP ) eD D 0:0348, (4)
1 e rA C rP
where we have used the numerical value for rA and rP determined earlier in Eqs. (1) and (2).
The required speeds along the orbit are calculated using Eq. (5.134) on p. 416 os the textbook, which
states that s
2 1
v D GmB ; (5)
r a
where G is the universal constant of gravitation, mB is the mass of the body B about which the satellite is
orbiting, r is the distance between the satellite and the body B, and a is the semimajor axis of the satellite’s
orbit. Recalling that when the body B is the Earth, the term GmB can be replaced by the the term gre2 , where
g D 9:81 m=s2 is the acceleration due to gravity on the surface of the Earth, for the speeds at perigee and
apogee we have
s
2 1
vP D gre 2 D 7:71103 m=s D 27;700 km=h;
rP a
s
2 1
vA D gre2 D 7:19103 m=s D 25;900 km=h;
rA a
where, in addition to the value of g and re , we have used the values of rA , rP , and a in Eqs. (1)–(3).
August 10, 2009

Dynamics 1e 693
Problem 5.102
A geosynchronous equatorial orbit is a circular orbit above the Earth’s equator that has a
period of 1 day (these are sometimes called geostationary orbits). These geostationary
orbits are of great importance for telecommunications satellites because a satellite orbiting
with the same angular rate as the rotation rate of the Earth will appear to hover in the
same point in the sky as seen by a person standing on the surface of the Earth. Using this
information, determine the altitude hg and radius rg of a geostationary orbit (in miles). In
addition, determine the speed vg of a satellite in such an orbit (in miles per hour).
Solution
The orbital period of a geostationary satellite is
g D 1 day D 8:640104 s: (1)
Recall that the orbital period for an elliptical orbit with semimajor axis equal to a is given by
a3
D 2 :
GmB
Therefore, recalling that the quantity GmB D gre2 , where g D 32:2 ft=s2 and re D 3959 mi D 2:090107 ft
is the radius of the Earth, for a geosynchronous circular orbit of radius rg the orbital period g is
s !1=3
rg3 g2 gre2
g D 2 ) rg D D 1:385108 ft: (2)
gre2 4 2
To find hg observe that

hg D rg re D 1:176108 ft: (3)
Finally, observing that the eccentricity e of a circular orbit is equal to zero, the speed of the satellite is given
by s s
GmB gre2
vc D D D 1:008104 ft=s: (4)
rP rg
Expressing the results in Eqs. (2)–(4) to three significant figures, we have
rg D 1:39108 ft D 26;200 mi; hg D 1:18108 ft D 22;300 mi; vc D 10;100 ft=s D 6870 mph:
August 10, 2009

Problem 5.103
The mass of the planet Jupiter is 318 times that of Earth, and its equatorial
radius is 71;500 km. If a space probe is in a circular orbit about Jupiter at
the altitude of the Galilean moon Callisto (orbital altitude 1:812106 km),
determine the change in speed v needed in the outer orbit so that the
probe reaches a minimum altitude at the orbital radius of the Galilean
moon Io (orbital altitude 3:502105 km). Assume that the probe is at the
maximum altitude in the transfer orbit when the change in speed occurs
and that change in speed is impulsive, that is, it occurs instantaneously.
Solution
Let rc and ri denote the radii of Callisto’s and Io’s orbits, respectively. The radius rc is also the radius of the
initial circular orbit and the radius ri is also the radius of the final circular orbit. Hence, we have
rc D 1:812106 km C 71;500 km D 1:884109 m (1)
and
ri D 3:502105 km C 71;500 km D 4:217108 m: (2)
Now, let a1 and a2 be the semimajor axes of the initial and transfer orbits, respectively. Specifically, we have
a1 D rc D 1:884109 m; and a2 D 12 .rc C ri / D 1:153109 m: (3)
Next, let v1 and v2 denote the speeds of the satellite corresponding to the initial circular orbit and the speed
needed at apojove to move onto the the transfer orbit, respectively. These speeds are related to the semimajor
axes of their respective orbits by Eq. (5.134) on p. 416 of the textbook, which states
s
2 1
v D GmB ; (4)
r a
where G is the universal gravitational constant, mB is the mass of the body about which the satellite is
orbiting, and r is the distance of the satellite from B. In this problem B is the planet Jupiter. We now recall
that for a satellite orbiting the Earth, the term GmB can be replaced by the term gre2 where re D 6371 km is
the radius of the Earth and g D 9:81 m=s2 is the acceleration due to gravity on the surface of the Earth. The
problem states that
GmB D G318me D 318gre2 ; (5)
where me is the mass of the Earth. Hence, applying Eq. (4), we can determine the speeds v1 and v2 as
follows:
s
318gre2
v1 D D 8199 m=s D 29;520 km=h (6)
rc
and s
2
2 1
v2 D 318gre D 4959 m=s D 17;850 km=h; (7)
rc a2
where we have used the values for g, re , rc and a2 determined earlier in the problem. Thus the change in
speed at apojove is v D v2 v1 , i.e.,
v D 3240 m=s D 11;700 km=h:
August 10, 2009

Dynamics 1e 695
Problem 5.104
The on-orbit assembly of the International Space Station (ISS) began in 1998
and continues today. The ISS has an apogee altitude above the Earth’s surface
of 341:9 km and a perigee altitude of 331:0 km above the Earth’s surface. De-
termine its maximum and minimum speeds in orbit, its orbital eccentricity, and
its orbital period. Research its actual orbital period and compare it with your
calculated value.
Solution
Recall that the speed of a satellite on an elliptical orbit about a body B is given by Eq. (5.134) on p. 416 of
the textbook, i.e., s
2 1
v D GmB ; (1)
r a
where r is the distance of the satellite from B, G is the universal gravitational constant, mB is the mass of B,
and a is the semimajor axis of the satellite’s (elliptical) orbit. If B is the Earth, then the term GmB can be
written as gre2 , where re D 6371 km D 6:371106 m is the radius of the Earth and g D 9:81 m=s2 is the
acceleration due to gravity on the surface of the Earth.
To apply the above formula, we now use the given data starting from the determination of the radii at
apogee and perigee as well as the orbit’s semimajor axis, i.e.,
m
rA D .6371 km C 341:9 km/103 D 6:713106 m;
km
m
rP D .6371 km C 331:0 km/103 D 6:702106 m;
km
a D 12 .rA C rP / D 6:708106 m:
Hence, using the above results, the maximum orbital speed is at perigee and is given by
s
2 1
vP D gre2 D 7:71103 m=s D 27;800 km=h:
rP a
Again, suing the above results, the minimum orbital speed is at apogee and is given by
s
2 1
vA D gre2 D 7:70103 m=s D 27;700 km=h:
rA a
To find the eccentricity e we can use the second of Eqs. (5.119) on p. 414 of the textbook, which gives
rA 4
rA D a .1 C e/ ) eD 1 D 8:1310 .
a
The orbital period is the obtained by using Eq. (5.126) on p. 415 of the textbook, which gives
s
4 2 a3 a3
2 D ) D 2 D 5470 s D 91:2 min.
Gme gre2
Different sources give different answers for the orbital period of the ISS: between 91:2 min and 91:34 min.
August 10, 2009
The optimal way (from an energy standpoint) to transfer from one circular orbit
about a primary body B to another circular orbit is via the so-called Hohmann
transfer, which involves transferring from one circular orbit to another using an
elliptical orbit that is tangent to both at the periapsis and apoapsis of the ellipse.
The ellipse is uniquely defined because we know rP (the radius of the inner
circular orbit) and rA (the radius of the outer circular orbit), and therefore we
know the semimajor axis a via Eq. (5.117) and the eccentricity e via Eq. (5.114)
or Eqs. (5.119). Performing a Hohmann transfer requires two maneuvers, the
first to leave the inner (outer) circular orbit and enter the transfer ellipse and the
second to leave the transfer ellipse and enter the outer (inner) circular orbit.
Problem 5.105 A spacecraft S1 needs to transfer from circular low Earth

parking orbit with altitude 120 mi above the surface of the Earth to a circular
geosynchronous orbit with altitude 22;240 mi. Determine the change in speed
vP required at perigee P of the elliptical transfer orbit and the change in
speed vA required at apogee A. In addition, compute the time required for the
orbital transfer. Assume that the changes in speed are impulsive, that is, they
occur instantaneously.
Problem 5.106 A spacecraft S2 needs to transfer from a circular Earth orbit

whose period is 12 h (i.e., it is overhead twice per day) to a low Earth circular
orbit with an altitude of 110 mi. Determine the change in speed vA required
at apogee A of the elliptical transfer orbit and the change in speed vP re-
quired at perigee P . In addition, compute the time required for the orbital
transfer. Assume that the changes in speed are impulsive; that is, they occur
instantaneously.
Problem 5.107 A spacecraft S1 is transferring from circular low Earth

parking orbit with altitude 100 mi to a circular orbit with radius rA . Plot, as
a function of rA for rP rA 100rP , the change in speed vP required
at perigee of the elliptical transfer orbit as well as the change in speed vA
required at apogee. In addition, plot the time as a function of rA , again for
rP rA 100rP , required for the orbital transfer. Assume that the changes in
speed are impulsive; that is, they occur instantaneously.
Solution to 5.105
Recalling that the radius of the Earth is re D 3959 mi D 2:090107 ft, the radii at perigee and apogee are
rP D .5280 ft=mi/.3959 mi C 120 mi/ D 2:154107 ft; (1)

8
rA D .5280 ft=mi/.3959 mi C 22;240 mi/ D 1:38310 ft: (2)
Therefore, we have that the semimajor axis a is given by
a D 12 .rA C rP / D 7:993107 ft: (3)
August 10, 2009

Dynamics 1e 697
Next, we recall that the speed in a circular orbit of radius r is (see Eq. (5.111) on p. 413 of the textbook)
r s
GmB gre2
vD D ; (4)
r r
whereas, the speed in an elliptical orbit at distance r from B is (see Eq. (5.134) on p. 416 of the textbook)
s s
2 1 2 1
v D GmB D gre2 : (5)
r a r a
Let v1 be the speed when the spacecraft is in a circular orbit with radius rP , v2 be the speed at perigee for the
transfer orbit, v3 be the speed at apogee for the transfer orbit, and v4 be the speed at the circular orbit with
radius rA . Then, applying Eqs. (4) and (5) as appropriate, we have
s
gre2
v1 D D 2:556104 ft=s D 17;430 mph;
rP
s
2 1
v2 D gre 2 D 3:362104 ft=s D 22;930 mph;
rP a
s
2 1
v3 D gre2 D 5235 ft=s D 3569 mph;
rA a
s
gre2
v4 D D 1:009104 ft=s D 6876 mph;
rA
where, in addition to using the values of rP , rA , and a indicated in Eqs. (1)–(3), we have used g D 32:2 ft=s2
and re D 2:090107 ft. Thus the changes in speed at perigee and apogee are:
vP D v2 v1 D 8060 ft=s D 5500 mph;

vA D v4 v3 D 4850 ft=s D 3310 mph:
Since the spacecraft only completes one half of the elliptical orbit during transfer, the time required for the
orbital transfer t is half of the orbital period . In turn, the orbital period is found using Eq. (5.126) on p. 415
of the textbook, which gives, s
a3
D 2 :
gre2
Hence, we have
s
a3
t D D 18;930 s D 5:26 hr;
gre2
where, again we have used g D 32:2 ft=s2 , re D 2:090107 ft, and the value of a in Eq. (3).
August 10, 2009

Solution to 5.106
The orbital period for an elliptical orbit about a body B is related to the orbit’s semimajor axis a via
Eq. (5.126) on p. 415 of the textbook, which gives 2 D 4 2 a3 =.GmB /, where G is the universal gravita-
tional constant. In our problem, the body B is the Earth and the term GmB can be replaced by the term gre2
where re D 3959 mi is the radius of the Earth and g D 32:2 ft=s2 is the acceleration due to gravity on the
surface of the Earth. Therefore, for this problem we have
4a3
2 D : (6)
gre2
The satellite’s initial orbit is circular so that the orbit’s semimajor axis a coincides with the radius of the orbit,
which also coincides with the radius at Apogee, rA . Thus, letting a D rA in Eq. (6) and solving for rA , we
have s
2 2
3 gre
rA D D 8:729107 ft D 16;530 mi; (7)
4 2
where we have used the fact that, initially, D 12 h D 4:320104 s. Next, the radius at periapsis is
rP D 3959 mi C 110 mi D 4069 mi D 2:148107 ft; (8)
and the semimajor axis ae of the elliptical transfer orbit is
ae D 12 .rA C rP / D 10;300 mi D 5:438107 ft: (9)
Next, the speed vAc of the satellite while on the initial circular orbit, and the speed vAe that the satellite must
have to get onto the transfer orbit at Apogee are computed using Eq. (5.111) on p. 413 of the textbook and
Eq. (5.134) on p. 416, respectively, which give
s s
gre2

4 2
2 1
vAc D D 1:27010 ft=s and vAe D gre D 7980 ft=s: (10)
rA rA ae
Therefore, the change in speed at apogee is vA D vAe vAc , whose value (to three significant digits) is
vA D 4720 ft=s D 3220 mph:
Replacing rA in Eqs. (10) with rP we can compute the speeds at perigee corresponding to the final circular
destination orbit and the transfer orbit, respectively. This gives
s s
gre2

4 2 1
vP c D D 2:55910 ft=s and vP e D gre 2 D 3:242104 ft=s: (11)
rP rP ae
Therefore, the change in speed at perigee is vP D vP c vP e , whose numerical value (to three significant
digits) is
vA D 6830 ft=s D 4660 mph:
Finally, observe that the spacecraft only completes half of the transfer orbit. Hence, the time t needed for
the orbital transfer is e =2, where e is the period of the elliptical transfer orbit. Letting a D ae in Eq. (6),
solving for the corresponding e , and dividing by 2, we have
s
ae3
t D D 10;600 s D 2:95 hr:
gre2
August 10, 2009

Dynamics 1e 699
Solution to 5.107
To provide the plots required by the problem statement, we need general expressions for the quantities to be
plotted. We will first derive the expressions in question and then provide the corresponding plots.
As stated in the problem, we denote the radii at perigee and apogee for the transfer orbit by rP and rA ,
respectively. The radius rP is also the radius of the initial circular parking orbit and the radius rA is also the
radius of the final circular orbit. Now , let ai , ae , and af be the semimajor axes of the initial, transfer, and
final orbits, respectively. Therefore we have
ai D rP ; ae D 12 .rP C rA /; and af D rA : (12)
Next, let v1 , v2 , v3 and v4 denote the speeds of the satellite corresponding to the initial circular orbit, the
speed needed at perigee to move onto the the transfer orbit, the speed on the transfer orbit at apogee, and the
speed at apogee needed to move onto the final orbit. Also, recall that the relation between speed, orbita radius
r, and semimajor axis a (for an elliptic orbit) is given by Eq. (5.134) on p. 416 of the textbook, which states
s
2 1
v D GmB ; (13)
r a
where G is the universal gravitational constant and mB is the mass of the body about which the satellite is
orbiting. In our problem, the body B is the Earth and the term GmB can be replaced by the term gre2 where
re D 3959 mi is the radius of the Earth and g D 32:2 ft=s2 is the acceleration due to gravity on the surface of
the Earth. Hence, applying Eq. (13), we can determine the speeds v1 , v2 , v3 and v4 as follows:
s s s s
gre2 gre2

