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1658 Solutions Manual
Chapter 8 Solutions
Problem 8.1
A conveyor is moving cans at a constant speed v0 when, to pro-

ceed to the next step in packaging, the cans are transferred onto a
stationary surface at A. The cans each have mass m, width w, and
height h. Assuming that there is friction between each can and
the stationary surface, under what conditions would we be able to
compute the stopping distance of the cans, using the work-energy
principle for a particle?
Solution
A rigid body motion problem can be reduced to the solution of a particle problem if the rigid body is only
translating. Therefore, as long as the cans do not tip once they slide over the fixed surface to the left of the
conveyor, then we would be able to compute the slipping distance using only a particle model.
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission May 28, 2012
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
Dynamics 2e 1659
Problem 8.2
At the instant shown, the centers of the two identical uniform disks
A and B are moving to the right with the same speed v0 . In addition,
disk A is rolling clockwise with an angular speed !0 , while disk B
has a backspin with angular speed equal to !0 . Letting TA and TB
be the kinetic energies of A and B, respectively, state which of the
following statements is true and why: (a) TA < TB ; (b) TA D TB ;
(c) TA > TB .
Solution
At the instant shown, the kinetic energies of A and B are equal to one another. To understand why, recall that
the kinetic energy of a rigid body in planar motion is given by
T D 12 mv02 C 12 IG !02 ;
where v0 is the speed of the mass center and IG is the mass moment of inertia with respect to the mass center.
Observe that the quantities that contribute to the kinetic energy are the same for bodies A and B. The fact
that the direction of rotation of A is opposite to the direction of rotation of B is irrelevant from the viewpoint
of kinetic energy calculations.
Problem 8.3
At the instant shown, the centers of the two identical uniform disks A and B, each with mass m and radius
R, are moving to the right with the same speed v0 D 4 m=s. In addition, disk A is rolling clockwise with
an angular speed !0 D 5 rad=s, while disk B has a backspin with angular speed !0 D 5 rad=s. Letting
m D 45 kg and R D 0:75 m, determine the kinetic energy of each disk.
Solution
Let C and D denote the mass centers of disks A and B, respectively. Then, applying the definition of kinetic
energy for a rigid body, for A we have
2
TA D 12 mA vC C 12 IC !A2 ;
and for B we have

2
TB D 12 mB vD C 12 ID !B2 :
Observing that mA D mB D m, vC D vD D v0 , and that !A D !0 D !B , IC D ID D 12 mR2 , we have
TA D TB D 518:2 J;
where we have used the following numerical data: m D 45 kg, v0 D 4 m=s, !0 D 5 rad=s, and R D 0:75 m.
Dynamics 2e 1661
Problem 8.4
Two identical battering rams are mounted in two different ways on their respective frames as
shown. Bars BC and AD are identical and pinned at B and C and at A and D, respec-
tively. Bars FO and HO are rigidly attached to the ram and are pinned at O. At the in-
stant shown, the mass centers of rams 1 and 2, at E and G, respectively, are moving
horizontally with speed v0 . Letting T1 and T2 be the kinetic energies of rams 1 and 2,
respectively, state which of the following statements is true and why: (a) T1 < T2 ;
(b) T1 D T2 ; (c) T1 > T2 .
Solution
Modeling the rams as rigid bodies, the kinetic energy of ram 2 is larger than the kinetic energy of ram 1. To
understand why, recall that the kinetic energy of a rigid body has the following form:
T D 12 mv02 C 12 IG !02 ;
where m is the mass of the body, v0 is the speed of the center of mass of the body, IG is the mass moment
of inertia of the body about its mass center, and !0 is the angular speed of the body. Notice that ram 1 and
ram 2 have the same mass and the same mass moment of inertia. In addition, their mass centers have the
same speed and therefore their kinetic energies have the same terms 12 mv02 . Now observe that ram 1 is in
curvilinear translation and therefore the contribution to the kinetic energy due to the body’s angular velocity
is equal to zero. By contrast, ram 2 does have a nonzero angular velocity and therefore its kinetic energy has
a corresponding nonzero contribution due to the angular velocity.
Problem 8.5
Two identical battering rams are mounted in two different ways on their respective frames as shown. Bars
BC and AD are identical and pinned at B and C and at A and D, respectively. Bars FO and HO are rigidly
attached to the ram and are pinned at O. At the instant shown, the centers of mass of rams 1 and 2, at E
and G, respectively, are moving horizontally with a speed v0 D 20 ft=s. Treating the rams as slender bars
with length L D 10 ft and weight W D 1250 lb, and letting H D 3 ft, compute the kinetic energy of the
two rams.
Solution
The kinetic energy of ram 1 is given by
2 2
TR1 D 12 mR1 vE C 12 IE !R1 ;
where mR1 is the mass of ram 1, vE is the speed of the center of mass of ram 1, IE is the mass moment of
inertia of ram 1 relative to E, and !R1 is the angular speed of ram 1. Similarly, for ram 2 we have
2 2
TR2 D 12 mR2 vG C 12 IG !R2 ;
where mR2 is the mass of ram 2, vG is the speed of the center of mass of ram 2, IG is the mass moment of
inertia of ram 2 relative to G, and !R2 is the angular speed of ram 2.
Now, observe for ram 1 we have
mR1 D W=g D 38:82 slug; vE D v0 D 20:00 ft=s; IE D 1

12 .W =g/L
2
D 323:5 slug ft2 ; !R1 D 0;
where !R1 D 0 reflects the fact the motion of ram 1 is a translation, and where we have used the following
numerical values: W D 1250 lb, g D 32:2 ft=s2 , and L D 10 ft.
For ram 2 we have
mR2 D W =g D 38:82 slug; vG D v0 D 20:00 ft=s;

v0
1
IG D 12 .W =g/L2 323:5 slug ft2 ; !R2 D D 6:667 rad=s;
H
where !R2 D v0 =H reflects the fact that ram 2 is in a fixed axis rotation about O, and where, in addition to
the numerical data listed earlier, we have used the fact that H D 3 ft. In conclusion, substituting the (full
precision) numerical values just listed into the top two equations, we have
TR1 D 7764 ft lb and TR2 D 14;950 ft lb;
Dynamics 2e 1663
Problem 8.6
A pendulum consists of a uniform disk A of diameter d D 0:15 m and mass mA D

0:35 kg attached at the end of a uniform bar B of length L D 0:75 m and mass
mB D 0:8 kg. At the instant shown, the pendulum is swinging with an angular velocity ! D 0:24 rad=s
clockwise. Determine the kinetic energy of the pendulum at this instant using Eq. (8.8) on p. 584.
Solution
The pendulum is undergoing a fixed axis rotation about O. Hence, the kinetic energy of the pendulum is
T D 12 IO ! 2 ;
where IO is the mass moment of inertia of the system about O and is therefore given by
IO D 1
12 mB L
2
C mB . 12 L/2 C 12 mA . 12 d /2 C mA .L C 12 d /2 D 0:3892 kg m2 ;
where we have used the following numerical data: mA D 0:35 kg, mB D 0:8 kg, L D 0:75 m, and
d D 0:15 m. Substituting the (full precision) value for IO computed above into the expression for the kinetic
energy, and recalling that ! D 0:24 rad=s, we have
T D 0:01121 J:
Problem 8.7
A 2570 lb car (this includes the weight of the wheels) is traveling on a horizontal flat road at 60 mph. If
each wheel has a diameter d D 24:3 in: and a mass moment of inertia with respect to its mass center equal
to 0:989 slug ft2 , determine the kinetic energy of the car. Neglect the rotational energy of all parts except
for the wheels, which roll without slip.
Solution
Letting m denote the mass of the car, the kinetic energy of the car is
T D 12 mv 2 C 4 1 2
2 IGw !w ;
where m D W =g D 2570 lb=g, g D 32:2 ft=s2 , v D 60 mph D 60 5280 3600 ft=s is the speed of the car,
IGw D 0:989 slug ft2 is the mass moment of inertia of each wheel relative to the wheel’s mass center, and
where !w is the angular speed of each wheel. Since each wheel rolls without slipping, the angular speed of
each wheel is
!w D 2v=d:
24:3
Recalling d D 24:3 in: D 12 ft, we can evaluate !w and then T to obtain
T D 324;000 ft lb:
Dynamics 2e 1665
Problem 8.8
In Example 7.6 on p. 544, we analyzed the forces acting on a test tube in

an ultra-centrifuge. Recalling that the center of mass G of the test tube
was assumed to be at a distance r D 0:0918 m from the centrifuge’s spin
axis, and that the test tube had a mass m D 0:01 kg and a mass moment
of inertia IG D 2:821⇥10 6 kg m2 , determine the kinetic energy of the
test tube when it is spun at ! D 60;000 rpm. If you were to convert the
computed kinetic energy to gravitational potential energy, at what height,
in meters, relative to the ground could you lift a 10 kg mass?
Solution
The test tube is undergoing a fixed axis rotation about the axis of rotation of the centrifuge. Hence, the kinetic
energy of the test tube is
T D 12 IO ! 2 ; (1)
where O is the center of the path of point G and IO is the mass moment of inertia of the tube computed
about O. Using the parallel axis theorem, we have
IO D IG C mr 2 : (2)
Recalling that IG D 2:821 ⇥ 10 6 kg m2 , m D 0:01 kg, ! D 60;000 rpm D 60;000 2⇡

60 rad=s, and r D
0:0918 m, we can evaluate IO and then T to obtain
T D 1719 J: (3)
Given a body of mass mB , the potential energy of such a body placed at a height h above the ground is mB gh.
Hence, setting such an energy amount equal to the computed kinetic energy, letting mB D 10 kg, and solving
for h gives
T
hD ) h D 17:52 m,
mB g
where we have used the (full precision) value of T in Eq. (3) and g D 9:81 m=s2 .
Problem 8.9
The uniform thin bars AB, BC , and CD have masses mAB D 2:3 kg,
mBC D 3:2 kg, and mCD D 5:0 kg, respectively. The connections at
A; B; C , and D are pinned joints. Letting R D 0:75 m, L D 1:2 m, and
H D 1:55 m, and !AB D 4 rad=s, compute the kinetic energy T of the
system at the instant shown.
Solution
The kinetic energy of the system is the sum of the kinetic energy of each individual component of the system.
Bar AB is undergoing a fixed axis rotation about A. Hence, the kinetic energy of bar AB is
2
TAB D 12 IA !AB ; (1)
where IA is the mass moment of inertia of bar AB about A. Using the concept of instantaneous center of
rotation, we see that the motion of bar BC is a curvilinear translation. Hence, the speed of every point on the
bar BC is the same as the speed of point B. In turn, this means that the kinetic energy of bar BC is
TBC D 12 mBC .!AB R/2 ; (2)
where !AB R is the speed of point B. Next, we observe that bar CD is in a fixed axis rotation about point D.
Since the speed of point C must be equal to the speed of point B, we have that the angular speed of bar CD
is !CD D !AB .R=H /, so that the kinetic energy of bar CD is
✓ ◆
R 2
TCD D 12 ID !AB ; (3)
H
where ID is the mass moment of inertia of bar CD about point D. The mass moments of inertia needed to
evaluate the above kinetic energies are
IA D 1
12 mAB R
2
C mAB .R=2/2 D 0:4312 kg m2 (4)
and
ID D 1
12 mCD H
2
C mCD .H=2/2 D 4:004 kg m2 ; (5)
where we have used the following numerical data: mAB D 2:3 kg, R D 0:75 m, mCD D 5:0 kg, and
H D 1:55 m. Hence, using Eqs. (1)–(3), the total kinetic energy of the system is
1
T D ŒID R2 C H 2 .IA C mBC R2 /ç!AB
2
) T D 25:35 J,
2H 2
where, in addition to the (full precision) values of the quantities in Eqs. (4) and (5), we have used the following
numerical data: H D 1:55 m, R D 0:75 m, mBC D 3:2 kg, and !AB D 4 rad=s.
Dynamics 2e 1667
Problem 8.10
A T-bar consisting of two uniform bars, each of length L D 5 ft, is

released from rest in the position shown. Neglecting friction, determine
the angular speed of the T-bar when point A is directly below point O.
Solution
The T-bar behaves like a pendulum in fixed axis rotation about O.

We denote by G the center of mass of the system and we model the
T-bar as being subject only to its own weight 2mg (m is the mass
of each individual bar) and the pin reactions at O. We define ¿ to
be the position of release, and ¡ to be the position of the system
when A is directly below point O. Given the symmetry of the T-bar,
we observe that G must lie on the axis of bar OA. In addition, to
determine the distance between O and G, we apply the definition of
center of mass: OG D .mL=2 C mL/=.2m/ D 3L=4, where L=2 is
the distance between O and the center of mass of bar OA, whereas
L is the distance between O and the center of mass of bar BD. We
observe that gravity, which is a conservative force, is the only force
doing work. We use subscripts 1 and 2 to denote quantities at ¿ and ¡, respectively.
Balance Principles. Applying the work-energy principle as a statement of conservation of energy, we have
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by IO the mass moment of inertia about
O and by !b the angular speed of the T-bar, we have
2 2
T1 D 12 IO !b1 and T2 D 21 IO !b2 : (2)
We observe that the form of the kinetic energy in Eqs. (2) is due to the fact that the T-bar is in a fixed axis
rotation about O. To determine IO we use the parallel axis theorem:
✓ ◆2
2 L 2
IO D 1
12 mL Cm C 1
12 mL C mL2 D 17 2
12 mL : (3)
2
Force Laws. Due to our choice of datum, we have
V1 D 0 and V2 D 2mg 34 L D 32 mgL: (4)
Kinematic Equations. The T-bar is originally at rest, so
!b1 D 0: (5)
Computation. Substituting Eqs. (2)–(5) into Eq. (1), we have

r
3 17 2 2 g
0D 2 mgL C 24 mL !b2 ) !b2 D 6 : (6)
17L
Recalling that g D 32:2 ft=s2 and L D 5 ft, we can evaluate the above expression to obtain
!b2 D 3:693 rad=s:
Dynamics 2e 1669
Problem 8.11
One of the basement doors is left open in the vertical position when it is given a nudge and allowed to
freely fall to the closed position. Given that the door has mass m and that it is modeled as a uniform thin
plate of width w and length d , determine its angular velocity when it reaches the closed position. Hint:
Assume that the door is symmetric with respect to a plane of motion in which the acceleration due to
gravity is g cos ✓ rather than g.
Photo credit: © McGraw-Hill, Photo by Lucinda Dowell
Solution
In the FBD shown, the direction perpendicular to the plane of

motion is parallel to the axis of rotation of the door. Following
the hint, the door is subject only to a component of the force of
gravity. The forces Rx and Ry are the (fixed) pin reactions and do
no work. We denote by ¿ the position at which the door is released,
and by ¡ the position at which the door first achieves its closed
position. We use subscript 1 and 2 to denote quantities at ¿ and ¡,
respectively.
Balance Principles. The only force doing work is gravity. Hence,

applying the work-energy principle as a statement of conservation
of energy, we have
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the door, and where, denoting
by IO the mass moment of inertia about O and by !d the angular
speed of the door,
2
T1 D 12 IO !d1 and T2 D 21 IO !d2 2 : (2)
We observe that the form of the kinetic energy in Eqs. (2) is due to the fact that the door is in a fixed axis
IO D 1
12 mw
2
C m. 12 w/2 D 13 mw 2 : (3)
Force Laws. Due to our choice of datum
V1 D 12 wmg cos ✓ and V2 D 0: (4)
Kinematic Equations. Due to the geometry of the door, we have
l
cos ✓ D p (5)
h2 C l2
Also, the door is released from rest. So,
!d1 D 0: (6)
Computation. Substituting Eqs. (2)–(6) into Eq. (1) and solving for !d , we have
s
3gl
!d 2 D p : (7)
w h2 C l 2
Given our choice of component system, then the angular velocity of the door at ¡ is
s
3gl O
!E d 2 D p k:
w h2 C l 2
Dynamics 2e 1671
Problem 8.12
The L-bar consisting of two uniform bars each of length L is released from
rest when ✓ D 90ı . Neglecting friction, determine the smallest value achieved
by ✓. Hint: The equation sin ✓ C A cos ✓ D B admits the solution ✓ D
sin 1 .B cos / , with D tan 1 A, if jB cos j  1.
Solution
The L-bar shown behaves like a pendulum in fixed axis rotation about O. We
denote by C the center of mass of the component OA of the system, whereas we
label D the center of mass of the component AB. We model the L-bar as being
subject only to the weight mg of each of its components and the pin reactions
at O. We denote by ¿ the position of the system at release, and by ¡ to be the
position corresponding to the minimum value of ✓ . We have set the datum of
the system as shown. We use subscripts 1 and 2 to denote quantities at ¿ and
¡, respectively. We observe that gravity, which is conservative, is the only force
doing work on the system.
Balance Principles. Applying the work-energy principle as a statement of

conservation of energy, we have
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by !b and by IO the angular speed of the
L-bar and the mass moment of inertia of the L-bar about O, respectively,
2 2
T1 D 12 IO !b1 and T2 D 21 IO !b2 : (2)
We observe that the form of the kinetic energy in Eqs. (2) is due to the fact that the T-bar in a fixed axis
✓ ◆2 ✓ ◆
2 L 2 2 L2
IO D 1
12 mL Cm C 1
12 mL Cm L C D 53 mL2 : (3)
2 4

1 3
V1 D 2 mgL mgL D 2 mgL; (4)
1 1 1
V2 D 2 mgL sin ✓2 mg.L sin ✓2 C 2 L cos ✓2 / D 2 mgL.3 sin ✓2 C cos ✓2 /: (5)
Kinematic Equations. The system is released from rest. The minimum swing angle is achieved when the
system comes momentarily to a stop. Summarizing,
!b1 D 0 and !b2 D 0: (6)
Computation. Substituting Eqs. (2)–(6) into Eq. (1)

3 1 1
2 mgL D 2 mgL.3 sin ✓2 C cos ✓2 / ) sin ✓2 C 3 cos ✓2 D 1: (7)
Following the hint in the problem statement, we have

1 1 1
✓2 D sin Œcos.tan .1=3//ç tan .1=3/; (8)
which, recalling that ✓2 D ✓min , can be evaluated to obtain
✓min D 53:13ı :
Dynamics 2e 1673
Problem 8.13
A turbine rotor with weight W D 3000 lb, center of mass at the fixed point G,
and radius of gyration kG D 15 ft is brought from rest to an angular velocity
! D 1500 rpm in 20 revolutions by applying a constant torque M . Neglecting
friction, determine the value of M needed to spin up the rotor as described.
Photo credit: NASA
Solution
We model the rotor as a rigid body in fixed axis rotation about its own center
(and center of mass) G. The rotor is subject to the applied moment M and
the reactions at the spin axis Gx and Gy needed to hold the rotor in place.
Work is done only by the applied moment M . We denote by ¿ the initial
position of the rotor, and by ¡ the position of the rotor after 20 revolutions.
We use subscripts 1 and 2 to denote quantities at ¿ and ¡, respectively.
Balance Principles. Applying the work-energy principle, we have

T1 C U1-2 D T2 ; (1)
where U1-2 is the work of the moment M between ¿ and ¡, and where, denoting by IG the mass moment of
inertia about G of the rotor, and by !r the angular speed of the rotor,
2 2
T1 D 12 IG !r1 and T2 D 12 IG !r2 : (2)
The form of the kinetic energy in the above equations is due to the fact that the rotor is in fixed axis rotation.
The problem statement provides the radius of gyration of the rotor. Hence,
2
IG D mkG ; (3)
where m is the mass of the rotor.
Force Laws. The work of the moment is given by

U1-2 D M ✓; (4)
where ✓ is the angular displacement of the rotor between ¿ and ¡.
Kinematic Equations. The rotor starts from rest, so

!r1 D 0: (5)
2 2
mkG !r2
2 2
M ✓ D 12 mkG !r2
: (6)
) M D
2 ✓
Recalling that m D 3000 lb=g, g D 32:2 ft=s2 , kG D 15 ft, !r2 D 1500 rpm D 1500 2⇡
60 rad=s, and
✓ D 20 rev D 20.2⇡/ rad, we can evaluate M to obtain
M D 2:058⇥106 ft lb:
Problem 8.14
A turbine rotor with weight W D 3000 lb, center of mass at the fixed point
G, and radius of gyration kG D 15 ft is spinning with an angular speed ! D
1200 rpm when a braking system is engaged that applies a constant torque
M D 3000 ft lb. Determine the number of revolutions needed to bring the rotor
to a stop.
Photo credit: NASA
Solution
We model the rotor as a rigid body in fixed axis rotation about its own center
(and center of mass) G. The rotor is subject to the applied moment M and
the reactions at the spin axis Gx and Gy needed to hold the rotor in place.
Work is done only by the applied moment M . We denote by ¿ the position
of the rotor when M is first applied, and by ¡ the position of the rotor when
it first comes to a stop. We use subscripts 1 and 2 to denote quantities at ¿
and ¡, respectively.
T1 C U1-2 D T2 ; (1)
where U1-2 is the work of the moment M between ¿ and ¡, and where, denoting by IG the mass moment of
inertia about G of the rotor, and by !r the angular speed of the rotor,
2 2
T1 D 12 IG !r1 and T2 D 12 IG !r2 : (2)
The form of the kinetic energy in the above equations is due to the fact that the rotor is in fixed axis rotation.
The problem statement provides the radius of gyration of the rotor. Hence,
2
IG D mkG ; (3)
where m is the mass of the rotor.
Force Laws. The work of the moment is given by
U1-2 D M ✓; (4)
where ✓ is the angular displacement of the rotor between ¿ and ¡ taken positive if counterclockwise.
Kinematic Equations. The rotor comes to a stop in ¡, so
!r2 D 0: (5)
Dynamics 2e 1675

2 2
1 2 2 mkG !r1
2 mkG !r1 M ✓ D0 ) ✓D : (6)
2M
Recalling that m D 3000 lb=g, g D 32:2 ft=s2 , kG D 15 ft, !r1 D 1200 rpm D 1200
60 rev=s, and M D
3000 ft lb, we can evaluate ✓ to obtain
✓ D 8781 rev:
Problem 8.15
The uniform rectangular plate of length `, height h, and mass m lies in the vertical plane and is pinned at
one corner. If the plate is released from rest in the position shown, determine its angular velocity when the
center of mass G is directly below the pivot O. Neglect any friction at the pin at O.
Solution
The plate will behave as a pendulum in fixed axis rotation about O.
Referring to the FBD shown, work is done only by gravity, which is a
conservative force. We denote by ¿ the position of the plate at release,
and by ¡ the position of the plate when G is immediately below O. We
use subscripts 1 and 2 to denote quantities at ¿ and ¡, respectively.
Balance Principles. Applying the work-energy principle as a statement

of conservation of energy, we have
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the plate, and where, denoting by IO the mass moment of inertia of the
plate about O, and by !p the angular speed of the plate,
2 2
T1 D 12 IO !p1 and T2 D 12 IO !p2 : (2)
The form of the kinetic energy in the above equations is due to the fact that the plate is in fixed axis rotation
about O. Using the parallel axis theorem, for IO we have
2
IO D 1
12 m.` C h2 / C 14 m.`2 C h2 / D 13 m.`2 C h2 /: (3)
p
1
V1 D 0 and V2 D 2 mg `2 C h2 : (4)
Kinematic Equations. The plate is released from rest. So,
!p1 D 0: (5)
p
0 D 16 m.`2 C h2 /!p2 2 1
2 mg `2 C h2 ; (6)
which can be solved for !p2 to obtain
s
3g
!p2 D p :
`2 C h2
Dynamics 2e 1677
Problem 8.16
A door AB weighing 80 lb is pinned at A and swings in the horizontal

plane. The spring CD has stiffness k and is unstretched when ✓ D 0ı . Let
L D 1:5 ft and h D 0:5 ft.
If the door is rotating counterclockwise and the speed of B is 10 ft=s
when ✓ D 0, determine k, such that the door temporarily stops when
✓ D 90ı . Assume that the spring does not impinge on the mount at A.
Solution
We model the door as a thin rigid body in fixed axis rotation about point
A. Since the door swings in the horizontal plane, we assume that the door
is only subject to the spring force Fs , which is conservative, and to the
pin reactions Ax and Ay . We denote by ¿ and ¡ the positions of the door
corresponding to ✓ D ✓1 D 0 and ✓ D ✓2 D 90ı , respectively. We use
subscripts 1 and 2 to denote quantities at ¿ and ¡, respectively. We observe
that Fs is the only force doing work.
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the door, and where, denoting by IA the mass moment of inertia of the
door relative to A, and by !d the angular speed of the door,
2
T1 D 12 IA !d1 and T2 D 12 IA !d2 2 : (2)
The form of the kinetic energy in the above equations is due to the fact that the door is in fixed axis rotation
about A. Using the parallel axis theorem, for IA , we have
2
IA D 1
12 m.2L/ C mL2 D 43 mL2 : (3)
Force Laws.
p Recalling that the spring is unstretched in ¿, and that the stretch of the spring is equal to
LCh L2 C h2 , for the potential energy, we have
⇣ p ⌘2
V1 D 0 and V2 D 12 k L C h L2 C h2 : (4)
Kinematic Equations. In ¿, the door is swinging such that B has a speed vB1 D 10 ft=s. Hence, using
rigid body kinematics, the angular speed of the door in ¿ is vB1 =.2L/. The door is said to come temporarily
to a stop in ¡. Summarizing, we have
!d1 D vB1 =.2L/ and !d 2 D 0: (5)
⇣ p ⌘2 2
mvB1
1 2 1
6 mvB1 D 2 k L C h L 2 C h2 ) k D ⇣ p ⌘2 : (6)
3 LCh L Ch
2 2
Recalling that m D 80 lb=g, g D 32:2 ft=s2 , vB1 D 10 ft=s, L D 1:5 ft, and h D 0:5 ft, we can evaluate k to
obtain
k D 472:0 lb=ft:
Problem 8.17
A door AB weighing 80 lb is pinned at A and swings in the horizontal

plane. The spring CD has stiffness k and is unstretched when ✓ D 0ı . Let
L D 1:5 ft and h D 0:5 ft.
If the door is released from rest when ✓ D 45ı and k D 50 lb=ft,
determine the speed of B when ✓ D 0.
Solution
We model the door as a thin rigid body in fixed axis rotation about point
A. Since the door swings in the horizontal plane, we assume that the door
is only subject to the spring force Fs , which is conservative, and to the
pin reactions Ax and Ay . We denote by ¿ and ¡ the positions of the door
corresponding to ✓ D ✓1 D 45ı and ✓ D ✓2 D 0, respectively. We use
subscripts 1 and 2 to denote quantities at ¿ and ¡, respectively. We observe
that Fs is the only force doing work.
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the door, and where, denoting by IA the mass moment of inertia of the
door relative to A, and by !d the angular speed of the door,
2
T1 D 12 IA !d1 and T2 D 12 IA !d2 2 : (2)
The form of the kinetic energy in the above equations is due to the fact that the door is in fixed axis rotation
about A. Using the parallel axis theorem, for IA , we have
2
IA D 1
12 m.2L/ C mL2 D 43 mL2 : (3)
p
Force Laws. The spring is unstretched in when p ✓ D 0, so its unstretched length is L C h . In ¿, using
2 2
the law of cosines, the length of the spring is L C h

2 2 ı
2Lh cos.✓1 C 90 /. Hence, summarizing,
⇣p p ⌘2
V1 D 12 k L2 C h2 C 2Lh sin ✓1 L2 C h 2 and V2 D 0; (4)
where we have used the trigonometric identity cos.✓1 C 90ı / D sin ✓1 .
Kinematic Equations. The door is released from rest in ¿. Also, denoting by vB the speed of B, using
rigid body kinematics and recalling that the door is a fixed axis rotation about A,
!d1 D 0 and !d 2 D vB2 =.2L/: (5)
⇣p p ⌘2
1 2
2k L2 C h2 C 2Lh sin ✓1 L2 C h2 D 16 mvB2
p ⇣p p ⌘
) vB2 D 3k=m L2 C h2 C 2Lh sin ✓1 L2 C h2 ) vB2 D 2:376 ft=s, (6)
where we have used the following data: k D 50 lb=ft, m D 80 lb=g, g D 32:2 ft=s2 , vB1 D 10 ft=s,
L D 1:5 ft, h D 0:5 ft, and ✓1 D 45ı .
Dynamics 2e 1679
Problem 8.18
A uniform thin bar AB of length L D 4 ft is released from rest at an angle ✓ D ✓1 . As

the bar slides, the ends A and B maintain contact with the surfaces on which they slide.
Neglecting friction and knowing that the end A has a speed of 18 ft=s right before hitting
the floor, determine ✓1 .
Solution
We model the bar as a thin rigid body. We assume that the bar is
subject only to its own weight mg, which is a conservative force,
and to the normal reactions at A and B perpendicular to the wall
and the floor, respectively. We denote by G the center of mass of
the bar. We denote by ¿ the position at which the bar is released
from rest. We denote by ¡ the position of the bar right before end
A hits the floor. We set the datum for gravity at the floor. We use
subscripts 1 and 2 to denote quantities at ¿ and ¡ and we observe
that the weight of the bar is the only force doing work.
Balance Principles. Applying the work-energy principle as a

statement of conservation of energy, we have
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the bar, and where, denoting by vG the speed of the center of mass of the
bar, by IG the mass moment of inertia of the bar G, and by !b the angular speed of the bar, we have
2 2 2 2
T1 D 12 mvG1 C 12 IG !b1 and T2 D 12 mvG2 C 12 IG !b2 : (2)
For IG we have
1 2
IG D 12 mL : (3)
Force Laws. Due to the choice of datum,

V1 D 12 mgL cos ✓1 and V2 D 0: (4)
Kinematic Equations. The bar is released from rest. Also, in ¡ point B is at a distance L from the wall,
i.e., it is at a maximum distance from the wall while its motion is constrained to remain in the horizontal
direction. This implies that the speed of B in ¡ is equal to zero so B is the instantaneous center of rotation
for the bar. This implies that vA2 D L!b2 , where vA is the speed of A. Therefore,
vG1 D 0; !b1 D 0; vG2 D 12 vA2 ; !b2 D vA2 =L: (5)
1
2 mgL cos ✓1
2
D 18 mvA2 C 1 2
24 mvA2 ) ✓1 D cos 1 2
ŒvA2 =.3gL/ç ) ✓1 D 33:02ı , (6)
where we have used the data vA2 D 18 ft=s, g D 32:2 ft=s2 , and L D 4 ft.
Problem 8.19
A uniform thin bar AB of length L D 3 ft is released from rest at an angle

✓ D 30ı . As the bar slides, the ends A and B maintain contact with the surfaces
on which they slide. The inclination of the wall is D 50ı . Neglecting friction,
determine the angular speed of the bar right before the end A hits the floor.
Solution
We model the bar as a thin rigid body. We assume that the bar is
subject only to its own weight mg, which is a conservative force,
and to the normal reactions at A and B perpendicular to the wall
and the floor, respectively. We denote by G the center of mass of
the bar. We denote by ¿ the position of the bar for ✓ D ✓1 D 30ı .
We denote by ¡ the position of the bar for ✓ D ✓2 D 0. We set the
datum for gravity at the floor. We use subscripts 1 and 2 to denote
quantities at ¿ and ¡, respectively, and we observe that the weight
of the bar is the only force doing work.
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the bar, and where, denoting by vG the speed of the center of mass of the
bar, by IG the mass moment of inertia of the bar G, and by !b the angular speed of the bar, we have
2 2 2 2
For IG we have
1 2
IG D 12 mL : (3)
V1 D 12 mgL sin ✓1 and V2 D 0: (4)
Kinematic Equations. The bar is released from rest, so
vG1 D 0 and !b1 D 0: (5)
In ¡, we expect A to be moving downward and to the right. Hence, keeping in mind that B moves only in
the positive x direction, denoting by vA and vB the speeds of A and B, respectively, we have
vEA2 D vA2 .cos {O sin |O/ and vEB2 D vB2 {O: (6)
Since A and B are points on the same rigid body, we must also have
vEA2 D vEB2 C !b2 kO ⇥ .ErA=B /2 (7)
where !E b D !b kO the angular velocity of the bar. Observing that .ErA=B /2 D L {O, substituting Eqs. (6) into
Eq. (7), we have
!b2 L !b2 L
vA2 .cos {O sin |O/ D vB2 {O !b2 kO ⇥ L {O ) vA2 D and vB2 D : (8)
sin tan
Dynamics 2e 1681
Using the above result, we can then determine the velocity of the mass center in ¡ as follows:
!b2 L !b2 L
vEG2 D vEB2 C!b2 kO ⇥.ErG=B /2 ) vEG2 D {O !b2 kO ⇥ 12 L {O ) vEG2 D {O 1
2 !b2 L |O: (9)
tan tan
Using the last of Eqs. (9) and the Pythagorean theorem, we can write
✓ 2 ◆
2 2 cos 1 1 C 3 cos2
vG2 D !b2 L2 2
C ) v 2
G2 D 2
2
!b2 L2 : (10)
sin 4 4 sin
Computation. Substituting Eqs. (2)–(5) and the last of Eqs. (10) into Eq. (1), we have
s
1 1 C 3 cos2
2 2 1 2 2 3g sin ✓1 sin2
mgL sin ✓1 D m ! b2 L C mL ! b2 ) ! b2 D : (11)
2
8 sin2 24 .1 C 2 cos2 /L
Recalling that g D 32:2 ft=s2 , ✓1 D 30ı , D 50ı , and L D 3 ft, we can evaluate !b2 to obtain
!b2 D 2:274 rad=s:
Problem 8.20
The disk D, which has mass m, center of mass G, and radius of

gyration kG , is at rest on a flat horizontal surface when the constant
moment M is applied to it. The disk is attached at its center to a
vertical wall by a linear elastic spring of constant k. The spring is
unstretched when the system is at rest. Assuming that the disk rolls
without slipping and that it has not yet come to a stop, determine an
expression for the angular velocity of the disk after its center G has
moved a distance d . After doing so, determine the distance ds that
the disk moves before it comes to a stop.
Solution
We model D as a rigid body rolling without slip on a flat horizontal surface subject
to its own weight mg, the applied moment M , the spring force Fs , and the reaction
forces F and N at the contact point O with the ground. Since the center of mass G of
the disk only moves in the horizontal direction and since the disk does not slip, work
is done only by M and Fs . We denote by ¿ the position of the disk at release, and
by ¡ a generic position thereafter. We use the subscript 1 to denote quantities at ¿.
T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by IO the mass moment of inertia about
O, and by !d the angular speed of the disk,
2
T1 D 12 IO !d1 and T2 D 12 IO !d2 : (2)
The form of the kinetic energy in the above equations is due to the fact that O is the instantaneous center of
of rotation of the disk. For IO , using the parallel axis theorem, we have
2
IO D mkG C mR2 D m.kG
2
C R2 /: (3)
Force Laws. The spring is unstretched in ¿. Letting d denote the distance traveled by G from ¿ to ¡, we
have that d measures the stretch of the spring. Furthermore, since the disk rolls without slip, the quantity
d=R measures the angular displacement of the disk between ¿ and ¡ in the direction of the applied moment
M . Hence, summarizing, we have
V1 D 0; .U1-2 /nc D M.d=R/; V2 D 12 kd 2 : (4)
Kinematic Equations. The disk is at rest in ¿, so
!d1 D 0: (5)

s
2 2 .2M d=R/ kd 2
M.d=R/ D 1
2 m.kG CR /!d2 2 C 1
2 kd
2
) !d 2 D 2
. (6)
m.kG C R2 /
Dynamics 2e 1683
Setting !d 2 D 0 and d D ds in the last of Eqs. (6), we can solve for ds to obtain
2M
ds D :
kR
Problem 8.21
An automobile wheel test rig consists of a uniform disk A, of mass mA D

5000 kg and radius rA D 1:5 m, that can rotate freely about its fixed center
C and over which the wheel B of an automobile is made to roll. The wheel
B, with center and center of mass at D, is mounted on a shaft (not shown)
that holds D fixed while allowing the wheel to rotate about D. The wheel has
diameter d D 0:62 m, mass mB D 21:5 kg, and mass moment of inertia about
its mass center ID D 44 kg m2 . Both A and B are initially at rest when B is
subject to a constant torque M that causes B to roll without slip over A.
If M D 1500 N m, determine the number of revolutions of B needed to
reach conditions simulating a car speed of 100 km=h.
Solution
We consider the system consisting of A and B modeled as rigid

bodies in fixed axis rotations about C and D, respectively. We
assume that B is subject to its own weight mB g, the reaction forces
Dx and Dy due to the fact that the shaft holds D fixed, and the
applied moment M . We assume that A is subject to its own weight
mC g, and the reaction forces Cx and Cy responsible for keeping
C from moving. We denote by ¿ the position of the system when
M is first applied. We denote by ¡ the position of the system
corresponding to when the relative speed of D with respect to the
point on A in contact with B is equal to 100 km=h. We use subscripts
1 and 2 to denote quantities at ¿ and ¡, respectively.
T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting

by IC the mass moment of inertia of A relative to C , by ID the mass moments of inertia of B relative to D,
by !A and !B the angular speeds of A and B, respectively,
2 2 2 2
T1 D 12 IC !A1 C 12 ID !B1 and T2 D 12 IC !A2 C 12 ID !B2 : (2)
The form of the kinetic energy in the above equations is due to the fact that both A and B are in fixed axis
rotation about their respective centers. The quantity ID is given. For IC , we have
IC D 12 mA rA2 : (3)
Force Laws. The potential energy of the system is constant and can therefore be taken to be equal to zero.
The wheel B will roll in the direction of M . Hence, denoting by ✓ the angular displacement of the B from
¿ to ¡, and recalling that M is constant, we have
V1 D 0 .U1-2 /nc D M ✓; V2 D 0: (4)
Dynamics 2e 1685
Kinematic Equations. The system starts from rest. Also, denoting by vs the speed of the intended
simulation, due to the fact that A (with radius equal to rA ) and B (with diameter equal to d ) are in fixed
axis rotations about their respective centers, we have that A and B will eventually rotate with angular speeds
vs =rA and 2vs =d , respectively. So, summarizing,
!A1 D 0; !B1 D 0; !A2 D vs =rA ; !B2 D 2vs =d: (5)
.8ID C mA d 2 /vs2
M ✓ D 14 mA vs2 C 12 .4ID =d 2 /vs2 ) ✓D : (6)
4d 2 M
Recalling that ID D 44 kg m2 , mA D 5000 kg, d D 0:62 m, vs D 100 km=h D 100 1000
3600 m=s, and
M D 1500 N m, and recalling that 1 rev D 2⇡ rad, we can evaluate ✓ to obtain
✓ D 121:1 rev:
Problem 8.22
An automobile wheel test rig consists of a uniform disk A, of mass mA D

5000 kg and radius rA D 1:5 m, that can rotate freely about its fixed center
C and over which the wheel B of an automobile is made to roll. The wheel
B, with center and center of mass at D, is mounted on a shaft (not shown)
that holds D fixed while allowing the wheel to rotate about D. The wheel has
diameter d D 0:62 m, mass mB D 21:5 kg, and mass moment of inertia about
its mass center ID D 44 kg m2 . Both A and B are initially at rest when B is
subject to a constant torque M that causes B to roll without slip over A.
Determine M if it takes 100 revolutions of the wheel B to achieve condi-
tions simulating a car speed of 60 km=h.
Solution
We consider the system consisting of A and B modeled as rigid

bodies in fixed axis rotations about C and D, respectively. We
assume that B is subject to its own weight mB g, the reaction forces
Dx and Dy due to the fact that the shaft holds D fixed, and the
applied moment M . We assume that A is subject to its own weight
mC g, and the reaction forces Cx and Cy responsible for keeping
C from moving. We denote by ¿ the position of the system when
M is first applied. We denote by ¡ the position of the system
corresponding to when the relative speed of D with respect to the
point on A in contact with B is equal to 60 km=h. We use subscripts
T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)

by IC the mass moment of inertia of A relative to C , by ID the mass moments of inertia of B relative to D,
by !A and !B the angular speeds of A and B, respectively,
2 2 2 2
T1 D 12 IC !A1 C 12 ID !B1 and T2 D 12 IC !A2 C 12 ID !B2 : (2)
The form of the kinetic energy in the above equations is due to the fact that both A and B are in fixed axis
rotation about their respective centers. The quantity ID is given. For IC , we have
IC D 12 mA rA2 : (3)
Force Laws. The potential energy of the system is constant and can therefore be taken to be equal to zero.
The wheel B will roll in the direction of M . Hence, denoting by ✓ the angular displacement of the B from
¿ to ¡, and recalling that M is constant, we have
V1 D 0 .U1-2 /nc D M ✓; V2 D 0: (4)
Dynamics 2e 1687
Kinematic Equations. The system starts from rest. Also, denoting by vs the speed of the intended
simulation, due to the fact that A (with radius equal to rA ) and B (with diameter equal to d ) are in fixed
axis rotations about their respective centers, we have that A and B will eventually rotate with angular speeds
vs =rA and 2vs =d , respectively. So, summarizing,
.8ID C mA d 2 /vs2
M ✓ D 14 mA vs2 C 12 .4ID =d 2 /vs2 ) M D : (6)
4d 2 ✓
Recalling that ID D 44 kg m2 , mA D 5000 kg, d D 0:62 m, vs D 60 km=h D 60 1000
3600 m=s, and ✓ D
100 rev D 100.2⇡/ rad, we can evaluate M to obtain
M D 653:8 N m:
Problem 8.23
An electric motor drawing 15 kW and with an efficiency of 85% lifts a

400 kg crate B with a constant speed vc . Pulley A has radius rp D 15 cm,
and the center of mass of A is also the center of A. The cord is inextensible
and does not slip relative to the pulley. Assume that the friction at the pulley
bearings results in a moment about the pulley’s center with magnitude ˇj!p j
opposing the rotation of the pulley, where ˇ is a constant and j!p j is the
angular speed of the pulley. Hint: Review Example 4.16 on p. 300. Also
note that friction in the pulley bearings causes the tension in the cord to be
different on the two sides of the pulley.
Determine ˇ if vc D 3 m=s.
Solution
We model the crate as a particle subject only to its own weight mB g

and to the tension in the portion of the cord to the right of the pulley
Fr (the subscript r stands for ‘right’). We denote by G the center and
center of mass of the pulley. The pulley rotates counterclockwise.
We model the pulley as a rigid body subject to its weight mA g, the
reaction forces Rx and Ry at G, a clockwise moment Mf due to
the friction at the pulley bearings, as well as to the cord tensions F`
and Fr , where F` denotes the tension in the cord to the left of the pulley (the subscript ` stands for ‘left’).
Following the hint, we structure the solution of this problem as shown in Example 4.16 on p. 300 of the
textbook. Specifically, we first need to determine the tension in the cord to the left of the pulley and then
relate that tension to the actual power output of the motor.
Force Laws. Applying Newton’s second law to the crate and the Newton-Euler equations to the pulley, we
have
⇣X ⌘
W
Fy mB g Fr D mB aBy ; (1)
⇣X ⌘B
Fx W F` C Rx D mA aGx ; (2)
⇣X ⌘A
Fy W mA g C Fr C Ry D mA aGy ; (3)
⇣X ⌘A
M´ W F` rp Fr rp Mf D IG ˛p ; (4)
A
where aBy is the y component of the acceleration of the crate, aGx and aGy are the x and y components
of the acceleration of the center of mass of the pulley, respectively, IG is the mass moment of inertia of the
pulley about G, and ˛p is the angular acceleration of the pulley.
Force Laws. Denoting by !Ep D !p kO the angular velocity of the pulley, following the problem statement,
we have
Mf D ˇ!p ; (5)
where we have accounted for the sign conventions pertaining to both !p and Mf .
Dynamics 2e 1689
Kinematic Equations. Since the cord is inextensible, the speed of the points on the cord in contact with
the pulley is equal to the speed vc of the crate. Observing that the pulley is in a fixed axis rotation about
G, recalling that vc is constant and that the cord does not slip relative to the pulley, we can summarize the
kinematic equations as follows:
aBy D 0; aGx D 0; aGy D 0; ˛p D 0; !p D vc =rp : (6)
Computation. Substituting Eqs. (5) and (6) into Eqs. (1)–(4), we have
mB g Fr D 0; F` C Rx D 0; mA g C Fr C Ry D 0; F` rp Fr rp ˇ!p D 0; (7)
which, treating ˇ as if it were known, is a system of four equations in the four unknowns Rx , Ry , Fr , and F`
whose solution is
Rx D mB g vc ˇ=rp2 ; Ry D .mA C mB /g; Fr D mB g; F` D mB g C vc ˇ=rp2 : (8)
Now that we have a solution for F` , we can relate this quantity to the actual power output of the motor as was
done in Example 4.16. Specifically, we have
F` vc D ✏Pi ) .mB g C vc ˇ=rp2 /vc D ✏Pi ) ˇ D .✏Pi mB gvc /rp2 =vc2 : (9)
Recalling that ✏ D 0:85, Pi D 15 kW D 15.1000/ W, mB D 400 kg, g D 9:81 m=s2 , vc D 3 m=s, and
15
rp D 15 cm D 100 m we can evaluate ˇ to obtain
ˇ D 2:445 kg m2 =s:
Problem 8.24
An electric motor drawing 15 kW and with an efficiency of 85% lifts a

400 kg crate B with a constant speed vc . Pulley A has radius rp D 15 cm,
and the center of mass of A is also the center of A. The cord is inextensible
and does not slip relative to the pulley. Assume that the friction at the pulley
bearings results in a moment about the pulley’s center with magnitude ˇj!p j
opposing the rotation of the pulley, where ˇ is a constant and j!p j is the
angular speed of the pulley. Hint: Review Example 4.16 on p. 300. Also
note that friction in the pulley bearings causes the tension in the cord to be
different on the two sides of the pulley.
Determine vc if ˇ D 2 kg m2 =s.
Solution
We model the crate as a particle subject only to its own weight mB g

and to the tension in the portion of the cord to the right of the pulley
Fr (the subscript r stands for ‘right’). We denote by G the center and
center of mass of the pulley. The pulley rotates counterclockwise.
We model the pulley as a rigid body subject to its weight mA g, the
reaction forces Rx and Ry at G, a clockwise moment Mf due to
the friction at the pulley bearings, as well as to the cord tensions F`
and Fr , where F` denotes the tension in the cord to the left of the pulley (the subscript ` stands for ‘left’).
Following the hint, we structure the solution of this problem as shown in Example 4.16 on p. 300 of the
textbook. Specifically, we first need to determine the tension in the cord to the left of the pulley and then
relate that tension to the actual power output of the motor.
Force Laws. Applying Newton’s second law to the crate and the Newton-Euler equations to the pulley, we
have
⇣X ⌘
W
Fy mB g Fr D mB aBy ; (1)
⇣X ⌘B
Fx W F` C Rx D mA aGx ; (2)
⇣X ⌘A
Fy W mA g C Fr C Ry D mA aGy ; (3)
⇣X ⌘A
M´ W F` rp Fr rp Mf D IG ˛p ; (4)
A
where aBy is the y component of the acceleration of the crate, aGx and aGy are the x and y components
of the acceleration of the center of mass of the pulley, respectively, IG is the mass moment of inertia of the
pulley about G, and ˛p is the angular acceleration of the pulley.
Force Laws. Denoting by !Ep D !p kO the angular velocity of the pulley, following the problem statement,
we have
Mf D ˇ!p ; (5)
where we have accounted for the sign conventions pertaining to both !p and Mf .
Dynamics 2e 1691
Kinematic Equations. Since the cord is inextensible, the speed of the points on the cord in contact with
the pulley is equal to the speed vc of the crate. Observing that the pulley is in a fixed axis rotation about
G, recalling that vc is constant and that the cord does not slip relative to the pulley, we can summarize the
kinematic equations as follows:
aBy D 0; aGx D 0; aGy D 0; ˛p D 0; !p D vc =rp : (6)
mB g Fr D 0; F` C Rx D 0; mA g C Fr C Ry D 0; F` rp Fr rp ˇ!p D 0; (7)
which, treating !p as if it were known, is a system of four equations in the four unknowns Rx , Ry , Fr , and
F` whose solution is
Rx D mB g vc ˇ=rp2 ; Ry D .mA C mB /g; Fr D mB g; F` D mB g C vc ˇ=rp2 : (8)
Now that we have a solution for F` , we can relate this quantity to the actual power output of the motor as was
done in Example 4.16. Specifically, we have
q
2 2 4
mB grp2 C mB g rp C 4Pi rp2 ˇ✏
2
F` vc D ✏Pi ) .mB g C vc ˇ=rp /vc D ✏Pi ) vc D ; (9)
2ˇ
where we have selected the only root for vc compatible with the fact that vc is a speed. Recalling that
mB D 400 kg, g D 9:81 m=s2 , rp D 15 cm D 100 15
m, Pi D 15 kW D 15.1000/ W, ˇ D 2 kg m2 =s, and
✏ D 0:85, we can evaluate vc to obtain
vc D 3:040 m=s:
Problem 8.25
An eccentric wheel with weight W D 250 lb, mass center G, and radius
of gyration kG D 1:32 ft is initially at rest in the position shown. Letting
R D 1:75 ft and h D 0:8 ft, and assuming that the wheel is gently nudged to
the right and rolls without slip, determine the speed of O when G is closest to
the ground.
Solution
We model the wheel as a rigid body rolling without slip on a horizontal surface
and subject to its own weight W , and the reaction forces F and N at the contact
point with the ground. Since the wheel rolls without slip, work is done only
by gravity, which is conservative. We define ¿ as the position of the system
at release. We define ¡ as the position of the system when G is closest to the
ground. We use subscripts 1 and 2 to denote quantities at ¿ and ¡, respectively.

