178 Chapter 3 Kinet i c s of Par t i c l es

Sample Problem 3/16

24″
The 6-lb slider is released from rest at position 1 and slides with negligible
1
friction in a vertical plane along the circular rod. The attached spring has a
stiffness of 2 lb/in. and has an unstretched length of 24 in. Determine the velocity 24″
n.
of the slider as it passes position 2. 2 lb /i
k=

Solution. The work done by the weight and the spring force on the slider will 6 lb
be treated using potential-energy methods. The reaction of the rod on the slider
is normal to the motion and does no work. Hence, U1-2 ′ = 0. We define the datum 2
v2
to be at the level of position 1, so that the gravitational potential energies are
1 V1 = 0
Helpful Hint
V2 = −mgh = −6 a b = −12 ft-lb
24 1 Note that if we evaluated the work
12 done by the spring force acting on
The initial and final elastic (spring) potential energies are the slider by means of the inte-
gral ∫F ∙ dr, it would necessitate a
24 2
V1 = 2 kx1 2 = 2 (2)(12)a b = 48 ft-lb
1 1 lengthy computation to account for
12 the change in the magnitude of the
24 2 force, along with the change in the
b = 8.24 ft-lb
1 1 24√2
V2 = 2 kx2 2 = 2 (2)(12)a − angle between the force and the tan-
12 12
gent to the path. Note further that
Substitution into the alternative work-energy equation yields v2 depends only on the end condi-
tions of the motion and does not re-
a b v 2 − 12 + 8.24
1 6
′ = T2 + V 2 4
3T1 + V1 + U1-2 0 + 48 + 0 = quire knowledge of the shape of the
2 32.2 2 path.
v2 = 23.6 ft/sec Ans.

Sample Problem 3/17

The 10-kg slider moves with negligible friction up the inclined guide. The
m
attached spring has a stiffness of 60 N /m and is stretched 0.6 m in position A, 250 N 0.9
B
where the slider is released from rest. The 250-N force is constant and the pul-
ley offers negligible resistance to the motion of the cord. Calculate the velocity
vC of the slider as it passes point C. vC
C

Solution. The slider and inextensible cord together with the attached spring A
will be analyzed as a system, which permits the use of Eq. 3 /21a. The only non-
m
potential force doing work on this system is the 250-N tension applied to the 1.2
cord. While the slider moves from A to C, the point of application of the 250-N
force moves a distance of AB − BC or 1.5 − 0.9 = 0.6 m. 30°
1 ′ = 250(0.6) = 150 J
UA-C
2
We define a datum at position A so that the initial and final gravitational poten-
tial energies are
VA = 0 VC = mgh = 10(9.81)(1.2 sin 30°) = 58.9 J
The initial and final elastic potential energies are
Helpful Hints
1 1
VA = 2 kxA 2 = 2 (60)(0.6) 2 = 10.8 J 1 Do not hesitate to use subscripts
tailored to the problem at hand. Here
1 1
VC = 2 kxB 2 = 2 60(0.6 + 1.2) 2 = 97.2 J we use A and C rather than 1 and 2.
Substitution into the alternative work-energy equation 3 /21a gives
1
2 The reactions of the guides on the
′ = TC + V C 4
3TA + VA + UA-C 0 + 0 + 10.8 + 150 = 2 (10)vC 2 + 58.9 + 97.2 slider are normal to the direction of
vC = 0.974 m/s Ans. motion and do no work.
 A rt i c l e 3 / 7 P o t e n t i a l E n e r g y 179

Sample Problem 3/18

A
mA
The system shown is released from rest with the lightweight slender bar OA
in the vertical position shown. The torsional spring at O is undeflected in the initial θ L
––
2
position and exerts a restoring moment of magnitude kT  on the bar, where  is
C
the counterclockwise angular deflection of the bar. The string S is attached to
point C of the bar and slips without friction through a vertical hole in the support L
––
surface. For the values mA = 2 kg, mB = 4 kg, L = 0.5 m, and kT = 13 N ∙ m/rad: S kT 2

(a) Determine the speed vA of particle A when  reaches 90°.