2 1 2 1
v1 D ; v2 D gre2 ; v3 D gre2 ; and v4 D : (14)
rP rP ae rA ae rA
The above results allow us to derive expressions for vP D v2 v1 and vA D v4 v3 . Specifically, using
the second of Eqs. (12), we have
s s 2 s
2
s
2 2 gr e gr e 2 2
vP D gre2 and vA D gre2 : (15)
rP rP C rA rP rA rA rP C rA
Now that we have derived relations for vP and vA , we need to derive a relation for the time t needed for
the orbital transfer. Since the spacecraft only completes one half of the elliptical orbit during transfer, then t
is half of the orbital period . In turn, the orbital period is found using Eq. (5.126) on p. 415 of the textbook,
which gives, s
a3
D 2 :
gre2
So that we have s
.rP C rA /3
t D : (16)
8gre2
Using a mathematical software package we can now plot the quantities vP , vA , and t . We have used
Mathematica and the code below.
August 10, 2009

Parameters ! !rP " "100. # 3959.# 5280., g " 32.2, re $% 3959. & 5280.$;
2 2 re2 re2 2 2
'vP ! g re2 $ $ g ; 'vA ! g $ g re2 $ ;
rP rP # rA rP rA rA rP # rA
"rP # rA #3
t!Π ;
8 g re2
Plot%'vP &. Parameters, !rA, "100. # 3959.# 5280., 100. "100. # 3959.# 5280.$,
Frame " True, FrameTicks " !!Automatic, None$, !Automatic, None$$, GridLines " Automatic,
AspectRatio " 1, FrameLabel " !"rA "ft#", "'vP "ft&s#"$,
PlotLabel " "Speed Difference at Perigee"'
Plot%'vA &. Parameters, !rA, "100. # 3959.# 5280., 100. "100. # 3959.# 5280.$,
AspectRatio " 1, FrameLabel " !"rA "ft#", "'vA "ft&s#"$,
PlotLabel " "Speed Difference at Apogee"'
Plot%"t & 3600.# &. Parameters, !rA, "100. # 3959.# 5280., 100. "100. # 3959.# 5280.$,
AspectRatio " 1, FrameLabel " !"rA "ft#", "t "h#"$, PlotLabel " "Orbital Transfer Time"'
Using the above plot commands, we obtain the required plots.

Speed Difference at Perigee Speed Difference at Apogee
4000
10 000
3000
"vP !ft"s#
"vA !ft"s#
9500
2000
9000
1000
8500 0
0 5.0 !108 1.0 !109 1.5 !109 2.0 !109 0 5.0 !108 1.0 !109 1.5 !109 2.0 !109
rA rA
Orbital Transfer Time
250
200
150
t !h"
100
50
0
0 5.0 !108 1.0 !109 1.5 !109 2.0 !109
rA
August 10, 2009

Dynamics 1e 701
Problem 5.108
Referring to the description given for Probs. 5.105–5.107, for a Hohmann

transfer from an inner circular orbit to an outer circular orbit, what would you
expect to be the signs on the change in speed at periapsis and at apoapsis?
Solution
In both cases we expect the signs to be positive. In fact, when going from an inner circular orbit to an outer
circular orbit via a Hohmann transfer, the spacecraft is going from periapsis to apoapsis in the elliptical
transfer orbit. To move to a larger distance from the central body, the spacecraft must speed up during the
periapsis maneuver. Once the spacecraft reaches apoapsis, if it does not speed up again to go into the outer
orbit, it will fall back toward the central body—so it must gain energy again at apoapsis.
August 10, 2009

Problem 5.109
Referring to the description given for Probs. 5.105–5.107, for a Hohmann

transfer from an outer circular orbit to an inner circular orbit, what would you
expect to be the signs on the change in speed at periapsis and at apoapsis?
Solution
In both cases we expect the signs to be negative. In fact, when going from an outer circular orbit to an inner
circular orbit via a Hohmann transfer, the spacecraft is going from apoapsis to periapsis in the elliptical
transfer orbit. To begin to “fall” toward the central body during the apoapsis maneuver, the spacecraft must
loose energy and slow down. At periapsis, if the spacecraft does not reduce its energy and slow down again,
it will head back out to the apoapsis point — therefore to move into the inner circular orbit it must slow sown
again.
August 10, 2009

Dynamics 1e 703
Problem 5.110
During the Apollo missions, while the astronauts were on the Moon with
the lunar module (LM), the command module (CM) would fly in a circular
orbit around the Moon at an altitude of 60 mi. After the astronauts were done
exploring the Moon, the LM would launch from the Moon’s surface (at L)
and undergo powered flight until burnout at P , which occurred when the LM
was approximately 15 mi above the surface of the Moon with its velocity vbo
parallel to the surface of the Moon (i.e., at periapsis). It would then fly under
the influence of the Moon’s gravity until reaching apoapsis A, at which point
it would rendezvous with the CM. The radius of the Moon is 1079 mi, and its
mass is 0:0123 times that of the Earth.
(a) Determine the required speed vbo at burnout P .
(b) What is the change in speed vLM required of the LM at the rendezvous
point A?
(c) Determine the time it takes the LM to travel from P to A.
(d) In terms of the angle , where should the CM be when the LM reaches P
so that they can rendezvous at A?
Assume that the changes in speed are impulsive; that is, they occur instanta-
neously.
Solution
Part (a). Using Eq. (5.134) on p. 416 of the textbook, the speed at burnout vbo is the speed at periapsis in
the transfer orbit, i.e., s
2 1
vbo D Gmm ; (1)
rP a
where mm is the mass of the moon. Now,
Gmm D G.0:0123me / D 0:0123Gme D 0:0123gre2 ; (2)
me is the mass of the Earth, g D 32:2 ft=s2 is the acceleration due to gravity on the surface of the Earth, and
re D 3959 mi D 2:090107 ft is the radius of the Earth. In addition,
rP D rm C hP D 5:776106 ft and rA D rm C hA D 6:014106 ft; (3)
where we have used the following numerical data: rm D 1079 mi D 5:697 106 ft, hP D 15 mi D
7:920104 ft, and hA D 60 mi D 3:168105 ft. Therefore, since
a D .rA C rP /=2 D 5:895106 ft; (4)
going back to Eqs. (1) and (2), we have
vbo D 5530 ft=s D 3770 mph:
August 10, 2009

Part (b). Now the LM must go from its speed at apoapsis to the speed of the CM, which is in a circular
orbit about the Moon with an altitude of 60 mi. Replacing rP with rA in Eq. (1) (and using Eq. (2) as well),
the speed of the LM at apoapsis is
.vLM /A D 5309 ft=s D 3620 mph; (5)
where we have used the numerical values indicated in Part (a). The speed of the CM in the circular orbit is
obtained from Eq. (1) (and Eq. (2) as well) by setting both rP and a equal to rA . This gives
vCM D 5363 ft=s D 3657 mph: (6)
Therefore, the change in speed of LM is
vLM D 54:0 ft=s D 37:0 mph:
Part (c). Let the time it takes for the LM to go from P to A be denoted by t. This time is equal to half of
the period of the elliptical transfer orbit. In turn, the period of an elliptical orbit is given by is given by
Eq. (5.126) on p. 415 of the textbook. Hence, we have
s
a3
t D 12 D D 3419 s D 0:9496 h; (7)
Gmm
where we have used Eqs. (2) and (4), as well as the fact that g D 32:2 ft=s2 and re D 3959 mi D 2:090107 ft.
Expressing t to three significant figures, we have
t D 3420 s D 0:950 h
Part (d). Now we know that the CM must travel for 3419 s in a circular orbit with a speed of 5363 ft=s.
Therefore the distance traveled d is
d D vCM t D 1:834107 ft: (8)
To determine the angle traveled ˇ, we write
d
d D rA ˇ ) ˇD D 3:050 rad D 174:7ı ; (9)
rA
where we have used the numerical values in the last of Eqs. (3) and (8). Consequently we have
D 180ı ˇ D 5:30ı :
August 10, 2009

Dynamics 1e 705
Problem 5.111
One option when traveling to Mars from the Earth is to use a Hohmann transfer
orbit like that described in Probs. 5.105–5.109. Assuming that the Sun is the
primary gravitational influence and ignoring the gravitational influence of Earth
and Mars (since the Sun accounts for 99.8% of the mass of the solar system),
determine the change in speed required at the Earth ve (perihelion in the
transfer orbit) and the required change in speed at Mars vm (aphelion in the
transfer orbit) to accomplish the mission to Mars using a Hohmann transfer.
In addition, determine the amount of time it would take for orbital transfer.
Use 1:9891030 kg for the mass of the Sun, assume that the orbits of Earth
and Mars are circular, and assume that the changes in speed are impulsive, that
is, they occur instantaneously. In addition, use 150106 km for the radius of
Earth’s orbit and 228106 km for the radius of Mars’ orbit.
Solution
We start with determining the circular orbit speed (see Eq. (5.111) on p. 413 of the textbook) and the elliptical
orbit speed (see Eq. (5.134) on p. 416 of the textbook) at aphelion corresponding to a distance from the Sun
equal to that between the Earth and the Sun, i.e.,
s
Gms
.ve /circ D D 29;750 m=s D 107;100 km=h; (1)
Re
s
2 2
.ve /ell D Gms D 32;670 m=s D 117;600 km=h; (2)
Re Re C Rm
where we have used the following numerical data: G D 6:67410 11 m3 =.kgs2 /, ms D 1:9891030 kg,
Re D 150109 m, and Rm D 228109 m. Therefore we have
ve D 2930 m=s D 10;500 km=h:
Next we determine the circular orbit and aphelion speeds at Mars, i.e.,
s
Gms
.vm /circ D D 24;130 m=s D 86;870 km=h; (3)
Rm
s
2 2
.vm /ell D Gms D 24;130 m=s D 86;870 km=h; (4)
Re Re C Rm
where we have used the appropriate numerical values listed earlier. Therefore we have
vm D 2630 m=s D 9480 km=h:
Finally, we determine the time needed for the orbital transfer. This time is half of the full elliptical orbit
period. Hence, using Eq. (5.126) on p. 415 of the textbook, we have
s 3
Re C Rm
D 2 D 2:24107 s D 259 days;
8Gms
where we have used the data listed earlier again.

August 10, 2009
Problem 5.112
Use the work-energy principle applied between periapsis P and r D 1, along

with the potential energy of the force of gravity given in Eq. (4.35).
(a) Show that a satellite on a hyperbolic trajectory arrives at r D 1 with speed

s
rP vP2 2GmB
v1 D :
rP
(b) In addition, using Eqs. (5.106) and (5.109), show that for a hyperbolic
trajectory, rP vP2 > 2GmB , which means that the square root in the above
equation must always yield a real value.
Solution
Part (a). Applying the work-energy principle between periapsis and r D 1 in a hyperbolic orbit, we get
TP C VP D T1 C V1 ; (1)
where the subscripts P and 1 denote periapsis and r D 1, respectively. The terms in Eq. (1) are given by
GmB m
TP D 12 mvP2 ; 2
T1 D 21 mv1 ; VP D ; and V1 D 0: (2)
rP
Substituting the terms in Eq. (2) into Eq. (1), and the solving for for v1 , we have
s
1 2 GmB 2 rP vP2 2GmB
2 vP D 12 v1 ) v1 D .
rP rP
Part (b). We start by repeating here for convenience Eq. (5.106) (on p. 412 of the textbook) and Eq. (5.109)
(on p. 413 of the textbook), which, in order, are
C 2

1 GmB
eD and C D 1 : (3)
GmB rP rP vP2
Now recall that, for a hyperbolic orbit e > 1. Hence, from the first of Eqs. (3) we have
C 2 > GmB :
Using this result and the fact that D rP vP (see, for example, Eq. (5.108) on p. 412 of the textbook), the
second of Eqs. (3) can be written as
2

GmB GmB
C 2 D 1 > Gm B ) C 2
D r v
P P
2
1 > GmB )
rP rP vP2 rP vP2
rP vP2 > 2GmB :
August 10, 2009

Dynamics 1e 707
Problem 5.113
A fluid is in steady motion in the conduit shown. The lines depicted are
tangent to the velocity of the fluid particles in the conduit (these lines are called
streamlines). Explain whether or not the control volume defined by the cross
sections A and B in the figure is consistent with the assumptions laid out in this
section.
Solution
The control volume defined in the figure is not consistent with the assumptions laid out in this section. The
theory presented demands that cross sections be perpendicular to the velocity of the fluid particles. In this
case the cross section should be perpendicular to each streamline.
August 10, 2009

Problem 5.114
A hydraulic system is being used to actuate the control surfaces of a plane.