T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the wheel, and where, denoting by m the mass of the wheel, by vG the
speed of G, by !w the angular speed of the wheel, by IG the mass moment of inertia of the wheel about G,
2 2 2 2
T1 D 12 mvG1 C 12 IG !w1 and T2 D 12 mvG2 C 12 IG !w2 : (2)
For IG , we have
2
IG D mkG : (3)
Force Laws. Due to the choice of datum, for V , we have
V1 D W h D mgh and V2 D WhD mgh: (4)
Kinematic Equations. The system is released from rest. Also, observing that in rolling without slip the
point of contact with the ground is the instantaneous center of rotation for the wheel, denoting by vO the
speed of O in ¡, we have that !w D vO =R, vG2 D !w .R h/. Summarizing, the kinematic equations for
this problem are
vG1 D 0; !w1 D 0; vG2 D vO .R h/=R; !w2 D vO =R: (5)

s
1 .R h/2 2 1 2 2 2 4ghR2
mgh D 2m vO C 2 mkG vO =R mgh ) vO D 2
: (6)
R2 .R h/2 C kG
Recalling that g D 32:2 ft=s2 , h D 0:8 ft, R D 1:75 ft, and kG D 1:32 ft, we can evaluate vO to obtain
vO D 10:92 ft=s:
Dynamics 2e 1693
Problem 8.26
A cord is wound around a uniform disk of mass m D 2:5 kg and radius R D

10 cm. A person pulls on the cord to the right with a constant horizontal force
P . The disk is initially at rest and rolls without slip. Determine P if the center
of the disk has a speed of 0:5 m=s after the hand pulling the cord displaces
horizontally to the right by 20 cm.
Solution
We model disk as a rigid body rolling without slip on a flat horizontal surface while
subject to its own weight mg, the contact forces N and F at O, the point of contact
with the ground, and the force P applied to the disk via the cord. We denote by ¿ the
position of the disk when the force P is first applied. We denote by ¡ the position
of the disk after the hand pulling the cord has displaced a distance d D 20 cm. We
use subscripts 1 and 2 to denote quantities at ¿ and ¡, respectively.
Balance Principles. Applying the work energy principle, we have

T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
where V is the potential energy of the disk, and where, denoting by IO the mass moment of inertia about O
and by !d the angular speed of the disk,
2
T1 D 12 IO !d1 and T2 D 21 IO !d2 2 : (2)
The form of the kinetic energy is due to the fact that, when the disk rolling without slipping, the point of
contact with the ground is the instantaneous center of rotation of the wheel. Using the parallel axis theorem,
for IO we have
IO D 12 mR2 C mR2 D 32 mR2 : (3)
Force Laws. Since the vertical position of G does not change during the motion, the potential energy of
the disk is constant and can be set equal to zero. Since the point of application of the force P displaces by an
amount d in the direction of P , the work of P is P d . Summarizing, we have
V1 D 0; .U1-2 /nc D P d; V2 D 0: (4)
Kinematic Equations. The system starts from rest. In ¡ G has a speed vG2 D 0:5 m=s. Since the disk
rolls without slipping, we must have !d 2 D vG2 =R. Summarizing,
!d1 D 0 and !d 2 D vG2 =R: (5)
P d D 34 mR2 vG2
2
=R2 ) 2
P D 34 mvG2 =d: (6)
20
Recalling that m D 2:5 kg, vG2 D 0:5 m=s, and d D 20 cm D 100 m, we can evaluate P to obtain
P D 2:344 N:
Problem 8.27
The pendulum consists of a thin bar of length L D 1:5 m and mass mb D 2 kg, at the
end of which is rigidly attached a uniform solid sphere of radius r D 0:25 m and mass
ms D 3 kg. The pendulum is pinned at the top end O of the bar. The pendulum is
initially at ✓ D 0 when the center of the sphere C is given a speed v1 D 4 m=s to the
right. The quantity d denotes the distance between O and the center of mass of the
bar G. Neglect friction.
If the bar is uniform (i.e., d D L=2), determine the maximum swing angle of the
pendulum.
Solution
We model the entire pendulum as a rigid body in a fixed axis rotation
about O. We denote by E the center of mass of the pendulum as a whole
and we denote by h the distance between O and E. Referring to the
figure to the right and following the problem statement, we assume that
the pendulum is subject only to its own weight .mb C ms /g and the pin
reactions Rx and Ry at O. We denote by ¿ the position corresponding to
✓ D ✓1 D 0. We denote by ¡ the position of the pendulum corresponding
to ✓ D ✓2 D ✓max . We set the datum of the potential energy of the weight
of the pendulum at O. We use subscripts 1 and 2 to denote quantities at
1 and 2. We observe that the weight of the pendulum is the only force
doing work and that this force is conservative.
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the pendulum, and where, denoting by IO the mass moment of inertia of
the pendulum about O and by !p the angular speed of the pendulum,
2 2
T1 D 12 IO !p1 and T2 D 12 IO !p2 : (2)
The form of the kinetic energy in the above equations is due to the fact that the pendulum is an fixed axis
rotation about O. Using the parallel axis theorem, for IO , we have
IO D 1
12 mb L
2
C mb 14 L2 C 25 ms r 2 C ms .L C r/2 ) IO D 10:76 kg m2 ; (3)
where we have used the following data: mb D 2 kg, L D 1:5 m, ms D 3 kg, and r D 0:25 m.
Force Laws. Due to our choice of datum, for V we have

V1 D .mb C ms /gh and V2 D .mb C ms /gh cos ✓max : (4)
Kinematic Equations. Since the pendulum is in a fixed axis rotation about O, we must have that !p1 D
v1 =.L C r/. The pendulum comes temporarily to a stop in ¡. Hence, we have
!p1 D v1 =.L C r/ and !p2 D 0: (5)
As we discussed earlier, h is the distance of the center of mass of the system relative to O. Therefore, we
have
mb L=2 C ms .L C r/
hD ) h D 1:350 m; (6)
mb C ms
where we have used the following data: mb D 2 kg, L D 1:5 m, ms D 3 kg, and r D 0:25 m.
Dynamics 2e 1695
Computation. Substituting Eqs. (2), (4), and Eqs. (5) into Eq. (1), we have
2
1
2 IO v1 =.L C r/2 .mb C ms /gh D .mb C ms /gh cos ✓max

1 IO v12
) ✓max D cos 1 : (7)
2gh.mb C ms /.L C r/2
Recalling that v1 D 4 m=s, g D 9:81 m=s2 , mb D 2 kg, ms D 3 kg, L D 1:5 m, and r D 0:25 m, and using
the (full precision) values of IO and h in the last of Eqs. (3) and the last of Eqs. (6), respectively, we can
evaluate ✓max to obtain
✓max D 54:87ı :
Problem 8.28
The pendulum consists of a thin bar of length L D 1:5 m and mass mb D 2 kg, at the
end of which is rigidly attached a uniform solid sphere of radius r D 0:25 m and mass
ms D 3 kg. The pendulum is pinned at the top end O of the bar. The pendulum is
initially at ✓ D 0 when the center of the sphere C is given a speed v1 D 4 m=s to the
right. The quantity d denotes the distance between O and the center of mass of the
bar G. Neglect friction.
If the radius of gyration of the bar is kG D 0:35 m, determine d so that the
maximum swing angle is 55ı .
Solution
We model the entire pendulum as a rigid body in a fixed axis rotation

about O. We denote by E the center of mass of the pendulum as a whole
and we denote by h the distance between O and E. Referring to the
figure to the right and following the problem statement, we assume that
the pendulum is subject only to its own weight .mb C ms /g and the pin
reactions Rx and Ry at O. We denote by ¿ the position corresponding to
✓ D ✓1 D 0. We denote by ¡ the position of the pendulum corresponding
to ✓ D ✓2 D ✓max . We set the datum of the potential energy of the weight
of the pendulum at O. We use subscripts 1 and 2 to denote quantities at
1 and 2. We observe that the weight of the pendulum is the only force
doing work and that this force is conservative.
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the pendulum, and where, denoting by IO the mass moment of inertia of
the pendulum about O and by !p the angular speed of the pendulum,
2 2
T1 D 12 IO !p1 and T2 D 12 IO !p2 : (2)
The form of the kinetic energy in the above equations is due to the fact that the pendulum is an fixed axis
rotation about O. Using the parallel axis theorem, for IO , we have
2
IO D mb kG C mb d 2 C 25 ms r 2 C ms .L C r/2 : (3)
Force Laws. Due to our choice of datum, for V we have
V1 D .mb C ms /gh and V2 D .mb C ms /gh cos ✓max : (4)
Kinematic Equations. Since the pendulum is in a fixed axis rotation about O, we must have that !p1 D
v1 =.L C r/. The pendulum comes temporarily to a stop in ¡. Hence, we have
!p1 D v1 =.L C r/ and !p2 D 0: (5)
As we discussed earlier, h is the distance of the center of mass of the system relative to O. Therefore, we
have
mb d C ms .L C r/
hD : (6)
mb C ms
Dynamics 2e 1697
Computation. Substituting Eqs. (2), (4), and Eqs. (5) into Eq. (1), we have
2
1
2 IO v1 =.L C r/2 .mb C ms /gh D .mb C ms /gh cos ✓max
2g.mb C ms /.1 cos ✓max /.L C r/2
) IO D h (7)
v12
Using the expressions for IO and h in Eqs. (3) and (6), respectively, we can rewrite the last of Eqs. (7) as
follows:
2 2g.1 cos ✓max /.L C r/2

m b kG C mb d 2 C 25 ms r 2 C ms .L C r/2 D Œmb d C ms .L C r/ç: (8)
v12
The above equation in a second order algebraic equation in d that can be rewritten as follows:
Ad 2 C Bd C C D 0; (9)
where
A D mb ; (10)
2
BD mb g.1 cos ✓max /.L C r/2 ; (11)
v12
2 2
C D mb kG C 25 ms r 2 C ms .L C r/2 ms g.1 cos ✓max /.L C r/3 : (12)
v12
Solving eq. (9) for d , we have p

B˙ B2 4AC
dD : (13)
2A
Recalling that mb D 2 kg, v1 D 4 m=s, g D 9:81 m=s2 , ✓max D 55ı , L D 1:5 m, and r D 0:25 m,
kG D 0:35 m, and ms D 3 kg we can evaluate the coefficients A, B, and C (to four significant digits, this
gives A D 2 kg, B D 3:203 kg m, and C D 1:100 kg m2 ) and then evaluate d to obtain
d D 0:4990 m and d D 1:102 m;
where, because both roots for d are positive and smaller than L D 1:5 m, these roots are both acceptable.
Problem 8.29
A 14 lb bowling ball is thrown onto a lane with a backspin angular speed

!0 D 10 rad=s and forward velocity v0 D 17 mph. After a few seconds, the
ball starts rolling without slip and moving forward with a speed vf D 17:2 ft=s.
Let r D 4:25 in: be the radius of the ball, and let kG D 2:6 in: be its radius of
gyration.
Determine the work done by friction on the ball from the initial time until
the time that the ball starts rolling without slip.
Solution
We model the ball as a rigid body sliding and rolling over a flat horizontal surface. We
assume that the ball is subject to its own weight mg, and the components N and F of the
contact force with the floor. The center of mass of the ball does not move in the vertical
direction. So, F is the only force doing work on the ball. We denote by ¿ the position
at which the ball first makes contact with the lane, and by ¡ the position at which the
ball starts rolling without slip. We use subscripts 1 and 2 to denote quantities at ¿ and
¡, respectively.
T1 C U1-2 D T2 ; (1)
where, as discussed earlier, U1-2 is the work of F , and where, denoting by vG the speed of the center of mass,
IG the mass moment of inertia of the ball about G, and by !b the angular speed of the ball,
2 2 2 2
For IG we have
2
IG D mkG : (3)
Force Laws. No force laws are required in this problem since we want to compute .U1-2 /nc directly.
Kinematic Equations. Recalling that the ball starts rolling without slipping in ¡, we have
vG1 D v0 ; !b1 D !0 ; vG2 D vf ; !b2 D vf =r: (4)
2 2 2
1
2 mv0 C 12 mkG !0 C .U1-2 /nc D 12 mvf2 C 12 mkG
2 2
vf =r 2
✓ 2 ◆
r 2 C kG
) .U1-2 /nc D 1
2m vf2 2 2
kG !0 v02 : (5)
r2
Recalling that m D 14 lb=g, g D 32:2 ft=s2 , r D 4:25 in: D 4:25

12 ft, kG D 2:6 in: D
2:6
12 ft, vf D 17:2 ft=s,
5280
!0 D 10 rad=s, and v0 D 17 mph D 17 3600 ft=s, we can evaluate .U1-2 /nc to obtain
.U1-2 /nc D 47:78 ft lb:
Dynamics 2e 1699
Problem 8.30
A 14 lb bowling ball is thrown onto a lane with a backspin angular speed

!0 D 10 rad=s and forward velocity v0 D 17 mph. After a few seconds, the
ball starts rolling without slip and moving forward with a speed vf D 17:2 ft=s.
Let r D 4:25 in: be the radius of the ball, and let kG D 2:6 in: be its radius of
gyration.
Knowing that the coefficient of kinetic friction between the lane and the
ball is k D 0:1, determine the length Lf over which the friction force acts
in order to slow down the ball from v0 to vf . Does Lf also represent the
distance traveled by the center of the ball? Explain.
Solution
We model the ball as a rigid body sliding and rolling over a flat horizontal surface. We
assume that the ball is subject to its own weight mg, and the components N and F of the
contact force with the floor. The center of mass of the ball does not move in the vertical
direction. So, F is the only force doing work on the ball. We denote by ¿ the position
at which the ball first makes contact with the lane, and by ¡ the position at which the
ball starts rolling without slip. We use subscripts 1 and 2 to denote quantities at ¿ and
¡, respectively.
T1 C U1-2 D T2 ; (1)
where, as discussed earlier, U1-2 is the work of F , and where, denoting by vG the speed of the center of mass,
IG the mass moment of inertia of the ball about G, and by !b the angular speed of the ball,
2 2 2 2
For IG we have
2
IG D mkG : (3)
Force Laws. Since the center of mass of the ball does not move vertically, the weight of the ball must be
equilibrated by the vertical reaction N , i.e., N D mg. This implies that F D k mg. Since F is constant,
the work done by F is
.U1-2 /nc D k mgLf : (4)
Kinematic Equations. Recalling that the ball starts rolling without slipping in ¡, we have
vG1 D v0 ; !b1 D !0 ; vG2 D vf ; !b2 D vf =r: (5)
2 2 2
1
2 mv0 C 12 mkG !0 k mgLf D 12 mvf2 C 12 mkG
2 2
vf =r 2
✓ 2 ◆
1 r 2 C kG
) Lf D v02 C kG
2 2
!0 2
vf : (6)
2 kg r2
Recalling that mk D 0:1, g D 32:2 ft=s2 , v0 D 17 mph D 17 5280 3600 ft=s, kG D 2:6 in: D
2:6
12 ft, !0 D
10 rad=s, r D 4:25 in: D 4:25
12 ft, and vf D 17:2 ft=s, we can evaluate Lf to obtain
Lf D 34:13 ft:
In general, the distance Lf is not the distance traveled by the center of ball. This is because the center of
wheel goes from a speed of v0 to the speed vf whereas the point of contact between the wheel and the ground
must slow down from a speed of v0 C !0 r to 0. Hence, depending on the initial conditions, the distance over
which the friction force acts during slip may not be the same as that traveled by the center of the ball.
Dynamics 2e 1701
Problem 8.31
A bowling ball is thrown onto a lane with a forward velocity v0 and no angular
velocity (!0 D 0). Because of friction between the lane and the ball, after a
short time, the ball starts rolling without slip and moving forward with speed
vf . Let LG be the distance traveled by the center of the ball while slowing
down from v0 to vf . In addition, let Lf be the length over which the friction
force had to act in order to slow down the ball from v0 to vf . State which
of the following relations is true and why: (a) LG < Lf ; (b) LG D Lf ; (c)
LG > Lf .
Solution
The answer is (c) LG > Lf . To understand why, we observe that the point of application of the friction
force is not an individual point but it changes with time. With this in mind, we can think of the point of
application of the friction force as a point whose initial speed is v0 and its final speed is zero, where this value
of final speed is achieved when the ball starts rolling without slip. In the same amount of time that the point
of application of the friction force goes from v0 to zero, the center of the ball goes from v0 to some value
vf ¤ 0. This indicates that the magnitude of the acceleration of the point of application of the friction force
is larger than that of the center of the wheel. In turn, recalling that the points in question have the same initial
speed, this indicates that the center of wheel travels farther than the point of application of the friction force.
Problem 8.32
The uniform sphere B, of radius r D 6 cm and mass mB D 5 kg, is

rigidly attached to the uniform thin bar AB, which is pinned at A and
has a mass mAB D 8 kg. The system rotates in the vertical plane. The
spring CD has stiffness k D 2000 N=m and is designed so that the
system is in static equilibrium when ✓ D 0ı . Let L D 18:2 cm and
h D 24:6 cm.
If the system is released from rest when ✓ D 30ı , determine the
angular speed of the arm for ✓ D 0.
Solution
Since the sphere B and the arm AB are rigidly attached to one another, we
model them as a composite rigid body pinned at A and therefore in a fixed
axis rotation about A. Referring to the figure to the right, since arm AB is
uniform, point C is the center of mass of AB. We denote by E the center
of the sphere. Point E is also the center of mass of the sphere. We assume
that the system is subject to the weight of the bar mAB g, the weight of the
sphere mB g, the reaction forces Ax and Ay at the pin A, and the spring
force Fs . We denote by ¿ the position at which the system is released.
We denote by ¡ the position of the system corresponding to ✓ D 0. We
choose the datum line to be the horizontal line going through point A. We
use subscripts 1 and 2 to denote quantities at ¿ and ¡, respectively. We
observe that gravity and the spring force, both conservative, are the only forces doing work on the system.
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by IA the mass moment of inertia of the
system about A and by !s the angular speed of the system,
2 2
T1 D 12 IA !s1 and T2 D 21 IA !s2 : (2)
The above form of the kinetic energy is due to the fact that the system is in fixed axis rotation about A. Using
the parallel axis theorem, for IA , we have
IA D 1
12 mAB .2L/
2
C mAB L2 C 25 mB r 2 C mB .2L C r/2 ) IA D 1:259 kg m2 ; (3)
18:2
where we used the following data: mAB D 8 kg, L D 18:2 cm D 100 m, mB D 5 kg, and r D 6 cm D
6
100 m.
Force Laws. Due to our choice of datum, and denoting by ı the stretch of the spring, we have
V1 D ŒmAB L C mB .2L C r/çg sin ✓1 C 12 kı12 and V2 D 12 kı22 : (4)
Dynamics 2e 1703
Kinematic Equations. The system is released from rest, so
!b1 D 0: (5)
We denote
p by L and L0 the length and unstretched
p length of the spring, respectively. Using the law of cosines,
L1 D L2p C h2 2Lh cos.✓1 C 90ı / D L2 C h2 C 2Lh sin.✓1 / since cos.✓1 C 90ı / D sin.✓1 /.
Also, L2 D L2 C h2 . To find L0 , we recall that the system is in static equilibrium for ✓ D 0. Equating to
zero the moment of the forces about A when ✓ D 0, we have
X ⇣p ⌘ h
MAW mAB gL C mB g.2L C r/ k L2 C h 2 L 0 p LD0
L2 C h 2
p
L2 C h 2
) L0 D ŒkLh mAB gL mB g.2L C r/ç ) L0 D 0:1861 m; (6)
kLh
where we have used the following data: L D 18:2 cm D 18:2 24:6
100 m, h D 24:6 cm D 100 m, k D 2000 N=m,
2 6
mAB D 8 kg, g D 9:81 m=s , mB D 5 kg, and r D 6 cm D 100 m. Now that L0 is known, recalling that
✓1 D 30ı , using the data just listed along with the (full precision) value of L0 , we have
p p
ı1 D L2 C h2 C 2Lh sin ✓1 L0 D 0:03494 m and ı2 D L2 C h2 L0 D 0:1199 m: (7)
Computation. Substituting Eqs. (2), (4), and (5) into Eq. (1), we have
ŒmAB L C mB .2L C r/çg sin ✓1 C 12 kı12 D 12 IA !s2

2
C 12 kı22
rn o
) !s2 D k.ı12 ı22 / 2ŒmAB L C mB .2L C r/çg sin ✓1 =IA : (8)
Using the (full precision) values of ı1 , ı2 , IA found earlier, and recalling that k D 2000 N=m, mAB D 8 kg,
L D 18:2 cm D 18:2 6 ı
100 m, mB D 5 kg, r D 6 cm D 100 m, and ✓1 D 30 , we can evaluate !s2 to obtain
!s2 D 2:640 rad=s:
Problem 8.33
The uniform sphere B, of radius r D 6 cm and mass mB D 5 kg, is

rigidly attached to the uniform thin bar AB, which is pinned at A and
has a mass mAB D 8 kg. The system rotates in the vertical plane. The
spring CD has stiffness k D 2000 N=m and is designed so that the
system is in static equilibrium when ✓ D 0ı . Let L D 18:2 cm and
h D 24:6 cm.
If the system is released from rest when ✓ D 30ı , determine the
maximum angle ✓ reached by the arm AB.
Solution
Since the sphere B and the arm AB are rigidly attached to one another, we
model them as a composite rigid body pinned at A and therefore in a fixed
axis rotation about A. Referring to the figure to the right, since arm AB is
uniform, point C is the center of mass of AB. We denote by E the center
of the sphere. Point E is also the center of mass of the sphere. We assume
that the system is subject to the weight of the bar mAB g, the weight of the
sphere mB g, the reaction forces Ax and Ay at the pin A, and the spring
force Fs . We denote by ¿ the position at which the system is released.
We denote by ¡ the position corresponding to the maximum value of ✓ .
We choose the datum line to be the horizontal line going through point A.
We observe that gravity and the spring force, both conservative, are the only forces doing work on the system.
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by IA the mass moment of inertia of the
system about A and by !s the angular speed of the system,
2 2
T1 D 12 IA !s1 and T2 D 21 IA !s2 : (2)
The above form of the kinetic energy is due to the fact that the system is in fixed axis rotation about A.
Force Laws. Due to our choice of datum, and denoting by ı the stretch of the spring, we have
V1 D ŒmAB LCmB .2LCr/çg sin ✓1 C 12 kı12 and V2 D ŒmAB LCmB .2LCr/çg sin ✓2 C 12 kı22 : (3)
Kinematic Equations. The system is released from rest and the maximum value of ✓ corresponds to the
system coming temporarily to a stop. So,
!b1 D 0 and !b2 D 0: (4)
We denote by ` and `0 the length and unstretched length of the spring, respectively. The system is in
equilibrium for ✓ D 0 and we denote the equilibrium length of the spring by èq . Using the law of cosines,
q p
` D L2 C h2 2Lh cos.✓ C 90ı / D L2 C h2 C 2Lh sin ✓; (5)
Dynamics 2e 1705
which implies that

p `2 `2eq
èq D L2 C h 2 : and sin ✓ D
(6)
2Lh
To find `0 , we recall that the system is in static equilibrium for ✓ D 0. Equating to zero the moment of the
forces about A when ✓ D 0, we have
X ⇣p ⌘ h
MAW mAB gL C mB g.2L C r/ k L2 C h 2 ` 0 p LD0
L C h2
2
p
L2 C h 2
) `0 D ŒkLh mAB gL mB g.2L C r/ç ) `0 D 0:1861 m; (7)
kLh
where we have used the following data: L D 18:2 cm D 18:2
100 m, h D 24:6 cm D
24:6
100 m, k D 2000 N=m,
2 6
mAB D 8 kg, g D 9:81 m=s , mB D 5 kg, and r D 6 cm D 100 m.
Computation. Substituting Eqs. (4) into Eqs. (2), we have
T1 D 0 and T2 D 0: (8)
Letting
D ŒmAB L C mB .2L C r/çg; (9)
and using the last of Eqs. (6), we can rewrite Eqs. (3) as follows:
`21 `2eq `22 `2eq

V1 D C 12 k.`1 `0 /2 and V2 D C 12 k.`2 `0 /2 : (10)
2Lh 2Lh
Substituting Eqs. (8) and (10) into Eq. (1), we have
`21 `2eq `22 `2eq

C 12 k.`1 `0 /2 D C 12 k.`2 `0 /2
2Lh 2Lh
) .`22 `21 / D .`2 `1 /2 C 2.`2 `1 /.`1 `0 /; (11)
kLh
where we have multiplied through by 2=k and have used the identity `2 `0 D .`2 `1 / C .`1 `0 /.
Recalling that `22 `21 D .`2 C `1 /.`2 `1 /, the above expression can be further simplified to
2`0 kLh
.`2 C `1 / D `2 C `1 2`0 ) `2 D `1 : (12)
kLh kLh
Recalling that ✓2 D ✓max , using again Eqs. (6), we have

⇢ ✓ p ◆2
1 1 2`0 kLh
✓max D sin L2 C h2 C 2Lh sin ✓1 .L2 C h2 / ;
2Lh kLh ŒmAB L C mB .2L C r/çg
where we have also used the definition of in Eq. (9), and we have expressed `1 using Eq. (5). Using the
(full precision) value of `0 in the last of Eqs. (7), and recalling that L D 18:2 cm D 18:2
100 m, h D 24:6 cm D
24:6
m, k D 2000 N=m, m D 8 kg, g D 9:81 m=s 2 , m D 5 kg, r D 6 cm D 6 m, and ✓ D 30ı , we
100 AB B 100 1
can evaluate ✓max to obtain
✓max D 41:39ı :
Problem 8.34
A 500 lb spool with inner and outer radii ⇢ D 4 ft and R D 6 ft, respectively,
is released from rest on an incline with ✓ D 30ı . The center of the spool G
coincides with its center of mass, and the radius of gyration of the spool is
kG D 5 ft. Assume that the only forces acting on the spool after its release are
the spool’s weight, the tension in the cord, and the contact force between the
spool and the incline.
If the angular speed of the spool is !s2 D 1:2 rad=s after G has displaced
a distance d D 10 ft from the release position, determine the work done by
friction from the instant of release to when !s2 is achieved.
Solution
We model the disk as a rigid body subject to its own weight mg, the
contact forces N and F at the point of contact C with the ground
and the tension in the cord Fc . We denote by ¿ the position of
the spool at release, and ¡ the position of the spool after G has
displaced a distance d D 10 ft. Due to the action of the cord wound
around the spool, point O, where the cord comes off the spool, is
the instantaneous center of rotation of the spool. Therefore, since
the spool rolls counterclockwise, the point on the spool in contact
with the ground C must slide up the incline. This is why the force
Fc is shown pointing down the incline. We use subscripts 1 and 2
to to denote quantities at ¿ and ¡, respectively.
Balance Principles. Using the work-energy principle, we have

T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
where V is the potential energy of the spool, .U1-2 /nc is the work of the friction force F , and where, denoting
by IO the mass moment of inertia of the spool about O and by !s the angular speed of the spool,
2 2
T1 D 12 IO !s1 and T2 D 21 IO !s2 : (2)
The form of the kinetic energy in the above expressions is due to the fact that O is the instantaneous center of
rotation of the spool. For IO , we have
2
IO D m.kG C ⇢2 /: (3)
Force Laws. There is no explicit force law pertaining to .U1-2 /nc because .U1-2 /nc is the unknown of the
problem. For V , due to the choice of datum, we have
V1 D 0 and V2 D mgd sin ✓: (4)
Kinematic Equations. For !s , we have
!s1 D 0 and !s2 D 1:2 rad=s: (5)
Computation. Substituting Eqs. (2)–(4) and the first of Eqs. (5) into Eq. (1), we have
2
.U1-2 /nc D 12 m.kG C ⇢2 /!s2
2
mgd sin ✓ ) .U1-2 /nc D 2042 ft lb, (6)
where we have used the second of Eqs. (5) along with the following data: m D 500 lb=g, g D 32:2 ft=s2 ,
kG D 5 ft, ⇢ D 4 ft, d D 10 ft, and ✓ D 30ı we can evaluate .U1-2 /nc .
Dynamics 2e 1707
Problem 8.35
A 500 lb spool with inner and outer radii ⇢ D 4 ft and R D 6 ft, respectively,
is released from rest on an incline with ✓ D 30ı . The center of the spool G
coincides with its center of mass, and the radius of gyration of the spool is
kG D 5 ft. Assume that the only forces acting on the spool after its release are
the spool’s weight, the tension in the cord, and the contact force between the
spool and the incline.
If the spool starts moving immediately after release and the coefficient of
kinetic friction between the spool and the incline is k D 0:25, determine the
speed of G after G has displaced a distance d D 10 ft down the incline.
Solution
We model the disk as a rigid body subject to its own weight mg, the
contact forces N and F at the point of contact C with the ground
and the tension in the cord Fc . We denote by ¿ the position of
the spool at release, and ¡ the position of the spool after G has
displaced a distance d D 10 ft. Due to the action of the cord wound
around the spool, point O, where the cord comes off the spool, is
the instantaneous center of rotation of the spool. Therefore, since
the spool rolls counterclockwise, the point on the spool in contact
with the ground C must slide up the incline. This is why the force
Fc is shown pointing down the incline. We use subscripts 1 and 2
to to denote quantities at ¿ and ¡, respectively.
Balance Principles. Using the work-energy principle, we have

T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
where V is the potential energy of the spool, .U1-2 /nc is the work of the friction force F , and where, denoting
by IO the mass moment of inertia of the spool about O and by !s the angular speed of the spool,
2 2
T1 D 12 IO !s1 and T2 D 21 IO !s2 : (2)
The form of the kinetic energy in the above expressions is due to the fact that O is the instantaneous center of
rotation of the spool. For IO , we have
2
IO D m.kG C ⇢2 /: (3)
Force Laws. Since the spool does not move in the direction perpendicular to the incline, the force N must
equilibrate the component of the weight of the spool in the direction perpendicular to the inline. This implies
that N D mg cos ✓ and F D k mg cos ✓, the latter being a constant force. With this in mind, denoting by `
the distance over which F acts between ¿ and ¡, and due to the choice of datum, we have
V1 D 0; .U1-2 /nc D k mg` cos ✓; V2 D mgd sin ✓: (4)
Kinematic Equations. The distance d is the distance traveled by G. Therefore, keeping in mind that the
spool rolls without slipping relative to the cord, the number of revolutions of the spool between ¿ and ¡
is d=⇢. In turn, this means that the displacement of the point of contact with the ground between ¿ and
¡ is dR=⇢. Also, we recall that the system is released from rest, and, again because of the rolling without
slipping, !s D vG =⇢. Summarizing,
` D dR=⇢; !s1 D 0; !s2 D vG2 =⇢: (5)

s
1 2 2 2 2 2gd⇢.⇢ sin ✓ k R cos ✓ /
k mgdR cos ✓=⇢ D 2 m.kG C ⇢ /.vG2 =⇢ / mgd sin ✓ ) vG2 D 2
:
kG C ⇢ 2
Recalling that g D 32:2 ft=s2 , d D 10 ft, ⇢ D 4 ft, ✓ D 30ı , k D 0:25, R D 6 ft, and kG D 5 ft, we can
evaluate vG2 to obtain
vG2 D 6:636 ft=s:
Dynamics 2e 1709
Problem 8.36
A 400 lb uniform disk with center G and radius r D 3 ft is connected

by a pulley system to a counterweight A weighing 75 lb. The system
is initially at rest when A is allowed to drop, thus causing the disk to
roll without slipping to the right.
Neglecting the inertia of the pulley system, determine the speed of
G after A has dropped 2 ft.
Solution
Referring to the figure at the right, we consider a FBD of the system
as a whole, in which we include both pulleys (with negligible inertia),
we model the disk as a rigid body, and we model A as a particle. We
treat the cord as inextensible and we neglect its inertia. The external
forces we consider are the weight of the disk md g, the contact force
with components F and N , the weight of the counterweight mA g,
the reaction forces holding pulleys C in place, and the reaction R at
the fixed point D. Since A is only translating we will model it as a
particle. We will use a Cartesian coordinate system xy with the x
axis going through pulley C . The x axis is also chosen as our datum
line. We denote by ¿ the position of the system at release. We denote by ¡ the position of the system after
the counterweight has dropped a distance h D 2 ft. We use subscripts 1 and 2 to denote quantities at ¿ and ¡,
respectively. Because the disk rolls without slipping, gravity, which is conservative, is the only force doing
work.
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by vA the speed of A, by IP the mass
moment of inertia of the disk about P , and by !d the angular speed of the disk,
2 2
T1 D 12 IP !d1 C 12 mA vA1 and T2 D 21 IP !d2 2 C 12 mA vA2
2
: (2)
The form of the kinetic energy of the disk is due to the fact that the disk rolls without slipping. For IP , we
have
IP D 12 md r 2 C md r 2 D 32 md r 2 : (3)

V1 D mA gyA1 and V2 D mA g.yA1 C h/: (4)
Kinematic Equations. Letting L denote the length of the cord, we have
L D xG C 2yA ) 0 D xP G C 2yPA ) vA D vG =2; (5)
where vG denotes the speed of G, and where we have enforced the fact that speeds can only be nonnegative.
Since the disk rolls without slipping, !d D vG =r. Recalling that the system is released from rest, we can
summarize the kinematic equations for this problem as follows:
!d1 D 0; vA1 D 0; !d 2 D vG2 =r; vA2 D vG2 =2: (6)
Computation. Substituting Eqs. (2)–(4) and Eqs. (6) into Eq. (1), we have
s
3 2 1 2 8mA gh
mA gyA1 D 4 md vG2 C 8 mA vG2 mA g.yA1 C h/ ) vG2 D :
6md C mA
Recalling that mA D 75 lb=g, g D 32:2 ft=s2 , h D 2 ft, and md D 400 lb=g, we can evaluate vG2 to obtain
vG2 D 3:951 ft=s:
Dynamics 2e 1711
Problem 8.37
A 400 lb uniform disk with center G and radius r D 3 ft is connected

by a pulley system to a counterweight A weighing 75 lb. The system
is initially at rest when A is allowed to drop, thus causing the disk to
roll without slipping to the right.
Neglect the inertia of pulley B and the cord, but model pulley C
as a uniform disk with radius rC D 0:8 ft and weight WC D 50 lb.
Assuming the cord does not slip relative to pulley C , determine the
speed of G after A has dropped 2 ft.
Solution
Referring to the figure at the right, we consider a FBD of the system

as a whole, in which we include pulley B (with negligible inertia),
we model pulley C as a rigid body in fixed axis rotation about its
own center, we model the disk as a rigid body, and we model A
as a particle. We treat the cord as inextensible and we neglect its
inertia. The external forces we consider are the weight of the disk
md g, the contact force with components F and N , the weight of the
counterweight mA g, the reaction forces holding pulleys C in place,
and the reaction R at the fixed point D. Since A is only translating
we will model it as a particle. We will use a Cartesian coordinate
system xy with the x axis going through pulley C . The x axis is also chosen as our datum line. We denote
by ¿ the position of the system at release. We denote by ¡ the position of the system after the counterweight
has dropped a distance h D 2 ft. We use subscripts 1 and 2 to denote quantities at ¿ and ¡, respectively.
Because the disk rolls without slipping, gravity, which is conservative, is the only force doing work.
T1 C V1 D T2 C V2 ; (1)
moment of inertia of the disk about P , by !d the angular speed of the disk, by IC the mass moment of inertia
of pulley C about its own center, and by !C the angular speed of pulley C ,
2 2 2
T1 D 12 IP !d1 C 12 mA vA1 C 12 IC !C1 and T2 D 12 IP !d2 2 C 12 mA vA2
2 2
C 12 IC !C 2: (2)
The form of the kinetic energy of the disk is due to the fact that the disk rolls without slipping and pulley C
is in fixed axis rotation about C . For IP and IC , we have
IP D 12 md r 2 C md r 2 D 32 md r 2 and IC D 12 mC rC2 : (3)
Kinematic Equations. Letting L denote the length of the cord, we have
L D xG C 2yA ) 0 D xP G C 2yPA ) vA D vG =2; (5)
where vG denotes the speed of G, and where we have enforced the fact that speeds can only be nonnegative.
Since the disk rolls without slipping, !d D vG =r. IN addition, we observe that since the cord rolls without
slip relative to pulley C , the angular speed of this pulley must be vG =rC . Recalling that the system is released
from rest, we can summarize the kinematic equations for this problem as follows:
!d1 D 0; vA1 D 0; !C1 D 0; !d 2 D vG2 =r; vA2 D vG2 =2; !C 2 D vG2 =rC : (6)
s
2 2 2 8mA gh
mA gyA1 D 34 md vG2 C 18 mA vG2 C 14 mC vG2 mA g.yA1 C h/ ) vG2 D :
6md C mA C 2mC
Recalling that mA D 75 lb=g, g D 32:2 ft=s2 , h D 2 ft, and md D 400 lb=g, we can evaluate vG2 to obtain
vG2 D 3:874 ft=s:
Dynamics 2e 1713
Problem 8.38
In a contraption built by a fraternity, a person sits at the center of

a swinging platform with mass m D 400 kg and length L D 4 m
suspended by two identical arms of length H D 3 m.
Neglecting the mass of the arms and of the person, neglecting
friction, and assuming that the platform is released from rest when
✓ D 180ı , compute the speed of the person as a function of ✓ for
0ı  ✓  180ı . In addition, find the speed of the person for ✓ D 0ı .
Solution
The FBD shown at the right if for the system consisting of the plat-
form and the two arms. The platform is modeled as a rigid body in
curvilinear translation whereas the two arms AB and CD are in fixed
axis rotations about A and D, respectively. Neglecting the inertia
of the arms, the only work done on the system is due to the weight
of the platform, which is a conservative force. We denote by ¿ the
position of the system at release. We denote by ¡ the position of the
system for a generic value of ✓. We use subscripts 1 and 2 to denote
quantities at ¿ and ¡, respectively.
T1 C V1 D T2 C V2 ; (1)
where, V is the potential energy of the system, and where, denoting by vG the speed of the center of mass of
the platform,
2 2
T1 D 12 mvG1 and T2 D 12 mvG2 : (2)
The specific form of the kinetic energy of the platform is due to the fact that the platform is in a curvilinear
translation.
V1 D 2mgH and V2 D mgH.1 cos ✓/: (3)
Kinematic Equations. The system is released from rest
vG1 D 0: (4)

2
p
2mgH D 12 mvG C mgH.1 cos ✓/ ) vG2 D 2gH.1 C cos ✓/: (5)
Since the person moves with the platform, and recalling that g D 9:81 m=s2 and H D 3 m, we have
p
vperson D 2gH.1 C cos ✓/ and vperson j✓ D0ı D 10:85 m=s:
Problem 8.39
In a contraption built by a fraternity, a person sits at the center of

a swinging platform with mass m D 400 kg and length L D 4 m
suspended by two identical arms of length H D 3 m.
Neglecting the mass of the person, neglecting friction, letting the
mass of each arm be mA D 150 kg, and assuming that the platform is
released from rest when ✓ D 180ı , compute the speed of the person
as a function of ✓ for 0ı  ✓  180ı . In addition, find the speed of
the person for ✓ D 0ı .
Solution
The FBD shown at the right if for the system consisting of the plat-
form and the two arms. The platform is modeled as a rigid body
in curvilinear translation whereas the two arms AB and CD are in
fixed axis rotations about A and D, respectively. The only work done
on the system is due to the weights of the platform and the arms, all
of which are conservative forces. We denote by ¿ the position of the
system at release. We denote by ¡ the position of the system for a
generic value of ✓. We use subscripts 1 and 2 to denote quantities at
¿ and ¡, respectively.
T1 C V1 D T2 C V2 ; (1)
the platform, by IA the mass moment of inertia of arm AB about A, and by !AB the angular speed of AB,
2 1 2 2
T1 D 12 mvG1 C 2 12 IA !AB1 and T2 D 12 mvG2 C 2 12 IA !AB2 : (2)
translation, and the fact that arms AB and BC are identical and move in identical ways, and that AB is in a
fixed axis rotation about A. Using the parallel axis theorem, for IA , we have
✓ ◆2
2 H
IA D 1
12 mA H C mA D 13 mA H 2 : (3)
2

1
V1 D 2mgH C 2mA g.3H=2/ and V2 D mgH.1 cos ✓/ C 2mA gH.1 2 cos ✓/: (4)
Kinematic Equations. The system is released from rest. Also, by the geometry of the system we must
have that !AB D vG =H . So,
vG1 D 0; !AB1 D 0; !AB2 D vG2 =H: (5)
Dynamics 2e 1715
2 2
2mgH C 3mA gH D 12 mvG2 C 13 mA vG2 C mgH.1 cos ✓/ C 2mA gH.1 1
2 cos ✓/
s
.m C mA /.1 C cos ✓/
) vG2 D 6gH : (6)
3m C 2mA
Since the person moves with the platform, and recalling that g D 9:81 m=s2 , H D 3 m, m D 400 kg,
mA D 150 kg we have
s
.m C mA /.1 C cos ✓/
vperson D 6gH and vperson j✓ D0ı D 11:38 m=s:
3m C 2mA
Problem 8.40
The weights of the uniform thin pin-connected bars AB, BC, and CD are WAB D 4 lb, WBC D 6:5 lb, and
WCD D 10 lb, respectively. Letting D 47ı , R D 2 ft, L D 3:5 ft, and H D 4:5 ft, and knowing that
bar AB rotates at an angular velocity !AB D 4 rad=s, compute the kinetic energy T of the system at the
instant shown.
Solution
The kinetic energy of the system is the sum of the kinetic energies of each individual component, i.e.,
T D TAB C TBC C TCD : (1)
Bars AB and CD are in fixed axis rotations about A and D respectively. Hence, letting G denote the mass
center of bar BC , we have
2 2 2 2
TAB D 12 IA !AB ; TBC D 12 mBC vG C 12 IG !BC ; and TCD D 12 ID !CD ; (2)
where IA is the mass moment of inertia of bar AB about A, IG is the mass moment of inertia of bar BC
about its own mass center G, and ID is the mass moment of inertia of bar CD about D, i.e.,
1 2 2 2
IA D 12 mAB R C mAB .R=2/ D 0:1656 slug ft ; (3)
1 2 2
IG D 12 mBC L D 0:2061 slug ft ; (4)
1 2 2 2
ID D 12 mCD H C mCD .H=2/ D 2:096 slug ft ; (5)
where, recalling that the acceleration due to gravity is g D 32:2 ft=s2 , we have used the following numerical
data: mAB D 4 lb=g, R D 2 ft, mBC D 6:5 lb=g, L D 3:5 ft, mCD D 10 lb=g, and H D 4:5 ft.
We now determine !BC , vG , and !CD . The position of vectors of B relative to A, C relative to B, and
D relative to C are, respectively,
rEB=A D R |O; rEC =B D L {O; and rED=C D H.cos {O sin |O/: (6)
Then we have
vEB D !AB kO ⇥ rEB=A D R!AB {O; (7)

vEC D vEB C !BC kO ⇥ rEC =B D R!AB {O C !BC L |O; (8)
vED D vEC C !CD kO ⇥ rED=C D .H !CD sin R!AB / {O C .L!BC C H !CD cos / |O: (9)
E which then implies

Since D is a fixed point, we must have vED D 0,
R cos R
!BC D !AB D 2:131 rad=s and !CD D !AB D 2:431 rad=s; (10)
L sin H sin
Dynamics 2e 1717
where we have used the following numerical data: !AB D 4 rad=s, R D 2 ft, L D 3:5 ft, and D 47ı . Then,
using the first of Eqs. (10), we have that the velocity of G is
cos
vEG D vEB C !BC kO ⇥ 12 rEC =B D R!AB {O 1
2 R!AB sin |O
✓ ◆
1 cos
2
) 2
vG DR 2 2
!AB 1C 4 2
D 77:91 ft2 =s2 ; (11)
sin
where we have used some of the same numerical data listed earlier. Substituting Eq. (3) into the first of
Eq. (2) and recalling that !AB D 4 rad=s, we have
TAB D 1:325 ft lb: (12)
Substituting the numerical results in Eq. (4), the first of Eqs. (10), and Eq. (11) into the second of Eq. (2), we
have
TBC D 8:332 ft lb: (13)
Finally, substituting the numerical results in Eq. (5) and in the second of Eqs. (10), we have
TCD D 6:193 ft lb: (14)
Keeping in mind that, although results are reported to four significant figures, the full precision of the results
obtained thus far is retained in the final result, summing the last three results, we have
T D 15:85 ft lb:
Problem 8.41
A payload B of mass mB D 50 kg is lifted via the pulley system shown by the application
of a constant force F D 300 N. The pulleys are identical and can be modeled as uniform
disks of radius rp D 10 cm and mass mp D 8 kg. The cord does not slip relative to the
pulleys. Modeling the cord as inextensible and neglecting friction at the pulley bearings,
determine the speed of B after B has been lifted a height h D 1 m from its initial rest
position. Treat all cable segments as being purely vertical.
Solution
We model the payload as a particle subject to its own weight mB g and, following
the problem statement, we model the pulleys as uniform disks, each subject to its
own weight mp g. We denote by A the top pulley and by D the pulley that moves
with B. Since the pulleys do not slip relative to the cord, pulley D rolls without
slip on the piece of cord hanging vertically down from A. In turn, A is in a rotation
about a fixed axis. We denote by CA the center and center of mass of pulley A.
Similarly, we denote by CD the center and center of mass of pulley D. We note
that pulley A is also subject to a vertical reaction force R that is responsible for
preventing the vertical motion of A. Finally, we denote by E the moving end of the
cord at which the force F is applied. We denote by ¿ the position of the system
when it is first put in motion. We denote by ¡ the position of the system after B
has been lifted by h. We use subscripts 1 and 2 to denote quantities at ¿ and ¡,
respectively.

T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by vB the speed of B, by vCD the speed
of CD , by !D the angular peed of D, by !A the angular speed of A, by ICA the mass moment of inertia f
pulley A about its center of mass, and by ICD the mass moment of inertia of pulley D about its own center of
mass,
2 2
T1 D 12 mB vB1 C 12 ICA !A1 C 12 mp .vCD /21 C 12 ICD !D1
2
(2)
1 2 1 2 1 2 1 2
T2 D 2 mB vB2 C 2 ICA !A2 C 2 mp .vCD /2 C 2 ICD !D2 : (3)
The specific form of the kinetic energies in the above equations accounts for the fact that A is in a fixed axis
rotation about its center. For ICA and ICD we have
ICA D 12 mp rp2 and ICD D 12 mp rp2 : (4)
Force Laws. Since D and B travel together, for V we have
V1 D .mB C mp /gyB1 and V2 D .mB C mp /g.yB1 h/: (5)
Since F is constant and E is the point of application of F ,
.U1-2 /nc D F .yE 2 yE1 /: (6)
Dynamics 2e 1719
Kinematic Equations. Denoting by L the length of the cord, we have
L D 2yB C yE ) yE 2 yE1 D 2h and vE D 2vB ; (7)
where we have accounted for the fact that speed is, by definition, nonnegative. We now observe that the cord
does not slip relative to either A or D and that D moves with B. Hence, we must have
!A D vE =rp D 2vB =rp ; vD D vB ; !D D vB =rp : (8)
Recalling that the system starts from rest, the kinematic equations for this problem are
vB1 D 0; !A1 D 0; .vCD /1 D 0; !D1 D 0;

(9)
!A2 D 2vB2 =rp ; .vCD /2 D vB2 ; !D2 D vB2 =rp ; yE 2 yE1 D 2h:
2 2 2 2
.mB C mp /gyB1 C 2F h D 12 mB vB2 C mp vB2 C 12 mp vB2 C 14 mp vB2 .mB C mp /g.yB1 h/
s
8F h 4.mB C mp /gh
vB2 D : (10)
2mB C 7mp
Recalling that F D 300 N, h D 1 m, mB D 50 kg, mp D 8 kg, and g D 9:81 m=s2 , we can evaluate vB2 to
obtain
vB2 D 0:8918 m=s:
Problem 8.42
A winch drawing 9 hp powers a pulley system lifting a 600 lb crate C with a constant
speed vc . The pulleys are all identical and have a radius rp D 1:25 ft. The cord is
inextensible and does not slip relative to the pulleys. For each pulley, the friction
at the pulley bearings produces a moment about the pulley’s center with magnitude
j!p j opposing the rotation of the pulley, where  D 1:5 lb ft s and j!p j is the angular
speed of the pulley. Neglecting the inertia of the pulleys and of the cord, and treating
segments of cord that do not touch the pulleys as being vertical, determine vc if the
motor’s efficiency is ✏ D 0:87. Hint: Adapt to this problem the solution in Part (a) of
Example 4.16 on p. 300, observing that friction at the pulley bearings causes the tension
in the cord on the two sides of a pulley to be different.
Solution
We model the crate as a particle subject only to its own weight mc g
and to the tension F1 in the cord connecting C to pulley B. Pulley B
is modeled as a massless rigid body subject to tensions F1 , F2 , F3 , and
F4 as well as to the friction moment M1 . Pulley A is modeled as a
massless rigid body subject to tensions F2 , F3 , and F5 , as well as the
moment due to friction M2 . Finally, pulley D is modeled as a massless
rigid body subject to tensions F4 , F6 , and F7 , as well as the friction
moment M3 . The direction of the moments has been chosen so as to
oppose the direction of rotation of each pulley. Points GA , GB , and GD
are the centers of pulleys A, B, and C , respectively. Following the hint,
we structure the solution of this problem as shown in Example 4.16
on p. 300 of the textbook. Specifically, our primary objective is to
determine the tension in the portion of the cord that is wound on the
winch, namely, F7 . Then, we will relate that tension to the actual power output of the motor. Since the
inertia of the pulleys is being neglected and the speed of the crate is constant, the equations that determine
the tensions F1 through F7 are all equilibrium equations.
Balance Principles. Writing the equilibrium equation for each part of the system, we
⇣X ⌘
Fy W mc g F1 D 0; (1)
⇣X ⌘c
Fy W F2 C F3 F5 D 0; (2)
A
⇣X ⌘
MGA W F2 rp F3 rp M2 D 0; (3)
⇣X ⌘ A
Fy W F1 F2 F3 F4 D 0; (4)
B
⇣X ⌘
MGB W F2 rp C F4 rp M1 D 0; (5)
⇣X ⌘ B
Fy W F4 C F7 F6 D 0; (6)
D
⇣X ⌘
MGD W F4 rp F7 rp C M3 D 0: (7)
D
Force Laws. Letting !A , !B , and !D denote the angular speeds of pulleys A, B, and D, respectively, we
have
M1 D !B ; M2 D !A ; M3 D !D : (8)
Dynamics 2e 1721
Kinematic Equations. Points on the portion of the cord immediately to the right of A move with the same
speed as the crate, i.e., vc . Pulley A is in a fixed axis rotation about its center and the cord does not slip
relative to it. Hence, !A D vc =rp . Points on the cord immediately to the left of A also travel with a speed vc .
Hence, enforcing again rolling without slipping, we conclude that !B D 2vc =rp . Proceeding in a similar
way, we also conclude that !D D 3vp =rp . Finally, points on the cord immediately to the right of pulleys D
travel with a speed equal to 3vc . In summary, we have
vc vc vc
!A D ; !B D 2 ; !D D 3 : (9)
rp rp rp
Computation. Substituting Eqs. (8) and (9) into Eqs. (1)–(7), one obtains a system of seven equations
in the seven unknowns Fi , i D 1; : : : ; 7. The solution of this system of equations is possibly tedious but
otherwise straightforward, and is as follows:
✓ ◆ ✓ ◆ ✓ ◆
vc 4vc 5vc
F1 D mc g; F2 D 13 mc g ; F 3 D 1
3 m c g ; F4 D 1
3 m c g C ;
rp2 rp2 rp2
✓ ◆ ✓ ◆ ✓ ◆ (10)
5vc 19vc 14vc
F5 D 13 2mc g ; F 6 D 1
3 2m c g C ; F 7 D 1
3 m c g C :
rp2 rp2 rp2
The winch power output is equal to the power developed by the tension in the cord that winds around the
winch, namely, F7 . Since the speed of points on the cord winding around the winch is equal to 3vc , the
power output of the winch is Po D 3vc F7 . Recalling the relationship between power output, power input,
and efficiency, we have
14
mc gvc C 2 vc2 D Pi ✏: (11)
rp
The above equation in an algebraic second order equation in vc whose solution is
q
mc grp2 C .mc grp2 /2 C 56Pi rp2 ✏
vc D ; (12)
28
where we have selected the only root that is consistent with the fact that vc is a speed and therefore nonnegative.
Recalling that mc D 600 lb=g, g D 32:2 ft=s2 , rp D 1:25 ft, Pi D 9 hp D 9.550/ lb ft=s,  D 1:5 lb ft s,
and ✏ D 0:87, we can evaluate vc to obtain
vc D 6:291 ft=s:
Problem 8.43
A 10 lb uniform thin bar BC of length L D 10 ft is pinned at B to

the edge of a 20 lb uniform disk of radius R D 3:5 ft. The system
is initially at rest in the position shown when a constant horizontal
force P D 60 lb is applied to the end C . Assume that the disk
rolls without slip. In addition, neglect the friction between the
end C of the bar and the ground, as well as the friction at the pin.
Determine the angular speed of the disk when point B is directly
above the center of the disk. Hint: To determine the displacement
of point C , keep in mind that the overall displacement of point A
is ⇡R=2.
Solution
We model the bar and the disk as rigid bodies and we sketch the
FBDs of these two objects separately. In addition to the applied
force P , the only forces we include in the FBDs are the weight of
the bar mb g, the weight of the disk md g, the reaction contact force
NC at C , the contact forces NO and F at point O where the disk
touches the ground, and the pin reactions Bx and By . We denote by
¿ the initial position of the system when B is at a distance R above
the ground. We denote by ¡ the position at which B is directly
above the center of the disk. We denote by Gb the center of mass
of the bar. The center of the disk A is also the center of mass of
the disk. We use subscripts 1 and 2 to denote quantities at ¿ and
¡, respectively.
Balance Principles. Applying the work-energy principle,
T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)

by vGb the speed of Gb , by !b the angular speed of the bar, by IGb
the mass moment of inertia of the bar relative to its own mass center,
by !d the angular speed of the disk, and by IO the mass moment
of inertia of the disk relative to its own mass center,
T1 D 12 mb .vGb /21 C 12 IGb !b1

2 2
C 12 IO !d1 ;
(2)
T2 D 12 mb .vGb /22 C 12 IGb !b2
2
C 12 IO !d2 2 :
The form of the kinetic energy of the disk is due to the fact that O
is the instantaneous center of rotation of the disk. For IGb and IO ,
we have
2
IGb D 1
12 mb L and IO D 12 md R2 Cmd R2 D 32 md R2 : (3)
Force Laws. Denoting by d the displacement of C between ¿ and ¡, and due to the choice of datum, we
have
V1 D 12 mb gR; .U1-2 /nc D P d; V2 D mb gR: (4)
Dynamics 2e 1723
Kinematic Equations. Referring to the bottom two figures, denoting by xA and xC the x coordinates of A
and C , respectively,
⇣ p ⌘ ⇣ p ⌘
xC 2 xC1 D xA2 L2 4R2 xA1 L2 R 2 R : (5)
Therefore, using the hint that states that xA2 xA1 D ⇡R=2, and recalling that d D xC 2 xC1 , we have
p p
d D 12 ⇡R C R C L2 R2 L2 4R2 : (6)
Using the concept of instantaneous center of rotation, we notice that the IC of the bar in ¡ is at infinity and
therefore the angular velocity of the bar in ¡ is equal to zero. Furthermore, this also implies that the speed of
Gb in ¡ is identical to that of B, which is 2!d 2 R. So, recall that the system is initially at rest, we have
.vGb /1 D 0; !b1 D 0; !d1 D 0; .vGb /2 D 2!d R; !b2 D 0: (7)
Computation. Substituting Eqs. (2)–(4), and Eqs. (7) into Eq. (1), we have
s
4P d 2mb gR
1
2 mb gR C P d D 2mb R2 !d2 2 C 34 md R2 !d2 2 C mb gR ) !d 2 D : (8)
.8mb C 3md /R2
Recalling that d is given in Eq. (6), and recalling that P D 60 lb, R D 3:5 ft, L D 10 ft, mb D 10 lb=g,
g D 32:2 ft=s2 , and md D 20 lb=g, we can evaluate !d 2 to obtain
!d 2 D 7:019 rad=s:
Problem 8.44
The two blocks A and B weighing 30 lb and 25 lb, respectively, are released from
rest. The pulleys are identical and can be modeled as uniform disks of radius
rp D 0:75 ft and weight Wp D 8 lb. Modeling the cord as inextensible and
neglecting friction at the pulley bearings, determine the speed of A after B has
dropped a height h D 3 ft.
Solution
We model A and B as a particles subject to their respective weights mA g and mB g.

