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18–1.
At a given instant the body of mass m has an angular IC

velocity V and its mass center has a velocity vG. Show that rG/IC
its kinetic energy can be represented as T = 12IICv2, where
IIC is the moment of inertia of the body determined about
the instantaneous axis of zero velocity, located a distance
rG>IC from the mass center as shown. G
vG V
SOLUTION
1 1
T = my2G + IG v2 where yG = vrG>IC
2 2
1 1
= m(vrG>IC)2 + IG v2
2 2
1
= A mr2G>IC + IG B v2 However mr2G>IC + IG = IIC
2
1
= I v2 Q.E.D.
2 IC
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
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18–2.
The wheel is made from a 5-kg thin ring and two 2-kg
slender rods. If the torsional spring attached to the wheel’s
center has a stiffness k = 2 N # m>rad, and the wheel is 0.5 m
rotated until the torque M = 25 N # m is developed, O
determine the maximum angular velocity of the wheel if it
is released from rest.
M
SOLUTION
Kinetic Energy and Work: The mass moment of inertia of the wheel about point O is
1
IO = mRr 2 + 2 ¢ m l2 ≤
12 r
= 5(0.52) + 2 c (2)(12) d
1
12
= 1.5833 kg # m2
Thus, the kinetic energy of the wheel is
no orl sem eac ws

1 1
er id ati ng
ed e r
I v2 = (1.5833) v2 = 0.79167 v2
itt W o
T =
t a
t p d W in hi
2 O
. b)
m e on
d e W Dis in t l
2
an th . rs gh
k n ng to yri
Since the wheel is released from rest, T1 = 0. The torque developed is M = ku = 2u.
or o ni c p
w g r tru o
Here, the angle of rotation needed to develop a torque of M = 25 N # m is
e in lea s s c
th lud nt f in te
of inc de e o Sta
2u = 25 u = 12.5 rad
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
The wheel achieves its maximum angular velocity when the spacing is unwound that
e his s fo by
M
is when the wheel has rotated u = 12.5 rad. Thus, the work done by q is
y of as lel ted
s r
o c
st pa nd s te
th t se y
12.5 rad
de ny es a ided pro
UM = Mdu = 2u du
L L0
w of a urs rov k is
le co s p or
sa eir d i is w
12.5 rad
in
= u †
ro rt
th an Th
2
= 156.25 J
0
ill
Principle of Work and Energy:
T1 + © u 1 - 2 = T2
0 + 156.25 = 0.79167 v2
v = 14.0 rad/s Ans.
18–3.
The wheel is made from a 5-kg thin ring and two 2-kg slender
rods. If the torsional spring attached to the wheel’s center has
a stiffness k = 2 N # m>rad, so that the torque on the center
of the wheel is M = 12u2 N # m, where u is in radians,
0.5 m
O
determine the maximum angular velocity of the wheel if it is
rotated two revolutions and then released from rest.
M
SOLUTION
1
Io = 2 c (2)(1)2 d + 5(0.5)2 = 1.583
12
T1 + ©U1 - 2 = T2
4p
1
0 + 2u du = (1.583) v2
L0 2
(4p)2 = 0.7917v2
v = 14.1 rad/s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
*18–4.
The 50-kg flywheel has a radius of gyration of k0 = 200 mm M ⫽ (9 u1/2) N⭈m

about its center of mass. If it is subjected to a torque of
M = (9u1>2) N # m, where u is in radians, determine its
angular velocity when it has rotated 5 revolutions, starting
from rest. O
SOLUTION
Kinetic Energy and Work: The mass moment inertia of the flywheel about its mass
center is IO = mkO2= 50(0.22) = 2 kg # m2. Thus, the kinetic energy of the flywheel is
1 1
T = I v2 = (2)v2 = v2
2 O 2
Since the wheel is initially at rest, T1 = 0 . Referring to Fig. a, W, Ox, and Oy do

no work while M does positive work. When the wheel rotates
2p rad
u = (5 rev) ¢ ≤ = 10p, the work done by M is
1 rev
10p
9u1>2du
no orl sem eac ws

UM = Mdu =
er id ati ng
ed e r
L L0
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
= 6u3>2 `
10p
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
0
th lud nt f in te
of inc de e o Sta
= 1056.52 J
ity ( tu s d
gr rk s u te

is
te wo ing the Uni
T1 + ©U1 - 2 = T2
e his s fo by
y of as lel ted
s r
0 + 1056.52 = v2
o c
st pa nd s te
th t se y
de ny es a ided pro
v = 32.5 rad>s Ans.

w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–5.
The spool has a mass of 60 kg and a radius of gyration

kG = 0.3 m. If it is released from rest, determine how far its
center descends down the smooth plane before it attains an
angular velocity of v = 6 rad>s. Neglect friction and the
mass of the cord which is wound around the central core.
0.5 m
0.3 m
SOLUTION G
T1 + ©U1 - 2 = T2
C 60(0.3)2 D (6)2 + (60) C 0.3(6) D 2

1 1 A
0 + 60(9.81) sin 30°(s) =
2 2 30⬚
s = 0.661 m Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–6.
Solve Prob. 18–5 if the coefficient of kinetic friction

between the spool and plane at A is mk = 0.2.
0.5 m
0.3 m
SOLUTION G
sG sA
=
0.3 (0.5 - 0.3)
A
sA = 0.6667sG 30
+a©Fy = 0; NA - 60(9.81) cos 30° = 0
NA = 509.7 N
T1 + ©U1 - 2 = T2
1
0 + 60(9.81) sin 30°(sG) - 0.2(509.7)(0.6667sG) = C 60(0.3)2 D (6)2
2
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
1
+ (60) C (0.3)(6) D 2
an th . rs gh
2
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
sG = 0.859 m Ans.
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–7.
The double pulley consists of two parts that are attached to v 20 rad/s
one another. It has a weight of 50 lb and a radius of gyration
about its center of kO = 0.6 ft. If it rotates with an angular
velocity of 20 rad>s clockwise, determine the kinetic energy
0.5ft 1 ft
of the system. Assume that neither cable slips on the pulley.
O
SOLUTION
1 1 1
T = I v2 + mA v2A + mB v2B
2 O O 2 2
1 50 1 20 1 30 B 30 lb
T = a (0.6)2 b (20)2 + a b C (20)(1) D 2 + a b C (20)(0.5) D 2 A 20 lb
2 32.2 2 32.2 2 32.2
= 283 ft # lb Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
*18–8.
The double pulley consists of two parts that are attached to v ⫽ 20 rad/s
one another. It has a weight of 50 lb and a centroidal radius
of gyration of kO = 0.6 ft and is turning with an angular
velocity of 20 rad> s clockwise. Determine the angular
0.5 ft 1 ft
velocity of the pulley at the instant the 20-lb weight moves
O
2 ft downward.
SOLUTION
Kinetic Energy and Work: Since the pulley rotates about a fixed axis,
vA = vrA = v(1) and vB = vrB = v(0.5). The mass moment of inertia of the
50 B 30 lb
pulley about point O is IO = mkO 2 = ¢ ≤ (0.62) = 0.5590 slug # ft2. Thus, the A 20 lb
32.2
kinetic energy of the system is
1 1 1
T = I v2 + mAvA2 + mBvB2
2 O 2 2
1 1 20 1 30
= (0.5590)v2 + ¢ ≤ [v(1)]2 + ¢ ≤ [v(0.5)]2
2 2 32.2 2 32.2
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
= 0.7065v2
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
Thus, T1 = 0.7065(202) = 282.61 ft # lb. Referring to the FBD of the system shown
or o ni c p
w g r tru o
e in lea s s c
in Fig. a, we notice that Ox, Oy, and Wp do no work while WA does positive work and
th lud nt f in te
of inc de e o Sta
WB does negative work. When A moves 2 ft downward, the pulley rotates

ity ( tu s d
gr rk s u te
is
SA SB
te wo ing the Uni
u = =
rA rB
e his s fo by
y of as lel ted
s r
2 SB
o c
st pa nd s te
th t se y
=
1 0.5
de ny es a ided pro
w of a urs rov k is
SB = 2(0.5) = 1 ft c
le co s p or
sa eir d i is w
in
Thus, the work of WA and WB are

ro rt
th an Th
UWA = WA SA = 20(2) = 40 ft # lb
UWB = - WB SB = - 30(1) = - 30 ft # lb
ill
T1 + U1 - 2 = T2
282.61 + [40 + ( - 30)] = 0.7065 v2
v = 20.4 rad>s Ans.
18–9.
If the cable is subjected to force of P = 300 N, and the spool 400 mm

starts from rest, determine its angular velocity after its center
of mass O has moved 1.5 m. The mass of the spool is 100 kg
and its radius of gyration about its center of mass is P ⫽ 300 N
kO = 275 mm. Assume that the spool rolls without slipping. O
200 mm
SOLUTION
Kinetic Energy and Work: Referring to Fig. a, we have
vO = vrO>IC = v(0.4)
The mass moment of inertia of the spool about its mass center is
IO = mkO2 = 100(0.2752) = 7.5625 kg # m2. Thus, the kinetic energy of the spool is
1 1
T = mvO2+ IOv2
2 2
1 1
= (100)[v(0.4)]2 + (7.5625)v2
2 2
= 11.78125v2
no orl sem eac ws

er id ati ng
ed e r
itt W o
Since the spool is initially at rest, T1 = 0. Referring to Fig. b, W, N, and Ff do no
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
work P does positive work. When the center O of the spool moves to the right by
k n ng to yri
rP>IC 0.6 or o ni c p
w g r tru o
s = ¢ ≤ (1.5) = 2.25 m. Thus, the work done
e in lea s s c
rO> IC O
SO = 1.5 m, P displaces sP =
0.4
th lud nt f in te
of inc de e o Sta
by P is
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
UP = Psp = 300(2.25) = 675 J

e his s fo by
y of as lel ted

s r
o c
st pa nd s te
th t se y
de ny es a ided pro
T1 + ©U1 - 2 = T2
w of a urs rov k is
0 + 675 = 11.78125v2
le co s p or
sa eir d i is w
in
ro rt
th an Th
v = 7.57 rad>s Ans.

ill
18–10.
The two tugboats each exert a constant force F on the ship.

These forces are always directed perpendicular to the
ship’s centerline. If the ship has a mass m and a radius of
gyration about its center of mass G of kG, determine the F
angular velocity of the ship after it turns 90°. The ship is
originally at rest.
d
G
SOLUTION
Principle of Work and Energy: The two tugboats create a couple moment of –F
p
M = Fd to rotate the ship through an angular displacement of u = rad. The mass
2
moment of inertia about its mass center is IG = mk2G. Applying Eq. 18–14, we have
T1 + a U 1 - 2 = T2
1
0 + Mu = I v2
2 G
no orl sem eac ws

er id ati ng
ed e r
p
itt W o
1
b = A mk2G B v2
t a
t p d W in hi
0 + Fda
. b)
m e on
d e W Dis in t l
2 2
an th . rs gh
k n ng to yri
pFd or o ni c p
w g r tru o
1
e in lea s s c
v = Ans.
kG A m
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–11.
At the instant shown, link AB has an angular velocity

vAB = 2 rad>s. If each link is considered as a uniform
slender bar with a weight of 0.5 lb>in., determine the total vAB 2 rad/s A
kinetic energy of the system.
3 in.
4 in.
SOLUTION C B
6 5 in.
vBC = = 1.5 rad>s
4
vC = 1.5(422) = 8.4853 in.>s

45
rIC - G = 2(2)2 + (4)2 = 4.472 D
vG = 1.5(4.472) = 6.7082 in.>s
8.4853
vDC = = 1.697 rad>s
5
1 1 3(0.5) 3 2 1 4(0.5) 6.7082 2 1 1 4(0.5) 4 2

T = c a b a b d (2)2 + c da b + c a b a b d(1.5)2
no orl sem eac ws

er id ati ng
ed e r
itt W o
2 3 32.2 12 2 32.2 12 2 12 32.2 12
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
b a b d (1.697)2 = 0.0188 ft # lb
1 1 5(0.5) 5 2
k n ng to yri
+ c a or o ni c p
w g r tru o Ans.
2 3 32.2 12
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
*18–12.
Determine the velocity of the 50-kg cylinder after it has

descended a distance of 2 m. Initially, the system is at rest.
The reel has a mass of 25 kg and a radius of gyration about its A 75 mm
center of mass A of kA = 125 mm.
SOLUTION
T1 + ©U1 - 2 = T2
2
1 v
0 + 50(9.81)(2) = [(25)(0.125)2] ¢ ≤
2 0.075
1
+ (50) v2
2
v = 4.05 m>s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–13.
The wheel and the attached reel have a combined weight of 7.5 in.
50 lb and a radius of gyration about their center of
kA = 6 in. If pulley B attached to the motor is subjected to A 4.5 in.
a torque of M = 40(2 - e -0.1u) lb # ft, where u is in radians,
3 in.
M B
determine the velocity of the 200-lb crate after it has moved
upwards a distance of 5 ft, starting from rest. Neglect the
mass of pulley B.
SOLUTION
Kinetic Energy and Work: Since the wheel rotates about a fixed axis
,
vC = vrC = v(0.375). The mass moment of inertia of A about its mass center is
b A 0.52 B = 0.3882 slug # ft2. Thus, the kinetic energy of the
50
IA = mkA 2 = a
32.2
system is
T = TA + TC
1 1
= IA v2 + mC vC 2
2 2
1 1 200
no orl sem eac ws

b C v(0.375) D 2
er id ati ng
= (0.3882)v2 + a
ed e r
itt W o
t a
t p d W in hi
. b)
2 2 32.2
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
= 0.6308v2 or o ni c p
w g r tru o
e in lea s s c
Since the system is initially at rest, T1 = 0. Referring to Fig. b, Ax, Ay, and WA do no
th lud nt f in te
of inc de e o Sta
work, M does positive work, and WC does negative work. When crate C moves 5 ft
ity ( tu s d
gr rk s u te
sC
is
5
te wo ing the Uni
upward, wheel A rotates through an angle of uA = = = 13.333 rad. Then,

r 0.375
e his s fo by
rA 0.625
y of as lel ted
pulley B rotates through an angle of uB = u = a b(13.333) = 33.33 rad

s r
rB A
o c
0.25
st pa nd s te
th t se y
.
de ny es a ided pro
Thus, the work done by M and WC is

w of a urs rov k is
le co s p or
33.33 rad
sa eir d i is w
40 A 2 - e - 0.1u B du
in
UM = MduB =
ro rt
th an Th
L L0
33.33 rad
= c 40 A 2u + 10e - 0.1u B d 2
0
= 2280.93 ft # lb
ill
UWC = -WC sC = - 200(5) = - 1000 ft # lb
T1 + ©U1 - 2 = T2
0 + [2280.93 - 1000] = 0.6308v2
v = 45.06 rad>s
Thus,
vC = 45.06(0.375) = 16.9 ft>s c Ans.
18–14.
The wheel and the attached reel have a combined weight of 7.5 in.
50 lb and a radius of gyration about their center of
kA = 6 in. If pulley B that is attached to the motor is A 4.5 in.
subjected to a torque of M = 50 lb # ft, determine the
3 in.
M B
velocity of the 200-lb crate after the pulley has turned
5 revolutions. Neglect the mass of the pulley.
SOLUTION
Kinetic Energy and Work: Since the wheel at A rotates about a fixed axis,
vC = vrC = v(0.375). The mass moment of inertia of wheel A about its mass center
b A 0.52 B = 0.3882 slug # ft2. Thus, the kinetic energy of the
50
is IA = mkA 2 = a
32.2
system is
T = TA + TC
1 1
= IA v2 + mC vC 2
2 2
1 1 200
no orl sem eac ws

b C v(0.375) D 2
er id ati ng
= (0.3882)v2 + a
ed e r
itt W o
t a
t p d W in hi
2 2 32.2
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
= 0.6308v2 or o ni c p
w g r tru o
e in lea s s c
Since the system is initially at rest, T1 = 0. Referring to Fig. b, Ax, Ay, and WA do no
th lud nt f in te
of inc de e o Sta
work, M does positive work, and WC does negative work. When pulley B rotates
ity ( tu s d
gr rk s u te
is
2p rad
te wo ing the Uni
uB = (5 rev)a b = 10p rad, the wheel rotates through an angle of