Suppose that there is a time interval during which (a) the speed of the hydraulic 3
fluid within a particular line is constant relative to the line itself and (b) the
3
plane is performing a turn. Explain whether or not the force balance for control
volumes presented in this section is applicable to the analysis of the hydraulic
fluid in question.
Solution
The theory presented in Section 5.5 (starting on p. 426) of the textbook is not applicable to the case discussed
in the problem because the hydraulic line in question is accelerating due to the maneuver of the plane.
Therefore, no control volume can be defined that is stationary relative to an inertial frame.
August 10, 2009

Dynamics 1e 709
Problem 5.115
The cross sections labeled A and B in case (a) are identical to the
corresponding cross sections in case (b). Assume that, in both (a) and
(b), a fluid in steady motion flows through A with speed v1 and exits the
system at B with a speed v2 . If the pipe sections are to remain stationary
and if the mass flow rate is identical in the two cases, determine whether
the magnitude of the horizontal force acting on the pipes due to the
water flow in case (a) is smaller than, equal to, or larger than that in case
(b). In addition, for both (a) and (b), establish the direction of the force.
Solution
The horizontal force is the same in both cases because the change in horizontal momentum of the fluid is the
same in both cases. In both cases the horizontal force acting on the pipes due to the water flow is directed to
the left.
August 10, 2009

Problem 5.116
Experience tells us that when a steady water jet comes out of a nozzle, the line
attached to the nozzle is in tension, that is, the nozzle exerts a force on the line
that is in the direction of the flow. If the end of the nozzle at B were capped to
stop the water flow, would the force exerted by the nozzle on the line decrease,
stay the same, or increase?
Solution
The force will increase. The force that the nozzle exerts on the line is equal and opposite to the force that the
water exerts on the nozzle. When the water is not allowed to flow, the water exerts a force on the nozzle that
must balance the effect of the static water pressure. When the water is stopped from flowing, and given that
the cross section at B is smaller than that at A, the change in momentum of the water will cause an increase
in the force that the water exerts on the nozzle. This causes an increase in the force that the nozzle exerts on
the line.
August 10, 2009

Dynamics 1e 711
Problem 5.117
Revisit Example 5.17 and use the numerical result in Eq. (13) of the example,
along with the fact that the specific weight of water is 62:4 lb=ft3 , to determine
the volumetric flow rate at the nozzle and the nozzle diameter.
Solution
P f is the mass flow rate and Q is the corresponding volumetric flow rate, these quantities
Recall that the if m
are related by the equation m P f D Q, where is the mass density of the fluid. Applying this relation to the
problem at hand, we have
g.mP f /nz
.mP f /nz D Qnz ) Qnz D ; (1)

where D g is the specific weight of the fluid. From Eq. (13) (p. 433 of the textbook) in Example 5.17, we
P f /nz D 7:10 slug=s. In addition, the problem s statement gives D 62:4 lb=ft3 . Hence, recalling
have that .m
that g D 32:2 ft=s2 , we have that
Qnz D 3:664 ft3 =s; (2)
which, when expressed via three significant figures, becomes
Qnz D 3:66 ft3 =s:
Next, recall that the volumetric flow rate is related to the speed v of the flow and the area of the cross section
S via the relation Q D vS . In the case of our nozzle, the cross section is circular, so that S D d 2 =4.
Finally, recall that in statement of Example 13 (on p. 433 of the textbook), the speed of the water flow emitted
by the nozzle was given as vw D 65 ft=s. Hence, we have
s
Qnz
Qnz D vw S ) Qnz D 41 vw d 2 ) d D2 D 0:268 ft,
vw
where we have used the numerical value for Qnz given in Eq. (2).
August 10, 2009

Problem 5.118
The tip B of a nozzle is 1:5 in: in diameter whereas the diameter at A where the
line is attached is 3 in: If water is flowing through the nozzle at 95 gpm (“gpm”
stands for gallons per minute, 1 U.S. gallon is defined as 231 in:3 ) and the water
static pressure in the line is 300 psi, determine the force necessary to hold the
nozzle stationary. Recall that the specific weight of water is D 62:4 lb=ft3 ,
and neglect the atmospheric pressure at B.
Solution
Since we need to determine a force acting in the horizontal direction, and given
the size of the nozzle, we neglect the weight of the water contained in the nozzle.
Also, observing that the water flow is steady, we select as our control volume the
interior of volume of the nozzle, delimited by the cross sections at A and B. The
FBD for such a system is that shown on the right, where pA is the static pressure at A (the static pressure at B
is atmospheric pressure and it is neglected). The force R is the force exerted by the nozzle on the control
volume. In turn, R would be the force that the water in the control volume exerts on the nozzle. This force
would have to be equilibrated by an equal and opposite force exerted on the nozzle by the line. In conclusion,
the force R coincides with the reaction force exerted by the line on the nozzle.
Based on our modeling choices, the force balance for our control volume in the horizontal direction yields
X
Fx W pA SA R D m P f .vBx vAx /; (1)
where SA is the area of the cross sections at A, m P f is the mass flow rate through the nozzle, and vAx and
vBx are the horizontal components of the flow’s velocities at A and B, respectively. Since we are given
information about the volumetric flow rate Q, and given that the mass density of water is constant, we can
relate the problem’s data to the mass flow rate as follows:

mP f D Q D Q; (2)
g
where D =g since is the specific weight and g is the acceleration due to gravity.
For later use we report here the conversion of the value of Q from gallons per minute into cubic feet per
second:
0:1337 ft3

95:00 gal 1:000 min
Q D 95 gpm D D 0:2117 ft3 =s: (3)
1:000 min 60:00 s 1:000 gal
Now, since the volumetric rate is also constant and the cross sections A and B are perpendicular to the
horizontal direction, we have
4Q 4Q
Q D vAx SA D vBx SB ) vAx D and vBx D : (4)
dA2 dB2
Substituting the result in Eq. (2) and the expressions for vAx and vBx in Eqs. (4) into Eq. (1), we obtain an
equation in the unknown R whose solution is
4 Q2 1

1 2 1
RD 4 pA dA C D 2120 lb;
g dA2 dB2
where we have used the following numerical values for the problem’s data: pA D 300 psi D 43;200 lb=ft2 ,
dA D 3:00 in: D 0:2500 ft, dB D 1:50 in: D 0:125 ft, D 62:4 lb=ft3 , and g D 32:2 ft=s2 .
August 10, 2009
Dynamics 1e 713
Problem 5.119
The rocket shown has 7 lb of propellant with a burnout time (time required to burn all the fuel) of
7 s. Assume that the mass flow rate is constant and that the speed of the exhaust relative to the
rocket is also constant and equal to 6500 ft=s. If the rocket is fired from rest, determine the initial
weight of the body for the rocket if the rocket is to experience an initial acceleration of 6g.
Solution
We model the rocket as an open system with losing mass. Letting m denote the mass of the rocket,
we have
Wb Wf
mD C ; (1)
g g
where Wb is the (constant) weight of the body and Wf is the (variable) weight of the fuel. Referring to the
FBD shown to the right, and writing the force balance (in the force appropriate for variable mass systems) we
have X
Fj W mg D may C m P o vEo |O ) mg D may m P o vo : (2)
where mo is the mass outflow rate, vEo D vo |O, with vo D 6500 ft=s, is the velocity of the exhaust relative
P o is constant, denoting tbo D 7 s the
to the rocket. Since we are to assume that the rate of fuel consumption m
burnout time, we have
mf Wf
mPo D D ; (3)
tbo gtbo
where Wf D 7 lb is the fuel’s weight.
Substituting Eqs. (1) and (3) into the last of Eqs. (2) and solving for for Wb , we have

g vo ay
Wb D 1 Wf : (4)
ay C g gtbo g
Recalling that at t D 0, Wf D 7 lb and ay D 6g, the above equation yields the following result:
Wb D 21:8 lb;
where we have used the following additional numerical data: vo D 6500 ft=s and tbo D 7 s.
August 10, 2009

Problem 5.120
An intubed fan is mounted on a cart connected to a fixed wall via a linear elastic
spring with constant k D 50 lb=ft. Assume that in a test the fan draws air at
A with essentially zero speed and that the outgoing flow causes the cart to
displace to the left so that the spring is stretched by 0:5 ft from its unstretched
position. Assuming that the specific weight of the air D 7:510 2 lb=ft3 is
constant, and letting the diameter of the tube at B be d D 4 ft (the cross section
is assumed circular), determine the airspeed at B.
Solution
We begin by observing that the airflow is steady. We select as our control volume
the interior volume of the tube delimited by the (vertical) cross sections at A and
B. The FBD of the chosen control volume is as shown on the right, where Rx is
the horizontal force acting on the airflow do to the fan. Hence, focusing on the
horizontal direction, the force balance for the chosen control volume is
X
Fx W Rx D m P f .vBx vAx / ) Rx D m P f vBx ; (1)
where mP f is the mass flow rate, vAx and vBx are the horizontal components of the the airflow velocities at A
and B, respectively, and where we have set vA D 0 since the fan draws air with essentially zero speed. The
mass flow rate is related to the geometry and specific weight of air as follows:

mP f D Q D 41 dB2 vBx ; (2)
g
where D =g is the mass density of air, g is the acceleration due to gravity, 14 dB2 is the cross-sectional
area at B, and Q D 14 dB2 vBx is the volumetric air flow through the cross section at B. Substituting Eq. (2)
into Eq. (1), we have
2
Rx D 14 dB2 vBx : (3)
g
Now we consider the FBD (shown on the right) of the cart, modeled as a particle, that
supports the intubed fan shown. Here Rx is the force exerted by the tube on the cart, Fs is
the force due to the spring, N is the reaction perpendicular to the flow, mc g is the weight
of the cart, and Nf is the normal reaction between the tube and the cart. Focusing on the
horizontal direction only, the application of Newton’s second law yields
X
Fx W Fs Rx D 0 ) Rx D kı; (4)
where ı is the stretch of the spring, and we have expressed the spring force as Fs D kı. Substituting the
expression for Rx in Eq. (3) into the last of Eqs. (4) we obtain an equation in vBx whose solution is
s
2 gkı
vBx D : (5)
d
Finally, given that at B the airflow is all in the horizontal direction, then vBx coincides with the airspeed at
B. Using this consideration along with Eq. (5), we then have
vB D 29:2 ft=s;
where we have used the following numerical values for the quantities appearing on the right-hand side of
Eq. (5): d D 4:00 ft, g D 32:2 ft=s2 , k D 50:0 lb=ft, ı D 0:50 ft, D 7:5010 2 lb=ft3 .
August 10, 2009
Dynamics 1e 715
Problem 5.121
A test is conducted in which an 80 kg person sitting in a 15 kg cart is propelled

by the jets emitted by two household fire extinguishers with a combined initial
mass of 18 kg. The cross section of the exhaust nozzles is 3 cm in diameter,
and the density of the exhaust is D 1:98 kg=m3 . The vehicle starts from rest,
and it is determined that the initial acceleration of the “jet cart” is 1:8 m=s2 .
Recalling that the mass flow rate out of the nozzle is given by m P o D S vo ,
where S is the area of the nozzle cross section and vo is the exhaust speed,
determine vo at the initial time. Ignore any resistance to the horizontal motion
of the cart.
Solution
We model the cart and all that travels with it as an open system losing mass. Neglecting
any resistance to the horizontal motion of the system., we have that the system’s FBD
is that shown on the right. Accordingly, the force balance in the horizontal direction
reads X
Fx W 0 D max C 2m P o vE0 {O ) 0 D max 2m P o v0 ; (1)
where m is the current combined mass of the cart, the rider, and the extinguishers, m Po
is the mass outflow rate of each extinguisher, and vEo is the velocity of the matter ejected by each extinguisher
relative to the extinguishers themselves.
To characterize the mass flow rate, we can use the given information about exhaust’s density and the area
of the cross section of extinguishers’ nozzles. Specifically, we can write
P o D S v0
m ) P o D 41 d 2 v0 :
m (2)
Hence, substituting the last of Eqs. (2) into Eq. (1), solving for vo , we have
s
2max
vo D : (3)
d 2
Evaluating the above expression at the initial time, we have
vo D 270 m=s;
where we have used the following numerical data: m D 80 kg C 15 kg C 18 kg D 113:0 kg, ax D 1:80 m=s2 ,
D 1:98 kg=m3 , d D 3:00 cm D 0:03000 m.
August 10, 2009

Problem 5.122
Consider a rocket in space so that it can be assumed that no external forces act
on the rocket. Let vo be the speed of the exhaust gases relative to the rocket. In
addition, let mb C mf and mb be the total mass of the rocket and its fuel at the
initial time and the mass of the body after all the fuel is burned, respectively. If
the rocket is fired from rest, determine an expression for the maximum speed
that the rocket can achieve.
Solution
We model the rocket as an open system with losing mass. Under this assumption, choosing a
coordinate system so the rocket accelerates in the positive {O direction, we see that no external
force acts on the rocket (to better understand why the thrust due to the jet pack is not included
in the FBD see the discussion of Example 5.19 on p. 436 of the textbook). Hence, summing forces in the x
direction for the chosen system we have
X
Fx W 0 D max C m P o vEo {O ) 0 D max m P o vo ; (1)
where m is the current mass of the rocket, mP o is the mass outflow rate, and where vE0 is the velocity of the
outflow gases relative to the rocket. Because mP o is treated as a positive quantity, re have
P D
m P o:
m (2)
Hence, substituting Eq. (2) into Eq. (1), we have
mxR D P o;
mv (3)
where we used the kinematic equation xR D ax . Letting vmax be the final speed achieved by the rocket and
recalling that the rocket starts from rest, Eq. (3) can be integrated as follows:
Z vmax Z mb
d xP vo d m dm mb
D ) d xP D vo ) vmax D vo ln
dt m dt 0 mb Cmf m mb C mf
mf

) vmax D vo ln 1 C .
mb
August 10, 2009

Dynamics 1e 717
Problem 5.123
A stationary 4 cm diameter nozzle emits a water jet with a speed of 30 m=s. The
water jet impinges on a vane with a mass of 15 kg. Recalling that water has a
mass density of 1000 kg=m3 , determine the minimum static friction coefficient
with the ground such that the vane does not move if D 20ı and D 30ı .
Neglect the weight of the water layer in contact with the vane as well as friction
between the water and the vane.
Solution
The flow of water out of the nozzle is steady. We select as our control volume the part
of the jet that is in contact with the vane. Then, referring to the FBD on the right and
applying the force balance for control volumes with steady flows, we have
X
Fx W Rx D m P f .vBx vAx /; (1)
X
Fy W Ry D m P f .vBy vAy /; (2)
where Rx and Ry are the forces applied by the vane on the water jet, m P f is the water mass flow rate through
the control volume, and where vEA D vAx {O C vAy |O and vEB D vBx {O C vBy |O are the velocity of the water jet
at points A and B. We denote the speed of the water jet emitted by the nozzle by vw . Because the speed of
the water jet is not reduced by any friction between the jet and the vane, we have that the speed of the water
jet remains constant in going from A to B. In turn, this allows us to write
vAx D vw cos ; vAy D vw sin ; vBx D vw cos ; and vBy D vw sin : (3)
Since we are given information about the water mass density and the diameter of the nozzle, then we can
P f via the volumetric flow rate Q as follows:
express the mass flow rate m
P f D Q D 14 d 2 vw :
m (4)
Substituting Eqs. (3) and (4) into Eqs. (1) and (2), we have
Rx D 14 d 2 vw
2
.cos cos / and Ry D 41 d 2 vw
2
.sin C sin /: (5)
To relate Rx and Ry to the friction needed to hold the vane stationary, referring to the
vane’s FBD on the right, and writing the equilibrium equations for the vane, we have
X
Fx W Rx F D 0; (6)
X
Fy W N mg Ry D 0: (7)
Because we need to determine the minimum friction coefficient, we consider an im-
pending slip condition we substitute F D s N in Eq. (6). Then, solving Eq. (7) for
N and substituting the result in Eq. (6), we have
Rx D s .mg C Ry /: (8)
Substituting Eqs. (5) into Eq. (8), we obtain an equation for s whose solution is
d 2 vw
2 .cos cos /
s D 2 2
D 0:0758;
4mg C d vw .sin C sin /
where we have used the following numerical data: D 1000 kg=m3 , d D 4:00 cm D 0:0400 m, D 20:0ı ,
D 30:0ı , m D 15:0 kg, and vw D 30:0 m=s.
August 10, 2009
Problem 5.124
A diffuser is attached to a structure whose rigidity in the horizontal direction

can be modeled via a linear spring with constant k. The diffuser is hit by a water
jet issued with a speed vw D 55 ft=s from a 2 in: diameter nozzle. Assume that
the friction between the jet and the diffuser is negligible and that the diffuser’s
motion in the vertical direction can be neglected. Recalling that the specific
weight of water is D 62:4 lb=ft3 , if the opening angle of the diffuser is
D 40ı , determine k such that the horizontal displacement of the diffuser does
not exceed 0:25 in: from the diffuser’s rest position. Assume that the water jet
splits symmetrically over the diffuser.
Solution
Because of the symmetry we can analyze one of the two jets in which the main jet splits.
Referring to the figure on the right, we model the chosen half-jet as a steady flow system
whose control volume is defined by the cross sections at A and B. Then, applying the
balance of forces pertaining to the chosen control volume, we have
X
Fx W Rx D 21 mP f .vBx vAx /; (1)
X
Fy W Ry D 21 mP f .vBy vAy /; (2)
where Rx and Ry are the reaction forces exerted y the diffuser on the half-jet, and where m P f is the mass flow
rate through the cross sections of the control volume. Ultimately, the horizontal reaction is due to the spring
on the left side of the diffuser. Hence, keeping in mind that the Rx is only half of the total force provided by
the spring, we have
Rx D 21 kımax ; (3)
where ımax D 0:25 in. The kinematic equations for the problem consist in the description of the velocity of
the jet at the two cross sections of the control volume, i.e.,
vAx D vw ; vAy D 0; vBx D vw cos.=2/; and vBy D vw sin.=2/: (4)
P f is concerned, letting be the density of the fluid and Q be the volume flow
As far as the mass flow rate m
P f can be written as
rate, we recall m
d 2 vw
P f D Q
m ) Pf D
m ; (5)
4g
where d D 2 in: is the diameter of the nozzle.