We model the pulleys as uniform disks. Each pulley is subject to its own weight
mp g. We denote by D the top pulley and by E the pulley that moves with A.
Since the pulleys do not slip relative to the cord, pulley E is rolling without slip
on the piece of cord hanging vertically down from the right hook. Pulley D is in
a fixed axis rotation. We denote by CD the center and center of mass of pulley D.
Similarly, we denote by CE the center and center of mass of pulley E. The pulley
system is also subject to the vertical reaction forces R and F that are responsible
for keeping pulley D and the right end of cord from moving vertically. We denote
by ¿ the position of the system at release, and by ¡ the position of the system after
B has moved down a distance h. We use subscripts 1 and 2 to denote quantities
at ¿ and ¡, respectively. We observe that work is done only by gravity, which is
a conservative force.
Balance Principles. Applying the work-energy principle as statement of conservation of energy, we have
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by vA and vB the speeds of A and B,
respectively, by vCE , !E and ICE the speed, angular speed, and mass moment of inertia about CE of pulley
E, respectively, by !D and ICD the angular speed and mass moment of inertia about CD of pulley D,
2 2 2
T1 D 12 mA vA1 C 12 mB vB1 C 12 ICD !D1 C 12 mp .vCE /21 C 12 ICE !E1
2
2 2 2
(2)
T2 D 12 mA vA2 C 12 mB vB2 C 12 ICD !D2 C 12 mp .vCE /22 C 12 ICE !E
2
2:
The form of the contribution to the kinetic energy of pulley D is due to the fact that D is a fixed axis rotation.
For ICD and ICE we have
ICD D 12 mp rp2 and ICE D 12 mp rp2 : (3)
Force Laws. Due to the choice of datum and observing that A and B move together,
V1 D .mA C mp /gyA1 mB gyB1 and V1 D .mA C mp /gyA2 mB g.yB1 C h/: (4)
Dynamics 2e 1725
Kinematic Equations. Denoting by L the length of the cord,

1
L D 2yA C yB ) yA2 D yA1 2h and vB D 2vA ; (5)
where we have enforced the requirement that speeds be nonnegative. The points on the branch of the cord to
the right of E do not move. So, since E rolls without slip over the branch of cord in question, and since E
moves with A, we have that !E D vA =rp . Points on the cord to the left of D move with speed vB . Since the
cord going around D does not slip relative to D, we must have !D D vB =rp . So, recalling that the system is
released from rest, we can summarize the kinematic equations for this problem as follows:
vA1 D 0; vB1 D 0; !D1 D 0; .vCE /1 D 0; !E1 D 0;

(6)
vB2 D 2vA2 ; !D1 D 2vA2 =rp ; .vCE /2 D vA2 ; !E1 D vA2 =rp :
2 2 2 2 2
.mA C mp /gyA1 mB gyB1 D 12 mA vA2 C 2mB vA2 C mp vA2 C 12 mp vA2 C 14 mp vA2
1
(7)
.mA C mp /g.yA1 2 h/ mB g.yB1 C h/;
where we have also accounted for the second of Eqs. (5). Simplifying and solving for vA2 , we have
s s
2mB mA mp 2mB mA mp
vA2 D 2gh ) vB2 D 2 2gh ; (8)
2mA C 8mB C 7mp 2mA C 8mB C 7mp
where the last of Eqs. (8) is due to the last of Eqs. (5). Recalling that g D 32:2 ft=s2 , h D 3 ft, mB D 25 lb=g,
mA D 30 lb, and mp D 8 lb=g, we can evaluate vA2 and vB2 to obtain
vA2 D 2:709 ft=s and vB2 D 5:417 ft=s:
Problem 8.45
An eccentric wheel with mass m D 150 kg, mass center G, and radius of
gyration kG D 0:4 m is placed on the incline shown, such that the wheel’s
center of mass G is vertically aligned with P , which is the point of contact
with the incline. If the wheel rolls without slip once it is gently nudged away
from its initial placement, letting R D 0:55 m, h D 0:25 m, ✓ D 25ı , and
d D 0:5 m, determine whether the wheel arrives at B and, if yes, determine the
corresponding speed of the center O. Note that the angle POG is not equal to
90ı at release.
Solution
We model the wheel as a rigid body subject to its own weight mg and the components N and F of the
contact force with the incline. Since the wheel rolls without slip, work is done only by gravity, which is a
conservative force. We denote by ¿ the position of the system at release. We denote by ¡ the position of the
system corresponding to the coincidence of the point of contact between the wheel and the incline with B.
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by vG the speed of the mass center G of
the wheel, by !w the angular speed of the wheel, and by IG the mass moment of inertia of the wheel about
G,
2 2 2
T1 D 12 mvG1 C 12 IG !d1 and T2 D 12 mvG2 C 12 IG !d2 2 : (2)
For IG we have
2
IG D mkG : (3)
Force Laws. Due to the choice of datum, we have
V1 D mg.R cos ✓ C h sin 1/ and V2 D mg.R cos ✓ C h sin 2 C d sin ✓/: (4)
Kinematic Equations. To evaluate V1 and V2 we need 1 and 2. At ¿ G is directly above P so that

1
h cos 1 D R sin ✓ ) 1 D cos Œ.R= h/ sin ✓ç D 0:3770 rad; (5)
where we have used the data R D 0:55 m, h D 0:25 m, and ✓ D 25ı . In going from ¿ to ¡, the center of the
wheel displaces a distance d up the incline while the wheel rolls without slip. Hence, we must have
1
2 D 1 d=R D cos Œ.R= h/ sin ✓ç d=R D 0:5321 rad; (6)
Dynamics 2e 1727
where we have used the data R D 0:55 m, h D 0:25 m, ✓ D 25ı , and d D 0:5 m. As far as speeds are
concerned, recalling that the system starts from rest, due to rolling without slip we have
!w1 D 0; vG1 D 0; !w2 D vO2 =R; vG2 D .vO2 =R/dBG2 ; (7)
where dBG2 is the distance between B and G at ¡, which, using the law of cosines, is given by
q q
dBG2 D R C h 2 2 2Rh cosŒ.⇡=2/ rad ✓ C 2 ç D R2 C h2 C 2Rh sin. 2 ✓ /; (8)
where we have used the trigonometric identity cosŒ.⇡=2/ C ˇç D sin ˇ.
Computation. Using Eqs. (7) and (8), we can rewrite Eqs. (2) as follows:
2 h i
vO2
T1 D 0 and T2 D 12 m k 2 C R2 C h2 C 2Rh sin. 2 ✓/ : (9)
R2 G
2 h i
1 vO2 2 2 2
mg.R cos ✓ C h sin 1/ D 2 m k C R C h C 2Rh sin. 2 ✓/
R2 G
C mg.R cos ✓ C h sin 2 C d sin ✓/; (10)
which can be solved for vO2 to obtain

s
2gŒh.sin 1 sin 2 / d sin ✓ç
vO2 D R 2
: (11)
kG C R2 C h2 C 2Rh sin. 2 ✓/
Using the (full precision) values of 1 and 2 from Eqs. (5) and (6), and recalling that R D 0:55 m,
g D 9:81 m=s2 , h D 0:25 m, d D 0:5 m, ✓ D 25ı , and kG D 0:4 m, we can evaluate vO2 and conclude that
If nudged away from equilibrium, the wheel does arrive at B and vO2 D 0:3877 m=s.
Problem 8.46
A spool of mass ms D 150 kg and inner and outer radii ⇢ D 0:8 m

and R D 1:2 m, respectively, is connected to a counterweight A of
mass mA D 50 kg by a pulley system whose cord, at one end, is
wound around the inner hub of the spool. The center G of the spool
is also the center of mass of the spool, and the radius of gyration of
the spool is kG D 1 m. The system is at rest when the counterweight
is released, causing the spool to move to the right. Assume that the
spool rolls without slip.
Neglecting the inertia of the pulley system, determine the angular
speed of the spool after the counterweight has dropped 0:5 m.
Solution
We model A as a particle and the spool as a rigid body rolling without

slip on a flat horizontal surface. We treat the cord as inextensible and
we neglect its inertia. The external forces included in the FBD of the
system are the weight of the spool ms g, the contact force between the
spool and the ground with components F and N , the weight of the
counterweight mA g, and the reaction forces holding pulleys C and D
in place. We use a xy Cartesian coordinate system with the x axis
going through pulley D. The x axis is also chosen as our datum line.
We denote by ¿ the position of the system at the time of release. We
denote by ¡ the position of the system after the counterweight has dropped a distance h D 0:5 m below ¿.
We use subscripts 1 and 2 to denote quantities at ¿ and ¡, respectively. We observe that the only force doing
work is gravity, which is conservative.
Balance Principles. Applying the work-energy principle as a statement of observation of energy, we have
T1 C V1 D T2 C V2 ; (1)
moment of inertia of the spool about P , and !s the angular speed of the spool,
2 2 2 2
T1 D 12 mA vA1 C 12 IP !s1 and T2 D 21 mA vA2 C 12 IP !s2 : (2)
The form of kinetic energy of the spool is due to the fact that the spool tools without slip and that the point of
contact between the spool and and the ground is the instantaneous center of rotation of the spool. Using the
parallel axis theorem, for IP , we have
2
IP D ms kG C R2 : (3)
Dynamics 2e 1729
L D xQ C 3yA ) P D xP Q C 3yPA ;
L (5)
where, for a counterclockwise rotation of the spool, LP measures the time rate of change of the amount of
cord wound onto the spool. As such, L P measures the component of velocity Q relative to G. With this in
mind, because the spool rolls without slipping, we have xP Q D .R C ⇢/!s and LP D ⇢!s . Therefore, using
the last of Eqs. (5), we conclude that
vA D 13 .R C 2⇢/!s ; (6)
where we have enforced the requirement that speeds be positive. Hence, recalling that the system is initially
at rest, we can summarize the kinematic equations for this problem as follows:
vA1 D 0; !s1 D 0; vA2 D 13 .R C ⇢/!s2 : (7)
mA gyA1 D 1
18 mA .R C 2⇢/2 !s2
2 2
C 12 ms .kG C R2 /!s2
2
mA g.yA1 C h/
s
18mA gh
) !s2 D 2
: (8)
mA .R C 2⇢/2 C 9ms .kG C R2 /
Recalling that mA D 50 kg, g D 9:81 m=s2 , h D 0:5 m, R D 1:2 m, ⇢ D 0:8 m, ms D 150 kg, and
kG D 1 m, we can evaluate !s2 to obtain
!s2 D 1:094 rad=s:
Problem 8.47

wound around the inner hub of the spool. The center G of the spool
is also the center of mass of the spool, and the radius of gyration of
is released, causing the spool to move to the right. Assume that the
spool rolls without slip.
Assume that the inertia of the cord and of pulleys B and D can be
neglected, but model pulley C as a uniform disk of mass mC D 15 kg
and radius rC D 0:3 m. If the cord does not slip relative to pulley C ,
determine the angular speed of the spool after A drops 0:5 m.
Solution
We model A as a particle and the spool as a rigid body rolling without

slip on a flat horizontal surface. We treat the cord as inextensible and
we neglect its inertia. The external forces included in the FBD of the
system are the weight of the spool ms g, the contact force between
the spool and the ground with components F and N , the weight of
the counterweight mA g, and the reaction forces holding pulleys C
and D in place. We also include mC g, the weight of C . We use a
xy Cartesian coordinate system with the x axis going through pulley
D. The x axis is also chosen as our datum line. We denote by ¿ the
position of the system at the time of release. We denote by ¡ the position of the system after the counterweight
has dropped a distance h D 0:5 m below ¿. We use subscripts 1 and 2 to denote quantities at ¿ and ¡,
respectively. We observe that the only force doing work is gravity, which is conservative.
Balance Principles. Applying the work-energy principle as a statement of observation of energy, we have
T1 C V1 D T2 C V2 ; (1)
moment of inertia of the spool about P , by !s the angular speed of the spool, by IC the mass moment of
inertia for C about its own center, and by !C the angular speed of C ,
2 2 2 2 2 2
T1 D 12 mA vA1 C 12 IP !s1 C 12 IC !C1 and T2 D 12 mA vA2 C 12 IP !s2 C 12 IC !C 2: (2)
The form of kinetic energy of the spool is due to the fact that the spool tools without slip and that the point
of contact between the spool and and the ground is the instantaneous center of rotation of the spool. The
contribution to the kinetic energy due to the motion of C is due to the fact that C is a fixed axis rotation about
its center. Using the parallel axis theorem to calculate IP , and modeling C as a uniform disk of radius rC ,
we have
2
IP D ms kG C R2 and IC D 12 mC rC2 : (3)
Dynamics 2e 1731
L D xQ C 3yA ) P D xP Q C 3yPA ;
L (5)
where, for a counterclockwise rotation of the spool, LP measures the time rate of change of the amount of
cord wound onto the spool. As such, L P measures the component of velocity Q relative to G. With this in
mind, because the spool rolls without slipping, we have xP Q D .R C ⇢/!s and LP D ⇢!s . Therefore, using
the last of Eqs. (5), we conclude that
vA D 13 .R C 2⇢/!s ; (6)
where we have enforced the requirement that speeds be positive. Since the cord does not slip relative to C ,
for the angular speed of C , we must have !C D jxP Q j=rp . Hence, recalling that the system is initially at rest,
we can summarize the kinematic equations for this problem as follows:
vA1 D 0; !s1 D 0; !C1 D 0; vA2 D 13 .R C ⇢/!s2 ; !C 2 D .R C ⇢/!s2 =rC : (7)
mA gyA1 D 1
18 mA .R C 2⇢/2 !s2
2 2
C 12 ms .kG C R2 /!s2
2
C 14 mC .R C ⇢/2 !s2
2
mA g.yA1 C h/
s
36mA gh
) !s2 D 2
: (8)
2mA .R C 2⇢/ C 18ms .kG
2 C R2 / C 9mC .R C ⇢/2
Recalling that mA D 50 kg, g D 9:81 m=s2 , h D 0:5 m, R D 1:2 m, ⇢ D 0:8 m, ms D 150 kg, kG D 1 m,
and mC D 15 kg, we can evaluate !s2 to obtain
!s2 D 1:056 rad=s:
Problem 8.48
The uniform slender bar AB has length L D 1:45 ft and weight

WAB D 20 lb. Rollers D and E, which are pinned at A and B,
respectively, can be modeled as two identical uniform disks, each with
radius r D 1:5 in: and weight Wr D 0:35 lb. Rollers D and E roll
without slip on the surface of a cylindrical bowl with center at O and
radius R D 1 ft. Determine the system’s kinetic energy when G (the
center of mass of bar AB) moves with a speed v D 7 ft=s.
Solution
The kinetic energy of the system is
T D TAB C TD C TE ; (1)
where
2 2
TAB D 12 mAB vG C 12 IG !AB and TD D TE D 12 mr vA2 C 12 Ir !r2 ; (2)
where !AB is the angular speed of bar AB, IG is the mass moment of inertia of bar AB relative to its own
mass center G, vA is the speed of A, Ir is the mass moment of inertia of each roller about its own mass center,
and !r is the angular speed of each roller.
Observe that bar AB is in a fixed axis rotation about O. In addition, the distance dGO between points G
and O is q
dGO D .R r/2 .L=2/2 : (3)
Hence, we have
vG vG
!AB D Dp D 14:29 rad=s (4)
dGO .R r/2 .L=2/2
and
vG .R r/
vA D .R r/!AB D p D 12:50 ft=s; (5)
.R r/2 .L=2/2
where we have used the following numerical data: vG D 7 ft=s, R D 1 ft, r D 1:5 in: D 0:1250 ft, and
L D 1:45 ft. Recalling that each roller rolls without slip, we must have
vA
vA D r!r ) !r D D 100:0 rad=s: (6)
r
The needed mass moments of inertia are
IG D 1
12 mAB L
2
D 0:1088 slug ft2 and Ir D 12 mr r 2 D 84:92⇥10 6
slug ft2 ; (7)
where, in addition to the values of L and r that have been already listed, we have used the following nu-
merical data: mAB D .20 lb/=.32:2 ft=s2 / D 0:6211 slug and mr D .0:35 lb/=.32:2 ft=s2 / D 0:01087 slug.
Substituting the (full precision) values of the quantities we have computed thus far, we can say that
T D 28:88 ft lb:
Dynamics 2e 1733
Problem 8.49
The Charpy impact test is one test that measures the resistance of a material
to fracture. In this test, the fracture toughness is assessed by measuring the
energy required to break a specimen of a given geometry. This is done by
releasing a heavy pendulum from rest at an angle ✓i and then measuring
the maximum swing angle ✓f reached by the pendulum after the specimen
is broken.
Consider a test rig in which the striker S (the pendulum’s bob) can
be modeled as a uniform disk of mass mS D 19:5 kg and radius rS D
150 mm, and the arm can be modeled as a thin rod of mass mA D 2:5 kg
and length LA D 0:8 m. Neglecting friction and noting that the striker
and the arm are rigidly connected, determine the fracture energy (i.e.,
the kinetic energy lost in breaking the specimen) in an experiment where
✓i D 158ı and ✓f D 43ı .
Solution
When not in contact with the fracture specimen, the pendulum is acted upon by
the forces in the FBD shown. Let ¿ be when D 1 D ✓i ; and ¡ be when
D 2 D ✓f . In going from ¿ to ¡ the system is acted upon by gravity and
by the contact forces between it and the specimen. We use subscripts 1 and 2 to
denote quantities at ¿ and ¡, respectively.
T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by IO the mass
moment of inertia of the system about O and by !p the angular speed of the pendulum,
2 2
T1 D 12 IO !p1 and T2 D 12 IO !p2 : (2)
The form of the kinetic energy is due to the fact that the pendulum is in a fixed axis rotation about O. Using
the parallel axis theorem, for IO , we have
2 2
IO D 1
12 mA LA C 14 mA LA C 12 mS rS2 C mS .LA C rS /2 D 13 mA LA
2
C 12 mS rS2 C mS .LA C rS /2 : (3)

1
V1 D 2 mA gLA cos 1 mS g.LA C rS / cos 1;
1
(4)
V2 D 2 mA gLA cos 2 mS g.LA C rS / cos 2:
The work due to the nonconservative forces is all due to fracture, i.e.,
.U1-2 /nc D Ufracture : (5)
Kinematic Equations. The system is released from rest and it comes temporarily to a stop in ¡. So,
!p1 D 0 and !p2 D 0: (6)
1 1
2 mA gLA cos 1 mS g.LA C rS / cos 1 C Ufracture D 2 mA gLA cos 2 mS g.LA C rS / cos 2
1
) Ufracture D 2 g.cos 1 cos 2 /Œ.mA C 2mS /LA C 2mS rS ç: (7)
Recalling that g D 9:81 m=s2 , 1 D ✓i D 158ı , 2 D ✓f D 43ı , mA D 2:5 kg, mS D 19:5 kg,
LA D 0:8 m, and rS D 150 mm D 150⇥10 3 m, we can evaluate Ufracture to obtain
Ufracture D 317:7 J:
Dynamics 2e 1735
Problem 8.50
The Charpy impact test is one test that measures the resistance of a material
to fracture. In this test, the fracture toughness is assessed by measuring the
energy required to break a specimen of a given geometry. This is done by
releasing a heavy pendulum from rest at an angle ✓i and then measuring
the maximum swing angle ✓f reached by the pendulum after the specimen
is broken.
Consider a test rig in which the striker S (the pendulum’s bob) can be
modeled as a uniform disk of weight WS D 40 lb and radius rS D 6 in:,
and the arm can be modeled as a thin rod of weight WA D 5:5 lb and
length LA D 2:75 ft. If the release angle of the striker is ✓i D 158ı and
if the striker impacts the specimen when the pendulum’s arm is vertical,
determine the speed of the point Q on the striker immediately before the
striker impacts with the specimen. Neglect friction, and observe that the
striker and the arm are rigidly connected.
Solution
When not in contact with the fracture specimen, the pendulum is acted upon by
the forces in the FBD shown. Let ¿ be when D 1 D ✓i ; and ¡ be when
D 2 D 0. In going from ¿ to ¡ the system is acted upon by gravity and by the
contact forces between it and the specimen. We use subscripts 1 and 2 to denote
quantities at ¿ and ¡, respectively.
T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by IO the mass
moment of inertia of the system about O and by !p the angular speed of the pendulum,
2 2
T1 D 12 IO !p1 and T2 D 12 IO !p2 : (2)
The form of the kinetic energy is due to the fact that the pendulum is in a fixed axis rotation about O. Using
the parallel axis theorem, for IO , we have
2 2
IO D 1
12 mA LA C 14 mA LA C 12 mS rS2 C mS .LA C rS /2 D 13 mA LA
2
C 12 mS rS2 C mS .LA C rS /2 : (3)

1
V1 D 2 mA gLA cos 1 mS g.LA C rS / cos 1;
1
(4)
V2 D 2 mA gLA cos 2 mS g.LA C rS / cos 2:
q
Kinematic Equations. Point Q is at a a distance rS2 C .LA C rS /2 from O. Hence denoting the speed
q
of Q by vQ , we have !p D vQ = rS2 C .LA C rS /2 . So, recalling that the system is released from rest, we
have
vQ2
!p1 D 0 and !p2 D q : (5)
rS2 C .LA C rS /2
Computation. Substituting Eqs. (2), and (4)–(5) into Eq. (1), we have
2
1
vQ2
2 mA gLA cos 1 mS g.LA C rS / cos 1 D 12 IO
rS2 C .LA C rS /2 (6)
1
2 mA gLA cos 2 mS g.LA C rS / cos 2;
which can be solved for vQ2 to obtain

q ⇥ ⇤
vQ2 D g.cos 2 cos 1 /Œ.mA C 2mS /LA C 2mS rS ç rS2 C .LA C rS /2 =IO : (7)
Recalling that g D 32:2 ft=s2 , 1 D ✓i D 158ı , 2 D 0, mA D 5:5 lb=g, mS D 40 lb=g, LA D 2:75 ft, and
6
rS D 6 in: D 12 ft, and using the expression for IO in Eq. (3), we can evaluate vQ2 to obtain
vQ2 D 20:45 ft=s:
Dynamics 2e 1737
Problem 8.51
A crate, with weight W D 155 lb and mass center G, is placed on

a slide and released from rest as shown. The lower part of the slide
is circular, with radius R D 6 ft. Model the crate as a uniform body
with b D 3:6 ft and h D 2 ft. Take into account the gap between
the crate and the slide when the crate is in its lowest position, and
assume that when the crate is in its lowest position on the slide, the
crate’s center of mass is moving to the left with a speed vG D 12 ft=s.
Determine the work done by friction on the crate as the crate moves
from the release point to the lowest point on the slide.
Solution
Referring to the FBD on the left in the figure below, we model the crate as a rigid body subject to its own
weight mg, the friction force F , and the normal reaction N . The force N does not do work since its point
of application does not move in the direction of N . Referring to the lower right figure, we denote by ¿ the
position at release, and by ¡, the the lowest position achieved by the crate. We use subscripts 1 and 2 to

T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
where V is the potential energy of the crate, and where, denoting by vG the speed of G, the center of mass of
the crate, by IG the mass moment of inertia of the crate about G, and by !c the angular speed of the crate,
2 2 2 2
T1 D 12 mvG1 C 12 IG !c1 and T2 D 12 mvG2 C 12 IG !c2 : (2)
Modeling the crate as a uniform body,
2
IG D 1
12 m.h C b 2 /: (3)
Force Laws. The work of friction is represented by the term .U1-2 /nc . Due to the choice of datum, and
referring to the right figure, we have
1
V1 D mg.R ` 2 h/ and V2 D 0: (4)
p
Kinematic Equations. Using trigonometry, the length ` appearing in Eq. (4), is equal to R R2 .b=2/2 .
Also, we observe that, in ¡ the crate is in a fixed axis rotation about O. So, observing that the distance
between G and O in ¡ is R ` h=2, and recalling that the system is released from rest, we can summarize
the kinematic equations for this problem as follows:
q
vG2
`DR R2 14 b 2 ; vG1 D 0; !s1 D 0; !s2 D : (5)
R ` 12 h
Computation. Substituting Eqs. (2)–(4) and the last three of Eqs. (5) in Eq. (1), we have
2
2 2 vG2
mg.R ` 1
2 h/ C .U1-2 /nc D 12 mvG2 C 1
24 m.h C b2/ 1 2
; (6)
.R ` 2 h/
which can be solved for .U1-2 /nc to obtain

" #
h2 C b 2 ⇣q ⌘
1 2 1 2 1
.U1-2 /nc D 2 mvG2 1C ⇣q ⌘2 mg R2 4b 2h : (7)
1 2 1
12 R2 4b 2h
Denoting .U1-2 /nc by Ufriction , and recalling that m D 155 lb=g, g D 32:2 ft=s2 , vG2 D 12 ft=s, h D 2 ft,
b D 3:6 ft, and R D 6 ft, we can evaluate Ufraction to obtain
Ufriction D 363:6 ft lb:
Dynamics 2e 1739
Problem 8.52
In a contraption built by a fraternity, a person sits at the center of a

swinging platform with weight Wp D 800 lb and length L D 12 ft
suspended by two identical arms each of length H D 10 ft and weight
Wa D 200 lb. The platform, which is at rest when ✓ D 0, is put
in motion by a motor that pumps the ride by exerting a constant
moment M in the direction shown, during each upswing, whenever
0  ✓  ✓p , while exerting zero moment otherwise.
Neglecting the mass of the person, neglecting friction, letting
M D 900 ft lb, and letting ✓p D 25ı , find the minimum number of
swings necessary to achieve ✓ > 90ı and the ensuing speed achieved
by the person at the lowest point in the swing. Model the arms AB
and CD as uniform thin bars.
Solution
Referring to the FBD shown, we model the arms and the platform
as rigid bodies subject to their respective weights ma g and mp g.
The system is also acted upon by the moment M and the reactions
forces at the supports A and D. We observe that work is done only by
gravity and the moment due to the motor. Let ¿ be the initial position
of the system. To determine the minimum number of pumping cycles
to achieve ✓ D 90ı , we first compute the amount of energy needed
for the system to barely achieve the position with ✓ D 90ı , which
we choose as ¡.

T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
2 2 2 2
T1 D 12 mp vG1 C 2 12 IA !AB1 and T2 D 12 mp vG2 C 2 12 IA !AB2 : (2)
✓ ◆2
2 H
1
IA D 12 ma H C ma D 13 ma H 2 : (3)
2
H
V1 D 2ma g and V2 D 2ma gH C mp gH: (4)
2
Since the moment provided by the motor is constant, the work done by the motor over a single pumping cycle
is M ✓p . The amount of work needed to go from ¿ to ¡ can be expressed as
.U1-2 /nc D .M ✓p /f; (5)
where f is a real valued factor measuring how much the “unit” amount of work M ✓p must be repeated to get
the system to achieve ¡.
Kinematic Equations. The system starts from rest and, to determine the minimum number of cycles, ¡ is
to be achieved with the system coming to a temporary stop. Hence,
vG1 D 0; !AB1 D 0; vG2 D 0; !AB2 D 0: (6)
H .ma C mp /gH
2ma g C .M ✓p /f D 2ma gH C mp gH ) f D D 25:46; (7)
2 M ✓p
where we have used the data ma D 200 lb=g, g D 32:2 ft=s2 , mp D 800 lb=g, H D 10 ft, M D 900 ft lb,
and ✓p D 25ı D 25 180 ⇡
rad. Hence, the minimum number of pumping cycles needed to achieve ✓ > 90ı is
the smallest integer that is larger than f , i.e.,
nmin D 26: (8)
Speed of the person at ✓ D 0 after 26 pumping cycles. Let ¬ be the position with ✓ D 0ı that is reached
after 26 pumping cycles. We denote by ¬ the position corresponding to ✓ D 0 after 26 cycles. The kinetic
energy of the system at ¬ is
2 2
T3 D 12 mp vG3 C 2 12 IA !AB3 : (9)
The potential energy of the system at ¬ is the same as that in ¿. Therefore, applying the work-energy
principle between ¿ and ¬, we have
✓ ◆2
1 2 1 2 vG3
M ✓p nmin D 2 mp vG3 C 3 ma H ; (10)
H
where we have used the fact that !AB3 D vG3 =H . Solving for vG3 we obtain
s
6M ✓p nmin
vG3 D : (11)
3mp C 2ma
The above expression is also the speed person at ¬ since the person translates with the platform. Hence,
evaluating the above expression, we have,
vperson D 26:54 ft=s;
where we have used the data ma D 200 lb=g, g D 32:2 ft=s2 , mp D 800 lb=g, H D 10 ft, M D 900 ft lb,
and ✓p D 25ı D 25 180
⇡
rad.
Dynamics 2e 1741
Problem 8.53
In a contraption built by a fraternity, a person sits at the center of a

swinging platform with weight Wp D 800 lb and length L D 12 ft
suspended by two identical arms each of length H D 10 ft and weight
Wa D 200 lb. The platform, which is at rest when ✓ D 0, is put
in motion by a motor that pumps the ride by exerting a constant
moment M in the direction shown, during each upswing, whenever
0  ✓  ✓p , while exerting zero moment otherwise.
Neglecting the mass of the person, neglecting friction, and letting
✓p D 20ı , determine the value of M required to achieve a maximum
value of ✓ equal to 90ı in 6 full swings. Model the arms AB and CD
as uniform thin bars.
Solution
Referring to the FBD shown, we model the arms and the platform
as rigid bodies subject to their respective weights ma g and mp g.
The system is also acted upon by the moment M and the reactions
forces at the supports A and D. We observe that work is done only
by gravity and the moment due to the motor. We denote by ¿ the
position of the system for ✓ D 0, and by ¡ the position of the system
for ✓ D 90ı .

T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
2 2 2 2
T1 D 12 mp vG1 C 2 12 IA !AB1 and T2 D 12 mp vG2 C 2 12 IA !AB2 : (2)
✓ ◆2
2 H
1
IA D 12 ma H C ma D 13 ma H 2 : (3)
2
H
and V2 D 2ma gH C mp gH:
V1 D 2ma g (4)
2
Since the moment provided by the motor is constant, the work done by the motor over a single pumping cycle
is M ✓p . Since ¡ is reached from ¿ after six cycles, we have
.U1-2 /nc D 6M ✓p : (5)
Kinematic Equations. The system starts from rest and, for ✓ D 90ı to be maximum after six cycles, the
system must come to a temporary stop at ¡. Hence,
vG1 D 0; !AB1 D 0; vG2 D 0; !AB2 D 0: (6)
H .ma C mp /gH
2ma g C 6M ✓p D 2ma gH C mp gH ) M D : (7)
2 6✓p
Recalling that ma D 200 lb=g, g D 32:2 ft=s2 , mp D 800 lb=g, H D 10 ft, and ✓p D 20ı D 20 180
⇡
rad, we
can evaluate M to obtain
M D 4775 ft lb:
Dynamics 2e 1743
Problem 8.54
The disk D, which has weight W , mass center G coinciding with the
disk’s geometric center, and radius of gyration kG , is at rest on an incline
when the constant moment M is applied to it. The disk is attached at
its center to a wall by a linear elastic spring of constant k. The spring
is unstretched when the system is at rest. Assuming that the disk rolls
without slipping and that it has not yet come to a stop, determine an
expression for the angular velocity of the disk after its center G has
moved a distance d down the incline. After doing so, using k D 5 lb=ft,
R D 1:5 ft, W D 10 lb, and ✓ D 30ı , determine the value of the
moment M for the disk to stop after rolling ds D 5 ft down the incline.
Solution
We model the disk as a rigid body of mass m subject to its own weight, the moment
M , the spring force Fs , and the components F and N of the contact force with the
incline. We denote by ¿ the position at release, and by ¡ the position achieved by
the disk after having rolled a distance d down the incline. We use subscripts 1 and
2 to denote quantities at ¿ and ¡, respectively. We denote by O the point at which
the disk touches the incline. We use subscripts 1 and 2 to denote quantities at ¿ and
¡, respectively.

T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by IO the mass moment of inertia of the
disk about O and by !d the angular speed of the disk,
2
T1 D 12 IO !d1 and T2 D 21 IO !d2 2 : (2)
The form of the kinetic energy is due to the fact that the disk rolls without slip about O. Using the parallel
axis theorem, for IO we have
2
IO D m.kG C R2 /: (3)
Force Laws. Choosing as datum line the horizontal line going through the center of mass of the disk in ¿,
recalling that that spring is unstretched in ¿, and that G displaces an amount d in going from ¿ and ¡, we
have
V1 D 0; .U1-2 /nc D M ✓d ; V2 D mgd sin ✓ C 12 kd 2 ; (4)
where we have denoted by ✓d the angular displacement of the disk in going from ¿ to ¡.
Kinematic Equations. Recalling that the system starts from rest and that the disk rolls without slip, we
have
!d1 D 0 and ✓d D d=R: (5)

s
d 2 d Œ.2M=R/ C 2mg sin ✓ d kç
M D 12 m.kG C R2 /!d2 2 mgd sin ✓ C 12 kd 2 and !d 2 D 2
: (6)
R m.R2 C kG /
In going from ¿ to ¡, the disk rolls counterclockwise, so the angular velocity of the disk is
s
d Œ.2M=R/ C 2mg sin ✓ d kç O
!E d D 2
k: @✓
m.R2 C kG /
To determine the desired value of the moment M , we substitute ds in place of d in the first of Eqs. (6), set !s
equal to zero, and solve for M to obtain
M D 12 R.ds k 2mg sin ✓/: (7)
Recalling that R D 1:5 ft, ds D 5 ft, k D 5 lb=ft, W D mg D 10 lb, and ✓ D 30ı , we can evaluate M to
obtain
M D 11:25 ft lb:
Dynamics 2e 1745
Problem 8.55
In Example 8.2 on p. 592, we ignored the rotational inertia of the counterweight. Let’s re-
visit that example and remove that simplifying assumption. Assume that the arm AD is
still a uniform thin bar of length L D 15:7 ft and weight 45 lb. The hinge O is still
d D 2:58 ft from the right end of the arm, and the 160 lb counterweight C is still ı D 1:4 ft from
the hinge. Now model the counterweight as a uniform block of height h D 14 in: and width w D 9 in:
With this new assumption, solve for the angular velocity of the arm as it reaches the horizontal position
after being nudged from the vertical position. Determine the percent change in angular velocity compared
with that found in Example 8.2.
Solution
We model the arm as a thin rigid body of mass ma , and the counter-
weight as a uniform block of mass mc . Point A is the center of mass
of the arm, and point C is the center of mass of the block. Both the
arm and the block are in a fixed axis rotation about O. We assume
that the system is only subject to the weight of the arm mA g, the
weight of the block mc g, and the the reactions at O. We observe
that work is done only by gravity, which is a conservative force. We
denote by ¿ the position at release when the gate is vertical, and
by ¡ the position when the gate is horizontal. We use subscripts
Balance Principles. Applying the work-energy principle as a

statement of conservation of energy, we have
T1 C V1 D T2 C V2 ; (1)
where, V is the potential energy of the system, and where, denoting by IO the mass moment of inertia of the
system about O and by !a the angular speed of the arm,
2 2
T1 D 12 IO !a1 and T2 D 12 IO !a2 : (2)
The form of the kinetic energy is due to the fact that the system is in fixed axis rotation about O. Using the
parallel axis theorem, for IO , we have
2 2 2
IO D 1
12 ma L C ma 1
2L d C 1
12 mc .w C h2 / C m c ı 2 : (3)

1
V1 D ma g 2L d mc gı; and V2 D 0: (4)
!a1 D 0: (5)
Computation. Substituting Eqs. (2), (4), and (5) into Eq. (1), we have
2
p
ma g 12 L d mc gı D 12 IO !a2 ) !a2 D g.ma L 2ma d 2mc ı/=IO : (6)
Recalling that g D 32:2 ft=s2 , ma D 45 lb=g, L D 15:7 ft, d D 2:58 ft, mc D 160 lb=g, w D 9 in: D 9
12 ft,
h D 14 in: D 14
12 ft, and ı D 1:4 ft, we can evaluate IO in Eq. (3) and then !a2 to obtain
!a2 D 0:5805 rad=s:
Recalling that the value of !a2 obtained in Example 8.2 is 0:5835 rad=s, the percentage difference in angular
speed is 100.!a2 0:5835 rad=s/=.0:5835 rad=s/, which, using the (full precision) value of !a2 gives
Percentage difference D 0:5197%:
Dynamics 2e 1747
Problem 8.56
For the barrier gate shown, assume that the arm consists of a section of aluminum tubing from A to B of
length l D 11:6 ft and weight 20 lb and a steel support section from B to D of weight 40 lb. The overall
length of the arm is L D 15:7 ft. In addition, the 120 lb counterweight C is placed a distance ı from the
hinge at O; and the hinge is d D 2:58 ft from the right end of section BD. Model the two sections AB and
BD as uniform thin bars, and model the counterweight as a uniform block of height h D 14 in: and width
w D 9 in: Using these new assumptions, determine the distance ı so that the angular velocity of the arm is
0:25 rad=s as it reaches the horizontal position after being nudged from the vertical position.
Solution
We model the arm as a thin rigid body of mass mAB D WAB =g,
and the counterweight as a uniform block of mass mc D Wc =g.
Point E is the center of mass of the arm, and point C is the center
of mass of the block. Point H is the center of mass as well as the
mid-point of the steel section of weight WBD . All components of
the system are in a fixed axis rotation about O. We assume that
the system is only subject to the weight of the arm WAB g, the
weight of the block Wc g, the weight of the steel section, and the
the reactions at O. We observe that work is done only by gravity,
which is a conservative force. We denote by ¿ the position at
release when the gate is vertical, and by ¡ the position when the
gate is horizontal. We use subscripts 1 and 2 to denote quantities
at ¿ and ¡, respectively.
T1 C V1 D T2 C V2 ; (1)
where, V is the potential energy of the system, and where, denoting by IO the mass moment of inertia of the
system about O and by !a the angular speed of the arm,
2 2
T1 D 12 IO !a1 and T2 D 12 IO !a2 : (2)
The form of the kinetic energy is due to the fact that the system is in fixed axis rotation about O. Using the
parallel axis theorem, for IO , we have
WAB 2 WAB 1 1 WBD
IO D 1
12 l C . 2 l C L l d /2 C 12 .L l/2
g g g
WBD 1 Wc Wc 2
C Œd 12 .L l/ç2 C 12 .w 2 C h2 / C ı D 42:93 slug ft2 C .3:727 slug/ı 2 ; (3)
g g g
where we have used the following numerical data: WAB D 20 lb, g D 32:2 ft=s2 , l D 11:6 ft, L D 15:7 ft,
9
d D 2:58 ft, WBD D 40 lb, Wc D 120 lb, w D 9 in: D 12 ft, and h D 14 in: D 14
12 ft.
V1 D WAB . 12 l C L l d/ WBD Œd .L l/=2ç Wc ı D 125:2 ft lb .120:0 lb/ı; (4)

V2 D 0; (5)
where we have used the following numerical data: WAB D 20 lb, l D 11:6 ft, L D 15:7 ft, d D 2:58 ft,
WBD D 40 lb, and Wc D 120 lb.
Kinematic Equations. In terms of angular speeds, we have
!a1 D 0 and !a2 D 0:25 rad=s: (6)
Computation. Substituting Eqs. (2)–(6) into Eq. (1) yields (using full precision):
125:2 ft lb .120:0 lb/ı D 1:342 ft lb C .0:1165 lb=ft/ı 2 : (7)
Equation (7) is a second order algebraic equation for ı with the two roots ı D 1031 ft and ı D 1:031 ft.
Since admissible values of ı must be positive, the solution to the problem is therefore
ı D 1:031 ft:
Dynamics 2e 1749
Problem 8.57
The figure shows the cross section of a garage door with length L D 9 ft
and weight W D 175 lb. At A and B, there are rollers of negligible
mass constrained to move in the guide whose horizontal portion is at
a distance H D 11 ft from the floor. The door’s motion is assisted by
two springs, each with constant k (only one spring is shown). The door
is released from rest when d D 26 in: and the spring is stretched 4 in:
Neglecting friction, knowing that, when A touches the floor, B is in
the vertical portion of the guide, and modeling the door as a uniform
thin plate, determine the minimum value of k so that A will strike the
ground with a speed no greater than 1 ft=s.
Solution
We model the door as a thin rigid body subject to its own weight W , the
spring force Fs , and the reaction forces NA and NB . We observe that work
is done only by gravity and the spring force, both of which are conservative.
We denote by ¿ the position at release, and by ¡ the position achieved
by the door when A strikes the floor. We use subscripts 1 and 2 to denote
quantities at ¿ and ¡.
Balance Principles. Applying the work-energy principle as a statement

of conservation of energy, we have
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the door, and where, denoting by
m D W=g the mass of the door, vG the speed of the center of mass G of
the door, by IG the mass moment of inertia of the door about G, and by !d the angular speed of the door,
2 2 2
T1 D 12 mvG1 C 12 IG !d1 and T2 D 12 mvG2 C 12 IG !d2 2 : (2)
Force Laws. Due to the choice of datum, and recalling that there are two springs, we have
V1 D 2 12 kı02 C W .H 1
2d/ and V2 D 2 12 k.ı0 C H d /2 C 12 LW: (3)
Kinematic Equations. In ¡ the door is undergoing a translation. Hence, recalling that the door is initially
at rest, we must have
vG1 D 0; !d1 D 0: vG2 D vA2 D vmax ; !d 2 D 0; (4)
where vmax is the maximum speed with which A strikes the floor.

kı02 C W .H 1
2d/
2
D 12 mvG2 C k.ı0 C H d /2 C 12 LW; (5)
which can be solved for k to obtain
2 C g.L C d
W vmax 2H /
kD ) k D 11:26 lb=ft,
2g .H d /.H C 2ı0 d /
where we have used the following numerical data: W D 175 lb, g D 32:2 ft=s2 , vmax D 1 ft=s, L D 9 ft,
d D 26 in: D 26 4
12 ft, H D 11 ft, and ı0 D 4 in: D 12 ft.
Problem 8.58
The figure shows the cross section of a garage door with length
L D 2:5 m and mass m D 90 kg. At the ends A and B, there are
rollers of negligible mass constrained to move in the guide whose
horizontal portion is at a distance H D 3 m from the floor. The door’s
motion is assisted by two counterweights C , each of mass mC (only
one counterweight is shown). If the door is released from rest when
d D 53 cm, neglecting friction and modeling the door as a uniform
thin plate, determine the minimum value of mC so that A will strike
the ground with a speed no greater than 0:25 m=s.
Solution
We consider a system consisting of the door AB and the counterweights

C . We model the door as a thin rigid body subject to its own weight
mAB g and the reactions NA and NB . We model the counterweights as
particles subject to their own combined weight 2mC g. We observe that
work is done only by gravity, which is conservative. We denote by ¿
the position at release, and by ¡ the position achieved by the door when
A strikes the floor. We use subscripts 1 and 2 to denote quantities at ¿
and ¡.
Balance Principles. Applying the work-energy principle as a state-

ment of conservation of energy, we have
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by

vG the speed of the center of mass G of the door, by IG the mass moment of inertia of the door about G, by
!d the angular speed of the door, and by vC the speed of the counterweights,
2 2 2 2
T1 D 12 mAB vG1 C 12 IG !d1 C 2 12 mC vC1 and T2 D 12 mAB vG2 C 12 IG !d2 2 C 2 12 mC vC1
2
: (2)

1
V1 D 2mC gyC1 C mAB g.H 2d/ and V2 D 2mC gyC 2 C 12 LmAB g: (3)
Kinematic Equations. In ¡ the door is completely within the vertical portion of the guide. Therefore, in
¡ the door is only translating so the speed of A must be equal to the speed of the center of mass G. Hence,
observing that the counterweights C are lifted by the same amount that point A descends, and recalling that
the system is initially at rest, we have
vG1 D 0; !d1 D 0; vC1 D 0; vG2 D vA2 D vC 2 D vmax ; !d 2 D 0; yC 2 D yC1 C H d; (4)
where vmax is the maximum speed with which A strikes the floor.
Dynamics 2e 1751

1 2
2mC gyC1 C mAB g.H 2d/ D 12 .mAB C 2mC /vmax C 2mC g.yC1 C H d / C 12 LmAB g; (5)
which can be solved for mC to obtain

 2 C g.L C d
1 vmax 2H /
mC D 2 mAB 2
: (6)
2dg 2Hg vmax
Recalling that mAB D 90 kg, g D 9:81 m=s2 , vmax D 0:25 m=s, L D 2:5 m, d D 53 cm D 53
100 m, and
H D 3 m, we can evaluate mC to obtain
mC D 26:96 kg:
Problem 8.59
The uniform thin rod AB is pin-connected to the slider S , which moves along
the frictionless guide, and to the disk D, which rolls without slip over the
horizontal surface. The pins at A and B are frictionless, and the system is
released from rest. Neglect the vertical dimension of S.
Letting L D 1:75 m and R D 0:6 m, assuming that S and D are of neg-
ligible mass, that the mass of rod AB is mAB D 7 kg, and that the system is
released from the angle ✓0 D 65ı , determine the speed of the slider S when it
strikes the ground.
Solution
We model the bar AB as a thin rigid body with center of mass at G

and constrained to move in such a way that A travels only along the
y axis and B only parallel to the x axis. The system to which AB
belongs is subject only to the weight of the bar mAB g, the reaction
force NA and the components FD and ND of the contact force at O.
Since friction between the slider and the guide is negligible and since
the disks rolls without slipping, work is done only by gravity, which
is conservative. We denote by ¿ the position of the system at release,
and by ¡ the position corresponding to S striking the ground. We
use subscript 1 and 2 to denote quantities at ¿ and ¡, respectively.

T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by vG the speed of G, by IG the mass
moment of inertia of the bar about G, and by !AB the angular speed of the bar,
2
T1 D 12 mAB vG1 C 12 IG .!AB /21 and 2
T2 D 21 mAB vG2 C 12 IG .!AB /22 : (2)
For IG , we have
1
IG D mAB L2 : (3)
12
V1 D mAB g.R C 12 L sin ✓1 / and V2 D mAB g 1
2R : (4)
Kinematic Equations. Referring to the figure below, we denote by C the instantaneous center of rotation
of the bar. Because the distance between C and the slider is L cos ✓, we must have that the angular speed of
the bar is
vS
!AB D : (5)
L cos ✓
Furthermore, since the distance between C and G is equal to L=2, we must also have
L vS
vG D !AB D : (6)
2 2 cos ✓
Dynamics 2e 1753
where we have used the expression for !AB in Eq. (5). Next, we now observe that, in ¡ we have
p
L2 R 2
cos ✓2 D : (7)
L
Recalling that the system is released from rest, and using Eqs. (5)–(7), we can summarize the kinematics of
the problem as follows:
vS 2 L vS 2
vG1 D 0; .!AB /1 D 0; vG2 D p ; .!AB /2 D p : (8)
2 L2 R 2 L2 R2
Computation. Now, substituting Eqs. (3) and (8) into Eq. (2), and simplifying, we have
mAB L2
T1 D 0 and T2 D v2 : (9)
6.L2 R2 / S 2
Then substituting Eqs. (4), and (9) into Eq. (1), we have
mAB L2
mAB g.R C 12 L sin ✓1 / D v 2 C mAB g 1
2R ; (10)
6.L2 R2 / S 2
which is an equation in the only unknown vS 2 whose solution is
p q
3
vS 2 D g.L2 R2 /.R C L sin ✓1 /:
L
Recalling that L D 1:75 m, g D 9:81 m=s2 , R D 0:6 m, and ✓1 D 65ı , we can evaluate vS 2 to obtain
vS 2 D 7:535 m=s:
Problem 8.60
Letting L D 4:5 ft and R D 1:2 ft, assuming that AB is of negligible mass,
the weight of S is WS D 3 lb, D is a uniform disk of weight WD D 9 lb, and
the system is released from the angle ✓0 D 67ı , determine the speed of the
slider S when it strikes the ground.
Solution
The system consists of a slider, a bar, and a disk. Neglecting the inertia
of the bar, and observing that the slider translates along the vertical
direction, and the disk rolls without slipping on a flat horizontal
surface, we model the system as being subject only to the weight of
slider mS g, the reaction with the smooth guide, and the components
FD and ND of the contact force between D and the ground. Since
friction between the slider and the guide is negligible and since the
disk rolls without slipping, work is done only by gravity, which is
conservative. We denote by ¿ the position of the system at release,
and by ¡ the position corresponding to S striking the ground. We
use subscript 1 and 2 to denote quantities at ¿ and ¡, respectively.

T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by vS the speed of the slider, by IQ the
mass moment of inertia of the disk about the point of contact with the ground Q, and by !D the component
of the angular velocity of the disk in the kO direction,
1 WS 2 2 WS 2 2
T1 D v C 1 IQ !D1 and T2 D 1
v C 1 IQ !D2 : (2)
2 g S1 2 2 g S2 2
Using the parallel axis theorem, for IQ , we have
IQ D 12 .WD =g/R2 C .WD =g/R2 D 32 .WD =g/R2 : (3)
Force Laws. Due to the choice of datum, and recalling that the size of the slider is being ignored, we have
V1 D WS .R C L sin ✓1 / and V2 D 0: (4)
Dynamics 2e 1755
Kinematic Equations. We observing that S moves only in the vertical direction, so
vES D vSy |O: (5)
Because the physical dimensions of S are negligible, S coincides with point A, and accounting for the fact
that B moves only in the horizontal direction, i.e., vEB D vBx {O, we have
vEB D vES C !EAB ⇥ rEB=A ) vBx {O D vSy |O C !AB kO ⇥ L.cos ✓ {O sin ✓ |O/
sin ✓ vSy
) vBx D vSy and !AB D ; (6)
cos ✓ L cos ✓
where the last two results have been obtained by expanding the cross product and equating the left-hand
side to the right-hand side on a component by component basis. Now that we have an expression for vBx ,
recalling that the disk D rolls without slip, we have
vBx vSy sin ✓

!D D D (7)
R R cos ✓
We now observe that, in ¡,
sin ✓2 R
D p : (8)
cos ✓2 L2 R2
Hence, observing that vS2 D vSy
2
, substituting Eq. (8) into Eq. (7), in ¡, we have
2 vS2 2
!D2 D : (9)
L2 R 2
Recalling that the system is initially at rest, we can summarize the kinematic equations for this problem as
follows:
2 v2
vS1 D 0; !D1 D 0; !D2 D 2 S2 2 : (10)
L R
Computation. Substituting Eqs. (3) and Eqs. (10) into Eq. (2) and simplifying, we have
✓ ◆
1 3WD R2 WS 2
T1 D 0 and T2 D C vS 2 : (11)
2 2g.L2 R2 / g
Next, substituting Eqs. (4) and Eqs. (11) into Eq. (1), we have
✓ ◆
1 3WD R2 WS 2
WS .R C L sin ✓1 / D C vS 2
2 2g.L2 R2 / g
s
✓ ◆ 1
3WD R2 WS
) vS 2 D 2WS .R C L sin ✓1 / 2 2
C : (12)
2g.L R / g
Recalling that WS D 3 lb, R D 1:2 ft, L D 4:5 ft, ✓1 D ✓0 D 67ı , WD D 9 lb and g D 32:2 ft=s2 , we can
evaluate vS 2 to obtain
vS 2 D 16:00 ft=s:
Problem 8.61
Letting L D 1:75 m and R D 0:6 m, assuming that the mass of S is
mS D 4:2 kg, D is a uniform disk of mass mD D 12 kg, the mass of AB is
mAB D 7 kg, and that the system is released from the angle ✓ D 69ı , determine
the speed and the direction of motion of point B when the slider S strikes the
ground.
Solution
We model the mechanism as a system of rigid bodies. The system is

subject to the weight of the slider mS g, the weight of the bar mAB g,
and the weight of the disk mD g. The system is also subject to the
reaction NA between the slider and the smooth guide in which it slides,
as well as the components FD and ND of the contact force between
the disk and the ground. Because friction between the slider and
the guide is negligible, and because the disk rolls without slipping,
work is done only by gravity, which is conservative. We denote
by ¿ the position of the system at release, and by ¡ the position
corresponding to S striking the ground. We use subscripts 1 and 2 to

T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by vS the speed of the slider, by vG the
speed of the center of mass of the bar AB, by !AB the component of the angular velocity of the bar in the kO
direction, by IG the mass moment of inertia of AB relative to G, by IQ the mass moment of inertia of the
disk about the point of contact with the ground Q, and by !D the component of the angular velocity of the
disk in the kO direction,
2 2
T1 D 12 mS vS1 C 12 mAB vG1 C 12 IG .!AB /21 C 12 IQ !D1
2
;
(2)
T2 D 12 mS vS2 2 C 12 mAB vG2
2
C 12 IG .!AB /22 C 12 IQ !D2
2
:
The form of the contribution to the kinetic energy due to the slider is justified by the fact that the slider is
only translating. The form of the contribution to the kinetic energy due to the disk is justified by the fact that
the disk rolling without slipping so that Q is the instantaneous center of rotation of the disk. For IG and IQ
we have
1
IG D mAB L2 D 1:786 kg m2 and IQ D 12 mD R2 C mD R2 D 32 mD R2 D 6:480 kg m2 ; (3)
12
where we have used the parallel axis theorem to express IQ , and where we have used the following numerical
data: mAB D 7 kg, L D 1:75 m, mD D 12 kg, and R D 0:6 m.
Dynamics 2e 1757
Force Laws. Due to the choice of datum, and recalling that the size of the slider is being ignored, we have
V1 D mS g.R C L sin ✓1 / C mAB g.R C 12 L sin ✓1 / and V2 D mAB g 1

2R : (4)
Kinematic Equations. We need to relate the angular velocity of point B to the velocity of the slider S . We
observe that B moves only in the horizontal direction and that the disk D rolls without slip. Hence, denoting
by vBx the component of the velocity of B in the x direction, we can write
vBx
vEB D vBx {O and !D D : (5)
R
Next, observe that S can only move in the vertical direction and that it must move like point A. Hence,
denoting by vSy the component of the velocity of S in the y direction, we have
vES D vSy |O D vEB C !EAB ⇥ rEA=B ) vSy |O D vBx {O C !AB kO ⇥ L. cos ✓ {O C sin ✓ |O/
cos ✓ vBx
) vSy D vBx and !AB D ; (6)
sin ✓ L sin ✓
where the last two results have been obtained by expanding the cross product and equating the left-hand side
to the right-hand side on a component by component basis. Next, using the first of Eqs. (5) and the last of
Eqs. (6), we then have
cos ✓
vEG D vEB C !EAB ⇥ rEG=B ) vEG D 12 vBx {O 1
2 vBx sin ✓ |O: (7)
We now observe that, in ¡ we have

p
cos ✓2 L2 R 2 R
D and sin ✓2 D : (8)
sin ✓2 R L
Hence, observing that vS2 D vSy
2 2
, vBx D vB 2
, substituting Eqs. (8) into the last two relations in Eqs. (6), in ¡
we have
2 2
2 L R2 vB2
vS2 2 D vB2 and .! AB /2
2 D : (9)
R2 R2
2
Furthermore, substituting Eqs. (8) into the last of Eqs. (7) and then computing vG , we have
✓ ◆
2 L2 R 2 2
vG2 D 14 1 C vB2 : (10)
R2
Computation. Recalling that the system is released from rest, substituting Eqs. (9) and (10) into Eq. (2),
and simplifying, we have
4IG C 4IQ C .mAB C 4mS /L2 4mS R2 2
T1 D 0 and T2 D vB2 : (11)
8R2
4IG C 4IQ C .mAB C 4mS /L2 4mS R2 2

mS g.R C L sin ✓1 / C mAB g.R C 12 L sin ✓1 / D vB2
8R2
1
C mAB g 2R ; (12)
which can be solved for vB2 to obtain

s
.8mS C 4mAB /gR2 .R C L sin ✓1 /
vB2 D : (13)
4IG C 4IQ C .mAB C 4mS /L2 4mS R2
Using the (full precision) values of IG and IQ in Eqs. (3), and recalling that mS D 4:2 kg, mAB D 7 kg,
g D 9:81 m=s2 , R D 0:6 m, L D 1:75 m, and ✓1 D 69ı , we can evaluate vB2 to obtain
vB2 D 2:205 m=s;
As far as the direction of motion of point B in ¡ is concerned, substituting the first of Eqs. (8) into the second
to the last of Eqs. (6) and solving for .vBx /2 , we have
R
.vBx /2 D p .vSy /2 : (14)
L2 R 2
Finally, we observe that in ¡ the slider strikes the ground and therefore is moving in the negative y direction,
i.e., .vSy /2 < 0. This implies that in ¡ .vBx /2 < 0 and we conclude that
In ¡ B is moving to the left.
Dynamics 2e 1759
Problem 8.62
Revisit Example 8.5 on p. 598 and replace the two springs with a
system of two counterweights P (only one counterweight is shown)
each of weight WP . Recalling that the door’s weight is W D
800 lb and that the total height of the door is H D 30 ft, if
the door is released from rest in the fully open position and friction
is negligible, determine the minimum value of WP so that A will strike
the left end of the horizontal guide with a speed no greater than 0:5 ft=s.
Solution
We modify the modeling assumptions in Example 8.5 simply by saying that the counterweights are modeled
as a particle subject to the combined weight 2mP g. Referring to the figures below, we observe that point
A can only move horizontally. Points B and D can only move vertically. The only forces that can do work
are the weights of the system’s components. As shown in the figure below and to the right, let ¿ denote the
position of the door when fully open, and ¡ the position of the door when fully closed. We use subscripts 1
and 2 to denote quantities at ¿ and ¡, respectively.
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by vB , vD , and vP the speeds of B, D,
and P , respectively, by !AC and !CE the angular speeds of AC and CE, respectively, and by IB and ID
the mass moments of inertia of AC and CE relative to their respective mass centers,
2
T1 D 12 mAC vB1 C 12 IB .!AC /21 C 12 mCE vD1
2
C 12 ID .!CE /21 C 2 1 2
2 mP vP1 ;
1 2 1 2 1 2 1 2 1 2
(2)
T2 D 2 mAC vB2 C 2 IB .!AC /2 C 2 mCE vD2 C 2 ID .!CE /2 C2 2 mP vP 2 :
Keeping in mind that W is the weight of the entire door and that the door consists of two identical parts, for
the masses and the mass moments of inertia, we have
✓ ◆✓ ◆2
W WP 1 W H
mAC D mCE D ; mP D ; IB D ID D : (3)
2g g 12 2g 2
Force Laws. For the potential energies, we have
V1 D mAC gyB1 C mCE gyD1 C 2mP gyP1 and V2 D mAC gyB2 C mCE gyD2 C 2mP gyP 2 : (4)
vB1 D 0; .!AC /1 D 0; vD1 D 0; .!CE /1 D 0; vP1 D 0: (5)
As discussed in Example 8.5 (on p. 598 of the textbook), the panels move in such a way that the angles
formed by them with a horizontal line going through C remain always equal. Keeping in mind that !AC and
!CE are angular speeds, this implies that
.!AC /2 D .!CE /2 ; (6)
Furthermore, we observe that at ¡ points B and D are the bottom of their respective trajectories. Hence, we
must have
vB2 D vD2 D 0: (7)
The above result implies that, in ¡, point B is the instantaneous center of rotation of AC . In turn, this implies
that
H 4vA2
.!AC /2 D vA2 ) .!AC /2 D : (8)
4 H
We now observe that the counterweights P move with the same speed as point A, i.e.,
vP 2 D vA2 : (9)
Finally we observe that
yB1 D H; yD1 D H; yB2 D 34 H; yD2 D 14 H; yP 2 D yP1 C 14 H: (10)
Computation. Substituting Eqs. (3), and Eqs. (5)–(9) into the expressions for the kinetic energies, after
simplification, we have that Eqs. (2) can be rewritten as
✓ ◆
W WP 2
T1 D 0 and T2 D C vA2 : (11)
6g g
Substituting the first two of Eqs. (3) and Eqs. (10) into Eqs. (4), after simplification, we have
✓ ◆
WH H
V1 D W H C 2WP yP1 and V2 D C 2WP yP1 C : (12)
2 4
Now, substituting Eqs. (11) and (12) into Eq. (1), we have
✓ ◆ ✓ ◆
W WP 2 WH H
W H C 2WP yP1 D C vA2 C C 2WP yP1 C : (13)
6g g 2 4
Recalling that we are given the maximum admissible value of vA2 , setting vA2 equal to such a value, allows
us to treat Eq. (13) as an equation in the single unknown WP whose solution is
2
3gH vA2
WP D 2
W ) WP D 799:5 lb,
3gH C 6vA2
where we have used the data g D 32:2 ft=s2 , H D 30 ft, vA2 D 0:5 ft=s, and W D 800 lb.
Dynamics 2e 1761
Problem 8.63
The double pulley D has mass of 15 kg, center of mass G coinciding with its geomet-
ric center, radius of gyration kG D 10 cm, outer radius ro D 15 cm, and inner radius
ri D 7:5 cm. It is connected to the pulley P with radius R by a cord of negligible
mass that unwinds without slip from the inner and outer spools of the double pulley
D. The crate C , which has a mass of 20 kg, is released from rest, and the inner and
outer parts of the double pulley rotate together as a single unit.
Neglecting the mass of the pulley P , determine the speed of the crate C and
the angular velocity of the pulley D after the crate has dropped a distance h D 2 m.
Solution
We model pulley D as a rigid body in fixed axis rotation about its

own mass center G. We model the crate as a rigid body in rectilinear
translation. We model the system as being subject to mD g, the weight
of D, and to mC g, the weight of the crate. In addition, the system is
subject to the reactions Gx and Gy at G required to hold D in place.
We observe that work is done only by gravity, which is a conservative
force. We denote by ¿ the position at release, and by ¡ be the position
achieved by the system when the crate C drops a distance h. We use
subscripts 1 and 2 to denote quantities at ¿ and ¡, respectively.

T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by

vC the speed of C , by IG the mass moment of inertia of D about G, and
by !D the component of the angular velocity of pulley D in the kO direction,
2 2 2 2
T1 D 12 mC vC1 C 12 IG !D1 and T2 D 12 mC vC 1
2 C 2 IG !D2 : (2)
The form of the contribution to the kinetic energy due to D is justified by the fact that D is in a fixed axis
rotation about G. The form of the contribution to the kinetic energy due to C is justified by the fact that C is
in a translation. For IG , we have
2
IG D mD kG : (3)
Force Laws. Due to the choice of datum, for V , we have
V1 D mC gyC1 ; and V2 D mC g.yC1 h/: (4)
Kinematic Equations. Denoting by E and F the points on D from which the cord separates, because G
is fixed, we have
vEE D ro !D |O and vEF D ri !D |O: (5)
Next, denoting by H and I the points at which the cord separates from pulley P , since the rope does not slip
relative to P , we have
vEH D vEE and vEI D vEF : (6)
While the inertia of P is negligible, P can be treated as a rigid body from a kinematic viewpoint. Therefore,
we must have
r o ri
vEI D vEH C !EP ⇥ rEI =H ) ri !D |O D ro !D |O C !P kO ⇥ .2R {O/ ) !P D !D ; (7)
2R
where !EP is the angular velocity of pulley P . Observing that R D 12 .ro ri /, we can rewrite !P simply as
!P D !D ; (8)
so
vEC D vEA D vEH C !EP ⇥ rEA=H D ro !D |O C !D kO ⇥ 12 .ro ri / {O D 1
2 .ro C ri /!D |O: (9)
The above equation implies that
2 1 2 2
vC 2 D 4 .ro C ri / !D2 : (10)
Computation. Recalling that the system is released from rest, substituting Eqs. (2)–(4) into Eq. (1) and
accounting for Eqs. (3) and (10), we have
2 2
⇥ ⇤
mC gyC1 D 12 mD kG !D2 C 12 mC 14 .ro C ri /2 !D2
2
C mC g.yC1 h/; (11)
which, keeping in mind that we expect !D2 > 0, can be solved for !D2 to obtain
s
8ghmC
!D2 D 2
: (12)
4kG mD C mC .ri C ro /2
Substituting this result in Eq. (10) and solving for vC 2 , we have

s
2ghmC .ri C ro /2
vC 2 D 2
: (13)
4kG mD C mC .ri C ro /2
Recalling that g D 9:81 m=s2 , h D 2 m, mC D 20 kg, kG D 10 cm D 100

10
m, mD D 15 kg, ri D 7:5 cm D
7:5 15 O
100 m, and ro D 15 cm D 100 m, we can evaluate vC 2 and !
ED2 D !D2 k to obtain
vC 2 D 4:964 m=s O
and !ED D .44:12 rad=s/ k:
Dynamics 2e 1763
Problem 8.64
The double pulley D has mass of 15 kg, center of mass G coinciding with its geomet-
ric center, radius of gyration kG D 10 cm, outer radius ro D 15 cm, and inner radius
ri D 7:5 cm. It is connected to the pulley P with radius R by a cord of negligible
mass that unwinds without slip from the inner and outer spools of the double pulley
D. The crate C , which has a mass of 20 kg, is released from rest, and the inner and
outer parts of the double pulley rotate together as a single unit.
Assuming that the pulley P has a mass of 1:5 kg and a radius of gyration
kA D 3:5 cm, determine the speed of the crate C and the angular velocity of the
pulley D after the crate has dropped a distance h D 2 m.
Solution
We model pulley D as a rigid body in fixed axis rotation about its

own mass center G. We model the crate as a rigid body in rectilinear
translation. We model pulley D as a rigid body that translates and rotates,
while its mass center A does not move relative to the crate. We model the
system as being subject to mD g, the weight of D, to mP g, the weight
of P , and to mC g, the weight of the crate. In addition, the system is
subject to the reactions Gx and Gy at G required to hold D in place.
We observe that work is done only by gravity, which is a conservative
force. We denote by ¿ the position at release, and by ¡ be the position
achieved by the system when the crate C drops a distance h. We use
subscripts 1 and 2 to denote quantities at ¿ and ¡, respectively.

