Dynamic Mech

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Particle kinematics
Particle kinetics
igid body kinematics
igid body kinetics
Er1ergy' and work
vibrations
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i Kinematics I
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Particle kinematics
P~.\.R-ri C~,LE l~I!'lEl\'1.i\.TICS

Kinen1atics is the study of t.notion V\.rithout consideration of the
1nass of.. or the :torces acting on. a systen1.. For particle rnotion.,
let r(t) be the position vector of the particle in an inertial
reference fratne . The velocity and acceleration of the particle
are defined, respectivel·_y.. as
v = dr/df
n = a\~/tlt, \V here
v = the instantan.eous velocity
n = the instantaneous acceleration
t = tirne
Rectangular coor inat s

v
r =xi+ ..·vj + ::1<.
v = ciriclt
a = ,j,,,l,tr
Cartesian Coordinates
r J:i +yJ + =k
v ;,:; : _,\'i +· .i:i + ::k
a =li ·t" Pj + .:k~ \vhcrc
.X ·:~· £lrll.1t -: .:- "x· etc .
7
.r .:· · t.t.r.i£/r J
·~ .('x· etc.
I
3
··
equation s ~ ~·\at
L~ • + 4t 2 - 3t 3 .,
What is the pa..rticle's initial ve1ocity?

(A) 20 n1js
{B) 25 m/s
(C~) 80 mjs
(D) 32 m/s
Solution
v = -ds
.dt
.
= 20 + 8t -
_.. ,
~~t ..
At·t.~O
.. . .. '
v = 20 ··1- (8)(0) ·-~ (9) (0) 2

= 20 m/s
At1swer is A.
4
What is the acceleration of the particle at time

-Q?~
t-
(A) 2 n1/s 2
(B) 3 m/s2
(C) [} n1js2
(D) 8 111js2
Solution
At t = o'
..
Answer is D .
What is the ma..,"'Cin111m speed reached by the particle?

(A) 21~8 rn/.s
(B) 27~9 m/s
(C) 34 ..6 m/:s
(D) 48~0 1n/s
5
Solutior~
Tht:~rnrt:.txirrn1111 of tl1e velocity fu11ctio11 is fot111d l)y
e(fUatbtg trte t~leriva,tive of tl1e velocity f1111Ctio11 to ·zero
ar1d solving for t 6
v = 20 + 8t - 9t 2
dv . . .
=-=
rlt = 8 - 18t :=:: 0
~ ·
8
t :;::;; .~ s == 0.444 s
18
Vnutx == 20 "+~ (8)(0.444 s) =- {9)(ft444 s) 2
= 21~8 m/s
Answer is A.
article ectilinear Moti n

A rectilinear system is one in which particles
move only in straight lines. (Another name is
linear system.)
NON constant acceleration
f/'·aric.Jbfe c1
{1 ==-
dt:•
cit
•v·(-t) = i r.~(
)\!.~ f.:U_:.;.
t;).dt; -l- ·v~o
ds·
·v == eli s(t:) ::·:::::: .. !
t.
v(t)dt + St 0
c1 cis· == t~· .eft} l<O
6
i\ part.iclo ir~1iti.aJJ~,r t;.r!;tveling at 10 u:t/s (;jX£J>tLH'iC~Ilt~(:S :J.

ih.at::£u iTLerease.~ :in a.ccelerat.iotl in t.he direet.icnJ t:)f tJlotion
.~:xs sh.ovvn. "'£h.e pr.Eu~tic1e reaches an accelcl..~=ttic:nl. <J~f 20 Jll./s')
1n 6· st.:::,conds.
8!
20 mis 2 ~
I
l
I
i
····-~·-··~~····-·. . . . . . . ._. . . . . . . .-_1_,___. ___,_____
6s t
~~.lost JJou.rly ~ '\Vhtd. is tltc~ {list;Eu1ce 'travoled b:~.r tlu:~ '[)(ird~i

elc <'luring tJtose 6 second.s~?
( ..-\.) Hf) IU
(J3} ·70 n1
iC"'''
l '-"} 120 ll:l
(IJ) 180 n1.
t::in:1e is
20 :r~:l)
sl! •
'20 s~,.,
1
"?-
(
. . . . :6"""~" . .. .. t = ·---(5 ..._ - f;
·'
v'( t) = ;·" ~ . . . . ;•._, I.J." t.tt
'. = . ,/"'20
. TJ t ,.
d:t = 20. t 2 -t-· C;'t
12
lu a t:;~t1c:~~:ub:,vt;.it:.l1U t".lt::f tli;KL~tt:.1tCJf."f· r.r;:;;rJ.V>£:~h,~.l~ t~l:u~ ini(~l:<.i:Ll dis:t::;.ar:tea

(!f:l<();H:d!;h:.un.) 1~ ~~(f)) =' fJI .. ~:1t c::-::t. = D~ ...]."''i·u':l .:list.:~:!t..n·c:~~''! t:r::·(l.••.tt:':~h::~•(Ji
-th.Jr'l"l~.g t.tu~ fir~>rt, (') Hli!!t:::c.n:ud~ is
~lo
rh v(t) d t ,= 2o
!:36
.f;:tJ +· '!·ot; I::
-~...~ 18.~} t,:.n ....... f) u:. 1
l8fJ .J..Jl
7
ONS
(~_ ..,(;J 1'7..S" t c:.tllt c:z :::::::~ c.z0

' I" ::=. '·;(> ~+- t:.·.zot
;f;.:·.·
•• 'T'I
·.~ ·. ~ :.~-. . .
·.. ..
· .. • •
.....·.···t'·.·.)·
.."-
"" "
...1.
···r'" l.>'b , . t
~•rm• 1
"")
...
C-lO 1, 2
~
~!GLOBAL
~iEducational
1 ~··· ·· ·~-~courses
A roller coaster train cliinbs a hill witl1 a ccn1star..tt gra-

dient. Over a 10 s period, the acceleratio11 is consta11t
at 0.4 rn/s 2 , a..tlcl tl1e average velocit~y of tl1e trai11 is
40 k111/h. Firtd. th.e .linall velocity.
(A) fJ~l rn/s
(B) llkl m/s
{C;) 13.1 m/s
(D) 15~1 trl/S
8
Use the constant acceleration equatioi18 for straight liiu3

rr1otion.
Va.vr; r;;;;:;::
(.40 .kn1) .~ ~ ,. \-..-.
. . . . . . (1000 111 ) 1
( _..__·=· ( ---
1 )
h . km . 60 iTlin . 60 ~ .·
. h.
== 11.11 rn/H
The distance Lrf1veled in l 0 s is
(u.u 1
:) (10 s) = 111.1 m
'<-.;; (t ) = s 0 + vot + 2l aot.'2

. 1 ~
·~-~~---· .~o ==
2 ctot--·
vo-
t
11.1 . 1 1"1"1- 0- 1-) (o.4 ~)
(2. (10 s)~
10 s
= 9.11 111/s
'r f == -Vo -i-·· ajo t
::;:::;:::= g. ·-11
· · ·· m
s ..._)=
, (·o· . '1-·. 1
~ )·
s:l (l.... .Q s:~).
~..
= li3*11 111/S
9
free-falling
Con.<.·tcmt a :::= a0 = g (downward towards earth).

"· ::::;:;::; ,,,~0 +- c10 1
-~ ·::::::::: .,li;.-0
l
=r,.· l'ol ·+~
1 a t--,
,~
0
...._
·A ball is thrown straight upward from a height of s. ft

above ground \Vith an initial speed of 60 ftls. The maxin1un1 height (ft)
the ball wottld reach above the ground is most nearly:
A. 56
B~ 61
c. 112
D. 117
10
Solution: Since the ball is thrown against gravity, its deceleration would I
I
be constant. Use the kinematic constant acceleration equation: I
I
I
I
I
I
~
s-5'
The deceleration is equal and opposite of gravity:
Si
i
!
a0 = -32.2 ftjsec 2 I
I
v0 = 60 fps I
I
I
s0 = 5ft I
I
t
I
'
The final speed; v, is zero when the ball reaches its maximum height) si I
as shown in Fig. 7.0 1. Substitute the values into the kinematic equation:
(0) 2 = (6:0) 2 + 2 (-32~2)(s- 5)

64.4 (s - 5) 3600 =
3600
s- 5 64~4
=
= s,s.9 f"t:
s =· 60.9 ft
TJ1e atlS\ver is B~
11
Curvilinear motion
Curvilinear motion describes the motion of a particle
along a path that is not a straight line. Special examples
of curvilinear motion include plane circular motion and
projectile motion. For particles traveling along curvilinear
paths, the position, velocity, and acceleration
may be specified in rectangular coordinates as they were
for rectilinear motion, or it may be more convenient to
express the kinematic variables in terms of other
coordinate systems (e.g., polar coordinates).
Notes
(~urv'ilincar rnoti(Jn ca:n cause change,s in l:u:uh the HliftgniUlde and
dirc.-:ction of the *'r)s.ilio1l~ -ve,h:)c·ity~ and (lC.cc1crati<Jn vect~Jrs.
If the n1ol.ion is dc;.scribed usin. a. ·.· rectntl~Uia:r cuordinates~ then the

:;, A'.,_..
colnponcnt~ ah:n1g each {lf (he: a.xes do ntH cl'1~nge direction . on·ly
their nutgn~tude
.,_,
and sense {a.b!ebraic
,. ..., ' "'' ,, \•till change
StJUl) ""' .
12
Tangential and normal coordinates
n. t, b Coordinates
er
r =s ' dr
a ·= r = -
dr
= r-
1 dt ds
X
p=
a.,
Uh.lng, m
ma~nitwk ~~~
Vt:k;~:tly
Syst{;?.rn.
~ l'roviucd the l'~.uh of the particle i,s kno•vn, \Vc can establish a sc·r
of n and t coordinates having a fi;t''t:'!d origin. \Vhich is coincident
vvith the particle at the instant considered.
* ~111c positive tartgcnt axis acts in the dirccti<Hl of rnot:ion and tl1e
posit ivc l'lornull axis is directed tc>Vt.'atd the path's ccrHcr of
curvature.
~ ·rhc particle ~s velocity is ahvays tangent to the pnith.

