University of Twente Reference: ET.

23/TM-59XX
Faculty of Engineering Technology
BSc Program Mechanical Engineering

Course Name : Dynamics - 1

Module Code : 201700125
Course Code : 202000127
Date : 13 January 2023
Nominal Time : 08:45–11:45 – 3 hours
Extra Time : 25% for students with extra time rights
Questions : 4 (25:25:25:25 points)
Pages : 9 (Instruction, hints i–ii; questions: 1–7)
Type : Closed book, no formula sheet, calculators allowed
Confidentiality : The questions are open and may be shared after the exam with others.
Lecturers : R. Loendersloot & A.M. Palthe

Hint: Work neatly, work in a structured manner. First read the question
carefully, collect what is known, write down the equations you think are
important, answer the questions and see how they guide you to the final
questions – the questions are not random. Graphs typically score a decent
number of points and form the base of a higher score for the remainder of
the question (historical evidence!). Make them clear and ensure consistency
between figures and equations derived from them. Evaluate your answer: does
it make sense, can you in some way verify it, e.g. in terms of consistency.

Watch the clock: in principle, each exercise can be completed in approximately

45 minutes. If you notice that you are taking more time than this,
move on to the next (sub-)question; first score the ‘big points’, the things
you easily know or can easily calculate.

Tip: Move on to the next question after 45 minutes!

If a short motivation is asked (“in a few words”), you do not have to write down
long sentences, covering multiple lines. Short, concise, means some keywords,
headline-style text, which make your point clear, you do not need to repeat
the question itself. A short example:
Question: “Do you prefer the train or car to travel from A to B. Motivate
your answer in a few words.”
Answer : “Train; free with student public transportation card, no hassle with
parking, better for the environment.”

First make those sub-questions you can most easily answer, then continue with
other sub-questions.

Calculation of the final mark:

4
9 X
cfinal = si + 1
100
i=1

where si are the scores for each exercise which will be registered in Canvas.
Only the final mark will be registered in Osiris and this is the only official
mark or score for the course.

i
Intentionally left blank

ii
 START OF QUESTIONS

Question 1 Kinematics (25 points)

An artificial system – with no specific purpose – is defined, as displayed in fig. 1.
The gray wheel (W) rolls without slipping over the ground. The contact point
between the wheel and ground is point B. The centre of the wheel is in C. The
light gray area is a slot in the wheel in which particle A moves, following the
dashed line. The position of A in time, with respect to the wheel, is described
by s(t).
A slender bar (I, green) is attached in D and connects to the blue element (II) in
E. Both D and E are frictionless hinges. The blue element (II) is supported by
frictionless rollers, suppressing any motion apart from the horizontal motion.
The orange element (III) is one rigid element. It slides through the sleeve in
the blue element (point F) – again frictionless – and is hinged frictionless in
G. The motion of the orange element (III) is driven by the gray shaft (IV).
Contact point H moves without friction through the slot in the orange element
(III). The shaft’s motion is restricted to a vertical motion, which is given by
u(t). The oscillatory motion is indicated by the double arrow.
Answer the following questions:

2 points a. Write down the full, most complete vector equations for the velocity and
acceleration of an arbitrary point with respect to a reference point, both
on a rigid body. This is a general question, no direct reference need to
be made to the problem at hand.

4 points b. Briefly – in a single or few words only – explain each of the different
velocity components (in m/s) and acceleration components (in m/s2 ) in
the vector equations for the velocity and acceleration respectively.
√ 1
4 points c. Show that for a0 = 3R and t = 16 s, the magnitude of the relative
acceleration of
√ point A in the (light gray) slot of the wheel in fig. 1
2
equals arel = 1408π R m/s . 2

6 points d. Draw kinematic diagrams of the wheel (one with velocities, one with
accelerations) for an arbitrary moment in time for which the gray shaft
(IV) is moving downwards. Indicate the velocities and accelerations of
at least points B, C and D.

3 points e. Briefly argue why the maximum velocity of point C in the direction
calculated under 1d differs from that in the opposite direction. What
must be changed to make both maxima equal in magnitude? Hint: look
at elements II and III.

3 points f. Draw the kinematic diagrams again for the same direction of rotation
as in 1d, now assuming that the wheel slips (think carefully about the
possible direction of the velocity in B!) such that the magnitude of the
velocity in B is half that in D.

3 points g. Observe the orange element (III). The acceleration of point H contains
for arbitrary time t and position (angle ϕ2 ) a Coriolis term. Briefly
explain why this term is zero for the position of the orange element (III)
as shown in fig. 1.