Substituting Eqs. (3)–(5) into Eq. (1), we have
d 2 vw
2 d 2 vw
2
kımax D Œ1 cos.=2/ ) kD Œ1 cos.=2/ D 370 lb=ft.
4g 4gımax
August 10, 2009

Dynamics 1e 719
Problem 5.125
A water jet with a mass flow rate m P f at the nozzle impinges with a speed vw on
a fixed flat vane inclined at an angle with respect to the horizontal. Assuming
that there is no friction between the water jet and the vane, the jet will split
into two flows with mass flow rates m P f 1 and m
P f 2 . Neglecting the weight of
the water, determine how m P f 1 and m P f 2 depend on m P f , vw , and . Hint: Due
to the no-friction assumption, there is no force that slows down the water in
the direction tangent to the vane, and this implies that the momentum in that
direction is conserved.
Solution
If there were friction between the vane and the split water jet flowing over the vane, there
would be forces acting on the split jet that would be tangent to the vane and that therefore
would reduce the velocity of water in each of the branches of the split water jet. Therefore,
neglecting friction has two important consequences. The first is that, under the assumption
that the weight of the water is negligible in this problem, the FBD of a control volume that
includes both the incoming jet and the split jet is as shown on the right, i.e., is characterized
by a force perpendicular to the vane itself. The second is that, because the flow of water tangent to the vane
in not hindered by friction, and given that the reaction force Ry performs no work on the water jet, then the
speed of the particles of water in both branches of the split water jet remains equal to the speed they had in
the jet that comes out of the nozzle.
Since there is no external force on the control volume in the direction tangent to the vane, then the
component of momentum in that direction must be conserved, i.e.,
P f vw cos D m
m P f 1 v1 P f 2 v2 :
m (1)
In addition, as a consequence of the second observation made above, have
v1 D v2 D vw : (2)
Finally, since the overall mass flow rate must remain constant, we have
Pf D m
m Pf 1 C m
P f 2: (3)
Substituting Eq. (2) into Eq. (1) we obtain
P f cos D m
m Pf 1 P f 2:
m (4)
P f 1 and m
Next, we observe that Eq. (3) and (4) form a system of two equations in the two unknowns m Pf 2
whose solution is
P f 1 D 21 m
m P f .1 C cos /;
P f 2 D 21 m
m P f .1 cos /:
August 10, 2009

Problem 5.126
A person wearing a jet pack lifts off from rest and ascends along a straight vertical trajectory.
Let M denote the initial combined mass of the pilot and the equipment, including the fuel in
the pack. Assume that the mass flow rate mo and exhaust gas speed vo are known constants
and that the pilot can take off as soon as the rocket engine is started. If the exhaust engine is
completely directed in the direction of gravity, determine the expression of the pilot’s speed
as a function of time, M , mo , vo , and g (the acceleration due to gravity) while the pack is
providing a thrust. Neglect air resistance and assume that gravity is constant.
Solution
We model the person with the jet pack as a system with losing mass. The FBD of the system is
shown on the right (to better understand why the thrust due to the jet pack is not included in the
FBD see the discussion of Example 5.19 on p. 436 of the textbook). Then, focusing only on the
vertical direction, applying the force balance to the open system at hand, we have
X
Fy W mg D may C m P o vEo |O ) mg D may m P o vo ; (1)
where m is the current mass of the system, mP o is the mass outflow rate, and vEo is the velocity of the outflow
gases relative to the system considered. Observe that because m P o is understood to be a positive quantity, we
must have:
P D m
m P o: (2)
P o is constant, so is m
In addition, since m P and therefore we have that the current value of m.t / is given by
m.t / D M P o t;
m (3)
where M is the initial mass of the system.

Next, recalling that ay D y,
R substituting Eqs. (2) into Eq. (1), dividing by m and rearranging, we have
mP d yP vo d m vo
g D yR C vo ) gD C ) g dt D d yP C dm )
m dt m dt m
Z t Z v Z m.t /
dm m.t /
g dt D d yP C vo ) gt D v C vo ln :
0 0 M m M
Substituting m.t / with Eq. (3) and solving for v we obtain

M
v D vo ln gt:
M mP ot
August 10, 2009

Dynamics 1e 721
Problem 5.127
A 28;000 lb A-10 Thunderbolt is flying at a constant speed of 375 mph when it

fires a 4 s burst from its forward-facing seven-barrel Gatling gun. The gun fires
13:2 oz projectiles at a constant rate of 4200 rounds=min. The muzzle velocity
of each projectile is 3250 ft=s. Assume that each of the plane’s two jet engines
maintains a constant thrust of 9000 lb, that the plane is subject to a constant air
resistance while the gun is firing (equal to that before the burst), and that the
plane flies straight and level during that time. Determine the plane’s change in
velocity at the end of the 4 s burst, modeling the airplane’s change of mass due
to firing as a continuous mass loss.
Solution
From the problem statement we know that the net external force on the A-10 during firing is equal
to zero. In addition, we are to model the system at hand an an open system. Hence, focusing on
the motion in the horizontal direction and summing forces in that direction, we have
X
Fx W 0 D max C m P o vEo {O ) 0 D max C m P o vo ; (1)
where mP o is the mass outflow rate and vEo is the velocity at which the outflowing mass is being ejected
from the plane relative to the velocity of the plane. Next, since the mass outflow is must be modeled as
being continuous, let tR be the time interval between two consecutive rounds and WR be the weight of the
outflowing matter per round, i.e.,
60 s=min 13:2 oz=round

tR D D 0:01429 s=round and WR D D 0:8250 lb=round: (2)
4200 round=min 16 oz=lb
P o is given by
Hence, using the above expressions, we have that the (continuous) mass outflow m
WR
Po D
m D 1:793 slug=s: (3)
gtR
P o , we can then say that the mass of the plane as a
As the plane ejects the rounds at a constant mass rate m
function of time is
m.t / D m.0/ m P o t; (4)
where m.0/ D .28;000 lb/=.32:2 ft=s2 / D 869:6 slug is the initial mass of the plane. Substituting Eqs. (3)
and (4) into Eq. (1), solving for the horizontal acceleration of the plane ax , we have
Z v2x Z tf
mP 0 vo dvx P o vo
m dt
ax D ) D ) dvx D m P o vo )
m.0/ m P ot dt m.0/ m P ot v1x 0 m.0/ P ot
m
m.0/ m P o tf mP o tf

v2x v1x D vo ln ) vx D vo ln 1 D 26:9 ft=s,
m.0/ m.0/
where, in addition to the value indicated in Eq. (3), we have used the following numerical data: vo D 3250 ft=s,
tf D 4 s, and m.0/ D 869:6 slug.
August 10, 2009

Problem 5.128
A faucet is letting out water at a rate of 15 L=min. Assume that the internal
diameter d of the faucet is uniform and equal to 1:5 cm, the distance ` D 20 cm,
and the static water pressure at the wall is 0:30 MPa. Neglecting the weight of
the water inside the faucet as well as the weight of the faucet itself, determine
the forces and the moment that the wall exerts on the faucet. Recall that the
density of water is D 1000 kg=m3 , and neglect the atmospheric pressure at
the spout. Hint: Define your control volume using a section along the wall.
Solution
The flow of water through the faucet is steady. We select as our control volume the
volume defined by the cross sections at A and B. Then, referring to the FBD on the
right, applying the balance of forces and moments pertaining to control volumes
with steady flows, we have
X
Fx W N C PA SA D m P f .vBx vAx /; (1)
X
Fy W V Dm P f .vBy vAy /; (2)
X
MC W M Dm P f vBy `; (3)
where N , V , and M represent the force system, with reference point C on the cross section at A, applied to
the fluid by the faucet, and where PA is the static pressure of the fluid at A, SA is the area of the cross section
at A, and mP f if the fluid’s mass flow rate. The force system consisting of N , V , and M is equal and opposite
to the force system exerted on the faucet by the fluid. In turn, this force system must be equilibrated by the
force system exerted by the wall on the faucet. In other words, N , V , and M coincide with the force system
exerted by the wall on the faucet.
Going back to the solution of the problem, recall that the quantity m P f can be related to the given
volumetric flow rate Q D 15 L=min and the density of the fluid as follows:
15 L=min 1
P f D Q;
m where Q D 3
D 0:0002500 m3 =s: (4)
1000 L=m 60 s=min
In addition, recall that the volumetric flow rate can be related to the velocity of the fluid at A and B as
follows:
Q 4Q Q 4Q
vAx D D 2
; vAy D 0; vBx D 0; vBy D D : (5)
SA d SB d 2
Substituting Eqs. (4) and (5) into Eqs. (1)–(3), we obtain a system of three equations in the unknowns N , V ,
and M whose solution is
4Q2
N D 14 PA d 2 C D 53:4 N;
d 2
4Q2
V D D 0:354 N;
d 2
4Q2 `
M D D 0:0707 Nm;
d 2
where, in addition to the value of Q in Eq. (4), we have used the following numerical data: PA D 0:30 MPa,
d D 1:5 cm D 0:01500 m, D 1000 kg=m3 , and ` D 20 cm D 0:2000 m.
August 10, 2009
Dynamics 1e 723
Problem 5.129
Consider a wind turbine with a diameter d D 110 m and the airflow streamlines
shown, which are symmetric relative to the axis of the turbine. Since the
airflow is tangent to the streamlines (by definition), these lines can be taken to
define the top and bottom surfaces of a control volume. Suppose that pressure
measurements indicate that the flow experiences atmospheric pressure at the
cross sections A and B (as well as outside the control volume) where the wind
speed is vA D 7 m=s and vB D 2:5 m=s, respectively. Furthermore, assume
that the average pressure along the streamlines defining the control volume is
also atmospheric. Finally, assume that the diameter of the flow cross section at
A is 85% of the rotor diameter and that the rotor hub is at a distance h D 75 m
above the ground. If the density of air is constant and equal to D 1:25 kg=m3 ,
determine the force exerted by the air on the wind turbine and the reaction
moment at the base of the support.
Solution
The problem statement clearly identifies the control volume to study., whose FBD is
shown on the right. Observe that N , FR , and MR are reactions acting on the air due
to the rotor, where the moment center used for the definition of such force system
is point C , i.e., the rotor’shub. Then, using the force and moment balance pertaining
to control volumes with steady flows, we have
X
Fx W FR D m P f .vBx vAx /; (1)
X
Fy W N Dm P f .vBy vAy /; (2)
X
MC W MR D m O
P f .ErE=C vEB rED=C vEA / k; (3)
where mP f is the air mass flow rate through the control volume, and D and E are the centers of the cross
sections A and B, respectively.
The airflow velocity components at A and B are
vBx D vB ; vAx D vA ; vBy D 0; and vAy D 0: (4)
In addition, observe that the vectors rED=C and rEE=C are parallel to vEA and vEB , respectively. Therefore, we
have
rED=C vEA D 0E and .ErE=C vEB D 0: E (5)
P f can be related to the volumetric flow rate (for which the problem
Fianlly, observe that the mass flow rate m
provides information) as follows:
P f D Q D 14 .0:85d /2 vA :
m (6)
Substituting Eqs. (4)–(6) into Eqs. (1)–(3), we have, N D 0, MR D 0, and
FR D 41 .0:85d /2 vA .vA vB / D 270:4 kN; (7)
where we have used the following numerical data: D 1:25 kg=m3 , d D 110 m, vA D 7 m=s, and
vB D 2:5 m=s. Expressing the above result to three significant figures, we have
FR D 270 kN:
August 10, 2009

To determine the reaction moment at the base of the of the turbine’s support, we now
consider the turbine’s FBD shown on the right. In this FBD, we have indicated the
force acting on the rotor due to the airflow as well as the reaction force system between
the turbine’s support and the ground. The moment center for the reaction force system
at the turbine’s base is point O, which we chose on the line of action of the combined
weight of the rotor and the turbine’s support. Consequently, the weight of the rotor
and its support (the force m t g) provides no moment about point O and writing the
equilibrium equation for moments about O yields the following result:
X
MO W MO FR h D 0 ) MO D FR h D 20:3106 Nm,
where we have used the following numerical data: FR D 270:4 kN (see Eq. (7)) and
h D 75:0 m.
August 10, 2009

Dynamics 1e 725
Problem 5.130
A rope with weight per unit length of 0:1 lb=ft is lifted at a constant upward speed v0 D
8 ft=s. Treating the rope as inextensible, determine the force applied to the top end of the
rope after it is lifted 9 ft. Assume that the top end of the rope is initially at rest and on the
floor. In addition, disregard the horizontal motion associated with the uncoiling of the rope.
Solution
To solve this problem we model the portion of the rope that has been lifted as a variable mass
system gaining mass. Hence, referring to the FBD shown to the right, using the appropriate
force balance for variable mass systems and focusing only on the vertical motion, we have
X
Fy W F mg D may m P i vEi |O; (1)
where F is the force with which the rope is being lifted, vEi is the velocity with which new mass is being
added relative to the velocity of the rope, and m P i is the time rate at which mass is being added to the rope.
To describe m P i , let D .0:1 lb=ft/.32:2 ft=s2 / D 0:003106 slug=ft be the mass of the rope per unit length.
In addition, let the origin of the y axis be correspond to the surface on which the rope is initially resting.
Hence, we can express the mass of the lifted rope as a function of y and the corresponding inflow mass rate
as follows:
m.y/ D y and m P i D m.y/
P D yP D v0 : (2)
Now recall that the vertical acceleration of the rope is equal to zero because the rope is lifted at a constant
vertical rate. In addition, let vEmass added be the absolute velocity of the particles of rope when these particles
become part of the part of the rope being lifted. Since the particles in question are at rest at y D 0 when they
become part of the lifted part of the rope, we can then write
vEi D vEmass added vErope ) vEi D 0E v0 |O ) vEi D v0 |O: (3)
P i from Eqs. (2) and the expression for vEi from the last of Eqs. (3)
Substituting the expressions for m and m
into Eq. (1), we have
F D gy C v02 F D gL C v02 D 1:10 lb.