~ ~n1c rnagni.tudc of velocity is found frorn the tin1e dcrivat.ivc of
rhe pa.th function.
~ 'T1H.;~
tangential conlponcnt of acceleration is the resuh of the tirtlc
rate of cht.:ulgc in the 1nagnitude <>f velocity. 'T'his con1ptu1cnt. acts
in the P'Jsitive s directiort if the. particlc"'s speed is increasing or in
the opposite directiQn if the speed is decreasing,
«l> ·I11c relations be.t,vecn ''r· tJ~ c and s are the san1c as for rc·ctiHnear
fll()ti()l\, narncly.
13
When skier reaches point A long the parabolic path

shown he has a speed of 6 m/s which is increasing
at 2 m/s 2 the magnitude of acceleration to nearest
integer is ---------------
By definition .. the velocity is al\vays directed tangent to

the J'aJh. Sit1cc y =; -~.12 ., dy/d.x = ai>~·t. then at x = 10 rn. dy/t1x = l.
f-Ience~ at .~-1... ,. n1akcs an angle of fJ = tan. ~ 1 1 = 45° \'Vith :the .t axis.
Fig. 12---27 b. 1-herefore~
2
TI·1c acceleration. is detcr:rnincd. fn:nn a "i.'llt + (1J / p)un. l·lo'\VC'It.'er .. it ·'
is first necessary to detennine the radius of curvature of the p.atl1 at . .4.
(1 0 rn. 5 TTl). Since d 2 )·/ t:L-,;:.1 = 1 ~}. then
I 1 +· (d)·/d.x) 2 J3 / 2
{J ·"""" - - - - · - ·-::------:::;~-·-- 28.28 tn
1 d.:-) .. / clx-1
TI1e nccelenlti<Hl bcc(nnes
v:Z
aA - i1U 1 + - · Un
p
(6 mjs) 2
"u
-
1 --1-. - - - · - · - · · - -
28.28 lll n
tl
{ 2u, + 1.273u"} rn/s::

As sho,·vn in Fig, 12 . . . 27b.
tt ~~ \..l'c2-·;;;~( 1.273;~~~~~~'3)2 - 2.37 n1/s'
14
~~~1GLOBAL
!Educational
;"'""'·'~"'"'Courses
lar coordinat s
Transverse and radial coordinates
Unit vectors er- and e 9 are. respectively, collinear ·with a
nonnal to the position vector r" Thus:
r :.:·.· l't"r
\' ·: .:. h;.~r + r0e6

a ;~: ( P r(l 2 )e 1• + l rEI·+ 2i{l )'-~o- \Vhcre
r ;::: radial position coordinate
0 ·:- angle fh)nl the . r axis to r
' ( •• '! ' ..,
t" :::: dritll. etc., r -:· · d'" r!dr. etc.
notes
~ Polar coordinates are a suitable choice for solving problems \Vhe.n

data regarding the angular tnotion of the radial coordinate r is
given to describe the (.larticle~s nlCltion. Also; son1e p<Hhs of nuJlion
can conveniently be described in tenns o-f these C<)Ordinates.
~ To use polar coordinates~ the origin is established at a fixed point
and the radial line r is directed to the particle.
~ ~rhe transverse coordinate tJ is tneasure;d frclnl a fixe.d reference
line to the raditd line .
15
URVILINEAR OTION:
PLA E
Cl CULAR MOTI N
Plane circular motion (also known as rotational
particle motion_, angular motion, or circular
motion) is motion of a particle around a fixed
circular path
~iGLOBAL
~!EducaUonal
Cl CULAR OTION ~~=·~-·Courses
Polar Coor inates

.i\ special case of radial and transverse co1nponeuts is for
constant radius rotation about the origin. or plane circular
1llOtl01.L
I-Iere the vector quantities are defined as

r :.::: rt\
v n:J)e0
a : : .: ( rw 2 ),~,. +· rueo, \Vhcrc
r· -:-: .: the radius of the circle
0 .~.::: the angle frorn the .Y axis to a·
16
:GLOBAL
!Educational
Cl CUl R M Tl N ::z=c<==Coursos
Polar Coordinat s
The values of the angular velocity and acceleration.
respecti·vely·, are defined as
UJ :::::: ()
Ct :::::: ti; ·== ()
i:\rc length. rrans·verse velocity, and transverse acceleration.

respectiv·e ly, are
s == rO
cro == ret.
:GLOBAL
!Educational
~·~, .,~,courses
1 •
constant angular acceleration
Cl. (f) = Ct0

uJ ( t) == et 0 ( t - t0 ) ·+ w0
2
() ( t ) == Clo ( t - ft)) /2 + cu 0 (t - frJ) + 8o,
17
~!GLOBAL
~~~2,~~~c:!~~J~~~
Variable angular acceleration
For ,~.ariable· a112nlar

,_ acceleration
{
co ( t ) == j · o~ ( T) t.:lr: + coto
0 ( t) == ~{tO ( T)c-J-T' + Ot{l

ft;)
12. 'l"'l1e rotor of a. steam turbine is rota:ting at

7200 rev/m.in 'v~hen. t~l1e steatn s11ppl:y :is Sllddenly Cllt
oit. The rotor clecelera,tes a.t a co11.st.a.11..t rate B.itld com.es
to res:t a.fter 5 min. \Vl1at \Va.s tl1e ang,ular tlecele.rati.o11.
of the l"O·t<-">r?
(.l\.) Q ..do r.at:l/s2
(B) 2.5 .ra<l/s~?
('C~) 5.8 rad/s 2
(I)) 1 f.i ra.cl/ s 2
( ~"OO
',.. '
tev•
· t•ad)
) ( 21t'
lllln s: ..............
rev ,."'"'
0 =.
60-
Ulin
- o:·(5 rnin)
·
(60 mm
~)
Answer is B .
18
centrifugal force
:rnv2
F = ntiD 2 r =--
r
#
..
~·
II'
'I!
..
4
l
..
v=rm~ !
I
II.
I '
Ji':!
c,
.. ...
.. ... m = 2-x:n
....
-·~-----~~
Example
Abead with mass0.1 kg slides down a wire without
friction along circular plane in vertical plan as shown
.the speed of the bead along the wire in the position
shown isS m/s.the magnitude of the force (N)ofthe
wire on the bead
Is-----
19
Pr jectile Motion
• The trajectory is parabolic.
• The impact velocity is equal to initial velocity, v 0 .
• The range is maximum when 8=45°.
• The time for the projectile to travel from the launch
point to the apex is equal to the time to travel from
apex to impact point.
• The time for the projectile to travel from the apex of
its flight path to impact is the same time an initially
stationary object would take to fall straight down
from that height.
rojectile otion
·n1e equations for con.1.1non projectile motion :n1.ay be obtcuned

from the co1I.Stant acceleration. equations as
ax = 0
v.x = ,~0 c:os(S)
x = 1.~0 cos(S)t + x 0
a.,. - -g
l~v = -gt ·4-· v 0 Stll(B)
.v = -gFI2 + 11
0 sin(9)t + )lo
20
!GLOBAL
!Educational
:.,,...•..,.,.,.=Courses
J!\.. f-:>r·Ojt1ctil-t:~ is ftre<. l fro:r:n a. ea.t:l.Il.<:>rl. wit.h .a.11. in.it~ia.l veloc-

ity of 1000 .r.n./s .f.:t.:n.cl a:t a:r:a. ;angle:~ of :l0° fr·()n::~. 1~1~:~oe h.oriz-o:n-~
l:.aL V\l'h.a.t. clist;a.t1CC frt::>t'l'l t.l1e ea.ru:1.on "!fviU tl1.e projectile
st.r:ike th.e groU.ll(l if t.hE~ pc.-.int. of i:rnJ:Ja.c-:.t. is 1500 JXl beh'lVit
tJ'l..<:.'~· p<..Jhlt. of release"'?
(A.) 8200 :nl.