1
 Question 2 Kinetics (25 points)
Given the truck, shown in fig. 2. It carries a load, with mass m and hinged in
O. Friction may be neglected. A steel cable (rigid, infinite stiffness) is attached
between mount points A and B. The truck accelerates with acceleration a in
horizontal direction. The center of gravity is in the location as shown and the
mass moment of inertia is IG .

Answer the following questions:

4 points a. Draw the Free-Body Diagram of the load.

3 points b. Express the dynamic equilibrium equations (Newton’s second law) in

terms of the unknown reaction forces, the dimensions H, HG and L, mass
m, mass moment of inertia IG , the cable force Fc and the acceleration a
(use g for the gravitational acceleration).

3 points c. Solve for the cable force in terms of the inertia terms m and IG , the
dimensions H, HG and L and the acceleration a.

Now assume that the cable has a finite stiffness kc (in fact the axial stiffness
of the steel cable) and is initially unstretched. The acceleration then results
in a small angular motion of the load. The angle θ may be assumed small and
the cable may be assumed to remain horizontal.

Answer the following questions:

4 points d. Draw the Free-Body Diagram of the load for this situation.

3 points e. Express the dynamic equilibrium equations (Newton’s second law) in

terms of the unknown reaction forces, the dimensions H, HG and L,
mass m, mass moment of inertia IG , the cable stiffness kc , elongation
∆x, angle θ and the accelerations a and α (use g for the gravitational
acceleration).

2 points f. Show that the elongation (for small angle θ) equals:

p
∆x = H 2 + L2 θ

3 points g. Solve for the angular acceleration α in terms of the inertia terms m and
IG , the dimensions H, HG and L, stiffness kc and accelerations a and g.

2
 Question 3 Work & Energy (25 points)
A wheel consisting of a ring with radius R and mass m and a half-circle solid
part with radius R and mass 3m is positioned on a flat floor (fig. 4). A spring
is attached to the inner hub with radius 12 R – the dashed line – and to the
fixed world (point B). The spring in fact represents the finite stiffness of a
cord, which is secured wrapped around the inner hub. The stiffness equals
k = 4mg
R . The spring is initially extended by x0 = 20R.
The wheel starts rolling from rest (from initial state θ = 0), without slipping,
in the direction indicated in fig. 4. The dynamic friction coefficient between
the wheel and the floor is µ.

Answer the following questions:

3 points a. Show that the mass moment of inertia of the wheel equals:
 
wheel 5 4
IG = − mR2
2 π2

3 points b. Show that the magnitude of the velocity |vG | can be written as:
√
1 − 2π cos θ + π 2
|vG | = ωR
π
with ω the angular velocity of the wheel.

4 points c. Find an expression for the kinetic energy for any arbitrary rotation θ
(so: as a function of θ) and further in terms of m, R and ω.

3 points d. Find an expression for the gravitational energy for any arbitrary
rotation θ and further in terms of m and R (use g for the gravitational
acceleration). Take point O as the reference point.

2 points e. Find an expression for the elongation of the spring for any arbitrary
rotation θ and further in terms of m, R and g.

3 points f. Find an expression for the elastic energy for any arbitrary rotation θ and
further in terms of m, R and g.

3 points g. Is work done in this case? Briefly motivate you answer.

4 points h. Calculate the velocity after 2.5 rotations of the wheel.

3
 Question 4 Impulse & Momentum (25 points)
The slender bar of length L and mass 10m shown in fig. 5 rotates about the
fixed point O (no friction) with angular velocity ω0 when it is simultaneously
hit by two point masses (m1 = m, m2 = 2m), with velocities v1 = 5ω0 L and
v2 = 2ω0 L respectively. After the collision, the point masses are stuck to the
bar.
All answers (apart from 4a) are to be expressed in terms of the initial angular
velocity ω0 , length L and mass m.

Answer the following questions:

2 points a. General question, not related to this specific problem: Write down
the linear “impulse and momentum” equations for linear and angular
motion.

6 points b. Draw the impulse and momentum diagrams for the entire system (bar
+ masses).

4 points c. Write down the linear “impulse and momentum” equations for both
masses (note: what is the linear momentum of the bar?).

2 points d. Explain in a few words why the angular momentum can change due to
the point masses, which only have a linear motion.

4 points e. Write down the angular “impulse and momentum” equation for the entire
system (bar + masses).

