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Z Fez max. 2 cha mS > OH Efy = may "2 mda, 3 méj Ce > 1 equation ef Dynamic Equi libra Scanned with CamScanner@ se fore <4 WON aut oma bea f drag m 7 lowe ee hee alr nton 4 the ey 7 ] : sy : ie Equalien of ye Motion Uebsee cen of gated coke oe dihtutin Jo que fore Lok fo VAN a WE die. equation a meHory of Hh bedy sFama Usp = Op x & - tenia one free ae Le te bots) as Uom/s Gy, quotuen 9 equi her Apply a frcki tio force quot de ma ee) ainaid opposite tte Lert acces He body. ~ ware He ap of dynamic equakees afta bedy racer are fe sf oma> Previn, exerted by Bas : 2 y pars Pers eed sce Rownwend puto - EF = ma Scanned with CamScannera4 =Ww-R. R= i) > S00 (1-45) 451 ec ee a We. eDW. 9 R cules) sw (+357) R= ss0.47N oa BL am cena +o SOOON ster’ de mon, Upwards with a Cgrilank eucziration aud wired boadeob- wetociby amis afte trams a irtance fer. Fimol de temnle. fer o dhe Gbtn uaa the acealewted met en - Tr : Dhe ake, elunntas Ukile me i ee oh ust aw oidy ams & ee Ui aren b Atepie D Ste: Pimd ds prretwre, afayte WESTON R, Poor 4 $he elunaler umlertine (4) ®. fk 4 a we ET Coon suidiny tte elunater sx Metion wa 2 wR, w Ww ees (w- so * Ce 3) we Gov X38) = 4. 8) Re S188 N Ge \ ee ee ae eee pot ts sea pale flexi te ae ete 2 thaw fs te affr harry boo block! m4, ee ed Bhe fe re a ay ee Mona ond. Tnrion tag Scanned with CamScanneree My loks ag Mac Sk ot ba os. (bole wore Ma rang. Amentoih enact? 7 et ms wi atef tH, Olerces tty Lp Ro bathe nevrmat Acattim ant LR be he de farctim, M bethe tentim = My nal Sen Peo VT : wihy the, af mation former My . ot emay: Ma =ThR —O ] EF, > 77:0 = RM —Q ay the ag 9 sestion fermen ML. ERY Says Maa = Mg To T 2 M.-*) —®. frm 1® ‘ay Me Mya = T= Athy) (tha) y—&. ever @ MO vay M Cathal = MG) > Mr+- iba = Mag -Mis- 2 a (mat My) = Mags Mg 2 azgitxum) —_@, Cit a2) Slt be frrangy® Suavihy mys loeg Ma wnt air ne om essa) pea a(s- o-esCley] Ment) fore “rel Myth. pis) | 2 63S MIS one el) rn a aa z+ Yo87S N A> ap thd ny) —© | T ' rae Scanned with CamScannerExample 14.19 A block of mass M, resting on an in- clined plane is connected of by a string and pulleys to an- other block of mass M, as shown in Fig. 14.24, Find the tension in the string during the motion of the system. As- sump the coefficient of friction between the block M, and the inclined plane to be 0.2. Solution. This problem is of the motion of two connected masses involving friction. Two points are to be noted here, M29 Fig. 14.24 @ Accelerations of the two masses are not same, but related. It canbe shown that, Acceleration of mass M, = 2 (Acceleration of mass Sf, (@) In problems involving friction, the direction of motion of the an friction of bodies are to be clea: force should be shown accordingly. A wrong direction force may result in Dy rly acertained and then direction of frie?” 1 f frietio ‘surd results. Scanned with CamScannerjeration of mass M = a, acolo mas te ‘ ition of mass M, = ay and a ing of the mass M, are y tension 10 the string Ww rf) Weight Myg . Normal reaction R (je) friction force pk orstand whether mass M, shall ipo understand ¥ or : a. id assume static conditions, and g = 10 m/s. For the aan a erie art yg sin O (© 150 % 10 X sin 45° = 1060.5 N) should be morelthac ake down Mgsin’ 1 fricti ay af tension T and friction force [WR = Hyg cos 45° = 0.2 x 150 x 10 under static conditions we x 0.107 = 212.1(N)]. If the we consider mass M, “ nwrite Myg(L00 X 10 = 1000 N) = 27 or T'= 500N. Myg sin 0.