('13) {:)7 300 .l'Xl
(C.~) 78 200 lTl
(1:)) 90 800 .rn
y ..;:=:;
._qt'4
vot sin. 0 . . . . ·
2
g 2 . ~
2" -vot~lno+y::.::::::O
f.l
y = ~·-1500 r:n sine(~ it, i:;; belo"v the launch ph1ne.

q ._ 1:-n.\
'~~-~)
8
2
( t - ( 1000 ': ) t sin ao" - 1500 m = o
1
(. 4.uor) ~.!) (2 - (soo ~) t - 1500 xn = o
s--· s
-·b±v'b~~
[quadratic formula]
2a
500 ::-1::• yl( '''W•500)2 - (4)( ..1... 905)( -M~1500)"
- -- (2)(·1.905)
·- +l0-<L85 s~ ,...... 2.9166 s
x - v 0 tcosG
- (·• .1000 Ul)
s
(104.85 s) cos30°
- 90 803 :r.n (90 800 n1)
Answer is ~D ..
21
E T F I
CO~CEPT OF \\IIGHT
~r = mg. \\'here
fY = \vei2ht. N(lbf)
.\,... \ l
m =mass. kg (lbf-sec2/ft)
2 2 '
er
0
=local acceleration of ....gravitv.rnls
..
(ft/sec
'
)' (9.807 n.1/s•~ or 32.174 ftise.c-)
22
TICLE KINETI
P..4RTIC~LE :KINETIC:'S
.7\ren'ton 's se-coud hr,,~
for a p;:trticle is
l:F = d (nn•.Jidt)} \Vhere
I:F =the sum ofthe applied for·ces.acting on the particle

rn = the n1ass ofthe particle
,. =: the velo-ci cy of tbe pat1icle
For con.sta:n.:t 1nass.,.

:EF = n·t d'r/clr = 1na
ne- im nsional Motion fa article

(Constant Mass)
:If Fx depends on t,
{/Jt ( f ) ::::::: ~~~· ( t ) /Jl'l

t
\)x ( l ) ::= .J~ {l_'< ( 7 ) efT + \--:~t 0
to
t
.x-( I ) == j'" •
\.".~
·"'
( T) ciT + ){II{)
."
to
23
,. . . . . . . . . . . . .._............................................................................................................................................................................._....................____............................................_..........................................__.......................................................... <BD!GLOBAL
: - " !Educational
. '·'""""''"""""'"'"Courses
If the force is constant
a_.r := 1\. /111

\:\- = tlx ( t - {() ) + i~x-to
.,
.". . == '"''X,,·
.·\ /'' ( t· - 1·
lQ ) .... /....,
I k
+ ';' ( t·.· - v,,~to
"· )
lQ' + x~to
I ••.
r>"---·----·. . . . . . . . . . . . . . .- -...--.............._. . . . . . .,_. . ....-..... ._._. . .

~
r Ia Tang ntial inetics
When working with normal and tangential

directions, the scalar equations may be written
as
LF; == nta1 == mdvt Idt and

LF; == man= 1 m( v;/p)
24
!GLOBAL
!Educational
'""'===Courses
A 3 kg block is at a s:peed of ,5 111/s. T1JJ1 forc'e

tJ10Viilg
reqtlirt:Kl tc} l)rin.g tl1:e block to a. st~op i11 8 x 10-il s 1s 111ost
uea.rly
(i\) 10 l{.N
(
l::>···
Ll. )· t~:i
I 0 k N1
.·r,
(C) 15 kN
(D) 19 kN
!GLOBAL
~ iEducationai
=z=~"'-''"Courses
.•
In standard gravity, l)l(>Ck 1\ e:>eerts a f<JI(:(~ of 10 000 N
and block B exerts a force of 7500 N. Both blocks arc
initially held stationary, There is no friction and the
pulleys have no n1ass.
F'ind the acceleration of block A after the blocl(s a.re released.
(A,)
(B)
(C)
7500 N
(D)
10000 N
25
Apply Newton 18 second law to the free body of mass A.
T r
But m = vV/g.
. ''
so
10 000n~) ~A"" 10000 N- TA

( 9.81 I)
su
Apply Newton's seeond law to the free body of mass B.
L Fy =1nsa.B = M!n - Tn [up]
l"f_r:::oo N·)
ttJ. . . r.oo N rn
··-·· 111 £LB=7o · -..LB
( 9.81 2
8
Cornbine th.e equations il~tld. solve for l'LA~ setth1g TA ==

TB ~nd aA =-as.
g(WA -·- \tV'B)

~-=·
Wa+WA
==- ·(
9 .81 ·~) (10000 N_=~-_7500 N)
. s2.· . 7500 N + 10·ooo N
.2
.. lll / s
= 14
26
Find the velocity of block t\ 2.5 s after the blocks

are released!
(l\.) 0 lil/ s
(B) 3~5 Irt/ s
(C) 4~4 rr1js
(D) 4~9 n1js
.
. . -~ VQ.
·vA + aAt-. =: 0 + (.1.4 lll) (f'2.D
~--~"i-
s~
r.: S·)
= 3.5 rn/s
, iGLOBAL
!Educational
i~CotJfSe!:~
Linear impulse and momentum
Assuming constant mass, the equation of

motion of a particle may be written as
mdv!dt == F
111d'l == Fdt
For a systen1 of particles~ by integrating and sun1n1ing ov·er the

nun1ber of particles, this 111ay be expanded to
12
Lin,· (l) .),. 2 = Ll111.• (Vi)_.
. . !J
+ L )~ E cit
fl
27
Linear impulse and momentum
r r
Va nabk Fnrcc
A pickttp truck: is traveling forward at 25 m/s. Tl1e

bed is loaded with. boxes whose coefficient of friction
with the bed is 0.40. What is most nearly the sl1ortest
time that th.e trucl( can be brought to a stop sucl'l tl1at
tl1e boxes do not shift?
(A) 2.3 s
(B) 4.7 s
(C) 5.9 8
(D) 6.4 s
28
The frictional force is the only force preventing the

boxes from sl1ifting. -The forces -on each box are its
\veight, tl1e normal force, and the frictional force. Tl1e
normal force or1 each box is equal to the box weigltt.
N= W= mg
~"fhe frictional force is
Use tl1e imp11lse-momentum principle. v2 = 0. The fi~ic

tional force is opposite of tl1e direction of r11otion, so it is
11egative~
Imp= 8.p
.FJLlt == m/1v
llt = ·m(v2- vl) == -mvl == VJ.
F1 -J.tmg J-L9
25m
8
~--------------
(0.40) ( 9.81 ~)
== 6"37 s (6~4 s)
The answer is (D)..
29
kinematics of rigid body
Motion of rigid body
(b)
Gcncr:at ph.mc motion