3 points f. The kinetic energies before and after the impact equal 16.917mL2 ω02 and
0.6479mL2 ω02 respectively. What type of collision is this and explain why
the kinetic energy in the final state is always lower than in the initial
state?

2 points g. If energy would be conserved, what kind of collision would this be and
describe briefly what could happen in that case.

2 points h. How large should mass m2 be to completely stop the rotation of the bar,
assuming all other values remain as they were?

1 point i. How large should velocity v2 be to completely stop the rotation of the
bar, assuming all other values remain as they were?

4
 The following details are given:
√ u(t)
π
s(t) = a0 cos (4πt) R1 = 34 R LDE = 2
3 2R ϕ1 = 4 LGH
π
u(t) = b0 sin (πt) R2 = R LGH = 32 R ϕ2 = 4
11
R3 = 12 R LF G = 12 R

I
s(t) IV
LDE
5

R3 III
W
G H
C
A
LF G
ϕ2
R2
R1 ϕ1
II F
E

B
Figure 1: Mechanism driven by rod on the right. The wheel is rolling on the ground; Element E is constrained to move in horizontal direction only.
 L

A B
G
H
HG
O

Figure 2: Truck with a load hinged at point O. A cable is attached between A and
B. The truck is subjected to an acceleration a in horizontal direction.

A B

Figure 3: Truck with the load rotated over a small angle θ, resulting from the
acceleration a.

6
 Ls
4r
ȳhalf circle = 3π
ω

ring A B
IG = mr 2
1
2R O
half
IO circle = 12 mr 2

R
flat floor

Figure 4: Wheel starting from rest then rolling to the right. Note the equations are
general equations, not specific for this exercise.

m1
v1
ω0
O

v2
m2

Figure 5: Slender bar rotating about fixed point O, about to be hit simultaneously by
two point masses at either end of the beam.

7
Intentionally left blank

8
Question 1 Answer – 25 Points

Sub-Question 1.a 2 points

v A = v O + ω × rA/O + v rel (1)

 
aA = aO + α × rA/O + ω × ω × rA/O + arel + 2ω × v rel (2)

Sub-Question 1.b 4 points

Velocity terms:

• v A : Linear velocity of point A

• v O : Linear velocity of reference point O

• ω × r A/O : Circular velocity of point A about point O

• v rel : Relative velocity in the local reference frame / coordinate system

Acceleration terms:

• aA : Linear acceleration of point A

• aO : Linear acceleration of reference point O

• α × rA/O : Circular tangential acceleration of point A about point O

• ω × ω × r A/O : Circular normal acceleration of point A about point O

• arel : Relative acceleration in the local reference frame / coordinate

system. Note that this can contain two terms: a tangential and a normal
acceleration, if the path in the local reference frame is curved

• 2ω × v rel : Coriolis acceleration

Sub-Question 1.c 4 points

√
s (t) = 3R cos (4πt) (3)
√
ṡ (t) = − 4 3πR sin (4πt) (4)
√
s̈ (t) = − 16 3π 2 R cos (4πt) (5)

9
 √ 2 √
   
1 1 π
at t= =s̈ = −16 3π R cos = −8 6π 2 R (6)
16 16 4
1


2
4  √ 4  √
 
1 ṡ 16  π 2 2
an t = = = −4 3πR sin = −2 6πR = 32π 2 R
16 R1 3R 4 3R
(7)
r
q √ 2 p √
|arel | = a2t + a2n = −8 6π 2 R + (32π 2 R)2 = 384π 4 R2 + 1024π 4 R2 = 1408π 2 R
(8)

Sub-Question 1.d 6 points

vD aD,t

aD,n

vC ω α
aC,t
aC,n = 0

aB,n

vB = 0 aB,t = 0

Figure 6: Kinematic Diagram of the wheel (W). Left: velocities; right: accelerations.

Sub-Question 1.e 3 points

Point F has the same velocity in both directions, but only its x-component
is transferred to element II. If element III is rotating counterclockwise, at a
constant velocity, the x-component of F increases and thus the velocity of
point C increases.

To make the maximum velocity of point C equal in both directions, element

III should be changed such that ϕ2 = 0.

10
Sub-Question 1.f 3 points

vD aD,t

aD,n

ω aC,t α
vC aC,n = 0

aB,n
vB
aB,t

Figure 7: Kinematic Diagram of the wheel (W). Left: velocities; right: accelerations.