T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by vC the speed of C , by IG the mass
moment of inertia of D about G, by !D the component of the angular velocity of pulley D in the kO direction,
by vA the speed of A, by IA the mass moment of inertia of P about A, and by !P the component of the
angular velocity of P in the kO direction,
2 2 2 2 2 2 2 2
T1 D 12 mC vC1 C 12 IG !D1 C 12 mP vA1 C 12 IA !P1 and T2 D 12 mC vC 1 1 1
2 C 2 IG !D2 C 2 mP vA2 C 2 IA !P 2 :
(2)
The form of the contribution to the kinetic energy due to D is justified by the fact that D is in a fixed axis
rotation about G. The form of the contribution to the kinetic energy due to C is justified by the fact that C is
in a translation. For IG and IA , we have
2
IG D mD kG and IA D mP kA2 : (3)
Force Laws. For the potential energy, observing that A and C are at a constant distance from one another,
we have
V1 D .mC C mP /gyC1 and V2 D .mC C mP /g.yC 2 h/: (4)
Kinematic Equations. Denoting by E and F the points on D from which the cord separates, because G
is fixed, we have
vEE D ro !D |O and vEF D ri !D |O: (5)
Next, denoting by H and I the points at which the cord separates from pulley P , since the rope does not slip
relative to P , we have
vEH D vEE and vEI D vEF : (6)
Now observe that points H and I belong to the same rigid body, namely pulley P . So,
r o ri
vEI D vEH C !EP ⇥ rEI =H ) ri !D |O D ro !D |O C !P kO ⇥ .2R {O/ ) !P D !D ; (7)
2R
where !EP is the angular velocity of pulley P . Observing that R D 12 .ro ri /, we can rewrite !P simply as
!P D !D : (8)
Using this result, we can the say that
vEC D vEA D vEH C !EP ⇥ rEA=H D ro !D |O C !D kO ⇥ 12 .ro ri / {O D 1

2 .ro C ri /!D |O: (9)
The above equation implies that

2 2 1 2 2
vC 2 D vA2 D 4 .ro C ri / !D2 : (10)
Computation. Substituting Eqs. (2)–(4) into Eq. (1) and accounting for Eqs. (3), (8), and (10), we have
2 2
⇥1 ⇤
.mC C mP /gyC1 D 12 mD kG !D2 C 12 .mC C mP / 4 .ro C ri /2 !D2
2
C 12 mP kA2 !D2
2
C .mC C mP /g.yC 2 h/; (11)
which, keeping in mind that we expect !D2 > 0, can be solved for !D2 to obtain
s
8gh.mC C mP /
!D2 D 2 2
: (12)
4kG mD C 4kA mP C .mC C mP /.ri C ro /2
Substituting this result in Eq. (10) and solving for vC 2 , we have

s
2gh.mC C mP /.ri C ro /2
vC 2 D 2
: (13)
4kG mD C 4kA2 mP C .mC C mP /.ri C ro /2
Recalling that g D 9:81 m=s2 , h D 2 m, mC D 20 kg, kG D 10 cm D 100 10

m, mD D 15 kg, ri D
7:5 15 3:5
7:5 cm D 100 m, ro D 15 cm D 100 m, mP D 1:5 kg, and kA D 3:5 cm D 100 m, we can evaluate vC 2 and
!ED2 D !D2 k, O to obtain
vC D 5:019 m=s O
and !ED D .44:61 rad=s/ k:
Dynamics 2e 1765
Problem 8.65
Torsional springs provide a simple propulsion mechanism for toy cars. When the rear wheels are rotated as
if the car were moving backward, they cause a torsional spring (with one end attached to the axle and the
other to the body of the car) to wind up and store energy. Therefore, a simple way to charge the spring is
to place the car onto a surface and to pull it backward, making sure that the wheels roll without slipping.
Note that the torsional spring can only be wound by pulling the car backward; that is, the forward motion
of the car unwinds the spring.
Let the weight of the car (body and wheels) be W D 5 oz, the weight of each
of the wheels be Ww D 0:15 oz, and the radius of the wheels be r D 0:25 in:,
where the wheels roll without slip and can be treated as uniform disks. Neglecting
friction internal to the car and letting the car’s torsional spring be linear with constant
k t D 0:0002 ft lb=rad, determine the maximum speed achieved by the car if it is released from rest
after pulling it back a distance L D 0:75 ft from a position in which the spring is unwound.
Solution
Referring to the FBD shown, having assumed that the wheels roll
without slip, we can conclude that no external force does work on the
car due to the fact the car as a whole moves in a direction perpendicular
to gravity. However, the internal torque provided by the (internal)
torsional spring does work. This work term can be accounted for via
the potential energy of the system. We define ¿ to be the position of the
car at release (from rest) with the torsional spring wound as described
in the problem statement. Position ¡ is the position corresponding
to when the spring first becomes unwound. We use subscripts 1 and 2 to denote quantities in ¿ and ¡,
respectively.
Balance Principles. Applying the work-energy principle as a statement of conservation of energy,
T1 C V1 D T2 C V2 ; (1)
the car, by IA the mass moment of inertia of each rear wheel about its own center of mass, by !A the angular
speed of each rear wheel, by IB the mass moment of inertia of each front wheel relative to its own mass
center, and by !B the speed of each front wheel,
✓ ◆ ✓ ◆ ✓ ◆ ✓ ◆
1W 2 1 2 1 2 1W 2 1 2 1 2
T1 D 2 vG1 C2 2 IA !A1 C2 2 IB !B1 and T2 D 2 vG2 C2 2 IA !A2 C2 2 IB !B2 : (2)
g g
For IA and IB , we have

IA D 12 .Ww =g/r 2 and IB D 12 .Ww =g/r 2 ; (3)
where we have accounted for the fact that all wheels are identical to one another.
Force Laws. Letting ✓1 describe the initial wounding angle, i.e., the angle by which the wheels rotate
when the car is initially pulled backwards by the distance L, and recalling that the car’s torsional spring is
completely unwound at position two, we have
V1 D 12 k t ✓12 and V2 D 0: (4)
Kinematic Equations. Since the system is initially at rest, since ✓1 describes the initial wounding angle,
i.e., the angle by which the wheels rotate when the car is initially pulled backwards by the distance L, and
since the wheels are identical to one another and roll without slip, then we must have
L vG2 vG2
✓1 D ; vG1 D 0; !A1 D !B1 D 0; !A2 D ; !B2 D : (5)
r r r
Computation. Substituting Eqs. (3) and the last four of Eqs (5) into Eqs. (2), we have
W C 2Ww 2
T1 D 0 and T2 D vG2 : (6)
2g
Then substituting Eqs. (4) and (6) into Eq. (1), and accounting for the first of Eqs. (5) we obtain
✓ ◆2 s
1 L W C 2W w 2 k t gL2
2 kt r D vG2 ) vG2 D : (7)
2g r .W C 2Ww /
2
Recalling that vG2 is the maximum speed of the car as a whole, evaluating the above expression we then have
vmax D 5:020 ft=s;
where we have used the following numerical data: k t D 0:0002 ft lb=rad, g D 32:2 ft=s2 , L D 0:75 ft,
r D 0:25 in: D 0:25 5 0:15
12 ft, W D 5 oz D 16 lb, and Ww D 0:15 oz D 16 lb.
Dynamics 2e 1767
Problem 8.66
Let the weight of the car (body and wheels) be W D 5 oz, the weight of each of the wheels be
Ww D 0:15 oz, and the radius of the wheels be r D 0:25 in:, where the wheels roll without slip and can
be treated as uniform disks. In addition, let the torque M provided by the nonlinear torsional spring be
given by M D ˇ✓ 3 , where ˇ D 0:5⇥10 6 ft lb=rad3 , ✓ is the angular displacement of the rear axle, and
the minus sign in front of ˇ indicates that M acts opposite to the direction of ✓. Neglecting any friction
internal to the car, determine the maximum speed achieved by the car if it is released from rest after pulling
it back a distance L D 0:75 ft from a position in which the spring is unwound.
Solution
Referring to the FBD shown, having assumed that the wheels roll
without slip, we can conclude that no external force does work on the
car due to the fact the car as a whole moves in a direction perpendicular
to gravity. However, the internal torque provided by the (internal)
torsional spring does work. This work term can be accounted for via
the potential energy of the system. We define ¿ to be the position of the
car at release (from rest) with the torsional spring wound as described
in the problem statement. Position ¡ is the position corresponding
to when the spring first becomes unwound. We use subscripts 1 and 2 to denote quantities in ¿ and ¡,
respectively.
T1 C V1 D T2 C V2 ; (1)
✓ ◆ ✓ ◆ ✓ ◆ ✓ ◆
1W 2 1 2 1 2 1W 2 1 2 1 2
g g

Force Laws. To evaluate the potential energy of the spring, we

need to intergrate the expression of the moment with respect to ✓ .
To do so, we refer to the figure on the right, and we recall that the
potential energy of a force or a moment is equal to the negative of
the work done by the force or moment in question. Hence, we have
Z ✓
V D .work of M / D M d✓ D
0
✓Z ✓ ◆
3
ˇ✓ d✓ D 14 ˇ✓ 4 :
0
Using the above result, letting ✓1 describe the initial wounding angle, i.e., the angle by which the wheels
rotate when the car is initially pulled backwards by the distance L, and recalling that the car’s torsional spring
is completely unwound at position two, we have
V1 D 14 ˇ✓14 and V2 D 0: (4)
Kinematic Equations. Since the system is initially at rest, since ✓1 describes the initial wounding angle,
i.e., the angle by which the wheels rotate when the car is initially pulled backwards by the distance L, and
since the wheels are identical to one another and roll without slip, then we must have
L vG2 vG2
✓1 D ; vG1 D 0; !A1 D !B1 D 0; !A2 D ; !B2 D : (5)
r r r
Computation. Substituting Eqs. (3) and the last four of Eqs (5) into Eqs. (2), we have that the kinetic
energies can be rewritten as
W C 2Ww 2
T1 D 0 and T2 D vG2 : (6)
2g
Then substituting Eqs. (4) and (6) into Eq. (1), and accounting for the first of Eqs. (5) we obtain
✓ ◆4 s
1 L W C 2Ww 2 ˇgL4
4ˇ r D vG2 ) vG2 D : (7)
2g 2r 4 .W C 2Ww /
Recalling that vG2 is the maximum speed of the car as a whole, evaluating the above expression we then have
vmax D 6:389 ft=s;
where we have used the following numerical data: ˇ D 0:5⇥10 6 ft lb=rad3 , g D 32:2 ft=s2 , L D 0:75 ft,
r D 0:25 in: D 0:25 5 0:15
12 ft, W D 5 oz D 16 lb, and Ww D 0:15 oz D 16 lb.
Dynamics 2e 1769
Problem 8.67
Let the mass of the car (body and wheels) be m D 120 g, the mass of each of the wheels be mw D 5 g,
and the radius of the wheels be r D 6 mm, where the wheels roll without slip and can be treated as uniform
disks. In addition, let the car’s torsional spring be linear with constant k t D 0:00025 N m=rad. Neglecting
any friction internal to the car, if the angle of the incline is D 25ı and the car is released from rest
after pulling it back a distance L D 25 cm from a position in which the spring is unwound, determine the
maximum distance dmax that the car will travel up the incline (from its release point), the maximum speed
vmax achieved by the car, and the distance dvmax (from the release point) at which vmax is achieved.
Solution
Referring to the FBD shown, having assumed that the wheels roll without
slip, we can conclude that gravity is the only external force doing work on
the car. In addition, the internal torque provided by the (internal) torsional
spring does work. Both the work of gravity and that of the spring can
be accounted for via the potential energy of the system. We define ¿ to
be the position of the car at release (from rest) with the torsional spring
wound as described in the problem statement. Position ¡ is the position
corresponding d D dmax first and v D vmax second. We use subscripts 1 and 2 to denote quantities in ¿ and
¡, respectively.
T1 C V1 D T2 C V2 ; (1)
✓ ◆ ✓ ◆ ✓ ◆ ✓ ◆
1W 2 1 2 1 2 1W 2 1 2 1 2
g g
Force Laws. Referring to the figure at the right, the datum for gravity
has been chosen to coincide with the mass center of the car in ¿. Next
let ✓1 describe the initial wounding angle, i.e., the angle by which the
wheels rotate when the car is initially pulled backwards by the distance
L. Then we have
(
1
k t ✓22 C mgd sin for d < L;
V1 D 12 k t ✓12 and V2 D 2 (4)
mgd sin for d L;
where for d < L the spring has is not fully unwound whereas for d > L
no more potential energy in stored in the spring.
Kinematic Equations. Again we recall that ✓1 describes the initial wounding angle, i.e., the angle by
which the wheels rotate when the car is initially pulled backwards by the distance L. Similarly, ✓2 is the
angle corresponding to a wounding over a distance L d . Hence, recalling that the wheels are identical to
one another and roll without slip, and that the system is initially at rest, then we must have
L L d vG2 vG2
✓1 D ; ✓2 D ; vG1 D 0; !A1 D !B1 D 0; !A2 D ; and !B2 D : (5)
r r r r
Computation. We are now ready to proceed to solve the problem. We start with the determination of the
maximum distance traveled and then we proceed with the determination of the maximum speed achieved by
the car.
Determination of maximum distance traveled. The maximum distance traveled dmax is achieved when
the car comes to a stop for the first time. In this case vG2 D 0, which, along with Eqs. (2) and the last
four of Eqs. (5), implies T1 D T2 D 0. We do not currently know if dmax L or not. Hence, we derive a
solution under the working assumption that indeed dmax L and then we will verify whether or not our
working assumption is satisfied. So, given that T1 D 0 and T2 D 0, substituting Eqs. (4) for the case with
d D dmax L into Eq. (1), and accounting for the first of Eqs. (5), we have
✓ ◆2
1 L
2 kt D mgdmax sin : (6)
r
which can be solved for dmax to obtain
k t L2
dmax D ) dmax D 0:4362 m,
2r 2 mg sin
25 6
where we have used the data k t D 0:00025 N=m, L D 25 cm D 100 m, r D 6 mm D 1000 m, m D 120 g D
120
kg, g D 9:81 m=s 2 , D 25 ı . Because the result we have obtained is consistent with the working
1000
assumption used to derive it, the result in question is indeed the answer to the first part of the problem.
Determination of the maximum speed. The maximum speed is necessarily achieved while the spring is
actively propelling the car. Therefore, we proceed to determine the maximum speed using Eqs. (4) for the
case with d < L. Clearly, this is a working assumption and we will need to verify that the result obtained
under such an assumption is consistent with the assumption in question. Substituting Eqs. (3) and the last
four of Eqs. (5) in Eqs. (2) and simplifying, we have
2
T1 D 0 and T2 D 12 .m C 2mw /vG2 : (7)
Dynamics 2e 1771
Next, recalling that we are working under the assumption that d < L, substituting Eqs. (5) into Eqs. (4) and
simplifying, we have
k t L2 k t .L d /2
V1 D and V2 D C mgd sin : (8)
2r 2 2r 2
k t L2 k t .L d /2 2 2 k t d.2L d / 2mgdr 2 sin

D Cmgd sin C 12 .mC2mw /vG2 ) vG2 D : (9)
2r 2 2r 2 r 2 .m C 2mw /
2
We need to find the value of d for which vG2 is maximum. For this purpose observe that vG2 achieves
2
its maximum for the same value of d for which vG2 is maximum, and maximizing vG2 is simpler than
maximizing vG2 (in this problem). Using this fact, we then have
2
dvG2 2k t .L d / 2mgr 2 sin
D0 ) D0
d.d / r 2 .m C 2mw /
) dvmax D L mgr 2 sin =k t D 0:1784 m; (10)
25 120
where we have used the data: k t D 0:00025 N=m, L D 25 cm D 100 m, m D 120 g D 1000 kg, g D
9:81 m=s2 , r D 6 mm D 1000 6
m, and D 25ı . We now observe that the result we have just obtained is
consistent with our working assumption, i.e., d < L and can therefore be considered acceptable. Then,
recalling that vG is also the speed of the car as a whole, setting d in the last of Eqs. (9) equal to dvmax of
Eq. (10), we can then compute the value of vmax . This gives
vmax D 1:304 m=s for dvmax D 0:1784 m;
25 120
where we have used the data: k t D 0:00025 N=m, L D 25 cm D 100 m, m D 120 g D 1000 kg, g D
2 6 ı 5
9:81 m=s , r D 6 mm D 1000 m, D 25 , and mw D 5 g D 1000 kg.
Problem 8.68
The figure shows the cross section of a garage door with length L D
2:5 m and mass m D 90 kg. At the ends A and B, there are rollers of
negligible mass constrained to move in a vertical and a horizontal guide,
respectively. The door’s motion is assisted by two counterweights (only
one counterweight is shown), each of mass mC D 22 kg. If the door is
released from rest when horizontal, neglecting friction and modeling the
door as a uniform thin plate, determine the speed with which B strikes the
left end of the horizontal guide.
Solution
We consider a system consisting of the door AB and the counterweights

C . We model the door as a thin rigid body subject to its own weight
mAB g and the reactions NA and NB . We model the counterweights
as particles subject to their own combined weight 2mC g. We observe
that work is done only by gravity, which is conservative. We denote by
¿ the position at release, and by ¡ the position achieved by the door
when A strikes the floor. We use subscripts 1 and 2 to denote quantities
at ¿ and ¡.

T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by vG the speed of the center of mass G
of the door, by IG the mass moment of inertia of the door about G, by !d the angular speed of the door, and
by vC the speed of the counterweights,
2 2 2 2
T1 D 12 mAB vG1 C 12 IG !d1 C 2 12 mC vC1 and T2 D 12 mAB vG2 C 12 IG !d2 2 C 2 12 mC vC1
2
: (2)
Force Laws.
V1 D 2mC gyC1 C mAB gL; and V2 D 2mC gyC 2 C 12 LmAB g: (3)
Kinematic Equations. Since the length of the door is L and L is also the height of the garage door opening,
in ¡, point A is at the very bottom of its trajectory. This implies that vA2 D 0 and that A is the instantaneous
center of rotation of the door. In turn, this implies that the angular speed of the door in ¡ is !d 2 D vB2 =L,
and that vG2 D !d 2 .L=2/ D vB2 =2. Hence, recalling that the system is released from rest and observing
that the counterweights C are directly attached to point A, we have
vG1 D vC1 D 0; !d1 D 0; vG2 D 12 vB2 ; vC 2 D 0; !d 2 D vB2 =L; yC 2 D yC1 C L: (4)
1
Computation. Substituting Eqs. (2)–(4) into Eq. (1), recalling that IG D 12 mAB L ,
2 and solving for vB2 ,
we have
p
.vB /final D 3gL.mAB 4mC /=mAB ) .vB /final D 1:279 m=s,
where we have written .vB /final for vB2 and where we have used the data mAB D 90 kg, g D 9:81 m=s2 ,
L D 2:5 m, and mC D 22 kg.
Dynamics 2e 1773
Problem 8.69
A stick of length L and mass m is in equilibrium while standing on its end A when
end B is gently nudged to the right, causing the stick to fall. Model the stick as
a uniform slender bar, and assume that there is friction between the stick and the
ground. Under these assumptions, there is a value of ✓, let’s call it ✓max , such that
the stick must start slipping before reaching ✓max for any value of the coefficient
of static friction s . To find the value of ✓max , follow the steps below.
(a) Letting F and N be the friction and normal forces, respectively, between the
stick and the ground, draw the FBD of the stick as it falls. Then set the sum
of forces in the horizontal and vertical directions equal to the corresponding
components of mE aG . Express the components of aEG in terms of ✓, ✓P , and ✓R .
Finally, express F and N as functions of ✓, ✓P , and ✓R .
(b) Use the work-energy principle to find an expression for ✓P 2 .✓/. Differentiate
the expression for ✓P 2 .✓ / with respect to time, and find an expression for ✓R .✓/.
(c) Substitute the expressions for ✓P 2 .✓ / and ✓R .✓/ into the expressions for F and
N to obtain F and N as functions of ✓ . For impending slip, jF=N j must be
equal to the coefficient of static friction. Use this fact to determine ✓max .
Solution
For the sake of a more compact presentation, in the solution to this

problem, we will follow the steps indicated in the problem statement
without a strict adherence to the solution steps typically followed in the
examples.
Step (a). The FBD of the stick is shown on the right. Summing forces
in the horizontal and vertical directions, we have
X
Fx W F D maGx ; (1)
X
Fy W N mg D maGy ; (2)
where G is the center of mass of the stick, and where F and N are the friction and normal forces at A,
respectively. We will solve the problem under the working assumption that the stick does not slip at A.
Consistent with this assumption, we then have that the position of G can be described as follows:
xG D 12 L sin ✓ and yG D 12 L cos ✓: (3)
Differentiating Eqs. (3) with respect to time, we have that the components of the velocity of G are
vGx D 12 L✓P cos ✓ and vGy D 1 P
2 L✓ sin ✓: (4)
Differentiating Eqs. (4) with respect to time, we have that the components of the acceleration of G are
aGx D 12 L.✓R cos ✓ ✓P 2 sin ✓/ and aGy D 1 R
2 L.✓ sin ✓ C ✓P 2 cos ✓/: (5)
Substituting Eqs. (5) into Eqs. (1) and (2), and solving for F and N we have

R P L R
1 2
F D 2 mL.✓ cos ✓ ✓ sin ✓/ and N D mg 1 .✓ sin ✓ C ✓P 2 cos ✓/ : (6)
2g
Step (b). We begin by defining ¿ to the the position of the stick at release and ¡ the position of the stick at
a generic angle ✓ following ¿. We observe that, as long as A does not slip, friction does no work and the
system can be treated as being conservative. Hence, we can apply the work-energy principle as follows:
T1 C V1 D T2 C V2 ; (7)
where, recalling that the system is released from rest and observing that while point A does not slip, the stick
is in a fixed axis rotation about A, we have
L L
T1 D 0; V1 D mg ; T2 D 12 IA ✓P 2 ; and V2 D mg cos ✓; (8)
2 2
in which IA is the mass moment of inertia of the stick about A and is therefore given by
✓ ◆2
2 L
IA D 1
12 mL Cm D 13 mL2 ; (9)
2
where we have made use of the parallel axis theorem. Next, substituting Eq. (8) into Eq. (7) and solving for
✓P 2 , we have
3g
✓P 2 D .1 cos ✓/; (10)
L
where we have also used the expression for IA given in Eq. (9). Then, differentiating Eq. (10) with respect to
R we have
time and solving for ✓,
3g 3g
2✓P ✓R D .sin ✓/✓P ) ✓R D sin ✓: (11)
L 2L
Step (c). Substituting the expressions for ✓P 2 and ✓R given in Eqs. (10) and (11) into the expressions for F
and N in Eqs. (6), after simplification gives
F D 34 mg sin ✓.3 cos ✓ 2/ and N D 14 mg.1 3 cos ✓/2 : (12)
We now consider the impending slip condition, which is the limiting case for the working assumption used
thus far. In an impending slip condition we would have jF=N j D s , where s is the coefficient of static
friction between the stick and the ground. Using Eqs. (12) to enforce this condition gives
ˇ ˇ ˇ ˇ
ˇ F ˇ ˇ 3 sin ✓.3 cos ✓ 2/ ˇ
ˇ ˇDˇ ˇ (13)
ˇ N ˇ ˇ .1 3 cos ✓/2 ˇ D s :
Right now we are treating s as a given of the problem and, in principle, s could be a very large number.
With this in mind, if we were to solve Eq. (13) for ✓, we would find ✓slip the value of ✓ at which the stick
would start slipping. Independently of ✓slip , let’s denote by ✓0 the value of ✓ for which the denominator in
Eq. (13) goes to zero. This value is as follows:
1 3 cos ✓0 D 0 ) ✓0 D cos 1
.1=3/ D 70:53ı : (14)
The importance of this result is in the fact that jF=N j ! 1 as ✓ ! ✓0 and therefore, no matter how large
s is, we would find that ✓slip < ✓0 . Based on this result, we can then say that the maximum value of ✓ what
we were seeking is equal to ✓0 , i.e.
✓max D 70:53ı :
Dynamics 2e 1775
Problem 8.70
the end B is gently nudged to the right, causing the stick to fall. Letting s be
the coefficient of static friction between the stick and the ground and modeling
the stick as a uniform slender bar, find the largest value of s for which the stick
slides to the left, as well as the corresponding value of ✓ at which sliding begins.
To solve this problem, follow the steps below.
(a) Let F and N be the friction and normal forces, respectively, between the stick
and the ground, and let F be positive to the right and N positive upward. Draw
the FBD of the stick as it falls. Then set the sum of forces in the horizontal and
vertical directions equal to the corresponding components of mE aG . Express
P R
the components of aEG in terms of ✓, ✓ , and ✓ . Finally, express F and N as
functions of ✓, ✓P , and ✓.
R
(c) Substitute the expressions for ✓P 2 .✓ / and ✓R .✓/ into the expressions for F
and N to obtain F and N as functions of ✓. When slip is impending (i.e.,
when jF j D s jN j), jF=N j must be equal to the static coefficient of friction.
Therefore, compute the maximum value of jF=N j by differentiating it with
respect to ✓ and setting the resulting derivative equal to zero.
Solution

examples.
X
Fx W F D maGx ; (1)
X

2 L✓ sin ✓: (4)

2 L.✓ sin ✓ C ✓P 2 cos ✓/: (5)

R P L R
1 2
2g
T1 C V1 D T2 C V2 ; (7)
L L
2 2
✓ ◆2
2 L
1
IA D 12 mL C m D 13 mL2 ; (9)
2
✓P 2 , we have
3g
✓P 2 D .1 cos ✓/; (10)
L
R we have
3g 3g
2✓P ✓R D .sin ✓/✓P ) ✓R D sin ✓: (11)
L 2L
ˇ ˇ ˇ ˇ
ˇ F ˇ ˇ 3 sin ✓.3 cos ✓ 2/ ˇ
ˇ ˇDˇ ˇ (13)
ˇ N ˇ ˇ .1 3 cos ✓/2 ˇ D s :
Let f .✓/ denote the function of ✓ within absolute value signs, i.e.,
3 sin ✓.3 cos ✓ 2/
f .✓ / D : (14)
.1 3 cos ✓/2
We observe that f .✓ / D 0 for ✓ D 0. In addition, we observe that f .✓/ ! 1 for ✓ ! cos 1 .1=3/, i.e.,
as the denominator .1 3 cos ✓ /2 ! 0. This indicates that the maximum value of f .✓/ is 1. However,
this also indicates that the stick would slip no matter how large s is. In other words, given a value of s ,
the stick would start slipping before ✓ would ever become equal to cos 1 .1=3/. In view of this observation,
we then ask whether or not F=N has a relative maximum, that is a local maximum that is achieved before
Dynamics 2e 1777
✓ D cos 1 .1=3/. To answer this question, we proceed as indicated in the problem statement, i.e., by solving
the equation df .✓ /=d✓ D 0. We begin by determining df .✓ /=d✓, i.e.,
df .✓/ .3 cos2 ✓ 2 cos ✓ 3 sin2 ✓ /.1 3 cos ✓/2 Œsin ✓.3 cos ✓ 2/ç6.1 3 cos ✓/ sin ✓
D3 ; (15)
d✓ .1 3 cos ✓/4
which, recalling that sin2 ✓ C cos2 ✓ D 1, can be simplified to read
df .✓/ 3.9 11 cos ✓/

D : (16)
d✓ .1 3 cos ✓/3
Setting the above expression to zero gives
df .✓ / 3.9 11 cos ✓ /
D0 ) D0 ) 9 11 cos ✓ ) ✓ D cos 1
.9=11/ D 35:10ı : (17)
d✓ .1 3 cos ✓ /3
To understand the significance of the above result, we now compute the values of F , N and s corresponding
to the above value of ✓ . Using Eqs. (12), we have
ˇ ˇ
F ˇ✓ Dcos 1 .9=11/ D 0:1960mg; and N ˇ✓ Dcos 1 .9=11/ D 0:5289mg: (18)
In addition, substituting the value ✓ D cos 1 .9=11/ into Eq. (13), we have
s j✓ Dcos 1 .9=11/ D 0:3706: (19)
Because ✓ D cos 1 .9=11/ is the value of ✓ for which df .✓ /=d✓ is equal to zero, then such a value of ✓ is
corresponds to a relative maximum for s . With this in mind, the result in the first of Eqs. (18) shows that,
for ✓ D cos 1 .9=11/, the friction force F is positive, i.e., points to the right. This means that if the given s
were indeed equal to that in Eq. (19), then the bar would start slipping at ✓ D cos 1 .9=11/ and it would slip
to the left (i.e., point A would move to the left).
Now, what would happen if the given s were larger than that in Eq. (19)? To answer this question,
we first observe that the stick would slip for some value of ✓ larger than cos 1 .9=11/. Second we observe
that, for ✓ > cos 1 .9=11/, the value of jF=N j decreases (since ✓ D cos 1 .9=11/ is a point of relative
maximum for jF=N j). In fact, referring to the first of Eqs. (12), we have that jF=N j D 0 for F D 0, i.e., for
✓ D cos 1 .2=3/ D 48:19ı . Furthermore, for ✓ > cos 1 .2=3/ we have that jF=N j increases again, but this
time F < 0. Hence, if s > 0:3706, the stick will eventually slip, but it will do so with A moving to the
right.
In conclusion, we can the say that the maximum value of s for which the stick slips to the left is indeed
that in Eq. (19) so that the answer to our problem is as follows:
. s /max D 0:3706 and ✓slide D 35:10ı :
Problem 8.71
The uniform thin pin-connected bars AB, BC , and CD have masses

mAB D 2:3 kg, mBC D 3:2 kg, and mCD D 5:0 kg, respectively. In
addition, R D 0:75 m, L D 1:2 m, and H D 1:55 m. When bars AB and
CD are vertical, AB is rotating with angular speed !AB D 4 rad=s in
the direction shown. At this instant, the motor connected to AB starts to
exert a constant torque M in the direction opposite to !AB . If the motor
stops AB after AB has rotated 90ı counterclockwise, determine M and
the maximum power output of the motor during the stopping phase. In
the final position, D 64:36ı and D 29:85ı .
Solution
Note: In the solution of this problem, we present various intermediate numerical results. With this in mind, it
is important to recall that, while intermediate results are presented using four significant figures, our solution
is based on the full precision values of all the results in question.
Referring to the FBD on the right, observe that the reaction forces at A
and D do no work because points A and D are fixed. The only forces
doing work are the weights of the bars in the system and the constant
moment M . Because the calculation of the work of the force system in
question is straightforward, it is indeed possible to solve this problem via
the application of the work-energy principle. Referring to the problem
statement and to the FBD, observe that we have introduced angles ✓, ,
and ˇ to describe the orientation of bars AB, BC , and CD, respectively.
In addition, we have labeled E, F , and G the mass centers of bars AB,
BC , and CD, respectively. We define ¿ as the position at which ✓ D 90ı and ¡ the position at which ✓ D 0.
T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)
where V is the potential energy of the system, .U1-2 /nc is the work of the moment M , and where, observing
that bars AB and CD are in fixed axis rotations about points A and D respectively, and observing that in ¡
the system comes to a stop, we have
T1 D 12 IA .!AB /21 C 21 mBC vF

2 1 2 1 2
1 C 2 IF .!BC /1 C 2 ID .!CD /1 and T2 D 0; (2)
where !AB , !BC , !CD are the angular speeds of the bars AB, BC , and CD, respectively, and where IA is
the mass moment of inertia of bar AB about A, IF is the mass moment of inertia of bar BC about point
F , and ID is the mass moments of inertia of bar CD about D. The mass moments of inertia introduced are
given by
1 2 2 2
IA D 12 mAB R C mAB .R=2/ D 0:4312 kg m ; (3)
1 2 2
IF D 12 mBC L D 0:3840 kg m ; (4)
1 2 2 2
ID D 12 mCD H C mCD .H=2/ D 4:004 kg m ; (5)
where we have used the following numerical data: mAB D 2:3 kg, mBC D 3:2 kg, mCD D 5:0 kg,
R D 0:75 m, L D 1:2 m, and H D 1:55 m.
Dynamics 2e 1779
Force Laws. Using the datum shown, we have

R 1
V1 D mAB g C mBC gR C mCD g R 2H ; (6)
2
L 1
V2 D mBC g sin 2 C mCD g L sin 2 2H sin ˇ2 : (7)
2
Since the applied moment M is constant, and observing that both the moment and the angle ✓ have been
defined positive if clockwise, then the work of M in going from ¿ to ¡ is
.U1-2 /nc D M.✓2 ✓1 /: (8)
Kinematic Equations. We begin by observing that
✓1 D 90ı ; ✓2 D 0; 1 D 0; 2 D D 29:85ı ; ˇ1 D 90ı ; and ˇ2 D D 64:36ı ; (9)
where we have used the values of and given in the problem statement. As far as the velocity analysis is
concerned, we only need to determine the speeds of the system in ¿ because the system is at rest in ¡. With
this in mind, observe that in ¿ bars AB and CD are parallel to one another and that the angular speed of bar
AB in ¿ is given and equal to 4 rad=s. Therefore, applying the concept of instantaneous center of rotation,
we see that the IC of bar BC in ¿ is at infinity. In turn, this implies that bar BC is in translation, which also
implies that the speed of points B and C must be the same and is equal to !AB R. Therefore, we have
R
.!AB /1 D !AB D 4 rad=s; vF 1 D !AB R; and .!CD /1 D !AB : (10)
H
Computation. Substituting Eqs. (3)–(5) and Eqs. (10) into Eqs. (2), we have
T1 D 25:35 J and T2 D 0; (11)
where we have used the following numerical data: !AB D 4 rad=s, R D 0:75 m, and H D 1:55 m. Next,
substituting Eqs. (9) into Eqs. (6)–(8), we have
V1 D 30:78 J; V2 D 4:401 J; and .U1-2 /nc D 1:571M; (12)
mAB D 2:3 kg, mBC D 3:2 kg, mCD D 5:0 kg, R D 0:75 m, L D 1:2 m, H D 1:55 m, and g D 9:81 m=s2 .
Substituting Eqs. (11) and (12) into Eq. (1) and solving for M , we obtain
M D 32:93 N m: (13)
As far as the maximum power output of the motor during the stopping phase is concerned, observe that,
between ¿ and ¡, the torque provided by the engine is equal and opposite to the torque that appears in the
FBD shown. In addition, observe that the angular velocity of the motor must be equal to that of bar AB. This
implies that the torque acting on the motor acts in the same direction as the angular velocity of the motor. In
turn, this implies that the power output of the motor is given by the following expressions:
P D M!AB : (14)
Because M is constant, then the power is maximum when !AB is maximum, that is at ¿. Hence, recalling
that .!AB /1 D 4 rad=s and using Eq. (13) to evaluate Eq. (14), we have
Pmax D 131:7 W:
Problem 8.72
end B is gently nudged to the right, causing the stick to fall. Letting the coefficient
of static friction between the stick and the ground be s D 0:7 and modeling
the stick as a uniform slender bar, find the value of ✓ at which end A of the stick
starts slipping, and determine the corresponding direction of slip. As part of the
solution, plot the absolute value of the ratio between the friction and normal force
as a function of ✓ . To solve this problem, follow the steps below.
(a) Letting F and N be the friction and normal forces, respectively, between the
stick and the ground, draw the FBD of the stick as it falls. Then set the sum
of forces in the horizontal and vertical directions equal to the corresponding
components of mE aG . Express the components of aEG in terms of ✓, ✓P , and ✓R .
Finally, express F and N as functions of ✓, ✓P , and ✓R .
(c) After substituting the expressions for ✓P 2 .✓/ and ✓.✓/ R into
the expressions for F and N , plot jF=N j as a function
of ✓. For impending slip, jF=N j must be equal to s.
Therefore, the desired value of ✓ corresponds to the intersection of
the plot of jF=N j with the horizontal line intercepting the vertical axis at the
value 0.7. After determining the desired value of ✓ , the direction of slip can
be found by determining the sign of F evaluated at the ✓ computed.
Solution

examples.
X
Fx W F D maGx ; (1)
X

2 L✓ sin ✓: (4)
Dynamics 2e 1781

2 L.✓ sin ✓ C ✓P 2 cos ✓/: (5)

R P L R
1 2
2g
T1 C V1 D T2 C V2 ; (7)
L L
2 2
✓ ◆2
2 L
IA D 1
12 mL Cm D 13 mL2 ; (9)
2
✓P 2 , we have
3g
✓P 2 D .1 cos ✓/; (10)
L
R we have
3g 3g
2✓P ✓R D .sin ✓/✓P ) ✓R D sin ✓: (11)
L 2L
ˇ ˇ ˇ ˇ
ˇ F ˇ ˇ 3 sin ✓.3 cos ✓ 2/ ˇ
ˇ ˇDˇ ˇ (13)
ˇ N ˇ ˇ .1 3 cos ✓/2 ˇ D s :
In order to solve this equation for the value of ✓ corresponding to the beginning of the slip motion we will
need to use some appropriate mathematical software and we will need to provide a guess for the solution,
that is, we will need to provide a value of ✓ which is close to the solution of the above equation. We will
provide our guess by first plotting the expression for jF=N j, as we have done below:
The above plot was obtained using the following Mathematica code:
From the above plot, we see that the function jF=N j achieves the value s D 0:7, near ✓ D 0:9 rad. Hence,
we will find the numerical solution to our problem by providing the value 0:9 as the initial guess for ✓ . By
doing so, we obtain the following solution
✓slip D 0:9237 rad D 52:92ı ; (14)
which was obtained using the following code
Substituting the value of ✓ given in Eq.(14) into Eq. (12), we have

ˇ
F ˇ✓ D✓slip D 0:1144mg: (15)
This result indicates that F points to the left and therefore point A will slide to the right.
In conclusion, we have
✓slip D 52:92ı and A slips to the right.
Dynamics 2e 1783
Problem 8.73
For the slider-crank mechanism shown, let L D 141 mm, R D 48:5 mm, and
H D 36:4 mm. In addition, observing that D is the center of mass of the
connecting rod, let the mass moment of inertia of the connecting rod be
ID D 0:00144 kg m2 and the mass of the connecting rod be m D 0:439 kg.
Letting !AB D 2500 rpm, compute the kinetic energy of the connecting
rod for ✓ D 90ı and for ✓ D 180ı .
Solution
The kinetic energy of the connecting rod is
2 2
TBC D 12 mvD C 12 ID !BC ; (1)
where vD is the speed of the center of mass of the connecting rod, !BC is the angular velocity of the
connecting rod, and where ID is the mass moment of inertia of the connecting rod relative to its own mass
center. Using the results of Example 6.6 on p. 460 of the textbook, we have.
!AB sin ✓
!BC D p ; (2)
.L=R/2 cos2 ✓
and  ✓ ◆ ✓ ◆
H H sin ✓
vED D R!AB sin ✓ 1 {O C cos ✓ 1 C p |O : (3)
L L .L=R/2 cos2 ✓
2
Recalling that vD D vED vED , substituting Eqs. (2) and (3) into Eq. (1), after simplification, we have
 ✓ ◆2 ✓ ◆2
1 2 2 ID sin2 ✓ 2 H 2 HR sin ✓
TBC D 2 R !AB C m sin ✓ 1 C m cos ✓ 1 C p : (4)
L 2 R cos ✓
2 2 L L L2 R2 cos2 ✓
Evaluating the above expression, we have
ˇ ˇ
TBC ˇ✓ D90ı D 25:31 J and TBC ˇ✓ D180ı D 35:39 J;
where we have used the following numerical data: R D 48:5 mm D 48:5⇥10 3 m, !AB D 2500 rpm D
2500 2⇡ 2
60 rad=s, ID D 0:00144 kg m , L D 141 mm D 141:0⇥10
3 m, m D 0:439 kg, and H D 36:4 mm D
36:40⇥10 3 m.
Problem 8.74
For the slider-crank mechanism shown, let L D 141 mm, R D 48:5 mm, and
H D 36:4 mm. In addition, observing that D is the center of mass of the
connecting rod, let the mass moment of inertia of the connecting rod be
ID D 0:00144 kg m2 and the mass of the connecting rod be m D 0:439 kg.
Plot the kinetic energy of the connecting rod as a function of the crank
angle ✓ over one full cycle of the crank for !AB D 2500 rpm, 5000 rpm, and
7500 rpm.
Solution
The kinetic energy of the connecting rod is
2 2
TBC D 12 mvD C 12 ID !BC ; (1)
where vD is the speed of the center of mass of the connecting rod, !BC is the angular velocity of the
connecting rod, and where ID is the mass moment of inertia of the connecting rod relative to its own mass
center. Using the results of Example 6.6 on p. 460 of the textbook, we have.
!AB sin ✓
!BC D p ; (2)
.L=R/2 cos2 ✓
and  ✓ ◆ ✓ ◆
H H sin ✓
vED D R!AB sin ✓ 1 {O C cos ✓ 1 C p |O : (3)
L L .L=R/2 cos2 ✓
2
Recalling that vD D vED vED , substituting Eqs. (2) and (3) into Eq. (1), after simplification, we have
 ✓ ◆2 ✓ ◆2
1 2 2 ID sin2 ✓ 2 H 2 HR sin ✓
TBC D 2 R !AB C m sin ✓ 1 C m cos ✓ 1 C p : (4)
L 2 R cos ✓
2 2 L L L2 R2 cos2 ✓
Now that TBC is known, we can plot it using some appropriate piece of mathematical software. The plots
shown below were obtained with the following Mathematica code.
Dynamics 2e 1785
Problem 8.75
Disks A and B have identical masses and mass moments of inertia about their respective mass centers.
Point C is both the geometric center and center of mass of disk A. Points O and D are the geometric
center and center of mass of disk B, respectively. If, at the instant shown, the two disks are rotating about
their centers with the same angular velocity !0 , determine which of the following statements is true and
ˇ ˇ ˇ ˇ ˇ ˇ ˇ ˇ ˇ ˇ ˇ ˇ
why: (a) ˇ hEC A ˇ < ˇ hEO B ˇ, (b) ˇ hEC A ˇ D ˇ hEO B ˇ, (c) ˇ hEC A ˇ > ˇ hEO B ˇ.
Solution
The answer to the problem is (a), i.e.,
j hEC A
j < j hEO B
j:
To explain why, we start with observing that both bodies are in fixed axis rotations. For body A, we have
j hEC A
j D IC j!E O j:
By contrast, for body B we have

2
j hEC O
j D .ID C mB OD /j!E O j:
2
Since IC D ID , and since mB OD > 0, then the magnitude of the angular momentum of B about its center
is larger than the corresponding quantity for body C .
Dynamics 2e 1787
Problem 8.76
Body B has mass m and mass moment of inertia IG , where G is the mass center of B. If B is trans-
ˇ ˇ ˇ ˇ
lating as shown, determine which of the following statements is true and why: (a) ˇ hEE B ˇ < ˇ hEP B ˇ,
ˇ ˇ ˇ ˇ ˇ ˇ ˇ ˇ
(b) ˇ hEE ˇ D ˇ hEP ˇ, (c) ˇ hEE ˇ > ˇ hEP ˇ.
B B B B
Solution
The answer to the problem is (a), i.e.,
j hEE B
j < j hEP B
j:
To see why, we observe that the body is translating and point E is on a line parallel to the velocity vector of
the center of mass. Hence,
hEE B D 0:
E
In addition, since P is not on a line parallel to the velocity vector of G and going through G, then we have
hEP B
E
¤ 0;
so that the magnitude of this vector must be greater than zero.
Problem 8.77
The rear-wheel-drive car can go from rest to 60 mph in t D 8 s.

Assume that the wheels are all identical and that their geometric
centers coincide with their mass centers. Let Mrear be the average
moment applied to one of the rear wheels during t and computed
relative to the wheel’s center. Finally, let Mfront be the average mo-
ment applied to one of the front wheels during t and computed
relative to the wheel’s center. Modeling the wheels as rigid bod-
ies, ˇdetermine
ˇ which
ˇ ofˇ the following
ˇ ˇ statements
ˇ ˇ is trueˇ and why:
ˇ
(a) ˇMrear ˇ < ˇMfront ˇ, (b) ˇMrear ˇ D ˇMfront ˇ, (c) ˇMrear ˇ >
ˇ ˇ
ˇMfront ˇ.
Solution
The answer is (b). The reason for this is that, by the angular impulse-momentum principle the average
moment about the mass center of a wheel is dictated only by the mass moment of inertia and the change
angular velocity of the wheel. Since the motion and the rotational inertia of each wheel is the same, then the
average moment on each wheel must also be the same.
Dynamics 2e 1789
Problem 8.78
The rear-wheel-drive car can go from rest to 60 mph in t D 8 s.

Assume that its wheels are identical, with their geometric centers
coinciding with their mass centers. Let Favg be the average friction
force acting on the system during t due to contact with the
ground. Modeling the car and the wheels as rigid bodies, does the
value of Favg change whether or not we account for the rotational
inertia of the wheels? Why?
Solution
The answer is no. The reason for this is that the force of friction is dictated by the linear impulse-momentum
principle and in this principle the only inertia property that matters is the total mass of the car. The rotational
inertia of the wheels does not contribute to this principle.
Problem 8.79
A uniform disk of mass m and radius R rolls to the right without slip, such
that the speed of the center of mass is vG . Provide an expression for the linear
momentum of the disk in terms of the given quantities. In addition, provide
an expression for the angular momentum of the disk relative to O, the point of
contact with the ground. Express your answers using the component system
shown.
Solution
The linear momentum of the system can be obtained by recalling the expression for the linear momentum of
a rigid body, which is given by the product of the body’s mass and the velocity of the center of mass. As far
as the angular momentum relative to O is concerned, since O is the wheel’s instantaneous center of rotation,
we follow the strategy indicated in the Closer Look of Example 8.7. Denoting the linear momentum of the
system as p,
E we have
pE D mvG {O:
Since O is the wheel’s instantaneous center of rotation, the angular momentum of the system relative to O is
hEO D IO !E w ; (1)
where IO is the mass moment of inertia of the wheel about O and !E w is the angular velocity of the wheel.
Applying the parallel axis theorem, for IO we have IG C mR2 , where IG is the mass moment of inertia
relative to G, the mass center of the disk. Recalling that the disk is uniform, we have IG D mR2 =2. Hence,
we have
IO D 32 mR2 : (2)
Since the disk is rolling without slipping, we have
vG O
!E w D k: (3)
R
Therefore, we conclude that
hEO D 3 O
2 mvG R k:
Dynamics 2e 1791
Problem 8.80
At the instant shown, the eccentric wheel with center at O and center of mass
at G is rotating counterclockwise without slip with an angular speed !w D
10 rad=s. The weight of the wheel is W D 90 lb. In addition, let R D 2 ft,
h D 1 ft, and the radius of gyration kG D 1:45 ft. At the instant shown,
determine the linear momentum of the disk and the angular momentum about
C , the point of contact with the ground. Express your answers in the component
system shown.
Solution
Let vEG and pEw denote the velocity of G and the linear momentum of the wheel, respectively. The linear
momentum of a rigid body has the form
pEw D mE vG ; (1)
where m is the mass of the wheel. Using rigid body kinematics, we have vEG D vEC C !E w ⇥ rEG=C , where vEC
is the velocity of point C , !E w D !w kO is the angular velocity of the wheel, and where rEG=C is the position of
G relative to C . Using the component system shown, we have
rEG=C D .R C h/ |O: (2)
E Therefore, we
Recalling that the wheel is rolling without slipping on a stationary surface, we have vEC D 0.
have
vEG D !E w ⇥ rEG=C D .R C h/!w {O ) pEw D m.R C h/!w {O: (3)
Recalling that m D 90 lb=g, g D 32:2 ft=s2 , R D 2 ft, h D 1 ft and !w D 10 rad=s, we can evaluate pEw to
obtain
pEw D . 83:85 lb s/ {O:
We now turn to the determination of the angular momentum of the wheel about C . Following the discussion
in the Closer Look of Example 8.7, since C is the instantaneous center of rotation of the wheel, we have
hEC D IC !E w ; (4)
where IC is the mass moment of inertia of the wheel about C . Applying the parallel axis theorem, at the
2
instant shown we have IC D IG C m.R C h/2 , where IG D mkG is the mass moment of inertia of the disk
about its center of mass G. In summary, we have
⇥ 2 ⇤
hEC D m kG O
C .R C h/2 !w k: (5)
Recalling that m D 90 lb=g, g D 32:2 ft=s2 , kG D 1:45 ft, R D 2 ft, h D 1 ft and !w D 10 rad=s, we can
evaluate hEC to obtain
O
hEC D .310:3 ft lb s/ k:
Problem 8.81
The top of the Space Needle in Seattle, Washington, hosts a revolving

restaurant that goes through one full revolution every 47 min under
the action of a motor with a power output of 1:5 hp. The portion
of the restaurant that rotates is a ring-shaped turntable with internal
and external radii ri D 33:3 ft and ro D 47:3 ft, respectively, and
approximate weight W D 125 tons (1 ton D 2000 lb). Use the given
values of power output and angular speed to estimate the torque M
that the engine provides. Then, assuming that the motor can provide
a constant torque equal to M; neglecting all friction, and modeling
the turntable as a uniform body, determine the time ts that it takes
to spin up the revolving restaurant from rest to its working angular
speed.
Photo credit: © Golden Gate Images/Alamy
Solution
We model the turntable as a rigid body in a fixed axis rotation about O, which is
both the center and center of mass of the turntable. We assume that the turntable
is subject to the moment M and the reaction forces at O required to keep the
turntable in place. We use the subscripts 1 and 2 denote the time instants at
which the system starts spinning and when it achieves its working angular velocity,
respectively.
Balance Principles. Choosing O as the moment center, the application of the angular impulse-momentum
principle in the kO direction gives Z t2
IO ! t1 C M dt D IO ! t 2 ; (1)
t1
where IO is the system’s mass moment of inertia about O and !E t D ! t kO is the angular velocity of the
turntable. Modeling the turntable as a uniform body of mass W =g occupying a circular crown of inner and
outer radii equal to ri and ro , respectively, we have
IO D 12 .W =g/.ri2 C ro2 /: (2)
Force Laws. Since M is assumed constant, denoting by P the power output of the motor at steady state,
i.e., for t ts , we must have
M D P =! t 2 ) M D 370:3⇥103 ft lb, (3)
2⇡
where we have used the data P D 1:5 hp D 1:5.550/ ft lb=s and ! t 2 D 47 1 rpm D 47.60/
rad=s.
Kinematic Equations. The angular velocities at t1 and t2 are known:
1 2⇡
! t1 D 0 and ! t 2 D 47 rpm D rad=s; (4)
47.60/
Dynamics 2e 1793
Computation. Substituting Eq. (2), the first of Eqs. (3), and Eqs. (4) into Eq. (1), we have
.P =! t 2 /.t2 t1 / D 12 .W =g/.ri2 C ro2 /! t 2 ; (5)
where we have used the fact that P and ! t 2 are constant. Now, letting ts D t2 t1 and solving the above
equation for ts , we have
! t22
ts D 12 .W =g/.ri2 C ro2 / ) ts D 0:07598 s, (6)
P
where, with the last of Eqs. (4), we have used the data W D 125 ton D 125.2000/ lb, g D 32:2 ft=s2 ,
ri D 33:3 ft, and ro D 46:3 ft, and P D 1:5 hp D 1:5.550/ ft lb=s.
Problem 8.82
A rotor, spinning freely about the fixed point O, consists of a thin uniform bar AB that functions as a hub
and two identical blades pinned at A and B, respectively. The dimensions of the system are: d D 0:5 m,
` D 5 m, and w D 0:3 m. The bar AB has a mass mAB D 30 kg, and each of the blades has a mass
mb D 20 kg. Each blade can be modeled as a uniform thin plate. The angular speed is !r D 100 rpm when
the angle ✓ is equal to 90ı . At some point, an internal mechanism causes the blades to change orientation
relative to AB in such a way that ✓ becomes constant and equal to 180ı . Neglecting aerodynamic forces
and friction at the bearings at O, determine the angular speed of the rotor after ✓ D 180ı .
Solution
Referring to the figure below, since the rotor is spinning freely in the horizontal plane, the system is not acted
upon by any force or moment that would promote or hinder its rotation. Hence, the system can be considered
isolated. This implies that the angular momentum of the system about any point is conserved. We denote
by t1 D 0 the initial time corresponding to ✓ D 90ı , and by t2 the time at which ✓ D 180ı . We select the
fixed point O as the moment center for the application of the angular impulse-momentum principle. Note
that we have denoted by C the center of mass of the blade pinned at B and by D the center of mass of the
blade pinned at A. We also observe that point O is the center of mass of bar AB.
Balance Principles. Applying the angular impulse-momentum principle as a statement of conservation of

angular momentum about O, we have
hEO1 D hEO2 (1)
where, denoting by !E r D !r kO the angular velocity of the rotor, and by IO the mass moment of inertia of the
rotor about O, since O is fixed,
hEO1 D IO1 !r1 kO and hEO2 D IO2 !r2 k:

O (2)
Using the parallel axis theorem, for IO1 and IO2 , we have
h i
IO1 D 12 1
mAB .2d /2 C 2 121
mb `2 C w 2 C mb d 2 C 14 `2 D 346:1 kg m2 ;
h i (3)
2
IO2 D 12 1
mAB .2d /2 C 2 121
mb `2 C w 2 C mb d C 12 ` D 446:1 kg m2 ;
where we have used the data mAB D 30 kg, d D 0:5 m, mb D 20 kg, ` D 5 m, and w D 0:3 m.
Force Laws. All forces are accounted for on the FBD.