(d I
30
transition
on here. •
y
IJ
,___.__.............._ _ _ _ _ _ _ _•. J:
Translating
C(mn.hllUh.': system
0 Fixed
coordHHlh: "'YSh.rm
w=O
All points of rigid body subject to rectilinear or curve
linear translation have the same velocity and acceleration
~!GLOBAL
~~~~~~~!~~u~~J
Rotation about fixed axis
Rotation about an .t:\.rbitrarv Fixed .Axis

+Rigid Body l'lfotion .-\bout a Fixed Axis
(;I! .. t* Variable a Constant ex.·~· c~)
(i~ l·~~ '
dro
a=dt
d9
ro=dt
wdoo =a d9
v·e == r"C.t)
Clf.) == J"'"Ci.
31
;\ cord is \Vrappe,d around a \Vheel in Fig. 16-6~ \Vhich is initially al rest

\vhcn lJ = O. lf a force is applied t.o the cord and gives it an acceleration
a = (4t) tn/~:r2 .. \>Vhere t is in seconds,. deten11ine. as. a functi<Jn of tirne.
(a) the angular velocity o:r the \vheel~ <lnd (b) the angular position of
line ()/)in radians.
~!GLOBAL
~!Educational
'=-·-·--"""·-'·-···=Coun::;e~
(ap)r ==•· co·
(41) n1/s 2 = ct(0.2 n1)

n = (20!) rad/ s2 )
dlJ ' ? l
-- - l.d ;:;;: (lOr) rad/ s
dt
!
~r
20t dt tdo = rl0t 2 dt

~· 0. .Jn ./o
2
10t rad/s) lJ = 3.33rl rad
32
:GLOBAL
• • .. !Educational
Plane mot1on of ng1d body ~~courses
relative motion ana lysis
TransiattllJ?,
rcfcn.:ncc
Tim~ t 'finw t + dt
r .A -= r B + r AiB
vA.. == v B + ro x r AlB. == v B +vA./B.
'l
~t A.
= a B + v.,
r.~ x r
AiB
+ ro x l··.ro x r A.IB) = aB + aA/B
~rhe cylinder sho\vn in Fig.l6-15tl rolls \Vithout slipping on the surface

of a conveyor belt \Vhich is n1oving at 2 ft/s . Detern1i11e the velocity of
point ~4. TI1c cylinder has a clock\vise angular velocity (~J == 15 rad/s at
the 1nstant sho\vn.
w .-;.,; ;. rs rad/s
''
1 (
'J t't
._-. . . . ...... is
i .
33
(1JAhi + ('U~thJ = 2i (- t5k) X ( -0.5-i + 0.5j)

(V,.dxi *+" (~lJA)yj = 2i 7.50j -f·· 7.50i
so that
(..r•r = ') -+- 7 S{) =
{.l.r\.· .)· ;1; ..,.. ' ~--- . g·· 50 ·f··~t/. "~
• •... . . 3
('VA)y = 7 . 50 ft/s
Thus,
VA = '\/(9.50)2 -1: (7.50):! ~-=· 12.1 ft/ S
; -t 7.50 . t
~i = t·tn
( . . -9.50 ; ;:;:;:. -38·( ·-l:) d..-
IC analysis
Choosing base point A to be a point that has zero
velocity at the instant considered
-
VA=:: 0.,
'"B· == "*A. -··+, b:J >< t*.B/4~,~
be-C()mes ,l£1 == t1J X r B/.A
Point A called instantaneous center of zero
velocity (IC)
34
Location of ic
Ccnlrodc,
..1'
/!'...:''
Locahon of /C
t.tJC:;Hion of IC
knowing the din:cnons
knowing"'·" and<<» of '\t,\ and ,~n
!JC
I
f.l
t
35
Tv:.ro 2 kg blocks are linked as shown.
Assurning that the surfaces are frictionlessi what is n1ost

nearly the v-elocity of block B if block A is moving at a.
speed of 3 m/s?
(A) 0 n1js
(.13) 1.3 m/s
(C) 1.7 t:n/s
(D) 5.2 rn/s
C ,.._.
I
_________ __ _
3cos30° .
I
3sin30Q:
~
1
The velocity of block B is

V 1\_ VB
w-·~----
- OA- BC
VABC (3 ~)(3 m)cos30°

VB =· CA = (3 m)sin 30°
·= 542 m/s
The answer Is (D).,
36
ss nt f I
The Mass Moment of Inertia of a solid measures the
solid's ability to resist changes in rotational speed about
a specific axis. The larger the Mass Moment of Inertia
the smaller the angular acceleration about that axis for
a given torque.
.
j
I ~\ ·.: ; : j ,. ('..v-"J + z- .· clnz
1 ')
!v j \x- + z- ·clln
:=-
•I '). '))
lz = ~/ ( .r
2 2
.1·' ) chn
dm
Mass radius of gyration
The 111ass radiu.s of gyration is defined as

t;n == /1 /1n
37
Fe reference tables
page 79
\la~s & Centrnit! ~las~ \Inmrnt of lnertia Produrt uflnrrtfa
M ·,-,pL·l
x. '"·' L·'?
y, ... 0 etc.·· 0
z, ·., ; 0 [.h: ""/:, "".\{1~11'
, "I -
dC.'"' 0
A "'· lTO~~~sectional urea of
rnJ
p ... lllll<;:..r vol.
M" 2rrRpA j ~,
'~
I
x, ..,. R '" me:m nuiiu~ I '~ ''" I~' ·"'· ,\fR·f~ i I,,._, e1c ..... G
ll·'........ R. ,.mean radius
- , .. 0
If. , MRl
•,, Ii I.-.·.. ., MR:
1
:~"' cmss-sectional area nf 1 '~ '" 1). "" 3.\f!?.z./2
1 , ,_;· ,. '~, .. o
X
rinc:,. II I ; ,..·- Ji, \·f.'R~
p "' massiVol. i I
I
I
1/ • de "Ci
1i )t ~;::
Il i ~~-"
de""{)
·. .
I
Parallel-Axis Theorem
I new -_the 111ass 1110111ent of inertia about anv S})ecified axis .1
Ic = the n1ass 1110111ent of inertia about an axis that 1s parallel

to the above specified axis but passes th.rough the body's
n1ass center
n1 == the n1ass of the body
cl = the no1111al distance f"l:on1 the body's n1.ass center to the
abo,le-specified axis
38
'l"lt(• 5 c:~:rr·l I(.Hlt:?,;, uuif<lrrn sh.:~n<:lt::'!r l'<::.d sh.o\Vll lu1s .;1 nu1ss .,.:d
'2«f) g. ~f'}le~· o1·ig;il1 c>f the ?J-;lxis cot'rE~SJ>Ollcls '-'\litls t.h.e t"(;)ti~s
f~(,ll t.e,~l· (Jf g.rc(:t·vit)t .. '']~h(} C<L~ll tJ.'(>idt:tJ l.ll~'lSS lll(.llllC!ll t (·){" ill("t·t ia,
•;;
is <12 g . , . .lll "'' ..
2. cn1 0
\\··JHtt lh tlH)!:•;J tH\.tlrl,y tl10 t.ll;;lSS lfl.OU:l(~llt C:)f llH~rtin <Jf thP
n Hi .nl><>ut t lH· 1./ ;;1xis 2 ern. t(J the~ )(~ft?
'»
\ /\) (} . 12 (."lll~-
(..· lJ ,l (J . :~: ~ k ·~ -· · ( · 1 t l :cr 2 CHl)

I -~.·· 2
t>~'"~
<'1:.
l. '
.: 1/ !' P1.
I (··./
{"lll~:
The answer is (C).
/\ hf>ll<>'\~v c)·lhu:h•r lui'lls ~l In;::tss <:>f 2 kg~ a. heig;l&t <.)f 1 t t l , nu

tHJ.t(~r <li;unt~t.c~r of 1 rn .. ::tnd <tn i:n11er tli<llll\~t(•r t:~>f O.H nL
• l
l I
i l
j i I n'l
I
I
~ .
l
l
~ ·- - ~"" ,,._, -·w ~- ....._ -._ l
,.,.....,....... -· - --~ - - - """1,
l...... 'J
I . . . --- --·-~.,...,.
.1.'~~-1
--
··.....-"'"'"''"~'"---··---,....,.-~~ ...~-- .. .........................
1 n1
\\thttt nto~t ne.n.rl;,-w thE~ f~:ylinder'~ tnass nlt.)ln<•nt of

in<~rt.ht about a11 ;txis perp<.:n<Jieula.<r tc; t.l]e e·yH:ucler
l(HJgi tttclii uti £t:xis alic·l locat.c>.(l Ett the:~ c~ylindt~r's <:;nd? .
( i\ ) 0. -ll kg· t n 2
(13} {).'"[f) kg·J]I:~
(C'~)
l ~' I ')
( [)) j.:) l<g"ill~·
39
l tn == ("l f).· t.l.

-~
.. •·t•.''l
.R· '. ;:=: 2 ......, ... ~
/·ij
..:.
li~, == 0 ~ 8 rn 0. 4 n1
~ 2
I. )\ 1' . •i
•J J:-> '}
Jv ( (} ·.. . '. t2
3·. /")')
wt-·. . < /'1
,,.. . .' ?...
..•. , , ? )
(2 l<g) ((:3)(0.5 n1) 2 ·+ (:3)(0.4 n1) 2 +·· (4)(1 n1) 2)

12
(}.87 kg·1n2
The ansvver is (C) .
!GLOBAL
!Educational
'="·"'Courses
Kinetics of Rigid body
40
iGLOBAL
iEducational
;. --.. ,.,,.,.,.,~'-""'Courses
Plane motion
LF; = m(act
Gl w LF;. = m( aJY
LMc = lea or IMP = I(~JP
0'
Recti Iin ear translation
l.f~.l. = tnfacJ. J. ,l
:iF,\ ;; nl(ac;}"'
~· l\.jf' ,.
....... ! 1 (J
= f)'
41
Cu rvi Ii near translation
~·
-rnc = n•(;'l
, .,}
~, (1,,1'1
'iF, ~~;: mt'aG),

: 2~~~10 =0
II
"iAfr,d : ,: , etm<a(·),J
. ., -
.t·"'
h[m(a(~)
. .r n I
The car sho\vn in Fig. l7-10a has a rnass of 2 ivig and a center of n1ass
at (;. ·oeternline the acceleration if the rear "'driving~" \Vheels are alwa!rs
slipping~ \Vhereas the. front wheels are free to rotate.. Neglect the n1ass
