HW6 Solutions

Planar Kinetics of a Rigid

Body: Force and Acceleration
Prof. Nicholas Zabaras
Warwick Centre for Predictive Modelling
University of Warwick
Coventry CV4 7AL
United Kingdom

Email: nzabaras@gmail.com
URL: http://www.zabaras.com/

February 14, 2016

Introduction to Dynamics (N. Zabaras) 1
 Problem 1
Hole

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

M B   (Μ k ) B ;  (735.75 N )(0.4m)  (1226.25 N )(0.8m)

 (75kg aG )  (0.9m)  (125kg aG )(0.6m)
aG  8.94 m / s  2

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

M A   (Μ k ) A ;  N B (0.95)  80(9.81)(0.55)  80aG (1.2)

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

M A   (Μ k ) A ; 80(9.81)(0.55)  80aG (1.2)

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  0 G  TB cos 30(0.4)  TD cos 30(0.4)  0

(aG )t  4.9 m / s 2 TB  TD  1.32 kN
Introduction to Dynamics (N. Zabaras) 8
 Problem 7
The thin plate of mass 8 kg is held
in place as shown.
Neglecting the mass of the links,
determine immediately after the
wire has been cut (a) the
acceleration of the plate, and (b) the
force in each link.
Introduction to Dynamics (N. Zabaras)
SOLUTION:
• Note that after the wire is cut, all
particles of the plate move along
parallel circular paths of radius 150
mm. The plate is in curvilinear
translation.
• Draw the free-body-diagram
equation expressing the equivalence
of the external and effective forces.
• Resolve into scalar component
equations parallel and perpendicular
to the path of the mass center.
• Solve the component equations and
the moment equation for the
unknown acceleration and link
forces.
9
 Problem 7
SOLUTION:
• Note that after the wire is cut, all particles of
the plate move along parallel circular paths
of radius 150 mm. The plate is in curvilinear
translation.
• Draw the free-body-diagram equation
expressing the equivalence of the external
and effective forces.
• Resolve the diagram equation into
components parallel and perpendicular to
the path of the mass center.
 Ft   Ft eff
W cos 30  ma
At the instant
BH is cut, the mg cos 30 
velocity of the
plate is zero.  
a  9.81m/s 2 cos 30
Thus we only
have a  8.50 m s 2 60o
tangential
acceleration
Introduction to Dynamics (N. Zabaras) 10
as shown.
 Problem 7
• Solve the component equations and the
moment equation for the unknown acceleration
and link forces.

 M G   M G eff
FAE sin 30250 mm   FAE cos 30100 mm 
FDF sin 30250 mm   FDF cos 30100 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  0.6198 kg  9.81m s 2  FAE  47.9 N T

FDF  0.181547.9 N  FDF  8.70 N C

Introduction to Dynamics (N. Zabaras) 11

 Problem 8
SOLUTION:
• Determine the direction of rotation
by evaluating the net moment on
the pulley due to the two blocks.
• Relate the acceleration of the
blocks to the angular acceleration
of the pulley.
• Draw the free-body-diagram
equation expressing the
A pulley weighing 12 lb and having a equivalence of the external and
radius of gyration of 8 in. is connected effective forces on the complete
to two blocks as shown. pulley plus blocks system.
Assuming no axle friction, determine • Solve the corresponding moment
the angular acceleration of the pulley equation for the pulley angular
and the acceleration of each block. acceleration.

Introduction to Dynamics (N. Zabaras) 12

 Problem 8
SOLUTION:
• Determine the direction of rotation by evaluating the
net moment on the pulley due to the two blocks.
 M G  10 lb6 in   5 lb10 in   10 in  lb
rotation is counterclockwise.
W 2
note: I  mk 2  k
g
2
12 lb  8 
 2
ft 
32.2 ft s  12 
 0.1656 lb  ft  s 2

• Relate the acceleration of the blocks to the

angular acceleration of the pulley.
a A  rA aB  rB
 10
12
ft   126 ft 
Introduction to Dynamics (N. Zabaras) 13
 Problem 8
• Draw the free-body-diagram equation expressing
the equivalence of the external and effective forces
on the complete pulley and blocks system.
• Solve the corresponding moment equation for the
pulley angular acceleration.
 M G   M G eff
10 lb126 ft   5 lb10
12
ft   I   mB aB 12
6 
ft  mAa A 10
12
ft 
10126   510
12
  0 .1656    10  6  6   5 10 10 
32.2 12
 12  32.2 12 12

  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=?