Dynamics 2e 1795
Kinematic Equations. The initial angular velocity is known:
!r1 D 100 rpm: (4)
Computation. Substituting Eqs. (2) into Eq. (1), we have
IO1 !r1 kO D IO2 !r2 kO ) j!E r2 j D .IO1 =IO2 /j!r1 j: (5)
Using the (full precision) values in Eqs. (3) and (4), we can evaluate the angular speed of the rotor at t D t2
to obtain
j!E r2 j D 77:59 rpm:
Problem 8.83
A uniform disk of mass m D 20 kg and radius R D 0:75 m is being pulled

to the left with a constant horizontal force P by the cord wrapped around it.
Assume that the disk starts from rest and that it rolls without slip.
If P D 30 N, apply the impulse-momentum principles to determine the
angular speed of the disk after 4 s.
Solution
We model the disk as a rigid body subject only to its own weight mg, the force P ,
and the components F and N of the contact force between the disk and the ground.
We denote by t1 D 0 the initial time and by t2 D 4 s, the time at which the answer
to the problem needs to be provided. We select G as the moment center for the
application of the angular impulse-momentum principle. Since there is no motion
in the vertical direction, it will be sufficient to apply the linear impulse-momentum
principle only in the x direction.
Balance Principles. Applying the linear impulse-momentum principle in the x

direction and the angular impulse-momentum principle in the ´ direction (the direction perpendicular to the
plane of motion), we have
Z t2
m.vGx /1 C .F P / dt D m.vGx /2 ; (1)
t1
Z t2
.hG´ /1 C .F C P /R dt D .hG´ /2 ; (2)
t1
where vGx is the x component of the velocity of G, the center and center of mass of the disk, and where,
denoting by IG the mass moment of inertia of the disk about G and denoting the angular velocity of the disk
O
by !E d D !d k,
.hG´ /1 D IG !d1 and .hG´ /2 D IG !d 2 : (3)
Since the disk is uniform, for IG we have
IG D 12 mR2 : (4)
Force Laws. The force P is constant and known:
P D 30 N: (5)
Kinematic Equations. Since the disk starts from rest and then rolls without slipping, we have
.vGx /1 D 0; !d1 D 0; .vGx /2 D R!d 2 : (6)
Computation. Keeping in mind that P is constant, substituting Eqs. (3), (4), and Eqs. (6) into Eqs. (1)
and (2), we have
Z t2 Z t2
F dt D P .t2 t1 / mR!d 2 and R F dt D 12 mR2 !d 2 RP .t2 t1 /: (7)
t1 t1
Dynamics 2e 1797
Eliminating the time integral of F from the above two equations, we have
4P .t2 t1 /
RP .t2 t1 / mR2 !d 2 D 12 mR2 !d 2 RP .t2 t1 / ) !d 2 D : (8)
3mR
Using Eq. (5), and recalling that t2 t1 D 4 s, m D 20 kg, and R D 0:75 m, we can evaluate j!E d 2 j D j!d 2 j
to obtain
ˇ ˇ
ˇ!E d 2 ˇ D 10:67 rad=s:
Problem 8.84
A uniform disk of mass m D 20 kg and radius R D 0:75 m is being pulled

to the left with a constant horizontal force P by the cord wrapped around it.
Assume that the disk starts from rest and that it rolls without slip.
Apply the impulse-momentum principles to determine P if the center of
the disk achieves a speed vG D 5 m=s after 3 s.
Solution
We model the disk as a rigid body subject only to its own weight mg, the force P ,
and the components F and N of the contact force between the disk and the ground.
We denote by t1 D 0 the initial time and by t2 D 3 s, when vG D 5 m=s. We select G
as the moment center for the application of the angular impulse-momentum principle.
Since there is no motion in the vertical direction, it will be sufficient to apply the
linear impulse-momentum principle only in the x direction.
Balance Principles. Applying the linear impulse-momentum principle in the x di-

rection and the angular impulse-momentum principle in the ´ direction (the direction
perpendicular to the plane of motion), we have
Z t2
m.vGx /1 C .F P / dt D m.vGx /2 ; (1)
t1
Z t2
.hG´ /1 C .F C P /R dt D .hG´ /2 ; (2)
t1
O
by !E d D !d k,
.hG´ /1 D IG !d1 and .hG´ /2 D IG !d 2 : (3)
IG D 12 mR2 : (4)
.vGx /1 D 0; !d1 D 0; !d 2 D .vGx /2 =R: (5)
Computation. Keeping in mind that P is constant, substituting Eqs. (3), (4), and Eqs. (5) into Eqs. (1)
and (2), we have
Z t2 Z t2
F dt D P .t2 t1 / C m.vGx /2 and R F dt D 12 mR.vGx /2 RP .t2 t1 /: (6)
t1 t1
1 3m.vGx /2
RP .t2 t1 / C mR.vGx /2 D 2 mR.vGx /2 RP .t2 t1 / ) P D : (7)
4.t2 t1 /
Dynamics 2e 1799
Recalling that m D 20 kg, .vGx /2 D 5 m=s, t2 t1 D 3 s, we can evaluate P to obtain
P D 25:00 N:
Problem 8.85
Moving on a straight and horizontal stretch of road, the rear-wheel-

drive car shown can go from rest to 60 mph in t D 8 s. The
car weighs 2570 lb (the weight includes the wheels). Each wheel
has diameter d D 24:3 in:, mass moment of inertia relative to its
own center of mass IG D 0:989 slug ft2 , and the center of mass
of each wheel coincides with its geometric center. Determine
the average friction force Favg acting on the car during t . In
addition, if the wheels roll without slip, for each wheel, determine
the average moment Mavg , computed relative to the wheel’s center,
that is applied to the wheel during t.
Solution
Average force acting on the car.
We model the car as a system with center of mass at E. Point

E is assumed to travel only in the horizontal direction. The
forces indicated on the FBD include W , the weight of the car,
and the components of the contact forces between the wheels
and the ground (the subscripts r and f stand for ‘rear’ and
‘front’). We denote by t1 the time when the car starts moving,
and by t2 D t1 C t the time at which the car achieves the speed
v2 D 60 mph. We denote by FE the total force acting on the car.
Since E does not move in the vertical direction, we can treat FE as having the form FE D Fx {O, where Fx is
the component of FE in the x direction.
Balance Principles. Applying the impulse-momentum principle in the x direction, we have

Z t2
m.vE x /1 C Fx dt D m.vE x /2 ; (1)
t1
where m D W =g is the mass of the car (g is the acceleration due to gravity).
Force Laws. Since FE has only a horizontal component, denoting by FEavg D Favg {O the average value of FE ,
we must have Z t2
Fx dt D Favg t: (2)
t1
Kinematic Equations. For the horizontal components of velocity, we have
.vE x /1 D 0 and .vE x /2 D v2 : (3)
Computation. Substituting Eqs. (2) and (3) into Eq. (1), we have
Favg t D .W =g/v2 ) Favg D .W =g/.v2 = t / ) FEavg D .878:0 lb/ {O;
where we have expressed the result in vector form, and where we have used the data: W D 2570 lb,
g D 32:2 ft=s2 , v2 D 60 mph D 60 5280
3600 ft=s, and t D 8 s.
Dynamics 2e 1801
Determination of the average moment acting on each wheel.
The four wheels are identical to one another. We consider one of the four wheels
and model it as a rigid body with center of mass at G coinciding with the center
of the wheel. We assume that the wheel is subject to the reaction forces V and
H applied by the rest of the car at G, the reaction forces at the ground, and
an applied torque Ma . Choosing G as moment center, we denote by M E G the
total moment acting on the wheel. Since the motion of the wheel is planar, we
treat ME G as having the from M E G D MG´ k, O i.e., as being directed only in the
O
k direction (perpendicular to the plane of motion). Again, we denote by t1 the
time when the car starts moving, and by t2 D t1 C t the time at which the car
achieves the speed v2 D 60 mph.
Balance Principles. Applying the angular impulse-momentum principle in the ´ direction, we have
Z t2
.hG´ /1 C MG´ dt D .hG´ /2 ; (4)
t1
where hG´ is the ´ component of the angular momentum of the wheel about G.
Force Laws. Since M E G has the form ME G D MG´ k,O denoting by ME avg the average of M
E G over the time
E avg has the form M
interval considered, M O where Mavg is such that
E avg D Mavg k,
Z t2
MG´ dt D Mavg t: (5)
t1
Kinematic Equations. The wheel starts from rest. Also, we recall that hG´ D IG !w , where IG is the
wheel’s mass moment of inertia about G and !E w D !w kO is the angular velocity of the wheel. Because the
wheel rolls without slip, at time t2 , we must have !w2 D 2v2 =d , where we have enforced the fact that the
horizontal component of the velocity of G, namely vGx , is equal to the horizontal velocity of the car as a
whole. Summarizing, we have
.hG´ /1 D 0 and .hG´ /2 D 2IG v2 =d: (6)
E avg D 2IG v2 O O
E avg D . 10:74 lb ft/ k;
Mavg t D 2IG v2 =d ) M k ) M
d t
where we have expressed the result in vector form, and where we have used the following numerical data:
IG D 0:989 slug ft2 , v2 D 60 mph D 60 5280 24:3
3600 ft=s, d D 24:3 in: D 12 ft, and t D 8 s.
Problem 8.86
A spool with radius R D 3 ft is released from rest on an incline with ✓ D 30ı , and its
center, which coincides with its center of mass, is observed to reach a speed of 8 ft=s
two seconds after release. If the spool rolls without slip, use the impulse-momentum
principles to determine the radius of gyration of the spool kG .
Solution
We model the spool as a rigid body subject only to its own weight mg and the
components F and N of the contact force with the incline. We denote by t1 D 0 the
initial time and by t2 D 2 s, the time at which the speed of the spool is measured. We
select G as the moment center for the application of the angular impulse-momentum
principle. Since there is no motion in the y direction, it will be sufficient to apply the
linear impulse-momentum principle only in the x direction.
Balance Principles. Applying the linear impulse-momentum principle in the x

direction and the angular impulse-momentum principle in the ´ direction (the direction
perpendicular to the plane of motion), we have
Z t2
m.vGx /1 C .F mg sin ✓/ dt D m.vGx /2 ; (1)
t1
Z t2
.hG´ /1 C FR dt D .hG´ /2 ; (2)
t1
O
by !E s D !s k,
.hG´ /1 D IG !s1 and .hG´ /2 D IG !s2 : (3)
2
IG D mkG : (4)
.vGx /1 D 0; !d1 D 0; !d 2 D .vGx /2 =R: (5)
Computation. Substituting Eqs. (3), (4), and Eqs. (5) into Eqs. (1) and (2), we have
Z t2 Z t2
2
F dt D mg sin ✓.t2 t1 / C m.vGx /2 and R F dt D m.kG =R/.vGx /2 : (6)
t1 t1
s
2 g sin ✓.t2 t1 /
m.kG =R2 /.vGx /2 D mg sin ✓.t2 t1 / C m.vGx /2 ) kG D R 1 (7)
.vGx /2
Dynamics 2e 1803
Recalling that R D 3 ft, g D 32:2 ft=s2 , ✓ D 30ı , t2 t1 D 2 s, and .vGx /2 D 8 ft=s, we can evaluate kG
to obtain
kG D 5:218 ft:
Problem 8.87
An eccentric wheel B weighing 150 lb has its mass center G at a distance d D 4 in:
from the wheel’s center O. The wheel is in the horizontal plane and is spun from rest by
applying a constant torque M D 32 ft lb. Determine the wheel’s radius of gyration kG if
it takes 2 s to spin up the wheel to 140 rpm. Neglect all possible sources of friction.
Solution
We use the subscripts 1 and 2 to denote the time instants at which the wheel is
put in motion and when it achieves the angular velocity of 140 rpm, respectively.
Referring to the FBD at the right, we model the wheel as a rigid body in a fixed
axis rotation about its center O while subject to the constant moment M and the
reactions at O needed to keep O from moving.
Balance Principles. Choosing the fixed point O as moment center, applying

the angular impulse-momentum principle in the ´ direction, we have
Z t2
.hO´ /1 M dt D .hO´ /2 ; (1)
t1
where, denoting by IO the mass moment of inertia of the wheel about O and by !E w D !w kO the angular
velocity of the wheel,
.hO´ /1 D IO !w1 and .hO´ /2 D IO !w2 : (2)
Using the parallel axis theorem and denoting the mass of the wheel by m, for IO , we have
2
IO D m.kG C d 2 /: (3)
Kinematic Equations. Observing that the wheel rotates clockwise and recalling that the wheel is initially
at rest, we have
!w1 D 0; !w2 D !final ; (4)
where !final D 140 rpm.
Computation. Recalling that M is constant, substituting Eqs. (2)–(4) into Eq. (1), we have
s
2 2 M.t2 t1 /
M.t2 t1 / D m.kG C d /!final ) kG D d 2: (5)
m!final
Recalling that M D 32 ft lb, t2 t1 D 2 s, m D 140 lb=g, g D 32:2 ft=s2 , !final D 140 rpm D 140 2⇡
60 rad=s,
4
and d D 4 in: D 12 ft, we can evaluate kG to obtain
kG D 0:9088 ft:
Dynamics 2e 1805
Problem 8.88
The uniform thin pin-connected bars AB, BC, and CD have masses mAB D
2:3 kg, mBC D 3:2 kg, and mCD D 5:0 kg, respectively. Letting R D 0:75 m,
L D 1:2 m, and H D 1:55 m, and knowing that bar AB rotates at a constant
angular velocity !AB D 4 rad=s, compute the angular momentum of bar AB
about A, of bar BC about A, and bar CD about D at the instant shown.
Solution
Angular momentum of bar AB about A. Using the component system

shown, since AB is in a fixed axis rotation about A, using Eq. (8.44) on p. 620
of the textbook, we have
hEA AB
D .IA /AB !EAB ; (1)
O Hence, we have
where .IA /AB D 13 mAB R2 and !EAB D !AB k.
1
hEA AB
O
D mAB R2 !AB kO D .1:725 kg m2 =s/ k; (2)
3
where we have used the following numerical data mAB D 2:3 kg, R D 0:75 m, and !AB D 4 rad=s.
Angular momentum of bar BC about A. At the instant shown bars AB and CD are parallel to one
another. Therefore, we can conclude that the instantaneous center of rotation of bar BC is at infinity and
consequently bar BC has zero angular velocity (at the instant shown). Let F denote the center of mass of bar
BC . Because !EBC D 0, E then, using rigid body kinematics, we have vEF D vEB D !AB R {O. Then, applying
Eq. (8.40) on p. 619 of the textbook, we have
hEA BC
D rEF =A ⇥ mBC vEF D 1
2 L {O C R |O ⇥ mBC . !AB R {O/: (3)
Carrying out the cross products, we have
hEA BC
D mBC !AB R2 kO D .7:200 kg m2 =s/ k;
O (4)
where we have used the following numerical data: mBC D 3:2 kg, !AB D 4 rad=s, and R D 0:75 m.
Angular momentum of bar CD about D. Bar BC is in a fixed axis rotation about D. Hence, using
Eq. (8.44) on p. 620 of the textbook, we have
hED CD
D .ID /CD !E CD ; (5)
where .ID /CD D 13 mCD H 2 , is the mass moment of inertia of bar CD about D, and where, recalling that at
the instant shown vEB D vEC , which implies that !CD H D !AB R so that !CD D .R=H /!AB . In conclusion,
we have
hED CD
O
D 13 mCD HR!AB kO D .7:750 kg m2 =s/ k; (6)
where we have used the following numerical data: mCD D 5:0 kg, H D 1:55 m, R D 0:75 m, and
!AB D 4 rad=s.
Problem 8.89
The weights of the uniform thin pin-connected bars AB, BC,

and CD are WAB D 4 lb, WBC D 6:5 lb, and WCD D 10 lb,
respectively. Letting D 47ı , R D 2 ft, L D 3:5 ft,
and H D 4:5 ft, and knowing that bar AB rotates at a constant
angular velocity !AB D 4 rad=s, compute the magnitude of the
linear momentum of the system at the instant shown.
Solution
The linear momentum of the system is the sum of the liner momenta
of the individual components of the system. Hence, letting pE denote
the momentum of the system as a whole, we have
pE D mAB vEE C mBC vEF C mCD vEG

WAB WBC WCD
D vEE C vEF C vEG ; (1)
g g g
where, referring to the figure on the right, E, F , and G are the mass
centers of bars AB, BC , and CD, respectively.
Given the above expression, the solution of the problem is obtained after we derive expressions for the
velocities of points E, F , and G.
For the velocity of point E we can write
vEE D vEA C !EAB ⇥ rEE=A ; (2)
where
E
vEA D 0; rEE=A D 12 R |O; and O
!EAB D !AB k; (3)
so that we have
1
vEE D 2 !AB R {O: (4)
Next, observing that rEB=A D R |O, we must also have
vEB D vEA C !EAB ⇥ rEB=A D !AB R {O: (5)
Now, notice that we can compute the velocity of C in the following two ways:
vEC D vEB C !EBC ⇥ rEC =B and vEC D vED C !E CD ⇥ rEC =D ; (6)
where
O
!EBC D !BC k; rEC =B D L {O; E
vED D 0; O
!E CD D !CD k; rEC =D D H. cos {O C sin |O/: (7)
Substituting the result in Eq. (5) along with Eqs. (7) into Eqs. (6), carrying out the cross products, and
enforcing equality between the two expressions for vEC , we have
R!AB {O C L!BC |O D H !CD sin {O H !CD cos |O: (8)
Dynamics 2e 1807
Equation (8) is a vector equation corresponding to two scalar equations in the two unknowns !BC and !CD
whose solution is
R!AB cos R!AB
!BC D and !CD D : (9)
L sin H sin
We now observe that rEF =B D 12 L {O and that rEG=D D 1
2 H. cos {O C sin |O/. Using these expressions,
we can then say
R!AB cos
vEF D vEB C !EBC ⇥ rEF =B D R!AB {O |O; (10)
2 sin
1 R!AB cos
vEG D vED C !E CD ⇥ rEG=D D 2 R!AB {O |O; (11)
2 sin
where we have used the expressions of vEB in Eq. (5), of vED in the third of Eqs. (7), as well as the expressions
in Eqs. (9). Substituting Eqs. (4), (10), and (11) into Eq. (1) and simplifying we have

R!AB cos
pE D .WAB C 2WBC C WCD / {O .WBC C WCD / |O D . 3:354 {O 1:911 |O/ lb s; (12)
2g sin
where we have used the following numerical data: R D 2 ft, !AB D 4 rad=s, g D 32:2 ft=s2 , WAB D 4 lb,
WBC D 6:5 lb, WCD D 10 lb, and D 47ı . Finally, computing the magnitude of the above expression, we
have
ˇ ˇ
ˇpEˇ D 3:860 lb s:
Problem 8.90
A uniform disk W of radius RW D 7 mm and mass mW D 0:15 kg is

connected to point O via the rotating arm OC . Disk W also rolls without
slip over the stationary cylinder S of radius RS D 15 mm. Assuming that
!W D 25 rad=s, determine the angular momentum of W about its own
center of mass C , as well as about point O.
Solution
Recalling that in the component system shown kO D uO r ⇥ uO ✓ , the angular

momentum of the the wheel W about its own mass center is
hEC / D IC !W kO D 12 mW RW
2 O
!W k; (1)
where IC D 12 mW RW 2
is the mass moment of inertia of the disk W about its
own mass center C . The expression in Eq. (1) can be evaluated to obatin
hEC W
D .91:88⇥10 6 O
kg m2 =s/ k; @✓ (2)
7
where we have used the following numerical data: mW D 0:15 kg, RW D 7 mm D 1000 m, and !W D
25 rad=s.
To determine the angular momentum of the wheel W about O, observe that the wheel W rolls without
slip on S , with instantaneous center of rotation at Q. This implies that the velocity of the center of W is
vEC D !W RW uO ✓ . Consequently, we have
hEO W
D IC !W kO C rEC =O ⇥ mW vEC
D IC !W kO C .RS C RW /uO r ⇥ .mW !W RW / uO ✓
D ŒIC C mW .RS C RW /RW ç!W kO
h i
2
D 12 mW RW C mW .RS C RW /RW !W kO
O
D 12 mW RW 3RW C 2RS !W k; (3)
where we have used again the fact that IC D 12 mW RW

2
. The final expression in Eq. (3) can be evaluated to
obtain
hEO W
D .669:4⇥10 6 O
kg m2 =s/ k; @✓
7
where we have used the following numerical data: mW D 0:15 kg, RW D 7 mm D 1000 m, RS D 15 mm D
15
1000 m, and !W D 25 rad=s.
Dynamics 2e 1809
Problem 8.91
A rotor B with center of mass G, weight W D 3000 lb, and radius of gyration
kG D 15 ft is spinning with an angular speed !B D 1200 rpm when a braking
system is applied to it, providing a time-dependent torque M D M0 .1 C ct /,
with M0 D 3000 ft lb and c D 0:01 s 1 . If G is also the geometric center of
the rotor and is a fixed point, determine the time ts that it takes to stop the rotor.
Photo credit: NASA
Solution
We use subscripts 1 and 2 to denote the time at which the braking moment
is first applied (t1 D 0) and the stopping time t2 D ts , respectively. We
model the rotor as a rigid body in fixed axis rotation about its own center
and center of mass G. We assume the rotor is acted upon by the stopping
moment M and by the reactions at G needed to keep G from moving.
Balance Principles. Choosing the fixed point G as moment center and

applying the angular impulse-momentum principle in the ´ direction, we
have Z t2
.hG´ /1 M dt D .hG´ /2 ; (1)
t1
where, denoting by IG the mass moment of inertia of the rotor about G and by !E r D !r kO the angular
velocity of the rotor,
.hG´ /1 D IG !r1 and .hG´ /1 D IG !r2 : (2)
Denoting by m the mass of the rotor, for t IG , we have
2
IG D mkG : (3)
Force Laws. The moment M is the following function of time:
M D M0 .1 C ct /: (4)
Kinematic Equations. The angular velocities of the rotor at t1 an t2 are as follows:
!r1 D !B and !r2 D 0: (5)
Computation. Substituting Eqs. (2)–(5) into Eq. (1), we obtain
Z t2
M0 ˇt Dt
mkG2
!B M0 .1 C ct/ dt D 0 ) mkG 2
!B .1 C ct /2 ˇ02 s D 0
0 2c
s !
2
1 2cmkG !B
) ts D 1C 1 ; (6)
c M0
which can be evaluated to obtain
ts D 330:8 s;
where we have used the following numerical data: c D 0:01 s 1 , m D 3000 lb=g, g D 32:2 ft=s2 , kG D 15 ft,
!B D 1200 rpm D 1200 2⇡ 60 rad=s, and M0 D 3000 ft lb.
Problem 8.92
The uniform bar AB has length L D 4:5 ft and weight WAB D 14 lb. At the
instant shown, ✓ D 67ı and vA D 5:8 ft=s. Determine the magnitude of the
linear momentum of AB, as well as the angular momentum of AB about its mass
center G at the instant shown.
Solution
The linear momentum of the bar is pEAB D mAB vEG where G is the mass
center of the bar, which is the midpoint of the bar. The magnitude of the
linear momentum of the bar is therefore
ˇ ˇ
ˇpEAB ˇ D mAB vG D WAB vG ; (1)
g
where vG is the speed of the center of mass. Using the concept of
instantaneous center of rotation, and observing that the distance between
IC and G is L=2, we must have that vG D .L=2/j!AB j, where j!AB j is
the angular speed of the bar. Using again the concept of instantaneous
center of rotation, for point A we have
vA vA
vA D j!AB jL cos ✓ ) j!AB j D ) vG D : (2)
L cos ✓ 2 cos ✓
Hence we have
ˇ ˇ
ˇpEAB ˇ D WAB vA D 3:227 lb s;
2g cos ✓
where we have used the following numerical data: WAB D 14 lb, vA D 5:8 ft=s, g D 32:2 ft=s2 , and
✓ D 67ı .
The angular momentum of bar AB about G is given by
hEG D IG !EAB D IG !AB k;

O (3)
where !AB represents the component of the angular velocity of the bar in the ´ direction, and where
1 1
IG D 12 mAB L2 D 12 .WAB =g/L2 . Since A is moving downward, the the bar is rotating counterclockwise,
so that, using the second of Eqs. (2), we have !A D vA =.L cos ✓/ so that
WAB LvA O
hEG D O
k D .2:420 ft lb s/ k;
12g cos ✓
where we have used the following numerical data: WAB D 14 lb, L D 4:5 ft, vA D 5:8 ft=s, g D 32:2 ft=s2 ,
and ✓ D 67ı .
Dynamics 2e 1811
Problem 8.93
A uniform pipe section A of radius r, mass center G, and mass m is gently placed
(i.e., with zero velocity) on a conveyor belt moving with a constant speed v0 to the right. Friction
between the belt and pipe causes the pipe to move to the right and eventually to roll without slip. If k is
the coefficient of kinetic friction between the pipe and the conveyor belt, find an expression for tr , the time
it takes for A to start rolling without slip. Hint: Using the methods of Chapter 7, we can show that the
force between the pipe section and the belt is constant.
Solution
We model A as a rigid body subject to is own weight mg and the components N and F
of the contact force with the belt. We denote by t1 D 0 the time at which A is lowered
onto the conveyor belt. Also, we denote by t2 D tr the time at which the pipe section
starts rolling without slip. We use subscripts 1 and 2 to denote quantities at t1 and t2 ,
respectively.
Balance Principles. Applying the linear impulse momentum in the x direction, choos-
ing G as moment center, and applying the angular impulse-momentum principle in the ´ direction, we have
Z t2
m.vGx /1 C F dt D m.vGx /2 ; (1)
t1
Z t2
.hG´ /1 C F r dt D .hG´ /2 ; (2)
t1
where, denoting by IG the mass moment of inertia of A about G and by !EA D !A kO the angular velocity of
A,
.hG´ /1 D IG !A1 and .hG´ /2 D IG !A2 : (3)
Since A is a uniform thin ring, for IG , we have
IG D mr 2 : (4)
Force Laws. Since A does not move in the vertical direction, the reaction force N must equilibrate the
weight of A, i.e., N D mg. Hence, while A slips, we have that F is constant and given by
F D k mg: (5)
Kinematic Equations. A starts from rest at t1 and, at t D t2 , achieves rolling without slipping on a flat
horizontal surface moving in the positive x direction with speed v0 . So,
.vGx /1 D 0; !A1 D 0; .vGx /2 D v0 r!A2 : (6)
Computation. Substituting Eqs. (3)–(6) into Eqs. (1) and (2), we have
k mgtr D m.v0 !A2 r/ and k mgrtr D mr 2 !A2 ; (7)
where we have accounted for the fact that t2 t1 D tr . Eliminating !A2 from the above equations and solving
for tr , we have
v0
tr D :
2 kg
Dynamics 2e 1813
Problem 8.94
An automobile wheel test rig consists of a uniform disk A, of mass

mA D 5000 kg and radius rA D 1:5 m, that can rotate freely about
its fixed center C and over which the wheel of an automobile is
made to roll. A wheel B, whose center and center of mass coincide
at D, is mounted on a shaft (not shown) that holds D fixed while
it allows the wheel to rotate about D. The wheel has diameter
d D 0:62 m, mass mB D 21:5 kg, and mass moment of inertia
about its mass center ID D 44 kg m2 . Both A and B are initially
at rest when B is subject to a constant torque M that causes B to
roll without slip on A.
If M D 1500 N m, use the angular impulse-momentum prin-
ciple to determine how long it takes to reach conditions simulating
a car speed of 100 km=h.
Solution
We model the wheel and the disk as rigid bodies in fixed axis ro-
tations about D and C , respectively. We assume that wheel B is
subject only to its own weight mB g, the moment M , the reaction
forces at D required to hold D fixed, and the components F and
N of the contact force with the disk. We assume that the disk A
is subject to its own weight mA g, the reaction forces at C required
to hold C fixed, and the forces F and N due to the contact with B.
We denote by t1 D 0 the initial time and by t2 the time required to
reach the simulation speed vs D 100 km=h.
Balance Principles. Choosing the fixed point D as moment center

of B, and applying the angular impulse-momentum principle in the
´ direction, we have
Z t2
ID !B1 C .M F d=2/ dt D ID !B2 (1)
t1
where ID is the mass moment of inertia of B about D, and where

!EB D !B kO is the angular velocity of B. Choosing the fixed
point C as moment center of A, and applying the angular impulse-
momentum principle in the ´ direction, we have
Z t2
IC !A1 F rA dt D IC !A2 ; (2)
t1
where IC is the mass moment of inertia of A about C , and where !EA D !A kO is the angular velocity of A.
We observe that ID is given. For IC , we have
IC D 12 mA rA2 : (3)
Kinematic Equations. Since the system starts from rest, we have !A1 D 0 and !B1 D 0. Also, in order to
simulate a car moving at a speed vs , the speed of point D relative to the point on the wheel in contact with
the disk must be equal to vs . In turn this implies that !B2 D 2vs =d . Since A and B are in fixed rotations and
do not slip relative to one another, we must also have !A2 D !B2 d=.2rA /. We can therefore summarize
the kinematic equations as follows:
Computation. Recalling that M is constant, and substituting Eqs. (3) and (4) into Eqs. (1) and (2), we have
Z t2 Z t2
1
M t 2d F dt D 2ID vs =d and rA F dt D 12 mA rA vs ; (5)
t1 t1
where t D t2 t1 . Eliminating the term with F from the above equations and solving for t gives
8ID C mA d 2
tD vs : (6)
4dM
Recalling that ID D 44 kg m2 , mA D 5000 kg, d D 0:62 m, M D 1500 N m, and vs D 100 km=h D
100 1000
3600 m=s, we can evaluate t to obtain
t D 16:98 s:
Dynamics 2e 1815
Problem 8.95
An automobile wheel test rig consists of a uniform disk A, of mass

mA D 5000 kg and radius rA D 1:5 m, that can rotate freely about
its fixed center C and over which the wheel of an automobile is
made to roll. A wheel B, whose center and center of mass coincide
at D, is mounted on a shaft (not shown) that holds D fixed while
it allows the wheel to rotate about D. The wheel has diameter
d D 0:62 m, mass mB D 21:5 kg, and mass moment of inertia
about its mass center ID D 44 kg m2 . Both A and B are initially
at rest when B is subject to a constant torque M that causes B to
roll without slip on A.
Use the angular impulse-momentum principle and determine
M if it takes 15 seconds to achieve conditions simulating a car
speed of 60 km=h.
Solution
We model the wheel and the disk as rigid bodies in fixed axis ro-
tations about D and C , respectively. We assume that wheel B is
subject only to its own weight mB g, the moment M , the reaction
forces at D required to hold D fixed, and the components F and
N of the contact force with the disk. We assume that the disk A is
subject to its own weight mA g, the reaction forces at C required to
hold C fixed, and the forces F and N due to the contact with B. We
denote by t1 D 0 the initial time and by t2 D 15 s the time required
to reach the simulation speed vs D 60 km=h.
Balance Principles. Choosing the fixed point D as moment center

of B, and applying the angular impulse-momentum principle in the
´ direction, we have
Z t2
ID !B1 C .M F d=2/ dt D ID !B2 (1)
t1
where ID is the mass moment of inertia of B about D, and where

!EB D !B kO is the angular velocity of B. Choosing the fixed
point C as moment center of A, and applying the angular impulse-
momentum principle in the ´ direction, we have
Z t2
IC !A1 F rA dt D IC !A2 ; (2)
t1
where IC is the mass moment of inertia of A about C , and where !EA D !A kO is the angular velocity of A.
We observe that ID is given. For IC , we have
IC D 12 mA rA2 : (3)
Kinematic Equations. Since the system starts from rest, we have !A1 D 0 and !B1 D 0. Also, in order to
simulate a car moving at a speed vs , the speed of point D relative to the point on the wheel in contact with
the disk must be equal to vs . In turn this implies that !B2 D 2vs =d . Since A and B are in fixed rotations and
do not slip relative to one another, we must also have !A2 D !B2 d=.2rA /. We can therefore summarize
the kinematic equations as follows:
Computation. Recalling that M is constant, and substituting Eqs. (3) and (4) into Eqs. (1) and (2), we have
Z t2 Z t2
1
M t 2d F dt D 2ID vs =d and rA F dt D 12 mA rA vs ; (5)
t1 t1
where t D t2 t1 D 15 s. Eliminating the term with F from the above equations and solving for M gives
8ID C mA d 2
M D vs : (6)
4d t
Recalling that ID D 44 kg m2 , mA D 5000 kg, d D 0:62 m, t D 15 s, and vs D 60 km=h D 60 1000
3600 m=s,
we can evaluate M to obtain
M D 1019 N m:
Dynamics 2e 1817
Problem 8.96

wound around the inner hub of the spool. The center G and the
center of mass of the spool coincide, and the radius of gyration of
is released, causing the spool to move to the right. The spool rolls
without slip, and the cord unwinds from the spool without slip.
Neglecting the inertia of the pulley system, use the impulse-
momentum principles to determine the angular speed of the spool 3 s
after release.
Solution
We model the spool as a rigid body and the counterweight A as a particle.

We denote by E the point of contact between the spool and the ground.
Since we are ignoring the inertia of every component of the pulley
system, we have that the tension T in the cord is uniform all along
the cord. We have assumed that A is subject only to its own weight
mA g and three times the tension T . The spool has been assumed to be
subject to its own weight ms g, the contact force at E with components
F and N , and the tension T . We denote by t1 D 0 the time at which
the system is put in motion, and we denote by t2 D 3 s the time at which the answer if sought. We use
subscripts 1 and 2 to denote quantities at t1 and t2 , respectively.
Balance Principles. Since A moves only in the vertical direction, we will apply the linear impulse-
momentum principle to A only in the vertical direction. Since we need to characterize the translational
motion in the horizontal direction and the rotational motion of the spool, we will apply only the linear
impulse-momentum principle in the x direction and the angular impulse-momentum principles choosing G
as the moment center. Hence, we have
Z t2
mA .vAy /1 C .mA g 3T / dt D mA .vAy /2 ; (1)
t1
Z t2
ms .vGx /1 C .F T / dt D ms .vGx /2 ; (2)
t1
Z t2
IG !s1 .FR C T⇢/ dt D IG !s2 ; (3)
t1
where IG is the mass moment of inertia of the spool about the spool’s center of mass G, and where !E s D !s kO
is the angular velocity of the spool. For IG , we have
2
IG D ms kG : (4)
Kinematic Equations. Referring to the figure below, to discuss the kinematics of the problem we introduce
a Cartesian coordinate system with origin at the center of pulley D and with axes x and y.
We have labeled P the point on the spool at which the cord comes off the spool. We recall that we model the
cord as inextensible and we assume that the cord does not slip relative to the spool or the pulley C . Since the
spool rolls without slipping, using rigid body kinematics, we have
vEP D !s .R C ⇢/ {O and vEG D !s R {O ) vEP =G D !s ⇢ {O: (5)
Denoting by L the length of the cord, we have
L D xP C 3yA ) LP D vP x C 3vAy ) vAy D 1

3 !s .R C 2⇢/; (6)
where, using Eqs. (5), we have enforced for fact that vP x D !s .R C ⇢/ and L P D .vP =G /x D !s ⇢.
Recalling that the system is released from rest, we can summarize the kinematic equations for this problem
as follows:
1
.vGx /1 D 0; !s1 D 0; .vAy /1 D 0; .vGx /2 D !s2 R; .vAy /2 D 3 !s2 .R C 2⇢/: (7)
Z t2
mA g t 3 T dt D 13 mA !s2 .R C 2⇢/;
t1
Z t2 Z t2
F dt T dt D ms !s2 R; (8)
t1 t1
Z t2 Z t2
2
R F dt ⇢ T dt D ms kG !s2 ;
t1 t1
where we have set t D t2 t1 . Eliminating the terms with the time integrals of F and T , we can determine
!s2 to obtain
3mA g t .R C ⇢/
!s2 D 2
: (9)
9ms .kG C R2 / C mA .R C ⇢/.R C 2⇢/
Recalling that mA D 50 kg, g D 9:81 m=s2 , t D 3 s, R D 1:2 m, ⇢ D 0:8 m, ms D 150 kg, and kG D 1 m,
we can evaluate j!E s2 j D j!s2 j to obtain
j!E s2 j D 2:470 rad=s: (10)
Dynamics 2e 1819
Problem 8.97

wound around the inner hub of the spool. The center G and the
center of mass of the spool coincide, and the radius of gyration of
is released, causing the spool to move to the right. The spool rolls
without slip, and the cord unwinds from the spool without slip.
Assume that the inertia of the cord and of pulleys B
and D can be neglected, but model pulley C as a uni-
form disk mass mC D 15 kg and radius rC D 0:3 m.
If the cord does not slip relative to pulley C , use the impulse-
momentum principles to determine the angular speed of the spool 3 s
after release.
Solution
We model the spool and the pulley C as rigid bodies, and the
counterweight A as a particle. The center and center of mass of
the pulley C has been labeled H . We denoted by E the point
of contact between the spool and the ground. Since we are not
ignoring the inertia of the pulley C , the value of the tension in the
cord is different on the two sides of C . We denoted the tension
in the cord to the right and left of C by Tr and T` , respectively.
We have assumed that A is subject only to its own weight mA g
and three times the tension Tr . The spool has been assumed to
be subject to its own weight ms g, the contact force at E with
components F and N , and the tension T` . Pulley C is subject to its own weight, the tensions Tr and T` , as
well as the reaction forces at H that hold C in place. We denote by t1 D 0 the time at which the system is
put in motion, and we denote by t2 D 3 s the time at which the answer if sought. We use subscripts 1 and 2 to
denote quantities at t1 and t2 , respectively.
Balance Principles. Since A moves only in the vertical direction, we will apply the linear impulse-
momentum principle to A only in the vertical direction. Since we need to characterize the translational
motion in the horizontal direction and the rotational motion of the spool, we will apply only the linear
impulse-momentum principle in the x direction and the angular impulse-momentum principles choosing
G as the moment center. We also apply the angular impulse-momentum principle to C by choosing H as
moment center. Hence, we have
Z t2 Z t2
mA .vAy /1 C .mA g 3Tr / dt D mA .vAy /2 ; ms .vGx /1 C .F T` / dt D ms .vGx /2 ; (1)
t1 t1
Z t2 Z t2
IG !s1 .FR C T` ⇢/ dt D IG !s2 ; IH !C1 C .T` Tr /rC dt D IH !C 2 ; (2)
t1 t1
where IG is the mass moment of inertia of the spool about the spool’s center of mass G, !E s D !s kO is the
angular velocity of the spool, IH is the mass moment of inertia of pulley C about H , and !E C D !C kO is the
angular velocity of pulley C . For IG and IH , we have

2
IG D ms kG and IH D 12 mC rC2 : (3)
Kinematic Equations. Referring to the figure below, to discuss the kinematics of the problem we introduce
a Cartesian coordinate system with origin at the center of pulley D and with axes x and y.
We have labeled P the point on the spool at which the cord comes off the spool. We recall that we model the
cord as inextensible and we assume that the cord does not slip relative to the spool or the pulley C . Since the
spool rolls without slipping, using rigid body kinematics, we have
vEP D !s .R C ⇢/ {O and vEG D !s R {O ) vEP =G D !s ⇢ {O: (4)
Denoting by L the length of the cord, we have
L D xP C 3yA ) LP D vP x C 3vAy ) vAy D 1

3 !s .R C 2⇢/; (5)
where, using Eqs. (4), we have enforced for fact that vP x D !s .R C ⇢/ and L P D .vP =G /x D !s ⇢. Since
the cord does not slip relative to C , we must also have vP x D !C rC . So, recalling that the system is released
from rest, we can summarize the kinematic equations for this problem as follows:
.vGx /1 D 0; !s1 D !C1 D 0; .vAy /1 D 0;

1
(6)
.vGx /2 D !s2 R; !C 2 D !s .R C ⇢/=rC ; .vAy /2 D 3 !s2 .R C 2⇢/:
Z t2 Z t2 Z t2
1
mA g t 3 Tr dt D 3 mA !s2 .R C 2⇢/; F dt T` dt D ms !s2 R; (7)
t1 t1 t1
Z t2 Z t2 Z t2 Z t2
2
R F dt ⇢ T` dt D ms kG !s2 ; rC T` dt rC Tr dt D 12 mC rC .R C ⇢/!s2 ; (8)
t1 t1 t1 t1
where we have set t D t2 t1 . Although a bit tedious, the terms with the time integrals of F , Tr , and T`
can be eliminated from the above four equations to yield an equation for !s2 whose solution is
6mA g t .R C ⇢/
!s2 D 2
: (9)
18ms .kG C R2 / C 2mA .R C ⇢/.R C 2⇢/ C 9mC .R C ⇢/2
Recalling that mA D 50 kg, g D 9:81 m=s2 , t D 3 s, R D 1:2 m, ⇢ D 0:8 m, ms D 150 kg, kG D 1 m, and
mC D 15 kg, we can evaluate j!E s2 j D j!s2 j to obtain
j!E s2 j D 2:297 rad=s: (10)
Dynamics 2e 1821
Problem 8.98
An 0:8 lb collar with center of mass at G and a uniform cylindrical

horizontal arm A of length L D 1 ft, radius ri D 0:022 ft, and
weight WA D 1:5 lb are rotating as shown with !0 D 1:5 rad=s
while the collar’s mass center is at a distance d D 0:44 ft from the ´
axis. The vertical shaft has radius e D 0:03 ft and negligible mass.
After the cord restraining the collar is cut, the collar slides with
no friction relative to the arm. Assuming that no external forces
and moments are applied to the system, determine the collar’s
impact speed with the end of A if (a) the collar is modeled as a
particle coinciding with its own mass center (in this case, neglect
the collar’s dimensions), and (b) the collar is modeled as a uniform
hollow cylinder with length ` D 0:15 ft, inner radius ri , and outer
radius ro D 0:048 ft.
Solution
Let the subscripts 1 and 2 denote the time instants at which the
collar is released and when point G is at a generic distance r from
the ´ axis, respectively. The figure to the right is a top view of the
FBD of the system, where the forces Or and O✓ are the reaction
forces needed to keep the spin axis from moving. The impact speed
to be determined is the magnitude of the radial velocity of G (the
P We first determine ✓P using the
mass center of the collar), i.e., r.
angular impulse-momentum principle. Then we combine this result with the application of Newton’s second
law to the collar to obtain r.
P Observe that the external moment about the ´ axis, identified by point O, is zero
and therefore the angular momentum of the system about the ´ axis is conserved.

angular momentum about the spin axis, we have
IO1 !A1 D IO2 !A2 ; (1)
where IO is the system’s mass moment of inertia about O and !EA D !A kO is the angular velocity of the
system (both arm and collar).
The quantity IO varies as the collar slides down the arm. Using the parallel axis theorem, the mass
moment of inertia of the arm A about O is
2
.IO /A D 1 2
12 mA .3ri C L2 / C mA 1
2L Ce D 0:01697 slug ft2 ; (2)
where we used the data mA D 1:5 lb=g, g D 32:2 ft=s2 , ri D 0:022 ft, L D 1 ft, and e D 0:03 ft (the term
1 2
12 mA .3ri C L / is the mass moment of inertia of the arm about its own mass center).
2
The mass moment of inertia of the collar about its own center of mass is
(
0; for the collar as a particle,
IG D mC 2
(3)
2 2
12 Œ3.ri C ro / C ` /ç D 63:90⇥10
6 slug ft; for the collar as a rigid body,
where we used the data: mC D 0:8 lb=g, g D 32:2 ft=s2 , ri D 0:022 ft, ro D 0:048 ft, and ` D 0:15 ft.
Hence, overall, applying the parallel axis theorem to the collar, the total overall mass moment of inertia for
the system about O is

IO D .IO /A C IG D I ⇤ C mC r 2 ; (4)
where (
0:01697 slug ft2 for the collar as a particle;
I ⇤ D .IO /A C IG D (5)
0:01704 slug ft2 for the collar as a rigid body:
Kinematic Equations. For the angular velocities, we have

!A1 D !0 and P
!A2 D ✓: (6)
Computation. Recalling that r1 D d , substituting Eqs. (4) and (6) into Eq. (1), we have
I ⇤ C mC d 2
✓P D ⇤ !0 : (7)
I C mC r 2
Next, referring to the FBD on the right, we observe that no force acts
on the collar in the r direction. Hence, applying Newton’s second law
to the collar in the r direction, we have
0 D mC .rR r ✓P 2 / ) rR D r ✓P 2 ; (8)
where rR r ✓P 2 is the expression of the radial acceleration of the collar
in polar coordinates. Substituting Eq. (7) into the last of Eqs. (8), and
recalling that rR D r.d
P r=dr/
P and using , we have
Z rP Z r
.I ⇤ C mC d 2 /2 2 .I ⇤ C mC d 2 /2 2
P rP D r ⇤
rd ! dr ) P
rd P
r D r ! dr: (9)
.I C mC r 2 /2 0 rP1 d .I ⇤ C mC r 2 /2 0
Recalling that rP1 D 0 and r1 D d , the above expression yields
ˇr s
⇤ C m d 2 /2 ! 2
1 2 .I C 0 1 ˇ
ˇ I ⇤ C mC d 2 2
P
r D ) P
r D ! .r d 2 /: (10)
.I ⇤ C mC r 2 / ˇd
0
2 2mC I ⇤ C mC r 2
Answer to part (a). If the collar is modeled as a particle, then I ⇤ D 0:01697 slug ft2 (see Eq. (5)) and the
impact with the end of the arm occurs for r D L C e D 1:030 ft (L D 1 ft and e D 0:03 ft). Hence, recalling
that rP represents the impact speed, Eq. (10) yields
Collar modeled as a particle: vimpact D 0:9905 ft=s,
where we also have used the following numerical data: !0 D 1:5 rad=s, mC D 0:8 lb=g, g D 32:2 ft=s2 , and
d D 0:44 ft.
Answer to part (b). If the collar is modeled as a rigid body, then I ⇤ D 0:01704 slug ft2 (see Eq. (5)) and
the impact with the end of the arm occurs for r D L C e 12 ` D 0:9550 ft (L D 1 ft, e D 0:03 ft, and
` D 0:15 ft). Using these considerations along with Eqs. (3)–(4), and recalling that rP does represent the
impact speed, Eq. (10) yields
Collar modeled as a rigid body: vimpact D 0:9432 ft=s,
where we have again used the following numerical data: !0 D 1:5 rad=s, mC D 0:8 lb=g, g D 32:2 ft=s2 ,
and d D 0:44 ft.
Dynamics 2e 1823
Problem 8.99
The uniform disk A, of mass mA D 1:2 kg and radius rA D 0:25 m, is

mounted on a vertical shaft that can translate along the horizontal guide
C . The uniform disk B, of mass mB D 0:85 kg and radius rB D 0:38 m,
is mounted on a fixed vertical shaft. Both disks A and B can rotate about
their own axes, namely, À and `B , respectively. Disk A is initially spun
with !A D 1000 rpm and then brought into contact with B, which is
initially stationary. The contact is maintained by a spring, and due to
friction between A and B, disk B starts spinning and eventually A and B
will stop slipping relative to one another. Neglecting any friction except
at the contact between the two disks, determine the angular velocities of
A and B when slipping stops.
Solution
A top view of the FBDs of the two disks after they come in contact
is shown to the right. Points D and E are the centers and centers
of mass of disks A and B, respectively. Points D and E do not
move once the disks are in contact. We denote by t1 the time instant
at which A and B are brought together. We denote by t2 the time
instant at which the disks stop slipping relative to one another. We
use subscripts 1 and 2 to denote quantities at t1 and t2 , respectively.
Balance Principles. Applying the angular impulse-momentum principle to each disk by choosing D as
moment center for A and E as moment center for B, we have
Z t2
ID !A1 F rA dt D ID !A2 ; (1)
t1
Z t2
IE !B1 F rB dt D IE !B2 ; (2)
t1
where ID and IE are the mass moment of inertia of A and B, respectively, and !EA D !A kO and !EB D !B kO
are the angular velocities of A and B, respectively. For ID and IE , we have
ID D 12 mA rA2 and IE D 12 mB rB2 : (3)
Kinematic Equations. At t1 , B is at rest. At t2 , A and B roll without slip relative to one another. Hence,
!B1 D 0; and !B2 rB D !A2 rA : (4)
Computation. Since rA and rB are constant, and using the first of Eqs. (4), Eqs. (1) and (2) can be rewritten
as
Z t2 Z t2
ID !A1 rA F dt D ID !A2 ; and rB F dt D IE !B2 ;
t1 t1
rA
) ID !A1 C IE !B2 D ID !A2 ; (5)
rB
Rt
where we have obtained the last equation by eliminating the term t12 F dt from the first two equations. The
last of Eqs. (5) and the last of Eqs. (4) form a system of two equations in the two unknowns !A2 and !B2
whose solution is
mA mA rA
!A2 D !A1 and !B2 D !A1 ; (6)
mA C mB .mA C mB /rB
where we have also used the expressions for ID and IE in Eqs. (3). The results in Eqs. (6) can be evaluated
to obtain
ˇ ˇ
!A ˇend of slip D 61:30 rad=s and !B ˇend of slip D 40:33 rad=s;
where we have used the following numerical data: mA D 1:2 kg, mB D 0:85 kg, !A1 D 1000 rpm D
1000 2⇡
60 rad=s, rA D 0:25 m, and rB D 0:38 m.
Dynamics 2e 1825
Problem 8.100
The uniform disk A, of mass mA D 1:2 kg and radius rA D 0:25 m, is

mounted on a vertical shaft that can translate along the horizontal arm E.
The uniform disk B, of mass mB D 0:85 kg and radius rB D 0:18 m, is
mounted on a vertical shaft that is rigidly attached to arm E. Disk A can
rotate about axis À , disk B can rotate about axis `B , and the arm E, along
with disk C , can rotate about the fixed axis `C . Disk C has negligible mass
and is rigidly attached to E so that they rotate together. While keeping
both B and C stationary, disk A is spun to !A D 1200 rpm. Disk A is
then brought in contact with disk C (contact is maintained by a spring),
and B and C (and the arm E) are then allowed to freely rotate. Due to
friction between A and C , disks C (and arm E) and B start spinning.
Eventually, A and C stop slipping relative to one another. Disk B always
rotates without slip over C . Let d D 0:27 m and w D 0:95 m. If the only
elements of the system that have mass are A and B, and if all friction in the
system can be neglected except for that between A and C and between C
and B, determine the angular speeds of A and C when they stop slipping
relative to one another.
Solution
We let the subscripts 1 and 2 denote the time instants at which the wheels
are first brought into contact (and the system starts spinning) and when slip
stops between the wheels, respectively. We use subscripts 1 and 2 to denote
quantities at times t1 and t2 , respectively. The figure at the right is a top view of
the FBD of the system. Because the system is freely rotating, choosing as our
moment center the fixed point O, we see that there are no external moments
about the spin axis acting on the system. This implies that the ´ component (i.e., the component along the
spin axis) of the angular momentum is conserved. Since point O is on the pin axis, we will use O as our
moment center.
Balance Principles.
.hO´ /1 D .hO´ /2 ; (1)
where hO´ is the ´ component of the total angular momentum of the system about O. Recalling that we are
neglecting the mass of both disk C and the arm E, the angular momentum of the system is
hEO D .hEO /A C .hEO /B ; (2)
where,
.hEO /A D IQ !EA C rEQ=O ⇥ mA vEQ and .hEO /B D IP !EB C rEP =O ⇥ mB vEP ; (3)
where IQ is the mass moment of inertia of disk A about its mass center Q, and IP is the mass moment of
inertia of B about its mass center P :
IQ D 12 mA rA2 D 0:03750 kg m2 and IP D 12 mB rB2 D 0:01377 kg m2 ; (4)
where we have used the following numerical data: mA D 1:2 kg, rA D 0:25 m, mB D 0:85 kg, and
rB D 0:18 m.
Force Laws. All relevant forces are accounted for on the FBD.
Kinematic Equations. At time t1 B is at rest and A is spinning with vEQ1 D 0E (i.e., the arm E on which A
is mounted is not rotating). Therefore, referring to Eqs. (3), at time t1 we have
.hEO1 /A D IQ !A1 kO and .hEO1 /B D 0;

E (5)
where !EA D !A1 kO with !A1 D 1200 rpm D 125:7 rad=s.

Points P and Q move with the arm E. Since E forms a single rigid body with disk C and that the center
O Therefore, using rigid body
of rotation of such a body is the fixed point O, we have !E E D !E C D !C k.
kinematics at time t2 we have
O
!EA2 D !A2 k; vEQ2 D !E C 2 ⇥ rEQ=O D !C 2 kO ⇥ .rA C rC / uO r D !C 2 .rA C rC / uO ✓ (6)
!EB2 D !B2 kO vEP 2 D !E C 2 ⇥ rEP =O D !C 2 kO ⇥ Œ .rB C rC /ç uO r D !C 2 .rB C rC / uO ✓ ; (7)
where we have used the fact that
rEQ=O D .rA C rC / uO r and rEP =O D .rB C rC / uO r : (8)
At t2 the disks A and B no longer slip relative to C . Referring to the figure

on the right, these two rolling without slip conditions imply vEH 2 D vEH 0 2 and
vEF 2 D vEF 0 2 , where points H and H 0 belong to C and A, respectively, and points
F and F 0 belong to C and B respectively. Applying rigid body kinematics, at
time t2 we have
vEH 2 D vEH 0 2 ) !E C 2 ⇥ rEH=O D vEQ2 C !EA2 ⇥ rEH 0 =Q ) !C 2 rC D .rA C rC /!C 2 rA !A2 ; (9)
vEF 2 D vEF 0 2 ) !E C 2 ⇥ rEF =O D vEP 2 C !EB2 ⇥ rEF 0 =P ) !C 2 rC D .rB C rC /!C 2 C rB !B2 ; (10)
where we have used Eqs. (6) and (7) and the fact that the only nonzero component of Eqs. (9) and (10) is the
✓ component.
Computation. Substituting Eqs. (6) and (7) into Eqs. (3), and using Eqs. (8), at time t2 we have
⇥ ⇤ ⇥ ⇤
.hEO2 /A D IQ !A2 C mA .rA C rC /2 !C 2 kO and .hEO2 /B D IP !B2 C mB .rB C rC /2 !C 2 k; O (11)
Then, using Eqs. (2), (5), and (11), Eq. (1) can be rewritten as
⇥ ⇤
IQ !A1 D IQ !A2 C IP !B2 C mA .rA C rC /2 C mB .rB C rC /2 !C 2 : (12)
Equation (12), the last of Eqs. (9), and the last of Eqs. (10), form a system of three equations in the three
unknowns !A2 , !B2 , and !C 2 , whose solution is
IQ !A1
!A2 D !B2 D !C 2 D : (13)
IP C IQ C mA .rA C rC /2 C mB .rB C rC /2
Therefore, the problem’s answer is
j!A jafter slip stops D j!B jafter slip stops D 18:70 rad=s;
where we have used the (full precision) values of IQ and IP in Eqs. (4)), as well as the following data: !A1 D
1200 rpm D 12000 2⇡60 rad=s, mA D 1:2 kg, rA D 0:25 m, rB D 0:18 m, and rC D d rB D 0:09000 m
(given that d D 0:27 m), mB D 0:85 kg.
Dynamics 2e 1827
Problem 8.101
The double pulley D has mass of mD D 15 kg, center of mass G coinciding with
its geometric center, radius of gyration kG D 10 cm, outer radius ro D 15 cm, and
inner radius ri D 7:5 cm. It is connected to the pulley P with radius R D .ro ri /=2
by a cord of negligible mass that unwinds from the inner and outer spools of the
double pulley D. The crate C , which has a mass mC D 20 kg, is released from
rest. The cord does not slip relative to the pulleys, and the inner and outer pulleys
rotate as a single unit.
Neglecting the mass of the pulley P , use the impulse-momentum principles to
determine the speed of the crate 4 s after release.
Solution
Since we ignore the inertia of pulley P , we model the crate as a particle

subject to its own weight mC g and the tension T in the cord that goes
around pulley P . We model pulley D as a rigid body in a fixed axis
rotation about its center G and subject to its own weight mD g, the
tension T , as well as the reaction forces Gx and Gy required to keep
point G from moving. We denote by t1 D 0 the time at which the
system is put in motion and by t2 D 4 s the time at which the answer
is sought. We use subscripts 1 and 2 to denote quantities at t1 and t2 ,
respectively. Since C moves only in the vertical direction, we will
apply to C only the linear impulse-momentum principle in the vertical
direction. Since pulley D is in a fixed axis rotation about G and we are not interested in the determination
of the reaction forces Gx and Gy , in this case we will only apply the angular impulse momentum principle
using G as moment center.
Balance Principles. Proceeding as stated above, we have

Z t2
mC .vCy /1 C .mC g 2T / dt D mC .vCy /2 ; (1)
t1
Z t2
IG !D1 C .T ro C T ri / dt D IG !D2 ; (2)
t1
where vCy is the y component of the velocity of C , IG is the mass moment of inertia of D about G, and
!ED D !D kO is the angular velocity of D. For IG , we have
2
IG D mD kG : (3)
Kinematic Equations. Referring to the figure below, we denote by Q and H the points on pulley D at
which the cord separates from the pulley. In addition we denote by B and E the points on pulley P at which
the cord separates from the pulley.
The velocities of points Q and H on the main pulley are vEQ D !D ro |O and vEH D
!D ri |O, respectively. Since the cord is inextensible and the cord does not slip relative
to the pulleys, we must have vEB D vEQ D !D ro |O and vEE D vEH D !D ri |O. We now
observe that vEA D vCy |O because pulley P moves with the same velocity as that of
the crate. Also, using rigid body kinematics, we must have vEB D vEA C !EP ⇥ rEB=A
and vEE D vEA C !EP ⇥ rEE=A . Observing that rEB=A D RO{ D rEE=A , we conclude that
vCy
vEA D vCy |O D 12 .E
vB C vEE / ) 2vCy D !D .ro Cri / ) !D D 2 : (4)
ro C ri
Recalling that the system starts from rest, we can summarize the kinematic equations
for this problem as follows:
.vCy /2
!D1 D 0; .vCy /1 D 0; !D2 D 2 : (5)
ro C ri
Computation. Substituting Eqs. (3) and (5) into Eqs. (1) and (2), we have
Z t2 Z t2
2 .vCy /2
mC g t 2 T dt D mC .vCy /2 and .ro C ri / T dt D 2mD kG ; (6)
t1 t1 ro C r i
where t D t2 t1 . Eliminating the time integral of T from the above two equations, we obtain an equation
for .vCy /2 whose solution is
mC g.ri C ro /2 t
.vCy /2 D 2
: (7)
4mD kG C mC .ri C ro /2
Recalling that mC D 20 kg, g D 9:81 m=s2 , ri D 7:5 cm D 100
7:5
m, ro D 15 cm D 15
100 m, t D 4 s,
10
mD D 15 kg, and kG D 10 cm D 100 m, we can evaluate vC 2 D j.vCy /2 j to obtain
vC 2 D 24:64 m=s:
Dynamics 2e 1829
Problem 8.102
The double pulley D has mass of mD D 15 kg, center of mass G coinciding with
its geometric center, radius of gyration kG D 10 cm, outer radius ro D 15 cm, and
inner radius ri D 7:5 cm. It is connected to the pulley P with radius R D .ro ri /=2
by a cord of negligible mass that unwinds from the inner and outer spools of the
double pulley D. The crate C , which has a mass mC D 20 kg, is released from
rest. The cord does not slip relative to the pulleys, and the inner and outer pulleys
rotate as a single unit.
Assuming that the pulley P has a mass of 1:5 kg and a radius of gyration
kA D 3:5 cm, use the impulse-momentum principles to determine the speed of the
crate 4 s after release.
Solution
We model the crate as a particle subject to its own weight mC g
and the tension TCP in the cord that connects it to pulley P . We
model pulley P as a rigid body subject to its own weight mP g,
the tension TCP , and the tensions T` and Tr in the branches of
the cord that are to the left and to the right of pulley P , respec-
tively. Finally, we model pulley D as a rigid body in a fixed axis
rotation about its center G and subject to its own weight mD g,
the tensions T` and Tr , as well as the reaction forces Gx and Gy
required to keep point G from moving. We denote by t1 D 0
the time at which the system is put in motion and by t2 D 4 s
the time at which the answer is sought. We use subscripts 1 and
2 to denote quantities at t1 and t2 , respectively. Since C moves
only in the vertical direction, we will apply to C only the linear
impulse-momentum principle in the vertical direction. Since pul-
ley D is in a fixed axis rotation about G and we are not interested
in the reaction forces Gx and Gy , in this case we will only apply the angular impulse momentum principle in
the ´ direction using G as moment center. In the case of pulley P , which does not move in the horizontal
direction, we will apply the linear impulse-momentum principle in the vertical direction as well as the angular
impulse momentum principle using A, the center and center of mass of pulley P , as moment center.