of the. ·v.rhcels. ~'T"he coefficient of kinetic friction bet\\teen the wheels and
the road is p..,~,, ::::: 0.25.
n1
42
v
-0.25N8 = -(2000 kg)aG I
~~
a·
"----~ .\
t! \..,... };' . ·--....

"~" I
1·
'
Jl'tl'•('l ('I·P
)'
..
NA +N 2000(9.81) N= 0
11 -
2(X;o (Y.81 ¥ N
Solving.
N,l
1... 1.25 rn ·'*'f*"'"'"'"~""-~·~
0.75 m·
NA = 6.88 kN
lv'8 =12.7 kN
iGLOBAL
!Educational
!===~:::::o,Courses
20(}() l: 9.H I ) N
· 0.3 nl
II
t\/ 1;~(2 n1)- [2000(9.81) N](l.25 n1) ~~.
<2()00 kg)a 0 (0.3 rn)
43
8DI§..~~£~1~gJ~~J
Rotation about a Fixed axis
JF,
i\ll;,(l;,..-·,,
G F.
l \V
q'-·~
\'~•
11
'E;F;.; == tna::n.:·
~iGLOBAL
~i~duc~tional
·~-'~---Course:;
Rigid Body Motion About a Fixed Axis
• For rotation about some arbitrary fixed axis q

a = 1\.Iq/Iq
\lariablc a
(1.
doJ <:O (00 flo!
Tt
dO 0 00 + m0t + ~..._ a0t2
(t} dt
fl)2
\. ~,,, (1)2
.. 0. 'r.. ....l(''~.AO (.u0 ... f)·.0· ·). .
co dro CL dO
1..
.'
44
(l\) 0.5 l'a(.l/H l N·IH
( 13) :~ r<:u:l/~
(c·) f> r('ld / s
(,I....) 1" 1
·. ·(... )· rac l1l s
1
w :=~. wn ·+· nt' n:····t·.:tl "·i· · ('· (' J,d
. · -····~
(.'J' \r l'ft.rl) t',dr:
-···-- .\
sJ
s '
~ {,.. ,· . /s.
::::::: tJ .. v~ •.t••;·t(···l
~ i;..
l.·:.~ r:·u.l./s.'.).
' .,
The answer Is (B}~
A fly wheel in a locomotive engine has a tnass of2,000

kg and radius of gyration of I 1n. A constant torque of2,000 N-n1 was
applied to tnove the wheeL Its angular acceleration (rad/s) is n1ost nearly:
A. 1
B~ 2n
C. l/2n
D. 9~81
45
a = Angular acceleration of the fl~vheel

I = Mr 2
- (2,000 l<:g)(1) 2
2,000 /<;g - rn 2
T 2,000 N ~- nt
7"'
a=-
l
2,000
2,000
1 radj .s 2
Tl1e a11svver is A .
ngular Momentu or M ment f

omentum
The angulnr n1on1entun1 or the t110111ent of tilOlllentunl abo1.1t

point 0 for a particle is defined as
Flo == r X rnv .. or
llo == ~l co
fl 0 =d{l 0 ol )ldt = 1\10, \Vhcre

h
I ( ll01 )'2 1:. ( 1101 )11 +· L: j:- 1\tl0idl
fl
46
!GLOBAL
!Educational
'··-·---·-·""'"=Courses
Energy and work
otential Energ
Potential Energy in Gravity Field
Vo = n1gh, \Vl1ere
b
h=tl1e elevatio11 above so111e specified datutn.

r
Daturt1
·- r
\\' i
i
.
.. I
r~--::= ii,:; -~~--------L
47
Elastic potential energy

\Jnstr~~tchJt;.•d
p-t:),~itiot.1~ s """"· 0
~=~-..,........,~/.:.,.,·~. . "'-.,.10~..........~;:,.
,/.;.
-~(:::f) l•f = ·M~-
In changing the clefon.11ation in the spring frcnn. position s 1 to

.S' 2 , the change in the potential energy stored in the spring is
l"''2 - f./1 == k·(· 2

\, '.s· 2 -
2
)l'
'·s· 1 . ' .......
Equivalent spring constant
l'e:li'allel )··
[ SJ . )fiJJO'S
. ,........ ,···o···· .f
' ~
48
1. A 54 kg mass is ;;uppm·ted by three sp1·ings ns sho\\'IIJJI~~;y~~~

'"l'he initial displace1nent is 5.0 ern do\VH\vard f!'cnn the
~ta tic c:.q uiHLn·huu p<:)sitiou. No e~...;:t.ernal (()rces act en a the
nut:->:-> .rtft:er it is rE-:~least::~d.
4375 N/rn
[~-~l
-:.~
~:'""
.
·- 17 50 f'\flrl'1 each
""""%:"%3?:'%~7.-?'T~~>.~W"/.#'/a~~~
(i\) 6200 1~/nl
(B) 0800 N/111 kt:q ~~ kl k2 + k3 ~:~ 4375 ,;i ·+· 1750 ~· + 1750 ·~-
ln lH IH
(C;) 7400 Nf·•~~
= 7875 N/nl (7900 N/Hl)
(f)) 7900 N/tll
The answer is (D).
Kin tic Energy

1 ·~
T == -Jnl'.L.
)
R(g·ici Boc.~}·'
1 ") 1 )
( E)lc111e il1otion) T == -Inl)-
2 c:
+ - I
? c
(0 ....
In general the kinetic energy for a rigid body n1a)',. be \Vri tten
as
T == rn \·' 2 /2 + .4_. t.t) 2 12
For n1otion in the .A}·· plane this reduces to

T = 111 ( v,~\: ·+ v~v) /2 + .4. (02_/2
For n1otion about an instant center,

T = I IC(.-)2!.:....n
t
49
.1\ 1f) 1~(" innnr1o·r·rH'OHS

I ... • ""·~~~
t;:y .......
. .. disl" of S cn1 r·~dhts rot·l tps on ·:u1
. ,., ·> ·., • '. " ... •·· \. • ~... ·• . . ·(•.• ..- •.••••• •···· ·• .,,(,. ,, ,,., •• . . ( .. •
a.xle A. 13 of lt~ttgth 0.5 tn a11(l rotates ~:1bout a nxed poittt

A. ·I~hc ftisk is constnlinerl t<) roll on rl horiZfJUtf:tl floor.
0.5 rn
(;ivcn au Hllgula.r veloc:ity (>f a0 r.::ulfs aJ)OUt the ;J'-(:lXh~

n.Jlfl --:) rtt(l,/ s abr>ut the :y.. ;:txis~ tht~ ldnetie ertt:)rgy of the
disk 1h rnost 11rr•:trl;.·
(::\) O.G2 ¢1
(lJ) l7 .J
( c~) 1s .J
( l)) ;~4 J
..~SSlHl;dn~g tlu::- a;xk~ is Jlf.:t.l't of t}l(? disl<~ tllC disl.;: lHlS a. fix·.,-~d
J)fJint a.t i\. S.irlce tJ1~1 ~·x:.-., rt-~ U.ll.(l z ... a.X·(}S a,re l>ritH. :lJ.ntl ,n.xc::.·s
( ) f iru::rti:1. fr1r the <lis1·c t'ih·e l-t1Jlet:ir~ ("'nc~rg~)" is ~nH)~t rtr":}trl)~
1. (·.·.".). 4.:.J' •.'l t, '·l·' ...,.{ ..

1·:')
Tl'le answer Is (8) ..
50
ur1ifcn·n• diHk \vith ~l r.nn:ss of lO .k.g ~tnd ::l (H:tnH'.t~t:~r c)f

t) ...~) u1 rc:~Hs "\vjtJuHHslir:>ping on a fla,.t li<n·iz.<.:tontnJ suri.fH~n ..
,;:t~ :s.lso\\'ta.
\Vllcu l1 ~ hori:zontnJ velocity is 50 krn/h. the to La)

kiltPt;k energy of the disk is HHJSt lH~t.trly
(A 1 ltHJ(J J
(B) 1200 J
(C) 1400 J
( !) l f.)(J{J J
iGLOBAL
IEducational
:-~=""'=Courses
( .50 !~.!.!::).
h .
(·· 1000 ~:,.)
, .. kn1"
Vt I ;:;;;:;;; --·-"""-"'~---· .· .. .. •·
. ( (.. ):·•(-·J· £-'()
$ ~ )· (. '1\J·...
----. lUlU.)
·--~--~--
lllltl 11
1 ~·:; •·8}f)
......}.~*···
l
lll s
·.· ;-·--·
51
·r·. . ··.··.· t~~ / ' ) . L /l.f-r)

HPv 0 , ""' T . r·"'V ...... 1·· ..
l71Y(J
··~
.
(l2~1n.J:f>) ')
1-, v.r
:;;;;,; ~~· ·····+-- ··~----"""""""'--·-
2 2
' 11
. 2
( l(} kg) ( l:l.89 : )
2 2
·(·. (. ·.t) ) I·· g. ·) (0.5·.
(..1('·.......
;;; .... n1) ). ( r: r- r (' ra..c:l).
~· ' • --. 2 - ' . ' l)d.~,)) - s- · .
'''t'"'' ''"'""'""""""-~--"~'""''"'•'"""'...:'""'--""'''""' . '''"""""'""''. '"" _ _ _......_YM'N,..,~'"'"'""'..
' 2
:::: 1·14 7 .] (14 00 ~l )
The answer Is (C).
Work
1
\\ ork [lis clefiilecl as
[l = JF ·• rlr
f-Tariable . .force u F = JF cos e ds
c·on._)' tant ~fo.r·ce [lF - (F: COS 8)~s
[l 1v - 'Jl7 Ll v
Spring
CyoltJJle JJlOillent u .:\!

= J.\188
The change in kinetic energy is the \Vork done in accelerating
the rigid body frotn (00 to co
52
l"'he IO . k!! block shcnvn in f:7ig.l4-,6a

;.,: '-
rests on the sn1ooth incline. If the
SfJring is originally stretched 0.5 n1~ detern1ine tile: hJtaJ \Vork clone by
all the forces acting on the block \Vhen a horiz;ontal force P -= 400 N
'k'
pushes the block up the planes :~: 2 nt

.~ :;;;.. 2 1n
fmtial
···k JU N m
3fY'
" . ·N• 'tT'

t)t;. i
.· i:-,
.·',.· •.· .:.' •:. ._'. .·. ·. · ,_. ·".··.
; .... :f0,_""'4"
.....-
fJ ~- 400 N
~'<>~(!'
Up .::,~. 400 N (2m co~ 3CY} ~= 692,8 J Nn/, ~:
lJ ,-.;, = '"-· ..!,~t'\0

,... · N /m'C'
·il " · ,, m)
I .;;.., ....5 ·
2 - 1(30
2 ·- ' N
. f/n1)(0
. . ,.,
:I!IJir.<
1 = ·-90 J
· 5 m) 1
.i
. .,
'"'
lJr ~7::. 692.8 J - 90 J - 98.1 J -~ 505 J
53
Po er and Efficiency
p ;:.··:x·: :: 1
p ·-· .·F·~·. .· .,~~
dt
1 ':v\1, =.. Ii J. 1lS