(1060.5) > T'(500) + wR (212.1). So, it is found that the mass 11, hall move down the plane and mass M, shall move up. quation of motion of mass M, ele 1 = 2a, ‘i BR, = ma, Mya, = Mygsin 45° - T-pR wali) (Along the plane) oF, = ma, : 0 = R- Mygcos 45° (Normal tothe Plane) Bliminating R from the above Ma, = Mygsin 45° - T— wMyg cos 45° 150a, = 150 x 9.81 x 0.707 ~ T - 0.2 X 150 * 9.81 x 0.707 ...(ii) Equation of motion of mass M, SF, = ma, : M,a, = 2T - Mg " (@, = 2a). (Vertical direction) 100(a,/2) = 27" - 100 x 9.81 iid) Solving (ii) and (iii) T= 539.4N Ans. Example 14.20 Two blocks of masses M, and M, are placed on two incline dlanes of elevation 0, and 0, and are connected by a string as shown (Fig. 14.25). Find the acceleration of the masses. The coefficient of friction between the blocks and the planes is p. Fig. 14.26 Scanned with CamScannerAssume the following numerical data M, = 5kg, 0, = 30° M, = 10kg, 8, = 60° p = 0.33 Solution. Let the acceleration of the mass M, parallel to the inci be a, The acceleration of M, is same in magnitude, Med Phen Motion of Mass M,. Forces acting on the mass M, tension T, normal reaction Ry and friction force wR, Are: weight 4, bg, Writing the equation of motion ZF, = ma,: Ma = M,gsin®, ~ uk, — 7 thes (Along the plane) 1, =a IF, = ma, : 0 = Ry — Mygcos 8, Ging Normal to the plane) y Eliminating R, from the above * Mya = Mug sin 9, — w(Myg cos 0,) ~ 7 | Motion of Mass M,. Force acting on the mass M, ai | tension 7, normal reaction R, and friction force uR,. Writing the equation of motion LF, = ma, : Ma =T-Mygsin®, ~ uR, (Along the plane) ofl) re : weight Mg EF, = ma, : 0 = R,- M,gcos0, (a, = 0) (Normal to the plane) Eliminating R, from the above equations Mya = T~ Mygsin0, — w(Myg cos 8,) Eliminating T from (i) and (ii) M,g sin 8, ~ uM, g cos 6, ~ M,a = M,a + Mygsin®, + nM,gcos®, a(M, + M,) = g[M, (sin 6, — cos 6,) — My(sin 6, + cos 6,) - & 2 . 2 = Gi ey) Malsin 8 ~ 1.008 0,) ~ My(sin 9, + n08 81 Substituting M, = 5ke, M, = 10kg, 0, = 30° 8, = 60° and » = 0.33 81 = es x 0,866) (+ 10) 11010.866 — 0.33 x 0.5) — 5(0.5 + 0.33 @ = 2.014 m/s?. Ans, 2 Example 14.21 Two blocks Aand Bare held on an inclined plane 5 47 as shown in Fig. 14.26. The coefficients of friction between the ee iD Band the inclined plane are 0.2 and 0.1 respectively. If the blod ase to slide down the plane simultaneously calculate the time and travelled by the each block before collision. Scanned with CamScannerae 7 Fig. 14.26 Solution. Let a4 and ay be the acceleration of the blocks A and B. Equation of motion of the block A SF, = ma, : Mya, = Myg sin 20° ~ ,R, {Along the plane) = Ma, = Mygsin20°-02R, (a,=0,) Ai) IF, = ma, : 0 = Ry ~ Mygcos 20" (a, = 0) i) (Normal to the plane) Solving fora, Mya, = Myg sin 20° - 0.2(M,g cos 20°) a, = gsin 20° - 0.2 x gos 20° a, = 9.81 x 0.342 ~ 0.2 x 9.81 x 0.939 ay = 1.510 m/s* Equation of motion of the block B IF, = ma, : Mypy = Mpg sin 20°- gh, (a, = a5) or Myftg = Mpg sin 20° - 0.1 Ry wnlGii) 3F, = ma, : 0 = Ry-Mpgcos20° (a, = 0) Solving foray Myaip = Mpgcos 20° - 0.1 Myg cos 20° dy = gsin 20° ~ 0.1 x gcos 20° ag = 9.81(0.342 - 0.1 x 0,939) ay = 2.43 m/s* Let the blocks collide after a time t of release. Distance Sy travelled by the block B in time ¢ 1 = 0, ag = 2.43 m/s’, ( = Sp) Using, s =ut+ dat? 1 Sa= esa Distance $, travelled by the block A in time / u=0,a=151ms" (= Sp) 1 S,, go.sne Scanned with CamScannerFor the blocks