Z t2
mC .vCy /1 C .mC g TCP / dt D mC .vCy /2 ; (1)
t1
Z t2
IG !D1 C .T` ro C Tr ri / dt D IG !D2 ; (2)
t1
Z t2
mP .vAy /1 C .mP g C TCP T` Tr / dt D mP .vAy /2 ; (3)
t1
Z t2
IA !P1 C .Tr R T` R/ dt D IA !P 2 ; (4)
t1
where vCy is the y component of the velocity of C , IG is the mass moment of inertia of D about G,
!ED D !D kO is the angular velocity of D, vAy is the y component of the velocity of A, IA is the mass moment
of inertia of P relative to A, and !EP D !P kO is the angular velocity of P . For IG and IA , we have
2
IG D mD kG and IA D mP kA2 (5)
Kinematic Equations. Referring to the figure at the right, we denote by Q and H

the points on pulley D at which the cord separates from the pulley. In addition we
denote by B and E the points on pulley P at which the cord separates from the pulley.
The velocities of points Q and H on the main pulley are vEQ D !D ro |O and vEH D
!D ri |O, respectively. Since the cord is inextensible and the cord does not slip relative
to the pulleys, we must have vEB D vEQ D !D ro |O and vEE D vEH D !D ri |O. We now
observe that vEA D vCy |O because pulley P moves with the same velocity as that of
the crate. Also, using rigid body kinematics, we must have vEB D vEA C !EP ⇥ rEB=A
vEE D vEA C !EP ⇥ rEE=A . Observing that rEB=A D RO{ D rEE=A , we conclude that
vCy
vEA D vCy |O D 12 .E
vB C vEE / ) 2vCy D !D .ro Cri / ) !D D 2 : (6)
ro C ri
As we have already observed, vEB D vEA C !EP ⇥ rEC =A . Enforcing this condition, we
have
O vCy ro ri vCy
!D ro |O D vCy |O C!P k⇥R {O ) 2 ro |O D vCy |O C !P |O ) !P D 2 ; (7)
ro C ri 2 ro C ri
where we have used the fact that R D .ro ri /=2/. Recalling that the system starts from rest, we can
summarize the kinematic equations for this problem as follows:
!D1 D 0; .vCy /1 D 0; .vAy /1 D 0; !P1 D 0;

.vCy /2 .vCy /2 (8)
!D2 D 2 ; .vAy /2 D .vCy /2 ; !P 2 D 2 :
ro C ri ro C ri
Computation. Substituting Eqs. (5) and (8) into Eqs. (1)–(4), and recalling that R D .ro ri /=2, we have
Z t2
mC g t TCP dt D mC .vCy /2 ; (9)
t1
Z t2 Z t2
2 .vCy /2
ro T` dt C ri Tr dt D 2mD kG ; (10)
t1 t1 ro C r i
Z t2 Z t2 Z t2
mP g t C TCP dt T` dt Tr dt D mP .vCy /2 ; (11)
t1 t1 t1
Z t2 Z t2
.vCy /2
1
2 .ro ri / Tr dt 1
2 .ro ri / T` dt D 2mP kA2 ; (12)
t1 t1 ro C ri
where t D t2 t1 . Although perhaps tedious, eliminating from Eqs. (9)–(12) the time integrals of TCP , T` ,
and Tr , one obtains an equation in vCy2 whose solution is
.mC C mP /g.ri C ro /2 t
.vCy /2 D 2
: (13)
4mD kG C 4mP kA2 C .mC C mP /.ri C ro /2
Dynamics 2e 1831
Recalling that mC D 20 kg, mP D 1:5 kg, g D 9:81 m=s2 , ri D 7:5 cm D 100

7:5 15
m, ro D 15 cm D 100 m,
10 3:5
mD D 15 kg, t D 4 s, kG D 10 cm D 100 m, and kA D 3:5 cm D 100 m, we can evaluate vC 2 D j.vCy /2 j
to obtain
vC 2 D 25:19 m=s:
Problem 8.103
Some pipe sections of radius r and mass m are being unloaded and placed in a row against a wall. The
first of these pipe sections, A, is made to roll without slipping into a corner with an angular velocity !0 as
shown. Upon touching the wall, A does not rebound, but slips against the ground and against the wall.
Modeling A as a uniform thin ring with center at G and letting g and w be the coefficients of kinetic
friction of the contacts between A and the ground and between A and the wall, respectively, determine an
expression for the angular velocity of A as a function of time from the moment A touches the wall until it
stops. Hint: Using the methods learned in Chapter 7, we can show that the friction forces at the ground
and at the wall are constant.
Solution
We model A as a thin rigid ring subject to its own weight mA g, the

components Fg and Ng of the contact forces with the ground, and
the components Fw and Nw of the contact force with the wall (the
subscripts g and w stand for ‘ground’ and ‘wall’, respectively). We
denote by t1 D 0 the time at which A first touches the wall. We
denote by t2 the time at which A stops moving. For 0  t  t2 , point
G, the center of mass of A, does not move.
Balance Principles. Choosing G as moment center, and applying

the angular impulse-momentum principle to A in the ´ direction, for
0  t  t2 , we have Z t
IG !A1 C .Fg C Fw /r dt D IG !A .t /; (1)
0
where IG is the mass moment of inertia of A about G and !EA .t / D !A .t / kO is the angular velocity of A.
Since A is modeled as a thin ring
IG D mr 2 : (2)
As discussed earlier, the center of mass of A is assumed not to move. This implies that the forces acting on A
must sum to zero both in vertical and horizontal direction, i.e.,
X X
FxW Fg Nw D 0 and Fy W Ng C Fw mA g D 0: (3)
Force Laws. Since A slips relative to the ground and the wall, we have
Fg D g Ng and Fw D w Nw : (4)
Kinematic Equations. At t D 0, we have
!A1 D !0 : (5)
Dynamics 2e 1833
Computation. Solving Eqs. (4) for Ng and Nw , and substituting the result into Eqs. (3) we have a system
of two equations in the two unknowns Fg and Fw whose solution is
g g w
Fg D mA g and Fw D mA g: (6)
1C g w 1C g w
Substituting Eq. (2), (5), and Eqs. (6) into Eq. (1) and crying out the integration, we have
g .1 C w /mA gr
mA r 2 !0 C t D mA r 2 !A .t /; (7)
1C g w
which can be solved for !A .t / to obtain


g .1 C w /g O
E /D
!.t t !0 k;
.1 C g w /r
where we have expressed the final answer in vector form.
Problem 8.104
A 14 lb bowling ball is thrown onto a lane with a backspin !0 D 9 rad=s and

forward velocity v0 D 18 mph. Point G is both the geometric center and the
mass center of the ball. After a few seconds, the ball starts rolling without slip.
Let r D 4:25 in:, and let the radius of gyration of the ball be kG D 2:6 in. If
the coefficient of kinetic friction between the ball and the floor is k D 0:1,
determine the speed vf that the ball will achieve when it starts rolling without
slip. In addition, determine the time tr the ball takes to achieve vf : Hint: Using
the methods of Chapter 7, we can show that the force between the ball and the
floor is constant.
Solution
We model the ball as a rigid body subject to its own weight mg and the components F and
N of the contact force with the lane. We denote by t1 the time instant at which the ball first
touches the lane, and by t2 the time at which the ball starts rolling without slip. We use
subscripts 1 and 2 to denote quantities at t1 and t2 , respectively. Since there is no motion in
the y direction, we will apply the linear impulse-momentum principle only int he x direction.
In addition, choosing G as moment center, we will apply the angular impulse-momentum
principle (in the ´ direction).

Z t2 Z t2
m.vGx /1 F dt D m.vGx /2 and IG !b1 F r dt D IG !b2 ; (1)
t1 t1
where IG is the mass moment of inertia of the ball about G and !E b D !b kO is the angular velocity of the ball.
For IG , we have
2
IG D mkG : (2)
Force Laws. Since G does not move in the vertical direction, N must equilibrate the weight of ball, i.e.,
N D mg so that
F D k N D k mg; (3)
Kinematic Equations. Recalling that at time t2 the ball starts rolling without slipping, and given the
information in the problem statement, we have
vf
.vGx /1 D v0 ; !b1 D !0 ; .vGx /2 D vf ; !b2 D : (4)
r
Computation. Substituting Eqs. (2)–(4) into Eqs. (1), and carrying out the integration, we have
2
kG vf 2
mv0 k mgtr D mvf k and ; mkG !0 (5) rtr mg D m
r
where we have set t2 D tr . The above two equations form a system in the two unknowns vf and tf whose
solution is
2 2
r.rv0 kG !0 / kG .v0 C !0 r/
vf D 2
and tr D 2
: ) vf D 18:34 ft=s and tr D 2:502 s,
kG C r2 k g.kG C r 2/
4:25
where we have used the data r D 4:25 in: D 12 ft, v0 D 18 mph D 18 5280
3600 ft=s, kG D 2:6 in: D
2:6
12 ft,
!0 D 9 rad=s, k D 0:1, and g D 32:2 ft=s2 .
Dynamics 2e 1835
Problem 8.105
A crate A with weight WA D 250 lb is hanging from a rope wound around a uniform
drum D of radius r D 1:2 ft, weight WD D 125 lb, and center C . The system is
initially at rest when the restraining system holding the drum stationary fails, thus
causing the drum to rotate, the rope to unwind, and, consequently, the crate to fall.
Assuming that the rope does not stretch or slip relative to the drum and neglecting
the inertia of the rope, determine the speed of the crate 1:5 s after the system starts to
move.
Solution
We model A as a rigid body in rectilinear translation. We model
D as a rigid body in fixed axis rotation about its center and center
of mass C . We denote by t1 D 0 the time at which the system is
released from rest. We denote by t2 D 1:5 s the time at which the
answer is sought. We use subscripts 1 and 2 to denote quantities
at t1 and t2 , respectively. We assume that A is subject only to its
own weight WA D mA g and the tension in the cord Fc . We assume
that D is subject to its own weight WD D mD g, the tension in the
cord Fc , and the reactions at C needed to keep C from moving. Since A moves only in the y direction, we
apply the linear impulse-momentum principle to A only in this direction. We also apply the angular impulse
momentum principle (in the ´ direction) to D.
Balance Principles. Proceeding as discussed above, we have

Z t2 Z t2
mA .vAy /1 C .Fc mA g/ dt D mA .vAy /2 and IC !D1 C rFc dt D IC !D2 ; (1)
t1 t1
where vAy is the component in the y direction of the velocity of A, IC is the mass moment of inertia of D
about C and !ED D !D kO is the angular velocity of D. For IC , we have
IC D 12 mD r 2 : (2)
Kinematic Equations. Because the cord does not slip relative to the drum, we observe that we must have
vAy D !D r. Therefore, recalling that the system is released from rest, we can summarize the kinematic
equations for the problem as follows:
.vAy /1 D 0; !D1 D 0; and !D2 D .vAy /2 =r: (3)
Computation. Substituting Eqs. (2) and (3) into Eqs. (1)
Z t2 Z t2
1
Fc dt mA gt2 D mA .vAy /2 and r Fc dt D mD r.vAy /2 : (4)
0 0 2
Eliminating the time integral of Fc from the above two equations, we have
1 2gt2 mA
mD .vAy /2 D mA gt2 C mA .vAy /2 ) .vAy /2 D ) vA2 D 38:64 ft=s, (5)
2 mD C 2mA
where vA2 D j.vAy /2 j and we have used the data g D 32:2 ft=s2 , t2 D 1:5 s, mA D 250 lb=g, and
mD D 125 lb=g.
Problem 8.106
A toy helicopter consists of a rotor A, a body B, and a small ballast

C . The axis of rotation of the rotor goes through G, which is the
center of mass of the body B and ballast C . While holding the
body (and ballast) fixed, the rotor is spun as shown with a given
angular velocity !0 . If there is no friction between the helicopter’s
body and the rotor’s shaft, will the body of the helicopter start
spinning once the toy is released?
Solution
The answer is no. The reason for this is that without friction no force can be transmitted between the rotor
and the body of the helicopter. Therefore, the state of motion of the helicopter would have no cause to change
based on the fact that the rotor is spinning.
Dynamics 2e 1837
Problem 8.107
A toy helicopter consists of a rotor A with diameter d D 10 in: and weight Wr D 0:09⇥10 3 oz, a thin
body B of length ` D 12 in: and weight WB D 0:144 ⇥ 10 3 oz, and a small ballast C placed at the
front end of the body and with weight WC D 0:0723⇥10 3 oz. The ballast’s weight is such that the axis
of the rotation of the rotor goes through G, which is the center of mass of the body B and ballast C .
While holding the body (and ballast) fixed, the rotor is spun as shown with !0 D 150 rpm. Neglecting
aerodynamic effects, the weights of the rotor’s shaft and the body’s tail, and assuming there is friction
between the helicopter’s body and the rotor’s shaft, determine the angular velocity of the body once the toy
is released and the angular velocity of the rotor decreases to 120 rpm. Model the body as a uniform thin
rod and the ballast as a particle. Assume that the rotor and the body remain horizontal after release.
Solution
Note: we model the rotor as uniform thin bar of length d .
Point G is the mass center of the ballast-C -and-body-B system.
The center of mass of the rotor (point H ) is vertically aligned
with G. Therefore, G is the mass center of the system as a whole
and the overall weight of the toy mg, which is the only external
force on the system, contributes no moment about G. In turn, this
implies that the angular momentum of the helicopter about G must
be conserved. Since the vertical motion of the toy does not play a
role in this problem, we will treat G as a fixed point and the system as rotating about the fixed axis ´. We
denote by t1 the time at which the helicopter is first released. We denote by t2 the time at which the angular
speed of the rotor becomes 120 rpm. We use subscripts 1 and 2 to denote quantities at t1 and t2 , respectively.
We denote by mr D Wr =g, mC D WC =g, and mB D WB =g the masses of the rotor, ballast, and body,
respectively.
Balance Principles. Applying the angular impulse momentum principle as a statement of conservation of
angular momentum in the ´ direction for the system, we have
IGr !r1 C IGC !C1 C IGB !B1 D IGr !r2 C IGC !C 2 C IGB !B2 ; (1)
where IGr , IGC , and IGB are the mass moments of inertia about G of the rotor, ballast, and body, respectively.
Similarly, !E r D !r uO ´ , !E C D !C uO ´ , and !EB D !B uO ´ are the angular velocities of the rotor, ballast, and
body, respectively. To provide expressions for the mass moments of inertia of the components of the system,
we first determine the distance b of the ballast from the spin axis. Applying the definition of mass center, we
have
mB `
mC b C mB 12 ` b D 0 ) b D : (2)
2.mB C mC /
Since the spin axis goes through the center of mass of the rotor, which we model as a thin bar, for IGr , we
have
IGr D 121
mr d 2 : (3)
Since the ballast is modeled as a particle at a distance B from the spin axis, applying the parallel axis theorem,
we have
2 2
mB `
IGC D mC b 2 D mC : (4)
4.mB C mC /2
Since B is modeled as a uniform bar and its mass center E is at a distance e D 12 ` b from the spin axis,
applying the parallel axis theorem, we have
 2
1 2 2 2 mB `
IGB D 12 mB ` C mB 12 ` b D 1
12 mB ` C mB 1
2` : (5)
2.mB C mC /
3
Recalling that mr D 0:09 ⇥ 10 3 oz=g D 0:09⇥10
16 lb=g, g D 32:2 ft=s2 , d D 10 in: D 10
12 ft, mC D
0:0723⇥10 3 0:144⇥10 3
0:0723⇥10 D3 oz=g lb=g, ` D 12 in: D 1 ft, and mB D 0:144⇥10 3 oz=g D lb=g,
16 16
we can evaluate the mass moments of inertia to obtain
IGr D 1:011⇥10 8
slug ft2 ; IGC D 1:555⇥10 8
slug ft2 ; IGB D 3:110⇥10 8
slug ft2 : (6)
Kinematic Equations. The ballast is attached to the body. Hence, its angular velocity about the spin axis
is the same as that of the body. With this in mind, and recalling that the body is initially at rest, we have
120
!r1 D !0 ; !C1 D !B1 D 0; !r2 D 150 !0 D 45 !0 ; !C 2 D !B2 : (7)
Substituting Eqs. (7) into Eq. (1), we have

IGr !0
IGr !0 D 45 IGr !0 C .IGC C IGB /!B2 ) !B2 D : (8)
5.IGC C IGB /
Recalling that !0 D 150 rpm, and using the (full precision) values of the mass moment of inertia in Eqs. (6),
we can evaluate !B2 to obtain
ˇ
!B ˇ D 6:501 rpm: !r D120 rpm
Dynamics 2e 1839
Problem 8.108
A cord, which is wrapped around the inner radius of the spool

of mass m D 35 kg, is pulled vertically at A by a constant force
P D 120 N (the cord is pulled in such a way that it remains
vertical), causing the spool to roll over the horizontal bar BD. The
inner radius of the spool is R D 0:3 m, and the center of mass of
the spool is at G, which also coincides with the geometric center
of the spool. The spool’s radius of gyration is kG D 0:18 m.
Assuming that the spool starts from rest, that the cord’s inertia and
extensibility can be neglected, and that the spool rolls without slip,
determine the speed of the spool’s center 3 s after the application
of the force. In addition, determine the minimum static friction
coefficient for rolling without slip to be maintained during the time
interval in question.
Solution
We model the spool as a rigid body rolling without slipping on a flat horizontal
surface. We assume that the spool is subject only to its own weight mg, the
applied force P , and the components F and N of the contact force with the rail.
We denote by t1 D 0 the time at which the force P is first applied. We denote
by t2 D 3 s the time at which the answer is sought. We use subscripts 1 and 2
to denote quantities at times t1 and t2 , respectively.
Balance Principles. We apply the linear impulse-momentum principle in the x

direction along with the angular impulse-momentum principle in the ´ direction
and with G as moment center. This gives
Z t2 Z t2
m.vGx /1 C F dt D m.vGx /2 and IG !s1 C .FR PR/ dt D IG !s2 ; (1)
t1 t1
where vEG D vGx {O is the velocity of G, IG is the mass moment of inertia of the spool about G, and !E s D !s kO
is the angular velocity of the spool. For IG , we have
2
IG D mkG : (2)
Kinematic Equations. Recalling that the spool starts from rest and that it rolls without slip, we can
summarize the kinematic equations of the problem as follows:
.vGx /2
.vGx /1 D 0; !s1 D 0; !s2 D : (3)
R
Z t2 Z t2
2
F dt D m.vGx /2 and R F dt PR t D m.kG =R/.vGx /2 ; (4)
t1 t1
where we have set t D t2 t1 . Eliminating the time integral of F and solving for .vGx /2 , we have
PR2 t
.vGx /2 D 2
: (5)
m.R2 C kG /
Recalling that P D 120 N, R D 0:3 m, t D 3 s, m D 35 kg, and kG D 0:18 m, we can evaluate

vG j t D3 s D j.vGx /2 j to obtain
ˇ
vG ˇ t D3 s D 7:563 m=s:
Since the spool does not move in the y direction, the equilibrium of the forces in the y direction requires
that N C P D mg, which implies that N D mg P . Letting s denote the coefficient of static friction
between the spool and the rail, for the spool to roll without slip, at the very minimum we must have
Fmin D . s /min .mg P /, which indicates that Fmin is a constant force. Substituting Fmin for F in the first
of Eqs. (4) and using the result in Eq. (5), we have
PR2 t PR2
. s /min .mg P/ t D 2
) . s /min D 2
: (6)
R2 C kG .mg P /.R2 C kG /
Recalling that P D 120 N, R D 0:3 m, m D 35 kg, g D 9:81 m=s2 , and kG D 0:18 m, we can evaluate
. s /min to obtain
. s /min D 0:3951:
Dynamics 2e 1841
Problem 8.109
A spool has weight W D 450 lb, outer and inner radii R D 6 ft

and ⇢ D 4:5 ft, respectively, center of mass G coinciding with its
geometric center, and radius of gyration kG D 4:0 ft. The spool is
at rest when it is pulled to the right as shown. The cable wrapped
around the spool can be modeled as being inextensible and of
negligible mass. Assume that the spool rolls without slip relative
to both the cable and the ground. If the cable is pulled with a force
P D 125 lb, determine the speed of the center of the spool after 2 s
and the minimum value of the static friction coefficient between
the spool and the ground necessary to guarantee rolling without
slip.
Solution
We model the spool as a rigid body of mass m D W =g rolling without

slipping on a flat horizontal surface under the action of its own weight
mS g, the applied force P , and the components F and N of the contact
force with the ground. We denote by t1 D 0 the time at which the force
P is first applied. We denote by t2 D 2 s the time at which the answer is
sought. We use subscripts 1 and 2 to denote quantities at times t1 and t2 ,
respectively.
Balance Principles. We apply the linear impulse-momentum principle

in the x direction and, choosing G as moment center, the angular impulse-
momentum principle in the ´ direction. This gives
Z t2 Z t2
mS .vGx /1 C .P C F / dt D mS .vGx /2 and IG !S1 C .FR P⇢/ dt D IG !S 2 ; (1)
0 0
where vEG D vGx {O is the velocity of G, IG is the mass moment of inertia of the spool about G, and
!E S D !S kO is the angular velocity of the spool. For IG we have
2
IG D mS kG : (2)
Kinematic Equations. Since the spool rolls without slipping and is initially at rest, we have
.vGx /1 D 0; !S1 D 0; !S 2 D .vGx /2 =R: (3)
Computation. Substituting Eqs. (2) and (3) into Eqs. (1)

Z t2 Z t2
2
F dt C P t D mS .vGx /2 and R F dt P⇢ t D mS .kG =R/.vGx /2 ; (4)
t1 t1
where we have set t D t2 t1 . Eliminating the time integral of F from the above two equations and solving
for .vGx /2 , we have
R.R C ⇢/P t
.vGx /2 D 2
; (5)
mS .R2 C kG /
Recalling that R Dˇ 6 ft, ⇢ D 4:5 ft, P D 125 lb, t D 2 s, mS D 450 lb=g, g D 32:2 ft=s2 , and kG D 4 ft,
we can evaluate vG ˇ t D2 s D j.vGx /2 j, to obtain
ˇ
vG ˇ t D2 s D 21:67 ft=s:
Since the spool does not move in the y direction, the equilibrium of the forces in the y direction implies
that N D mS g. Letting s denote the coefficient of static friction between the spool and the ground, for
the spool to roll without slip, at the very minimum we must have Fmin D . s /min N D . s /min mS g, which
indicates that Fmin is a constant force. Substituting Fmin for F in the first of Eqs. (4) and using the result in
Eq. (5), we have
Z t2 
R.R C ⇢/P t R.R C ⇢/
. s /min mS g dt C P t D mS 2
) . s /min mS g t D 2
1 P t; (6)
0 mS .R C kG /
2 .R2 C kG /
which can be solved for s to obtain

2
P .R⇢ kG /
. s /min D 2
: (7)
mS g.R2 C kG /
Recalling that P D 125 lb, R D 6 ft, ⇢ D 4:5 ft, kG D 4 ft, and mS g D 450 lb, . s /min can be evaluated to
obtain
. s /min D 0:05876:
Dynamics 2e 1843
Problem 8.110
The wind turbine in the figure consists of three equally spaced

blades that are rotating as shown about the fixed point O with an
angular velocity !0 D 30 rpm. Suppose that each 38;000 lb blade
can be modeled as a narrow uniform rectangle of length b D 182 ft,
width a D 12 ft, and negligible thickness, with one of its corners
coinciding with the center of rotation O. The orientation of each
blade can be controlled by rotating the blade about an axis going
through the center O that coincides with the blade’s leading edge.
Neglecting aerodynamic forces and any source of friction, and
assuming that the turbine is freely rotating, determine the turbine’s
angular velocity !f after each blade has been rotated 90ı about
its own leading edge.
Photo credit: © Martin Child/Getty Images RF
Solution
We denote by t1 and t2 the times at which the blades are oriented as shown
and after being rotated 90ı , respectively. We use subscripts 1 and 2 to
denote quantities at t1 and t2 , respectively. Based on the assumptions
stated, the FBD of the turbine is as shown. Since no moment is produced
about the fixed point O, the angular momentum of the turbine about O,
is conserved. Since the motion is planar, it will be sufficient to focus on
the angular momentum in the ´ direction. We observe that the change in
orientation of the blade causes a change in the mass moment of inertia of
the turbine.
Balance Principles. Choosing O as moment center, applying the angu-

lar impulse-momentum principle in the form of conservation of angular
momentum, and accounting for the symmetry of the turbine,
3IO1 ! t1 D 3IO2 ! t 2 ; (1)
where IO1 and IO2 are the values of mass moment of inertia of each blade about O at t1 and t2 , respectively,
and where !E t D ! t kO is the angular velocity of the turbine. Using the parallel axis theorem, these mass
moments of inertia are given by
⇥ ⇤
IO1 D 12 1
mb .a2 C b 2 / C mb .a=2/2 C .b=2/2 D 13:09⇥106 slug ft2 ; (2)
IO2 D 1
12 mb b
2
C mb .b=2/2 D 13:03⇥106 slug ft2 ; (3)
where mb D Wb =g is the weight of each individual blade, and where we have used the following numerical
data: Wb D 38;000 lb, g D 32:2 ft=s2 , a D 12 ft, and b D 182 ft.

Kinematic Equations. Following the problem statement, we have
! t1 D !0 and ! t 2 D !f (4)
Computation. Substituting Eqs. (4) into Eq. (1) and solving for !f , we have
IO1
!f D !0 : (5)
IO2
Recalling that !0 D 30 rpm, and using the (full precision) values of the mass moments of inertia in Eqs. (2)
and (3), we can evaluate !f to obtain
!f D 30:13 rpm:
Dynamics 2e 1845
Problem 8.111
Cars A and B collide as shown. Neglecting the effect of friction, what would be the angu-
lar velocity of A and B immediately after impact if A and B were to form a single rigid
body as a result of the collision? In solving the problem, let C and D be the mass cen-
ters of A and B, respectively, and use the following data: the weight of A is WA D 3130 lb,
the radius of gyration of A is kC D 34:5 in:, the speed of A right before impact is vA D 12 mph,
the weight of B is WB D 3520 lb, the radius of gyration of B is kD D 39:3 in:, the speed of B right before
impact is vB D 15 mph, d D 19 in:, and ` D 144 in: Finally, assume that while A and B form a single
rigid body right after impact, the mass center of the rigid body formed by A and B coincides with the mass
center of the A-B system right before impact.
Solution
Note: Several intermediate numerical results are reported during the solution of this problem. While results
are reported to four significant figures, our calculations we carried out using the full precision afforded us by
computing devices.
We let the subscripts 1 and 2 denote the time instants right before and right after impact, respectively.
Referring to the FBD above, we see that, as far as the motion in the xy plane is concerned, the system is
isolated. Therefore, both the linear and the angular momentum of the system are conserved.
Balance Principles. The conservation of the system’s linear momentum is expressed by the following two
equations:
mA .vC x /1 C mB .vDx /1 D mA .vC x /2 C mB .vDx /2 ; (1)

mA .vCy /1 C mB .vDy /1 D mA .vCy /2 C mB .vDy /2 ; (2)
where mA and mB are the masses of A and B, respectively, and where vEA D vAx {O C vAy |O is the velocity of
A, whereas vEB D vBx {O C vBy |O is the velocity of B. Choosing point D, which is the origin of the chosen
coordinate system, as moment center, and recalling that A and B do not move significantly right after impact,
the conservation of the system’s angular momentum is expressed as follows:
ID !EB1 C IC !EA1 C rEC =D ⇥ mA vEC1 D ID !EB2 C IC !EA2 C rEC =D ⇥ mA vEC 2 ; (3)
where ID and IC are the mass moments of inertia of A and B about their respective mass centers, !EA D !A kO
and !EB D !B kO are the angular velocities of A and B, respectively, and where rEC =D , given by
rEC =D D ` {O d |O D .12:00 ft/ {O .1:583 ft/ |O; (4)
is the position of C relative to D both right before and right after impact; notice that we have used the
19
following numerical data: d D 19 in: D 12 ft and ` D 144 in: D 144
12 ft.
Based on the data provided, for the masses and the mass moments of inertia, we have
WA WA 2
mA D D 97:20 slug; IC D kC D 803:5 slug ft2 ; (5)
g g
WB WB 2
mB D D 109:3 slug; ID D k D 1172 slug ft2 ; (6)
g g D
where g D 32:2 ft=s2 is the acceleration due to gravity, WA D 3130 lb and kC D 34:5 in: D 34:5 12 ft are
the weight of A and the radius of gyration of A about C , respectively, and where WB D 3520 lb and
kD D 39:3 in: D 39:3
12 ft are the weight of B and the radius of gyration of B about D, respectively.
Kinematic Equations. We begin by observing that the velocities right before impact are given and can be
summarized as follows:
.vC x /1 D vA D 17:60 ft=s; .vCy /1 D 0; !A1 D 0; (7)

.vDx /1 D vB D 22:00 ft=s; .vDy /1 D 0; !B1 D 0; (8)
where we have used the following numerical data: vA D 12 mph D 12 5280 3600 ft=s and vB D 15 mph D
5280
15 3600 ft=s. Next, since A and B form a single rigid body after impact, we must have
!A2 D !B2 D !2 ; (9)
where !E 2 D !2 kO is the common value of the angular velocity of A and B after impact. The fact that A and
B form a single rigid body after impact (with the geometry described in the problem statement) also implies
that we must have
vEC 2 D vED2 C !E 2 ⇥ rEC =D ) .vC x /2 D .vDx /2 C d!2 and .vCy /2 D .vDy /2 C `!2 ;
) .vC x /2 D .vDx /2 C .1:583 ft/!2 and .vCy /2 D .vDy /2 C .12:00 ft/!2 ; (10)
where rEC =D is given in Eq. (4).
Computation. Substituting the values of the mass properties (see Eq. (5) and (6)) and the preimpact
velocities (see Eqs. (7) and (8)) into Eqs. (1)–(3), we have
694:2 lb s D .97:20 slug/.vC x /2 C .109:3 slug/.vDx /2 ; (11)

0 D .97:20 slug/.vCy /2 C .109:3 slug/.vDy /2 ; (12)
2 2 2
2709 ft lb s D .153:9 lb s /.vC x /2 C .1166 lb s /.vCy /2 C .1976 ft lb s /!2 ; (13)
where we have used Eq. (4) again, and where we considered only the ´ component of Eq. (3) since it is
the only nonzero component of the conservation of angular momentum equation. Now we observe that the
Dynamics 2e 1847
last two of Eqs. (10) along with Eqs. (11)–(13) form a system of 5 equations in the five unknowns .vC x /2 ,
.vCy /2 , .vDx /2 , .vDy /2 , and !2 whose solution is
.vC x /2 D 3:077 ft=s; .vCy /2 D 2:154 ft=s; (14)

.vDx /2 D 3:614 ft=s; .vDy /2 D 1:915 ft=s; and !2 D 0:3391 rad=s: (15)
Hence, expressing the angular velocity of the system right after impact in vector form, we have
O
!E right after impact D . 0:3391 rad=s/ k:
Problem 8.112
Some pipe sections are gently nudged from rest down an incline and roll without slipping all the way to a
step of height b. Assume that each pipe section does not slide or rebound against the step, so that the pipes
move as if hinged at the corner of the step. Modeling a pipe as a uniform thin ring of mass m and radius r,
and letting d be the height from which the pipes are released, determine the minimum value of d so that
the pipes can roll over the step. Hint: When a pipe hits the corner of the step, its motion changes almost
instantaneously from rolling without slip on the ground to a fixed-axis rotation about the corner of the step.
Model this transition, using the ideas presented in Section 5.2 on p. 335. That is, assume that there is an
infinitesimal time interval right after the impact between a pipe and the corner of the step in which the
pipe does not change its position significantly, the pipe loses contact with the ground, and its weight is
negligible relative to the contact forces between the pipe and the step.
Solution
Referring to the figure below (left), let ¿ denote the position at release, ¡ when the pipe reaches the bottom
of the incline, ¬ when the incline impacts against point D of the step, and √ when the pipe reaches the top
of the step.
Balance Principles. We will apply the work-energy principle between ¿ and ¡. Referring to the FBD
below (right), since the pipe section rolls without slip, the only force doing work is gravity, which is
conservative. Hence, between ¿ and ¡ we apply the work-energy principle as a statement of conservation of
energy, i.e.,
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system and, denoting by Q the point of contact with the ground, IQ
the mass moment of inertia of the pipe section about Q, and by !Ep D !p kO the angular velocity of the the
pipe section,
2 2
T1 D 12 IQ !p1 and T2 D 12 IQ !p2 : (2)
Modeling the pipe section as a thin uniform circular ring and using the parallel axis theorem, for IQ , we have
IQ D 2mr 2 : (3)
V1 D mgd and V2 D 0: (4)
Dynamics 2e 1849
Kinematic Equations. The pipe section is released from rest, so

!p1 D 0: (5)
p
mgd D 12 .2mr 2 /!p2
2
) !p2 D gd =r; (6)
where we have selected the negative root since the pipe section rolls clockwise in ¡. Between ¡ and ¬ the
pipe will continue rolling without slip and therefore move with a constant angular velocity.
At time t3 we have the collision of the pipe against point D. The impact-relevant
FBD (i.e., neglecting any force that is not impulsive) is shown at the right. We
use superscripts and C to denote quantities at the time instants right before and
right after impact. We observe that the external impulsive forces acting on the
pipe section do not contribute a moment about D. Since D is a fixed point, the
angular momentum about D is conserved. We assume that the pipe section does
not slip relative to D and that it is in a fixed axis rotation about D right after impact.
Balance Principles. Choosing D as moment center, and applying the angular impulse-momentum principle
as a statement of conservation of angular momentum (in the ´ direction), we have
C
hD´ D hD´ ; (7)
where hD´ is the ´ component of the angular momentum. Based on the state of motion right before and right
after the impact, and denoting by IG and ID the mass moments of inertia of the pipe section relative to G
and D, respectively, we have
C C
hD´ D IG !p3 m.r b/.vGx /3 and hD´ D ID !p3 : (8)
For IG and ID (using the parallel axis theorem), we have
IG D mr 2 and ID D 2mr 2 : (9)
Kinematic Equations. The conditions at t coincide with those found in ¡. Hence

p p
.vGx /3 D !p2 r D gd ; !p3 D !p2 D gd =r: (10)
p p
2 gd
p C C gd
mr m.r b/ gd D 2mr 2 !p3 ) !p3 D .2r b/: (11)
r 2r 2
Finally, using work energy to study the motion from right after impact to when the
pipe barely makes it to the top of the step, we have
T3C C V3C D T4 C V4 ; (12)
where, since after impact the pipe is in a fixed axis rotation about D, we have
T3C D 12 ID .!p3
C 2
/ ; V3C D 0; T4 D 0; V4 D mgb: (13)
Substituting the expressions in Eq. (13) into Eq. (12), using the last of Eqs. (11), and solving for d , we have
4r 2 b
dD :
.2r b/2
Problem 8.113
A crane has a boom A of mass mA and length ` that can rotate in the horizontal plane about a fixed point
O. A trolley B of mass mB is mounted on one side of A, such that the mass center of B is always at a
distance e from the longitudinal axis of A. The position of B is controlled by a cable and a system of
pulleys. Both A and B are initially at rest in the position shown, where d is the initial distance of B from
O measured along the longitudinal axis of A. The boom A is free to rotate about O and, for a short time
interval 0  t  tf , B moves with constant acceleration a0 without reaching the end of A. Letting IO be
the mass moment of inertia of A, modeling B as a particle, and accounting only for the inertia of A and B,
determine the direction of rotation of A and the angle ✓ swept by A from t D 0 to t D tf . Neglect the
mass of the cable and of the pulleys.
Solution
Referring to the FBD below,
the stated assumptions imply that the system consisting of the boom and the trolley is not subject to any
moment about the spin axis, where the latter is represented by the fixed point O. The component system with
base vectors uO r and uO ✓ is attached to the boom and rotates with it. We denote by t1 D 0 the time at which B
starts moving. We use the subscript 1 to denote quantities at t1 . We denote by ´ the spin axis of the system.
The orientation of the ´ axis is given by the unit vector kO D uO r ⇥ uO ✓ .
Balance Principles. Choosing O as moment center, and applying the angular impulse-momentum principle
as a statement of conservation of angular momentum about O, we have
hEO1 D hEO ; (1)
where hEO is the angular momentum of the system about O. We denote the angular velocity of the boom by
O the position of B relative to O by rEB , and the velocity of B by vEB . Then, hEO is given by
!EA D !A k,
hEO D IO !EA C rEB ⇥ mB vEB ; (2)
where IO is the mass moment of inertia of the boom with respect to O and is treated as a given quantity.
Kinematic Equations. We characterize the position of B as follows:
rEB D ı uO r e uO ✓ ; (3)
where ı corresponds to the distance of B from O measured along a line parallel to uO r , and where e is constant.
The quantity ı is a function of time and, for t D t1 D 0, ı.0/ D d . B starts from rest and moves with
Dynamics 2e 1851
constant acceleration a0 relative to the boom. So, using constant acceleration equations, for 0  t  tf , we
have
ı D d C 12 a0 t 2 : (4)
The velocity of B is obtained by differentiating Eq. (3) with respect to time. This gives
vEB D ıP uO r C ı uPO r e uPO ✓ ; (5)
where we have accounted for the fact that e is constant. Because uO r and uO ✓ are attached to the boom, and
using the concept of time derivative of a unit vector (see Section 2.4 on p. 80 of the textbook), we have
uPO r D !A uO ✓ and uPO ✓ D !A uO r : (6)
Substituting Eqs. (6) into Eq. (5) and collecting terms, we have
vEB D ıP C !A e uO r C !A ı uO ✓ : (7)
⇥ ⇤
hEO D IO !EA C ı uO r e uO ✓ ⇥ mB ıP C !A e uO r C !A ı uO ✓
⇥ ⇤
) hEO D mB .IO =mB C e 2 C ı 2 /!A C e ıP k:
O (8)
Since the system is initially at rest, hEO1 D 0.

E Substituting this result and the last of Eqs. (8) into Eq. (1), we
conclude that
⇥ ⇤ ea0 t
mB .IO =mB C e 2 C ı 2 /!A C e ıP D 0 ) !A D 2
; (9)
IO =mB C e C d C 12 a0 t 2
2
where we have used Eq. (4). Since all of the constants appearing in the expression of !A are positive, for
t > 0, we have !A < 0 and we conclude that
The system rotates clockwise.
The angle ✓ swept by the boom is given by

Z tf Z tf
ea0 t
✓D j!A j dt D 2
dt: (10)
0 0 IO =mB C e 2 C d C 12 a0 t 2
To carry out the above integration we introduce the following change of variables of integration:
d C 12 a0 t 2
⇠Dp ; (11)
IO =mB C e 2
which implies
ao t d d C 12 a0 tf2
d⇠ D p dt; ⇠0 D ⇠j t D0 D p ; ⇠f D ⇠j t Dtf D p : (12)
IO =mB C e 2 IO =mB C e 2 IO =mB C e 2
Using the suggested change of variable of integration, we have
Z ⇠f
e d⇠ e tan 1 ⇠f tan 1 ⇠0
✓Dp D p
IO =mB C e 2 ⇠0 1 C ⇠ 2 IO =mB C e 2
 ✓ d C 12 a0 tf2 ◆ ✓ ◆
e 1 1 d
) ✓Dp tan p tan p . (13)
IO =mB C e 2 IO =mB C e 2 IO =mB C e 2
Problem 8.114
Following up on parts (b) and (c) of the Pioneer 3 despin in Prob. 7.96, it turns out that we can analytically
determine the length of the unwound wire needed to achieve any value of !s by using conservation of
energy and conservation of angular momentum. In doing so, let the masses of A and B each be m, and
the mass moment of inertia of the spacecraft body be IO . Let the initial conditions of the system be
!s .0/ D !0 , `.0/ D 0, and P̀.0/ D 0, and neglect gravity and the mass of each wire.
(a) Find the velocity of each of the masses A and B as a function of the wire length `.t /, the angular
velocity of the spacecraft body !s .t /, and the radius of the spacecraft R. Hint: This part of the problem
involves just kinematics — refer to Prob. 6.160 if you need help with the kinematics.
(b) Apply the work-energy principle to the spacecraft system between the time just before the masses
start to unwind and any arbitrary later time. You should obtain an expression relating `, P̀, !s , and
constants. Hint: No external work is done on the system.
(c) Since no external forces act on the system, its total angular momentum must be conserved about
point O. Relate the angular momentum for this system between the time just before the masses start
unwinding and any arbitrary later time. As with Part (b), you should obtain an expression relating `, P̀,
!s , and constants.
(d) Solve the energy and angular momentum equations obtained in Parts (b) and (c), respectively, for `P
and !s . Now, letting !s D 0, show that the length
pof the unwound wire when the angular velocity of
the spacecraft body is zero is given by `!s D0 D .IO C 2mR2 /=.2m/.
(e) From your solutions for `P and !s in Part (d), find the equations for `.t / and
!s .t/. These are the general solutions to the nonlinear equations of motion found in
Prob. 7.95.
Photo credit: NASA
Solution
For the sake of a more compact presentation, in the solution to this problem, we will follow the steps indicated
in the problem statement without a strict adherence to the solution steps typically followed in the examples.
Dynamics 2e 1853
Part (a). We attach a rotating xy´ reference frame such that the x axis is always
aligned with the wire attached to A and such that the origin of the frame always
coincides with the point on the wire that is about to unwind (see point Q in the figure
on the right). Then, treating O as a fixed point, and using concepts from rotating
reference frames, we have
vEA D vEQ C vEArel C E̋ ⇥ rEA=Q ; (1)
where, observing that the unwind angle ✓ is related to the unwound cord length ` via
the relation ✓ D `=R,
vEQ D R.!s C ✓/ P {O D .R!s C `/
P {O; (2)
and where, recalling that vEArel is the velocity of A as perceived in the rotating frame and E̋ is the (absolute)
angular velocity of the rotating frame, we also have that
✓ ◆
P̀ E̋ P O `P O
vEArel D {O; D .!s C ✓/ k D !s C k; rEA=Q D ` {O: (3)
R
Then, substituting Eqs. (2) and (3) into Eq. (1) and simplifying, we have
✓ ◆
`P
vEA D R!s {O C ` !s C |O; (4)
R
Part (b). We define ¿ to be the position of the system right before the masses start to unwind; and ¡ is the
position corresponding to the cords having unwound an amount `.
The FBD shown on the right indicates that there are no external forces acting on
the system, i.e., the system is isolated. Consequently, no work is being done on the
satellite. In addition, we assume the cords are inextensible and that any source if
internal friction is negligible. This then implies that that no internal work is done on
the system. Based on these assumptions, the work-energy principle requires the kinetic
energy of the system be conserved, i.e.,
T1 D T2 ; (5)
where, recalling that the A and B move with identical speeds, and denoting by IO the
mass moment of inertia of the satellite, which is assumed not to change appreciably as
the cords unwind, we have
1 2 2 2 2
T1 D 2 2 mvA1 C 12 IO !s1 and T2 D 2 1
2 mvA2 C 12 IO !s2 : (6)
P D 0, using the expression for the velocity of A in Eq. (4),
Recalling that !s .0/ D !0 , `.0/ D 0, and `.0/
we have
✓ P̀ ◆2
2
vA1 D !02 R2 ; !s1 2
D !02 ; vA22
D vEA vEA D R2 !s2 C `2 !s C ; and !s2 2
D !s2 : (7)
R
Then, substituting Eqs. (6) and (7) into Eq. (5) and simplifying, we obtain the following equation:
 ✓ P̀ ◆2
2
1
2 IO C 2mR !02 Dm R 2
!s2 C` 2
!s C C 21 IO !s2 : (8)
R
Part (c). We define the time instants 1 and 2 to be the instants in time corresponding to the positions 1 and
2, respectively, defined for the application of the work-energy principle in Part (b).
As remarked earlier, there are no external forces acting on the system. Therefore the angular momentum
of the system must be conserved. Therefore, choosing the fixed point O as our moment center, we have
hEO1 D hEO2 (9)
where hEO is the angular momentum of the system about O and it is given by the sum of two contributions,
one due to the body of the satellite and the other due to A and B. Specifically, observing that A and B
contribute to the angular momentum in question in identical ways, we have
hEO1 D IO !E s1 C 2.ErA=O /1 ⇥ mE
vA1 and hEO2 D IO !E s2 C 2.ErA=O /2 ⇥ mE
vA2 ; (10)
where, recalling that !s .0/ D !0 , `.0/ D 0, and P̀.0/ D 0, using the expression for the velocity of A in
Eq. (4)
!E s1 D O
!0 k; .ErA=O /1 D R |O; vEA1 D R!0 {O; (11)
✓ P̀ ◆
!E s2 D O
!s k; .ErA=O /2 D ` {O C R |O; vEA2 D vEA D R!s {O C ` !s C |O: (12)
R
Substituting Eqs. (11) and (12) into Eqs. (10), and then substituting the result in Eq. (9) and simplifying, we
obtain
⇥ ⇤ `2
IO C 2mR2 !0 D IO C 2m.`2 C R2 / !s C 2m P̀; (13)
R
where we have written only the ´ component of the conservation of angular momentum equation because this
component is the only nonzero component of the corresponding vector equation.
Part (d). Equation (8) and (13) form a system of two equations in the two unknowns P̀ and !s whose
solution is
P̀ D R!0 IO C 2m.R2 `2 /
and !s D !0 : (14)
IO C 2m.R2 C `2 /
From the second of Eqs. (14), we see that for !s to be equal to zero it is sufficient to set the numerator of the
expression for !s be equal to zero. Doing so and solving for `, we have
r
ˇ IO
`ˇ !s D0
D C R2 ; (15)
2m
as expected.
Part (e). The solution for `P Eq. (14) shows that `P is a constant. Hence, integrating P̀ with respect to time
and recalling that `.0/ D 0, we have
`.t / D R!0 t: (16)
Substituting this result in the second of Eq. (14) we obtain
IO C 2mR2 .1 !02 t 2 /
!s .t / D !0 : (17)
IO C 2mR2 .1 C !02 t 2 /
Dynamics 2e 1855
Problem 8.115
A stop shot is a pool shot in which the cue ball (white) stops upon
striking the object ball (aqua). Modeling the collision between the two
balls as a perfectly elastic collision of two rigid bodies with frictionless
contact, determine which condition must be true for the preimpact an-
gular velocity of the cue ball in order to properly execute a stop shot:
(a) !0 < 0; (b) !0 D 0; (c) !0 > 0.
Solution
To execute a stop shot under the stated assumptions, the cue ball must not have any angular velocity when
it hits the object ball. The reason is that the collision in question is a direct central impact with frictionless
contact. This implies that the angular velocity of the cue ball (as well as that of the object ball) is conserved
through the impact. Hence, if the angular velocity of the cue ball were not equal to zero, the ball would
continue rolling after the impact.
Problem 8.116
The cue ball (white) is rolling without slip to the left, and its center is moving
with a speed v0 D 6 ft=s while the object ball (aqua) is stationary. The
diameter d of the two balls is the same and is equal to 2:25 in: The coefficient
of restitution of the impact is e D 0:98. Let Wc D 6 oz and Wo D 5:5 oz be
the weights of the cue ball and object ball, respectively. Let P and Q be the
points on the cue ball and on the object ball, respectively, that are in contact
with the table at the time of impact. Assuming that the contact between the
two balls is frictionless and modeling the balls as uniform spheres, determine
the postimpact velocities of P and Q.
Solution
We model the impact as an unconstrainted direct central impact. Point

O is the fixed point in space that happens to coincide with the points on
the two balls that come into contact at the time of impact. The chosen x
axis is aligned with the LOI. Points A and B are both the geometric and
mass centers of the cue and object balls, respectively. We will denote
the angular velocities of the cue and object balls as !E c D !c kO and
!E o D !o k,O respectively. We will first determine the postimpact angular
velocities of the balls and the postimpact velocities of the balls’ centers
and then we will use rigid body kinematics to determine the velocities
of points P and Q.
Balance Principles. The impact in question is governed by the following equations:

C C
mc vAx C mo vBx D mc vAx C mo vBx ; (1)
C
!c D !c ; (2)
C
!o D !o ; (3)
which, in order, represent the conservation of linear momentum for the system along the LOI, the conservation
of the angular momentum of the cue ball about O, the conservation of the angular momentum of the object
ball about O.
Force Laws. The behavior of the impulsive contact force between A and B is described via the COR
equation, written in term of velocity components along the LOI:
C C
vAx vBx D e.vBx vAx /; (4)
Kinematic Equations. The preimpact conditions are given and can be summarized as follows:
2v0
vAx D v0 ; vBx D 0; !c D ; !o D 0; (5)
d
where the third of Eqs. (5) expresses the fact that the cue ball is rolling without slip before impact.
Dynamics 2e 1857
Computation. Substituting the last two of Eqs. (5) into Eqs. (2) and (3) we obtain the postimpact angular
velocities of the balls. Substituting the first two of Eqs. (5) into Eqs. (1) and (4) we obtain a system of two
C C
equations in the two unknowns vAx and vBx . Solving this system of equations and including the results from
Eqs. (2) and (3), we can summarize the postimpact kinematics of the balls as follows:
C .eWo Wc /v0 C .1 C e/Wc v0

vAx D D 0:3183 ft=s; vBx D D 6:198 ft=s (6)
Wc C W o Wc C W o
2v0
!cC D D 64:00 rad=s; !oC D 0; (7)
d
where we have set mc D Wc =g and mo D Wo =g (g is the acceleration due to gravity), and where we have
used the following numerical data: e D 0:98, Wo D 5:5 oz, Wc D 6 oz, v0 D 6 ft=s, and d D 2:25 in: D
2:25
12 ft.
We now determine the velocities of points P and Q. For point P we have
vEPC D vEAC C !E cC ⇥ rEP =A : (8)
Observing that we have rEP =A D .d=2/ |O and that A moves only in the x direction, we have
vEPC D vAx
C
{O C !cC kO ⇥ 1
2d
C
|O D vAx C 12 !cC d {O D .5:682 ft=s/ {O; (9)
where we have used the results in the first of Eqs. (6) and (7), and where we have used the fact that
d D 2:25 in: D 2:2512 ft.
In the case of point Q, we observe that because !oC D 0 (see the second of Eqs. (7)), the object ball
C C C C C
is translating so that vEQ D vEB , where vEB D vBx {O and where vBx is given by the second of Eqs. (6). In
conclusion, we have
vEPC D .5:682 ft=s/ {O and C

vEQ D . 6:198 ft=s/ {O:
Problem 8.117
Consider the impact-relevant FBD of a car involved in a collision. Assume

that, at the time of impact, the car was stationary. In addition, assume that
the impulsive force F , with line of action `, is the only impulsive force
acting on the car at the time of impact. The point P at the intersection
of ` and the line perpendicular to ` and passing through G, the center of
mass of the car, is sometimes referred to as the center of percussion (for an
alternative definition of center of percussion see Example 7.5 on p. 542). Is
it true that, at the time of impact, the instantaneous center of rotation of the
car lies on the same line as P and G?
Solution
Yes, it is true that the instantaneous center of rotation will lie on the line passing through points P and G.
The reason for this is that, because the car was initially at rest, by the linear impulse momentum principle, the
post impact velocity of the center of mass will have to be parallel to the force F . In turn, using the concept of
instantaneous center of rotation, this means that the instantaneous center of rotation will have to lie on a line
perpendicular to the velocity of G and going through G. But this line is the line that also contains the point
P.
Dynamics 2e 1859
Problem 8.118
A basketball with mass m D 0:6 kg is rolling without slipping as shown

when it hits a small step with ` D 7 cm. Letting the ball’s diameter
be r D 12:0 cm, modeling the ball as a thin spherical shell (the mass
moment of inertia of a spherical shell about its mass center is 23 mr 2 ),
and assuming that the ball does not rebound off the step or slip relative
to it, determine v0 such that the ball barely makes it over the step.
Solution
First, we consider the collision between the ball and the step. Second, we apply the work-energy principle to
relate the postimpact speed of the ball to the change in elevation over the step.
Impact
The impact-relevant FBD of the ball is shown on the right. This FBD indicates
that the impact is a constrained impact in which the ball behaves as if hinged at
the fixed point O right after impact. Since point O is fixed, we can conclude that
the impact is governed by the conservation of angular momentum about O.
Balance Principles. Keeping in mind that the vertical component of the veloc-
ity of G is equal to zero before impact, the statement of conservation of angular
momentum about O can be expressed as follows:
IG !b mb .r `/vGx D IO !bC ; (1)
where !E b D !b kO is the angular velocity of the ball, and where IG and IO are the mass moments of inertia
of the ball relative to points G and O, respectively. Specifically, we have
IG D 23 mb r 2 and IO D IG C mb r 2 D 53 mb r 2 : (2)
Kinematic Equations. Since G is moving with speed v0 to the right and the ball rolls without slip before
impact, we must have
vGx D v0 and !b D v0 =r: (3)
Hence, substituting Eqs. (2) and (3) into Eq. (1) and solving for !bC , we have
5r 3`
!bC D v0 : (4)
5r 2
Motion over the step
We denote by ¿ the postimpact position of the system, and by ¡ the position

of the ball after it barely makes it to the top of the step. The FBD for this part
of the problem is shown at the right. Since the the ball moves as if hinged at O,
the only force doing work is gravity, which is conservative. We use subscripts
T1 C V1 D T2 C V2 ; (5)
where V is the potential energy of the ball, and where, denoting by IO the mass moment of inertia of the ball
about O,
2 2
T1 D 12 IO !b1 and T2 D 21 IO !b2 : (6)
V1 D 0 and V2 D mb g`: (7)
Kinematic Equations. Since ¿ coincides with the postimpact configuration of the ball and since the ball
“barely makes it over the step,” we have
5r 3`
!b1 D v0 and !b2 D 0: (8)
5r 2
Computation. Substituting Eqs. (6)–(8) into Eq. (5) and solving for v0 we have
s
30g`r 2
v0 D ;
.5r 3`/2
which, recalling that g D 9:81 m=s2 , ` D 7 cm D 100

7
m, and r D 12 cm D 12
100 m, can be evaluated to
obtain
v0 D 1:397 ft=s:
Dynamics 2e 1861
Problem 8.119
A bullet B of mass mb is fired with a speed v0 as shown against a uniform thin rod
A of length ` and mass mr that is pinned at O. Determine the distance d , such that
no horizontal reaction is felt at the pin when the bullet strikes the rod.
Solution
Under the assumption that no horizontal reaction is felt at the pin during the impact,
the impact-relevant FBD of the bar is as shown at the right. We denote by t and t C
the time instants immediately before and after the collision, respectively.
Balance Principles. Applying the linear impulse-momentum principle in the hor-

izontal direction, we have
Z tC
C
mvGx C N dt D mvGx ; (1)
t
where G is the center of mass of the bar, vEG D vGx {O C vGy |O is the velocity of G, N is the force exerted by
the bullet on the bar during the collision. Choosing the fixed point O as moment center, and applying the
angular–impulse momentum principle, we have
Z tC
IO !A C Nd dt D IO !AC ; (2)
t
where !EA D !A kO is the angular velocity of the bar and IO is the mass moment of inertia of the bar about O.
For IO , we have
IO D 12 1
m`2 C m.`=2/2 D 13 m`2 : (3)
Kinematic Equations. The bar is initially at rest. So,

vGx D 0 and !A D 0: (4)
Also, since the bar is constrained to rotate about the fixed point O, we must have
C
vGx D 12 `!AC : (5)
Computation. Substituting Eqs. (3) and (4) into Eqs. (1) and (2), and eliminating the time internal of N
from the resulting two equations, we have
C
d mvGx D 13 m`2 !AC : (6)
Substituting Eq. (5) into Eq. (6), we have
d m 12 `!AC D 13 m`2 !AC : (7)
Solving the above equation for d , we have
d D 23 `:
Problem 8.120
A bullet B weighing 147 gr (1 lb D 7000 gr) is fired with a speed v0 as shown

and becomes embedded in the center of a rubber block of dimensions h D 4:5 in:
and w D 6 in: weighing Wrb D 2 lb. The rubber block is attached to the end of a
uniform thin rod A of length L D 1:5 ft and weight Wr D 5 lb that is pinned at
O. After the impact, the rod (with the block and the bullet embedded in it) swings
upward to an angle of 60ı . Determine the speed of the bullet right before impact.
Solution
The solution of this problem is organized in two parts. First, we determine the postimpact angular velocity of
the ballistic pendulum from the maximum swing angle. Second, we determine the preimpact speed of the
bullet based on the result of the first part. We remark that all of the calculations in the solution are carried
using the full precision that our computing devices can afford even though we present numerical values only
to four significant digits.
Determination of the postimpact angular velocity
We denote by ¿ the position with ✓ D 0 immediately after impact, and by ¡

the position corresponding to ✓ D ✓max D 60ı . Between ¿ and ¡, the bullet
and the pendulum travel together. We model the system as a rigid body in fixed
axis rotation about O while subject to the weight of the rod Wr D mr g and the
combine weight of the bullet and of the rubber block Wrb C WB D .mrb C mB /g.
The system is also subject to the pin reactions at O. We observe that gravity, which
is conservative, is the only force doing work on the system. We use subscripts 1
and 2 to denote quantities at ¿ and ¡, respectively.
T1 C V1 D T2 C V2 ; (1)
system about O and by !Ep D !p kO the angular velocity of the pendulum,
2 2
T1 D 12 IO !p1 and T2 D 12 IO !p2 : (2)
Using the parallel axis theorem, for IO we have

2 2 2
IO D 1 2 1 1 2 2
12 mr L C mr 2 L C 12 mrb .w C h / C mrb L C 12 h C mB L C 12 h D 0:2972 slug ft2 ; (3)
where we have used the data mr D 5 lb=g, g D 32:2 ft=s2 , L D 1:5 ft, mrb D 2 lb=g, w D 6 in: D 6
12 ft,
h D 4:5 in: D 4:5 147
12 ft, and mB D 147 gr=g D 7000 lb=g.