O
(b) Plot vA as a function of  over the range 0 ≤  ≤ 90°. Identify the maximum
value of vA and the value of  at which this maximum occurs.

Solution (a). We begin by establishing a general relationship for the potential

energy associated with the deflection of a torsional spring. Recalling that the
change in potential energy is the work done on the spring to deform it, we write B mB

∫ k  d = 12 k 

Ve = T T
2
0
C
We also need to establish the relationship between vA and vB when  = 90°. Noting
that the speed of point C is always vA/2, and further noting that the speed of cylin- C′
der B is one-half the speed of point C at  = 90°, we conclude that at  = 90°,
1
vB = vA L
4 L ––
–– 2
Establishing datums at the initial altitudes of bodies A and B, and with state 1 2

at  = 0 and state 2 at  = 90°, we write θ

′ = T2 + V 2 4
3T1 + V1 + U1-2 90°
–θ
—–—–
2
 2
m v 2 + mBvB 2 − mA gL − mB g a b + kT a b
1 1 L√2 1 90° – θ
1 0+0+0= —–—–
2 A A 2 4 2 2 2
C″ O
L
––
(top of hole)
With numbers: 2

vA 2  2
(2)vA 2 + (4)a b − 2(9.81)(0.5) − 4(9.81)a b + (13)a b
1 1 0.5√2 1
0=
2 2 4 4 2 2
1.5
Solving, vA = 0.794 m/s Ans.

(b). We leave our definition of the initial state 1 as is, but now redefine state 2
1 (vA)max = 1.400 m/s
to be associated with an arbitrary value of . From the accompanying diagram at θ = 56.4°
vA, m/s

constructed for an arbitrary value of , we see that the speed of cylinder B can
be written as
0.5
2 (C′C ″ ) 2 = 1 2 d B2 L sin a 90° −  bR 2
1 d
2 vB =
2 dt 2 dt 2 2
˙ 90° −  L˙ 90° − 
2 L a− b cos a b2 = cos a b
1 0
= 0 10 20 30 40 50 60 70 80 90
2 2 2 4 2 θ, deg

90° − 
cos a b
vA
Finally, because vA = L˙ , vB = Helpful Hints
4 2
′ = T2 + V 2 4
3T1 + V1 + U1-2 1 Note that mass B will move down-
ward by one-half of the length of
90° −  2
mAvA 2 + mB B cos a bR − mA gL(1 − cos )
1 1 vA
0+0+0= string initially above the supporting
2 2 4 2 surface. This downward distance is

a √2b =
90° −  L√2
− mB g a b B − 2 sin a bR + kT 2
1 L√2 L 1 1 L
.
2 2 2 2 2 2 2 4

Upon substitution of the given quantities, we vary  to produce the plot of vA 2 The absolute-value signs reflect the
versus . The maximum value of vA is seen to be fact that vB is known to be positive.

(vA ) max = 1.400 m/s at  = 56.4° Ans.

180 Chapter 3 Kinet i c s of Par t i c l es

PROBLEMS
Introductory Problems
2 kg
3/139 The two particles of equal mass are joined by a
rod of negligible mass. If they are released from
rest in the position shown and slide on the smooth
guide in the vertical plane, calculate their velocity 150 mm
v when A reaches B’s position and B is at B′. 100 mm

18″

Problem 3/141

B v B′ 3/142 The system is released from rest with the spring

initially stretched 3 in. Calculate the velocity v of
the cylinder after it has dropped 0.5 in. The spring
has a stiffness of 6 lb /in. Neglect the mass of the
Problem 3/139 small pulley.

3/140 The 1.2-kg slider is released from rest in position A

and slides without friction along the vertical-plane
guide shown. Determine (a) the speed vB of the
slider as it passes position B and (b) the maximum k = 6 lb/in.
deflection  of the spring.

1.2 kg
A

100 lb
3m

E Problem 3/142
30°
1.5 m C D k = 24 kN/m 3/143 The 3-lb collar is released from rest at A and slides
30° freely down the inclined rod. If the spring con-
B stant k = 4 lb /ft and the unstretched length of the
spring is 50 in., determine the speed of the collar
Problem 3/140 as it passes point B.