1 rev
e his s fo by
rB
y of as lel ted
0.25
s r
uA = uB = a b (10p) = 4p. Thus, the crate displaces upwards through a

o c
rA
st pa nd s te
th t se y
0.625
de ny es a ided pro
distance of sC = rC uA = 0.375(4p) = 1.5p ft. Thus, the work done by M and WC is

w of a urs rov k is
le co s p or
UM = MuB = 50(10p) = 500p ft # lb

sa eir d i is w
in
ro rt
th an Th
UWC = -WC sC = - 200(1.5p) = -300p ft # lb

ill
T1 + ©U1 - 2 = T2
0 + [500p - 300p] = 0.6308v2
v = 31.56 rad>s
Thus,
vC = 31.56(0.375) = 11.8 ft>s c Ans.
18–15.
The 50-kg gear has a radius of gyration of 125 mm about its

center of mass O. If gear rack B is stationary, while the 25-kg C
P ⫽ 150 N
gear rack C is subjected to a horizontal force of P = 150 N,
determine the speed of C after the gear’s center O has 150 mm
moved to the right a distance of 0.3 m, starting from rest. O
SOLUTION
Kinetic Energy and Work: Referring to Fig. a,
vC vC
v = = = 3.333vC
rC>IC 0.3
Then,
vO = vrO>IC = (3.333vC)(0.15) = 0.5vC
The mass moment of inertia of the gear about its mass center is IO = mkO2 =
50(0.1252) = 0.78125 kg # m2. Thus, the kinetic energy of the system is
T = TA + TC
no orl sem eac ws

er id ati ng
= c mAvO 2 + IOv 2 d + mC vC2
ed e r
1 1 1
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
2 2 2
an th . rs gh
k n ng to yri
or o ni c p
= c (50)(0.5vC)2 + (0.78125)(3.333vC)2 d + (25) vC2
1 1 1
w g r tru o
e in lea s s c
2 2 2
th lud nt f in te
of inc de e o Sta
= 23.090vC 2
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
Since the system is initially at rest, T1 = 0. Referring to Fig. b, WC, WA, F, and N do
y of as lel ted
s r
o c
st pa nd s te
no work, while P does positive work. When the center O of the gear travels to the
th t se y
de ny es a ided pro
right through a distance of sO = 0.3 m, P displaces horizontally through a distance

w of a urs rov k is
rC>IC
sO = a b (0.3) = 0.6 m. Thus, the work done by P is
le co s p or
0.3
of sC =
sa eir d i is w
in
rO>IC 0.15
ro rt
th an Th
UP = PsD = 150(0.6) = 90 J

ill
T1 + ©U1-2 = T2
0 + 90 = 23.090vC 2
vC = 1.97 m>s
*18–16.
Gear B is rigidly attached to drum A and is supported by 300 mm

two small rollers at E and D. Gear B is in mesh with gear C
and is subjected to a torque of M = 50 N # m. Determine A
the angular velocity of the drum after C has rotated
10 revolutions, starting from rest. Gear B and the drum B
have 100 kg and a radius of gyration about their rotating 200 mm
axis of 250 mm. Gear C has a mass of 30 kg and a radius of
gyration about its rotating axis of 125 mm. E D
C
150 mm
SOLUTION
Kinetic Energy and Work: Since gear B is in mesh with gear C and both gears rotate
M ⫽ 50 N⭈m
about fixed axes, vC = a b vA = a b v = 1.333vA. The mass moment of the
rB 0.2
rC 0.15 A
drum and gear C about their rotating axes are IA = mAk2 = 100(0.252) =
6.25 kg # m2 and IC = mCk2 = 30(0.1252) = 0.46875 kg # m2. Thus, the kinetic energy
of the system is
T = TA + TC
1 1
= I v 2 + ICvC 2
2 A A 2
no orl sem eac ws

er id ati ng
ed e r
itt W o
1 1
t a
t p d W in hi
(6.25)vA2 + (0.46875)(1.333vA)2
. b)
m e on
d e W Dis in t l
=
an th . rs gh
2 2
k n ng to yri
= 3.5417vA2 or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
Since the system is initially at rest, T1 = 0. Referring to Fig. a, M does positive work.
ity ( tu s d
gr rk s u te
is
When the gear C rotates u = (10 rev) a b = 20p, the work done by M is
2p rad
te wo ing the Uni
1 rev
e his s fo by
y of as lel ted
s r
o c
UM = 50(20p) = 1000p J
st pa nd s te
th t se y
de ny es a ided pro

w of a urs rov k is
le co s p or
T1 + ©U1-2 = T2
sa eir d i is w
in
ro rt
th an Th
0 + 1000p = 3.5417vA2
vA = 29.8 rad>s Ans.

ill
18–17.
The center O of the thin ring of mass m is given an angular v0

velocity of v0. If the ring rolls without slipping, determine s
its angular velocity after it has traveled a distance of s down r
the plane. Neglect its thickness. O
SOLUTION
T1 + ©U1-2 = T2 u
1 1
(mr2 + mr2)v0 2 + mg(s sin u) = (mr2 + mr2)v2
2 2
g
v = v0 2 + 2 s sin u Ans.
A r
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–18.
If the end of the cord is subjected to a force of P = 75 lb,

determine the speed of the 100-lb block C after P has
moved a distance of 4 ft, starting from rest. Pulleys A and B 4 in.
are identical, each of which has a weight of 10 lb and a B
radius of gyration of k = 3 in. about its center of mass.
A
4 in.
SOLUTION P = 75 lb
C
Kinetic Energy and Work: Referring to Fig. a, we have
vD = vArD>IC = vA(0.6667)
(vG)A = vC = vArC>IC = vA(0.3333)
Since pulley B rotates about a fixed axis, its angular velocity is
vD vA(0.6667)
vB = = = 2vA
rB 0.3333
The mass moment of inertia of pulleys A and B about their resperctive mass centers
no orl sem eac ws

er id ati ng
3 2
ed e r
10
itt W o
are (IA)G = (IB)G = mk2 = ¢ ≤ ¢ ≤ = 0.01941 slug # ft2. Thus, the kinetic
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
32.2 12
an th . rs gh
k n ng to yri
enegry of the system is
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
T = TA + TB + TC
of inc de e o Sta
ity ( tu s d
gr rk s u te
1 1 1 1
is
te wo ing the Uni
= B mA(vG)A2 + (IG)AvAR2 + (IG)BvB2+ mCvC2

2 2 2 2
e his s fo by
y of as lel ted
s r
1 10 1 1
o c
= B ¢ ≤ [vA(0.3333)]2 + (0.01941)vA2R + (0.01941)(2vA)2

st pa nd s te
th t se y
de ny es a ided pro
2 32.2 2 2
w of a urs rov k is
1 100
le co s p or
¢ ≤ [vA(0.3333)]2
sa eir d i is w
+
in
2 32.2
ro rt
th an Th
= 0.2383vA2
ill
Since the system is initially at rest, T1 = 0. Referring to Fig. b, R 1, R 2, and WB do no

work, P does positive work, and WA and WC do negative work. When P moves
sD = 4 ft downward, the center of the pulley moves upward through a distance of
rC>IC 0.3333
sC = s = (4) = 2 ft. Thus, the work done by WA, WC, and P is
rD>IC D 0.6667
UWA = - WAsC = - 10(2) = - 20 ft # lb
UWC = - WCsC = - 100(2) = - 200 ft # lb
UP = PsD = 75(4) = 300 ft # lb
T1 + ©U1 - 2 = T2
0 + [- 20 + (- 200) + 300] = 0.2383vA2
vA = 18.32 rad>s
Thus,
vC = 18.32(0.3333) = 6.11 ft>s c Ans.

18–19.
When u = 0°, the assembly is held at rest, and the torsional C

spring is untwisted. If the assembly is released and falls
downward, determine its angular velocity at the instant 450 mm
u = 90°. Rod AB has a mass of 6 kg, and disk C has a mass 75 mm
of 9 kg. B
k ⫽ 20 N⭈m/rad
u
SOLUTION A
Kinetic Energy and Work: Since the rod rotates about a fixed axis, (vG)AB =
vrGAB = v(0.225) and (vG)C = vrGC = v(0.525). The mass moment of the rod
1 1
and the disk about their respective mass centers are (IAB)G = ml2 = (6)(0.452)
12 12
1 1
= 0.10125 kg # m2 and (IC)G = mr2 = (9)(0.0752) = 0.0253125 kg # m2. Thus,
2 2
the kinetic energy of the pendulum is
1 1
T = © mvG 2 + IGv 2
2 2
= c (6)[v(0.225)]2 + (0.10125)v2 d + c (9)[v(0.525)]2 + (0.0253125)v2 d

1 1 1 1
2 2 2 2
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
= 1.4555v2
an th . rs gh
k n ng to yri
I v2, where IO = c (6)(0.452)
1 or o ni c p
1
w g r tru o
This result can also be obtained by applying T =
e in lea s s c
2 O 12
th lud nt f in te
of inc de e o Sta
+ 6(0.2252) d + c (9)(0.0752) + 9(0.5252) d = 2.9109 kg # m2. Thus,

1
ity ( tu s d
2
gr rk s u te
is
te wo ing the Uni
1 1
e his s fo by
T = IOv2 = (2.9109)v2 = 1.4555v2

y of as lel ted
2 2
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
Since the pendulum is initially at rest, T1 = 0. Referring to Fig. a, Ox and Oy do no

w of a urs rov k is
work, WC and WAB do positive work, and M does negative work. When u = 90°,
le co s p or
WAB and WC displace vertically through distances of hAB = 0.225 m and

sa eir d i is w
in
hC = 0.525 m. Thus, the work done by WAB, WC, and M is

ro rt
th an Th
UWAB = WABhAB = 6(9.81)(0.225) = 13.24 J
UWC = WChC = 9(9.81)(0.525) = 46.35 J

ill
p>2
UM = - Mdu = - 20udu = - 24.67 J
L L0
T1 + ©U1 - 2 = T2
0 + [13.24 + 46.35 + ( - 24.67)] = 1.4555v2
v = 4.90 rad>s Ans.
*18–20.
If P = 200 N and the 15-kg uniform slender rod starts from

rest at u = 0°, determine the rod’s angular velocity at the
instant just before u = 45°. 600 mm
A
45° u P ⫽ 200 N
B
SOLUTION
Kinetic Energy and Work: Referring to Fig. a,
rA>IC = 0.6 tan 45° = 0.6 m
Then
rG>IC = 30.32 + 0.62 = 0.6708 m
Thus,
no orl sem eac ws

er id ati ng
ed e r
itt W o
(vG)2 = v2rG>IC = v2(0.6708)
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
1
The mass moment of inertia of the rod about its mass center is IG = ml2or o ni c p
w g r tru o
12
e in lea s s c
1
th lud nt f in te
= (15)(0.62) = 0.45 kg # m2. Thus, the final kinetic energy is

of inc de e o Sta
12
ity ( tu s d
gr rk s u te
is
1 1
te wo ing the Uni
T2 = m(vG)22 + IG v2 2
2 2
e his s fo by
y of as lel ted
s r
o c
1 1
st pa nd s te
th t se y
(15)[w2(0.6708)]2 + (0.45) v2 2
de ny es a ided pro
=
2 2
w of a urs rov k is
= 3.6v2 2
le co s p or
sa eir d i is w
in
ro rt
th an Th
Since the rod is initially at rest, T1 = 0. Referring to Fig. b, NA and NB do no work,

while P does positive work and W does negative work. When u = 45°, P displaces
through a horizontal distance sP = 0.6 m and W displaces vertically upwards
through a distance of h = 0.3 sin 45°, Fig. c. Thus, the work done by P and W is
ill
UP = PsP = 200(0.6) = 120 J
UW = - Wh = - 15(9.81)(0.3 sin 45°) = - 31.22 J
T1 + ©U1 - 2 = T2
0 + [120 - 31.22] = 3.6v22
v2 = 4.97 rad>s Ans.
18–21.
A yo-yo has a weight of 0.3 lb and a radius of gyration

kO = 0.06 ft. If it is released from rest, determine how far it
must descend in order to attain an angular velocity
v = 70 rad>s. Neglect the mass of the string and assume
that the string is wound around the central peg such that the
mean radius at which it unravels is r = 0.02 ft.
SOLUTION
O
r
vG = (0.02)70 = 1.40 ft>s
T1 + ©U1 - 2 = T2
1 0.3 1 0.3
0 + (0.3)(s) = a b (1.40)2 + c (0.06)2 a b d(70)2
2 32.2 2 32.2
s = 0.304 ft Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–22.
If the 50-lb bucket is released from rest, determine its 3 ft

velocity after it has fallen a distance of 10 ft. The windlass A B
can be considered as a 30-lb cylinder, while the spokes are
slender rods, each having a weight of 2 lb. Neglect the
pulley’s weight. 4 ft
0.5 ft
A
0.5 ft
SOLUTION
Kinetic Energy and Work: Since the windlass rotates about a fixed axis, vC = vArA
vC vC
or vA = = = 2vC. The mass moment of inertia of the windlass about its
rA 0.5
C
mass center is
A 0.752 B d = 0.2614 slug # ft2