I o  mko 2  (60 kg )(0.25 m) 2  3.75 kg.m 2

  Fx  m(aG ) x ; Ox  0
  Fy  m(aG ) y ;  20(9.81)  T  20a (for the weight only)

 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
mE  4 kg
k E  85 mm
mOB  3 kg
The portion AOB of the mechanism
is actuated by gear D and at the
instant shown has a clockwise
angular velocity of 8 rad/s and a
counterclockwise angular
acceleration of 40 rad/s2.
Determine: a) tangential force
exerted by gear D, and b)
components of the reaction at shaft
O. Introduction to Dynamics (N. Zabaras)
SOLUTION:
• Draw the free-body-equation for
AOB, expressing the equivalence of
the external and effective forces.
• Evaluate the external forces due to
the weights of gear E and arm OB
and the effective forces associated
with the angular velocity and
acceleration.
• Solve the three scalar equations
derived from the free-body-
equation for the tangential force at
A and the horizontal and vertical
components of reaction at shaft O.
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

I OB  121 mOB L2   121 3kg0.400 m2 40 rad s2 

 1.600 N  m
Introduction to Dynamics (N. Zabaras) 21
 Problem 12
• Solve the three scalar equations derived from the
free-body-equation for the tangential force at A
and the horizontal and vertical components of
reaction at O.

 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  0.20490.5 N   98.1 N

F > Fmax , rolling without slipping is

impossible.
• Calculate the friction force with slipping and solve
the scalar equations for linear and angular
Without slipping,
accelerations.
F  146.3 N N  490.5 N F  Fk  m k N  0.15490.5 N   73.6 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.

• Draw the free-body-equation for the

rod, expressing the equivalence of
the external and effective forces.
The extremities of a 4-ft rod
weighing 50 lb can move freely • Solve the three corresponding scalar
and with no friction along two equations for the angular acceleration
straight tracks. The rod is and the reactions at A and B.
released with no velocity from
the position shown.
Determine: a) the angular
acceleration of the rod, and b)
the reactions at A and B.
Introduction to Dynamics (N. Zabaras) 26
 Problem 14
SOLUTION:
• Based on the kinematics of the constrained
30 motion, express the accelerations of A, B, and
60 G in terms of the angular acceleration.
90
Express the acceleration of B as
30   
aB A aB  a A  aB A

With aB A  4 , the corresponding vector triangle

and the law of signs yields
a A  5.46 aB  4.90

The acceleration of G is now obtained from

   
a a G  a A  aG A where aG A  2

Resolving into x and y components,

a x  5.46  2 cos 60  4.46
a y  2 sin 60  1.732

Introduction to Dynamics (N. Zabaras) 27

 Problem 14
• Draw the free-body-equation for the rod,
expressing the equivalence of the external and
effective forces.
• Solve the three corresponding scalar equations
for the angular acceleration and the reactions at
A and B.
 M E   M E eff
501.732  6.93 4.46  2.69 1.732  2.07
  2.30 rad s 2
  2.30 rad s2
1 50 lb
I  12
1 ml 2  4 ft 2
 Fx   Fx eff
12 32.2 ft s 2
RB sin 45  6.932.30
 2.07 lb  ft  s 2
RB  22.5 lb 
I   2.07 RB  22.5 lb 45o

ma x 
50
4.46   6.93  Fy   Fy eff
32.2
50 RA  22.5cos 45  50  2.692.30
ma y   1.732   2.69 RA  27.9 lb
32.2
Introduction to Dynamics (N. Zabaras) 28