3/141 The 2-kg plunger is released from rest in the posi-

tion shown where the spring of stiffness k = 500 N /m
has been compressed to one-half its uncompressed
length of 200 mm. Calculate the maximum height
h above the starting position reached by the
plunger.
 A rt i c l e 3 / 7 P r o b l e m s 181

3/146 The 0.8-kg particle is attached to the system of

O two light rigid bars, all of which move in a verti-
cal plane. The spring is compressed an amount
b /2 when  = 0, and the length b = 0.30 m. The
system is released from rest in a position slightly
40″ k above that for  = 0. (a) If the maximum value of
 is observed to be 50°, determine the spring con-
stant k. (b) For k = 400 N/m, determine the speed
3 lb v of the particle when  = 25°. Also find the corre-
sponding value of ˙ .
A
20″ B
B
b m

36″ A

b b
Problem 3/143
O C k
θ
3/144 Determine the unstretched spring length which
would cause the 3-lb collar of the previous prob-
lem to have no speed as it arrives at position B. All
other conditions of the previous problem remain Problem 3/146
the same.
3/147 The light rod is pivoted at O and carries the 8- and
3/145 A bead with a mass of 0.25 kg is released from rest 10-lb particles. If the rod is released from rest at
at A and slides down and around the fixed smooth  = 30° and swings in the vertical plane, calculate
wire. Determine the force N between the wire and (a) the velocity v of the 8-lb particle just before it
the bead as it passes point B. hits the spring and (b) the maximum compression
x of the spring. Assume that x is small so that the
position of the rod when the spring is compressed
A
is essentially vertical.

8 lb

18″

0.6 m
θ
12″
O
B

10 lb
45°

0.15 m

k = 150 lb/in.
Problem 3/145 Problem 3/147
182 Chapter 3 Kinet i c s of Par t i c l es

3/148 The two springs, each of stiffness k = 1.2 kN/m, 0.4 m 0.4 m
are of equal length and undeformed when  = 0.
k = 800 N/m k = 800 N/m
If the mechanism is released from rest in the A
position  = 20°, determine its angular velocity ˙
when  = 0. The mass m of each sphere is 3 kg. 10 kg
v1 = 2 m/s
Treat the spheres as particles and neglect the
0.3 m
masses of the light rods and springs.
B

v2

k Problem 3/150
k

m 3/151 The system is released from rest with the spring

O θ initially stretched 2 in. Calculate the velocity of
the 100-lb cylinder after it has dropped 6 in. Also
determine the maximum drop distance of the cyl-
m inder. Neglect the mass and friction of the pulleys.
0.25 m

Problem 3/148

3/149 The particle of mass m = 1.2 kg is attached to the

k = 5 lb/in.
end of the light rigid bar of length L = 0.6 m. The
system is released from rest while in the horizon-
tal position shown, at which the torsional spring is
undeflected. The bar is then observed to rotate 30°
before stopping momentarily. (a) Determine the
value of the torsional spring constant kT. (b) For
this value of kT, determine the speed v of the par- 100 lb
ticle when  = 15°.
Problem 3/151
O

3/152 The spring has an unstretched length of 25 in. If

L m
kT the system is released from rest in the position
θ shown, determine the speed v of the ball (a) when
it has dropped a vertical distance of 10 in. and
Problem 3/149 (b) when the rod has rotated 35°.