1 30 1 2 2
IA = a b A 0.52 B + 4 c a b A 0.52 B +
2 32.2 12 32.2 32.2
Thus, the kinetic energy of the system is
T = TA + T C
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
1 1
. b)
m e on
d e W Dis in t l
= I v 2 + m C vC 2
an th . rs gh
2 A 2
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
1 1 50
= (0.2614)(2vC)2 + a bv 2
th lud nt f in te
2 2 32.2 C
of inc de e o Sta
ity ( tu s d
gr rk s u te
= 1.2992vC 2
is
te wo ing the Uni
e his s fo by
Since the system is initially at rest, T1 = 0. Referring to Fig. a, WA, Ax, Ay, and RB
y of as lel ted
s r
do no work, while WC does positive work. Thus, the work done by WC, when it
o c
st pa nd s te
th t se y
displaces vertically downward through a distance of sC = 10 ft, is

de ny es a ided pro
UWC = WCsC = 50(10) = 500 ft # lb

w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
T1 + ©U1-2 = T2
ill
0 + 500 = 1.2992vC 2
vC = 19.6 ft>s Ans.
18–23.
The combined weight of the load and the platform is 200 lb,
A 4 ft M ⫽ 900 lb⭈ft
with the center of gravity located at G. If a couple moment
of M = 900 lb # ft is applied to link AB, determine the 2 ft
angular velocity of links AB and CD at the instant u = 60°. 1 ft G
C B
The system is at rest when u = 0°. Neglect the weight of
the links. 3 ft
u
D
SOLUTION
Kinetic Energy and Work: Since the weight of the links are negligible and the crate
and platform undergo curvilinear translation, the kinetic energy of the system is
mvG2 = a b v 2 = 3.1056vG2
1 1 200
T =
2 2 32.2 G
Since the system is initially at rest, T1 = 0. Referring to Fig. a, Bx, By, Dx, and Dy do
no work while M does positive work and W does negative work. When u = 60°, W
displaces upward through a distance of h = 4 sin 60° ft = 3.464 ft. Thus, the work
done by M and W is
UM = Mu = 900 a b = 300p ft # lb
p
no orl sem eac ws

er id ati ng
3
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
UW = - Wh = - 200(3.464) = - 692.82 ft # lb
an th . rs gh
k n ng to yri
Principle of Work and Energy: or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
T1 + ©U1-2 = T2
of inc de e o Sta
0 + [300p - 692.82] = 3.1056vG2

ity ( tu s d
gr rk s u te
is
vG = 8.966 ft >s
te wo ing the Uni
e his s fo by
y of as lel ted
Thus,
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
vG 8.966
vAB = vCD = = = 2.24 rad>s Ans.
w of a urs rov k is
r 4
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
*18–24.
The tub of the mixer has a weight of 70 lb and a radius of

gyration kG = 1.3 ft about its center of gravity. If a constant θ
torque M = 60 lb # ft is applied to the dumping wheel,
determine the angular velocity of the tub when it has rotated 0.8 ft
u = 90°. Originally the tub is at rest when u = 0°.
SOLUTION
G
T1 + ©U1 - 2 = T2
M
p 1 70 1 70
0 + 60( ) - 70(0.8) = c ( )(1.3)2 d (v)2 + [ ] (0.8v)2
2 2 32.2 2 32.2
v = 3.89 rad>s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–25.
The tub of the mixer has a weight of 70 lb and a radius of

gyration kG = 1.3 ft about its center of gravity. If a constant u
torque M = 60 lb # ft is applied to the tub, determine its
angular velocity when it has rotated u = 45°. Originally the 0.8 ft
tub is at rest when u = 0°.
SOLUTION G
Kinetic Energy and Work: The mass moment of inertia of the tub about point O is
M
IO = mkG2+ mrG2
70 70
= (1.32) + (0.82)
32.2 32.2
= 5.0652 slug # ft2
Thus, kinetic energy of the tub is

1 1
T = I v2 = (5.0652)v2 = 2.5326 v2
2 O 2
no orl sem eac ws

er id ati ng
ed e r
Initially, the tub is at rest. Thus, T1 = 0. Referring to the FBD of the tub, Fig. a, we
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
notice that Ox and Oy do no work while M does positive work and W does negative
an th . rs gh
work. Thus, the work done by M and W are
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
UM = Mu = 60 a b = 15p ft # lb
p
th lud nt f in te
4
of inc de e o Sta
ity ( tu s d
UW = - Wh = - 70 [0.8 (1 - cos 45°)] = - 16.40 ft # lb

gr rk s u te
is
te wo ing the Uni
e his s fo by

y of as lel ted
s r
T1 + U1 - 2 = T2
o c
st pa nd s te
th t se y
de ny es a ided pro
0 + [15p + ( - 16.40)] = 2.5326 v2

w of a urs rov k is
le co s p or
v = 3.48 rad>s Ans.

sa eir d i is w
in
ro rt
th an Th
ill
18–26.
Two wheels of negligible weight are mounted at corners A

and B of the rectangular 75-lb plate. If the plate is released A
from rest at u = 90°, determine its angular velocity at the 3 ft
instant just before u = 0°. 1.5 ft
u
SOLUTION B
Kinetic Energy and Work: Referring Fig. a,
(vG)2 = vrA>IC = v a 20.752 + 1.52 b = 1.677v2
The mass moment of inertia of the plate about its mass center is
a b (1.52 + 32) = 2.1836 slug # ft2. Thus, the final
1 1 75
IG = m(a2 + b2) =
12 12 32.2
kinetic energy is
1 1
T2 = m(vG)22 + v22
2 2
no orl sem eac ws

er id ati ng
ed e r
a b (1.677v2)2 + IG (2.1836)v22
1 75 1
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
=
2 32.2 2
an th . rs gh
k n ng to yri
= 4.3672v2 2 or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
Since the plate is initially at rest, T1 = 0. Referring to Fig. b, NA and NB do no work,

of inc de e o Sta
while W does positive work. When u = 0°, W displaces vertically through a distance
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
of h = 20.752 + 1.52 = 1.677 ft, Fig. c. Thus, the work done by W is

e his s fo by
UW = Wh = 75(1.677) = 125.78 ft # lb
y of as lel ted
s r
o c
st pa nd s te
th t se y

de ny es a ided pro
w of a urs rov k is
T1 + ©U1-2 = T2
le co s p or
sa eir d i is w
0 + 125.78 = 4.3672v2 2
in
ro rt
th an Th

ill
18–27.
The 100-lb block is transported a short distance by using P ⫽ 25 lb

two cylindrical rollers, each having a weight of 35 lb. If a
horizontal force P = 25 lb is applied to the block,
determine the block’s speed after it has been displaced 2 ft 1.5 ft 1.5 ft
to the left. Originally the block is at rest. No slipping occurs.
SOLUTION
T1 + ©U1-2 = T2
vB 2 vB 2
a b (vB)2 + 2 B a ba b + a a b(1.5)2 b a b R
1 100 1 35 1 1 35
0 + 25(2) =
2 32.2 2 32.2 2 2 2 32.2 3
vB = 5.05 ft>s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
*18–28.
The hand winch is used to lift the 50-kg load. Determine

the work required to rotate the handle five revolutions. The
gear at A has a radius of 20 mm.
rB = 130 mm 375 mm
B
SOLUTION
100 mm
20(uA) = uB (130) A
When uA = 5 rev. = 10 p
uB = 4.8332 rad
Thus load moves up
s = 4.8332(0.1 m) = 0.48332 m
U = 50(9.81)(0.48332) = 237 J Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–29.
A motor supplies a constant torque or twist of

M = 120 lb # ft to the drum. If the drum has a weight of 1.5 ft
M = 120 lb · ft
30 lb and a radius of gyration of kO = 0.8 ft, determine the O
speed of the 15-lb crate A after it rises s = 4 ft starting from
rest. Neglect the mass of the cord.
SOLUTION
Free Body Diagram: The weight of the crate does negative work since it acts in the
A
opposite direction to that of its displacement sw. Also, the couple moment M does
positive work as it acts in the same direction of its angular displacement u. The
reactions Ox, Oy and the weight of the drum do no work since point O does not s
displace.
Kinematic: Since the drum rotates about point O, the angular velocity of the
vA vA
drum and the speed of the crate can be related by vD = = = 0.6667 vA .
rD 1.5
When the crate rises s = 4 ft, the angular displacement of the drum is given by
s 4
u = = = 2.667 rad .
no orl sem eac ws

er id ati ng
rD
ed e r
1.5
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
Principle of Work and Energy: The mass moment of inertia of the drum about point
w g r tru o
e in lea s s c
b (0.82) = 0.5963 slug # ft2. Applying Eq. 18–13, we have

30
O is IO = mk2O = a
th lud nt f in te
of inc de e o Sta
32.2
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
T1 + a U1 - 2 = T2
e his s fo by
y of as lel ted
s r
1 1
o c
st pa nd s te
0 + Mu - WC sC = I v2 + mC v2C
th t se y
2 O
de ny es a ided pro
2
w of a urs rov k is
1 1 15
le co s p or
0 + 120(2.667) - 15(4) = (0.5963)(0.6667vA)2 + a bvA2

sa eir d i is w
in
2 2 32.2
ro rt
th an Th
vA = 26.7 ft s Ans.
ill
18–30.
Motor M exerts a constant force of P = 750 N on the rope. M P ⫽ 750 N C

If the 100-kg post is at rest when u = 0°, determine the
angular velocity of the post at the instant u = 60°. Neglect
the mass of the pulley and its size, and consider the post as a
slender rod.
A
4m
SOLUTION 3m
Kinetic Energy and Work: Since the post rotates about a fixed axis, vG = vrG = v (1.5). u
The mass moment of inertia of the post about its mass center is B
1
IG = (100)(32) = 75 kg # m2. Thus, the kinetic energy of the post is
12
1 1
T = mvG2 + IGv2
2 2
1 1
= (100)[v(1.5)]2 + (75)v2
2 2
= 150v2
1
This result can also be obtained by applying T = IBv2, where IB =
no orl sem eac ws

er id ati ng
ed e r
2
itt W o
t a
t p d W in hi
1
. b)
m e on
d e W Dis in t l
(100)(32) + 100 (1.52) = 300 kg # m2. Thus,
an th . rs gh
12
k n ng to yri
1 1 or o ni c p
w g r tru o
I v2 = (300)v2 = 150v2
e in lea s s c
T =
2 B 2
th lud nt f in te
of inc de e o Sta
Since the post is initially at rest, T1 = 0. Referring to Fig. a, Bx, By, and R C do no
ity ( tu s d
gr rk s u te
is
work, while P does positive work and W does negative work. When u = 60° ,
te wo ing the Uni
P displaces sP = A¿C - AC, where AC = 24 2 + 32 - 2(4)(3) cos 30° = 2.053 m

e his s fo by
y of as lel ted
and A¿C = 24 2 + 32 = 5 m. Thus, sP = 5 - 2.053 = 2.947 m. Also, W displaces

s r
o c
st pa nd s te
th t se y
vertically upwards through a distance of h = 1.5 sin 60° = 1.299 m. Thus, the work
de ny es a ided pro
done by P and W is
w of a urs rov k is
le co s p or
UP = PsP = 750(2.947) = 2210.14 J

sa eir d i is w
in
ro rt
th an Th
UW = - Wh = - 100 (9.81)(1.299) = - 1274.36 J

ill
T1 + ©U1-2 = T2
0 + [2210.14 - 1274.36] = 150v2
v = 2.50 rad>s Ans.
18–31.
The uniform bar has a mass m and length l. If it is released

from rest when u = 0°, determine its angular velocity as a
function of the angle u before it slips. l
u O —
3
2l
—
3
SOLUTION
Kinetic Energy and Work: Before the bar slips, the bar rotates about the fixed axis
passing through point O. The mass moment of inertia of the bar about this axis is
l 2
ml2 + m a b = ml2. Thus, the kinetic energy of the bar is
1 1
IO =
12 6 9
I v2 = a ml2 b v2 =
1 1 1 1
T = ml2v2
2 O 2 9 18
Initially, the bar is at rest. Thus, T1 = 0. Referring to the FBD of the bar, Fig. a, we
notice that N and Ff do no work while W does positive work which is given by
UW = Wh = mg a sin u b =
l mgl
no orl sem eac ws

er id ati ng
ed e r
sin u
itt W o
t a
t p d W in hi
6 6
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
Principle of Work and Energy: or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
T1 + U1-2 = T2
ity ( tu s d
gr rk s u te
mgl 1
is
ml2v2
te wo ing the Uni
0 + sin u =
6 18
e his s fo by
3g
y of as lel ted
s r
v2 = sin u
o c
l
st pa nd s te
th t se y
de ny es a ided pro
3g
w of a urs rov k is
v = sin u Ans.
C l
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
*18–32.
The uniform bar has a mass m and length l. If it is released

from rest when u = 0°, determine the angle u at which it
first begins to slip. The coefficient of static friction at O is l
θ O —
ms = 0.3. 3
2l
—
3
SOLUTION
T1 + ©U1-2 = T2
l 1 1 l
0 + m g ( sin u) = [ m l2 + m ( )2]v2
6 2 12 6
3 g sin u
v =
A l
l 1 l
a + ©MO = IO a; m g cos u( ) = [ m l2 + m( )2] a
6 12 6
3 g cos u
a =
2l
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
3 g sin u l
an th . rs gh
+ ©Fn = m(aG)n ; ms N - m g sin u = m(
k n ng to yri
)( )
l 6 or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
msN = 1.5 m g sin u

of inc de e o Sta
ity ( tu s d
3 g cos u l
gr rk s u te
is
+ ©Ft = m(aG)t ; - N + m g cos u = m(
te wo ing the Uni
)( )
2l 6
e his s fo by
y of as lel ted
N = 0.75 m g cos u
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
Thus,
w of a urs rov k is
le co s p or
1.5
sa eir d i is w
in
ms = tan u
ro rt
0.75
th an Th
0.3 = 2 tan u
ill
u = 8.53° Ans.
18–33.
The two 2-kg gears A and B are attached to the ends of a

3-kg slender bar. The gears roll within the fixed ring gear C,
which lies in the horizontal plane. If a 10-N # m torque is
C
applied to the center of the bar as shown, determine the
400 mm
number of revolutions the bar must rotate starting from rest
in order for it to have an angular velocity of vAB = 20 rad>s.
For the calculation, assume the gears can be approximated by
thin disks.What is the result if the gears lie in the vertical plane? A B
SOLUTION 150 mm 150 mm
M = 10 N · m
Energy equation (where G refers to the center of one of the two gears):
Mu = T2
1 1 1
10u = 2 a IGv2gear b + 2 a mgear b (0.200vAB)2 + IABv2AB
2 2 2
(2)(0.150)2 = 0.0225 kg # m2,

1
Using mgear = 2 kg, IG =
2
(3)(0.400)2 = 0.0400 kg # m2 and vgear =
1 200
IAB = v ,
12 150 AB
no orl sem eac ws

er id ati ng
ed e r
itt W o
2
t a
t p d W in hi
200
. b)
m e on
d e W Dis in t l
10u = 0.0225 a b v2AB + 2(0.200)2v2AB + 0.0200v2AB
an th . rs gh
150
k n ng to yri
or o ni c p
w g r tru o
When vAB = 20 rad>s,
e in lea s s c
th lud nt f in te
of inc de e o Sta
u = 5.60 rad
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
= 0.891 rev, regardless of orientation Ans.

e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–34.
A ball of mass m and radius r is cast onto the horizontal

surface such that it rolls without slipping. Determine its
angular velocity at the instant u = 90°, if it has an initial
speed of vG as shown.
u R
SOLUTION r vG
G
vG
Kinetic Energy and Work: Since the ball rolls without slipping, vG = vr or v = .
r
2 2
The mass moment of inertia of the ball about its mass cener is IG = mr . Thus, the
5
kinetic energy of the ball is
1 1
T = mvG2+ IGv2
2 2
vG 2
mvG2+ a mr2 b a b
1 1 2
=
2 2 5 r
7
= mv 2
10 G
7
mvG2. Referring to the FBD of the
Initially, the ball has a speed of vG. Thus, T1 =
10
no orl sem eac ws

er id ati ng
ed e r
itt W o
ball, Fig. a, we notice that N does no work while W does negative work. When
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
u = 90°, h = R (1 - cos 90°) = R. Thus,
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
UW = - Wh = - mgR
th lud nt f in te
of inc de e o Sta

ity ( tu s d
gr rk s u te
T1 + U1-2 = T2
is
te wo ing the Uni
7 7
e his s fo by
mvG2 + ( - mgR) = m(vG)22

10 10
y of as lel ted
s r
o c
1
st pa nd s te
th t se y
(7vG2 - 10gR )
de ny es a ided pro
(vG)2 =
A7
w of a urs rov k is
le co s p or
so that
sa eir d i is w
in
ro rt
th an Th
(vG)2 10
v2 = = vG2 - gR>r Ans.
r A 7
ill
18–35.
A ball of mass m and radius r is cast onto the horizontal

surface such that it rolls without slipping. Determine the
minimum speed vG of its mass center G so that it rolls
completely around the loop of radius R + r without leaving
the track.
u R
r vG
G
SOLUTION
v2
+ T ©Fy = m(aG)y ; mg = m a b
R
v2 = gR
T1 + ©U1 - 2 = T2
1 2 2 v2G 1 1 2 gR 1
a mr b a 2 b + mv2G - mg(2R) = a mr2 b a 2 b + m(gR)
2 5 r 2 2 5 r 2
1 2 1 1 1
vG + v2G = 2gR + gR + gR
5 2 5 2
no orl sem eac ws

er id ati ng
ed e r
itt W o
3
t a
t p d W in hi
vG = 3 gR
. b)
m e on
Ans.
d e W Dis in t l
A7
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
*18–36.
At the instant shown, the 50-lb bar rotates clockwise at C