' ·-·· l. N··..{' • nl/S
,
i
~ut [font
I 11ll 550 ft. lbl' s /In [.!.111
l lliJ '746 \\t,
The rnan in Fig. 14~-. ISa pushes (ln the 50-kg crate \Vith a force nf
F = 150 N, Dcte.nnine the po\ver supplied by the tnan \vhen t :.:::. 4 s.
'll·1c coefficient tYf kinetic frictic1n bet\vcen the fl0(1r and the crate is
P·t, ::~~:: 0.2. Initially the create is at rest.
54
N - (;) 150 N ~ 50(9.8 i) N ~ 0

lV .::::; 5 80.5 N
{ ~·) J 50 N - 0.2(580.5 N) :.::,: (50 kg)a

a = 0.078 rn I$.:!
Il1e vei<JCity of the crate \V)lc.n r = 4 s is therefore
'fhc po\ver sur>plied to the crare by the tnan \Vhen 1 ~ 4 sis therefore
P :.: : .:. F • v = F~,l} =:::. (] ) ( 150 N ){ <J. 3 J. 2 rn / s)
~' 37.4 \V
PRINCIPLE OF WORI< AND ENERGY
If Ti and v·i are. respectively~ the kinetic and potential energy of

a particle at state i. tlu:n for conservative systen1s (no en.ergy
dissipation or gain), the la\v of conservation of energy is
T2 + ~ 2 = Tl + v·1
7
If non conservative forc.es are present, then the \Vork done by

these forces ruust be accounted for. Hence
T2 + f/2 :::; T1 + ~'1 + [l1....:, 2 \Vhere
f
55
1 ... 'l~h.e 40 k:g tnass, rn,. in th.e illustration sho"V\'ll. is

guicled }-jy a frict:.ionless raiL Th.e spring constant, k'~ is
3000 N /n1.. ~""'..f'l1e spring is compressed suffici<:)rlt1:;r a.:nd
relea..sed, such. th.::'Lt tl1e m.ass barely reach.es point B"
B
1m·
A
6m
compressed
positlon
vVh.a.t is most: nearly the initial s·pring comprcssiOTl?

(A) 0.96 rn.
(13) 1.3 tn
(C) 1.4 n1
(D) 1.8 n1.
1 • .t\:t the point just before the spring is released, all of

the energy in t;he system is elastic potential energy;
\¥ hile a.t point B ~ all of the energy is poter1tial en~ergy
due to gravity~
kx2
- - = mgh
2 "'
_ y·'21n
X-. . .gh
_____;::;..__
k
(2)(40 kg)(9.81 ~)(6 m +1m)

aooo N
111
= 1 . 35 m (1.4 m)
The answer Is (C) ..
56
impact
During a11 i111pact ~ IIlOIIIen.tltnl is co11serv·ed Vlhile er1erg')'. n1ay

or 111ay 11ot be coii.servecl. For direct c.entral irnJJact \\ritl1 110
external ft.1rces
111111 + llli''2 == lll(t/1 + 1n2v~"J \Vhcre
n1 1 ., 1n 2 == the 111asses of the tvvo bodies

v 1~ v 2 == the velocities of the boclies jllst befbre itil}Jact
v'1.. v'2 == tl1e velocities of the bodies j11st after ii.IlJ)HCt
For i1npacts., the relative 'relocity expression is

( \/;2 ) . - ( l' 'l )
e == . . n .. n .. \Vhcre
( \.·'])
···n
- (· ~:'->)
- n
e - coefficie:n.t of restitution
(l'')n - the 'relocity nornH11 to tl1e j)lane of in.1pact Just be.fore
Ullp<lC.t
(\ t.•'.)
I 11
- the velocity
-
llOI~11al to the ·plan.e of inlJ)act J•·ttst after
i111pact
The value of e is sncl.1 that
0 _::; . e :::; 1 ~ \Vith litni ting values
e c= 1 .. perfectl)r elnstic (energy conserved)
e = 0~ pe:rfectly plastic (no rebound)
I<.novving the ·value of e~ tl1e ·velocities after the i:n1pact are
gl\ten as
rn 2 ( l'2)n·. (1 + e} ·+ ( 1n1 - en12 ) ( \~ ),.• 1
( ).',.l )/.., ::::=: - - - . . : . . : . · - - - - - - - - - - - _ _ _ _ , ; ' : . . : ; . . '
11'1J + 1112
t J'
1111 ( \.'J)
' n
(l + e) ·- ((...?IJ11 - lJT,.)
~,
( \.',·-..,)cn
l 2 . n ::::=: ln1 + I l12
57
• 1\.vo balls, both of 1nass 2 leg, collide head on. 1"he

·velocity of each ball at the tin1e of tl1e collision is 2 m/s.
The coefficier1t of restitution i~ 0~5~ Most nearly'~ "vhat
are the final velocities of the ba.lls?
(A) 1 111/s ar1cl -1 m/s
(B) 2 m/s and -2 n1/s
(C) 3 rr1js a11d -3 n1js
(D) 4 n1/s a11cl -4 rn/s
~:GLOBAL
~~Educational
·===Coursfls
:. Sir1ce tl1e tvvo ,...-elocities are in. opposit·e clirections, J,

the velocity of one l">all, v1, eql..Inl 2 m/s a.ncl ·th.e ·veloci~
of th.e o·t}J.er bail, v 2 , equal - 2 rn/s.
I~rom th.e defini1;ion of tl1..e eoefficien.t o-f restit:t"tti<.-:>n,
I I
v2- vl
e = ---=----
V]_- V'2
v~ - v~ -=• e(vt - v2)

= (0-5) ( 2 ~1. (-2 :l))
= 2 Ul./S [E<-J. I]
From th.e cor1se.r"\•ation of mornent·utn,
rn1v1 + 11"V~V2 = rn:tv'1 + Tr~2v~
Bu.t, '11'(,1 = ~·
v1 -r vz = vl
f
+
. I
v2
S111.ce '\' 1 = 2 m/s and -,;,.r 2 = -2 :r.n/s,
58
Since v 1 = 2 n1/s and v 2 = -2 rn/s,
V1 + V2 = 2 - m
s
~f- (-2
. -m)
s
=0
So,
vi+v~=O [Eq. II]
Solve Eq. I and Eq. II sh:nultaneously by adding then1.
v~ == -1 m/s
v~ = 1 rr1js
The answer Is (A) ..
-· .. rrvvo balls bo'tll have a mass of 8 leg a·ncl collide hea,d.

011. The velocit~l of eacl1 ball at tl1e ti1ne of collision is
18 mjs . '!,he velocity of each ball decreases to 10 n1js ir1
opposite directio11S after the collision. 1\.pproxin1ately
l1ow nTuch. etlergy is lost in the collision?
(A) ().57 k,J
(B) Oc9l l{.J
(C) 1.8 kJ
(D) 2.43 l<J
59
Each ball possesses kinetic energy before and after

the collision. The velocity of eacl1 ball is redt1ced from
118 m/sl to 110 In/sf.
~T = Tz - T1 = (2) m(v~- vi))

( · .
2
= (2)
(8 kg)((18
..
mr- (10 mr)·
8 8
2
= 1792 J (1.8 kJ)
The answer is (C).
Vibrations
60
Vibrations
f'1.bration lS an oscillatm)'· motion about an equilibtiunl point
Free Vibration- In Free vibration, the object is not under the

influence of any kind of outside force.
Forced Vibration- In forced vibration, the object is under the
influence of an outside force.
This can be understood more clearly by the following

example:-
When a pendulum vibrates it is free vibration because it does
not depend on any outside force to vibrate whereas when a
drilling machine vibrates, it depends on a force from outside.
Therefore, it is an example of forced vibration.
Vibration
vibrations
~'·""-··--·-~~-~-----,
l i
natural for·ced
undan1ped damped undamped damped

(free)
61
Static deflection
r-·- .......... '!

~
..,.,._,,..,--_1-
m J. ··
s::•.··
0
_
Sl- '
weight
k
(a)
A putnp witl1 a tnass of 30 kg is supported by a spring

witl1 a spt~irlg constar1t of 1250 N/tn. The motor is C011-
str~ine<l to atlo\v only vertical n1ovement . \¥hat is most
nearly the static deflection of tlte spring? (
(A) 0~ 11 m Calculate t.he static de-flection.,
rng = kl5.st
(B) 0.19 n1 'Tilg
bst=-
k
(C) 0.24 Ill
(30 kg) ( 9~81. ~)
- s
(D) 0~31 m -- 1250 .N
rn
= 0.235 m. (0.24 rn)
The answer is (C) ..
62
Free vibration
Position of'Undefbnned
----------r--- Length of Spring
m
j Os/
j ---+----Position of Static
n1.x + kr == 0, or
Equilibrium .'\* + (kln1) .r == 0
X
k< The solution of this differential equation is

( .r(t) = ( 1 eos(C0
1
1
/) + (-'2 sin(C01/ )
If the initial conditions are denoted as .:~c( 0) =x 0 and

.r( 0) = v0 , then
ToA.i:z:
Supply
.. ....
~~~. ~_...
.Pmd.tm.n..r::
63
Bl~!~~,~~
Undamped natural frequency ,period
con = / lc 11'1·1
The undan1ped natural period of vibratio11 n1ay 110\V be \Vli.tten