Representative Problems

3/150 The 10-kg collar slides on the smooth vertical rod

and has a velocity v1 = 2 m /s in position A where
each spring is stretched 0.1 m. Calculate the veloc-
ity v2 of the collar as it passes point B.
 A rt i cl e 3/ 7 P r o b l e ms 183

m
A
1.2 lb/in.
C

26″ 9 lb R

10″
O B

24″ Problem 3/154

Problem 3/152
3/153 The two wheels consisting of hoops and spokes
of negligible mass rotate about their respective
centers and are pressed together sufficiently to
prevent any slipping. The 3-lb and 2-lb eccentric
masses are mounted on the rims of the wheels.
If the wheels are given a slight nudge from rest
in the equilibrium positions shown, compute the
angular velocity ˙ of the larger of the two wheels
when it has revolved through a quarter of a revo-
lution and put the eccentric masses in the dashed
positions shown. Note that the angular velocity of
the small wheel is twice that of the large wheel.
Neglect any friction in the wheel bearings.
3 lb
3/155 The two 1.5-kg spheres are released from rest and
gently nudged outward from the position  = 0
and then rotate in a vertical plane about the fixed
centers of their attached gears, thus maintaining
the same angle  for both rods. Determine the ve-
locity v of each sphere as the rods pass the position
 = 30°. The spring is unstretched when  = 0,
and the masses of the two identical rods and the
two gear wheels may be neglected.
1.5 kg 1.5 kg
mm
240 k = 60 N/m

2 lb θ θ

mm
θ
· 240

80
mm

Problem 3/155

18″ 9″

Problem 3/153

3/154 The slider of mass m is released from rest in

position A and slides without friction along the
vertical-plane guide shown. Determine the height h
such that the normal force exerted by the guide on
the slider is zero as the slider passes point C. For
this value of h, determine the normal force as the
slider passes point B.
184 Chapter 3 Kinet i c s of Par t i c l es

3/156 In the design of an inside loop for an amusement- v0

park ride, it is desired to maintain the same cen-
tripetal acceleration throughout the loop. Assume
negligible loss of energy during the motion and de-
termine the radius of curvature  of the path as
a function of the height y above the low point A,
where the velocity and radius of curvature are v0
R
and 0, respectively. For a given value of 0, what is
the minimum value of v0 for which the vehicle will
not leave the track at the top of the loop?

Problem 3/158

3/159 The small bodies A and B each of mass m are con-

nected and supported by the pivoted links of negli-
P gible mass. If A is released from rest in the position
shown, calculate its velocity vA as it crosses the
vertical centerline. Neglect any friction.
y

O
A 60° 200 mm

m
Problem 3/156
A
3/157 A rocket launches an unpowered space capsule at
point A with an absolute velocity vA = 8000 mi/hr
at an altitude of 25 mi. After the capsule has trav-
eled a distance of 250 mi measured along its abso- 250 mm
lute space trajectory, its velocity at B is 7600 mi /hr
and its altitude is 50 mi. Determine the average
resistance P to motion in the rarified atmosphere. B
The earth weight of the capsule is 48 lb, and the m
mean radius of the earth is 3959 mi. Consider the
center of the earth fixed in space. Problem 3/159
vB 3/160 Upon its return voyage from a space mission, the
B
spacecraft has a velocity of 24 000 km/h at point A,
vA
which is 7000 km from the center of the earth.
Determine the velocity of the spacecraft when it
50 mi A
reaches point B, which is 6500 km from the center of
25 mi the earth. The trajectory between these two points
is outside the effect of the earth’s atmosphere.

Problem 3/157

3/158 The projectile of Prob. 3 /124 is repeated here. By

the method of this article, determine the vertical
O
launch velocity v0 which will result in a maxi- B
mum altitude of R /3. The launch is from the north
pole and aerodynamic drag can be neglected. Use
g = 9.825 m/s2 as the surface-level acceleration
due to gravity.
Problem 3/160
 A rt i c l e 3 / 7 P r o b l e ms 185

3/161 A 175-lb pole vaulter carrying a uniform 16-ft, v2

10-lb pole approaches the jump with a velocity v
and manages to barely clear the bar set at a height
of 18 ft. As he clears the bar, his velocity and that m
15
of the pole are essentially zero. Calculate the mini-
90°
mum possible value of v required for him to make
the jump. Both the horizontal pole and the cen-
ter of gravity of the vaulter are 42 in. above the 90°
ground during the approach. 5m
v1 1

Problem 3/163
18′ v
3/164 A satellite is put into an elliptical orbit around the
16′
earth and has a velocity vP at the perigee position
42″ P. Determine the expression for the velocity vA at
the apogee position A. The radii to A and P are,
respectively, rA and rP. Note that the total energy
Problem 3/161 remains constant.