to collide Sp - Sq = 5.0m ee Peasy? - 5a.8)P = 5 t =3.35s Ans. Substituting for ¢ S,= $(1.58.35)° S,=8.20m 1 Sp = 7(2-48)(8.35) — Sp=13.20m Ang, Example 14.22 A rectangular block of weight Q rests on a flat cay P which may roll along the horizontal plane AB without friction. The et and the block together are to be accelerated by the weight W arranged a shown in Fig. 14.27(a). Assurhing that there is sufficient friction betes, the block and the car to prevent sliding, find the maximum value of weight W by which the car can be accelerated. What will be acceleration? Assume @ = 100N and P = 50N. Of Weighs the this * +25cm4 F 6 T 50cm Com] Qatinertiad | ea Q | Fatinertia) ta : Pp (inertia) (Reaction) (Reactica) (a) Fig. 14.27 Solution. Let the weight W move downward with a constant acceleration " M p25 ——f. o> Consider the motion of the weight | V ¢ Ge soem w Pests) Add inertia force (F0 acting at i shisha “(2 a 3 mediate the centre of gravity of weight Wand in the direction opposite to the acceleration of the weight. Reaction (b) Fig. 14.27 Scanned with CamScannerEquation of dynamic equilibrium of the weight W can be written as tt Ww af, = 0: PeWar a0 ) ; . - Add inertia forces “a and 2a to the forces for acting on the car and & © the rectangular block’as shown in Fig. 14.27(a). Equation of dynamic equilibrium of the car and the rectangular block taken together can be written as, QP 20: =-T+a+—a = SF, Bote 0 or, Qa + Pa - Tg = 0. ii) ‘The moment equation for the dynamic equilibrium of the rectangular block when the block is about to turn about point D can be written as, 50. 252) Qa( 502) _ 2Mp = 0% 1 )-o( Fe) (00) =o 4Tg — Qg - 2Qa =0 wii) To solve for a and T, multiply (i).by 4 and add to (iii) A 4Qa + 4Pa - Qg— 2Qa = 0 a(4Q + 4P - 2Q) = o> GP+2Q) Substituting for Q and P, = 2.45 m/s* Ans. J (2.2 From (i) Pele gs P+Q)(__ Qe Substituting for a, = eo (x) po eree af) * (4P +2Q) : i ion (0 Substituting the values of a and T obtained above in equation @ r+a-w=0 g w(-2) =T & ae. 1), OP2@ aP+t@) a) 4P+?@) Scanned with CamScannerey (4P+Q) _ Q(P+Q) WGP+2Q) (4P + 2Q) w = 2249) (4P+Q) fe) Substituting the values of P and Q _ 100(50+100) _ a (200 +100) 80 W=50N Ans. Example 14.23 A two step pulley supports two weights Pand Q as shown (Fig. 14.28). Find the downward acceleration of P. Assume P = 49) @= GON and r, = 2r,, Neglect friction and inertia of the pulleys, Solution. Let, the acceleration of weight P on pulley r, = a, The acceleration of weight Q on pulley ry = a, Relation between a, and a,: om = a : pertia) Unertia) Fig. 14.28 For an angle 0 turned by the pulley on hie as 4a aie. lyr, = br, Differentiating twice with Tespeet te time d 2 —i(l, = a a (ite) ae (2) O,fe = ar, Scanned with CamScannerayn, = Sem Or oe he dynamic equilibrium 3 th Consider the rium of the weigh i a Taking moments about O, eights P and Q together. SM, = 0: -r{?-Zer}on(a+2e,)= (Fee) = 2(@+2e,) P (G++) = 2(erfort) Substituting a, = oy and = 7 t (e-Ze,) . 