1
V1 D 2 mr gL .mrb C mB /g L C 12 h D 7:160 ft lb;
1
(4)
V2 D 2 mr gL cos ✓max .mrb C mB /g L C 12 h cos ✓max D 3:580 ft lb;
where we have used the data mr D 5 lb=g, g D 32:2 ft=s2 , L D 1:5 ft, mrb D 2 lb=g, mB D 147 gr=g D
147 4:5 ı
7000 lb=g, h D 4:5 in: D 12 ft, and ✓max D 60 .
Dynamics 2e 1863
Kinematic Equations. In ¡, the pendulum comes to a temporary stop. So,
!p2 D 0: (5)
Computation. Substituting Eqs. (2)–(5) into Eq. (1) and solving for !p1 we have
s
2.V2 V1 /
!p1 D D 4:908 rad=s; (6)
IO
where we have let !p1 be positive since the pendulum will move counterclockwise after impact.
Impact
The impact at hand is a constrained eccentric impact. The impact-relevat FBD is shown
at the right and it implies that the angular momentum of the system about the fixed
point O must be conserved. We observe that the pendulum is constrained to move in
a fixed axis rotation about O. After impact the bullet and pendulum move together and
the mass moment of inertia of the system is that already computed earlier.
Balance Principles. Choosing O as moment center, applying the angular impulse-

momentum principle as a statement of conservation of angular momentum, we have
.IO /p !p C mB vBx .L C h=2/ D IO !pC ; (7)
where .IO /p is the mass moment of inertia relative to O of just the pendulum. Using the parallel axis theorem,
for .IO /p , we have
2 2
.IO /p D 1
12 mr L
2
C mr 1
2L C 1
12 mrb .w
2
C h2 / C mrb L C 12 h D 0:2954 slug ft2 ; (8)
where we have used the data mr D 5 lb=g, g D 32:2 ft=s2 , L D 1:5 ft, mrb D 2 lb=g, w D 6 in: D 6
12 ft,
and h D 4:5 in: D 4:5
12 ft.
Force Laws. Since the bullet becomes embedded in the block, no COR equation is written.
Kinematic Equations. We have already accounted for the fact that the bullet becomes embedded in the
rubber block because of how we wrote the right-hand side of Eq. (7). Hence, recalling that the pendulum is
initial at rest, the kinematic equations we still need are as follows:
vBx D v0 ; !p D 0; !pC D !p1 ; (9)
where !p1 was found in Eq. (6).
Computation. Substituting Eqs. (9) into Eq. (7), and solving for v0 , we have
2IO !p1
v0 D : (10)
mB .2L C h/
Using the (full precision) values of IO and !p1 in Eqs. (3) and (6), and recalling that mB D 147 gr=g D
147 2 4:5
7000 lb=g, g D 32:2 ft=s , L D 1:5 ft, and h D 4:5 in: D 12 ft, we can evaluate v0 to obtain
v0 D 1326 ft=s;
Problem 8.121
Solve the problem in Example 7.5 on p. 542 using momentum methods

and the concept of impulsive force. Specifically, consider a ball hitting
a bat at a distance d from the handle when the batter has “choked up” a
distance ı. Find the “sweet spot” P (more properly called the center of
percussion) of the bat B by determining the distance d at which the ball
should be hit so that the lateral force (i.e., perpendicular to the bat) at O is
zero. Assume that the bat is pinned at O, it has mass m, the mass center is
at G, and the mass moment of inertia is IG .
Solution
The impact-relevant FBD of the bat assuming no impulsive forces at

the grip is shown on the right, where R is the impulsive force exerted
by the ball on the bat. We denote by t and t C the time instants
right before and right after impact, respectively.
Balance Principles. Applying the linear impulse-momentum prin-

ciple in the y direction and, with O as moment center, the angular
impulse-momentum principle in the ´ direction, we have
Z tC Z tC
C
mvGy C R dt D mvGy and IO !b C R.d ı/ dt D IO !bC ; (1)
t t
where vGy is the y component of the velocity of G, IO is the mass moment of inertia of the bat about O, and
!E b D !b kO is the angular velocity of the bat. Using the parallel axis theorem, for IO , we have
IO D IG C m.` ı/2 : (2)
Kinematic Equations. If the bat rotates about the fixed point O, then rigid body kinematics requires that
C
vGy D !b .` ı/ and vGy D !bC .` ı/; (3)
Computation. Substituting Eqs. (3) into Eqs. (1), we write
Z tC Z tC
m!b .` ı/ C R dt D m!bC .` ı/ and IO !b C .d ı/ R dt D IO !bC : (4)
t t
Eliminating the time integral of R from the above two equations and using Eq. (2), we have
⇥ ⇤ ⇥ ⇤
IG C m.` ı/2 !b C m.` ı/.d ı/.!bC !b / D IG C m.` ı/2 !bC
) .!bC !b /ŒIG C m.` ı/2 m.` ı/.d ı/ç D 0: (5)
Since we expect that .!bC !b / ¤ 0, then, in order for the above equation to be satisfied, we must have
IG C m.` ı/2 m.` ı/.d ı/ D 0; (6)
which can be solved for d to obtain the following expected result:
IG C m`.` ı/
dD :
m.` ı/
Dynamics 2e 1865
Problem 8.122
A batter is swinging a 34 in: long bat with weight WB D 32 oz, mass

center G, and mass moment of inertia IG D 0:0413 slug ft2 . The
center of rotation of the bat is point Q. Compute the distance d
identifying the position of point P , the bat’s “sweet spot” or center
of percussion, such that the batter will not feel any impulsive forces
at O where he is grasping the bat. In addition, knowing that the
ball, weighing 5 oz, is traveling at a speed vb D 90 mph and that the
batter is swinging the bat with an angular velocity !0 D 45 rad=s,
determine the speed of the ball and the angular velocity of the bat
immediately after impact. To solve the problem, use the following
data: ı D 6 in:, ⇢ D 14 in:, ` D 22:5 in:, and COR e D 0:5.
Solution
Determination of d
The impact-relevant FBD of the bat assuming no impulsive forces
at the grip is shown on the right, where N is the impulsive force
exerted by the ball on the bat. We denote by t and t C the time
instants right before and right after impact, respectively.
Balance Principles. The linear and angular impulse-momentum

principles, in the y direction and in the ´ direction (with Q as moment center), respectively, give
Z tC Z tC
C
mB vGy C N dt D mB vGy and IQ !b C N.⇢ C d / dt D IQ !bC ; (1)
t t
where vGy is the y component of the velocity of G, IQ is the mass moment of inertia of the bat about Q,
and !E b D !b kO is the angular velocity of the bat. Using the parallel axis theorem, for IQ , we have
IQ D IG C mB .⇢ C `/2 : (2)
Kinematic Equations. If the bat rotates about the fixed point Q, then rigid body kinematics requires that
C
vGy D !b .⇢ C `/ and vGy D !bC .⇢ C `/; (3)
Computation. Substituting Eqs. (3) into Eqs. (1), we write
Z tC Z tC
mB !b .⇢ C `/ C N dt D mB !bC .⇢ C `/ and IO !b C .⇢ C d / N dt D IO !bC : (4)
t t
Eliminating the time integral of N from the above two equations and using Eq. (2), we have
⇥ ⇤ ⇥ ⇤
IG C mB .⇢ C `/2 !b C mB .⇢ C `/.⇢ C d /.!bC !b / D IG C mB .⇢ C `/2 !bC
) .!bC !b /ŒIG C mB .⇢ C `/2 mB .⇢ C `/.⇢ C d /ç D 0: (5)
Since we expect that .!bC !b / ¤ 0, then, in order for the above equation to be satisfied, we must have
IG
IG C mB .⇢ C `/2 mB .⇢ C `/.⇢ C d / D 0 ) dD C` ) d D 2:094 ft, (6)
mB .⇢ C `/
where we have used the following data: IG D 0:0413 slug ft2 , mB D 32 oz.16 oz=lb/ 1 =.32:2 ft=s2 / D
0:06211 slug, ⇢ D 14 in: D 1:167 ft, and ` D 22:5 in: D 1:875 ft.
Impact analysis
The impact-relevant FBD of the bat-ball system is shown to the right.
We observe that the LOI is parallel to the y direction and that the sys-
tem’s angular momentum about the fixed point Q must be conserved
since there are no external impulsive forces acting on the system when
the ball hits the bat right on the “sweet spot.”

angular momentum about the fixed point Q, we have
IQ !0 C mb vby .⇢ C d / D IQ !BC C mb vby

C
.⇢ C d /; (7)
C
where mb is the mass of the ball, and where vby and vby are the components of the velocity of the ball in the
y direction right before and right after impact.
Force Laws. Neglecting the thickness of the bat, the point on the bat that is hit by the ball moves just like
point P . Therefore the COR equation for this problem is
C
vby vPCy D e.vP y vby /: (8)
Kinematic Equations. Because the bat is in a fixed axis rotation about point Q, and keeping in mind that
the bat is initially swinging clockwise,
vP y D !0 .⇢ C d / and vPCy D !BC .⇢ C d /: (9)
Observing that the ball moves parallel to the y direction before impact and using the standard assumption
that the contact between the two colliding bodies is frictionless, we must have
C
vby D vb ; vbx D 0; and vbx D 0: (10)
Computation. Substituting Eqs. (9) and the first of Eqs. (10) into Eq. (8) we have
C
vby !BC .⇢ C d / D eŒ !0 .⇢ C d / vb ç: (11)
After substituting the first of Eqs. (10) into Eq. (7), we see that Eqs. (7) and (11) form a system of two
equations in the two unknowns !BC and vby C
whose solution is
mb .⇢ C d /Œe!0 .⇢ C d / C .1 C e/vb ç I Q !0
!BC D D 26:60 rad=s; (12)
mb .⇢ C d /2 C IQ
C vb Œmb .⇢ C d /2 eIQ ç .1 C e/IQ !0 .⇢ C d /
vby D D 226:1 ft=s; (13)
mb .⇢ C d /2 C IQ
where we have used the following numerical data: mb D 5 oz=g D 16 5

lb=g, g D 32:2 ft=s2 , ⇢ D 14 in: D
14 5280
12 ft, d D 2:094 ft (see Eq. (6)), e D 0:5, !0 D 45 rad=s, vb D 90 mph D 90 3600 ft=s, and IQ D
0:6159 slug ft2 (using Eq. (2)). Finally, recalling that the post impact speed of the ball is vbC D jvby
C
j and
expressing the angular velocity of the bat in vector form, we have
vbC D 226:1 ft=s O

and !EB D . 26:60 rad=s/ k:
Dynamics 2e 1867
Problem 8.123
A thin homogeneous bar A of length ` D 1:75 m and mass m D 23 kg is

translating as shown with a speed v0 D 12 m=s when it collides with the fixed
obstacle B. Modeling the contact between the bar and obstacle as frictionless,
letting ˇ D 32ı , and letting the distance d D 0:46 m, determine the angular
velocity of the bar immediately after the collision, knowing that the COR for
the impact is e D 0:74.
Solution
The impact-relevant FBD of the bar under the stated assumptions is shown at
the right. Based on this FBD, and recalling that the superscripts and C denote
the time instants right before and right after the collision, we see that the linear
momentum of the bar in the direction perpendicular the the LOI is conserved.
In addition, observe that the impulsive force acting on the bar contributes no
moment about point Q, which is the point on the bar that comes into contact
with the obstacle B. Therefore, the angular momentum of the bar about the
fixed point that happens to coincide with Q at the instant of impact must be
conserved through the impact.
Balance Principles. Enforcing the conservation of linear momentum along

the LOI, we have
C
mvGx D mvGx ; (1)
where m is the mass of the bar, G denotes the bar’s center of mass, and vEG D vGx {O C vGy |O is the velocity
of the mass center of the bar. Enforcing the conservation of angular momentum about Q in scalar form, we
have
IG !b mŒ.`=2/ d çvGy D IG !bC mŒ.`=2/ d çvGy C
; (2)
where IG is the mass moment of inertia of the bar, and where !E b D !b kO is the angular velocity of the bar.
For IG , we have
IG D 12 1
m`2 : (3)
Force Laws. The effect of the impulsive force exerted by the obstacle on the bar is expressed via the COR
equation, which is expressed in terms of velocity components along the LOI. Since the obstacle does not
move, the COR equation for the problem is
C
vQy D evQy ; (4)
Kinematic Equations. Given the motion of the bar preceding the impact, we have
!b D 0; vGx D v0 cos ˇ; vGy D v0 sin ˇ; vQy D v0 sin ˇ: (5)
In addition, using rigid body kinematics, right after impact we must have
C C
vQy D vGy C !bC Œ.`=2/ d ç: (6)
Computation. Substituting Eqs. (6) and (5) into Eqs. (1), (2), and (4), and taking into account Eq. (3), we
have
C
v0 cos ˇ D vGx ;
1 2 C C
Œ.`=2/ d çv0 sin ˇ D 12 ` !b Œ.`=2/ d çvGy ; (7)
C
vGy C !bC Œ.`=2/ d ç D ev0 sin ˇ;
C C
which is a system of three equations in the three unknowns vGx , vGy and !bC whose solution is
C C .3 e/`2 12d ` C 12d 2 3.1 C e/.` 2d /v0 sin ˇ

vGx D v0 cos ˇ; vGy D v0 sin ˇ; !bC D :
4.`2 3d ` C 3d 2 / 2.`2 3d ` C 3d 2 /
Recalling that e D 0:74, ` D 1:75 m, d D 0:46 m, v0 D 12 m=s, and ˇ D 32ı , the last of the above results
can be evaluated to obtain
!E bC D .10:74 rad=s/ k:
O
Dynamics 2e 1869
Problem 8.124
A uniform bar A with a hook H at the end is dropped from rest as shown
from a height d D 3 ft over a fixed pin B. Letting the weight and length
of A be W D 100 lb and ` D 7 ft, respectively, determine the angle ✓ that
the bar will sweep through if the bar becomes hooked with B and does not
rebound. Although bar A becomes hooked with B, assume that there is no
friction between the hook and the pin.
Solution
First, we determine the impact speed between the bar and the pin B. Second, we determine the postimpact
angular velocity of the bar. Third, we determine of the angle swept by the bar.
To determine the impact speed of the bar, we denote by ¿ the position of the bar
at release and by ¡ the position of the bar right before impact. Between ¿ and
¡ the bar is acted upon only by gravity which is conservative, and which will not
cause the bar to rotate.

T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by vG the speed of the center of mass G
of the bar, and accounting for the fact that the bar is in a rectilinear translation between ¿ and ¡,
2 2
T1 D 12 .W =g/vG1 and T2 D 12 .W =g/vG2 : (2)
V1 D W d and V2 D 0: (3)
Kinematic Equations. The bar is released from rest, so
vG1 D 0: (4)
Computation. Substituting Eqs (2)–(4) into Eq. (1) and solving for vG2 , we have
p
vG2 D 2gd : (5)
We now proceed to analyze the impact of the bar with the obstacle. The
impact-relevant FBD is shown on the right, where we observe that the hook
H now is in contact (and therefore coincides) with the fixed point B. We
classify the impact as a constrained eccentric impact.
Balance Principles. Enforcing the conservation of angular momentum of

the bar about B (in scalar form), we have
1
2 `.W =g/vGy D IB !bC ; (6)
which accounts for the fact that, before impact, the bar is simply translating in the vertical direction, and that,
after impact ,the bar is in a fixed axis rotation about B. In the above equation, vGy is the y component of the
velocity of the center of mass G, IB is the mass moment of inertia of the bar about B, and !E b D !b kO is the
angular velocity of the bar. Using the parallel axis theorem, for IB , we have
2
IB D 1
12 .W =g/` C .W =g/.`=2/2 D 13 .W =g/`2 : (7)
Force Laws. Since the bar does not rebound away from the obstacle, we do not have a COR equation in
this problem.
Kinematic Equations. Using the result from the work-energy part of the solution and using the parallel
axis theorem, we have p
vGy D vG2 D 2gd (8)
Computation. Then substituting Eqs. (7) and (8) into Eq. (6), we have
p
p 3 gd
1
2 `.W =g/ 2gd D 13 .W =g/`2 !bC ) !bC D p : (9)
2`
To determine the angle swept by the bar, we denote by ¬ the position of

the bar immediately after impact and by √ the position of the bar as soon
as it reaches the maximum swing angle ✓swept . The FBD of the bar in a
generic position between ¬ and √ is shown at the right. The reactions Hx
and Hy are applied to the fixed point B, so the only force doing work is
gravity, which is conservative
T3 C V3 D T4 C V4 ; (10)
where, accounting for the fact that the system is in a fixed axis rotation about B
2 2
T3 D 12 IB !b3 ; and T4 D 12 IB !b4 : (11)
Due to the choice of datum, we have
V3 D 0 and V4 D W 12 ` sin ✓swept : (12)
Kinematic Equations. We recall that ¬ coincides with the position of the system right after impact. Also,
at √ the bar comes to a temporary stop. So,
p
C
3 gd
!b3 D !b3 D p and !b4 D 0: (13)
2`
Computation. Using the expression of IB in Eq. (7), substituting Eqs. (11)–(13) into Eqs. (10), we obtain
✓ ◆
1 2 9gd 1 1 3d
6 .W =g/` 2`2 D W 2 ` sin ✓swept ) ✓swept D sin
2`
: (14)
Now, recalling that d D 3 ft and ` D 7 ft, observe that sin 1 Œ3d=.2`/ç D 40:01ı , and therefore, based
on the definition of the angle ✓ , this corresponds to a solution for ✓swept equal to 180ı C 40:01ı , i.e.,
✓swept D 220:0ı :
Dynamics 2e 1871
Problem 8.125
A drawbridge of length ` D 30 ft and weight W D 600 lb is released in the position

shown and freely pivots clockwise until it strikes the right end of the moat. If the COR
for the collision between the bridge and the ground is e D 0:45 and if the contact
point between the bridge and the ground is effectively ` away from the bridge’s pivot
point, determine the angle to which the bridge rebounds after the collision. Neglect
any possible source of friction.
Solution
First, we determine the angular speed with which the bridge hits the ground. Second, we analyze the impact
between the bridge and the ground. Third, we determine the rebound angle.
To determine the angular speed of the bridge right before impact, we define
¿ and ¡ to be the positions at release and when the bridge first strikes the
ground respectively. We observe that, between ¿ and ¡, the bridge is in a
fixed axis rotation about the fixed point O. We model the bridge as a rigid
body subject only to its own weight and the reaction forces at O. The only
force doing work is gravity, which is conservative. We use subscripts 1 and
2 to denote quantities at 1 and 2, respectively.
T1 C V1 D T2 C V2 ; (1)
bridge about O and by !E b D !b kO the angular velocity of the bar,
2 2
T1 D 12 IO !b1 and T2 D 21 IO !b2 : (2)
Using the parallel axis theorem, for IO , we have

✓ ◆2
1 W W ` 1W 2
IO D `C D ` : (3)
12 g g 2 3 g
V1 D 12 `W and V2 D 0: (4)
Kinematic Equations. The bridge is released from rest,
!b1 D 0: (5)
Computation. Substituting Eqs. (2)–(5) into Eq. (1), and solving for !b2 , we have
r
3g
!b2 D ; (6)
`
where the minus sign is because the bridge rotates clockwise in going from ¿ to ¡.
We now proceed to determine the postimpact angular velocity of the bridge.
Balance Principles. The impact-relevant FBD of the bridge illustrates the fact
that this is a constrained impact in which no momentum conservation principle can
be invoked.
Force Laws. The only governing equation that can be written for this impact is the coefficient of restitution
equation long the LOI. Let Q be the point on the bridge that comes into contact with the ground. Then,
accounting for the fact that the ground does not move, we have
C
vQy D evQy : (7)
Kinematic Equations. Now observe that ¡ defined earlier coincides with the preimapact configuration of
the body. Hence, using rigid body kinematics, and observing that the body can only rigidly rotate about O,
we must have p C
vQy D !b2 ` D 3g` and vQy D !bC `: (8)
Computation. Substituting Eq. (8) into Eq. (7) and solving for !bC , we have
r
C 3g
!b D e : (9)
`
We now determine the rebound angle. We denote by ¬ and √ the postimpact and maximum swing angle
positions, respectively. The FBD for this part of the problem is identical to that given at the beginning of the
problem.
T3 C V3 D T4 C V4 ; (10)
where
2 2
T3 D 12 IO !b3 and T4 D 12 IO !b4 : (11)
Force Laws. Using the same datum indicated at the beginning of the problem,
V3 D 0 and V4 D 12 ` cos ✓4 W: (12)
Kinematic Equations. Since ¬ coincides with the postimpact configuration of the bridge and since the
bridge comes to a temporary stop in √, we have
r
3g
!b3 D e and !b4 D 0 (13)
`
Computation. Using again the expression for IO in Eq. (3), substituting Eqs. (11)–(13) into Eq. (10), and
solving for ✓4 , we have
✓4 D cos 1 .e 2 /; (14)
which, recalling that ✓4 is the rebound angle we are looking for and that e D 0:45, we have
✓rebound D 78:32ı :
Dynamics 2e 1873
Problem 8.126
A stick A with length ` D 1:55 m and mass mA D 6 kg is in static equilibrium as

shown when a ball B with mass mB D 0:15 kg traveling at a speed v0 D 30 m=s
strikes the stick at distance d D 1:3 m from the lower end of the stick. If the COR for
the impact is e D 0:85, determine the velocity of the mass center G of the stick, as
well as the stick’s angular velocity right after the impact.
Solution
The point on the bar A that first comes into contact with the ball B is point
Q. As indicated in the FBDs on the right, we will use a Cartesian coordinate
system with origin at the fixed point O that happens to coincide with the points
Q and B at the time of impact. The LOI coincides with the chosen x axis. The
impact is an unconstrained direct eccentric impact between the rigid body A
and the particle B.
Balance Principles. This impact is therefore governed by the balance prin-

ciples:
C C
mA vGx C mB vBx D mA vGx C mB vBx ; (1)
C
vGy D vGy ; (2)
C
vBy D vBy ; (3)
IG !EA C rEG=O ⇥ mA vEG D IG !EAC C rEG=O ⇥ mA vEG
C
; (4)
where IG is the mass oment of inertia of bar A about its own mass center. Equation (1) expresses the
conservation of the linear momentum of the system along the LOI. Equation (2) expresses the conservation of
the linear momentum of A along the line perpendicular to the LOI. Equation (3) expresses the conservation of
the linear momentum of B along the line perpendicular to the LOI. Equation (4) expresses the conservation
of the angular momentum of A about the fixed point O. For IG , we have
1 2
IG D 12 mA ` ; (5)
Force Laws. The effect of the impulsive contact force P acting between the ball and the stick is described
by the COR relation. This relation is expressed in terms of the velocities of the points that actually come into
contact along the LOI and is given by
C C
vQx vBx D e.vBx vQx /; (6)
Kinematic Equations. The preimpact velocities are specified and can be summarized as follows:
!A D 0; vGx D 0; vGy D 0; vQx D 0; vBx D v0 ; and vBy D 0: (7)
We now need to express the postimpact velocity of Q in terms of post-mpact the velocity of G and of the
postimpact angular velocity of A. Using rigid body kinematics we have
C
vEQ C
D vEG C !EAC ⇥ rEQ=G ) C
vEQ C
D vGx C
{O C vGy |O C !AC kO ⇥ d 1
2` |O
C C
) vQx D vGx d 1
2` !AC : (8)
Computation. Substituting Eq. (5), Eqs. (7), and the last of Eqs. (8) into Eqs. (1)–(4) and Eq. (6) we have
C C
mB v0 D mA vGx C mB vBx ; (9)
C
0 D vGy ; (10)
C
0 D vBy ; (11)
1 2 C 1 C
0D 12 mA ` !A C d 2` mA vGx ; (12)
C 1 C C
vGx d 2` !A vBx D ev0 ; (13)
where we have written Eq. (12) in scalar form since the corresponding vector equation has only one nonzero
component, namely that in the ´ direction. Equations (10) and (11) simply indicate that neither G nor B
move in the y direction right after impact. Equations (9), (12), and (13) form a system of three equations in
the three unknowns !AC , vGx
C C
, and vBx whose solution is
6mB v0 .1 C e/.2d `/
!AC D ; (14)
12d mB .d `/ C .mA C 4mB /`2
C mB v0 .1 C e/`2
vGx D ; (15)
12d mB .d `/ C .mA C 4mB /`2
C mA v0 .1 C e/`2
vBx D v0 : (16)
12d mB .d `/ C .mA C 4mB /`2
Recalling that mB D 0:15 kg, v0 D 30 m=s, e D 0:85, d D 1:3 m, ` D 1:55 m, and mA D 6 kg, we can
C
evaluate vGx and !AC , and, expressing the final result in vector form, obtain
C
vEG D . 1:310 m=s/ {O and O
!EAC D .3:434 rad=s/ k:
Dynamics 2e 1875
Problem 8.127
A gymnast on the uneven parallel bars has a vertical speed v0 and no angular speed when she grasps the
upper bar. Model the gymnast as a single uniform rigid bar A of weight W D 92 lb and length ` D 6 ft.
Neglecting all friction, letting ˇ D 12ı , and assuming that the upper bar B does not move after the
gymnast grasps it, determine the minimum speed v0 for the gymnast to swing (counterclockwise) into the
horizontal position on the other side of the bar. Assume that, during the motion, the friction between the
gymnast’s hands and the upper bar is negligible.
Photo credit: © Jupiter Images
Solution
First, we relate v0 to the angular velocity of the gymnast right after she grasps the upper bar. Then, we relate
the angular velocity in question to the final position of the gymnast.
The impact-relevant FBD of the system is shown to the right.
Balance Principles. The FBD implies that the angular momentum of the
gymnast about B is conserved, i.e.,
IG !g mg vGy .`=2/ cos ˇ D IB !gC ; (1)
where mg is the mass of the gymnast, IG and IB are the mass moments of inertia of the gymnast about her
own mass center and point B, respectively, and where we have used the fact that, after she grasps the upper
bar, the gymnast will be in a fixed axis rotation about B. For IG and IB we have
2
IG D 1
12 mg ` and IB D IG C mg .`=2/2 D 13 mg `2 : (2)
Force Laws. Since the gymnast does not rebound away from the bar, this problem does not require the use
of a COR equation.
Kinematic Equations. The preimpact conditions are
!g D 0 and vGy D v0 : (3)
Computation. Substituting Eqs. (2) and (3) into Eq. (1) and solving for !gC we have
3v0 cos ˇ
!gC D : (4)
2`
We denote by ¿ and ¡ the positions of the gymnast right after she grasps
the upper bar and when she becomes horizontal, respectively. The FBD of
the gymnast between ¿ and ¡ is shown to the right. The only force doing
work on the gymnast is gravity, which is conservative.
T1 C V1 D T2 C V2 ; (5)
where V is the potential energy of the gymnast, and where

2 2
T1 D 12 IB !g1 and T2 D 21 IB !g2 : (6)
V1 D mg g.`=2/ sin ˇ and V2 D 0: (7)
Kinematic Equations. We recall that ¿ coincides with the postimpact position of the system. Also, the
gymnast comes to a temporary stop in ¡. So, using Eq. (4),
3v0 cos ˇ
!g1 D and !g2 D 0: (8)
2`
Computation. Using the expression for IB in the last of Eqs. (2), substituting Eqs. (6)–(8) into Eq. (5),
and solving for v0 , we have s
4g` sin ˇ
v0 D :
3 cos2 ˇ
Recalling that g D 32:2 ft=s2 , ` D 6 ft, and ˇ D 12ı , we can evaluate v0 to obtain
v0 D 7:482 ft=s:
Dynamics 2e 1877
Problem 8.128
A uniform thin ring A of mass m D 7 kg and radius r D 0:5 m is released

from rest as shown and rolls without slip until it meets a step of height
` D 0:45 m. Letting ˇ D 12ı and assuming that the ring does not
rebound off the step or slip relative to it, determine the distance d , such
that the ring barely makes it over the step.
Solution
First, we discuss some basic geometrical elements of the problem. Second, we relate the distance d to the
preimpact angular velocity of the ring. Third, we analyze the impact between the ring and the step so to
express the postimpact velocity of the ring as a function of d . Fourth, we establish a relation between the
postimpact angular velocity of the ring and the size of the step such that the ring barely makes it over the step.
Referring to the figure at the right, point P is the edge of the step.
Point G is both the center and the center of mass of the ring. Point
E is the point on the ring such that the segment GE is parallel to
the incline. We observe that E hangs a distance ı over the step.
The length h denotes the vertical distance between G and P . Using
trigonometry we have
✓ ◆
1 r `
r sin D r ` ) D sin D 5:739ı ; (1)
r
where we have used the following numerical data: r D 0:5 m and
` D 0:45 m. Furthermore, we have
ı D r.1 cos / D 0:002506 m and h D r sin.ˇ C / D 0:1523 m; (2)
where we have used the value of in Eq. (1) and the fact that r D 0:5 m and ˇ D 12ı .
We now relate the distance d to the preimpact angular velocity of the ring.
We denote by ¿ the position of the ring at release and by ¡ the position
of the ring when it first strikes the step. We model the ring as a rigid body
rolling without slipping on a flat surface under the action of its own weight
and the components F and N of the contact force with the incline. Since
the ring rolls without slipping, the only force doing work is gravity, which
is conservative. We use subscripts 1 and 2 to denote quantities at ¿ and ¡,
respectively.
T1 C V1 D T2 C V2 ; (3)
where V is the potential energy of the ring, and where, denoting by IQ the mass moment of inertia about the
point of contact with the ground, and by !E r D !r kO the angular velocity of the ring,
2 2
T1 D 12 IQ !r1 and T2 D 21 IQ !r2 : (4)
The form of the kinetic energy in the above equation is due to the fact that the ring rolls without slipping.
Applying the parallel axis theorem, for IQ , we have
IQ D mr 2 C mr 2 D 2mr 2 : (5)
Force Laws. Due to our choice of datum,
V1 D mgŒ.d C ı/ sin ˇ C hç and V2 D mgh: (6)
Kinematic Equations. The ring is released from rest, so
!r1 D 0: (7)

p
2 2 .d C ı/g sin ˇ
mgŒ.d C ı/ sin ˇ C hç D mr !r2 C mgh ) !r2 D ; (8)
r
where the minus sign expresses the fact that in ¡ the ring is rotating clockwise.
We now analyze the impact of the ring with the step. The impact-relevant
FBD is shown at the right and it indicates that this is a constrained impact
due to the presence of external impulsive forces.
Balance Principles. The only conservation principle we can invoke is

the conservation of angular momentum about P . Keeping in mind that
before impact G does not have a y component of velocity and that right
after impact the ring moves as though in a fixed axis rotation about P ,
we have
IG !r mvGx .r `/ D IP !rC ; (9)
where IG and IP are the mass moments of inertia of A about G and P , respectively. For IG and IP (using
the parallel axis theorem), we have
IG D mr 2 and IP D mr 2 C mr 2 D 2mr 2 : (10)
Force Laws. Since A does not rebound from the the step, we do not have a COR equation for this problem.
Kinematic Equations. Using the solution obtained earlier, and recalling that A rolls without slip before
impact, we have
p
.d C ı/g sin ˇ p
!r D !r2 D and vGx D r!r D .d C ı/g sin ˇ: (11)
r
Computation. Substituting Eqs. (10) and (11) into Eq. (9) and solving
for !rC , we obtain
2r ` p
!rC D .d C ı/g sin ˇ: (12)
2r 2
To relate the postimpact angular velocity of the ring to the ensuing motion
of rolling over the step, we denote by ¬ the position of the ring right
after impact, and by √the position at which point G is vertically aligned
with point P . To say that the ring barely makes it over the step implies
that the ring comes to a stop in √. The FBD of the ring in a generic
position between ¬ and √ is shown on the right. Under the assumption
that the ring does not slip over the edge of the step, the only work done
on the ring is due to gravity, which is a conservative force.
Dynamics 2e 1879
T3 C V3 D T4 C V4 ; (13)
where, recalling that between ¬ and √ the ring moves as though in a fixed axis rotation about P , we have
2 2
T3 D 12 IP !r3 and T4 D 12 IP !r4 : (14)
Force Laws. Due to the choice of datum, and recalling the definition of the length h given at the beginning
of this solution,
V3 D mgh and V4 D mgr: (15)
Kinematic Equations. We recall that ¬ coincides with the postimapct position of the ring. Also, the ring
comes to a stop in √. So, using Eq. (12), we have
2r ` p
!r3 D .d C ı/g sin ˇ and !r4 D 0: (16)
2r 2
Computation. Substituting Eqs. (14)–(16) into Eq. (13), and using the expression for IP in the last of
Eqs. (10), we have
✓ ◆2
1 2 2r ` p 4r 2 .r h/
2 2mr .d C ı/g sin ˇ C mgh D mgr ) dD ı: (17)
2r 2 .2r `/2 sin ˇ
Recalling that r D 0:5 m, h D 0:1523 m (see the second of Eqs. (2)), ` D 0:45 m, ˇ D 12ı , and ı D
0:002506 m (see the first of Eqs. (2)), d can be evaluated to obtain
d D 5:525 m:
Problem 8.129
Two identical uniform bars AB and BD are pin-connected at B; and bar BD has a hook at the free end.
The two bars are dropped as shown from a height d D 3 ft over a fixed pin E (shown in cross section).
Letting the weight and length of each bar be W D 100 lb and ` D 7 ft, respectively, determine the angular
velocities of AB and BD immediately after bar BD becomes hooked on E and does not rebound. Hint:
The angular momentum of bar AB is conserved about B during impact.
Solution
The figure below shows the impact-relevant FBDs of the system and of bar AB.
These FBDs imply that the angular momentum of the system about E and the angular momentum of bar AB
about B are conserved through the impact.
Balance Principles. Letting !EAB D !AB kO and !EBD D !BD kO denote the angular velocities of AB and
BD, respectively, and enforcing the conservation of angular momentum as argued above, we have
C C 3 C C 1
IG !AB mvGy 23 ` C IF !BD mvF y 21 ` D IG !AB mvGy 2 ` C IF !BD mvF y 2 `; (1)
C C 1
IG !AB mvGy 21 ` D IG !AB mvGy 2 `; (2)
where, m is the common value of the masses of the bars AB and BD, and where IG and IF are the mass
moments of inertia of bars AB and BD about their respective mass centers. Since these bars are identical,
we have
IG D IF D 12 1
m`2 : (3)
Force Laws. Since the system becomes hooked at E and therefore does not rebound from E, we do not
have a COR equation in this problem.
Kinematic Equations. Since both bars fall from rest over a distance d while remaining horizontal, we
have p p
vGy D 2gd ; !AB D 0; vF y D 2gd ; !BD D 0: (4)
Once bar BD is hooked at E, bar BD will be in a fixed axis rotation about E. Using this fact, and recalling
that we must have vEG D vEB C !EAB ⇥ rEG=B , right after impact (i.e., while the bars are still in the same
horizontal position they had right before impact), we have
C C C C C C C
vF y D !BD .`=2/; vBy D !BD ` ) vGy D !BD ` !AB .`=2/: (5)
Dynamics 2e 1881
Computation. Substituting Eqs. (3)–(5) into Eqs. (1) and (2), we obtain a system of two equations in the
C C
two unknowns !AB and !BD whose solution is
p p
C 3 2dg C 9 2dg
!AB D and !BD D ; (6)
7` 7`
which can be evaluated to obtain
C
!EAB D . 0:8510 rad=s/ kO and C
!EBD D .2:553 rad=s/ kO ;
where we have used the following numerical data: d D 3 ft, ` D 7 ft, and g D 32:2 ft=s2 .
Problem 8.130
Cars A and B collide as shown. Determine the angular velocities of A and B immediately after impact if
the COR is e D 0:35. In solving the problem, let C and D be the mass centers of A and B, respectively.
In addition, enforce assumption 3 on p. 640 and use the following data: WA D 3130 lb (weight of A),
kC D 34:5 in: (radius of gyration of A), vC D 12 mph (speed of the mass center of A), WB D 3520 lb
(weight of B), kD D 39:3 in: (radius of gyration of B), vD D 15 mph (speed of the mass center of B),
d D 19 in:, ` D 79 in:, ı D 7:1 in:, ⇢ D 65 in:, and ˇ D 12ı .
Solution
We model the impact as an unconstrainted oblique eccentric impact of two rigid bodies. The figure below
shows the FBD of the system as a whole (top) and the FBDs of cars A and B separately (bottom).
The contact between the two bodies occurs at point P on car A and at point Q on car B. Point O is the fixed
point in space that happens to coincide with points P and Q at the time of impact. We define a Cartesian
coordinate system with origin at O and the x axis aligned with the LOI. For convenience, we also introduce
unit vectors uO h and uO v (the subscripts h and v stand for horizontal and vertical, respectively) as shown on the
FBDs.
Balance Principles. Based on the assumptions underlying the impact theory in the textbook, the impact is
governed by the following balance principles:
C C
mA vC x C mB vDx D mA vC x C mB vDx ; (1)
C
vCy D vCy ; (2)
C
vDy D vDy ; (3)
hEO A
D hEC
O A
; (4)
hEO B
D hEC
O B
; (5)
Dynamics 2e 1883
which, in order, express the conservation of linear momentum for the system along the LOI, the conservation
of linear momentum for car A in the direction perpendicular to the LOI, the conservation of linear momentum
for car B in the direction perpendicular to the LOI, the conservation of the angular momentum of A about the
fixed point O, and the conservation of the angular momentum of B about the fixed point O
Force Laws. The effect of the impulsive contact force acting between the cars is described by the COR
equation, which is written in terms of the components along the LOI of the velocities of the points on A and
B that actually come into contact. The COR equation for this problem is
C
vQx vPCx D e.vP x vQx /: (6)
Kinematic Equations. To facilitate the kinematic analysis, we introduce the following unit vectors:
uO h D cos ˇ {O C sin ˇ |O and uO v D sin ˇ {O C cos ˇ |O: (7)
We also introduce the position vectors necessary to compute the angular momenta of the cars as well as the
velocities of points P and Q:
rEC =O D ⇢ uO h ı uO v D .⇢ cos ˇ C ı sin ˇ/ {O C .⇢ sin ˇ ı cos ˇ/ |O; (8)

rED=O D ` uO h C d uO v D .` cos ˇ C d sin ˇ/ {O C . ` sin ˇ C d cos ˇ/ |O; (9)
rEP =C D rEC =O D .⇢ cos ˇ C ı sin ˇ/ {O .⇢ sin ˇ ı cos ˇ/ |O; (10)
rEQ=D D rED=O D .` cos ˇ C d sin ˇ/ {O C .` sin ˇ d cos ˇ/ |O: (11)
Next we describe the velocity vectors needed to evaluate the angular momenta and the COR equation.
Specifically, accounting for the preimpact conditions, for car A, we write
C C C
vEC D vC uO h D vC .cos ˇ {O C sin ˇ |O/; vEC D vC x {O C vCy |O; (12)
E
!EA D 0; O
!EAC D !AC k; (13)
C C C
vP x D vC cos ˇ; vP x D vC x C !A .⇢ sin ˇ ı cos ˇ/; (14)
where, to evaluate vP x and vPCx , we have used rigid body kinematics according to which we must have
vEP˙ D vEC
˙
C !EA˙ ⇥ rEP =C (which requires the use of Eq. (10) above). Similarly, for car B we have
C C C
vED D vD uO h D vD .cos ˇ {O C sin ˇ |O/; vED D vDx {O C vDy |O; (15)
E
!EB D 0; C O
!EB D !B k; C
(16)
C C C
vQx D vD cos ˇ; vQx D vDx C !B .d cos ˇ ` sin ˇ/; (17)
C
where, to evaluate vQx and vQx , we have used rigid body kinematics according to which we must have
˙ ˙ ˙
vEQ D vED C !EB ⇥ rEQ=D (which requires the use of Eq. (11) above).
Computation. We are now in a position to compute the expressions of the angular momenta of A and B
about point O that we will need to substitute in Eqs. (4) and (5). Specifically, we have
hEO A
D IC !EA C rEC =O ⇥ mA vEC D O
mA vC ı k; (18)
hEC
O A
D IC !EAC C rEC =O ⇥ mA vEC C
⇥ ⇤
D IC !AC C mA vC C C O
x .ı cos ˇ ⇢ sin ˇ/ C mA vCy .ı sin ˇ C ⇢ cos ˇ/ k; (19)
hEO D ID !EB C rED=O ⇥ mB vED D O
mB vD d k; (20)
B
hEC
O B
D ID !EBC C rED=O ⇥ mB vED
C
⇥ ⇤
D ID !BC C mB vDx C
. d cos ˇ C ` sin ˇ/ C
mB vDy O
.d sin ˇ C ` cos ˇ/ k; (21)
where we have made use of Eqs. (8) and (9) and well as of Eqs. (12), (13), (15), and (16). We are now ready
to rewrite Eqs. (1)–(6). Specifically, using the appropriate kinematic relations developed above we have
C C
mA vC cos ˇ C mB vD cos ˇ D mA vC x C mB vDx ; (22)
C
vC sin ˇ D vCy ; (23)
C
vD sin ˇ D vDy ; (24)
C C
mA vC ı D IC !A C mA vC x .ı cos ˇ ⇢ sin ˇ/
C
C mA vCy .ı sin ˇ C ⇢ cos ˇ/; (25)
mB vD d D ID !BC C mB vDx
C
. d cos ˇ C ` sin ˇ/
C
mB vDy .d sin ˇ C ` cos ˇ/; (26)
C
vDx C !BC .d cos ˇ ` sin ˇ/ C
vC x !AC .⇢ sin ˇ ı cos ˇ/ D e.vC cos ˇ C vD cos ˇ/; (27)
where we have written Eqs. (25) and (26) in scalar form because the corresponding vector equations had
only one nonzero component, namely, that in the ´ direction. Equations (22)–(27) form a system of six
C C C C C C
equations in the six unknowns vC x , vCy , !A , vDx , vDy , !B . Notice that Eqs. (23) and (24), allow us to
C C
directly evaluate vCy and vDy , for which we obtain
C C
vCy D 3:659 ft=s and vDy D 4:574 ft=s; (28)
where we have used the following numerical data: vC D 12 mph D 12 5280 ı

3600 ft=s, ˇ D 12 , and vD D
15 mph D 15 5280
3600 ft=s. This result allows us to treat the quantities in Eqs. (28) as known, and therefore to
C
rewrite Eqs. (22) and (25)–(27) numerically as the following system of 4 equations in the 4 unknowns vC x,
C C C
!A , vDx , !B :
C C
.97:20 slug/vC x C .109:3 slug/vDx D 679:0 lb s; (29)
C 2 C
. 53:21 slug ft/vC x C .803:5 slug ft /!A D 916:1 ft lb s; (30)
C 2 C
. 19:68 slug ft/vDx C .1172 slug ft /!B D 423:4 ft lb s; (31)
C C C C
vC x C vDx C . 0:5475 ft/!A C .0:1800 ft/!B D 13:56 ft=s; (32)
where we have placed all of the unknowns on the left-hand sides of the above equaitions and where, in
addition to the results in Eqs. (28), we have used the following numerical data:
7:1 65
ı D 7:1 in: D 12 ft; ⇢ D 65 in: D 12 ft; (33)
19 79
d D 19 in: D 12 ft; ` D 79 in: D 12 ft; e D 0:35; (34)
and
mA D .WA =g/ D 3130

32:2 slug;
2
IC D .WA =g/kC D 803:5 slug ft2 ; (35)
3520 2 2
mB D .WB =g/ D 32:2 slug; ID D .WB =g/kD D 1172 slug ft ; (36)
where g is the acceleration due to gravity and WA D 3130 lb, g D 32:2 ft=s2 , kC D 34:5 in: D 34:5
12 ft,
WB D 3520 lb, and kD D 39:3 in: D 39:312 ft. The solution of Eqs. (29)–(32) is as follows:
C
vC x D 9:905 ft=s; !AC D 1:796 rad=s; C
vDx D 2:596 ft=s; !BC D 0:4047 rad=s: (37)
Dynamics 2e 1885
Hence, expressing the answer in vector form, we have
!EAC D .1:796 rad=s/ kO and O

!EBC D . 0:4047 rad=s/ k: @ 12ı
Problem 8.131
Consider the collision of two rigid bodies A and B, which, referring to

Example 8.10 on p. 627, models the docking of the Space Shuttle (body
A) to the International Space Station (body B). As in Example 8.10,
we assume that B is stationary relative to an inertial frame of reference
and that A translates as shown. In contrast to Example 8.10, here
we assume that A and B join at point Q but, due to the flexibility of
the docking system, can rotate relative to one another. Determine the
angular velocities of A and B right after docking if v0 D 0:03 m=s.
In solving the problem, let C and D be the centers of mass of A and
B, respectively. In addition, let the mass and mass moment of inertia
of A be mA D 120 ⇥ 103 kg and IC D 14 ⇥ 106 kg m2 , respectively,
and the mass and mass moment of inertia of B be mB D 180⇥103 kg
and ID D 34 ⇥ 106 kg m2 , respectively. Finally, use the following
dimensions: ` D 24 m, d D 8 m, ⇢ D 2:6 m, and ı D 2:4 m.
Solution
On the right we show the impact-relevant FBD of the system as a whole

(top) and of A and B individually (two bottom diagrams). Point O is the
fixed point in space which happens to coincide with point Q when A and
B first come into contact. We model the impact as a constrained eccentric
impact. Notice that we cannot apply a coefficient of restitution equation
in this problem since the impacting bodies become connected after impact.
Balance Principles. The balance principles for this impact are as fol-
lows:
C C
mA vC x C mB vDx D mA vC x C mB vDx ; (1)
C C
mA vCy C mB vDy D mA vCy C mB vDy ; (2)
IC !A C mA ŒvC x .d ı/ C vCy ⇢ç D IC !AC C mA ŒvC
C
x .d
C
ı/ C vCy ⇢ç;
(3)
ID !B mB ŒvDx ı C vDy .` ⇢/ç D ID !BC C
mB ŒvDx C
ı C vDy .` ⇢/ç;
(4)
which, in order, express the conservation of linear momentum for the

system in the x direction, the conservation of linear momentum for the
system in the y direction, the conservation of the angular momentum for
A about O, and the conservation of angular momentum about O for B.
Force Laws. As discussed earlier, we do not have a COR equation in the problem.
Kinematic Equations. The kinematic equations for this problem must enforce the fact that the two bodies
become connected at Q after impact. For this purpose we introduce the following vectors:
O
!EAC D !AC k; O
!EBC D !BC k; (5)
C C C C C C
vEC D vC x {O C vCy |O; vED D vDx {O C vDy |O; (6)
Dynamics 2e 1887
rEQ=C D ⇢ {O C .d ı/ |O; rEQ=D D .` ⇢/ {O ı |O: (7)
Then, the fact that A and B become connected at Q, i.e., that Q ia a common point of the two rigid bodies
C C
A and B, can be given the following vector form: vEQ D vEC C !EAC ⇥ rEQ=C D vEDC
C !EBC ⇥ rEQ=D . This
relationship, using Eqs. (5)–(7), carrying out the needed cross-products, and symplifying, yields the following
two scalar relations:
C
vC x .d ı/!AC D vDx
C
C ı!BC ; (8)
C C C C
vCy ⇢!A D vDy C .` ⇢/!B : (9)
Finally, we observe that the problem statement specifies the preimpact conditions, which are as follows:
vC x D v0 ; vCy D 0; !A D 0; vDx D 0; vDy D 0; !B D 0: (10)
Computation. Using Eqs. (10) and taking advantage of the given data, i.e., recalling that v0 D 0:03 m=s,
mA D 120⇥103 kg, IC D 14⇥106 kg m2 , mB D 180⇥103 kg, ID D 34⇥106 kg m2 , ` D 24 m, d D 8 m,
⇢ D 2:6 m, and ı D 2:4 m, we can rewrite Eqs. (1)–(4) and Eqs. (8) and (9) as follows:
C C
.1:200⇥105 kg/vC 5
x C .1:800⇥10 kg/vDx D 3600 kg m=s;
5 C 5 C
.1:200⇥10 kg/vCy C .1:800⇥10 kg/vDy D 0;
2
C
.6:720⇥105 kg m/vC 5 C 7 C
x C .3:120⇥10 kg m/vCy C .1:400⇥10 kg m /!A D 2:016⇥104 kg m2 =s;
C
. 4:320⇥105 kg m/vDx C
C . 3:852⇥106 kg m/vDy C .3:400⇥107 kg m2 /!BC D 0;
C C C
vC x C . 5:600 m/!A vDx .2:400 m/!BC D 0;
C
vCy .2:600 m/!AC C
vDy .21:40 m/!BC D 0;
where we have placed all unknowns on the left-had sides of the equations and all known terms on the
C C C
right-hand side. The above system of equations is a system of 6 equations in the 6 unknowns vC x , vCy , !A ,
C C
vDx , vDy , and !BC whose solution is
C C
vC x D 0:01444 m=s; vCy D 0:001426 m=s; !AC D 0:0007152 rad=s;
C C C
vDx D 0:01037 m=s; vDy D 0:0009505 m=s; !B D 0:00002414 rad=s:
Hence, expressing our final result in vector form, we have
!EAC D . 0:0007152 rad=s/ kO O

and !EBC D . 0:00002414 rad=s/ k:
Problem 8.132
A uniform thin ring A and a uniform disk B roll without slip as

shown. Letting TA and TB be the kinetic energies of A and B,
respectively, if the two objects have the same mass and radius and if
their centers are moving with the same speed v0 , state which of the
following statements is true and why: (a) TA < TB ; (b) TA D TB ;
(c) TA > TB .
Solution
The kinetic energies of A and B are different. In particular, the kinetic energy of A is greater than that of B.
The reason for this is that the kinetic energy of a rigid body in planar motion is given by
2
T D 12 mvG C 12 IG !b2 ;
where, m is the mass of the body, G is the center of mass of the body, vG is the speed of the center of mass,
IG is the mass moment of inertia of the body relative to the mass center, and !b represents the angular speed
of the body. In the case of A and B, the quantities mA D mB , vGA D vGB , and !A D !B . However, the
mass moments of inertia of A and B relative to the respective mass centers are different. Specifically, the
rotational inertia of A is larger than that of B and this therefore causes the kinetic energy of A to be larger
than that of B.
Dynamics 2e 1889
Problem 8.133
At the instant shown, the disk D, which has mass m and radius of
gyration kG , is rolling without slip down the flat incline with angular
velocity !0 . The disk is attached at its center to a wall by a linear
elastic spring of constant k. If, at the instant shown, the spring is
unstretched, determine the distance d down the incline that the disk
rolls before coming to a stop. Use k D 65 N=m, R D 0:3 m, m D
10 kg, kG D 0:25 m, !0 D 60 rpm, and ✓ D 30ı .
Solution
We model D a a rigid body rolling without slipping on a flat surface

under the action of its own weight mg, the spring force Fs , and the
components F and N of the reaction force with the incline. Because
D does not slip, work is done only by gravity and the spring force,
both of which are conservative. We denote by ¿ and ¡ the positions
of the systems at the instant shown and when the disk stops for
the first time, respectively. We use subscripts 1 and 2 to denote
quantities at ¿ and ¡, respectively. Point G is both the center and
the center of mass of the disk.
Balance Principles. Applying the work-energy principle between

¿ and ¡ as a statement of conservation of energy, we have
T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the disk, and where, denoting by IG the mass moment of inertia about G,
by vG the speed of G, and by !D the angular speed of the disk,
2 2 2 2
T1 D 12 mvG1 C 12 IG !D1 and T2 D 12 mvG2 C 12 IG !D2 : (2)
For IG , we have
2
IG D mkG : (3)
Force Laws. Due to the choice of datum, and recalling that the spring is unstretched in ¿, we have
V1 D mgd sin ✓; and V2 D 12 kd 2 : (4)
Kinematic Equations. Since the disk rolls without slipping, and recalling that the disk comes to a (tempo-
rary) stop in ¡,
vG1 D R!0 ; !D1 D !0 ; vG2 D 0; !D2 D 0: (5)

2 2 2 2
1
2 mR !0 C 12 mkG !0 C mgd sin ✓ D 12 kd 2 ; (6)
which can be solved for d to obtain

✓ q ◆
1 2 2 2
dD mg sin ✓ C m g sin ✓ C m.kG C R /k!0 ;
2 2 2 (7)
k
where we have selected the root with d > 0. Recalling that m D 10 kg, g D 9:81 m=s2 , ✓ D 30ı ,
k D 65 N=m, kG D 0:25 m, R D 0:3 m, and !0 D 60 rpm D 60 2⇡
60 rad=s, we can evaluate d to obtain
d D 1:978 m:
Dynamics 2e 1891
Problem 8.134
A pendulum consists of a uniform disk A of diameter d D 5 in: and weight WA D

0:25 lb attached at the end of a uniform bar B of length L D 2:75 ft and weight
WB D 1:3 lb. At the instant shown, the pendulum is swinging with an angular velocity
! D 0:55 rad=s clockwise. Determine the kinetic energy of the pendulum at this instant,
using Eq. (8.11) on p. 584.
Solution
Observe that the system is in a fixed axis rotation about point O, so the kinetic energy of the system is given
by
T D 12 IO ! 2 ; (1)
where IO is the mass moment of inertia of the system about O. Using the parallel axis theorem, we have
✓ ◆ ✓ ◆ ✓ ◆
1 WA d 2 WA d 2 1 WB 2 WB L 2
IO D C LC C L C D 0:1699 slug ft2 ; (2)
2 g 2 g 2 12 g g 2
where the terms WA =g and WB =g are the masses of A and B, respectively, g is the acceleration due to gravity,
and where we have used the following numerical data: g D 32:2 ft=s2 , WA D 0:25 lb, d D 5 in: D 12 5
ft,
L D 2:75 ft, and WB D 1:3 lb. Substituting the (full precision) value for IO into Eq. (1), and recalling that
! D 0:55 rad=s, we have
T D 0:02570 ft lb:
Problem 8.135
A uniform disk D of radius RD D 7 mm and mass mD D 0:15 kg is

connected to point O via the rotating arm OC and rolls without slip
over the stationary cylinder S of radius RS D 15 mm. Assuming that
!D D 25 rad=s, and treating the arm OC as a uniform slender bar of
length L D RD C RS and mass mOC D 0:08 kg, determine the kinetic
energy of the system.
Solution
The kinetic energy of the system is equal to the sum of the kinetic energy
of each part of the system. Referring to the figure at the right, we label
Q the point on the disk D that is in contact with the stationary cylinder
S . Observing that the arm is in a fixed axis rotation about O, that the disk
D is rolling without slipping and that therefore the instantaneous center of
rotation of the disk D is point Q, we have
2 2
T D 12 IO !OC C 12 IQ !D ; (1)
where IO is the mass moment of inertia of the arm OC with respect to O, !OC is the angular speed of the
arm OC , IQ is the mass moment of inertia of the disk D relative to Q, and !D is the angular speed of the
disk D. Using the parallel axis theorem, we have
⇥1 ⇤2
IO D 1 2
12 mOC .RD C RS / C mOC 2 .RD C RS / D 13 mOC .RD C RS /2 D 12:91⇥10 6
kg m2 ; (2)
IQ D 1 2 2 3 2
2 mD RD C mD RD D 2 mD RD D 11:02⇥10
6
kg m2 ; (3)
7 15
where we have used the data mOC D 0:08 kg, RD D 7 mm D 1000 m, RS D 15 mm D 1000 m, and
mD D 0:15 kg.
Observe that !D is given. The only missing piece of information is the angular speed of the arm OC .
Observing that point C is shared by the arm OC and the disk D, and recalling that the disk D rolls without
slipping over a stationary surface, we must have
RD
vC D !D RD D !OC .RS C RD / ) !OC D !D : (4)
RS C RD
Substituting this relation into Eqs. (1), we have
 2
1 RD 2
T D IO C IQ !D ) T D 0:003854 J,
2 .RS C RD /2
where we have used the (full precision) values of IO and IQ in Eqs. (2) and (3), as well as the data
7 15
RD D 7 mm D 1000 m, RS D 15 mm D 1000 m, and !D D 25 rad=s.
Dynamics 2e 1893
Problem 8.136
The figure shows the cross section of a garage door with length L D 9 ft
and weight W D 175 lb. At the ends A and B there are rollers of neg-
ligible mass constrained to move in a vertical and a horizontal guide,
respectively. The door’s motion is assisted by two springs (only one
spring is shown), each with constant k D 9:05 lb=ft. If the door is
released from rest when horizontal and the spring is stretched 4 in:,
neglecting friction, and modeling the door as a uniform thin plate, de-
termine the speed with which B strikes the left end of the horizontal
guide.
Solution
We model the door AB as a rigid bar subject to its own weight mAB g,
the reactions NA and NB at A and B, respectively, and the spring forces
2Fs . Work is done only by gravity and the spring force, both of which
are conservative. Let ¿ be the position at release, and ¡ be the position
achieved by the door when B strikes the left end of the horizontal guide.

