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حل الشيت 4
حل الشيت 4
حل الشيت 4
Email: nzabaras@gmail.com
URL: http://www.zabaras.com/
kg Determine IO
d 8000
m3 through an axis
kg perpendicular
md dVd 8000 3
[ (0.25 m ) 2
(0.01 m)] 15.71 kg to the page and
m
1 passing through O
( I d )O md rd 2 md d 2
2 1
IG m r 2
1 2
(15.71kg )(0.25m) 2 (15.71kg )(0.25m) 2
2
1.473 kg.m 2
kg
mh hVh 8000 3 [ (0.125 m) 2 (0.01 m)] 3.93 kg
m
1
( I h )O mh rh 2 mh d 2
2
1 IO ( I d )O ( I h )O
(3.93kg )(0.125m) 2 (3.93kg )(0.25m) 2
2 1.473 0.276 1.2 kg.m 2
0.276 kg.m 2 Introduction to Dynamics (N. Zabaras) 2
Problem 2
mm=125 kg
The motorcycle shown has a mass of 125 kg and a center mR= 75 kg
of mass at G 1 while the rider has a mass of 75 kg and a a= ?
center of mass at G2. NB=?
FB=?
Determine the minimum coefficient of static friction ms=? Minimum to
between the wheels and the pavement in order for the lift front wheel
rider to do a "wheely,'‘ i.e., lift the front wheel off the
ground as shown in the photo. What acceleration is
necessary to do this? Neglect the mass of the wheels and
assume that the front wheel is free to roll.
Introduction to Dynamics (N. Zabaras) 3
Problem 2
mm=125 kg
mR= 75 kg
a= ?
NB=?
FB=?
ms=? Minimum to
Lift front wheel
Fx m(aG ) x ; FB (75kg 125kg )aG
Fy m(aG ) y ; N B 735.75 N 1226.25 N 0
FB 1790
N B 1962 N ( m s ) min 0.912
N B 1962
FB 1790 N
Introduction to Dynamics (N. Zabaras) 4
Problem 3
m = 80 kg
aG mB= 0.8
NA= ?
NB= ?
When rear wheel locks for break
a = ? Deceleration
mBNB
Fx m(aG ) x ; 0.8 N B 80aG
NA NB
Fy m(aG ) y ; N B N A 80(9.81) 0
aG 2.26 m / s 2
N B 226 N
N A 559 N
Introduction to Dynamics (N. Zabaras) 5
Problem 4
m= 80 kg
a=0 mB= ?
NA=?
NB=?
a =?
When traveling at constant velocity
and no break was applied
mBNB
NA NB Fx 0; mk N B 0
Fy m(aG ) y ; N B N A 80(9.81) 0
M A 0; N B (0.95) 80(9.81)(0.55) 0
aG 0 m / s 2
N B 330 N
N A 454 N
Introduction to Dynamics (N. Zabaras) 6
Problem 5
m= 80 kg
aG NA=?
NB=?
a =?
mk=? minimum
When rider applies the front break
and back wheel start to lift off the ground
mkNA NB 0
Fx m(aG ) x ; mk N A 80aG
NA NB=0
Fy m(aG ) y ; N A 80(9.81) 0
aG 4.5 m / s 2
N A 785 N
mk 0.458
Introduction to Dynamics (N. Zabaras) 7
Problem 6
mBD=100kg
mAB=mCD= Neglect
Consider instant: q = 30o, w = 6 rad/s
Compute: TA= ? TD= ? aG=? BD undergoes
curvilinear
translation.
Each
point on it
having a
circular
path of radius
0.5 m but with
different
center.