2 rad>s. The spring attached to its end always remains
vertical due to the roller guide at C. If the spring has an
unstretched length of 2 ft and a stiffness of k = 6 lb>ft,
k 4 ft
determine the angular velocity of the bar the instant it has
rotated 30° clockwise.
A
B
SOLUTION 2 rad/s
6 ft
Datum through A.
T1 + V1 = T2 + V2
c a b (6)2 d (2)2 + (6)(4 - 2)2 = c a b(6)2 dv2

1 1 50 1 1 1 50
2 3 32.2 2 2 3 32.2
1
+ (6)(7 - 2)2 - 50(1.5)
2
v = 2.30 rad>s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–37.
At the instant shown, the 50-lb bar rotates clockwise at C

2 rad>s. The spring attached to its end always remains
vertical due to the roller guide at C. If the spring has an
unstretched length of 2 ft and a stiffness of k = 12 lb>ft,
k 4 ft
determine the angle u, measured from the horizontal, to
which the bar rotates before it momentarily stops.
A
B
SOLUTION 2 rad/s
6 ft
T1 + V1 = T2 + V2
c a b (6)2 d (2)2 + (12)(4 - 2)2 = 0 + (12)(4 + 6 sin u - 2)2 - 50(3 sin u)

1 1 50 1 1
2 3 32.2 2 2
61.2671 = 24(1 + 3 sin u)2 - 150 sin u
37.2671 = - 6 sin u + 216 sin2 u
Set x = sin u, and solve the quadratic equation for the positive root:
sin u = 0.4295
no orl sem eac ws

er id ati ng
ed e r
u = 25.4°
itt W o
Ans.
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–38.

kO = 0.280 m. If the 20-kg block A is released from rest,
determine the distance the block must fall in order for the 0.3 m 0.2 m
spool to have an angular velocity v = 5 rad>s. Also, what is
O
the tension in the cord while the block is in motion? Neglect
the mass of the cord.
SOLUTION
vA = 0.2v = 0.2(5) = 1 m>s
System: A
T1 + V1 = T2 + V2
1 1
[0 + 0] + 0 = (20)(1)2 + [50(0.280)2](5)2 - 20(9.81) s
2 2
s = 0.30071 m = 0.301 m Ans.
Block:
no orl sem eac ws

er id ati ng
ed e r
T1 + ©U1 - 2 = T2
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
1
0 + 20(9.81)(0.30071) - T(0.30071) = (20)(1)2 or o ni c p
w g r tru o
2
e in lea s s c
th lud nt f in te
of inc de e o Sta
T = 163 N Ans.
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–39.
kO = 0.280 m. If the 20-kg block A is released from rest,
determine the velocity of the block when it descends 0.5 m. 0.3 m 0.2 m
O
SOLUTION
Potential Energy: With reference to the datum established in Fig. a, the gravitational
potential energy of block A at position 1 and 2 are
V1 = (Vg)1 = WAy1 = 20 (9.81)(0) = 0 A
V2 = (Vg)2 = - WAy2 = - 20 (9.81)(0.5) = - 98.1 J

vA vA
Kinetic Energy: Since the spool rotates about a fixed axis, v = = = 5vA.
rA 0.2
Here, the mass moment of inertia about the fixed axis passes through point O is
IO = mkO2 = 50 (0.280)2 = 3.92 kg # m2. Thus, the kinetic energy of the system is
1 1
I v2 + mAvA2
no orl sem eac ws

T =
er id ati ng
ed e r
2 O
itt W o
2
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
1 1
k n ng to yri
= (3.92)(5vA)2 + (20)vA2 = 59vA2 or o ni c p
2 2
w g r tru o
e in lea s s c
th lud nt f in te
Since the system is at rest initially, T1 = 0

of inc de e o Sta
ity ( tu s d
gr rk s u te
Conservation of Energy:
is
te wo ing the Uni
T1 + V1 = T2 + V2
e his s fo by
y of as lel ted
s r
0 + 0 = 59vA2 + ( - 98.1)
o c
st pa nd s te
th t se y
de ny es a ided pro
vA = 1.289 m>s
w of a urs rov k is
le co s p or
= 1.29 m>s Ans.

sa eir d i is w
in
ro rt
th an Th
ill
*18–40.
An automobile tire has a mass of 7 kg and radius of gyration G

kG = 0.3 m. If it is released from rest at A on the incline, 0.4 m
determine its angular velocity when it reaches the horizontal
A
plane. The tire rolls without slipping. 5m
30°
0.4 m
B
SOLUTION
nG = 0.4v
Datum at lowest point.
T1 + V1 = T2 + V2
1 1
0 + 7(9.81)(5) = (7)(0.4v)2 + [7 (0.3)2]v2 + 0
2 2
v = 19.8 rad s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–41.
The system consists of a 20-lb disk A, 4-lb slender rod BC,

and a 1-lb smooth collar C. If the disk rolls without slipping,
determine the velocity of the collar at the instant the rod C
becomes horizontal, i.e., u = 0°. The system is released from
rest when u = 45°.
3 ft
SOLUTION u
B
T1 + V1 = T2 + V2
0.8 ft
1 1 4 vC 2 1 1 A
0 + 4(1.5 sin 45°) + 1(3 sin 45°) = c a b (3)2 d a b + a b(vC)2 + 0
2 3 32.2 3 2 32.2
vC = 13.3 ft>s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–42.
The system consists of a 20-lb disk A, 4-lb slender rod BC,

and a 1-lb smooth collar C. If the disk rolls without slipping,
determine the velocity of the collar at the instant u = 30°. C
The system is released from rest when u = 45°.
3 ft
SOLUTION u
B
vB = 0.8vA
0.8 ft
vB vC vG A
vBC = = =
1.5 2.598 1.5
Thus,
vB = vG = 1.5vBC vC = 2.598vBC
vA = 1.875 vBC
T1 + V1 = T2 + V2
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
0 + 4(1.5 sin 45°) + 1(3 sin 45°)
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
1 1 20 1 20
e in lea s s c
= c a b (0.8)2 d (1.875vBC)2 + a b (1.5 vBC)2

th lud nt f in te
2 2 32.2 2 32.2
of inc de e o Sta
ity ( tu s d
1 1 4 1 4
gr rk s u te
+ c a b(3)2 dv2BC + a b (1.5vBC)2

is
te wo ing the Uni
2 12 32.2 2 32.2
e his s fo by
y of as lel ted
1 1
s r
+ a b (2.598vBC)2 + 4(1.5 sin 30°) + 1(3 sin 30°)

o c
st pa nd s te
th t se y
2 32.2
de ny es a ided pro
w of a urs rov k is
vBC = 1.180 rad>s

le co s p or
sa eir d i is w
in
ro rt
th an Th
Thus,
vC = 2.598(1.180) = 3.07 ft>s Ans.

ill
18–43.
The door is made from one piece, whose ends move along
the horizontal and vertical tracks. If the door is in the open
position, u = 0°, and then released, determine the speed at C A
which its end A strikes the stop at C. Assume the door is a
180-lb thin plate having a width of 10 ft. 5 ft u
SOLUTION 3 ft B
T 1 + V1 = T2 + V2
1 1 180 1 180
0 + 0 = c a b (8)2 d v2 + a b (1v)2 - 180(4)
2 12 32.2 2 32.2
v = 6.3776 rad>s
vC = v(5) = 6.3776(5) = 31.9 m>s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
*18–44.
Determine the speed of the 50-kg cylinder after it has
descended a distance of 2 m, starting from rest. Gear A has 100 mm
a mass of 10 kg and a radius of gyration of 125 mm about its 150 mm
center of mass. Gear B and drum C have a combined mass C
of 30 kg and a radius of gyration about their center of mass
of 150 mm.
A
B
200 mm
SOLUTION
Potential Energy: With reference to the datum shown in Fig. a, the gravitational
potential energy of block D at position (1) and (2) is
V1 = (Vg)1 = WD(yD)1 = 50 (9.81)(0) = 0
D
V2 = (Vg)2 = - WD(yD)2 = - 50(9.81)(2) = - 981 J
vD vD
Kinetic Energy: Since gear B rotates about a fixed axis, vB = = =10vD.
rD 0.1
Also, since gear A is in mesh with gear B, vA = a bv = a b(10vD) = 13.33vD.

rB 0.2
rA B 0.15
The mass moment of inertia of gears A and B about their mass centers
are IA = mAkA2 = 10(0.1252) = 0.15625 kg # m2 and IB = mBkB2 = 30(0.152)
= 0.675 kg # m2.Thus, the kinetic energy of the system is
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
1 1 1
an th . rs gh
T = I v 2 + IBvB2 + mDvD2
2 A A
k n ng to yri
2 2
or o ni c p
w g r tru o
e in lea s s c
1 1 1
(0.15625)(13.33vD)2 + (0.675)(10vD)2 + (50)vD2
th lud nt f in te
=
2 2 2
of inc de e o Sta
= 72.639vD2
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
Since the system is initially at rest, T1 = 0.

e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
T1 + V1 = T2 + V2
de ny es a ided pro
0 + 0 = 72.639vD2 - 981
w of a urs rov k is
le co s p or
vD = 3.67 m>s Ans.

sa eir d i is w
in
ro rt
th an Th
ill
18–45.
The disk A is pinned at O and weighs 15 lb. A 1-ft rod

weighing 2 lb and a 1-ft-diameter sphere weighing 10 lb are
welded to the disk, as shown. If the spring is orginally k = 4 lb/ft
stretched 1 ft and the sphere is released from the position
shown, determine the angular velocity of the disk when it 2 ft O
has rotated 90˚.
1 ft 1 ft
A
SOLUTION
T1 + V1 = T2 + V2
1 1 1 15 1 1 2 1 2
[0 + 0 + 0] + (4)(1)2 = [ ( )(2)2]v2 + [ ( )(1)2]v2 + ( )(v )2R
2 2 2 32.2 2 12 32.2 2 32.2 G
1 2 10 1 10 1 p
+ [ ( )(0.5)2]v2 + ( )(v )2s - 2(2.5) - 10(3.5) + (4)(1 + 2( ))2
2 5 32.2 2 32.2 G 2 2
Since
(vG)S = 3.5v
(vG)R = 2.5v
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
Substituting and solving, yields
k n ng to yri
or o ni c p
w g r tru o
v = 1.73 rad s Ans.
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–46.
The disk A is pinned at O and weighs 15 lb. A 1-ft rod

weighing 2 lb and a 1-ft-diameter sphere weighing 10 lb are
welded to the disk, as shown. If the spring is originally k ⫽ 4 lb/ft
stretched 1 ft and the sphere is released from the position
shown, determine the angular velocity of the disk when it 2 ft O
has rotated 45°.
1 ft 1 ft
A
SOLUTION
Potential Energy: From the geometry shown in Fig. a, we obtain
(yG1)2 = 2.5 sin 45° ft = 1.7678 ft and (yG2)2 = 3.5 sin 45° = 2.4749 ft. With
reference to the datum set in Fig. a, the initial and final gravitational potential
energy of the system is
(Vg)1 = W1(yG1)1 + W2(yG2)1 = 2(0) + 10(0) = 0
(Vg)2 = - W1(yG1)2 - W2(yG2)2 = - 2(1.7678) - 10(2.4749)
= - 28.284 ft # lb
p
The initial and final stretch of the spring is s1 = 1 ft and s2 = 1 + (2) = 2.5708 ft.
4
Thus the initial and final elastic potential energy of the system are
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
1 1
an th . rs gh
(Ve)1 = ks 2 = (4)(12) = 2 ft # lb
k n ng to yri
2 1 2
or o ni c p
w g r tru o
e in lea s s c
1 1
th lud nt f in te
(Ve)2 = ks 2 = (4)(2.5708)2 = 13.218 ft # lb

of inc de e o Sta
2 2 2
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
Kinetic Energy: The mass moment of inertia of the disk assembly about the fixed
e his s fo by
y of as lel ted
axis passing through point O is

s r
o c
st pa nd s te
th t se y
de ny es a ided pro
a b (0.52) + a b (3.52) + a b(12) + a b(2.52)

2 10 10 1 2 2
IO =
w of a urs rov k is
5 32.2 32.2 12 32.2 32.2

le co s p or
sa eir d i is w
a b (22)
in
1 15
ro rt
th an Th
+
2 32.2
= 5.1605 slug # ft2

ill
Thus, the kinetic energy of the system is

1 1
T = I v2 = (5.1605)v2 = 2.5802v2
2 O 2
Since the system is at rest initally, T1 = 0
T1 + V1 = T2 + V2
0 + (0 + 2) = 2.5802v2 + ( - 28.284 + 13.218)
v = 2.572 rad>s = 2.57 rad>s Ans.
18–47.
At the instant the spring becomes undeformed, the center

of the 40-kg disk has a speed of 4 m>s. From this point
determine the distance d the disk moves down the plane
before momentarily stopping. The disk rolls without k = 200 N/m
slipping.
0.3 m
SOLUTION
30°
Datum at lowest point.
T1 + V1 = T2 + V2
1 1 4 2 1 1
c (40)(0.3)2 d a b + (40)(4)2 + 40(9.81)d sin 30° = 0 + (200)d2
2 2 0.3 2 2
100d2 - 196.2d - 480 = 0
Solving for the positive root
d = 3.38 m Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
*18–48.
A chain that has a negligible mass is draped over the 100 mm

sprocket which has a mass of 2 kg and a radius of gyration of
kO = 50 mm. If the 4-kg block A is released from rest from O
the position s = 1 m, determine the angular velocity of the
sprocket at the instant s = 2 m.
s⫽1m
SOLUTION
T1 + V1 = T2 + V2
(4)(0.1 v)2 + C 2(0.05)2 D v2 - 4(9.81)(1)