3/162 When the mechanism is released from rest in

the position where  = 60°, the 4-kg carriage drops
and the 6-kg sphere rises. Determine the velocity vP
R
v of the sphere when  = 180°. Neglect the mass of A rA rP P
the links and treat the sphere as a particle.
vA

m
0m
30 6 kg

Problem 3/164
m
0m
30 3/165 Calculate the maximum velocity of slider B if the
θ system is released from rest with x = y. Motion is
30 in the vertical plane. Assume that friction is negli-
0m gible. The sliders have equal masses, and the mo-
m
tion is restricted to y ≥ 0.

A
4 kg

0.9 m
y

Problem 3/162
B
3/163 The cars of an amusement-park ride have a speed
v1 = 90 km/h at the lowest part of the track. De-
termine their speed v2 at the highest part of the
x
track. Neglect energy loss due to friction. (Caution:
Give careful thought to the change in potential en-
Problem 3/165
ergy of the system of cars.)
186 Chapter 3 Kinet i c s of Par t i c l es

3/166 The system is initially moving with the cable taut,

the 10-kg block moving down the rough incline
with a speed of 0.3 m /s, and the spring stretched
25 mm. By the method of this article, (a) determine
the velocity v of the block after it has traveled
100 mm, and (b) calculate the distance traveled by
the block before it comes to rest. 10 lb

k k
θ θ

6″ 6″

Problem 3/168
kg

3/169 The system is released from rest with the angle

10

k = 200 N/m  = 90°. Determine ˙ when  reaches 60°. Use the

µ k = 0.15 values m1 = 1 kg, m2 = 1.25 kg, and b = 0.40 m.
50° Neglect friction and the mass of bar OB, and treat
the body B as a particle.

Problem 3/166 2b

3/167 A spacecraft m is heading toward the center of the O

moon with a velocity of 2000 mi /hr at a distance C θ
from the moon’s surface equal to the radius R of
b
the moon. Compute the impact velocity v with the
surface of the moon if the spacecraft is unable to A
fire its retro-rockets. Consider the moon fixed in
space. The radius R of the moon is 1080 mi, and
the acceleration due to gravity at its surface is m2 2b
5.32 ft /sec2.
m1

B
R
m Problem 3/169
R
2000 mi/hr
3/170 The system is at rest with the spring unstretched
when  = 0. The 3-kg particle is then given a
slight nudge to the right. (a) If the system comes to
momentary rest at  = 40°, determine the spring
constant k. (b) For the value k = 100 N/m, find the
Problem 3/167 speed of the particle when  = 25°. Use the value
b = 0.40 m throughout and neglect friction.
3/168 When the 10-lb plunger is released from rest in
its vertical guide at  = 0, each spring of stiffness
k = 20 lb /in. is uncompressed. The links are free
to slide through their pivoted collars and com-
press their springs. Calculate the velocity v of the
plunger when the position  = 30° is passed.
 A rt i c l e 3 / 7 P r o b l e ms 187

B ▶3/172 The two particles of mass m and 2m, respectively,

are connected by a rigid rod of negligible mass and
C slide with negligible friction in a circular path of
m
radius r on the inside of the vertical circular ring.
A
If the unit is released from rest at  = 0, deter-
1.25b mine (a) the velocity v of the particles when the
rod passes the horizontal position, (b) the maxi-
k θ b mum velocity vmax of the particles, and (c) the max-
imum value of .
O

Problem 3/170

3/171 The 0.6-kg slider is released from rest at A and

slides down the smooth parabolic guide (which lies
in a vertical plane) under the influence of its own θ
weight and of the spring of constant 120 N /m. De- r 2m
r θ
termine the speed of the slider as it passes point B
and the corresponding normal force exerted on it m
by the guide. The unstretched length of the spring
is 200 mm.

0.5 m 0.5 m
A 0.6 kg Problem 3/172

120 N/m
0.25 m

0.25 m Parabolic

Problem 3/171