Sub-Question 1.g 3 points

When element III moves clockwise towards this horizontal position, so before it
reaches the current position, the distance GH decreases. This means that v rel
is directed to the left. When it moves beyond the current position, distance
GH will increase again, which means that v rel is directed towards the right.
Since its direction changes sign at horizontal position, its velocity must be zero
at this moment. When v rel = 0, acoriolis = 0.

acoriolis = 2ω × v rel (9)

11
Question 2 Answer – 25 Points

Sub-Question 2.a 4 points

The Free-Body Diagram of the load is given in fig. 8.

y
L
θ
x
Fc
A

G
H
HG mg
O
Ox

Oy

Figure 8: Free-Body Diagram of the load.

Sub-Question 2.b 3 points

Make sure the signs correspond to the directions drawn in 8.

X
Fx =max = Fc + Ox = ma (10)
X
Fy =may = Oy − mg = 0 (11)
X
MG =Ig α = Ox HG − Fc (H − HG ) = 0 (12)

Sub-Question 2.c 3 points

Rewrite the equilibrium equation in eq. (12) to solve for Ox :

H − HG
Ox = Fc (13)
HG

12
Rewrite eq. (10) to obtain an equation for Fc and combine the two:

H − HG
Fc =ma − Ox = ma − Fc (14a)
HG
 
H − HG
Fc 1 + = ma
HG
 
HG + H − HG
Fc = ma
HG (14b)
H
Fc = ma
HG
HG
Fc =ma
H

The method to obtain this answer can differ slightly.

Sub-Question 2.d 4 points

The Free-Body Diagram of the load is given in fig. 8.

y
L
θ θ
x
Fc
α A

G
H
mg
HG
O
Ox

Oy

Figure 9: Free-Body Diagram of the load in tilted position.

Sub-Question 2.e 5 points

Note: the exam indicated 3 points, this should have been 5

The sum of moments must be around the center of gravity, since O is not a

13
fixed point!
X
Fx =max = Fc + Ox = maGx (15)
X
Fy =may = Oy − mg = maGy (16)
X
MG =IG α = Ox HG cos θ + Oy HG sin θ − Fc (H − HG ) cos θ (17)

Solve the accelerations of the CoG. Note that ω 6= 0.

 
aG =aO + aG/O = aO + ω × ω × rG/O + α × r G/O
           
a  0   0  −HG sin θ  0  −HG sin θ
= 0 + 0 ×  0 × HG cos θ  + 0 × HG cos θ
0 ω ω 0 α 0
           

a + HG ω 2 sin θ − HG α cos θ
 

= −HG ω 2 cos θ − HG α sin θ

0
 
(18)

Put the accelerations in the equilibrium equations and use the small angle
assumption (sin θ ≈ θ and cos θ ≈ 1). Using Fc = kc ∆x, this leads to:
X
Fx =kc ∆x + Ox = m a + HG ω 2 θ − HG α


(19)
X
Fy =Oy − mg = m −HG ω 2 − HG αθ


(20)
X
MG =Ox HG + Oy HG θ − kc ∆x (H − HG ) = IG α (21)

Sub-Question 2.f 2 points

The distance between O and A, using the theorem of Pythagoras, is:

p
LOA = H 2 + L2 (22)
Rotating this over angle θ and using sin θ ≈ θ gives:
p
∆x ≈ LOA θ = H 2 + L2 θ (23)
A schematic of the situation (always helpful!) is given in fig. 10, showing how
the position of point A changes. As can be seen, the displacement of A to
the new position A’, after a small rotation of θ, contains a horizontal and a
vertical part. However, the distance LOA θ is the elongation of the cable. The
distance from A to the other end of cable is not given, but large compared
to the vertical component of the displacement of the point A, so the cable
remains nearly horizontal.

A bit more elaborate mathematics shows this as well. The point B is used for
that as an intermediate point. The change of location of point B with respect
to O is:
 
−H sin θ
(∆xB , ∆yB ) = (xB − xB , yB − yB ) =
′ ′ (24)
−H(1 − cos θ)

14
 LOA θ

A’
B
B’ A

√
LOA = H 2 + L2

Figure 10: Schematic showing the calculation of the distance between O and A.