1 1 A
0 + 0 + 0 =
2 2
v = 41.8 rad>s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–49.
Solve Prob. 18–48 if the chain has a mass of 0.8 kg>m. For 100 mm
the calculation neglect the portion of the chain that wraps
over the sprocket.
O
s 1m
SOLUTION
T1 + V1 = T2 + V2
1 1 A
0 - 4(9.81)(1) - 2 C 0.8(1)(9.81)(0.5) D = (4)(0.1 v)2 + C 2(0.05)2 D v2
2 2
1
+ (0.8)(2)(0.1 v)2 - 4(9.81)(2) - 0.8(2)(9.81)(1)
2
v = 39.3 rad>s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–50.
The compound disk pulley consists of a hub and attached 100 mm

outer rim. If it has a mass of 3 kg and a radius of gyration 30 mm
kG = 45 mm, determine the speed of block A after A
descends 0.2 m from rest. Blocks A and B each have a mass
of 2 kg. Neglect the mass of the cords.
SOLUTION
B
T1 + V1 = T2 + V2
1 1 1 A
[0 + 0 + 0] + [0 + 0] = [3(0.045)2]v2 + (2)(0.03v)2 + (2)(0.1v)2 - 2(9.81)sA + 2(9.81)sB
2 2 2
sB sA
u = =
0.03 0.1
sB = 0.3 sA
Set sA = 0.2 m, sB = 0.06 m
Substituting and solving yields,
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
v = 14.04 rad>s
d e W Dis in t l
an th . rs gh
k n ng to yri
vA = 0.1(14.04) = 1.40 m>s or o ni c p
w g r tru o
Ans.
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–51.
A spring having a stiffness of k = 300 N>m is attached to

the end of the 15-kg rod, and it is unstretched when u = 0°.
If the rod is released from rest when u = 0°, determine its
angular velocity at the instant u = 30°. The motion is in the
vertical plane. B
u
k 300 N/m
SOLUTION 0.6 m
Potential Energy: With reference to the datum in Fig. a, the gravitational potential A
energy of the rod at positions (1) and (2) is
A Vg B 1 = W(yG)1 = 15(9.81)(0) = 0
A Vg B 2 = - W(yG)2 = - 15(9.81)(0.3 sin 30°) = -22.0725 J
Since the spring is initially unstretched, (Ve)1 = 0. When u = 30°, the stretch of the
spring is sP = 0.6 sin 30° = 0.3 m. Thus, the final elastic potential energy of the
spring is
1 1
A Ve B 2 = ks 2 = (300) A 0.32 B = 13.5 J
2 P
no orl sem eac ws

er id ati ng
ed e r
2
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
Thus,
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
V1 = (Vg)1 + (Ve)1 = 0 + 0 = 0
th lud nt f in te
of inc de e o Sta
V2 = (Vg)2 + (Ve)2 = - 22.0725 + 13.5 = -8.5725 J

ity ( tu s d
gr rk s u te
is
te wo ing the Uni
Kinetic Energy: Since the rod is initially at rest, T1 = 0. From the geometry shown in
e his s fo by
Fig. b, rG>IC = 0.3 m. Thus, (VG)2 = v2rG>IC = v2 (0.3). The mass moment of inertia
y of as lel ted
s r
(15) A 0.62 B = 0.45 kg # m2. Thus,

o c
1 1
st pa nd s te
th t se y
of the rod about its mass center is IG = ml2 =

de ny es a ided pro
12 12
w of a urs rov k is
the final kinetic energy of the rod is

le co s p or
sa eir d i is w
in
1 1
ro rt
th an Th
T2 = m(vG)2 2 + IGv2 2
2 2
1 1
= (15) C v2 A 0.3 B D 2 + A 0.45 B v2 2
ill
2 2
= 0.9v2 2
T1 + V1 = T2 + V2
0 + 0 = 0.9v2 2 - 8.5725
*18–52.
The two bars are released from rest at the position u. B

Determine their angular velocities at the instant they become
horizontal. Neglect the mass of the roller at C. Each bar has L L
a mass m and length L.
A C
SOLUTION
Potential Energy: Datum is set at point A. When links AB and BC is at their

L
initial position, their center of gravity is located 2 sin u above the datum. Their
L
gravitational potential energy at this position is mg a sin u b . Thus, the initial and
2
final potential energies are
mgL
V1 = 2 a sin ub = mgL sin u V2 = 0
2
Kinetic Energy: When links AB and BC are in the horizontal position, then vB = vAB L
no orl sem eac ws

er id ati ng
ed e r
which is directed vertically downward since link AB is rotating about fixed point A. Link
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
BC is subjected to general plane motion and its instantaneous center of zero velocity is
k n ng to yri
or o ni c p
located at point C. Thus, vB = vBCrB>IC or vABL = vBCL, hence vAB = vBC = v.
w g r tru o
e in lea s s c
th lud nt f in te
The mass moment inertia for link AB and BC about point A and C is
of inc de e o Sta
1 L 2 1
ity ( tu s d
(IAB)A = (IBC)C = mL2 + m a b = mL2. Since links AB and CD are at rest

gr rk s u te
is
te wo ing the Uni
2 2 3
initially, the initial kinetic energy is T1 = 0. The final kinetic energy is given by
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
1 1
de ny es a ided pro
T2 = (I ) v2AB + (IBC)C v2BC

2 AB A 2
w of a urs rov k is
le co s p or
sa eir d i is w
1 1 1 1
in
= a mL2 b v2 + a mL2 b v2
ro rt
th an Th
2 3 2 3
1
= mL2 v2
3
ill
Conservation of Energy: Applying Eq. 18–18, we have
T1 + V1 = T2 + V2
1
0 + mgL sin u = mL2 v2 + 0
3
3g
vAB = vBC = v = sin u Ans.
L
18–53.
The two bars are released from rest at the position u = 90°. B
Determine their angular velocities at the instant they
become horizontal. Neglect the mass of the roller at C. Each L L
bar has a mass m and length L.
u u
A C
SOLUTION
Potential Energy: With reference to the datum established in Fig. a, the gravitational
potential energy of the system at position 1 and 2 are
b + mga b = mg L
L L
(V1)g = WAB(yGAB)1 + WBC(yGBC) 1 = mga
2 2
(V2)g = WAB(yGAB)2 + WBC(yGBC)2 = 0
Kinetic Energy: Since the system is at rest initially, T1 = 0. Referring to the

kinematic diagram of the system at position 2 shown in Fig. b,
vB = vAB rAB = vBC rGBC>IC; vAB(L) = vBC(L)

vAB = vBC
no orl sem eac ws

er id ati ng
ed e r
itt W o
Also,
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
vGBC = vBC rGBC>IC = vBC a b
L
an th . rs gh
k n ng to yri
2
or o ni c p
w g r tru o
e in lea s s c
The mass moment of inertia of bar AB about the fixed axis passing through A is
th lud nt f in te
of inc de e o Sta
1
IA = mL2 and the mass moment of inertia of bar BC about its mass center is
ity ( tu s d
gr rk s u te
3
is
te wo ing the Uni
1
IGBC = mL2. Thus, the kinetic energy of the system is
e his s fo by
12
y of as lel ted
s r
1 1 1
o c
I v 2 + IGBCvBC 2 + mBC vGBC 2

st pa nd s te
th t se y
T =
2 A AB
de ny es a ided pro
2 2
w of a urs rov k is
L 2
a mL2 b vBC 2 + a mL2 b vBC2 + m cvBC a b d
1 1 1 1 1
le co s p or
=
sa eir d i is w
2 3 2 12 2 2
in
ro rt
th an Th
1
=mL2 vBC2
3
ill
T1 + V1 = T2 + V2
1
0 + mg L = mL2 vBC 2
3
3g
vAB = vBC = Ans.
BL
18–54.
If the 250-lb block is released from rest when the spring is 0.375 ft
unstretched, determine the velocity of the block after it has k ⫽ 75 lb/ft
descended 5 ft. The drum has a weight of 50 lb and a radius 0.75 ft
of gyration of kO = 0.5 ft about its center of mass O.
O
SOLUTION
Potential Energy: With reference to the datum shown in Fig. a, the gravitational
potential energy of the system when the block is at position 1 and 2 is
(Vg)1 = W(yG)1 = 250(0) = 0

(Vg)2 = - W(yG)2 = - 250(5) = - 1250 ft # lb
When the block descends sb = 5 ft, the drum rotates through an angle of
sb 5
u = = = 6.667 rad. Thus, the stretch of the spring is x = s + s0 =
rb 0.75
rspu + 0 = 0.375(6.667) = 2.5 ft. The elastic potential energy of the spring is
1 2 1
(Ve)2 = kx = (75)(2.52) = 234.375 ft # lb
2 2
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
Since the spring is initially unstretched, (Ve)1 = 0. Thus,
an th . rs gh
k n ng to yri
V1 = (Vg)1 + (Ve)1 = 0 or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
V2 = (Vg)2 + (Ve)2 = - 1250 + 234.375 = - 1015.625 ft # lb

of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
Kinetic Energy: Since the drum rotates about a fixed axis passing through point O,
vb vb
e his s fo by
v = = = 1.333vb. The mass moment of inertia of the drum about its mass
y of as lel ted
rb 0.75
s r
o c
a 0.52 b = 0.3882 slug # ft2.

50
st pa nd s te
th t se y
center is IO = mkO 2 =
de ny es a ided pro
32.2
w of a urs rov k is
le co s p or
sa eir d i is w
in
1 1
IOv2 + mbvb2
ro rt
T =
th an Th
2 2
(0.3882)(1.333vb)2 + a bv 2
1 1 250
=
2 2 32.2 b
ill
= 4.2271vb2

T1 + V1 = T2 + V2
0 + 0 = 4.2271vb 2 - 1015.625
vb = 15.5 ft>s T Ans.
18–55.
The 6-kg rod ABC is connected to the 3-kg rod CD. If the
system is released from rest when u = 0°, determine the A
angular velocity of rod ABC at the instant it becomes
0.5 m
horizontal.
B
0.3 m
SOLUTION C
Potential Energy: When rod ABC is in the horizontal position, Fig. a,

u
u = sin - 1 a b = 48.59°. With reference to the datum in Fig. a, the initial and final
0.3 0.4 m
0.4
gravitational potential energy of the system is D
V1 = (Vg)1 = W1(yG1)1 + W2(yG2)1
= 6(9.81)(0.8) + 3(9.81)(0.2) = 52.974 J
V2 = (Vg)2 = W1(yG1)2 + W2(yG2)2
= 6(9.81)(0.4 cos 48.59°) + 3(9.81)(0.2 cos 48.59°) = 19.466 J
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
Kinetic Energy: Since the system is initially at rest, T1 = 0. Referring to Fig. b,
an th . rs gh
(vG1)2 = (vABC)2 rG1>IC = (vABC)2(0.4). Since point C is at the IC(vC)2 = 0. Then,
k n ng to yri
or o ni c p
w g r tru o
(vC)2 0
e in lea s s c
vCD = = = 0. The mass moment of inertia of rod ABC about its mass
th lud nt f in te
rC 0.4
of inc de e o Sta
1
center is IG1 = (6)(0.82) = 0.32 kg # m2. Thus, the final kinetic energy of the
ity ( tu s d
gr rk s u te
12
is
te wo ing the Uni
system is
e his s fo by
y of as lel ted
s r
o c
1 1
st pa nd s te
th t se y
T2 = m (v ) 2 + IG1(vABC)22
de ny es a ided pro
2 1 G1 2 2
w of a urs rov k is
2
(6)c (vABC)2(0.4) d + (0.32)(vABC)2 2
1 1
le co s p or
=
sa eir d i is w
2 2
in
ro rt
th an Th
= 0.64vABC2
ill
T1 + V1 = T2 + V2
0 + 52.974 = 0.64vABC 2 + 19.466
(vABC)2 = 7.24 rad>s Ans.
*18–56.
If the chain is released from rest from the position shown,

determine the angular velocity of the pulley after the end B
has risen 2 ft. The pulley has a weight of 50 lb and a radius of
0.5 ft
gyration of 0.375 ft about its axis. The chain weighs 6 lb/ft.
4 ft
SOLUTION
6 ft
Potential Energy: (yG1)1 = 2 ft, (yG 2)1 = 3 ft, (yG1)2 = 1 ft, and (yG2)2 = 4 ft. With
reference to the datum in Fig. a, the gravitational potential energy of the chain at B
position 1 and 2 is
V1 = (Vg)1 = W1(yG1)1 - W2(yG2)1

A
= - 6(4)(2) - 6(6)(3) = - 156 ft # lb
V2 = (Vg)2 = - W1(yG1)2 + W2(yG2)2
= - 6(2)(1) - 6(8)(4) = - 204 ft # lb
Kinetic Energy: Since the system is initially at rest, T1 = 0. The pulley rotates about
a fixed axis, thus, (VG1)2 = (VG2)2 = v2 r = v2(0.5). The mass moment of inertia of
no orl sem eac ws

er id ati ng
ed e r
50
itt W o
the pulley about its axis is IO = mkO 2 = (0.3752) = 0.2184 slug # ft2. Thus, the
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
32.2
an th . rs gh
final kinetic energy of the system is
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
1 1 1
T = IOv2 2 + m1(VG1)2 2 + m2 (VG2)2 2
th lud nt f in te
2 2 2
of inc de e o Sta
ity ( tu s d
(0.2184)v2 2 + c d [v2(0.5)]2 + c d[v2(0.5)]2 + c d[v2(0.5)]2

1 1 6(2) 1 6(8) 1 6(0.5)(p)
gr rk s u te
is
te wo ing the Uni
=
2 2 32.2 2 32.2 2 32.2
e his s fo by
y of as lel ted
= 0.3787v2 2
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
T1 + V1 = T2 + V2
sa eir d i is w
in
0 + (- 156) = 0.3787v22 = ( - 204)

ro rt
th an Th
v2 = 11.3 rad >s Ans.

ill
18–57.
If the gear is released from rest, determine its angular

velocity after its center of gravity O has descended a
distance of 4 ft. The gear has a weight of 100 lb and a radius
of gyration about its center of gravity of k = 0.75 ft.
1 ft
SOLUTION
Potential Energy: With reference to the datum in Fig. a, the gravitational potential
energy of the gear at position 1 and 2 is
V1 = (Vg)1 = W(y0)1 = 100(0) = 0
V2 = (Vg)2 = - W1(y0)2 = - 100(4) = - 400 ft # lb
Kinetic Energy: Referring to Fig. b, we obtain vO = vrO / IC = v(1).The mass moment

100
of inertia of the gear about its mass center is IO = mkO 2 = (0.752) = 1.7469 kg # m2.
32.2
Thus,
1 1
T = mvO2 + IOv2
no orl sem eac ws

2 2
er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
a b [v (1)]2 + (1.7469)v2
an th . rs gh
1 100 1
k n ng to yri
=
2 32.2 2 or o ni c p
w g r tru o
e in lea s s c
= 2.4262v2
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
Since the gear is initially at rest, T1 = 0.

is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
T1 + V1 = T2 + V2
o c
st pa nd s te
th t se y
de ny es a ided pro
0 + 0 = 2.4262v2 - 400
w of a urs rov k is
le co s p or
v = 12.8 rad>s Ans.

sa eir d i is w
in
ro rt
th an Th
ill
18–58.
When the slender 10-kg bar AB is horizontal it is at rest and A B k C

the spring is unstretched. Determine the stiffness k of the
spring so that the motion of the bar is momentarily stopped
when it has rotated clockwise 90°.
1.5 m 1.5 m
SOLUTION
T1 + V1 = T2 + V2
1 1.5
0 + 0 = 0 + (k)(3.3541 – 1.5 )2 – 98.1 a b
2 2
k = 42.8 N>m Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–59.
When the slender 10-kg bar AB is horizontal it is at rest and A B k C

the spring is unstretched. Determine the stiffness k of the
spring so that the motion of the bar is momentarily stopped
when it has rotated clockwise 45°.
1.5 m 1.5 m
SOLUTION
Potential Energy: From the geometry shown in Fig. a, we obtain (yG)2 =
0.75 sin 45° = 0.5303 m and CB¿ = 232 + 1.52 - 2(3)(1.5) cos 45° = 2.2104. With
reference to the datum established in Fig. a, the initial and final gravitational
potential energy of the system is
(Vg)1 = WAB(yG)1 = 0
(Vg)2 = - WAB(yG)2 = - 10(9.81)(0.5303) = - 52.025 J
Initially, the spring is unstretched. Thus, (Ve)1 = 0. At the final position, the spring
stretches S = CB¿ - CB = 2.2104 - 1.5 = 0.7104 m. Then (Ve)1 = 0 and (Ve)2 =
1 2 1
ks = k (0.7104 2) = 0.2524k.
2 2
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
V1 = (Ve)1 + (Vg)1 = 0
an th . rs gh
k n ng to yri
V2 = (Ve)2 + (Vg)2 = 0.2524k - 52.025 or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
Kinetic Energy: Since the bar is at rest initially and stops momentarily at the final
position, T1 = T2 = 0.
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
T1 + V1 = T2 + V2
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
0 + 0 = 0 + 0.2524k - 52.025
w of a urs rov k is
k = 206.15 N>m = 206 N>m Ans.