3(@+Se,3) w-0-(2-8}, Substituting the values of P and Q » = (Foren) 2 a, = 718 Ans. Example 14.24 Smooth wedge A of mass Mis placed on a horizontal plane anda block B of mass M starts from rest and slides down its slanting face CD which is inclined at an angle 0 to the horizontal as shown in Fig. 14.29 (a). Fig. 14.29 Scanned with CamScannerjon determine (a) the acceleration of the wed, Neglecting eae barhrraet i a wedge. Assume the numeri ie aeee rake A= 15 kg and 0 = 30% ‘ Sielian. The wedge is A free to side horizontally and the block B slg the wedge. seni of the wedge A be G4 Acceleration of the block B be ap Acceleration of the block B relative to the wedge A be a,,, Gy, = Gy-F, (Wector Difference) Or Gy = Gat, (Gg), = Gy, +E), in x-direction > +ve (ap)z = Cag, + 4008 8) (ay), = (0 - a4 sin 6) in y-direction t +ve R, be the reaction between the block and the wedge. R, be the reaction of the horizontal plane on the wedge. Motion of the Wedge A. Equation of motion of the wedge is, IF, = ma: Ma, = R,sin® A (Along the horizontal) Motion of the Block B. Block B experiences an acceleration yy, Wit respect to the wedge A, directed down the inclined face of the wedge. Blt B also experiences the acceleration of the wedge a, on which it riding Equation of motion of the block B are, BF, = ma,: (ayy +a4cos 6) = — mg sind a (Along the inclined face) a, = (ap) LF, = Ma, : y= R= m(-a4sin 0) = Ry ~ mgeos® aa (Nomal to the inetined face) - — 3 la, = @,), = ~ a, sin) Eliminating 2 from @) and quay, 48 Mc ~maysino = Ms. aces sin@ mg sin @ cos 0 mg cos@ cos8 From (iii) A” M+msin?6 BA = a, cos 0 + gsin® = mgsin®cosd M+msin?0 a, = sind ce 2” Memainte ™ +) 44(M + m sin’) = Bq cos@ + gsin® Scanned with CamScannerSubstituting m = 6kg, M= 15 kg, 0 = 30° a4 = 0.157 8, ay, = 0.636 Ans. pxample 14.25 A system of weights connected by string and passing over the two pulley A and B are arranged as shown in Fig. 14.30(a). Find the acceleration of each weight. Neglect friction and inertia of pulle p=30N, Q=20N and R=10N Given: Solution, Let us assume the directions of motion of P, @ and R as below Let the weight P move down with an acceleraticn of a m/s?. The pulley Bthen shall move up with the same acceleration a m/s? Let the weight @ move down with an acceleration of a, with respect to the pulley B then, the weight R shall move up with the same acceleration with respect to the pulley B. As the pulley B itself is moving up, therefore, R Ty () 20N @ Fig. 14.30 Absolute acceleration of weight Q = (a, — a) m/s” downward Absolute acceleration of weight R = (a, + a) m/s? upward wag and T, be the tension in the strings. Equations of motion for the Me P. Qand R may be written using, ‘om a *8 * Acceleration = The resultant force acting in the direction of acceleration, Scanned with CamScannerEquation of motion of Weight P, P = may: Pq) = P=, Equation of Motion of the Weight Q, EF, = may : La, -a)=Q-T, Equation of motion of the Weight R, =F, z may : Ze, +a)=T,-R Next consider the equilibrium of the pulley B neglecting, friction and inertia, 2, T, ~ 27, =0 T, = 21, Substituting the numerical values of P, Q and R in above equations and simplifying, we get 30a = (30 - T))g 20(a, - a) = (20 - Tyg 10(a, +a) = (T, ~ 10)g Ty = 2T, o(iu) We have four equations with four unknowns 7, T,, a and a, and have to solve for a and ay. Substituting, T, =2T, in equation (i) 0) 30a = (80 ~ 2T,)g \ Eliminating T, from (ii) and (v) 70a ~ 40a, = — 10g en(vi) Eliminating 7, from (ii) and (iii) * 30a, ~ 10a = 10g (vii) Solving (vi) and (vii) for a and ay = & 6 a= a7 = 8 V7 Acceleration of Psa=Z Ans. Acceleration of 2 = $-3) = gd Ans. @ - (3 17 )8 = 178 Acceleration of = =(S42)g-2gt ane “8 a) Ge je 798? Example 14.26 A rear wheel drive automobile of mass M is shown im Fig. 14.31. Find the maximum acceleration it can attain on a level 108 if the coefficient of friction between the types and the road is p. Solution. Since the automobile has