as
7
"'n
== .1 .'"7'
.:-J".·Oln
1
!!·.- ltrT
== 2rr ==
lr..
It
2rr
b
~
111 Ost
Free vibration ot~urs when the motion is tnaintained bv

gravitatiotull or elastic restoring forces~
The an1p·Jitude is the n1a.xin1Un1 displacemenl of the body.
The period is the tirne required to cornplete one cycle.
'T' he fre:quency is t.he nun1ber ofcyclcs conlpleted per unit of tinlc,t
\vhcrc l l·lz - ·1 cycle/s.
64
.,~~~;~~~
A mass of 0~025
kg is l1at1ging fTonl a. sr)ring with. a
spring constant of 0.44 N/tn. If the 1nass is pttlled do\VIl
a11d released., what is I11ost nearly tl1e period of
oscillation?
(A) 0.50 s
(B) 1~2 s
2n
(C) lft5 s i ;:::;: 7k :: 2n:
.;......,..---= 1.nr.: s
~
(D) 201 s y; 0.44
m
0J)25 kg
The answer is (C)~
l\ tnass is l1ung from a spring, 'vhich causes the spring to

be disr)laced by 2 em~ The mass is tl1en pulled do\vn
6 ern a11d released. \iVhat is most 11early tl1e position of
tr1e mass after 0~ 142 s?
(A) -0.06 ni
(13) -{)~02 m
(C) 0. 04 m.
(D) 0~08 Ill
65
~
I (9.81 sr:21) (wo em-)·
Wn. g/. -.
= v~-- O.st == . .2
m
ern
--
= 22.1 rad/s
~rhe initial velocity of the mass is 0 radjs, and the initial
position of the 1na.ss is 6 em- Fro1n ; L, the position
of the rna.ss is
x( t) = xo cos(wn.t) + (vofwn)sin(wn.t)
- (l~Oc~m) rr1
cos((22.1 r:)co.l42 s))
+ ( _
22 1
°~)sin{ ( 22.1 r~d) (0.142 s})
= -·~0~0599 n1 ( -0 . 06 m)
The negative sign in.dicates th.at the location is on the
opposite side of tl1e neutral (equilibriurn.) point from
wl1ere tl-1e systein was released .
The answer is (A).
Amplitude of oscillation
Vertical and horizontal oscillation
0
equilibrium~
position ~
66
I
Torsion aI vibration
~
I ~
--~
I
·~ (\
() + (k1 /I ) B := 0 ~ \V here
e the angular displacenlent of the systen1

kt =:. the torsional stiffi1ess of the 111assless rod
I :=:. the n1ass n1on1ent of inertia of the end n1ass
'The solution 1113)l nO\'-''" be \Vritten i11 ten11s of the initial
conditions 0 (0) == Oo and 0) == E)o as e(
0 (1) == 00 cos ( U)1/ ) + (80 /u) 11 ) sin ((J),/)
Torsional stiffness
Undamped circular natural frequency
,period
The torsional stitT.r1ess of a solid rotnld rod -r;.;:vitl1 <lssociated
P olai· lllOlilent-of-ille.rtia J .. lengtl1
"-
L1. at1cl sl1ea:r 111odulu.s of
elasticit;l G is gi"\··en by
kr== GJlL
Tl1u.s tl1e tlnclatllped circtdar 11atural fi·equenc).r for a S~lsten.l
\Vith a solid rotnld Sllp··. p·•· orti11g rod lllEt"\l be vvTittell as
. ~ ~
I'"···~=·"'"':"'"'"'"'"'-"'
uJ JJ == .; c;.J/IL.
Si111ilar to tl.1e linear \·"'ibratiotl problen1. tl1e Utlda1Ilped 11atural
period ll13)l be \1/rittetl as
,
J - ;r{f_-
.......
- '''"l...,.-·/··. - ....,.J. 2rr
'n - "- ''' UJ, - ~
67
A torsional pendulum consists of a 5 kg uniform disk

with a raclius of 0.25 n1 attached at its center to a rod
1~5 m in length~ The torsional spring co11stant is
0.625 N·m/rad~ Disregardirtg the mass of the rod, \vl1at
is tnost nearly the undanl.ped natural circular freqt1ency
of the torsional pendtllum? . R2
I= ll~1 , /2
(A) 1.0 racl/s (5 kg)(0~25 rn)
=--.....;.....;...___
2
2
(B) 1.2 rad/s I
= 0.1563 kg·rn2
(C) 1~4 rad/s
(D) 2.0 rad/s lo.625 N-m
Wn = VkJl = ~ 0.1563 ~~2
= 2.0 rad/s
The answer is (D).
-~~~;~~!,!~
A tot-sion,a.l pend··ulum i<:~ coiUJ)OSecl of a;. 0 . 5 m long
shaft with t~ dian1eter of 0 .. 5 em and a sl1ea.r rn.od··ulus of
8 x lO.t 1\.fPa, l.t.:nd a. tl1in 3 l{:g clisk Vilitll a r~·u1ius of 30 ern.
~I'l1.e natura..! freqll(~l'lcy of the p·cn.dultttn is 8 .. 5 rad/s .
V\'1·1aJ~ is n.1.os-t 11early the period of oscillation?
(A) 0 . 61 s
(J:~) Q_74 s
(C) 0~87 s
(I)) 0 . 96 s
68
Vibrations
Vibrations
Vibration ts an oscillatot)' motion about an equilibrium point
Free Vibration- In Free vibration, the object is not under the
influence of any kind of outside force.
Forced Vibration- In forced vibration, the object is under the
influence of an outside force.
This can be understood more clearly by the following

example:-
When a pendulum vibrates it is free vibration because it does
not depend on any outside force to vibrate whereas when a
drilling machine vibrates, it depends on a force from outside.
Therefore, it is an example of forced vibration.
69
Vibration
vibrations
natural forced
,,,. . ' '1 l .......... .. J
I
ww
I I
I l
undamped damped undamped damped

(free)
Static deflection
L
·a (weight)L3
Dst = 48EJ
r--·--1
f (b)
-- .-~]····. . a.= weight

,m sr k
(a)
70
A pump wit.ll a trtass of 30 kg is supported by a spring

with a sprit1g constatlt of 1250 N/tn~ The n1otor is con-
str~ined to allo\v only vertical movement . What is most
11early the static deflection of tl1e spring?
(A) 0~11 m C.:!alculate the static deflection.
rng = k8st
(B) 0~19 m bst = Tn,g_
k
(C) 0~24 Ill
(30 kg)(9~81 ~)
(D) 0~31 m -
1250 N
rn
= 0~235 m (0.24 rn)
The answer Is {C)..
Free vibration
Position ofUndctbm1ed
- - - - - - - - - . - - - - Ll!ngth of Spring
b.n + /cr ==
l:J nz5: 0~ or
I
I m - - - + - - - Position of Static
Equilibrium .t + (k/;n)x = 0
.\:
The solution o:f this differential equation is

x(t) = C'1 c:os(co,/) + C'2 sin(co,,t)
If the initial conditions are denoted as J:·(O) =x0 and
.k( O) = l-b, then
x(t) == Xo cos(w,/) + ( \.b/U:.)n)sin(u),/)
71
To Au
~~~~~~~~~==~~~
tairiiliGLOBAL
~~~duc~_tional
!~=Courses
Undamped natural frequency ,period
CD,, = I/( I 111
The undan1ped 11atural period of vibration n1ay no\v be \Vt1tten

as
72
Free vibration occurs \\~he,n the n1otion is nutintained bv

gravitational or elastic restclring force&
TI1e an1plitu.dc is the nu1xin1Un1 displacen1en1, of the dy.
The period is the titne re,quired to comple-te one cycle.
'rltc fretJUency is the nun1be.r ot~ cycles, ,con1plcted r unit, of tin1c~
\vherc ll,'l'z = 1cyclc/s~
-~~~;!~?.~!
A n1ass of 0. 025 kg is l1~11ging fron1 a spring with a
spring constant of 0.44 N/m. If the tnass is pttlled dowr1
a11d released) what is rnost nearly tlte period of
oscillatior1?
(A) 0.50 s
(B) 1.2 s
(C) 1.5 s r =-2 1t-·..
. =-;::::::::::21t==· = 1~5 s
(D) 2.1 s ~ 0.44 ~
0.025 kg
The answer is (C).
73
A mass is l1t1n.g fron1 a spring, which causes the spring to

be clisplaced by 2 em~ The mass is tl1en pulled do"v11
6 em a11d released. What is most nearly tl1e position of
the t1l&..<;S after 0~ 142 s?
(A) -0.06 In
(I3) -·()p02 m
(C}) 0. 04 ITl
(D) 0.08 m
. . ~~ ( 9.81 ;;) ( WO c:) ~~,GLOBAL