le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
*18–60.
If the 40-kg gear B is released from rest at u = 0°,

determine the angular velocity of the 20-kg gear A at the 0.15 m P
instant u = 90°. The radii of gyration of gears A and B
about their respective centers of mass are kA = 125 mm A u
and kB = 175 mm. The outer gear ring P is fixed.
SOLUTION 0.2 m
energy of gear B at positions (1) and (2) is
V1 = (Vg)1 = WB(yGB)1 = 40(9.81)(0) = 0
V2 = (Vg)2 = - WB(yGB)2 = - 40(9.81)(0.35) = - 137.34 J
vP
Kinetic Energy: Referring to Fig. b, vP = vArA = vA(0.15). Then, vB = =
rP>IC
vA(0.15)
= 0.375vA. Subsequently, vGB = vBrGB>IC = (0.375vA)(0.2) = 0.075vA.
0.4
The mass moments of inertia of gears A and B about their mass centers are
IA = mAkA2 = 20(0.1252) = 0.3125 kg # m2 and IB = mBkB2 = 40(0.1752) =
no orl sem eac ws

er id ati ng
2
ed e r
#
1.225 kg m . Thus, the kinetic energy of the system is
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
T = TA + TB or o ni c p
w g r tru o
e in lea s s c
I v 2 + c mBvGB2 + IBvB 2d
1 1 1
th lud nt f in te
of inc de e o Sta
=
2 A A 2 2
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
(0.3125)vA2 + c (40)(0.075vA)2 + (1.225)(0.375vA)2d

1 1 1
e his s fo by
=
2 2 2
y of as lel ted
s r
o c
= 0.3549vA2
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is

le co s p or
sa eir d i is w
in
ro rt
th an Th
T1 + V1 = T2 + V2
0 + 0 = 0.3549vA2 - 137.34
ill
vA = 19.7 rad>s Ans.
18–61.
A uniform ladder having a weight of 30 lb is released from

rest when it is in the vertical position. If it is allowed to fall
freely, determine the angle u at which the bottom end A
starts to slide to the right of A. For the calculation, assume
the ladder to be a slender rod and neglect friction at A.
10 ft
SOLUTION u
Potential Energy: Datum is set at point A. When the ladder is at its initial and final
position, its center of gravity is located 5 ft and (5 cos u ) ft above the datum. Its A
initial and final gravitational potential energy are 30(5) = 150 ft # lb and
30(5 cos u ) = 150 cos u ft # lb, respectively. Thus, the initial and final potential
energy are
V1 = 150 ft # lb V2 = 150 cos u ft # lb
Kinetic Energy: The mass moment inertia of the ladder about point A is
b (52) = 31.06 slug # ft2. Since the ladder is initially at
1 30 30
IA = a b (102) + a
12 32.2 32.2
rest, the initial kinetic energy is T1 = 0. The final kinetic energy is given by
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
1 1
T2 = I v2 = (31.06)v2 = 15.53v2
an th . rs gh
2 A
k n ng to yri
2
or o ni c p
w g r tru o
e in lea s s c
Conservation of Energy: Applying Eq. 18–18, we have

th lud nt f in te
of inc de e o Sta
T1 + V1 = T2 + V2
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
0 + 150 = 15.53v2 + 150 cos u

e his s fo by
y of as lel ted
v2 = 9.66(1 - cos u)
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
Equation of Motion: The mass moment inertia of the ladder about its mass center is
w of a urs rov k is
b (102) = 7.764 slug # ft2. Applying Eq. 17–16, we have

1 30
le co s p or
IG = a
sa eir d i is w
12 32.2
in
ro rt
th an Th
30
+ ©MA = ©(Mk)A; - 30 sin u(5) = - 7.764a - a b[a(5)](5)
32.2
a = 4.83 sin u
ill
+ ©Fx = m(aG)x; 30
Ax = - [9.66(1 - cos u)(5)] sin u
c
32.2
30
+ [4.83 sin u(5)] cos u
32.2
30
Ax = - (48.3 sin u - 48.3 sin u cos u - 24.15 sin u cos u)
32.2
= 45.0 sin u (1 - 1.5 cos u) = 0
If the ladder begins to slide, then Ax = 0 . Thus, for u>0,
45.0 sin u (1 - 1.5 cos u) = 0
u = 48.2° Ans.
18–62.
The 50-lb wheel has a radius of gyration about its center of 3 ft

gravity G of kG = 0.7 ft. If it rolls without slipping,
determine its angular velocity when it has rotated clockwise 0.5 ft B
90° from the position shown. The spring AB has a stiffness
k = 1.20 lb/ft and an unstretched length of 0.5 ft. The wheel 0.5 ft
G
is released from rest. k = 1.20 lb/ft A
1 ft
SOLUTION
T1 + V1 = T2 + V2
1 1 50 1 50
0 + (1.20)[2(3)2 + (0.5)2 - 0.5]2 = [ (0.7)2]v2 + ( )(1v)2
2 2 32.2 2 32.2
1
+ (1.20)(0.9292 - 0.5)2
2
v = 1.80 rad s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–63.
The uniform window shade AB has a total weight of 0.4 lb. M

When it is released, it winds up around the spring-loaded O B O
core O. Motion is caused by a spring within the core, which is
coiled so that it exerts a torque M = 0.3(10 - 3)u lb # ft, where
u is in radians, on the core. If the shade is released from rest,
determine the angular velocity of the core at the instant the
shade is completely rolled up, i.e., after 12 revolutions. When 3 ft
this occurs, the spring becomes uncoiled and the radius of
gyration of the shade about the axle at O is kO = 0.9 in.
Note: The elastic potential energy of the torsional spring is
Ve = 12ku2, where M = ku and k = 0.3(10 - 3) lb # ft>rad.
A
SOLUTION
T1 + V1 = T2 + V2
1 1 0.4 0.9 2 2
0 - (0.4)(1.5) + (0.3)(10 - 3)(24p)2 = a ba b v
2 2 32.2 12
v = 85.1 rad>s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
*18–64.
The motion of the uniform 80-lb garage door is guided at its k 9 lb/ft
ends by the track. Determine the required initial stretch in
the spring when the door is open, u = 0°, so that when it C
falls freely it comes to rest when it just reaches the fully
u B
closed position, u = 90°. Assume the door can be treated as
a thin plate, and there is a spring and pulley system on each
8 ft
of the two sides of the door.
8 ft
A
SOLUTION
sA + 2 s s = l
¢sA = - 2¢ss
8 ft = - 2¢ss
¢ss = -4 ft
T1 + V1 = T2 + V2
1 1
0 + 2c (9)s2 d = 0 - 80(4) + 2 c (9)(4 + s)2 d
2 2
no orl sem eac ws

9s2 = - 320 + 9(16 + 8s + s2)
er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
s = 2.44 ft Ans.
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–65.
The motion of the uniform 80-lb garage door is guided at its k ⫽ 9 lb/ft
ends by the track. If it is released from rest at u = 0°,
determine the door’s angular velocity at the instant C
u = 30°. The spring is originally stretched 1 ft when the
u B
door is held open, u = 0°. Assume the door can be treated
as a thin plate, and there is a spring and pulley system on
8 ft
each of the two sides of the door.
8 ft
A
SOLUTION
vG = 4v
sA + 2ss = l
¢sA = - 2¢ss
4 ft = - 2¢ss
¢ss = - 2 ft
T1 + V1 = T2 + V2
0 + 2 c (9)(1)2 d = a b (4v)2 + c a b(8)2 dv2 - 80(4 sin 30°)

1 1 80 1 1 80
no orl sem eac ws

er id ati ng
2 2 32.2 2 12 32.2
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
+ 2c (9)(2 + 1)2 d
1
k n ng to yri
2 or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
v = 1.82 rad>s Ans.

of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–66.
The end A of the garage door AB travels along the

horizontal track, and the end of member BC is attached to a 12 ft
A
spring at C. If the spring is originally unstretched, determine B
the stiffness k so that when the door falls downward from
rest in the position shown, it will have zero angular velocity
the moment it closes, i.e., when it and BC become vertical. 15
7 ft
Neglect the mass of member BC and assume the door is a
thin plate having a weight of 200 lb and a width and height C
of 12 ft. There is a similar connection and spring on the 2 ft 6 ft
other side of the door.
SOLUTION D 1 ft
(2)2 = (6)2 + (CD)2 - 2(6)(CD) cos 15°
CD2 - 11.591CD + 32 = 0
Selecting the smaller root:
CD = 4.5352 ft
T1 + V1 = T2 + V2
no orl sem eac ws

er id ati ng
ed e r
0 + 0 = 0 + 2 c (k)(8 - 4.5352)2 d - 200(6)
itt W o
t a
t p d W in hi
. b)
m e on
2
d e W Dis in t l
an th . rs gh
k n ng to yri
k = 100 lb/ft or o ni c p
w g r tru o Ans.
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
18–67.
Determine the stiffness k of the torsional spring at A, so

that if the bars are released from rest when u = 0°, bar AB B
has an angular velocity of 0.5 rad/s at the closed position,
u = 90°. The spring is uncoiled when u = 0°. The bars have 3m 4m
a mass per unit length of 10 kg>m.
u
C
A
k
SOLUTION
energy of the system at its open and closed positions is
A Vg B 1 = WAB (yG1)1 + WBC (yG2)1

= 10(3)(9.81)(1.5) + 10(4)(9.81)(1.5) = 1030.5 J

= 10(3)(9.81)(0) + 10(4)(9.81)(0) = 0
Since the spring is initially uncoiled, (Ve)1 = 0. When the panels are in the closed
no orl sem eac ws

er id ati ng
p
ed e r
itt W o
position, the coiled angle of the spring is u = rad. Thus,
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
2
an th . rs gh
k n ng to yri
1 2 1 p 2 p2 or o ni c p
w g r tru o
(Ve)2 = ku = k a b = k
e in lea s s c
2 2 2 8
th lud nt f in te
of inc de e o Sta
And so,
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
V1 = A Vg)1 + (Ve)1 = 1030.5 + 0 = 1030.5 J

e his s fo by
y of as lel ted
p2 p2
s r
V2 = A Vg)2 + (Ve)2 = 0 + k = k
o c
st pa nd s te
th t se y
8 8
de ny es a ided pro
w of a urs rov k is
Kinetic Energy: Since the system is initially at rest, T1 = 0. Referring to Fig. b,

le co s p or
sa eir d i is w
in
(vB)2 1.5
ro rt
(vB)2 = (vAB)2 rB = 0.5(3) = 1.5 m>s. Then, (vBC)2 = = = 0.375 rad>s.

th an Th
rB>IC 4
Subsequently, (vG)2 = (vBC)2 rG2>IC = 0.375(2) = 0.75 m>s. The mass moments of
inertia of AB about point A and BC about its mass center are
ill
ml = [10(3)] A 32 B = 90 kg # m2
1 2 1
(IAB)A =
3 3
and
[10(4)] A 42 B = 53.33 kg # m2
1 1
(IBC)G2 = ml2 =
12 12
Thus,
1 1 1
T2 = (I ) (v ) 2 + c mBC(vG2)2 + (IBC)G2 (vBC)2 2 d
2 AB A AB 2 2 2
1 1 1
= (90) A 0.52 B + c [10(4)] A 0.752 B + (53.33) A 0.375 2 B d
2 2 2
= 26.25 J
18–67. continued
T1 + V1 = T2 + V2
p2
0 + 1030.5 = 26.25 + k
8
k = 814 N # m>rad Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
*18–68.
The torsional spring at A has a stiffness of

k = 900 N # m>rad and is uncoiled when u = 0°. Determine B
the angular velocity of the bars, AB and BC, when u = 0°, if
4m
they are released from rest at the closed position, u = 90°. 3m
The bars have a mass per unit length of 10 kg>m.
u
C
A
k
SOLUTION
energy of the system at its open and closed positions is

= 10(3)(9.81)(0) + 10(4)(9.81)(0) = 0

= 10(3)(9.81)(1.5) + 10(4)(9.81)(1.5) = 1030.05 J
p
When the panel is in the closed position, the coiled angle of the spring is u = rad.
2
no orl sem eac ws

Thus,
er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
1 2 1 p 2
an th . rs gh
(Ve)1 = ku = (900) a b = 112.5p2 J
k n ng to yri
2 2 2
or o ni c p
w g r tru o
e in lea s s c
The spring is uncoiled when the panel is in the open position (u = 0°). Thus,
th lud nt f in te
of inc de e o Sta
(Ve)2 = 0
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
And so,
e his s fo by
y of as lel ted
V1 = A Vg)1 + (Ve)1 = 0 + 112.5p2 = 112.5p2 J

s r
o c
st pa nd s te
th t se y
de ny es a ided pro
V2 = A Vg)2 + (Ve)2 = 1030.05 + 0 = 1030.05 J

w of a urs rov k is
le co s p or
Kinetic Energy: Since the panel is at rest in the closed position, T1 = 0. Referring to
sa eir d i is w
in
ro rt
Fig. b, the IC for BC is located at infinity. Thus,

th an Th
(vBC)2 = 0 Ans.
Then,
ill
(vG)2 = (vB)2 = (vAB)2 rB = (vAB)2 (3)
The mass moments of inertia of AB about point A and BC about its mass center are
ml = [10(3)] A 32 B = 90 kg # m2
1 2 1
(IAB)A =
3 3
and
[10(4)] A 42 B = 53.33 kg # m2
1 1
(IBC)G2 = ml2 =
12 12
Thus,
1 1
T2 = (IAB)A(vAB)2 2 + mBC(vG2)2
2 2
1 1
= (90)(vAB)2 2 + [10(4)] C (vAB)2 (3) D 2
2 2
= 225(vAB)2 2
18–68. continued
T1 + V1 = T2 + V2
0 + 112.5p2 = 225(vAB)2 2 + 1030.05
(vAB)2 = 0.597 rad>s Ans.
no orl sem eac ws

er id ati ng
ed e r
itt W o
t a
t p d W in hi
. b)
m e on
d e W Dis in t l
an th . rs gh
k n ng to yri
or o ni c p
w g r tru o
e in lea s s c
th lud nt f in te
of inc de e o Sta
ity ( tu s d
gr rk s u te
is
te wo ing the Uni
e his s fo by
y of as lel ted
s r
o c
st pa nd s te
th t se y
de ny es a ided pro
w of a urs rov k is
le co s p or
sa eir d i is w
in
ro rt
th an Th
ill
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The Project Gutenberg eBook of Kadonnut
prinssi
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Title: Kadonnut prinssi

Historiallinen seikkailuromaani
Author: Edgar Rice Burroughs
Translator: Alpo Kupiainen
Release date: May 3, 2024 [eBook #73529]
Language: Finnish
Original publication: Hämeenlinna: Arvi A. Karisto Oy, 1928
Credits: Juhani Kärkkäinen and Tapio Riikonen
*** START OF THE PROJECT GUTENBERG EBOOK KADONNUT

PRINSSI ***
KADONNUT PRINSSI
Historiallinen seikkailuromaani
Kirj.
EDGAR RICE BURROUGHS
Englanninkielestä [The Outlaw of Torn] suomentanut
Alpo Kupiainen
Kariston nuorisonkirjoja 84.
Hämeenlinnassa, Arvi A. Karisto Osakeyhtiö, 1928.