)
where we have used the following numerical data: D .0:1 lb=ft/=.32:2 ft=s2/ D 0:003106 slug=ft, g D
32:2 ft=s2 , y D L D 9 ft, and v0 D 8 ft=s.
August 10, 2009

Problem 5.131
A rope with mass per unit length of 0:05 kg=m is lifted at a constant upward acceleration
a0 D 6 m=s2 . Treating the rope as inextensible, determine the force that must be applied at
the top end of the rope after it is lifted 3 m. Assume that the top end of the rope is initially
at rest and on the floor. In addition, disregard the horizontal motion associated with the
uncoiling of the rope.
Solution
X
Fy W F mg D may mi vEi |O; (1)
P i is the time rate at which mass is being added to the rope. To
added relative to the velocity of the rope, and m
describe m P i , let D 0:05 kg=m be the mass of the rope per unit length. In addition, let the origin of the y
axis be correspond to the surface on which the rope is initially resting. Hence, we can express the mass of the
lifted rope as a function of y and the corresponding inflow mass rate as follows:
m.y/ D y and P i D m.y/

m P D y:
P (2)
Now recall that the vertical acceleration of the rope is constant, i.e., yR D a0 . Hence, recalling that the rope is
initially at rest at y D 0, that the absolute velocity of the lifted part of the rope is vE D yP |O, and using constant
acceleration equations, we have
yP 2 .y/ D yP 2 .0/ C 2a0 Œy y.0/ D 2a0 y ) yP D 2a0 y;

p
(3)
where yP was chosen to be positive since the rope is being lifted. Now, let vEmass added be the absolute velocity of
the particles of rope when these particles become part of the part of the rope being lifted. Since the particles
in question are at rest at y D 0 when they become part of the lifted part of the rope, we can then write
p
vEi D vEmass added vE D vEmass added yP |O ) vEi D 2a0 y |O: (4)
P i in Eqs. (2) and the expression for vEi in Eqs. (4),

Substituting into Eq. (1) the expressions for m.y/ and m
and solving for F , we have
F D y.g C 3a0 /: (5)
Therefore, for y D L D 3:00 m, we have
F D L .3a0 C g/ D 4:17 N;
where we have used the following numerical data: D 0:05 kg=m, L D 3 m, a0 D 6 m=s2 , and g D
9:81 m=s2 .
August 10, 2009

Dynamics 1e 727
Problem 5.132
A rope with mass per unit length of 0:05 kg=m is lifted by applying a constant vertical
force F D 10 N. Treating the rope as inextensible, plot the velocity and position of the
top end of the string as a function of time for 0 t 3 s. Assume that the top end of the
rope is initially at rest and 1 mm off the floor. In addition, disregard the horizontal motion
associated with the uncoiling of the rope.
Solution
X
Fy W F mg D may mi vEi |O; (1)
P i is the time rate at which mass is being added to the rope. To
added relative to the velocity of the rope, and m
describe m P i , let D 0:05 kg=m be the mass of the rope per unit length. In addition, let the origin of the y
axis be correspond to the surface on which the rope is initially resting. Hence, we can express the mass of the
lifted rope as a function of y and the corresponding inflow mass rate as follows:
m.y/ D y and P i D m.y/

m P D y:
P (2)
We now observe that the vertical acceleration of the lifted part of the rope is simply
ay D y:
R (3)
Finally, let vEmass added be the absolute velocity of the particles of rope when these particles become part of the
part of the rope being lifted. Since the particles in question are at rest at y D 0 when they become part of the
lifted part of the rope, recalling that the velocity of the lifted part of the rope is vE D yP |O, we can then write
vEi D vEmass added vE D yP |O: (4)
P i in Eqs. (2), the expression for ay in Eqs. (4),

Substituting into Eq. (1) the expressions for m.y/ and m
and the expression for vEi in Eq. (4), we obtain
F
F gy D y yR C yP 2 ) y yR C yP 2 C gy D ;

which is the equation of motion for the lifted part of the rope. By solving this equation, we can then predict
the position and velocity of the rope as a function of time. This equation, along with its initial conditions,
according to which y.0/ D 0 and y.0/P D 0, can be solved using some mathematical software.
The plots at the end of this problem are based on a numerical solution obtained via Mathematica using
the code reported here below.
rules ! !Ρ # 0.05, g # 9.81, F # 10";
, y '%0& & 0' (. rules,

F 1
s ! NDSolve#$y%t&$y ''%t& % y '%t&2 % g y%t& & , y%0& &
Ρ 1000
!y%t&, y '%t&", !t, 0, 3");
August 10, 2009

Once the equation was solved, we used the Mathematica code here below to generate the required plots.
Plot!Evaluate!y!t" #. s", $t, 0, 3%, Frame ! True,
FrameTicks ! $$Automatic, None%, $Automatic, None%%, GridLines ! Automatic,
AspectRatio ! 1, FrameLabel ! $"Time &s'", "position &m'"%"
Plot!Evaluate!y '!t" #. s", $t, 0, 3%, Frame ! True,
FrameTicks ! $$Automatic, None%, $Automatic, None%%, GridLines ! Automatic,
AspectRatio ! 1, FrameLabel ! $"Time &s'", "velocity &m#s'"%"
14
25
12
velocity !m#s"
20
position !m"
10
15 8
10 6
4
5 2
0 0
0.0 0.5 1.0 1.5 2.0 2.5 3.0
Time !s"
0.0 0.5 1.0 1.5 2.0 2.5 3.0
Time !s"
August 10, 2009

Dynamics 1e 729
Problem 5.133
Let pA and pB be given static pressure measurements at the cross sections A

and B in the air duct shown. Assume that any cross section between A and B
is circular with diameter d . Assume that the flow is steady and that the mass
density A at A is known along with vA , the speed of the flow at A, and vB , the
speed of the flow at B. Determine the expression of mass density at B and the
expression of the force F acting on the fan.
Solution
The flow under consideration is steady and therefore we will solve this problem applying concepts pertaining
to steady flows systems. We begin with observing that since the mass flow rate m P f is constant and the cross
sectional area at A and B are equal, we must have
vA
A vA SA D B vB SB ) B D A .
vB
Next, for the force analysis, we choose as control volume the system
contained between the cross sections at A and B. Then, since the duct’s
walls are parallel and horizontal, no force is exerted in the {O direction by
the duct. Therefore R is the force acting on the flow due to the fan. Hence,
summing forces in the x direction for the control volume, we have
X
Fx W R C pA SA pB SB D m P f .vB vA / )
R C 41 pA d 2 1
4 pB d
2
D 14 A vA d 2 .vB vA / :
Letting the force applied by the flow to the fan be F and recognizing that F D R, we have
F D 41 d 2 .pA pB / 1 2
4 A vA d .vB vA / :
August 10, 2009

Problem 5.134
An amateur rocket with a body weight of 6:5 lb is equipped with a rocket engine holding
2:54 lb of solid propellant with a burnout time (time required to burn all the fuel) of 5:25 s
(this is the typical data made available by amateur rocket engine manufacturers). The initial
thrust is 68 lb. Assuming that the mass flow rate and the speed of the exhaust relative to the
rocket remain constant, determine the exhaust mass flow rate mo and the speed relative to
the rocket vo . In addition, determine the maximum speed achieved by the rocket vmax if
the rocket is launched from rest and moves in the direction opposite to gravity. Neglect air
resistance and assume that gravity does not change with elevation.
Solution
Let the mass of the (empty) body of the rocket be mb D Wb =g D .6:5 lb/=.32:2 ft=s2 / D 0:2019 slug. Also,
let the initial mass of fuel be mf D Wf =g D .2:54 lb/=.32:2 ft=s2 / D 0:07888 slug. Since the burnout time
tbo D 5:25 s, then the rate of fuel consumption must be
P o D mf =tbo D 0:01502 slug=s;

m (1)
which, expressed to three significant figures is
P o D 0:0150 slug=s:
m
We now turn to the analysis of the motion of the rocket, which we model an an open system losing
mass. The FBD of the rocket is sketched on the right, where, consistent with our modeling of open
systems, includes only the weight of the system (to better understand why the thrust due to the
jet pack is not included in the FBD see the discussion of Example 5.19 on p. 436 of the textbook).
Hence, applying the force balance in the vertical direction, we have
X
Fy W mg D may C m P o vEo |O; (2)
where m is the current mass of the rocket, mP o is the mass outflow rate, and vEo is the velocity of the outflow
gases relative to the body of the rocket. Observe that because mP o is understood to be a positive quantity, we
must have:
mP D m P o: (3)
Next, to determine vEo , as discussed in the textbook, recall that the term mP o vEo is equal to the thrust of the
rocket engine, which is a given of the problem. Let the thrust of the rocket be TE D T |O, with T D 68:0 lb.
Then observing that the relative velocity of the exhaust is all in the y direction, i.e., vEo D vo |O, we must
have
TE D m P o vEo ) T D mo vo ) vo D T =m P o ) vo D 4527 ft=s; (4)
P o in Eq. (1). Expressing the result for vo to three significant figures, we
where we have used the value of m
have
vo D 4530 ft=s:
Going back to the analysis of the motion of the rocket, recalling that ay D vPy , substituting the expressions
for vEo and m
P o into Eq. (2), we can then write
dvy vo d m
mg D mvPy C mv
P o ) C D g: (5)
dt m dt
August 10, 2009
Dynamics 1e 731
Letting vmax be the speed at burnout, multiplying both sides of the above equation by dt and integrating, we
have
Z vmax Z mb Z tbo
dm mb
dvy C vo D g dt ) vmax C vo ln D gtbo :
0 mb Cmf m 0 mb C mf
Solving for vmax and simplifing, we then obtain
mf

vmax D vo ln 1 C gtbo D 1320 ft=s;
mb
where we have used the following values for the quantities on the right hand side of the above equation:
vo D 4527 ft=s (see Eq. (4)), mb D 0:2019 slug, mf D 0:07888 slug, and tbo D 5:25 s.
August 10, 2009

Problem 5.135
Continue Prob. 5.134 and determine the maximum height reached by the rocket, again neglecting
air resistance and changes of gravity with elevation. Hint: For 0 < t < t0 ,
Z
t t
ln 1 dt D .t0 t / 1 ln 1 C C:
t0 t0
Solution
With reference to the statement of Problem 5.134, let the mass of the (empty) body of the rocket be
mb D Wb =g D .6:5 lb/=.32:2 ft=s2 / D 0:2019 slug. Also, let the initial mass of fuel be mf D Wf =g D
.2:54 lb/=.32:2 ft=s2 / D 0:07888 slug. Since the burnout time tbo D 5:25 s, then the rate of fuel consumption
must be
mP o D mf =tbo D 0:01502 slug=s: (1)
We now turn to the analysis of the motion of the rocket, which we model an an open system losing
mass. The FBD of the rocket is sketched on the right, where, consistent with our modeling of open
systems, includes only the weight of the system (to better understand why the thrust due to the
jet pack is not included in the FBD see the discussion of Example 5.19 on p. 436 of the textbook).
Hence, applying the force balance in the vertical direction, we have
X
Fy W mg D may C m P o vEo |O; (2)
where m is the current mass of the rocket, mP o is the mass outflow rate, and vEo is the velocity of the outflow
gases relative to the body of the rocket. Observe that because mP o is understood to be a positive quantity, we
must have:
mP D m P o: (3)
Next, to determine vEo , as discussed in the textbook, recall that the term mP o vEo is equal to the thrust of the
rocket engine, which is a given of the problem. Let the thrust of the rocket be TE D T |O, with T D 68:0 lb.
Then observing that the relative velocity of the exhaust is all in the y direction, i.e., vEo D vo |O, we must
have
TE D m P o vEo ) T D mo vo ) vo D T =m P o ) vo D 4527 ft=s; (4)
where we have used the value of m P o in Eq. (1). Going back to the analysis of the motion of the rocket,
recalling that ay D vPy , substituting the expressions for vEo and m
P o into Eq. (2), we can then write
dvy vo d m
mg D mvPy C mv
P o ) C D g: (5)
dt m dt
After multiplying the last of Eqs. (5) by dt, recalling that the initial mass of the system is m.0/ D mb C mf
and that the system starts from rest, this equation can be integrated as follows:
Z vy Z m.t / Z t
dm m.t /
dvy C vo D g dt ) vy C vo ln D gt;
0 mb Cmf m 0 mb C mf
P o is constant and therefore we have m.t / D mb C mf

which, given the the fact that m P o t, can be solved
m
for vy to obtain
mb C mf m P ot

vy D vo ln gt:
mb C mf
August 10, 2009
Dynamics 1e 733
Now observe that the ratio .mb C mf /=m P o has the dimensions of time. Hence, defining (for convenience)
the time to as
mb C mf
to D ; (6)
mPo
we can rewrite the preceding equation as

t dy t
vy D vo ln 1 gt ) D vo ln 1 gt; (7)
to dt to
where we hav used the fact that vy D dy=dt. Multiplying Eq. (7) by dt we can then integrate it with respect
to time from t D 0 to t D tbo as follows:
Z ybo Z tbo Z tbo
t
dy D vo ln 1 dt g t dt:
0 0 to 0
Taking advantage of the hint, we then have

( tbo )
t 1 2
ybo D vo .to t/ 1 ln 1 2 gtbo
to 0

tbo 1 2
) ybo D vo .to tbo / ln 1 1 C to 2 gtbo : (8)
to
P o D mf =tbo D Wf =.gtbo / and recalling the definition of to in Eq. (6), we have
Now, recalling that m
Wf

Wb tbo
to D tbo 1 C and D : (9)
Wf to Wb C Wf
Then, substituting Eqs. (9) into Eq. (8) and simplifying we have
Wf