The change of location of A with respect to B is:

 


−L(1 − cos θ)
∆xB/A , ∆yB/A = xB/A − xB ′ /A′ , yB/A − yB ′ /A′ = (25)
L sin θ

Combining these two, gives the change of location of A’, with respect to O:
 
−L(1 − cos θ) − H sin θ
(∆xA , ∆yA ) = (xA − xA′ , yA − yA′ ) = (26)
L sin θ − H(1 − cos θ)

Now using the small angle theory gives:

     
−L(1 − cos θ) − H sin θ −L(1 − 1) − Hθ −Hθ
= = (27)
L sin θ − H(1 − cos θ) Lθ − H(1 − 1) Lθ

Then using Pythagoras’ theorem:

∆L = sqrt(−Hθ)2 + (Lθ)2 = sqrtH 2 + L2 θ (28)

Sub-Question 2.g 3 points

First rewrite the equilibrium equations to obtain expressions for the reaction
forces:

Ox = m a + HG ω 2 θ − HG α − kc ∆x


(29)
Oy = mg − m −HG ω 2 − HG αθ


(30)

15
 IG α = = m a + HG ω 2 θ − HG α − kc ∆x HG +

mg − m −HG ω 2 − HG αθ HG θ − kc ∆x (H − HG )

=maHG + mω 2 HG
2 2
θ − mHG α − kc ∆xHG +
mgHG θ − mω 2 HG2
θ − mHG2 2
θ α − kc ∆xH + kc ∆xHG
2
1 + θ 2 α + mgHG θ − kc ∆xH


=maHG − mHG
(31a)
2
1 + θ2



IG + mHG α = maHG + mgHG θ − kc ∆xH (31b)
√
mHG (a + gθ) − kc H 2 + L2 Hθ
α= 2 (1 + θ 2 ) (31c)
IG + mHG

16
Question 3 Answer – 25 Points

Sub-Question 3.a 3 points

Since the final answer is already given, check all the steps extra carefully.

Start by calculating the center of gravity of the entire wheel:

4R
0 · m + ȳhalf circle · 3m 3π· 3m R
R̄ = = = (32)
m + 3m 4m π

Method 1 The parallel axis theorem is used to obtain the moment of inertia
of the ring around the center of gravity of the wheel:
ring
IGw = IGr + md2
(33)
 
2 2 1
= mR + mR̄ = 1+ 2 mR2
π

The same principle is used for the half circle. Note that the parallel axis
theorem is used twice here, since the given moment of inertia is around O,
which is not the center of gravity of the half circle. Thus first the moment
of inertia around the center of gravity of the half circle is determined using
(mark the minus sign):
IGhc = IO − md2
2
(34)
= IO − mȳhalf circle

Then the moment of inertia of the half circle around the center of gravity of
the wheel is determined using:
half circle
IGw = IGhc + md2

2
= IGhc + m ȳhc − R̄
2

2
= IO − mȳhc + m ȳhc − R̄ (35)
2 2 2


= IO + m −ȳhc + ȳhc − 2R̄ȳhc + R̄
= IO + m R̄2 − 2R̄ȳhc

Fill in the equation and do not forget to replace m with 3m:

 2 !
half circle 1 R R 4R
IGw = · 3mR2 + 3m −2
2 π π 3π
3 R2 24mR2
= mR2 + 3m 2 −
2
 π  3π 2 (36)
3 9 24
= + 2 − 2 mR2
2 3π 3π
 
3 5
= − 2 mR2
2 π

17
Finally, the two can be combined to find the total moment of inertia around
the center of gravity of the wheel:
wheel ring half circle
IG = IG + IG
 
1 3 5
= 1 + 2 + − 2 mR2
π 2 π (37)
 
5 4
= − 2 mR2
2 π

Method 2 Alternatively, the mass moment of inertia of the composite body

about point O can be calculated first, after which it is shifted:
wheel ring half circle ring half circle
IO = IO + IO = IG + IO
1 5 (38)
= mR2 + 3mR2 = mR2
2 2
Now applying the parallel axis theorem:
wheel wheel
IO = IG + mwheel R̄2 (39a)
wheel wheel 2
IG = − mwheel R̄
IO
 2   (39b)
5 2 R 5 4
= mR − 4m = − mR2
2 π 2 π2

Sub-Question 3.b 3 points

Since the final answer is already given, check all the steps extra carefully. Signs
could differ, check that they are consistent. Of course the final answer should
be the same.