~Educational
Wn.= ~= !c-:-:::-::c-~:·:·cCoursef.
2 ern
= 22.1 rad/s
Tl1e initial -velocity of the mass is 0 radjs, and the in.itial
position of t~h.e tna.ss is 6 ern. Frotn ] •, the position
of the mass is
a.;( t) = xo cos(wnt) + (vo/w-n)sin.(w,lot)
- (l~Oc~)cos((22.1 !~)(0.142s))
+ ( _°.r:a;) sin( (
22 1
22.1 r~d) (0.142 s))
= -0.0599 m ( -0 . 06 m)
Tl1e negative sign indicates that tl1e location is on the
opposite side of tl1e neutral ( eq·uilibriu.rn) poir1t from
'1.tvhere the systexn '"as released*
The answer is (A)<i
74
Amplitude of oscillation
Vertical and horizontal oscillation
75
76
77
78
79
80
Torsional stiffness ~!GLOBAL

~~~~~~a~~~~1
Undamped circular natural frequency
,period
Tl1e torsio11al stifft1ess of a solid roluld t·od \:vitll associated
polar lll0111e:nt-of-ii1ertia J .. lengtl1 L~ and sl1ea1· 111odulu.s of
, G is eiv·e11 b-v.·1'
elasticit\' ~, ._.
let= CiJlL
Tl11.1s the lUiclatllped circtdat~ 11atural ti"eqtle:ncy· tor a sj.rsten.l
"\Vith a solid ro1rnd Sl.ll}I)Ortitlg rod n.1ay" be \:'VTitten as
.
Lo,~~
-- vtc···~-.·J···;lJ···L-
· I·· / .. ·
Sin1ilar to tl1e line:ar "'ilibration. probletil .. tl1e llllclatllped 11at1u~a1
period 111ay be ~'-'l·itten as
2 .Ia..
0 ')'7"
..,..
t:n
- •'")-/',' -
- A . . i:.. OJn - r"frt· - -
•r~(J:J··
...... J ..
vfT .j JL
A torsional pendulurn consists of a 5 kg uniform disk

with a radius of 0.25 m attached at its ce11ter to a rod
1~5 n1 i11 lengtl1~ The torsional spring constant is
0.625 N·m/rad* Disregardir1g the mass of the rod, wl1at
is 1nost nearly the undamped natural circular frequency
of the torsional pendulum? = M R2 / 2
1
(A) 1.0 rad/s _ (5 kg)(0.25 m)"-
(B) 1.2 rad/s = 0.1563 ~-m2
(C) 1~4 rad/s --·---
0.625 ~~·11!
(D) 2.0 rad/s rad
Wn = ylk;fl =
= 2.0 rad/s
The answer is (D)..
81
-~~~;~~~
-·· A t;orsio:nal pend1.1h.1m. i.s con1..posed of a 0_5 n:1 lor1g
sl1aft with .a. dia:rneter of 0 .. 5 cn1. and a, sh.t'";!ar rr1odulus of
8 x 10·4 :tvfl)lf.b, an:d a thin 3 kg disk. with a;, rru::liua ()f ~30 ern .
1
I''.h.e natu.ra..l freq~ue:ncy of ·the .pen.ch.Ilt.u~n is 8.5 radfs.
'\All1at is .mr.).<;;t~ 11ea..rly th.e period of oscillt1-:Lior1?
(A) O~fil s
(B) 0~74 s
(C) Ow87 s
(I)) 0 . 9(3 s
T :::~.;:
2n
-· =
(tJ r.
2n
rad
= f.' '"~·.··~ . .'} S.,
i.t ~;)I
(t... ). ...[' 1 S).
8
( .~,)
82
83

Dynamic Mech

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P~.\.R-ri C~,LE l~I!'lEl\'1.i\.TICS

Rectangular coor inat s

What is the pa..rticle's initial ve1ocity?

v = 20 ··1- (8)(0) ·-~ (9) (0) 2

What is the acceleration of the particle at time

What is the ma..,"'Cin111m speed reached by the particle?

article ectilinear Moti n

c1 cis· == t~· .eft} l<O

i\ part.iclo ir~1iti.aJJ~,r t;.r!;tveling at 10 u:t/s (;jX£J>tLH'iC~Ilt~(:S :J.

~~.lost JJou.rly ~ '\Vhtd. is tltc~ {list;Eu1ce 'travoled b:~.r tlu:~ '[)(ird~i­

(IJ) 180 n1.

lu a t:;~t1c:~~:ub:,vt;.it:.l1U t".lt::f tli;KL~tt:.1tCJf."f· r.r;:;;rJ.V>£:~h,~.l~ t~l:u~ ini(~l:<.i:Ll dis:t::;.ar:tea

(~_ ..,(;J 1'7..S" t c:.tllt c:z :::::::~ c.z0

A roller coaster train cliinbs a hill witl1 a ccn1star..tt gra-

Use the constant acceleration equatioi18 for straight liiu3

The distance Lrf1veled in l 0 s is

'<-.;; (t ) = s 0 + vot + 2l aot.'2

Con.<.·tcmt a :::= a0 = g (downward towards earth).

·A ball is thrown straight upward from a height of s. ft

(0) 2 = (6:0) 2 + 2 (-32~2)(s- 5)

If the n1ol.ion is dc;.scribed usin. a. ·.· rectntl~Uia:r cuordinates~ then the

Tangential and normal coordinates

~ ·rhc particle ~s velocity is ahvays tangent to the pnith.

When skier reaches point A long the parabolic path

By definition .. the velocity is al\vays directed tangent to

{ 2u, + 1.273u"} rn/s::

\' ·: .:. h;.~r + r0e6

~ Polar coordinates are a suitable choice for solving problems \Vhe.n

Polar Coor inates

I-Iere the vector quantities are defined as

Ct :::::: ti; ·== ()

i:\rc length. rrans·verse velocity, and transverse acceleration.

constant angular acceleration

Cl. (f) = Ct0

For ,~.ariable· a112nlar

0 ( t) == ~{tO ( T)c-J-T' + Ot{l

12. 'l"'l1e rotor of a. steam turbine is rota:ting at

·n1e equations for con.1.1non projectile motion :n1.ay be obtcuned

J!\.. f-:>r·Ojt1ctil-t:~ is ftre<. l fro:r:n a. ea.t:l.Il.<:>rl. wit.h .a.11. in.it~ia.l veloc-

(A.) 8200 :nl.

y = ~·-1500 r:n sine(~ it, i:;; belo"v the launch ph1ne.

I:F =the sum ofthe applied for·ces.acting on the particle

For con.sta:n.:t 1nass.,.

ne- im nsional Motion fa article

{/Jt ( f ) ::::::: ~~~· ( t ) /Jl'l

If the force is constant

a_.r := 1\. /111

r>"---·----·. . . . . . . . . . . . . . .- -...--.............._. . . . . . .,_. . ....-..... ._._. . .

r Ia Tang ntial inetics

When working with normal and tangential

LF; == nta1 == mdvt Idt and

A 3 kg block is at a s:peed of ,5 111/s. T1JJ1 forc'e

Apply Newton 18 second law to the free body of mass A.

10 000n~) ~A"" 10000 N- TA

L Fy =1nsa.B = M!n - Tn [up]

Cornbine th.e equations il~tld. solve for l'LA~ setth1g TA ==

g(WA -·- \tV'B)

Find the velocity of block t\ 2.5 s after the blocks

Linear impulse and momentum

Assuming constant mass, the equation of

For a systen1 of particles~ by integrating and sun1n1ing ov·er the

~~.lost JJou.rly ~ '\Vhtd. is tltc~ {list;Eu1ce 'travoled b:~.r tlu:~ '[)(ird~i

Use tl1e imp11lse-momentum principle. v2 = 0. The fi~ic

1. A 54 kg mass is ;;uppm·ted by three sp1·ings ns sho\\'IIJJI;y~