Wb 1 2
ybo D vo tbo 1 ln 1 C 2 gtbo D 3260 ft; (10)
Wf Wb
where we have used the following numerical data: vo D 4527 ft=s (see Eq. (4)), tbo D 5:25 s, Wb D 6:5 lb,
Wf D 2:54 lb, and g D 32:2 ft=s2 .
Now observe that ybo is the altitude at burnout and, unless the velocity of the rocket at burnout is equal to
zero, then the rocket will be able to climb beyond ybo while moving solely under the action of gravity. The
velocity at burnout is found by evaluating Eq. (7) at t D tbo , which gives
Wf

vbo D vo ln 1 C gtbo D 1324 ft=s; (11)
Wb
where, again, we have used the following numerical data: vo D 4527 ft=s (see Eq. (4)), tbo D 5:25 s,
Wb D 6:5 lb, Wf D 2:54 lb, and g D 32:2 ft=s2 . After burnout the vertical acceleration of the rocket is
yR D g. Therefore, using the constant acceleration equation yP 2 D yP02 2g.y y0 /, and recalling that
yP D 0 for y D ymax , and yP D vbo for y0 D ybo , we have
2
2 vbo
0 D vbo 2g .ymax ybo / ) ymax D C ybo D 30;500 ft,
2g
where we have used the following numerical data: ybo D 3260 ft (see Eq. (10)), vbo D 1324 ft=s (see
Eq. (11)), and g D 32:2 ft=s2 .
August 10, 2009
Problem 5.136
A Pelton impulse wheel, as shown in Fig. P5.136(a), typically found in hydroelectric power plants consists
of a wheel at the periphery of which are attached a series of buckets. As shown in Fig. P5.136(b), water
jets impinge on the buckets and cause the wheel to spin about its axis (labeled O). Let vw and .m P f /nz be
the speed and the mass flow rate of the water jets at the nozzles (the nozzles are stationary), respectively.
As the wheel spins, a given water jet will impinge on a given bucket only for a very small portion of the
bucket’s trajectory. This fact allows us to model the motion of a bucket relative to a given jet (during the
time the bucket interacts with that jet) as essentially rectilinear and with constant relative speed, as was
done in Example 5.17. Although each bucket moves away from the jet, the fact that they are arranged in a
wheel is such that the effective mass flow rate experienced by the vanes is .m P f /nz instead of the reduced
mass flow rate computed in Eq. (6). With this in mind, consider a bucket, as shown in Fig. P5.136(c), that
is moving with a speed v0 horizontally away from a fixed nozzle but subject to a mass flow rate .m P f /nz .
The inside of the bucket is shaped so as to redirect the water jet laterally out (away from the plane of the
wheel). The angle describes the orientation of the velocity of the fluid relative to the (moving) bucket at
B, the point at which the water leaves the bucket. Determine and v0 such that the power transmitted by
the water to the wheel is maximum. Express v0 in terms of vw .
Solution
Due to the symmetry of the shape of a bucket, we can study the flow over half of a bucket. Using the
arguments presented in Example 5.17, under the assumption that the bucket is moving at constant velocity,
we can choose a control volume moving with the bucket. It is sufficient to study the motion only in the
horizontal direction. As explained in Example 5.17, the velocity of the water flow over the vanes must be
understood as relative velocity of the water with respect to the vanes.
Based on our choice of control volume, the FBD of our system is shown on the right.
Then, summing forces in the x direction, we have
X
Fx W 12 Rx D 21 .m P f /nz .vBx vAx /; (1)
where, as discussed in the problem statement, we have used the full mass flow rate
instead of the reduced mass flow rate that is perceived by a single bucket. The kinematic
equations for this problem are as follows:
vAx D .vw v0 / and vBx D .vw v0 / cos : (2)
Substituting Eq. (2) into Eq. (1), we have
Rx D .m
P f /nz .vBx vAx / ) Rx D .m
P f /nz .vw v0 /.cos C 1/:
Note that we have ignored the forces in the y direction. This is due to the fact that the forces in the y direction
on the half-bucket considered is canceled by the the force that acts on the other half of the bucket. Thus the
force acting on the bucket is FE D Rx {O.
FE D P f /nz .vw
.m v0 /.cos C 1/O{ :
August 10, 2009
Dynamics 1e 735
Now, observing that the velocity of the bucket is vE0 D v0 {O, then the power of the wheel is
P D FE vE0 ) P D .m
P f /nz v0 .vw v0 /.cos C 1/: (3)
To determine the conditions that allow to maximize the power, recall that 1 < cos < 1. Hence, the power
is maximized with respect to when
max power D 0ı :
Now, substituting D 0ı in Eq. (3), we have
P D 2.m
P f /nz v0 .vw v0 /:
Them, maximizing P by taking the derivative of P respect to v0 and setting the result equal to zero, we have
dP
v0 D 12 vw .

D2 m
P f nz .vw 2v0 / D 0 )
dv0
August 10, 2009

Problem 5.137
In Major League Baseball, a pitched ball has been known to hit the head of the batter (sometimes
unintentionally and sometimes not). Let the pitcher be, for example, Nolan Ryan who can throw a 5 18 oz
baseball that crosses the plate at 100 mph. Studies have shown that the impact of a baseball with a person’s
head has a duration of about 1 ms. So using Eq. (5.9) on p. 335 and assuming that the rebound speed of the
ball after the collision is negligible, determine the magnitude of the average force exerted on the person’s
head during the impact.
Solution
By a straightforward application of Eq. (5.9) on p. 335, we have
ˇ ˇ E / p.t ˇ
E 1 / ˇˇ
ˇ E ˇ ˇˇ p.t
ˇ
2
ˇFavg ˇ D ˇ ˇ; (1)
t2 t1
E 2 / D 0E since we are assuming that the rebound velocity of the ball is negligible, p.t
where p.t E 1 / D mE v .t1 /,
t2 D 1 ms, t1 D 0, and where m and vE.t1 / is are the mass and initial velocity of the ball respectively. Hence,
Eq. (1) simplifies to
ˇ
ˇE ˇ
ˇ mv.t1 /
ˇFavg ˇ D ; (2)
t2
where v.t1 / is the initial speed of the ball. Substituting the problem’s data into Eq. (2) we have
ˇ ˇ
ˇE ˇ
ˇFavg ˇ D 1460 lb;
where the numerical values of the data we have used are as follows:
1 1
m D 5 18 oz

D 0:009948 slug;
16:00 oz=lb 32:2 ft=s2
5280 ft=mi
v.t1 / D 100 mph D 146:7 ft=s;
3600 s=h
1
t2 D 1 ms D 1:00010 3 s:
1000 ms=s
August 10, 2009

Dynamics 1e 737
Problem 5.138
A 0:6 kg ball that is initially at rest is dropped on the floor from a height of 1:8 m and has
a rebound height of 1:25 m. If the ball spends a total of 0:01 s in contact with the ground,
determine the average force applied to the ball by the ground during the rebound. In addition,
determine the ratio between the magnitude of the impulse provided to the ball by the ground
and the magnitude of the impulse provided to the ball by gravity during the time interval that
the ball is in contact with the ground. Neglect air resistance.
Solution
We assume that the ball is only subject to (constant) gravity and, when in contact with the ground,
to a reaction force normal to the ground. Hence, the preimpact velocity can be determined using
constant acceleration equations, as follows:
yP 2 D yP02 2g.y y0 / ) vy D
p
2ghi ; (1)
where y D hi D 1:8 m is the height from which the ball is initially dropped, and where we have accounted
for the fact that when y D h1 , yP D 0 (i.e., the ball is dropped from rest) and for the fact that the preimpact
velocity must be in the negative y direction. Now, let vyC be the post impact vertical velocity of the ball. In
addition we observe that once the ball leaves the ground, the ball is again subject only to gravity. Hence, we
can again relate the postimpact velocity of the ball to the final height reached hf D 1:25 m using constant
acceleration equations. This yields
q
yP 2 D yP02 2g.y y0 / ) vyC D 2ghf ; (2)
where we have set yP0 D vyC for y0 D 0 and yP D 0 for y D hf , and where we have accounted for the fact
that vyC must be in the positive y direction.
Now that we have expressions for the pre- and postimact velocities of the ball we can then express the
pre- and postimpact linear momenta of the ball as follows:
q
pE D m 2ghi |O and pEC D m 2ghf |O:
p
Then, using Eq. (5.9) on p. 335 of the textbook, we have that the average force on the ball from the ground
during impact is given by
pEC pE m q p
FEavg D C FEavg D

) 2ghf C 2ghi |O D .654 N/ |O , (3)
t t t
where t D t C D t D 0:01 s and where we have used the following numerical data: m D 0:60 kg and
g D 9:81 m=s2 .
Based on the assumptions we typically use to solve impact problems, we have that the quantity pEC pE
is equal to the impulse provided to the ball by the ground. In addition, using the definition of impulse, the
impulse provided by gravity to the ball during the impact is t . mg |O/. Hence, referring to the expression
of the force FEavg , the ratio of the two impulses in question is given by
p
jpEC pE j jFEavg j
p
2ghf C 2ghi
D D D 111 ;
jt . mg |O/j mg gt
which indicates that the impulse provided by the ground during the impact is over two orders of magnitude
larger than the corresponding impulse provided by gravity.
August 10, 2009
Problem 5.139
A person P is initially standing on a cart on rails, which is moving to the right

with a speed v0 D 2 m=s. The cart is not being propelled by any motor. The
combined mass of person P , the cart, and all that is being carried on the cart is
270 kg. At some point a person PA standing on a stationary platform throws
to person P a package A to the right with a mass mA D 50 kg. Package A is
received by P with a horizontal speed vA=P D 1:5 m=s. After receiving the
package from A, person P throws a package B with a mass mB D 45 kg toward
a second person PB . The package intended for PB is thrown to the right, i.e.,
in the direction of the motion of P , and with a horizontal speed vB=P D 4 m=s
relative to P . Determine the final velocity of the person P . Neglect any friction
or air resistance acting on P and the cart.
Solution
The FBD shown is for the system consisting of the cart and the person P as he/she
receives package A. No forces act on the system in the horizontal direction. Hence, we
must have
mA .vAx /1 C mT .vP x /1 D mA .vAx /2 C mT .vP x /2 ; (1)
where mT D 270 kg is the combined mass of the person P , the cart, and the rest of
the objects being carried by the cart, and where the subscripts 1 and 2 refer to the time
instants right before and right after the person P receives the package A, respectively. Observe that we have
.vP x /1 D 2:00 m=s; .vAx /2 D .vP x /2 ; and .vAx /1 .vP x /1 D vA=P D 1:5 m=s: (2)
Substituting the symbolic forms of Eqs. (2) into Eq. (1) and solving for .vAx /2 , we have
mA
.vP x /2 D .vP x /1 C vA=P : (3)
mA C mT
Next, we consider the case when person P throws a package of mass mB

to person PB . The FBD for this case (shown to the right) again indicates that
the linear momentum in the horizontal direction is conserved. Then, letting the
subscripts 3 and 4 denote the time instants right before and right after the person
P throws the package, we have
.mT C mA /.vP x /3 D .mT mB C mA /.vP x /4 C mB .vBx /4 : (4)
Note that
.vP x /3 D .vP x /2 and .vBx /4 .vP x /4 D vB=P D 4:00 m=s: (5)
Hence, substituting Eqs. (5) into Eq. (4), using the result in Eq. (3), and solving for .vP x /4 , we have
mA mB
.vP x /4 D .vP x /1 C vA=P : (6)
mT C mA mT C mA
vP /final D .vP x /4 {O, using the above equation, we have
Recalling that .E
vP /final D .1:67 m=s/ {O

.E ;
where we have used the following numerical data: .vP x /1 D 2:00 m=s, mA D 50 kg, mT D 270 kg, and
vA=P D 4 m=s.
August 10, 2009
Dynamics 1e 739
Problem 5.140
A Ford Excursion A, with a mass mA D 3900 kg, traveling with a speed vA D

85 km=h collides head-on with a Mini Cooper B, with a mass mB D 1200 kg,
traveling in the opposite direction with a speed vB D 40 km=h. Determine the
postimpact velocities of the two cars if the impact’s coefficient of restitution is
e D 0:22. In addition, determine the percentage of kinetic energy loss.
Solution
The collision can be modeled as a (one dimensional) direct central

impact. Using the impact-relevant FBD shown, we have conservation
of momentum along the LOI, i.e.,
C C
where mA and mB are the masses of A and B, respectively, and where vAx D 85 km=h and vBx D 40 km=h.
The COR equation is
C C
C C
Equations (1) and (2) form a system of two equations in the two unknowns vAx and vBx whose solution is
C mB Œe.vBx vAx / C vBx C mA vAx

vAx D D 13:64 m=s; (3)
mA C mB
C mA Œe.vAx vBx / C vAx C mB vBx
vBx D D 21:28 m=s; (4)
mA C mB
where we have used the following numerical data: mA D 3900 kg, mB D 1200 kg, e D 0:22, vAx D
85 km=h D 23:61 m=s, and vBx D 40 km=h D 11:11 m=s. Hence, expressing our answer to three significant
digits, we have
vEAC D . 13:6 m=s/ {O and C

vEB D . 21:3 m=s/ {O :
Recalling that vAC D jvAx

C C
j and vB C
D jvBx j, and using the results in Eqs. (3) and (4), we have
2 2
1
D 1:161106 J

T D 2 mA .vA / C mB .vB / (5)
C C 2 C 2
1
D 6:345105 J;

T D 2 mA .vA / C mB .vB / (6)
where we have also used the following numerical data: mA D 3900 kg, mB D 1200 kg. Hence, using the
results in the above two equations, we have that percentage of energy lost is given by
T TC
100% D 45:3%:
T
August 10, 2009

Problem 5.141
The two spheres, A and B, with masses mA D 1:35 kg and mB D 2:72 kg,
respectively, collide with vA D 26:2 m=s and vB D 22:5 m=s. Let ˛ D 45ı
and compute the value of ˇ if the component of the postimpact velocity of B
along the LOI is equal to zero and if the COR is e D 0:63.
Solution
We model the collision as an unconstrained oblique impact. As such the

solution of the problem is governed by the following four equation:
C C
C
vAy D vAy ; (2)
C
vBy D vBy ; (3)
C
vAx D e.vBx vAx /; (4)
which represent, in order, the conservation of linear momentum for the system
as a whole along the LOI, the conservation of linear momentum for particle A
in the direction perpendicular to the LOI, the conservation of linear momentum for particle B in the direction
perpendicular to the LOI, and the COR equation along the LOI.
Observe that the preimpact velocities are given. Specifically, we have
vAx D vA cos ˛ D 18:53 m=s; vAy D vA sin ˛ D 18:52 m=s; (5)

vBx D vB cos ˇ; vBy D vB sin ˇ; (6)
where ˛ D 45ı , vA D 26:2 m=s, and vB D 22:5 m=s. In addition, notice that the postimpact component of
velocity along the LOI for particle B is
C
vBx D 0: (7)
Substituting the first of Eqs. (5), the first of Eqs. (6), and Eq. (7) into Eqs. (1) and (4) yields two equations in
C
the two unknowns vAx and ˇ whose solution is
e.mA vA cos ˛ C mB vA cos ˛/ .1 C e/mA vA cos ˛

C 1
vAx D and ˇ D cos (8)
e mA mB .e mA mB /vB
Focusing on the solution for ˇ given by the second of Eqs. (8), we have
ˇ D 14:3ı ;
where we have used the following numerical data: e D 0:63, mA D 1:35 kg, vA D 26:2 m=s, ˛ D 45ı ,
mB D 2:72 kg, and vB D 22:5 m=s.
August 10, 2009