O vO = ωR
θ
vG/O

Figure 11: Velocity of the center of gravity after a rotation θ

Use kinematics to obtain an expression for the velocity of the center of gravity:

v G = v O + v G/O
ωR  0   −R̄ sin θ  ωR − ω R
       
π cos θ  (40)
= 0 + 0 × −R̄ cos θ = ωR
π sin θ
0 −ω 0 0
       

18
Calculate the magnitude:
q
|vG | = vx2 + vy2
s 2  2
R R
= −ωR + ω cos θ + ω sin θ
π π
r
R2 R2 R2 (41)
= ω 2 R2 − 2ω 2cos θ + ω 2 2 cos2 θ + ω 2 2 sin2 θ
r π π π
2 1
= 1 − cos θ + 2 ωR
π π
√
1 − 2π cos θ + π 2
= ωR
π

Sub-Question 3.c 4 points

Use the general equation for kinetic energy and use the given expressions for
the velocity of the center of gravity and the moment of inertia.
1 2 1
T = mvG + IG ω 2
2 2
1 − 2π cos θ + π 2 2 2 1 5
 
1 4
= · 4m ω R + − mR2 ω 2
2 π2 2 2 π2
(42)
8 − 16π cos θ + 8π 2 + 5π 2 − 8
 
= mR2 ω 2
4π 2
 
13π − 16 cos θ
= mR2 ω 2
4π

Sub-Question 3.d 3 points

The general expression for gravitational potential energy:

Vg = mgh (43)

Find an expression for h for arbitrary rotation θ:

R
h = −R̄ cos θ = − cos θ (44)
π

Put this in the general expression and do not forget to replace m with 4m:
4mgR
Vg = − cos θ (45)
π

Sub-Question 3.e 2 points

The spring is wrapped around the inner hub with radius 21 R. When the
wheel moves towards the right, the elongation decreases. The elongation after

19
any arbitrary rotation θ equals the initial elongation minus the shortening
(reduction of elongation) due to the rolling motion.

To calculate the elongation (irrespective of it being positive or negative), two

different parts need to be considered:

1. The (un)wrapping of the spring around the hub due to the rotation of
the wheel;

2. The change of distance between (in this case) points A and B, due to
the rolling motion of the wheel

The elongation due to the (un)wrapping is proportional to the radius of the

hub and the angle of rotation. Consider what has happened after one full
rotation. The part of the spring wrapped around the hub is equal to the
circumference of the hub, which is:
 
1
LC = 2πRhub = 2π R (46)
2

The angle θ equals 2π for a full rotation. Hence, for an arbitrary angle θ, the
part of the spring wrapped around the hub is:
 
1 1
LC (θ) = θRhub = θ R = Rθ (47)
2 2

The elongation related to the displacement of the wheel as a whole (and hence
the change of distance between A and B) is also related to the radius – be it
this time from the wheel – and the angle θ. Again initially considering a full
rotation, it is observed that the distance travelled by the wheel after a full
rotation (θ = 2π) equals:

LAB = 2πRwheel = 2πR (48)

Thus, for an arbitrary angle θ, the distance travelled is:

LAB (θ) = θR (49)

The total change of length of the spring is the sum of LC (θ) and LAB (θ):
1 3
∆Lspring = LC (θ) + LAB (θ) = Rθ + Rθ = Rθ (50)
2 2
Now combining the change of length ∆Lspring with the initial elongation (∆L0 )
and the fact the wheel is rolling to the right (so the total amount of elongation
reduces), the total elongation of the spring (∆Ltotal ) at an arbitrary angle θ
is obtained:
3
∆Ltotal = ∆L0 − ∆Lspring = 20R − Rθ (51)
2

20
Sub-Question 3.f 3 points

Using the answer obtained in the previous question:

1
Ve = k (∆x)2
2
 2
1 4mg 3
= 20R − Rθ
2 R 2
  (52)
2mg 2 2 9 2 2
= 400R − 60R θ + R θ
R 4
 
9 2
= θ − 120θ + 800 mgR
2

Sub-Question 3.g 3 points

No. The only external force acting on the wheel is due to friction. But the
wheel is not slipping, which means that the displacement of the contact point
of the wheel with respect to the floor due to friction is zero. Work is defined
as: Z
W = F ds = F · s (53)

In this case, s is zero.

The spring does not do work, as the energy stored in the spring is not taken
out of the system: it can be retrieved. Work is a loss of energy in the context of
dynamics: it is converted to for example heat, micro-level plastic deformation,
wear (micro-level damage to the materials up to breakages of particles).

Sub-Question 3.h 4 points

All final energy components have been calculated in the previous questions,
only the initial energy is still missing.