a rear wheel drive, the friction for? F shall act on the rear wheels as shown in Fig. 14.31. The other foree® Scanned with CamScannergeting oF the automobile are the reactions Ry and Ry, force Mg and the jnertia force MX where, % is the acceleration of automobile. Fig. 14.21 Writing the equations of equilibrium of the automobile EFL£ 0; F- Mz =o as F=uRy E uRy- Mz =0 5 Mz F Rp= — i) E Taking moments about A f IM, =0: Mg(a) + M2(h) ~ Rela + 6) = 0 3 — Mga, Mhi | S Fa" Text)’ (ead) hii) Taking moments about B f EMy=0: Rya + b) + M(h) — Mg(b) = 0 Al | _ Mab _ Mhz : E 4~ (+b) (a+b) Saad [Although we do not require the value of Ry but, it has been calculated i | ' show that Ry > Ry t cn is, the reaction at the rear wheels is more than that on the front 4 Is. i To solve for #, equate (i) and (ii) i Meo, Mhz) Mi kb 5 (a+b) (a+6) # E 2 a + heyy = (a + HF & £ — | Ans. a (a a} i fet 14.27 A block of weight W is constrained to slide vertically in Panda fore, Buides. It is in contact with a eam ABC by a weightless rod EF & 7 ower F. The cam moves horizontally with a constant speed v. Find the Sreates: cam far cPeed & that the cam may have without losing contact-with oC eagty Homer F. The face of the cam has the shape of a full cosine wave Tend maximum height A as shown in Fig. 14.82. Scanned with CamScannerFig. 14.32 Solution. Let Pbe the vertical component of the pressure between the can and the follower transmitted by the rod EF on the weight W-5 be the acceleration of the weight W in vertical direction. Equation of motion of the weight W is w —y =P-W g P=W(1 +2) g If the cam follower is not to loose contact with the cam, pressure P mus be positive. For P be positive, ig should be more than —1.0 or the magnitude of 5 should be less than g or j 77 9.81 x 10-dx i Integrating, Inv Using, at x = 0, v = 100 m/s In 100 = - 9.81 x 10° x (0) +¢ ¢ =In 100 : Inv 9.81 x 10x + log 100 Distance travelled when v = 50 m/s is, _ In 100-1n50_ =" 9.81x 10% i x = 70657.2 m. I aes i ments | Frame 14.30 4 bar weighing 1 kglm isbentatright ansesitio i; tho, é and BC=0,30 m long, It takes the position a8 shor 0 ventally Deter’ frame F to which it is pinned at’A is acceler "mine the acceleration and the reaction at . ' - 9.81 x 10%x +¢ Scanned with CamScannerFig. 14.36 Solution. Let a’ be the acceleration of the frame. tan@ = =. sin@ = = = 0.3846, cos @ = # = 0.923 Mass of the segment AB = 0.6 1 = U.6kg acting at D Mass of the segment BC = 0.3 x 1 = 0.3kg acting at E Free body diagram of the bar ABC is shown above. Various forces acting are: (1) Reactions at pin A, X4, Yq (2) Weight of segment AB = 0.6 g at D (3) Inertia force on segment AB = 0.6a at D (4) Weight of the segment BC = 0.3g at E (5) Inertia force on segment BC = 0.3a at E Writing the equations of dynamic equilibrium EF,=0: X4-0.6a-0.3a=0 or X4= 0.90 ZF, =0: Y, - 0.6 - 0.3g = 0 Y, = 0.9g =, 8.829N Note here reaction X, = 0.9a, When the frame is stationary X, = 0 Using moment equation, EM, =0: 0.6a (AF) — 0.6g (DF) + 0.3a (AH) - 0.3g (IG) = 0 0.6a (0.8 cos ®) ~ 0.6g (0.3 sin 8) + 0.3a (0.6 cos 0 + 0.15 sin ®) — 0.3g (0.6 sin 6 ~ 0.15 cos @) = 0 0.6a (0.277) — 0.6 (0.115) + 0,3 (0.554 + 0.0577) ~~ 0.3g (0.231 = 0.138) = 0 Scanned with CamScanner0.166a ~ 0.069 + 0.1836a ~ 0.0279¢ = 0 0.35a 0.0969 g = 0.95 @ = 2.72 m/s? Ans. X4 = 0.9a = 0,9 x 2.72 = 2.448N Y, = 8.829N Total resultant reaction R, = 9.15N Ans. _ 8.829 © tana = awe 7 3.6 = 74.49" Ans, Scanned with CamScanner