Dynamics 1e 741
Problem 5.142
A 31;000 lb truck A and a 3970 lb sports car B collide at an intersection. At the

moment of the collision the truck and the sports car are traveling with speeds
vA D 60 mph and vB D 50 mph, respectively. Assume that the entire intersec-
tion forms a horizontal surface. Letting the line of impact be parallel to the
ground and rotated counterclockwise by ˛ D 20ı with respect to the preimpact
velocity of the truck, determine the postimpact velocities of A and B if the
contact between A and B is frictionless and the COR e D 0:1. Furthermore,
assuming that the truck and the car slide after impact and that the coefficient of
kinetic friction is k D 0:7, determine the position at which A and B come to
a stop relative to the position they occupied at the instant of impact.
Solution
We model A abd B as particle and the overall impact as an unconstrained elastic impact.
Therefore, using the qp component system, the equations governing the impact are
C C
mA vAp C mB vBp D mA vAp C mB vBp ; (1)
C
vAq D vAq ; (2)
C
vBq D vBq ; (3)
C C

vBp vAp D e vAp vBp ; (4)
where Eqs. (1)–(4) represent the conservation of linear momentum for the system along
the LOI, the conservation of linear momentum for particle A perpendicular to the LOI,
the conservation of linear momentum for particle B perpendicular to the LOI, and the COR equation for the
system, respectively. Observing that
uO q D cos ˛ {O C sin ˛ |O; (5)

uOp D sin ˛ {O C cos ˛ |O; (6)
{O D cos ˛ uO q sin ˛ uOp ; (7)
|O D sin ˛ uO q C cos ˛ uOp : (8)
Then we have that
vAq D vAx cos ˛ C vAy sin ˛ D vA sin ˛; (9)

vAp D vAx sin ˛ C vAy cos ˛ D vA cos ˛; (10)
vBq D vBx cos ˛ C vBy sin ˛ D vB cos ˛; (11)
vBp D vBx sin ˛ C vBy cos ˛ D vB sin ˛; (12)
where we have accounted for the fact that
vAx D 0; vAy D vA ; vBx D vB ; and vBy D 0: (13)
Substituting Eqs. (9) and (11) into Eqs. (2) and (3), we have
C C
vAq D vA sin ˛ D 30:10 ft=s and vBq D vBx cos ˛ D 68:91 ft=s: (14)
August 10, 2009
Substituting Eqs. (10) and (12) into Eqs. (1) and (4) yields a system of two equations in the two unknowns
C C
vAp and vBp whose solution is
C
.mA e mB /vA cos ˛ .1 C e/mB vB sin ˛
vAp D D 69:23 ft=s; (15)
mA C mB
C
.1 C e/mA vA cos ˛ C .e mA mB /vB sin ˛
vBp D D 80:01 ft=s; (16)
mA C mB
where we have used the following numerical data: mA D .31;000 lb/=.32:2 ft=s2 / D 962:7 slug, mB D
.3970 lb/=.32:2 ft=s2 / D 123:3 slug, vA D 60 mph D 88:00 ft=s, and vA D 50 mph D 73:33 ft=s, ˛ D 20ı ,
and e D 0:1.
Recalling Eqs. (7) and (8), the post impact velocities can be expressed as
vEAC D .4:607 {O C 75:35 |O/ ft=s and C

vEB D .37:39 {O C 98:75 |O/ft=s; (17)
so that, when expressed using three significant figures, we have
vEAC D .4:61 {O C 75:3 |O/ ft=s C

and vEB D .37:4 {O C 98:8 |O/ft=s ;
Right after impact, A will move along the post impact direction of the velocity of A until the kinetic friction
force due to sliding will cause A to stop. A similar consideration can be stated for B. Letting À and Á denote
the positions right after impact and the final positions of A and B, applying the work-energy principle we
must have
TA1 k mA gdA D TA2 and TB1 k mB gdB D TB2 (18)
where dA and dB are the stopping distances of A and B, respectively, we have accounted for the fact that the
friction force on A and B are constant and equal to k mA g and k mB g, respectively, and where the kinetic
energy terms are
TA1 D 21 mA .vAC /2 ; TA2 D 0; C 2

TB1 D 12 mB .vB / ; and TB2 D 0: (19)
Substituting Eqs. (19) into Eqs. (18) and solving for the stopping distances dA and dB , we obtain
dA D 126:4 ft and dB D 247:3 ft; (20)
where, in addition to the appropriate parameters listed below Eq. (16), we have used Eqs. (17) to compute
the postimpact speeds, as well as the following nuerical data: k D 0:7 and g D 32:2 ft=s2 . Since A moves
along the direction of its postimpact velocity, then the position vector of A at Á relative to À is given by
vEAC
rEA D dA D .7:71 {O C 126 |O/ ft ;
vAC
and, proceeding similarly for B, we have
C
vEB
rEB D dB C
D .87:6 {O C 231 |O/ ft ;
vB
where we have used the numerical results in Eqs. (17) and (20).
August 10, 2009
Dynamics 1e 743
Problem 5.143
Consider a collar with mass m that is free to slide with no friction along a
rotating arm of negligible mass. The system is initially rotating with a constant
angular velocity !0 while the collar is kept at a distance r0 from the ´ axis. At
some point, the restraint keeping the collar in place is removed so that the collar
is allowed to slide. Determine the expression for the moment that you need to
apply to the arm, as a function of time, to keep the arm rotating at a constant
angular velocity while the collar travels toward the end of the arm. Hint:
Z
1 p
p dx D ln x C x 2 1 C C:
x2 1
Solution
The FBD of the collar is show. Also, referring to the FBD of the arm,
since the mass of the arm is negligible, the equilibrium of moments
about point O implies that we must have
M
M D Nr ) N D ; (1)
r
where r is the distance of the collar from the spin axis. Then, choos-
ing O as moment center, the application of the angular impulse–
momentum principle about O for the collar gives:
d
M D .mrv /; (2)
dt
where mrv is the component of the angular momentum of collar
about O. In addition, applying Newton’s second law in the radial direction, we have
0 D mar ; (3)
where ar is the radial acceleration of the collar.

The kinematic equations for this problem are
v D r P ; ar D rR r P 2 ; P D !0 D constant: (4)
Substituting the first of Eqs. (4) into Eq. (2), we obtain
M D 2m!0 r r:
P (5)
Equation (5) indicates that to obtain M as a function of time we need to have both r and rP as a functions of
time. To obtain these expressions we begin by substituting the second of Eqs. (4) into Eq. (3), to obtain
rR r! 2 D 0 ) P rP D !02 rdr;
rd (6)
where we have used the relation rR D rd

P r=dr.
P Integrating both sides of Eq. (6) with appropriate limits of
integration we have
Z rP Z r q
2 1 2 1 2 2 2
P rP D
rd !0 rdr ) 2 rP D 2 !0 .r r0 / ) rP D !0 r 2 r02 ; (7)
0 r0
August 10, 2009
where we have accounted for the fact that, in this problem, rP > 0. Next, recalling that rP D dr=dt, we can
rewrite the final result in Eq. (7) as
Z r Z t
1 dr 1 dr
r D !0 dt ) r D !0 dt (8)
r0 r 2 r0 r0 r
2 0
r0 1 r0 1
q
1
p
where we have used that fact that r2 r02 D r0 .r=r0 /2 1. The last equality in Eq. (8) can be rewritten
as
r=r0
dx
Z
p D !0 t; (9)
1 x2 1
where we have used the change of variables of integration x D r=r0 . Then, using the hint provided, we have
0 s 1 s
2 2
r r r r
ln @ C 1 D !0 t )
A C 1 D e !0 t ; (10)
r0 r0 r0 r0
which can be solved for r to obtain
r D 21 r0 e !0 t C e !0 t
rP D 21 r0 !0 e !0 t !0 t

and e ; (11)
where rP was obtained by differentiating the expression for r with respect to time. Finally, substituting the
above results in Eq. (5) and simplifying, we obtain
M D 12 m!02 r02 e 2!0 t 2!0 t

e :
August 10, 2009

Dynamics 1e 745
Problem 5.144
A satellite is launched parallel to the Earth’s surface at an altitude of 450 mi with

a speed of 17;500 mph. Determine the apogee altitude hA above the Earth’s
surface as well as the period of the satellite.
Solution
The satellite will orbit the Earth along an elliptical orbit. The launch conditions corresponds to the satellite
being at the perigee of the elliptical orbit. Recalling that the radius of Earth is re D 3959 mi D 2:090107 ft,
then the radius at perigee is
rP D re C 450 mi D 4409 mi D 2:328107 ft: (1)
As stated in the problem, the speed at perigee is vP D 17;500 mph D 25;670 ft=s. To relate the information
we have at perigee to the value of the radius at apogee we now use Eq. (5.113) on p. (5.113) of the textbook,
which states that
rP
rA D ; (2)
2GmB =.rP vP2 / 1
where G is the universal gravitational constant and mB is the mass of the body about which the satellite
is orbiting. In our case the body B is the Earth and the term GmB is equal to gre2 , where g D 32:2 ft=s2 .
Therefore, using the results obtained thus far, we have
rP
rA D D 2:788107 ft D 5281 mi: (3)
2gre =.rP vP2 /
2 1
We are now in a position to determine the altitude hA of the satellite at apogee. In fact, we have
hA D rA rE D 6:98106 ft D 1320 mi:
We now turn to the determination of the orbit’s period, which we will denote by . To do so, we will use
Eq. (5.123) on p. 415 of the textbook, which states that
p
D .rP C rA / rP rA ; (4)

where the quantity is defined in Eq. (5.108) on p. 412 of the textbook, which states that D rP vP .
Therefore, using the values of rP in Eqs. (1) along with the value of vP indicated right after Eq. (1), we have
D 5:9761011 ft=s2 . Using this result, along with the values for rP , rA , and vP already found, applying
Eq. (4) we have
D 6850 s D 1:90 hr:
August 10, 2009

Problem 5.145
A spacecraft is traveling at 19;000 mph parallel to the surface of the Earth at

an altitude of 250 mi, when it fires a retrorocket to transfer to a different orbit.
Determine the change in speed v necessary for the spacecraft to reach a
minimum altitude of 110 mi during the ensuing orbit. Assume that the change
in speed is impulsive; that is, it occurs instantaneously.
Solution
The spacecraft intends to transfer onto an orbit with a radius that is smaller than that of its initial orbit.
Therefore, when the spacecraft fires its retrorockets it occupies the apogee of the ensuing elliptical transfer
orbit. In addition, the radius of the destination orbit is also the radius at perigee of the elliptical transfer orbit.
Therefore, recalling that the radius of the Earth is re D 3959 mi D 2:090107 ft, we can write
rA D .3959 mi C 250 mi/ D 2:222107 ft; (1)

rP D .3959 mi C 110 mi/ D 2:148107 ft: (2)
Consequently, the semimajor axis of the transfer orbit is
a D 21 .rA C rP / D 2:185107 ft: (3)
Now we observe that the initial speed at apogee is given and we denote it by v1 , i.e.,
5280 ft=mi
v1 D 19;000 mph D 27;870 ft=s: (4)
3600 s=h
The new speed needed by the spacecraft at apogee to get into the transfer orbit is found by applying Eq. (5.134)
on p. 416 of the textbook, which states
s
2 1
v D GmB ; (5)
r a
where G is the universal gravitational constant, mB is the mass of the body about which the satellite is
orbiting, and r is the distance of the satellite from B. In our case the body B is the Earth and the term GmB is
equal to gre2 , where g D 32:2 ft=s2 . In addition, r D rA given in Eq. (1) and a is given by Eq. (3). Therefore,
denoting the new speed at apogee by v2 , we have
s
2 1
v2 D gre 2 D 2:495104 ft=s D 17;010 mph: (6)
rA a
Finally, the change in speed to get the spacecraft on the transfer orbit is v D v2 v1 . Hence, using the
results in Eqs. (4) and (6) and expressing the final result using three significant figures, we have
v D 2:92103 ft=s D 1990 mph:
August 10, 2009

Dynamics 1e 747
The optimal way (from an energy standpoint) to transfer from one circular
orbit about a primary body (in this case, the Sun) to another circular orbit is
via the Hohmann transfer, which involves transferring from one circular orbit
to another using an elliptical orbit that is tangent to both at the periapsis and
apoapsis of the ellipse. This ellipse is uniquely defined because we know the
perihelion radius re (the radius of the inner circular orbit) and the aphelion
radius rj (the radius of the outer circular orbit), and therefore we know the
semimajor axis a via Eq. (5.117) and the eccentricity e via Eq. (5.114) or
Eqs. (5.119). Performing a Hohmann transfer requires two maneuvers, the first
to leave the inner (outer) circular orbit and enter the transfer ellipse and the
second to leave the transfer ellipse and enter the outer (inner) circular orbit.
Assume that the orbits of Earth and Jupiter are circular, use 150106 km for
the radius of Earth’s orbit, use 779106 km for the radius of Jupiter’s orbit, and
note that the mass of the Sun is 333;000 times that of the Earth.
Problem 5.146 A space probe S1 is launched from Earth to Jupiter via a

Hohmann transfer orbit. Determine the change in speed ve required at the
radius of Earth’s orbit of the elliptical transfer orbit (perihelion) and the change
in speed vj required at the radius of Jupiter’s orbit (aphelion). In addition,
compute the time required for the orbital transfer. Assume that the changes in
speed are impulsive; that is, they occur instantaneously.
Problem 5.147 A space probe S2 is at Jupiter and is required to return to

the radius of Earth’s orbit about the Sun so that it can return samples taken
from one of Jupiter’s moons. Assuming that the mass of the probe is 722 kg,
determine the change in kinetic energy required at Jupiter Tj for the maneuver
at aphelion. In addition, determine the change in kinetic energy required at
Earth Te for the perihelion maneuver. Finally, what is the change in potential
energy V of the spacecraft in going from Jupiter to the Earth?
Solution to 5.146
We begin with the determination of the speed corresponding to a circular orbit with radius equal to that of the
Earth’s orbit. Using Eq. (5.111) on p. 413 of the textbook, we have
s s
2
Gms 333;000gRE
.vcirc /Earth D D D 29;730 m=s D 107;000 km=h; (1)
re re
where ms is the mass of the Sun, re D 150 106 km D 150 109 m is the radius of the Earth’s orbit,
RE D 6371103 m is the radius of the Earth, and g D 9:81 m=s2 is the acceleration due to gravity on the
surface of the Earth.
Next, we compute the speed corresponding to the elliptical transfer orbit at perihelion. To do so, we use
Eq. (5.134) on p. 416 of the textbook. To apply this formula, we must first compute the semimajor axis of the
elliptical transfer orbit, which is given by
a D 21 .re C rj / D 4:6451011 m; (2)
August 10, 2009

where rj D 779106 km D 779109 m is the radius of Jupiter’s orbit. Now that a is known, the application
of Eq. (5.134) on p. 416 of the textbook to the computation the speed corresponding to the elliptical transfer
orbit at perihelion gives
s s
2 1 2 2 1
vperihelion D Gms D 333;000gRE D 38;500 m=s D 138;600 km=h; (3)
re a re a
Therefore denoting the change in speed at perihelion by ve D vperihelion .vcirc /Earth , using the results in
Eqs. (1) and (3), we have
ve D 8770 m=s D 31;600 km=h:
We now compute the speed at aphelion. Applying Eq. (5.134) on p. 416 again, we have
s s
2 1 2 2 1
vaphelion D Gms D 333;000gRE D 7414 m=s D 26;690 km=h: (4)
rj a rj a
Next we compute the speed corresponding to a circular orbit with the same radius as Jupiter’s orbit. Applying
Eq. (5.111) on p. 413 of the textbook again, we have
s s
2
Gms 333;000gRE
.vcirc /Jupiter D D D 13;050 m=s D 46;970 km=h: (5)
rj rj
Hence, we have
vj D 5630 m=s D 20;300 km=h:
Finally, the time t needed for the orbital transfer is equal to half of the obit’s period , which is given by
Eq. (5.126) on p. 415 of the textbook. Hence, applying this formula, we have
s
a3
t D 12 D 2
; (6)
333000gRE
which, upon substitution of the problem’s numerical data , yields
D 8:64107 s D 1000 days:
August 10, 2009