T1 =0 (54)
4mgR
Vg1 = − 4mgR̄ = − (55)
π
1 2 1 4mg
Ve1 = kx0 = 400R2 = 800mgR (56)
2 2 R

21
Since there is no work done, conservation of energy can be used.

T1 + Vg1 + Ve1 =T2 + Vg2 + Ve2

4mgR 13π − 16 cos θ
0− + 800mgR = mR2 ω 2
π 4π
4mgR cos θ (57)
−
 π 
9 2
+ θ − 120θ + 800 mgR
2

Rewriting these equations to solve for ω, for θ = 5π and (hence) cos θ = −1:

13π − 16 cos θ 4mgR 4mgR cos θ

mR2 ω 2 = − + 800mgR +
4π π π
  (58a)
9 2
− θ − 120θ + 800 mgR
2

4π 4mgR 4mgR
mR2 ω 2 = − + 800mgR −
13π + 16 π π
   (58b)
225 2
− π − 600π + 800 mgR
2
8 225π 2
 
2 4π g
ω = − − + 600π
13π + 16 π 2 R
2 3
 
4π 2400π − 450π − 32 g
= (58c)
13π + 16 4π R
2400π 2 − 450π 3 − 32 g
=
13π + 16 R
r r
2 3
2400π − 450π − 32 g g
ω= ≈ 13.06 rad · s−1
13π + 16 R R
(58d)

This is the velocity in radians per second, so an angular. If velocity is

interpreted as the linear velocity, then this concerns the velocity of point O
or that of the center of gravity – all answers are acceptable, one more logic
perhaps than another, but they all can be expressed in each other:
r
2400π 2 − 450π 3 − 32 p
vO = ωR = gR ≈ 13.06 gR (59a)
13π + 16
√ √
1 − 2π cos θ + π 2 1 + 2π + π 2 1+π
vG = ωR = ωR = ωR
rπ π π
(59b)
1 + π 800π 2 − 50π 3 − 32 p
= gR ≈ 17.22 gR
π 13π + 16
Just substituting the value of θ in the formula given in question 3b is not
sufficient, as then ω is not solved yet which is directly related to the velocity
vG , hence the velocity (linear or radian) is still unknown. The energy balance
therefore must be used.

22
Question 4 Answer – 25 Points

Sub-Question 4.a 2 points

The general equations are:

Z
G1 + F dt = G2
(60a)
G = mv
Z
H1 + M dt = H2
(60b)
H =Iω

Sub-Question 4.b 6 points

The kinematic diagrams contain: State 1 (or the initial state), the impulse-
event and state 2 (or the final state). The diagrams are given in fig. 12. Note
that the bar is rotating about a fixed point and is not translating. This is a
situation with a fixed point rotation.

Sub-Question 4.c 4 points

The linear impulse and momentum equations of the point masses in state 1 :
Z
G1,1 + F1 dt = G1,2
Z
−m1 v1 + F1 dt = 0 (61a)
Z
−5mω0 L + F1 dt = 0
Z
G2,1 − F2 dt = G2,2
Z
m2 v2 − F2 dt = 0 (61b)
Z
4mω0 L − F2 dt = 0

Note that we are dealing with a fixed point rotation, no translation of the bar,
so zero linear momentum for the bar. The point masses are fully embedded
in the bar, hence the linear momentum of the particle is reduced to zero.

One could also say that the linear impulse of the point masses is not zero, which
will have an effect on the calculation of the angular impulse and momentum
equation, as will be seen later on. Both approaches are fine, as they result
in the same answer, as long as the method is applied consistently. The linear

23
 State 1
m1

G1,1
HO,1

G2,1
L m2
Impulse
R m1
F1 dt

R
F1 dt
R
R F2 dt
Ry dt
R
L F2 dt
m2
State 2

m1 O m2
HO,2

Figure 12: Impulse diagram of the bar, being hit simultaneously by two point masses.

impulse and momentum equations of the point masses in state 1 then read:
Z
G1,1 + F1 dt = G1,2
1
Z
−m1 v1 + F1 dt = m1 ω1 L (62a)
2
1
Z
−5mω0 L + F1 dt = mLω1
2
Z
G2,1 − F2 dt = G2,2
1
Z
m2 v2 − F2 dt = −m2 ω1 L (62b)
2
Z
4mω0 L − F2 dt = −mLω1

Note that it is assumed that ω1 is positive in the same direction as ω0 .

24
Note that the impulse and momentum equation of the bar shows that even
after the impact, no translational motion exists:
Z
Gbar,1 + Fres dt = Gbar,2
Z
0 + −F1 + F2 + ROy dt = 0 (63)
Z
0 + 0dt = 0

The reaction force in O is such that it cancels the forces from the impact,
which explains the last line in the equations.