ENSIMMÄINEN LUKU
Tämä tarina on ollut salassa seitsemänsataa vuotta. Aluksi sen esti

pääsemästä julkisuuteen eräs Englannin plantagenetilainen
kuningas. Sitten se unohdettiin. Minä osuin kaivamaan sen käsiini
sattumalta. Sattuma oli se, että vaimoni serkku on sukua erään hyvin
vanhan eurooppalaisen luostarin esimiehelle.
Viimemainittu salli minun penkoa homehtuneita ja ummehtuneita

käsikirjoituksia, ja käsiini osui tämä. Se on hyvin kiinnostava —
osittain sentähden, että se on kappale tähän saakka julkaisematonta
historiaa, mutta etupäässä sen vuoksi, että siinä kerrotaan tarina
perin merkillisestä kostosta ja sen viattoman uhrin — Rikhardin,
kadonneen englantilaisen kuninkaanpojan — seikkailuelämästä.
Sitä kertoessani olen jättänyt pois enimmät historialliset seikat.

Minun mieltäni kiinnitti se ainutlaatuinen henkilö, jonka ympärille
tarina on punoutunut — se ratsastaja, joka piti kypärinsilmikkonsa
ummessa ja joka — mutta malttakaamme, kunnes ehdimme häneen
saakka.
Se kaikki tapahtui kolmannellatoista vuosisadalla, ja aikanaan se

järkytti Englantia pohjoisesta etelään, idästä länteen saakka; ja
ulottuipa järkytyksen vaikutus Kanaalinkin ylitse, häiriten Ranskaa.
Se sai suoranaisen alkunsa Henrik kolmannen palatsissa Lontoossa
ja oli seuraus kuninkaan ja hänen mahtavan lankonsa, Leicesterin
kreivin Simon de Montfortin, välisestä riidasta.
Riita jääköön silleen, se on historiallinen piirre, ja tarkan

selostuksen siitä voi kukin lukea sopivana aikana. Mutta tänä
kesäkuun päivänä Herramme vuonna 1243 Henrik unohti itsensä
siinä määrin, että tuiki aiheettomasti syytti de Montfortia
valtiopetoksesta useiden kuninkaan hoviin kuuluvien herrasmiesten
kuullen.
De Montfort kalpeni. Hän oli kookas, komea mies, ja kun hän

oikaisi vartalonsa täyteen mittaansa ja käänsi harmaat silmänsä
suuttumuksensa esineeseen, kuten hän teki sinä päivänä, teki hän
sangen valtavan vaikutuksen. Hän oli Englannissa valtatekijä, joka
jäi jäljelle ainoastaan kuninkaasta, rohkea kuin leijona, ja vastasi
kuninkaalle niin, ettei ainoakaan muu ihminen koko Englannissa olisi
uskaltanut sillä tavoin vastata.
»Herrani ja kuninkaani», huudahti hän, »ainoastaan se, että olet

herrani ja kuninkaani, estää Simon de Montfortia vaatimasta
hyvitystä niin karkeasta loukkauksesta. Se, että käytät hyväksesi
kuninkaanasemaasi sanoaksesi sellaista, mitä et ikinä uskaltaisi
sanoa, jollet olisi kuningas, ei leimaa minua kavaltajaksi, vaikka se
kyllä leimaa sinut raukaksi.»
Pieni ylimys- ja hovimiesseurue joutui jännittyneen hiljaisuuden

valtaan, kun nämä hallitsijalle osoitetut, kauheat sanat kirposivat
alamaisen huulilta. Kuulijat kauhistuivat, sillä de Montfortin rohkea
uhmailu hipoi heidän mielestään pyhyyden häväistystä.
Henrik punehtui nöyryytyksestä ja kiukusta, nousi pystyyn ja
astahti de Montfortia kohti, mutta muisti äkkiä, mitä valtaa hän
edusti, ajatteli tarkemmin aiettaan, mikä se lieneekään ollut, naurahti
ylpeästi ja kääntyi hovilaistensa puoleen.
»Tulkaa, hyvät herrat», virkkoi hän, »meidänhän kai piti harjoitella

miekkailua tänä aamuna. Alkaa jo käydä myöhäiseksi. Tulkaa, de
Fulm! Tulkaa, Leybourn!» Ja kuningas poistui huoneesta jäljessään
herrasmiehet, jotka kaikki olivat loitonneet kauemmaksi Leicesterin
kreivistä, kun kävi selville, että kuninkaan epäsuosio oli voimakkaasti
kohdistunut häneen. Kun oviverho sulkeutui poistuneen kuninkaan
jälkeen, kohautti de Montfort leveitä hartioitaan, pyörähti ympäri ja
lähti huoneesta toisen oven kautta.
Kun kuningas ylimyksineen saapui asesaliin, vihloi hänen

mieltänsä vieläkin de Montfortin moitteiden aiheuttama nöyryytys, ja
kun hän laski syrjään päällysnuttunsa ja töyhtöhattunsa ryhtyäkseen
mittelemään miekkoja de Fulmin kanssa, osui hänen katseensa
miekkailunopettajaan, sir Jules de Vaciin, joka lähestyi tuoden
kuninkaan säilää ja harjoituskypäriä. Henrikiä ei lainkaan nyt
haluttanut miekkailla de Fulmin kanssa, joka samoin kuin kaikki
hallitsijaa ympäröivät liehittelijät aina salli kuninkaan helposti voittaa
jokaisessa ottelussa.
Hän tiesi, että de Vac oli liian arka miekkailumaineestaan

salliakseen minkään muun kuin vastustajan etevämmyyden voittaa
itsensä, ja tänään tunsi Henrik pystyvänsä voittamaan itse
paholaisenkin.
Asesali oli tilava huone palatsin pohjakerroksessa vahtihuoneen

vieressä. Se oli sijoitettu linnan pieneen siipirakennukseen, joten se
sai valoa kolmelta suunnalta. Sen hoitajana oli lailla, harmaantunut,
pergamentti-ihoinen sir Jules de Vac, ja juuri hänet Henrik komensi
kanssansa miekkasille, sillä kuningas tahtoi ankarasti löylyttää
jotakuta purkaukseen hillittyä raivoaan.
Niinpä hän antoi de Vacin sielunsa silmissä omaksua vihatun de

Montfortin hahmon, ja seurauksena oli, että kuninkaan äkillinen ja
taitava hyökkäys oli vähällä yllättää de Vacin ja hänelle nopeasti
tuottaa nöyryyttävän tappion.
Henrik kolmatta oli aina pidetty hyvänä miekkailijana, mutta tänään

hän osoittautui vieläkin etevämmäksi kuin tavallisesti ja kuvitteli
mielessään survaisevansa miekan vale Montfortin sydämeen
katsojien huimasti ilmaistessa suosiotaan. Tässä verenhimoisessa
tarkoituksessa hän oli pakottanut hämmästyneen de Vacin
perääntymään kahdesti salin ympäri, mutta sitten miekkailumestari
teki ovelan valehyökkäyksen, astahti askelen taaksepäin, sai
kuninkaan haluamaansa asentoon, kiersi salamannopeasti hiukan
säiläänsä ja sinkautti Henrikin aseen kalisten yli asesalin lattian.
Hetkisen kuningas seisoi jäykkänä ja kalpeana, ikäänkuin

kuoleman koura olisi tarttunut hänen sydämeensä jäisillä sormillaan.
Tämä välikohtaus merkitsi hänelle enemmän kuin sitä, että hänet oli
voittanut Englannin paras miekkailija — sillä se ei totisesti ollut
mikään häpeä — Henrikistä se tuntui ennustavan tulevan taistelun
lopullista tulosta, kun hän olisi vastakkain oikean de Montfortin
kanssa; ja sitten Henrik oivalsi, että de Vac oli ainoastaan olento,
jota hän mielikuvituksessaan oli pitänyt mahtavana lankonaan, ja teki
de Vacille tempun, jonka hän mielellään olisi tehnyt oikealle
Leicesterille. Hän kiskaisi miekkailukintaan kädestään ja meni ihan
likelle de Vacia.
»Koira!» sähähti hän, sivalsi kirpeän iskun miekkailumestarin
kasvoihin ja sylki hänen päällensä. Sitten hän pyörähti ympäri
korollaan ja marssi pois asesalista.
De Vac oli vanhentunut Englannin kuninkaiden palveluksessa,

mutta hän vihasi kaikkea englantilaista ja kaikkia englantilaisia.
Edellistä kuningasta, Juhana-vainajaa, jota kaikki muut olivat
vihanneet, hän oli kuitenkin rakastanut, mutta samalla kun
kuningasvainajan luut oli myöskin de Vaoin uskollisuus sitä sukua
kohtaan, jota hän palveli, haudattu Worcesterin tuomiokirkkoon.
Niinä vuosina, joina hän oli ollut miekkailunopettajana Englannin

hovissa, olivat kuningassuvun pojat oppineet pistämään, väistämään
ja iskemään niin kuin ainoastaan de Vac osasi opettaa; ja hän oli
yhtä omantunnontarkasti täyttänyt velvollisuutensa kuin
järkähtämättömästi vihannut ja halveksinut oppilaitaan.
Ja nyt Englannin kuningas oli loukannut häntä niin pahasti, että se

voitiin sovittaa ainoastaan verellä.
Iskun saatuaan jäntevä ranskalainen kalautti kantapäänsä yhteen,

viskasi säilänsä lattialle ja seisoi isäntänsä edessä suorana ja
jäykkänä kuin marmoripatsas. Hänen pingoittuneet, vääntyneet
kasvonsa olivat valkean ja sinertävän kirjavat, mutta hän ei virkkanut
sanaakaan.
Hän olisi saattanut lyödä kuningasta, mutta silloin hänellä ei enää

olisi ollut muuta mahdollisuutta kuin kuolema omasta kädestä, sillä
kuninkaan ei sovi taistella alemman kuolevaisen kanssa, eikä
sellainen, joka lyö kuningasta, saa elää — kuninkaan kunniantunto
täytyy tyydyttää.
Jos de Vacia olisi sivaltanut Ranskan kuningas, olisi hän saattanut
iskeä takaisin ja ylpeillä kohtalostaan, joka salli hänen kuolla
Ranskan kunnian tähden. Mutta Englannin kuningas — pyh! —
koira, ja kukapa mielellään kuolisi koiran vuoksi! Ei, de Vac keksisi
toisenlaisia keinoja tyydyttääkseen loukattua ylpeyttään; hän ihan
hekumoisi kostaessaan tälle miehelle, jota kohtaan hän ei tuntenut
uskollisuutta. Jos se olisi mahdollista, vahingoittaisi hän koko
Englantia, mutta hän odottaisi aikaansa. Hänen kannattaisi odottaa
sopivaa tilaisuutta, jos hän odottamalla saisi kostonsa hirveämmäksi.
De Vac oli syntynyt Pariisissa ja oli Ranskan parhaana

miekankäyttäjänä pidetyn ranskalaisen upseerin poika. Poika oli
edistynyt ihan isänsä kinterillä ja saattoi isänsä kuoltua helposti
vaatia itselleen isän kunnianimeä. Se, miten hän oli poistunut
Ranskasta ja astunut Englannin kuninkaan Juhanan palvelukseen, ei
kuulu tähän kertomukseen. Koko Jules de Vacin elämälle antaa
tähän kertomukseen nähden merkityksen ainoastaan kaksi hänen
useista ominaisuuksistaan — hänen ihmeteltävä miekkailutaitonsa ja
hänen peloittava vihansa toista isänmaatansa kohtaan.
TOINEN LUKU
Westminster-palatsin eteläpuolella on puutarha, ja kolmantena

päivänä sen jälkeen, kun kuningas oli loukannut de Vacia, nähtiin
siellä mustatukkainen nainen, jonka sinipunaisessa viitassa oli upeita
kultakirjailuja kaula-aukon ympärillä ja väljäsuisten, melkein viitan
alaliepeen samalla tavalla koristettuun reunukseen ulottuvien hihojen
alaosissa. Komeatekoinen, jalokivillä somistettu nahkavyö, jota piti
paikallaan iso, kaiverruksilla kaunistettu, kultainen solki, kiinnitti
viitan hänen uumentensa ympärille, niin että sen yläosa ulkoili
puseron tavoin vyön ylitse. Vyössä oli pitkä, kaunistekoinen tikari.
Hänen jalassaan oli sievät jalkineet, ja sinipunainen, kultaripsujen
reunustama silkkihuntu verhosi hauskasti hänen päätänsä ja
hartioitaan.
Hänen vierellään asteli kaunis, noin kolmen vuoden ikäinen poika,

joka oli puettu samoin kuin kumppaninsakin hilpeäväriseen asuun.
Hänen pienessä, tulipunaisesta sametista valmistetussa
päällysnutussaan oli runsaasti korukirjailuja, ja sen alla oli
ruumiinmukainen, valkeasilkkinen takki. Hänen ihokkaansa oli
tulipunainen, ja hänen pitkät, valkeat housunsa olivat ristikkäin
käyvillä, tulipunaisilla nauhoilla sidotut tiukalle pienistä kengistä
polviin saakka. Hänen ruskeakiharaisen päänsä takaraivolla oli
leveälierinen, pyöreäkupuinen hattu, jossa yksi ainoa valkea sulka
heilui ja nuokkui uljaasti pienen, ylvään pään jokaisesta liikkeestä.
Lapsen piirteet olivat hyvin muodostuneet, ja hänen avoimet,

kirkkaat silmänsä antoivat poikamaisen hyväsydämisyyden ilmeen
hänen kasvoilleen, jotka muutoin olisivat olleet liian röyhkeät ja
kopeat niin nuoren lapsen kasvoiksi. Kun hän puheli kumppaninsa
kanssa, saivat vähäiset käskevän arvokkuuden välähdykset, jotka
tekivät omituisen vaikutuksen niin pienessä pojassa, nuoren naisen
silloin tällöin kääntämään päänsä toisaalle, jotta poika ei olisi nähnyt
hymyilyä, jota hän tuskin jaksoi pidättää.
Äkkiä poika otti pallon takkinsa povelta, osoitti heidän lähellään

kasvavaa pientä pensasta ja käski: »Seisokaa te tuolla, lady Maud,
luon pensaan luona! Tahtoisin heitellä palloa.»
Nuori nainen totteli, ja hänen sijoituttuaan paikalleen ja

käännyttyään poikaan päin viskasi viimemainittu pallon hänelle. Niin
he leikkivät asesalin ikkunoiden alla; poika juoksi aina vilkkaasti
noutamassa pallon, milloin ei saanut sitä ilmassa käsiinsä, ja nauroi
ja huuteli hilpeän rattoisesti saatuaan pallon siepatuksi erikoisen
hyvin.
Eräässä asesalin puistonpuolisessa ikkunassa seisoi tuikea,

harmaapäinen, vanha mies, nojaten ristissä oleviin käsivarsiinsa,
kulmakarvat tiukattuina pahanilkiseen rypistykseen, suupielet
jäykistyneinä tuimaksi, kylmäksi juovaksi. Hän katsoi puutarhaan,
siellä leikkivään lapseen ja viehkeään naiseen päin, mutta hänen
silmänsä eivät nähneet, sillä de Vac mietti suurta tehtävää, koko
elämänsä suurinta.
Kolme päivää oli tämä iäkäs mies hautonut harmiaan, koettaen
keksiä jotakin keinoa kostaakseen Henrik-kuninkaalle hänen
osakseen tulleen loukkauksen. Hänen älykkäissä, ovelissa
aivoissaan oli syntynyt useita suunnitelmia, mutta tähän saakka oli
ne kaikki hylätty, koska ne eivät luvanneet sitä hirveätä tyydytystä,
jota hänen loukattu ylpeytensä vaati.
Hänen ajatuksensa olivat enimmäkseen pyörineet Henrikin