Dynamics 1e 749
Solution to 5.147
We start with computing the speed corresponding to a circular orbit with the same radius as Jupiter’s orbit.
Using Eq. (5.111) on p. 413 of the textbook, we have
s s
2
Gms 333;000gRE
.vcirc /Jupiter D D D 13;050 m=s D 46;970 km=h; (7)
rj rj
where ms is the mass of the Sun, rj D 779 106 km D 779 109 m is the radius of Jupiter’s orbit,
RE D 6371103 m is the radius of the Earth, and g D 9:81 m=s2 is the acceleration due to gravity on the
surface of the Earth.
Next we now compute the speed at aphelion. To do so, we use Eq. (5.134) on p. 416 of the textbook. To
apply this formula, we must first compute the semimajor axis of the elliptical transfer orbit, which is given by
a D 21 .re C rj / D 4:6451011 m; (8)
re D 150106 km D 150109 m is the radius of Earth’s orbit. Now that a is known, the application of
Eq. (5.134) on p. 416 of the textbook to the computation the speed corresponding to the elliptical transfer
orbit at aphelion gives
s s
2 1 2 2 1
vaphelion D Gms D 333;000gRE D 7414 m=s D 26;690 km=h; (9)
rj a rj a
Using the results in Eqs. (7) and (9), letting m D 722 kg denote the mass of the probe in our problem, the
change in kinetic energy of the probe at aphelion is
2 2
Tj D 21 mvaphelion 1
2 m.vcirc /Jupiter D 4:161010 J:
Applying Eq. (5.134) on p. 416 again, for the second maneuver we have that the speed at perihelion is
s s
2 1 2 2 1
vperihelion D Gms D 333;000gRE D 38;500 m=s D 138;600 km=h: (10)
re a re a
In addition, using Eq. (5.111) on p. 413 of the textbook again, the speed in the circular orbit at the radius of
the Earth is
s s
2
Gms 333;000gRE
.vcirc /Earth D D D 29;730 m=s D 107;000 km=h: (11)
re re
Hence, the change in kinetic energy of the probe at perihelion is
Tj D 12 m.vcirc /2Earth 1 2

2 mvperihelion D 2:161011 J:
To compute the change in potential energy of the probe, observe that, at Jupiter we have
2
ms m 333000gRE m
Vj D G D D 1:2291011 J: (12)
rj rj
The potential energy at Earth is
2
ms m 333000gRE m
Ve D G D D 6:3821011 J: (13)
re re
Hence, the change in potential energy of the probe is V D Ve Vj , whose numerical value is
V D 5:151011 J:
August 10, 2009

Problem 5.148
A water jet is emitted from a nozzle attached to the ground. The jet has a
constant mass flow rate .m P f /nz D 15 kg=s and a speed vw relative to the
nozzle. The jet strikes a 12 kg incline and causes it to slide at a constant speed
v0 D 2 m=s. The kinetic coefficient of friction between the incline and the
ground is k D 0:25. Neglecting the effect of gravity and air resistance on the
water flow, as well as friction between the water jet and the incline, determine
the speed of the water jet at the nozzle if D 47ı .
Solution
In solving this problem we will follow the approach demonstrated in Example 5.17 on p. 432
of the textbook. Specifically, because both the speed of the water jet at the nozzle and the
speed of the incline are constant, we can conclude thatsince the water flow over the moving
incline is steady. Furthermore, again because the incline is moving with a constant velocity
relative to the ground (which we view as an inertial reference frame) the incline can be
chosen as an inertial reference frame. Using the frame of reference, we choose as our control
volume, the volume occupied by the fluid in contact with the incline, delimited by cross sections at A and B.
Hence, referring to the control volume FBD on the right, the force balance for the control volume gives
X
Fx W Rx D m P f .vBx vAx /; (1)
X
Fy W Ry D m P f .vBy vAy /; (2)
where, as in Example 5.17, Rx and Ry are the components of the force applied by the incline to the water
P f is the mass flow rate across the cross sections A and B, and where vEA D vAx {O C vAy |O and
jet, m
vEB D vBx {O C vBy |O are the velocities of the water jet at A and B, respectively, as measured by an observer
moving with the incline. Now, since we are neglecting any friction between the water jet and the incline,
there is no force that would slow down the water jet as it travels over the incline. This implies that the speed
of the water jet remains the same at every point along the top surface of the incline and we therefore have
vAx D vw v0 ; vAy D 0; vBx D .vw v0 / cos ; and vBy D .vw v0 / sin : (3)
As far as the flow rate is concerned, just like in Example 5.17, we need to distinguish between the mass flow
rate at the nozzle, denoted by .mP f /nz from the mass flow rate over the incline, denoted by m
P f . Recalling the
relation between the mass flow rate and the volumetric flow rate, we can write
P f /nz .vw
.m v0 /
P f /nz D S vw
.m and P f D S.vw
m v0 / ) Pf D
m ; (4)
vw
where we have assumed that the area of the cross section of the jet flowing over the incline remains constant
and equal to the corresponding cross section at the nozzle.
Substituting Eqs. (3) and the last of Eqs. (4) into Eqs. (1) and (2), treating vw as it it were known, we
obtain a system of two equations in the two unknowns Rx and Ry whose solution is
P f /nz
.m P f /nz
.m
Rx D .1 cos /.vw v0 / 2 and Ry D sin .vw v0 /2 : (5)
vw vw
We can now consider the FBD of the incline and then relate the quantity vw to the friction force acting on the
incline.
August 10, 2009
Dynamics 1e 751
We model the incline as a particle and subject to the forces depicted in the FBD on
the right. Note that the forces Rx and Ry now represent the action of the water jet
on the incline. Furthermore, the force F is the friction force between the incline and
the ground. The application of Newton’s second law to the the incline gives
X
Fx W Rx F D max ; (6)
X
Fy W N mg Ry D may ; (7)
where m is the mass of the incline. Now, since the incline is moving at a constant velocity, we have
ax D 0 and ay D 0: (8)
Since the incline is sliding relative to the ground, the friction force is then related to the normal force N as
F D k N: (9)
Substituting the second of Eqs. (5) and the second of Eqs. (8) into Eq. (7) and solving for N , we have
P f /nz
.m
N D mg C sin .vw v0 /2 : (10)
vw
Next, substituting Eq. (10) into Eq. (9), then substituting the result in Eq. (6), and solving for Rx , gives
.m P f /nz

2
Rx D k mg C sin .vw v0 / : (11)
vw
Setting the expressions for Rx given in the first of Eqs. (5) equal to that given in Eq. (11), we have
.mP f /nz .mP f /nz

2 2
.1 cos /.vw v0 / D k mg C sin .vw v0 / ; (12)
vw vw
which, after multiplication by vw , can be rearranged to read
P f /nz .vw
.m v0 /2 .1 cos k sin / mgk vw D 0: (13)
Finally, dividing this equation by the term .m P f /nz .1 cos k sin / and expanding the term in parenthesis,
we have
2 mgk
vw 2v0 C vw C v02 D 0: (14)
.mP f /nz .1 cos k sin /
Now observe that the term in parenthesis in the above equation consists of all known constant quantities.
Hence, let the constant K be defined as the term in question, i.e.,
mgk
K D 2v0 C D 18:52 m=s; (15)
P f /nz .1 cos k sin /
.m
where we have used the following numerical data: v0 D 2:00 m=s, m D 12:0 kg, g D 9:81 m=s2 , k D
P f /nz D 15:0 kg=s, and D 47:0ı . Then Eq. (14) can be rewritten as
0:250, .m
2
vw Kvw C v02 D 0; (16)
which is a quadratic equation in vw whose solution is
8 q
<1K 1 2 4v02 D 0:219 m=s;
2 2 qK
vw D
:1K C 1 2 4v02 D 18:3 m=s;
2 2 K
where we have used the value of K in Eq. (15) and v0 D 2:00 m=s.
August 10, 2009
Problem 5.149
Revisit Example 5.20 and derive the equation of motion of the free end of the
string starting from the force balance for the right branch of the string modeled
as a variable mass system.
Solution
We start with reporting Eq. (9) (on p. 439 of the textbook) from Example 5.20.
X
FyR W `R g D `R ayR C m P o vEo |O;
In addition, we observe that Eqs. (10)–(12) of Example 5.20 are still valid, so that we can write
ayR D y;
R Po D
m PR D
m `PR D y=2;
P and vEo D `PR |O D 1
2 yP |O: (1)
Substituting Eqs. (1) into Eq. () and simplifying we have Combining the above equations we have
1 2 1 2
2 .L y/g D 12 .L y/yR 1
4 yP ) .L y/.yR g/ 2 yP D 0.
This as a nonlinear ordinary differential equation whose solution as a function of time is the motion of the
free end of the string.
August 10, 2009

Dynamics 1e 753
Problem 5.150
An intubed fan (a fan rotating within a tube or other conduit) is mounted on a

cart that is connected to a fixed wall via a linear elastic spring with constant
k D 70 N=m. Assume that in a particular test the fan draws air that enters the
tube at A with a speed vA . The outgoing flow at B has a speed vB . The flow of
air through the tube causes the cart to displace to the left so that the spring is
stretched by 0:25 m from its unstretched position. Assume that the density of
air is constant throughout the tube and equal to D 1:25 kg=m3 . In addition
let the tube’s cross section be circular, and let the cross-sectional diameters at
A and B be dA D 3 m and d D 1:5 m, respectively. Determine the velocities
of the airflow at A and B.
Solution
Since the airflow is steady, we select as our control volume the interior volume of the tube
delimited by the (vertical) cross sections at A and B. The FBD of the chosen control volume
is as shown on the right, where R is the horizontal force acting on the airflow do to the fan
(using symmetry arguments we can say that no net force acts on the airflow in the vertical
direction). Hence, the force balance for the chosen control volume in horizontal direction is
X
Fx W R D m P f .vBx vAx /; (1)
where m P f is the mass flow rate, vAx and vBx are the horizontal components of the airflow velocities at A and
B, respectively. The term m P f is related to the volumetric flow rate Q as mP f D Q, where is the density of
the fluid. In turn, Q at a generic cross section of area S is related to the flow speed v at that cross section by
Q D vS . Therefore, recalling that in this problem the density is constant, at cross sections A and B we have
P f D QA D QB
m ) P f D 14 dA2 vAx D 14 dB2 vBx
m ) dA2 vAx D dB2 vBx ; (2)
where dA and dB are the diameters of the cross sections at A and B, respectively.
The airflow applies to the tube a force equal and opposite to R. In turn, the tube will
transmit this force to the cart. Therefore, the FBD of the cart is as shown on the right and
applying Newton’s second law to the cart in the horizontal direction yields
X
Fx W R Fs D mc ax ; (3)
where mc is the cart’s mass and Fs is the spring force due to the spring, which is given by
Fs D kı: (4)
Substituting Eq. (4) into Eq. (3), since the cart is stationary so that ax D 0, and solving for R, we have
R D kı: (5)
P f in terms of vAx . We then substitute

Next, referring to Eqs. (2), we substitute into Eq. (1) the expression for m
Eq. (5) into Eq. (1). The resulting equation, along with the last of Eqs. (2) gives
kd D 14 dA2 vAx .vBx vAx /; (6)

dA2 vAx D dB2 vBx ; (7)
August 10, 2009
which is a system of two equations in the two unknowns vAx and vBx whose solution is
s s
2dB kı 2dA kı
vAx D 2 2
D 0:8125 m=s and vBx D D 3:250 m=s; (8)
dA dA dB dB dA2 dB2
where we have used the following numerical data: dA D 3:00 m, dB D 1:50 m, k D 70:0 N=m, ı D 0:250 m,
and D 1:25 kg=m3 . Finally, using the component system shown and expressing our answer to three
significant figures, we have
vEA D .0:813 m=s/ {O and vEB D .3:25 m=s/ {O :
August 10, 2009

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Engineering Mechanics: Dynamics

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August 10, 2009

Accuracy of Numbers in Calculations

August 10, 2009

Hence, for the blue curve we have

For the green curve we have

For the red curve we have

August 10, 2009

(a) a 2 m jump off the surface by a 85 kg person;

August 10, 2009

The impulse of the weight force is

August 10, 2009

where we have used the following numerical data:

August 10, 2009

therefore, using the above equation we have

Impulse of N D .11:8106 lbs/ |O @ 15ı ;

August 10, 2009

An airplane performs a turn at constant speed and elevation so as to change its

August 10, 2009

Problems 5.7 and 5.8

airplane. Expressing .Favg /c to three significant digits, we have

August 10, 2009

where T1 D 0, U1-2 D FT d , and T2 D 21 mv22 , so that we have

August 10, 2009

August 10, 2009

we see that a constant force

August 10, 2009

A 30;000 lb airplane is flying on a horizontal trajectory with a speed v0 D

be exerted on the plane in going from A to B.

so that our numerical answer is

where we have used the following numerical data:

August 10, 2009

August 10, 2009

(a) Determine the impulse provided to the baseball by the bat.

Impulse D .3:17 {O C 1:20 |O/ lbs :

Part (b). Using the first of Eqs. (3), we can write

August 10, 2009

August 10, 2009

Impulse D .14:9 |O/ Ns :

Next, applying the formula for the average acceleration, we have

aEavg D .5420 |O/ m=s D 552g |O :

August 10, 2009

August 10, 2009

August 10, 2009

August 10, 2009

Problems 5.19 through 5.21

These problems are an introduction to perfectly plastic impact (which we will

Problem 5.19 An 80;000 lb semitruck A (the maximum weight allowed in

Problem 5.20 An 80;000 lb semitruck A (the maximum weight allowed in

Problem 5.21 An 80;000 lb semitruck A (the maximum weight allowed in

mC .vC x /1 C nmm .vBx /1

vE1 D v1 |O; vE2 D v2 |O; and v3 D v3 cos {O v3 sin |O: (1)

m1 vE1 C m2 vE2 C m3 vE3 m3 v3 cos {O C .m2 v2 m1 v1 m3 v3 sin /|O

uO r D cos {O C sin |O; (1)

vEA=B D r P uO D r P sin {O C r P cos |O; (3)

pE D mA vEA C mB vEB D ŒmA .vB r! sin / C mB vB {O C mA r! cos |O (4)