F n m(aG ) n TB TD 981cos 30 100(18)
(aG ) n ω2 r (6) 2 (0.5) 18 m / s 2
F m( a
t )
G t 981sin 30 100( aG )t
M G M G eff
FAE sin 30250 mm FAE cos 30100 mm
FDF sin 30250 mm FDF cos 30100 mm 0
38.4 FAE 211.6 FDF 0
FDF 0.1815 FAE
Fn Fn eff
a 8.50 m s 2 60o FAE FDF W sin 30 0
FAE 0.1815 FAE W sin 30 0
FAE 0.6198 kg 9.81m s 2 FAE 47.9 N T
2.374 rad s2
I 0.1656 lb ft s 2 Then,
a A 10 ft s 2 a A rA
12
aB 6
ft s 2 10
12
ft 2.374 rad s 2 a A 1.978 ft s 2
12
aB rB
126 ft 2.374 rad s 2 aB 1.187 ft s2
Introduction to Dynamics (N. Zabaras) 14
Problem 9
SOLUTION:
• Draw the free-body-diagram
equation expressing the equivalence
of the external and effective forces
on the sphere.
• Solve the three corresponding scalar
equilibrium equations for the normal
A uniform sphere of mass m and radius reaction from the surface and the
r is projected along a rough horizontal linear and angular accelerations of
surface with a linear velocity v0. The the sphere.
coefficient of kinetic friction between the • Apply the kinematic relations for
sphere and the surface is mk.
uniformly accelerated motion to
Determine: determine the time at which the
(a) the time t1 at which the sphere will tangential velocity of the sphere at
start rolling without sliding, and the surface is zero, i.e., when the
sphere stops sliding.
(b) the linear and angular velocities of
the sphere at time t1.
Introduction to Dynamics (N. Zabaras) 15
Problem 9
SOLUTION:
• Draw the free-body-diagram equation expressing
the equivalence of external and effective forces
on the sphere.
• Solve the three scalar equilibrium equations.
Fy Fy eff
N W 0 N W mg
Fx Fx eff
F ma
mk mg ma a mk g
M G M G eff
Fr I
5 mk g
mk mg r 52 mr 2
2 r
NOTE: As long as the sphere both rotates and
slides, its linear and angular motions are
uniformly accelerated.
Introduction to Dynamics (N. Zabaras) 16
Problem 9
• Apply the kinematic relations for uniformly accelerated
motion to determine the time at which the tangential
velocity of the sphere at the surface is zero, i.e., when
the sphere stops sliding.
v v 0 a t v 0 m k g t
5 mk g
w w0 t 0 t
2 r
At t1 when the sphere stops sliding, vC=0, and C
a mk g becomes the instantaneous center of rotation, i.e.
v1 rw1
5 mk g
5 mk g
2 v0
2 r v0 m k gt1 r t1 t
7 mk g
1
2 r
5 mk g 5 m k g 2 v0
w1
5 v0
t1 w1
2 r 2 r 7 m k g 7 r
5v
v1 rw1 r 0 v1 75 v0
7 r
Introduction to Dynamics (N. Zabaras) 17
Problem 10
m=60 kg
Radius of gyration
kO=0.25
mb=20 kg
=? Drum
a=?
o o
M I ; T (0.4 m ) [3.75 kg .m 2
] (for the pulley only)
a r ; a (0.4)
T 106 N a 4.52 m / s 2 11.3rad / s 2
Introduction to Dynamics (N. Zabaras) 18
Problem 11
W=50 Ib
kG=0.6 ft
w= 8 rad/s
Pin reaction =?
50
I G mkG (2
)(0.6) 2 0.559 slug.ft 2
32.2
50
Fn mw 2 rG ; On ( )(8rad / s ) 2 (0.5ft )
32.2
50
Ft m rG ; Ot 50 ( )( )(0.5ft )
32.2
M G IG ; Ot (0.5) 80 Ib.ft (0.559)
On 49.7 N Ot 36.1Ib 111 rad / s 2
Introduction to Dynamics (N. Zabaras) 19
Problem 12
SOLUTION:
• Draw the free-body-equation for
AOB, expressing the equivalence of
the external and effective forces.
mE 4 kg
• Evaluate the external forces due to
k E 85 mm
the weights of gear E and arm OB
mOB 3 kg
and the effective forces associated
The portion AOB of the mechanism with the angular velocity and
is actuated by gear D and at the acceleration.
instant shown has a clockwise
angular velocity of 8 rad/s and a • Solve the three scalar equations
counterclockwise angular derived from the free-body-
acceleration of 40 rad/s2. equation for the tangential force at
A and the horizontal and vertical
Determine: a) tangential force components of reaction at shaft O.
exerted by gear D, and b)
components of the reaction at shaft
O. Introduction to Dynamics (N. Zabaras) 20
Problem 12
SOLUTION:
• Draw the free-body-equation for AOB.