hallituskauden epävakaisissa poliittisissa oloissa, sillä niiden nojalla
hän tunsi ehkä saavansa tilaisuuden, jota hän saattaisi käyttää omiin
mieskohtaisiin tarkoituksiinsa ja kuninkaan vahingoksi, mahdollisesti
tuhoksi.
Palatsin monivuotisena asukkaana, joka oli usein ollut

kuuntelemassa asesalissa kuninkaan harjoitellessa miekkailua
ystäviensä ja suosikkiensa kanssa, de Vac oli kuullut paljon Henrik
kolmannen ja hänen läheistensä kesken lausuttuja sanoja, jotka
taitava ja keinokas vihamies varsin hyvin saattaisi kääntää
kuninkaan vahingoksi.
Hän samoin kuin koko Englanti tiesi, kuinka äärimmäisen

halveksivasti Henrik käsitteli Magna Chartan määräyksiä, joita hän
sangen usein rikkoi siitä huolimatta, että hän oli kuninkaanvalallaan
sitoutunut niitä noudattamaan. Mutta asesalissa sattuneiden
keskustelujen sirpaleista oli de Vac saanut vihiä sellaisesta, mitä
koko Englanti ei tietänyt, nimittäin siitä, että Henrik parhaillaankin
neuvotteli ulkomaalaisten palkkasoturipäälliköiden ja Ranskan
kuninkaan Ludvig yhdeksännen kanssa, aikoen pestata
palvelukseensa kyllin suuren joukon ritareita ja sotilaita aloittaakseen
hellittämättömän sodan omia suurylimyksiään vastaan ja siten
tehokkaasti estääkseen heidät tulevaisuudessa sekaantumasta
rajoittamaan Plantagenet-suvun kuninkaallista etuoikeutta hallita
huonosti Englantia.
Kunpa hän vain saisi tietoonsa tämän suunnitelman

yksityiskohdat, mietti de Vac, sen sataman, jossa ulkomaiset joukot
aiottiin laskea maihin, niiden lukumäärän, ja sen, mihin ensimmäinen
hyökkäys kohdistettaisiin. Oi, kuinka suloinen kosto se olisikaan, jos
hänen onnistuisi tehdä tyhjäksi tämä yritys, joka oli niin likellä
kuninkaan sydäntä!
Kun hän vain lausuisi sanan de Clarelle tai de Montfortille,

rientäisivät suurylimykset nelikymmentuhantisena armeijana
nujertamaan kuninkaan sotajoukot.
Ja hän saattaisi kuninkaan tietoon, ketä ja mitä hän saisi kiittää

tappiostaan ja masennuksestaan. Mahdollisesti ylimykset syöksisivät
Henrikin pois valtaistuimelta, ja silloin de Vac pilkkoisi Plantagenetia
vasten kasvoja. Totisesti suloinen, mieluinen, riemullinen kosto! Ja
vanhus lipaisi kielellään ohuita huuliaan ikäänkuin vielä viimeisen
kerran muistaakseen jonkun herkullisen makupalan hivelevää jälkeä.
Ja silloin sattuma kiidätti pienen, nahkaisen pallon sen ikkunan

alle, jonka ääressä vanhus seisoi; ja kun lapsi nauraen juoksi sitä
noutamaan, osui de Vacin katse poikaan, ja hänen äskeinen
kostonsuunnitelmansa häipyi, kuten sumu haihtuu keskipäiväisen
auringon hajoittamalla; ja sen sijaan hänen mieleensä välähti koko
hirvittävän koston kauhea suunnitelma yhtä selvästi kuin se olisi,
ollut kirjoitettu hänen eteensä aukaistun ison kirjan lehdille. Eikä hän
seuraavien kahdenkymmenen vuoden aikana, mikäli hän itse
pystyisi määräämään, rahtuakaan muuttanut silloin elävästi
käsittämänsä hornamaisen mestarillisen juonen yksityiskohtia.
Pikku poika, joka niin viattomasti leikki kuninkaallisen isänsä
puutarhassa, oli prinssi Rikhard, Englannin kuninkaan Henrik
kolmannen kolmivuotias poika. Ainoassakaan julkaistussa
historiallisessa teoksessa ei tätä pientä, kadonnutta prinssiä mainita;
ainoastaan Englannin kuninkaiden salaiset arkistot kertovat tarinan
hänen kummallisesta seikkailuelämästään. Hänen nimensä on
pyyhitty pois ihmisten aikakirjoista, ja de Vacin kosto on häipynyt
maailman näkyvistä; mutta hänen aikanaan se oli todellinen,
englantilaisten sydäntä kauhistuttava asia.
KOLMAS LUKU
Lähes kuukauden päivät vanhus liikuskeli palatsissa ja tarkkaili

puutarhassa pikku prinssiä, kunnes hän tunsi pojan hoitajattarien ja
opettajattarien parissa vietetyn suppean elämän jokapäiväisen
juoksun.
Hän näki, että kun lady Maud oli prinssin seurassa, heidän oli
tapana loitota palatsialueen äärimmäisille liepeille ja että neito siellä
päästi pienestä syrjäportista sisälle erään kaartinupseerin, jolta
kuningatar oli kieltänyt etuoikeuden päästä hoviin.
Siellä, syrjäisessä lehtimajassa, rakastuneet kuiskivat toiveitaan ja

suunnitelmiaan muistamatta kuninkaallista holhottia, joka kenenkään
hoivaamatta leikki puutarhan kukkien ja pensaiden seassa.
Heinäkuun keskivaiheilla oli de Vac kypsyttänyt aikeensa hyvin.

Hänen oli onnistunut houkutella Brus-vanhus, puutarhuri,
luovuttamaan hänelle pienen takaportin avain selittämällä, että hän
mieli antautua keskiöiseen seikkailuun, ja leveästi viittailemalla
kaunottareen, jonka piti olla siinä toisena sekä, — mikä parhaiten
tehosi Brusiin — samalla kertaa sujauttamalla pari kultasekiiniä
puutarhurin kämmenelle.
Brus samoin kuin muutkin palatsin palvelijat piti de Vacia
Plantagenet-suvun vilpittömänä kannattajana. Mitä muita kepposia
de Vacin mielessä saattoikaan olla, siitä Brus oli ihan varma, että
kuninkaaseen nähden takaportin avain oli de Vacin käsissä yhtä
varmassa tallessa kuin se olisi ollut Henrikillä itsellään.
Vanhus ihmetteli hieman sitä, että iäkäs, jörö miekkailunopettaja

antautui niin vanhana kevytmielisiin seikkailuihin, jotka paremmin
sopivat ylimystön nuoremmille vesoille, mutta mitäpä se häneen
kuului? Eikö hänellä ollut kylliksi ajattelemista pitäessään puutarhaa
sellaisessa kunnossa, että hänen kuninkaallinen isäntänsä ja
emäntänsä nauttisivat varjoisista teistä, hyvin hoidetusta nurmikosta,
upeista lehvistä ja kukkapenkeistä, joita hän niin ihmeen
täsmällisesti laitteli säännöllisesti järjestettyyn puutarhaan.
Lisäksi ei kahta kultasekiiniä usein saatu näin helposti; ja jos rakas

Herra Jeesus katsoi äärettömässä viisaudessaan sopivaksi käyttää
tällaista keinoa palkitakseen palvelija-poloistaan, niin huonosti olisi
sellaisen madon kuin hänen sopinut vieroksua tätä jumalallista
suosionosoitusta. Niinpä Brus otti kultasekiinit, de Vac otti avaimen,
pikku prinssi leikki onnellisena kuninkaallisen isänsä puutarhan
kukkien keskellä, ja kaikki olivat tyytyväisiä, mikä oli niinkuin pitikin.
Samana iltana de Vac vei avaimen Lontoon kaukaisella laidalla

asuvalle lukkosepälle, sellaiselle, joka ei mitenkään voinut tuntea
häntä eikä tietää avaimen olevan palatsin avaimia.
Tällä sepällä hän teetti toisen samanlaisen avaimen, varroten

kärsimättömästi ukon muovatessa sitä sen ajan alkeellisilla
työvälineillä.
Tästä pienestä pajasta lähdettyään de Vac asteli muinaisen
Lontoon lokaisilla kaduilla ja kujilla, joita siellä täällä, pitkien
välimatkojen päässä toisistaan palavat, savuavat lyhdyt valaisivat, ja
saapui vihdoin vain vähän matkan päässä palatsista sijaitsevalle,
likaiselle hökkelille.
Rakennuksen ohitse vievä kapea kuja päättyi äkkiä Thamesin

rannassa lahoavaan, puiseen telakkaan, jonka alla joen nokimustat
laineet nousivat ja laskivat, loiskuen rapistuvia vaajoja vasten ja
kohisten syvällä laiturisillan alla etäisille, linnoituksille, isojen, hurjien
satamarottien ja vielä hurjempien, rottamaisten ihmisten tyyssijoille
saakka.
Useita kertoja de Vac asteli päästä päähän edestakaisin tällä

sysipimeällä kujalla etsiessään sen talon pientä ovea, johon hän
pyrki. Vihdoin hän osui sen kohdalle, ja hänen monesti kolkutettuani!
miekkansa nupilla sen avasi vanha, siivoton ämmänkuvatus.
»Mitä haluatte säädylliseltä naiselta näin jumalattomaan aikaan?»

ärisi hän. »Ahaa, tekö se olettekin, armollinen herra?» ehätti hän
lisäämään, kun hänen kädessään olevan kynttilän lepattava liekki
valaisi de Vacin kasvoja. »Olkaa tervetullut, armollinen herra,
kolminkertaisesti tervetullut! Paholaisen tytär lausuu tervetulleeksi
veljensä.»
»Ole hiljaa, vanha noita!» kivahti de Vac. »Eikö se riitä, että kiskot
minulta kelpo kolikoita kylliksi paljon voidaksesi koko loppuikäsi
käyttää pehmeitä vaippoja ja mässätä, syöden sämpylöitä ja juoden
malvasiaviiniä, vai pitääkö sinun vielä vaivata minua katalan kielesi
tuskastuttavalla jaarittelulla?
»Onko sinulla vaatteet valmiina mytyssä ja myöskin avain tähän
kadotuksen porttiin? Entä huone, oletko sijoittanut paikalleen tänne
lähettämäni huonekalut ja lakaissut lattialta ja laipiopalkeista
vuosisatojen aikana kasaantuneen lian ja lukinverkot? Niin,
ilmassakin oli niiden roomalais-vainajien löyhkä, jotka rakensivat
Lontoon kaksitoista vuosisataa siten. Hajusta päättäen arvelenkin,
että tässä pahnassa on täytynyt asua roomalaisia sikopaimenia
laumoineen, ja uskallanpa väittää, ettet sinä, vanha imisä, ole
kajonnutkaan luudalla tähän paikkaan, peläten sotkevasi sukulaistesi
ikivanhoja jätteitä.»
»Heretkää lörpöttämästä, herra saatana!» tiuskaisi akka.

»Kuuntelen rahojenne puhetta mieluummin kuin teidän omaanne,
sillä vaikka ne tulevat kirottuina ja tahrattuina veijarinkädestänne,
puhuvat ne kuitenkin yhtä suloisella ja käskevällä äänellä kuin jos ne
olisivat ihan äsken lähteneet pyhän kirkon aarrearkuista.
»Mytty on valmis», jatkoi hän sulkien oven nyt sisälle astuneen de

Vacin jälkeen, »ja tässä on avain; mutta ensin maksu! En tiedä,
millaista rumaa puuhaa suunnittelette, mutta ruma se on, siitä olen
varma, koska vaaditte minua pitämään sen niin salassa, ja varmasti
joku maksaisi minulle paljon, jos saisi tietää, missä ovat vanha
nainen ja lapsi — sisareksenne ja hänen pojakseen te heitä väitätte
— jotka niin kiihkeästi haluatte piilottaa Til-muorin ylisille. Sentähden
on teidän parasta, hyvä herra, maksaa Til-vanhukselle hyvästi ja
lisätä muutamia kultakolikkoja siitä, että hänen kielensä pysyy hiljaa,
jos haluatte vankienne saavan rauhaa Til-vanhuksen talossa.»
»Nouda käärö, akka!» vastasi de Vac. »Kultaa saat, kun asia

lopullisesti järjestetään; ja saat jopa enemmänkin kuin sovimme, jos
kaikki käy hyvin ja sinä pidät kurissa riivatun kielesi.»

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Instant Download PDF Engineering Mechanics Dynamics 13th Edition Hibbeler Solutions Manual Full Chapter

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Engineering Mechanics Dynamics 13th

Edition Hibbeler Solutions Manual

Engineering Mechanics Statics And Dynamics 13th Edition

Engineering Mechanics Dynamics 14th Edition Hibbeler

Engineering Mechanics Statics and Dynamics 14th Edition

Engineering Mechanics Statics 13th Edition Hibbeler

Engineering Mechanics Dynamics 8th Edition Meriam

Engineering Mechanics Dynamics 4th Edition Pytel

Engineering Mechanics Dynamics 7th Edition Meriam

Engingeering Mechanics Dynamics in SI Units 14th

At a given instant the body of mass m has an angular IC

no orl sem eac ws

Thus, the kinetic energy of the wheel is

no orl sem eac ws

Principle of Work and Energy:

v = 14.1 rad/s Ans.

no orl sem eac ws

The 50-kg flywheel has a radius of gyration of k0 = 200 mm M ⫽ (9 u1/2) N⭈m

Since the wheel is initially at rest, T1 = 0 . Referring to Fig. a, W, Ox, and Oy do

no orl sem eac ws

Principle of Work and Energy:

v = 32.5 rad>s Ans.

The spool has a mass of 60 kg and a radius of gyration

C 60(0.3)2 D (6)2 + (60) C 0.3(6) D 2

no orl sem eac ws

Solve Prob. 18–5 if the coefficient of kinetic friction

+a©Fy = 0; NA - 60(9.81) cos 30° = 0

no orl sem eac ws

no orl sem eac ws

no orl sem eac ws

WB does negative work. When A moves 2 ft downward, the pulley rotates

Thus, the work of WA and WB are

Principle of Work and Energy:

282.61 + [40 + ( - 30)] = 0.7065 v2

v = 20.4 rad>s Ans.

If the cable is subjected to force of P = 300 N, and the spool 400 mm

no orl sem eac ws

UP = Psp = 300(2.25) = 675 J

Principle of Work and Energy:

v = 7.57 rad>s Ans.

The two tugboats each exert a constant force F on the ship.

no orl sem eac ws

At the instant shown, link AB has an angular velocity

vC = 1.5(422) = 8.4853 in.>s

vG = 1.5(4.472) = 6.7082 in.>s

1 1 3(0.5) 3 2 1 4(0.5) 6.7082 2 1 1 4(0.5) 4 2

no orl sem eac ws

Determine the velocity of the 50-kg cylinder after it has

no orl sem eac ws

no orl sem eac ws

upward, wheel A rotates through an angle of uA = = = 13.333 rad. Then,

pulley B rotates through an angle of uB = u = a b(13.333) = 33.33 rad

Thus, the work done by M and WC is

UWC = -WC sC = - 200(5) = - 1000 ft # lb

Principle of Work and Energy:

0 + [2280.93 - 1000] = 0.6308v2

vC = 45.06(0.375) = 16.9 ft>s c Ans.

no orl sem eac ws

uB = (5 rev)a b = 10p rad, the wheel rotates through an angle of

uA = uB = a b (10p) = 4p. Thus, the crate displaces upwards through a

distance of sC = rC uA = 0.375(4p) = 1.5p ft. Thus, the work done by M and WC is

UM = MuB = 50(10p) = 500p ft # lb

UWC = -WC sC = - 200(1.5p) = -300p ft # lb