Sub-Question 4.d 2 points

The impulsive forces due to the collision with the bar cause a moment around
point O, which causes the bar to change its rotation.

Sub-Question 4.e 4 points

The angular impulse and momentum equations, considering the bar plus
masses as a single object, read:
Z
HO,1 + M dt = HO,2
1 1
Z
bar bar+pointmasses
−IO ω0 + F1 L + F2 Ldt = −IO ω1
2 2
 2  2 !
10 1 1 10 1 1
Z Z
2 2
− mL ω0 + F1 dt L + F2 dt L = − mL + m L + 2m L ω1
12 2 2 12 2 2
Z 
5 1 19
Z
2
− mL ω0 + F1 dt + F2 dt L = − mL2 ω1
6 2 12
(64)

Note that ω0 is a clockwise rotation, hence the minus sign, and it is assumed
that ω1 is in the same direction (also clockwise).

Now using the first approach, eq. (61), where it was assumed that the point
masses have no linear momentum after the collision, as they have ceased to
exist as separate entities, the integrals over forces (the impulses) are:
Z
F1 dt = 5mω0 L (65a)
Z
F2 dt = 4mω0 L (65b)

25
This gives the final answer for the angular impulse:
5 1 19
− mL2 ω0 + (5mω0 L + 4mω0 L) L = − mL2 ω1
6   2 12
5 9 19
− + mL2 ω0 = − mL2 ω1 (66)
6 2 12
22 11 19
mL2 ω0 = mL2 ω0 = − mL2 ω1
6 3 12

If the second approach is followed, then the (angular) momentum of the bar
and of the point masses is at all times independent. One could consider this
as the case where the ends of the bar and the point masses move with the
same velocity, yet are not connected in any way. Whether or not the objects
are connected does not matter for the total amount of motion present in the
system. However, the angular momentum and impulse equation of the bar
only must then be used:
Z
HO,1 + M dt = HO,2
1 1
Z
bar bar
−IO ω0 + F1 L + F2 Ldt = −IO ω1
2 2
(67)
10 1 1 5
Z Z
2 2
− mL ω0 + F1 dt L + F2 dt L = − mL ω1
12 2 2 6
Z 
5 1 5
Z
− mL2 ω0 + F1 dt + F2 dt L = − mL2 ω1
6 2 6
The magnitude of the impulse is now calculated using eq. (62):
1
Z
F1 dt = mLω1 + 5mω0 L (68a)
2
Z
F2 dt = mLω1 + 4mω0 L (68b)

This gives the final answer for the angular impulse:

 
5 2 1 1 5
− mL ω0 + mLω1 + 5mω0 L + mLω1 + 4mω0 L L = − mL2 ω1
6 2 2 6
 
5 9 3 19
− + mL2 ω0 + mL2 ω1 = − mL2 ω1
6 2 4 12
 
11 5 3 19
mL2 ω0 = − + mL2 ω1 = − mL2 ω1
3 6 4 12
(69)
As expected, both answers are the same.

Sub-Question 4.f 3 points

This is an inelastic collision. The kinetic energy decreases, thus some energy
is “lost”; the energy cannot increase without a source term (e.g. work done
by an engine, motor, chemical process, etc). Some energy is converted into
plastic (irreversible) deformation or heat.

26
Sub-Question 4.g 2 points

Elastic collision. In this case the point masses would bounce off of the bar
in random directions. Note that it is not possible to calculate the direction
in which the masses will bounce off with the information provided in this
question!

Sub-Question 4.h 2 points

Using the angular momentum and impulse equation for either of both
approaches, but now for unknown mass m2 and setting ω1 to zero:
5 1
− mL2 ω0 + (5mω0 L + 2m2 ω0 L) L = 0
6   2
5 5
− + mL2 ω0 + m2 ω0 L2 = 0
6 2
(70)
−5 + 15
mL2 ω0 + m2 ω0 L2 = 0
6
10 5
m2 = − m=− m
6 3
A negative mass would be needed! This is logic, as the angular velocity ω1 is
of opposite sign with respect to ω0 , according to the angular impulse equation.
Logic, but impossible.

Sub-Question 4.i 1 point

The computations are exactly the same, mass and velocity appear linearly in
the angular momentum and impulse equation. Therefore, we can immediately
write down:
−5 + 15
mL2 ω0 + mβω0 L2 = 0 (71)
6
with v2 = βω0 L and hence:
5
v2 = − ω 0 L (72)
3
This is possible, but it simply means that the point mass m2 must hit the
beam from the other side!

27