• Evaluate the external forces due to the weights
of gear E and arm OB and the effective forces.
WE 4 kg 9.81m s 2 39.2 N
WOB 3 kg 9.81m s 2 29.4 N
I E mE k E2 4kg 0.085 m 2 40 rad s 2
1.156 N m
mOB aOB t mOB r 3 kg 0.200 m 40 rad s 2
24.0 N
mE 4 kg 40 rad s 2
k E 85 mm w 8 rad/s
mOB aOB n mOB r w 2 3 kg 0.200 m 8 rad s 2
mOB 3 kg 38.4 N
M O M O eff
F 0.120m I E mOB aOB t 0.200m I OB
1.156 N m 24.0 N 0.200m 1.600N m
F 63.0 N
Fx Fx eff
WE 39.2 N
Rx mOB aOB t 24.0 N
WOB 29.4 N Rx 24.0 N
Fy Fy eff
I E 1.156 N m
mOB aOB t 24.0 N
R y F WE WOB mOB aOB
mOB aOB n 38.4 N R y 63.0 N 39.2 N 29.4 N 38.4 N
IOB 1.600 N m R y 24.0 N
Introduction to Dynamics (N. Zabaras) 22
Problem 13
SOLUTION:
• Draw the free-body-equation for the
wheel, expressing the equivalence of
the external and effective forces.
• Assuming rolling without slipping and
therefore, related linear and angular
accelerations, solve the scalar
equations for the acceleration and the
A cord is wrapped around the normal and tangential reactions at the
inner hub of a wheel and pulled ground.
horizontally with a force of 200 N. • Compare the required tangential
The wheel has a mass of 50 kg reaction to the maximum possible
and a radius of gyration of 70 mm. friction force.
Knowing ms = 0.20 and mk = 0.15, • If slipping occurs, calculate the kinetic
determine the acceleration of G friction force and then solve the scalar
and the angular acceleration of equations for the linear and angular
the wheel. accelerations.
Introduction to Dynamics (N. Zabaras) 23
Problem 13
SOLUTION:
• Draw the free-body-equation for the wheel,.
• Assuming rolling without slipping, solve the scalar
equations for the acceleration and ground
reactions.
M C M C eff
200N 0.040 m ma 0.100 m I
8.0 N m 50 kg 0.100 m 2 0.245 kg m 2
10.74 rad s 2
I mk 50 kg 0.70 m
2 2
0.245 kg m 2
a 0.100 m 10.74 rad s 2 1.074 m s 2
Fx Fx eff
Assume rolling without slipping,
F 200 N ma 50 kg 1.074 m s 2
a r F 146.3 N
0.100 m
Fx Fx eff
N W 0
N mg 50kg 1.074 m s 2 490.5 N
Introduction to Dynamics (N. Zabaras) 24
Problem 13
• Compare the required tangential reaction to the
maximum possible friction force.
Fmax m s N 0.20490.5 N 98.1 N
Fx Fx eff
200 N 73.6 N 50 kg a a 2.53 m s2
M G M G eff
73.6 N 0.100 m 200 N 0.0.060 m
0.245 kg m 2
18.94 rad s 2 18.94 rad s2
Introduction to Dynamics (N. Zabaras) 25
Problem 14
SOLUTION:
• Based on the kinematics of the
constrained motion, express the
accelerations of A, B, and G in terms
of the angular acceleration.
ma x
50
4.46 6.93 Fy Fy eff
32.2
50 RA 22.5cos 45 50 2.692.30
ma y 1.732 2.69 RA 27.9 lb
32.2
Introduction to Dynamics (N. Zabaras) 28