T1 C V1 D T2 C V2 ; (1)
where V is the potential energy of the system, and where, denoting by vG the speed of G (the center of mass
of AB), by IG the mass moment of inertia of AB about G, and by !d the angular speed of the door,
2 2 2
T1 D 12 mAB vG1 C 12 IG !d1 and T1 D 12 mAB vG2 C 12 IG !d2 2 : (2)
For IG , we have
1 2
IG D 12 mAB L : (3)
Force Laws. Due to the choice of datum, and recalling that the springs are initially stretched by an amount
ıi , we have
V1 D 2 12 kıi2 C mAB gL and V2 D 2 12 k.L C ıi /2 C 12 LmAB g: (4)
Kinematic Equations. We denote the speed of A and B by vA and vB , respectively. In ¡, the door point
A is at the very bottom of its trajectory. Since the door opening has a length L equal to the length of the
door, vA2 D 0 and A is the instantaneous center of rotation. In turn, this implies that !d 2 D vB2 =L, and that
vG2 D !d 2 .L=2/ D vB2 =2. Summarizing, since the system is released from rest, we have
vG1 D 0; !d1 D 0; vG2 D 12 vB2 ; !d 2 D vB2 =L: (5)
kıi2 C mAB gL D 18 mAB vB2

2
C 1 2
24 mAB vB2 C k.L C ıi /2 C 12 mAB gL
p
) vB2 D 3LŒmAB g 2k.L C 2ıi /ç=mAB : (6)
Recalling that mAB D 175 lb=g, g D 32:2 ft=s2 , L D 9 ft, k D 9:05 lb=ft, and ıi D 4 in: D 4
12 ft, we can
evaluate vB2 to obtain
vB2 D 0:4069 ft=s:
Dynamics 2e 1895
Problem 8.137
Body B has mass m and mass moment of inertia IG , where G is the mass center
of B. If B is in fixed-axis rotation about its center
ˇ ofˇmass
ˇ G, determine
ˇ ˇ whichˇ of
the following statements is true and why: (a) hE B < hP B , (b) ˇ hEE B ˇ D
ˇ E ˇ ˇ E ˇ
ˇ ˇ ˇ ˇ ˇ ˇ
ˇ hEP ˇ, (c) ˇ hEE ˇ > ˇ hEP ˇ.
B B B
Solution
The answer is (b). The reason for this is that the angular momentum about a generic moment center is equal
to the angular momentum of the body computed with respect to the mass center plus the moment of the
linear momentum of the body viewed as a vector applied at the mass center relative to the moment center
in question. The body shown is in a fixed axis rotation about the mass center. This implies that the linear
momentum of the body is equal to zero. In turn, this means that the angular momentum of the body about any
moment center is simply equal to the angular momentum computed about the mass center. In other words,
in a fixed axis rotation about the mass center, the angular momentum of the body is the same no matter the
choice of moment center.
Problem 8.138
The weights of the uniform thin pin-connected bars AB, BC,

and CD are WAB D 4 lb, WBC D 6:5 lb, and WCD D 10 lb,
respectively. Letting D 47ı , R D 2 ft, L D 3:5 ft, and H D
4:5 ft, and knowing that bar AB rotates at a constant angular
velocity !AB D 4 rad=s, compute the angular momentum of the
system about D at the instant shown.
Solution
The angular momentum of the system about D is the sum of the

angular momenta about D of the individual components of the
system. Denoting by hED the angular momentum about D of the
system, we have
hED D hED AB
C hED BC
C hED CD
: (1)
We denoted by E and F the mass centers of AB and BC , respectively. So, observing that bar CD is in a
fixed axis rotation about D, we have
hED AB
D IE !EAB C rEE=D ⇥ mAB vEE ; hED BC
D IF !EBC C rEF =D ⇥ mBC vEF ; hED CD
D ID !E CD ; (2)
where IE is the mass moment of inertia of bar AB with respect to its own mass center, !EAB D !AB kO is the
angular velocity of bar AB, rEE=D is the position of E relative to D, vEE is the velocity of E, IF is the mass
moment of inertia of bar BC with respect to its own mass center, !EBC D !BC kO is the angular velocity of
bar BC , rEF =D is the position of F relative to D, vEF is the velocity of F , ID is the mass moment of inertia
of bar BC relative to its own rotation center D, and !E CD D !CD kO is the angular velocity of bar CD.
We now determine all the contributions to the terms in Eqs. (2). We begin with the relative position
vectors:
1
rEE=D D .H cos C L/ {O C .H sin 2 R/ |O and rEF =D D .H cos C 12 L/ {O C H sin |O: (3)
For the velocity of point E we can write
vEE D vEA C !EAB ⇥ rEE=A ; (4)
where
E
vEA D 0; rEE=A D 12 R |O; and O
!EAB D !AB k; (5)
so that we have
1
vEE D 2 !AB R {O: (6)
Next, observing that rEB=A D R |O, we must also have
vEB D vEA C !EAB ⇥ rEB=A D !AB R {O: (7)
Now, notice that we can compute the velocity of C in the following two ways:
vEC D vEB C !EBC ⇥ rEC =B and vEC D vED C !E CD ⇥ rEC =D ; (8)

Dynamics 2e 1897
where
O
!EBC D !BC k; rEC =B D L {O; E
vED D 0; O
!E CD D !CD k; rEC =D D H. cos {O C sin |O/: (9)
Substituting the result in Eq. (7) along with Eqs. (9) into Eqs. (8), carrying out the cross products, and
enforcing equality between the two expressions for vEC , we have
R!AB {O C L!BC |O D H !CD sin {O H !CD cos |O: (10)
Equation (10) is a vector equation corresponding to two scalar equations in the two unknowns !BC and !CD
whose solution is
R!AB cos R!AB
!BC D and !CD D : (11)
L sin H sin
1
We now observe that rEF =B D 2 L {O, which, using the expression for vEB in Eq. (7) along with the first of
Eqs. (11), allows us to write
R!AB cos
vEF D vEB C !EBC ⇥ rEF =B D R!AB {O |O: (12)
2 sin
The mass properties of each bar can be summarized as follows:
WAB 1 WAB 2
mAB D D 0:1242 slug; IE D R D 0:04141 slug ft2 ; (13)
g 12 g
WBC 1 WBC 2
mBC D D 0:2019 slug; IF D L D 0:2061 slug ft2 ; (14)
g 12 g
1 WCD 2 WCD
ID D H C .H=2/2 D 2:096 slug ft2 ; (15)
12 g g
where we have used the following numerical data: WAB D 4 lb, g D 32:2 ft=s2 , R D 2 ft, WBC D 6:5 lb,
L D 3:5 ft, WCD D 10 lb, and H D 4:5 ft.
We are now ready to evaluate the angular momenta about D due to each bar. Substituting into the first of
Eqs. (2) the last of Eq. (5), the first of Eqs. (3), and Eq. (6), carrying out the cross product and simplifying,
we have ⇥ ⇤
hED AB D 14 !AB 4IE C mAB R.2H sin R/ kO D .1:304 ft lb s/ k;
O (16)
where we have used the fact that !AB D 4 rad=s, mAB and IE are given by Eqs. (13), R D 2 ft, H D 4:5 ft,
and D 47ı . Similarly, substituting into the second of Eqs. (2) all the required expressions, we have
⇥ ⇤
R!AB mBC L.2H cos C L/ 4IF cos
hED BC D kO D .8:504 ft lb s/ k;
O (17)
4L sin
where we have used the values in Eqs. (14) and R D 2 ft, !AB D 4 rad=s, L D 3:5 ft, H D 4:5 ft, and
D 47ı . Finally, substituting into the last of Eqs. (2) all the required expressions, we have
ID R!AB O
hED D O
k D .5:096 ft lb s/ k; (18)
CD H sin
where we have used the value of ID in Eq. (15) and R D 2 ft, !AB D 4 rad=s, H D 4:5 ft, and D 47ı .
Hence, summing the (full precision values of the) contributions computed in the last three equations, we have
O
hED D .14:90 ft lb s/ k:
Problem 8.139
Consider Prob. 8.87 on p. 631 in which an eccentric wheel B is spun from rest under
the action of a known torque M . In that problem, it was said that the wheel was in the
horizontal plane. Is it possible to solve Prob. 8.87 by just applying Eq. (8.42) on p. 619 if
the wheel is in the vertical plane? Why?
Solution
The answer is no. In fact, if point O is chosen as moment center, the contribution to the time integral of
the moment of the external forces about O due to the reactions at O would be equal to zero. However, not
enough information is provided for calculating the contribution due to gravity. If G is chosen as moment
center, the moment due to gravity about G is equal to zero. However, not enough information is provided to
compute the time integral of the moment about O due to the reactions at O. Any other choice of moment
center would combine the two cases already discussed.
Dynamics 2e 1899
Problem 8.140
The uniform disk A of mass mA D 1:2 kg and radius rA D 0:25 m, is

mounted on a vertical shaft that can translate along the horizontal rod E.
The uniform disk B, of mass mB D 0:85 kg and radius rB D 0:18 m, is
mounted on a vertical shaft that is rigidly attached to E. Disk C has a
negligible mass and is rigidly attached to E; i.e., C and E form a single
rigid body. Disk A can rotate about the axis À , disk B can rotate about
the axis `B , and the arm E along with C can rotate about the fixed axis
`C . While keeping both B and C stationary, disk A is initially spun with
!A D 1200 rpm. Disk A is then brought in contact with C (contact is
maintained by a spring), and at the same time, both B and C (and the arm
E) are free to rotate. Due to friction between A and C , C along with E and
disk B start spinning. Eventually A and C will stop slipping relative to one
another. Disk B always rotates without slip over C . Let d D 0:27 m and
w D 0:95 m. Assuming that the only elements of the system that have mass
are A, B, and E and that mE D 0:3 kg, and assuming that all friction in the
system can be neglected except for that between A and C and between C
and B, determine the angular speeds of A, B, and C (the angular velocity
of C is the same as that of E since they form a single rigid body), when A
and C stop slipping relative to one another.
Solution
We denote by t1 and t2 the time instants at which the wheels are first brought
into contact and when slip between the wheels stops, respectively. We will
use subscripts 1 and 2 to denote quantities at t1 and t2 . The figure at the
right is a top view of the FBD of the system. Because the system is freely
rotating, choosing as our moment center the fixed point O, we see that there
are no external moments acting on the system and therefore the total angular
momentum of the system about the fixed point O is conserved.
Balance Principles. Denoting the total angular momentum about O by hEO , we have
hEO1 D hEO2 ; (1)
where, denoting by .hEO /A , .hEO /B , and .hEO /E the angular momenta about O of A, B, and E, respectively,
hEO D .hEO /A C .hEO /B C .hEO /E : (2)
Recalling that E is in a fixed axis rotation about O with angular velocity !E C (since E and C form a single
rigid body), we have
.hEO /A D IQ !EA C rEQ=O ⇥ mA vEQ ; .hEO /B D IP !EB C rEP =O ⇥ mB vEP ; .hEO /E D IO !E C : (3)
In the above equation IQ is the mass moment of inertia of A about its mass center Q, and IP is the mass
moment of inertia of B about its mass center P , and IO is the mass moment of inertia of E about O:
IQ D 12 mA rA2 D 0:03750 kg m2 ; IP D 12 mB rB2 D 0:01377 kg m2 ;

2 (4)
IO D 1
12 mE w
2
C mE 1
2w d D 0:03517 kg m2 ;
where we have used the following numerical data: mA D 1:2 kg, rA D 0:25 m, mB D 0:85 kg, rB D 0:18 m,
mE D 0:3 kg, w D 0:95 m, and d D 0:27 m. Going back to the solution of the problem, from Eqs. (3) we
see that the key to the solution is expressing all the velocity terms at times t1 and t2 .

E Therefore,
Kinematic Equations. At time t1 B and E are at rest while A is spinning with vEQ1 D 0.
referring to Eqs. (3), at time t1 we have
.hEO1 /A D IQ !A1 k;
O .hEO1 /B D 0;
E and .hEO1 /E D 0;
E (5)
where we have set !EA D !A1 k, O and where !A1 D 1200 rpm.
Points P and Q move with the arm E. Recalling that E forms a single rigid body with disk C and
that the center of rotation of such a body is the fixed point O, so that !E E D !E C D !C k,O using rigid body
kinematics, at t2 we have
!EA2 D !A2 k;O vEQ2 D !E C 2 ⇥ rEQ=O D !C 2 kO ⇥ .rA C rC / uO r D !C 2 .rA C rC / uO ✓ (6)
!EB2 D !B2 kO vEP 2 D !E C 2 ⇥ rEP =O D !C 2 kO ⇥ Œ .rB C rC /ç uO r D !C 2 .rB C rC / uO ✓ ; (7)
where we have used the fact that
rEQ=O D .rA C rC / uO r and rEP =O D .rB C rC / uO r : (8)
Now we recall that at t2 the disks A and B no longer slip relative to C . Referring
to the figure on the right, these two rolling without slip conditions imply vEH 2 D
vEH 0 2 and vEF 2 D vEF 0 2 , where points H and H 0 belong to C and A, respectively,
and points F and F 0 belong to C and B respectively. Applying rigid body
kinematics, at time t2 we have
vEH 2 D vEH 0 2 ) !E C 2 ⇥ rEH=O D vEQ2 C !EA2 ⇥ rEH 0 =Q ) !C 2 rC D .rA C rC /!C 2 rA !A2 ; (9)
vEF 2 D vEF 0 2 ) !E C 2 ⇥ rEF =O D vEP 2 C !EB2 ⇥ rEF 0 =P ) !C 2 rC D .rB C rC /!C 2 C rB !B2 ; (10)
where we have used Eqs. (6) and (7) and the fact that the only nonzero component of Eqs. (9) and (10) is the
✓ component.
Computation. Substituting Eqs. (6) and (7) into Eqs. (3), and using Eqs. (8), at time t2 we have
⇥ ⇤ ⇥ ⇤
.hEO2 /A D IQ !A2 C mA .rA C rC /2 !C 2 kO and .hEO2 /B D IP !B2 C mB .rB C rC /2 !C 2 k: O (11)
O Eq. (1) can be rewritten as
Then, using Eqs. (2), (5), and (11), and recalling that .hEO2 /E D IO !C 2 k,
⇥ ⇤
IQ !A1 D IQ !A2 C IP !B2 C IO C mA .rA C rC /2 C mB .rB C rC /2 !C 2 ; (12)
where we have written only the ´ component of the equation since it is the only nonzero component of the
corresponding vector equation. We now observe that the last of Eqs. (9), the last of Eqs. (10), and Eq. (12)
form a system of three equations in the three unknowns !A2 , !B2 , and !C 2 , whose solution is
IQ !A1
!A2 D !B2 D !C 2 D : (13)
IO C IP C IQ C mA .rA C rC /2 C mB .rB C rC /2
Therefore, the problem’s answer is
j!A jafter slip stops D j!B jafter slip stops D j!C jafter slip stops D 16:41 rad=s;
where we have used the (full precision) values of IO , IP , and IQ in Eqs. (4), and where we have used the
data: !A1 D 1200 rpm D 1200 2⇡ 60 rad=s, mA D 1:2 kg, rA D 0:25 m, rB D 0:18 m, mB D 0:85 kg, and
rC D d rB D 0:09000 m (given that d D 0:27 m).
Dynamics 2e 1901
Problem 8.141
A billiard ball is rolling without slipping with a speed v0 D 6 ft=s as

shown when it hits the rail. According to regulations, the nose of the
rail is at a height from the table bed of 63.5% of the ball’s diameter (i.e.,
`=.2r/ D 0:635/. Model the impact with the rail as perfectly elastic,
neglect friction between the ball and the rail, as well as between the
ball and the table, and neglect any vertical motion of the ball. Based
on the stated assumptions, determine the velocity of the point of contact
between the ball and the table right after impact. The diameter of the ball
is 2r D 2:25 in:, and the weight of the ball is W D 5:5 oz.
Solution
The impact-relevant FBD is shown at the right. Since the impulsive

forces acting on the ball point toward the center of the ball, the
angular momentum about G, the center and center of mass of the
ball, is conserved.
Balance Principles. Enforcing the conservation of angular mo-

mentum of the ball about G, we have
IG !b D IG !bC ; (1)
where IG is the mass moment of inertia of the ball about G, and !E b D !b kO is the angular velocity of the
ball.
Force Laws. Keeping in mind that the table is assumed stationary, the effect of the impulsive force due to
the rail is expressed by the following COR equation
C
vQs D evQs ; (2)
where Q is the point on the ball that comes into contact with the nose of the table’s rail and vQs is the
component of the velocity of Q in the s direction, which is parallel to the LOI.
Kinematic Equations. The LOI is oriented by the unit vector uO s , which is defined via the angle ✓:
✓ ◆
` r 1 ` r
sin ✓ D ) ✓ D sin : (3)
r r
Due to rigid body kinematics, we have that vEQ D vEG C !E b ⇥ rEQ=G . Using the xy coordinate system shown,
this kinematic relation is expressed as
vEQ D vGx {O C !b kO ⇥ . r uO s /; (4)
where we have accounted for the fact that G can only move in the x direction, and where
uO s D cos ✓ {O sin ✓ |O: (5)
Using Eqs. (4) and (5), and recalling that the ball is rolling without slipping before impact, we can summarize
the kinematic equations for this problem as follows:
v0 C C
!b D ; vQs D v0 cos ✓; vQs D vGx cos ✓: (6)
r
Computation. Substituting the first of Eqs. (6) into Eq. (1), we have that
!bC D v0 =r: (7)

C
Substituting the last two of Eqs. (6) into Eq. (2) and solving for vGx , we obtain that
C
vGx D v0 ; (8)
where we have taken into account the fact that e D 1 in a perfectly elastic impact. Letting P be the point of
contact between the table and the ball, we must have
vEP D vEG C !E b ⇥ rEP =G ) vEPC D 2v0 {O; (9)

C
where, referring to Eqs. (7) and (8), we have used the fact that vEG O and rEP =G D
D v0 {O, !E bC D .v0 =r/ k, r |O.
C
Recalling that v0 D 6 ft=s, we can evaluate vEP to obtain
vEPC D .12 ft=s/ {O:
Dynamics 2e 1903
Problem 8.142
A basketball with mass m D 0:6 kg is rolling without slipping as shown

when it hits a small step with ` D 7 cm. Letting the ball’s diameter
be r D 12:0 cm, modeling the ball as a thin spherical shell (the mass
moment of inertia of a spherical shell about its mass center is 23 mr 2 ),
and assuming that the ball does not rebound off the step or slip relative to
it, determine the maximum value of v0 for which the ball will roll over
the step without losing contact with it.
Solution
The solution is organized in three parts. First, we consider the collision between the ball and the step. Second,
we apply the work-energy principle to relate the postimpact angular speed of the ball to the ball’s change in
elevation in reaching the top of the step. Third, we will relate the value of the angular speed in question to the
condition that would be met if the ball were to lose contact with the top of the step.
The impact-relevant FBD of the ball is shown at the right. We model the impact
as a constrained impact in which the ball rotates about the fixed point O. So, the
impact is governed by the conservation of angular momentum about O.
Balance Principles. Since the vertical component of the velocity of G is equal

to zero before impact, we have
IG !b mb .r `/vGx D IO !bC ; (1)
where !E b D !b kO is the angular velocity of the ball, and where IG and IO are
the mass moments of inertia of the ball relative to points G and O, respectively.
For IG and IO , we have
IG D 23 mb r 2 and IO D IG C mb r 2 D 53 mb r 2 : (2)
Force Laws. The ball does not rebound from the step, so we do not have a COR equation in this problem.
Kinematic Equations. Before impact, G moves to the right with speed v0 while the ball rolls without slip,
so
vGx D v0 and !b D v0 =r: (3)
Computation. Substituting Eqs. (2) and (3) into Eq. (1) and solving for !bC , we have
5r 3`
!bC D v0 : (4)
5r 2
We now consider the second part of the problem. We define ¿ to coincide with
the postimpact position of the system, and we define ¡ to be the position of
the ball after it barely makes it to the top of the step. The FBD for this part of
the problem is shown on the right. Since the the ball moves as if hinged at O,
the only force doing work is gravity, which is conservative.
T1 C V1 D T2 C V2 ; (5)
where V is the potential energy of the system, and

2 2
T1 D 12 IO !b1 and T2 D 21 IO !b2 : (6)
V1 D 0 and V2 D mb g`: (7)
Kinematic Equations. We recall that ¿ coincides with the postimpact position of the ball. So,
5r 3`
!b1 D v0 : (8)
5r 2
Computation. Substituting Eqs. (6)–(8) into Eq. (5), using the last of Eqs. (2), and solving for !b2 we have
s
.5r 3`/2 v02 6g`
!b2 D : (9)
25r 4 5r 2
The expression of the angular speed in Eq. (9) is computed under the assumption that the
ball makes it to the top of the step by rolling over the edge of the step, i.e., by not losing
contact with the edge of the step. We now consider the limiting case where the contact
force between the edge of the step and the ball becomes equal to zero as the ball reaches
the top of the step. The FBD describing this condition is shown on the right, where we
have chosen to use a normal-tangential component system attached to the the ball’s mass
center G. Notice that it is assumed that the ball is still rotating about the fixed point O,
which, at the instant considered, is vertically aligned with G.
Balance Principles. Using the above FBD and applying Newton’s second law in the normal direction, we
have X
Fn W mb g D mb .aGn /2 : (10)
Force Laws. All forces are accounted for on FBD.
Kinematic Equations. For a ball in a rotation about O, we have

2
vG2 2 .5r 3`/2 v02 6g`
.aGn /2 D D r!b2 D ; (11)
r 25r 3 5r
where we have used the expression for !b2 in Eq. (9).
Computation. Substituting Eq. (11) into Eq. (10) and solving for v0 , we obtain the maximum value of v0
such that the ball will not lose contact with the step. Letting such value of v0 be denoted by .v0 /max , we have
s
5r 2 .5r C 6`/g
.v0 /max D ) .v0 /max D 2:176 m=s,
.5r 3`/2
where we have used the data: r D 12 cm D 12
100 m, ` D 7 cm D 7
100 m, and g D 9:81 m=s2 .
Dynamics 2e 1905
Problem 8.143
A bullet B weighing 147 gr (1 lb D 7000 gr) is fired with a speed v0 D 2750 ft=s
as shown against a thin uniform rod A of length ` D 3 ft, weight Wr D 35 lb, and
pinned at O. If d D 1:5 ft and the COR for the impact is e D 0:25, determine the
bar’s angular velocity immediately after the impact. In addition, determine the
maximum value of the angle ✓ to which the bar swings after impact.
Solution
We model the impact as a constrained impact of a particle with a rigid body. From the
impact-relevant FBD of the system we see that the angular momentum of the system
about the fixed point O is conserved.
Balance Principles. Enforcing the conservation of angular momentum about O

while keeping in mind that the pre- and postimpact velocity of the bullet are in the
horizontal direction, we have
C
mB vBx d C IO !A D mB v0 d D mB vBx d C IO !AC ; (1)
where mB is the mass of B, !EA D !A kO is the angular velocity of the rod, and IO is the mass moment of
inertia of A relative to O. Denoting by mr the mass of the rod and using the parallel axis theorem, for IO ,
we have ✓ ◆2
`
1
IO D 12 mr `2 C mr D 13 mr `2: (2)
2
Force Laws. Observing that the LOI is parallel to the horizontal direction, the COR equation for this
problem is
C C
vBx vQx D e.vQx vBx /; (3)
where point Q is the point on the rod that his hit by the bullet.
Kinematic Equations. Since A is constrained to rotate about O, we must have that vQx D !A d . So,
recalling that the rod is initially at rest and the the bullet is initially traveling in the positive x direction with a
speed v0 , we can summarize the kinematics equations for this problem as follows:
C
vBx D v0 ; !A D 0; vQx D 0; vQx D !AC d: (4)
Computation. Substituting Eq. (4) and (2) into Eqs. (1) and (3), we obtain a a system of two equations in
C
the two unknowns vBx and !AC whose solution is
C 3d 2 mB e`2 mr
vBx D v0 D 686:0 ft=s (5)
3d 2 mB C `2 mr
and
3d mB .1 C e/
!AC D v0 D 1:031 rad=s; (6)
3d 2 mB C `2 mr
147
where we have used the data: d D 1:5 ft, mB D 147 gr=g D 7000 lb=g, g D 32:2 ft=s2 , e D 0:25, ` D 3 ft,
mr D 35 lb=g, and v0 D 2750 ft=s. Expressing the result in Eq. (6) in vector form, we have
O
!EAC D .1:031 rad=s/ k:
To determine the maximum swing angle of A, we can apply the work energy
principle. A FBD of the rod between the post-impact position and the position
with the maximum swing angle is shown to the right. The post-impact position
is denoted by ¿ whereas the position of the rod corresponding to the maximum
angle ✓ is denoted as ¡. Work on the rod is done only by gravity, which is a
conservative force. We use subscripts 1 and 2 to denote quantities at ¿ and ¡,
respectively.

T1 C V1 D T2 C V2 ; (7)
where V is the potential energy of the rod, and where, recalling that the rod can only be in a fixed axis rotation
about O,
2 2
T1 D 12 IO !A1 and T2 D 12 IO !A2 : (8)
V1 D 0 and V2 D mr g.`=2/.1 cos ✓max /: (9)
Kinematic Equations. We recall that ¿ coincides with the postimpact position. Also, the system comes
temporarily to a stop in ¡. Hence, using Eq. (6), we have
3d mB .1 C e/
!A1 D v0 and !A2 D 0: (10)
3d 2 mB C `2 mr
Computation. Substituting Eqs. (8)–(10) into Eq. (7) yields an equation for ✓max whose solution is
" # (  )
2 2
IO .!A1 / ` 3d m B .1 C e/
✓max D cos 1 1 D cos 1 1 v0 ; (11)
mr g` 3g 3d 2 mB C `2 mr
147
where we have also used the result in Eq. (2). Recalling that d D 1:5 ft, mB D 147 gr=g D 7000 lb=g,
2
g D 32:2 ft=s , e D 0:25, ` D 3 ft, mr D 35 lb=g, and v0 D 2750 ft=s, we can evaluate ✓max to obtain
✓max D 14:76ı :
Dynamics 2e 1907
Problem 8.144
An airplane is about to crash-land on only one wheel with a ver-

tical component of speed v0 D 2 ft=s and zero roll, pitch, and
yaw. Determine the vertical component of velocity of the center
of mass of the airplane G, as well as the airplane’s angular veloc-
ity immediately after touching down, assuming that (1) the only
available landing gear is rigid and rigidly attached to the airplane,
(2) the coefficient of restitution between the landing gear and the
ground is e D 0:1, (3) the airplane can be modeled as a rigid body,
(4) the mass center G and the point of first contact between the
landing gear and the ground are in the same plane perpendicular to
the longitudinal axis of the airplane, and (5) friction between the
landing gear and the ground is negligible. In solving the problem
use the following data: W D 2500 lb (weight of the airplane),
G is the mass center of the airplane, kG D 3 ft is the radius of
gyration of the airplane, and d D 5:08 ft.
Solution
We model the airplane’s touchdown as a constrained impact. The

impact-relevant FBD is shown at the right where P is the point on the
airplane that comes into contact with the ground and point O is the
(fixed) point on the ground that is first struck by the plane.
Balance Principles. Based on the FBD, we can invoke conservation

of angular momentum of the airplane about O, which gives
C
IG !p C mdvGy D IG !pC C mdvGy ; (1)
where IG is the mass moment of inertia of the airplane relative to its own mass center, !Ep D !p kO is the
angular velocity of the airplane, vEG D vGx {O C vGy |O is the velocity of G. The mass moment of inertia IG is
given by
2
IG D mkG : (2)
Force Laws. The action of the impulsive contact force acting on the airplane at P is expressed by a COR
equation written in terms of the velocity components along the LOI. Keeping in mind that the ground is
stationary and that the LOI is parallel to the vertical direction, we have
vPCy D evP y : (3)
Kinematic Equations. Before impact, we have
!p D 0; vGy D v0 ; vP y D v0 ; (4)
where the last of Eqs. (4) is due to the fact that before impact the airplane is simply translating. Since P and
G belong to the same rigid body, we must also have
vEPC D vEG
C
C !EpC ⇥ rEP =G ) vEPC D vGx
C C
{O C vGy |O C !pC kO ⇥ . d {O h |O/
„ ƒ‚ …
rEP =G
C C C
) vEP D .vGx C h!p / {O C .vGy C C
d!p / |O ) vPCy D vGy
C
d!pC : (5)
Computation. Substituting Eq. (2) and the first two of Eqs. (4) into Eq. (1), and symplifying we have
2 C C
dv0 D kG !p C dvGy : (6)
Substituting the last of Eqs. (4) and the last of Eqs. (5) into Eq. (3), we have
C
vGy d!pC D ev0 : (7)
Equations (6) and (7) for a system of to equations in two unknowns whose solution is
2
C
d2 ekG .1 C e/dv0
vGy D 2
v0 and !pC D 2
: (8)
d2 C kG d 2 C kG
Recalling that d D 5:08 ft, e D 0:1, kG D 3 ft, and v0 D 2 ft=s, we can evaluate the above results to obtain
C
vGy D 1:431 ft=s O
and !EpC D . 0:3211 rad=s/ k:
Another random document with
no related content on Scribd:
The Project Gutenberg eBook of Snap: A legend of the
Lone Mountain
This ebook is for the use of anyone anywhere in the United States
and most other parts of the world at no cost and with almost no
restrictions whatsoever. You may copy it, give it away or re-use it
under the terms of the Project Gutenberg License included with this
ebook or online at www.gutenberg.org. If you are not located in the
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you are located before using this eBook.
Title: Snap: A legend of the Lone Mountain
Author: Clive Phillipps-Wolley
Illustrator: H. G. Willink
Release date: August 10, 2022 [eBook #68725]
Language: English
Original publication: United Kingdom: Longmans, Green, and Co,

1892
Credits: Al Haines
*** START OF THE PROJECT GUTENBERG EBOOK SNAP: A

LEGEND OF THE LONE MOUNTAIN ***
SNAP
A LEGEND OF THE LONE MOUNTAIN
BY
C. PHILLIPPS-WOLLEY
AUTHOR OF 'SPORT IN THE CRIMEA AND CAUCASUS' ETC.
WITH THIRTEEN ILLUSTRATIONS BY H. G. WILLINK
NEW EDITION
LONDON
LONGMANS, GREEN, AND CO.
AND NEW YORK: 15 EAST 16th STREET
1892
All rights reserved
TO SMALL CLIVE.
I suppose that you'll cost me the deuce of a lot,

I suppose I must pay and look pleasant,
Though you're only a small insignificant dot—
My three-year-old warrior—at present.
But if ever you need the paternal 'tip,'

If ever you sin and must suffer,
Be brave and go straight, or I'll 'give you gyp'—
If I don't you may call me 'a duffer.'
CONTENTS
CHAPTER
I. FERNHALL v. LOAMSHIRE
II. 'MOP FAUCIBUS HÆSIT'
III. SNAP'S REDEMPTION
IV. THE FERNHALL GHOST
V. THE ADMIRAL'S 'SOCK-DOLLAGER'
VI. THE BLOW FALLS
VII. LEAVE LIVERPOOL
VIII. THE MANIAC
IX. 'THAT BAKING POWDER'
X. AFTER SCRUB CATTLE
XI. BRINGING HOME THE BEAR
XII. BRANDING THE 'SCRUBBER'
XIII. WINTER COMES WITH THE 'WAVIES'
XIV. A NIGHT OF ADVENTURE
XV. FOUNDING 'BULL PINE' FIRM
XVI. BEARS
XVII. IN THE BRÛLÊ
XVIII. THE LOSS OF 'THE CRADLE'
XIX. THE GAMBLERS 'PUT UP'
XX. LONE MOUNTAIN
XXI. AT THE TOP
XXII. AT THE END OF THE ROPE
XXIII. READING THE WILL
XXIV. SNAP'S SACRIFICE
XXV. THE FLIGHT OF THE CROWS
XXVI. SNAP'S STORY
XXVII. CONCLUSION
ILLUSTRATIONS.
IN THE CHIMNEY ... Frontispiece [missing from source book]
THE ADMIRAL FISHING
'GOOD-BYE' [missing from source book]
SNAP AND THE MADMAN
TONY AND THE SCRUBBER
IN THE WOOD
IN THE BRÛLÉ
'HANDS UP'
ON THE FACE OF THE CLIFF
'GOOD-BYE, PARD'
SNAP'S SACRIFICE
SNAP
CHAPTER I
FERNHALL v. LOAMSHIRE
'What on earth shall we do, Winthrop?' asked one of the Fernhall Eleven
of a big fair-faced lad, who seemed to be its captain.
'Do! I'll be shot if I know, Wyndham,' he replied. 'It is bad enough to be a

bat short, but really I don't know that we can spare a bowler.'
'Ah, well,' suggested another of the group, 'though Hales did very well for
the Twenty-two, it isn't quite the same thing bowling against such a team as
Loamshire brings down; he might not "come off" after all, don't you know.'
A quiet grin spread over the captain's face. No one knew better than he
did the spirit which prompted Poynter's last remark.
Good bowler though he was, Poynter had often been a sad thorn in
Winthrop's side. If you put him on first with the wind in his favour, Poynter
would be beautifully good-tempered, and bowl sometimes like a very
Spofforth. Only then sometimes he wouldn't! Sometimes an irreverent
batsman from Loamshire who had never heard of Poynter's break from the
leg would hit him incontinently for six, and perhaps do it twice in one over.
Then Poynter got angry. His arms began to work like a windmill. He tried to
bowl rather faster than Spofforth ever did; about three times as fast as Nature
ever meant John Poynter to. The result of this was always the same. First he
pitched them short, and the delighted batsman cut them for three; then he
pitched them up, and that malicious person felt a thrill of pleasure go
through his whole body as he either drove them or got them away to square
leg. Then Winthrop had to take him off. This was when the trouble began.
Sullenly Poynter would take his place in the field—and it was not every
place in the field which suited him. If you put him in the deep field, he
growled at the folly which risked straining a bowler's arm by shying. If you
put him close in, he grumbled at the risk he ran of having those dexterous
fingers of his damaged by a sharp cut or a 'sweet' drive. For of course he
always expected to be put on again, and from the time that he reached his
place until the time that he was again put into possession of the ball he did
nothing but watch his rival with malicious envy, making a mental bowling
analysis for him, in which he took far more note of the hits (or wides if there
were any) than he did of the maiden overs which were bowled.
But Frank Winthrop was a diplomatist, as a cricket captain should be, so,
though he grinned, he only replied, 'That's true enough, Poynter, but I must
have some ordinary straight stuff, such as Hales's, to rest you and Rolles, and
put these fellows off their guard against your curly ones.'
'Yes, I suppose it is a mistake to bowl a fellow good balls all the time. It
makes him play too carefully,' replied the self-satisfied Poynter.
'Well, but, Winthrop,' insisted the first speaker, 'if you don't do without a
change bowler, what will you do? That other fellow in the Twenty-two
doesn't bowl well enough, but there are lots of them useful bats.'
'I know all that, but I've made up my mind,' replied the young autocrat. 'I
shall play a man short, if I can't persuade Trout' (an irreverent sobriquet for
their head-master) 'to let Snap Hales off in time.'
When a captain of a school eleven says that he has made up his mind, the
intervention of anyone less than a head-master is useless, so that no one
protested.
As the group broke up Wyndham put his arm through Winthrop's, and
together they strolled towards the door of the school-house.
'Are you going up to see "the head," Major?' he asked.
'Yes,' replied Winthrop.
'What! about Snap Hales?' demanded Wyndham.

'Yes,' again replied Winthrop, 'about that young fool Snap.'
'What has he been up to now?' demanded his chum.
'Oh, he has been cheeking Cube-root again. It seems old Cube-root

couldn't knock mathematics into him anyhow, so he piled on the impositions.
Snap did as many lines as he could, but even with three nibs in your pen at
once there is a limit to the number which a fellow can do in a day, and
Master Snap has so many of these little literary engagements for other
masters as well as old Cube that at last he reached a point beyond which no
possible diligence would carry him.'
'Poor old Snap!' laughed Wyndham.
'Then, as he had just got into the eleven,' continued Winthrop, 'he didn't
like to give up his half-hour with the professional; the result of all which was
that yesterday old Cube asked him for his lines and was told—
'"I haven't done them, sir."
'"Haven't done them, sir: what do you mean?" thundered Cube.
'"I hadn't time, sir," pleaded Snap.
'"Not time! Why, I myself saw you playing cricket to-day for a good half-
hour. What do you mean by telling me you had not time?" asked Cube.
'"I had not time, sir, because——" Snap tried to say, but Cube stopped
him with that abominable trick of his, you know it.
'"Yēēs, Hales, yēēs! Yēēs, Hales, yēēs! So you had no time, Hales! Yēēs,
Hales, yēēs!"
'"No, sir, I was obliged to——"
'"To tell me a lie, sir! Yēēs, Hales, yēēs."
'Here Snap's beastly temper gave out, and instead of waiting till he got a
chance of telling his story properly to old Cube, who, although he loves
mathematics and hates a lie, is a good chap after all, he deliberately
mimicked the old chap with—
'"Nōō, sir, nōō! Nōō, sir, nōō!"
'Of course the other fellows went into fits of laughter, and old Cube had
fits too, only of another kind, and I expect I shall get "fits" from the Head for
trying to get the young idiot off for this match. But I really don't see how we
can get on without him,' Winthrop added, as he left his friend at the door,
and plodded with a heavy heart up to the head-master's sanctum.
What happened there the narrator of this truthful story does not pretend to
know. The inside of a headmaster's library was to him a place too sacred for
intrusion, and it was only through the foolish persistence of certain unwise
under-masters that he was ever induced to enter it. Whenever he did, he left
it with a note of recommendation from that excellent man to the school-
sergeant. It was not quite a testimonial to character, but still something like
it, and always contained an allusion to one of the most graceful of forest
trees, the mournful, beautiful birch. I am told that this is the favourite tree of
the Russian peasant. I dare say. I am told he is still uneducated. It was
education which, I think, taught me to dislike the birch.
But I am wandering. The only words which reached me as I stood below,

wondering if my leave out of bounds would be granted or not—and I had
very good reasons for betting on the 'not'—were these:
'Very well, if he is no good as a bat it won't much matter. I'll do what I

can for you, only win the toss and go in first.'
He was a good fellow, our Head, and from Winthrop's face as he came
downstairs I expect that he thought so.
I was quite right about that leave out of bounds. The head-master felt, no
doubt quite properly, that on such a day as the day of the Loamshire match,
when there were sure to be lots of visitors about, it would not do for one of
the school's chief ornaments to be absent. It was very hard upon me because,
you see, I could only buy twelve tarts for my shilling at the tuckshop,
whereas if I had got leave out of bounds I could have got thirteen for the
same money, only four miles from school! That sense of duty to the public
which no doubt will lead me some day to take a seat in the House of
Commons enabled me to bear up under my trouble, and about two o'clock I
was watching the match with my fellows on the Fernhall playing fields.
Ah, me! those Fernhall playing fields! with their long level stretches of
green velvet, their June sunshine and wonderful blue skies! What has life
like them nowadays? On this day they were looking their very best, and,
though I have wandered many a thousand miles since then, I have never seen
a fairer sight. Forty acres there were, all in a ring fence, of level greensward,
every yard of it good enough for a match wicket, and the ring-fence itself
nothing but a tall rampart of green turf, twelve or fourteen feet high, and
broad enough at the top for two boys to walk upon it abreast.
Out in the middle of this great meadow the wickets were pitched, and I
really believe that I have since played billiards on a surface less level than
the two-and-twenty yards which they enclosed. The lines of the crease
gleamed brightly against the surrounding green, and the strong sun blazed
down upon the long white coats of the umpires, the Fernhall eleven (or
rather ten, for Snap was still absent), and two of the strongest bats in
Loamshire.
But, though fourteen figures had the centre of the ground to themselves,
there was plenty of vigorous, young life round its edges. There, where the
sun was the warmest, with their backs up against the bank which enclosed
the master's garden, sat or lay some four hundred happy youngsters,
anxiously watching every turn of the match, keen critics, although
thoroughgoing partisans. Like young lizards, warmed through with the sun,
lying soft against the mossy bank, the scent of the flowers came to them over
the garden hedge, and the soft salt breeze came up from the neighbouring
sea. You could hear the lip and roll of its waves quite plainly where you lay,
if you listened for it, for after all it was only just beyond that green bulwark
of turf behind the pavilion. Many and many a time have we boys seen the
white foam flying in winter across those very playing-fields, and gathered
sea-wrack from the hedges three miles inland. By-and-by, when the match
was over, most of the two-and-twenty players in it would race down to the
golden sands and roll like young dolphins in the blue waves, for Fernhall
boys swam like fishes in those good old days, and such a sea in such
sunshine would have tempted the veriest coward to a plunge.
But the match was not over yet, although yellow-headed Frank Winthrop
began to think that it might almost as well be. He was beginning to despair.
It was a one-day match: the school had only made 156, while the county had
only two wickets down for 93; of course there was no chance of a second
innings; the two best bats in Loamshire seemed set for a century apiece;
Poynter had lost his temper and seemed trying rather to hurt his men than to
bowl them, and everyone else had been tried and had failed. What on earth
was an unfortunate captain to do? Just then a figure in a long cassock and
college cap, a fine portly figure with a kindly face, turned round, and, using
the back of a trembling small boy for a desk, wrote a note and despatched
the aforesaid small boy with it to the rooms of the Rev. Erasmus Cube-Root.
A minute or two before, Winthrop had found time to exchange half-a-dozen
words with 'the Head' whilst in the long field, and now he turned and raised
his cap to him, while an expression of thankfulness overspread his features.
The two Loamshire men at the wickets were Grey and Hawker, both names
well known on all the cricket-fields of England, and one of them known and
a little feared by our cousins at the Antipodes. This man, Hawker, had been
heard to say that he was coming to Fernhall to get up his average and have
an afternoon's exercise. It looked very much as if he would justify his boast.
He was an aggravating bat to bowl to, for more reasons than one. One of his
tricks, indeed, seemed to have been invented for the express purpose of
chaffing the bowler.
As he stood at the wicket his bat was almost concealed from sight behind
his pads, his wicket appeared to be undefended, and all three stumps plainly
visible to his opponent. Alas! as the ball came skimming down the pitch the
square-built little athlete straightened himself, the bat came out from its
ambush, and you had the pleasure of knowing that another six spoiled the
look of your analysis. If he was in very high spirits, and you in very poor
form, he would indulge in the most bewildering liberties, spinning round on
his heels in a way known to few but himself, so as to hit a leg ball into the
'drives.' Altogether he was, as the boys knew, a perfect Tartar to deal with if
he once got 'set.'
Grey, the other bat, was quite as exasperating in his way as Hawker, only
it was quite another way. He it was who had broken poor Poynter's heart.
You did not catch him playing tricks. You did not catch him hitting sixes, or
even threes; but neither did you catch him giving the field a chance,
launching out at a yorker, or interfering with a 'bumpy' one. Oh, no! It didn't
matter what you bowled him, it was always the same story. 'Up went his
shutter,' as Poynter feelingly remarked, 'and you had to pick up that blessed
leather and begin again.' Sometimes he placed a ball so as to get one run for
it, sometimes he turned round and sped a parting ball to leg, and sometimes
he snicked one for two. He was a slow scorer, but he seemed to possess the
freehold of the ground he stood upon. No one could give him notice to quit.
Such were the men at the wicket, and such the state of the game, when a tall,
slight figure came racing on to the ground in very new colours, and with
fingers which, on close inspection, would have betrayed a more intimate
acquaintance with the ink-pot than with the cricket-ball. Although it would
have been nearer to have passed right under the head-master's nose, the new-
comer went a long way round, eyeing that dignitary with nervous suspicion,
and raising his cap with great deference when the eye of authority rested
upon him. As soon as he came on to the ground he dropped naturally into his
place, and anyone could have seen at a glance that, whatever his other merits
might or might not be, Snap Hales was a real keen cricketer. When a ball
came his way there was no waiting for it to reach him on his part. He had
watched it, as a hawk does a young partridge, from the moment it left the
bowler's hands, and was halfway to meet it already. Like a flash he had it
with either hand—both were alike to him—and in the same second it was
sent back straight and true, a nice long hop, arriving in the wicket-keeper's
hands at just about the level of the bails.
But Winthrop had other work for Snap to do, and at the end of the over
sent him to replace Rolles at short-slip.
'By George, Towzer, they are going to put on Snap Hales,' said one
youngster to another on the rugs under the garden hedge.
'About time, too,' replied his companion; 'if he can't bowl better than
those two fellows he ought to be kicked.'
'Well, I dare say both you and he will be, if he doesn't come off to-day. I
expect it was your brother who got him off his lines to-day, and he won't be
a pleasant companion for either of you if the school gets beaten with half-a-
dozen wickets to spare.'
Towzer, the boy addressed, was brother to the captain of the eleven, and
his fag. Snap Hales, when at home, lived near the Winthrops, so that in the
school, generally, they were looked upon as being of one clan, of which, of
course, Frank Winthrop was the chief. Willy Winthrop was Towzer's proper
name, or at least the name he was christened by; but anyone looking at the
fair-haired jolly-looking little fellow would have doubted whether his
godfathers were wiser than his schoolfellows. No one would ever have
dreamed of him as a future scholar of Balliol, nor, on the other hand, as a
sour-visaged failure. He was a bright, impertinent Scotch terrier of a boy,
and his discerning contemporaries called him Towzer.
But we must leave Towzer for the present and stick to Snap. Everyone
was watching him now, and none more closely or more kindly than the man
whom Snap considered chief of his born enemies, 'the Head.' 'Yes, he is a
fine lad,' muttered that great man, 'I wish I knew how to manage him. He has
stuff in him for anything.' And indeed he might have, though he was hardly
good-looking. Tall and spare, with a lean, game look about the head, the first
impression he made upon you was that he was a perfect athlete, one of
Nature's chosen children. Every movement was so easy and so quick that
you knew instinctively that he was strong, though he hardly looked it; but his
face puzzled you. It was a dark, sad-looking face, certainly not handsome,
with firm jaw and somewhat rugged outlines, and yet there was a light
sometimes in the big dark eyes which gave all the rest the lie, and made you
feel that his masters might be right, after all, when they said, 'There is no
misdoing at Fernhall of which "that Hales" is not the leader.'
At any rate he appeared to be out of mischief just now.
'Round the wicket, sir?' asked the umpire as Snap took the ball in hand.
'No, Charteris, over,' was the short reply, as Hales turned to measure his
run behind the sticks.
'What! a new bowler?' asked Hawker of the wicket-keeper as he took a
fresh guard; 'who is he?'
'An importation from the Twenty-two; got his colours last week,'
answered Wyndham, and a smile spread over Hawker's face, as he saw in
fancy a timid beginner pitching him half-volleys to be lifted over the garden
hedge, or leg-balls with which to break the slates on the pavilion.
But Hawker had to reserve his energy for a while, being much too good a
cricketer to hit wildly at anything. With a quiet, easy action the new bowler
sent down an ordinary good-length ball, too straight to take liberties with,
and that was all. Hawker played it back to him confidently, but still carefully,
and another, and another, of almost identical pitch and pace, followed the
first. 'Not so much to be made off this fellow after all,' thought Hawker, 'but
he will get loose like the rest by-and-by, no doubt.' Still it was not as good
fun as he had expected. The fourth ball of Snap's first over was delivered
with exactly the same action as its predecessors, but the pace was about
double that of the others and Hawker was only just in time to stop it. It was
so very nearly too much for the great man that for a moment it shook his
confidence in his own infallibility. That momentary want of confidence
ruined him. The last ball of the over was not nearly up to the standard of the
other four; it was short-pitched and off the wicket, but it had a lot of 'kick' in
it, and Hawker had not come far enough out for it. There was an ominous
click as the ball just touched the shoulder of his bat, and next moment, as
long-slip remarked, he found it revolving in his hands 'like a stray planet.'
Don't talk to me of the lungs of the British tar, of the Irish stump orator,
or even of the 'Grand Old Man' himself! They are nothing, nothing at all, to
the lungs we had in those days. It was Snap's first wicket for the school, and
Snap was the school's favourite, as the scapegrace of a family usually is, and
caps flew up and fellows shouted until even Hawker didn't much regret his
discomfiture if it gave the boys such pleasure. He was very fond of Fernhall
boys, that sinewy man from the North, and, next to their own heroes,
Fernhall liked him better than most men. Even now they show the window
through which he jumped on all fours, and many a neck is nearly dislocated
in trying to follow his example.
In the next over from his end Hales had to deal with Grey, and he found
his match. He tried him with slow ones, he tried him with fast ones, he tried
to seduce him from the paths of virtue with the luscious lob, to storm him
with the Eboracian pilule or ball from York. It was not a bit of good, up went
the shutter, and a maiden over left Snap convinced that the less he had to do
with Grey the better for him, and left Grey convinced that Fernhall had got a
bowler at last who bowled with his head. Was it wilfully, I wonder, that Snap
gave Grey on their next meeting a ball which that steady player hit for one?
It may not have been, and yet there was a grin all over the boy's dark face as
he saw Grey trot up to his end. That run cost Loamshire two batsmen in four
balls—one bowled leg before wicket, and the other clean-bowled with an
ordinary good-length ball rather faster than its fellows.
Those old fields rang with Hales's name that afternoon, and at 6.30,
thanks chiefly to his superb bowling, the county had still two to score to win,
and two wickets to fall. One of the men still in was Grey. At the end of the
over the stumps would be drawn, and the game drawn against the school,
even if (as he might do) Snap should bowl a maiden. That, however, could
hardly be; even Grey would hit out at such a crisis. At the very first ball the
whole school trembled with excitement. The Loamshire man played well
back and stopped a very ugly one, fast and well pitched, but it would not be
altogether denied, and curled in until it lay quiet and inoffensive, absolutely
touching the stumps.
Ah, gentlemen of Loamshire! if you want to win this match why can't you
keep quiet? Don't you think the sight of that fatal little ball, nestling close up
to his wicket, is enough to disconcert any batsman in the last over of a good
match? And yet you cry, 'Steady, Thompson, steady!' Poor chap, you can see
that he is all abroad, and the boy's eyes at the other end are glittering with
repressed excitement. He is fighting his first great battle in public, and
knows it is a winning one. There is a sting and 'devil' in the fourth ball which
would have made even Grace pull himself together. It sent Thompson's bails
over the long-stop's head, and mowed down his wicket like ripe corn before
a thunder-shower.
And now the chivalry of good cricket was apparent; Loamshire had no
desire to 'play out the time.' Even as Thompson was bowled, another
Loamshire man left the pavilion, ready for the fray. If it had been 'cricket,'
Hawker, the Loamshire captain, would have gladly played out the match. As
it was, his man was ready to finish the over. As the two men passed each
other the new-comer gave his defeated friend a playful dig in the ribs, and
remarked, 'Here goes for the score of the match, Edward Anson, duck, not
out!'
As there was only one more ball to be bowled, and only two runs to be
made to secure a win for Loamshire, I'm afraid Anson hardly meant what he
said. Unless it shot underground or was absolutely out of reach, that young
giant, who 'could hit like anything, though not much of a bat,' meant at any
rate to hit that one ball for four. By George, how he opened his shoulders!
how splendidly he lunged out! you could see the great muscles swell as he
made the bat sing through the air, you could almost see the ball going
seaward; and yet—and yet——
The school had risen like one man; they had heard that rattle among the
timber; they knew that Snap's last 'yorker' had done the trick; cool head and
quick hand had pulled the match out of the fire, and even his rival Poynter
was one of the crowd who caught young Hales, tossed him on to their
shoulders, and bore him in triumph to the pavilion, whilst the chapel clock
struck the half-hour.
CHAPTER II
'MOP FAUCIBUS HÆSIT'
Boys in the fifth form at Fernhall shared a study with one companion.
Monitors of course lived in solitary splendour, with a bed which would stand
on its head, and allowed itself to be shut up in a cupboard in the corner.
Small boys who had not attained even to the fringe of the school aristocracy
lived in herds in bare and exceedingly untidy rooms round the inner quads.
Even in those days there were monitors who were worshippers of art. Some
of them had curtains in their rooms of rich and varied colouring; one of them
had a plate hung up which he declared was a piece of undoubted old
Worcester. Tomlinson was a great authority on objects of virtù, and a rare
connoisseur, but we changed his plate for one which we bought for sixpence
at Newby's, and he never knew the difference. Then there was one fellow
who had several original oil paintings. These represented farmyard scenes
and were attributed indifferently to Landseer, Herring, and a number of other
celebrated artists. Whoever painted them, these pictures were the objects of
more desperate forays than any other property within the school limits. I
remember them well as adorning the room of a certain man of muscle, to
whom, of course, they belonged merely as the spoils of war. The rightful
owner lived three doors off, but I don't think that he ever had the pluck to
attempt to regain his own.
However, in the small boys' rooms there were none of these luxuries of an
effete civilisation. There was a book-shelf full of ragged books, none of
which by any chance ever bore the name of anyone in that study; there was a
table, a gas-burner, a frying-pan, and a kettle. These last-named articles
might have been seen in every study at Fernhall, from the study of the
monitor to that of the pauper, as we called that unfortunate being who had
not yet emerged from the lower school. In the long nights of winter, when
the wild sea roared just beyond the limits of their quad, and the spray came
flying over the sea-wall to be dashed against their study windows, all
Fernhall boys had a common consolation. They called it brewing: not the
brewing of beer or of any intoxicating liquor, but of that cheering cup of tea
which consoles so many thousands, from the London charwoman to the pig-
tailed Chinaman, from the enervated Indian to the half-frozen Russian exile
in Siberia. At first the headmasters of Fernhall tried hard to put down this
practice. Sergeants lurked about our passages, confiscated our kettles,
carried away the frying-pans full of curly rashers from under our longing
eyes, and 'lines' and flagellations were all we got in exchange. At last a new
era began. A great reformer arrived, a 'Head' of liberal leanings and wide
sympathy. This man frowned on coercion, and, instead of taking away our
kettles, gave us a huge range of stoves on which to boil them. From a cook's
point of view, no doubt, the range of stoves was a great improvement on the
old gas-burner, but, in spite of the liberality of the 'Head,' small clusters of
boys still stood night after night on those old study tables and patiently fried
their bacon over the gas.

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Instant Download PDF Engineering Mechanics Statics and Dynamics 2nd Edition Plesha Solutions Manual Full Chapter

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Engineering Mechanics Statics and

Dynamics 2nd Edition Plesha Solutions

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Vector Mechanics for Engineers Statics and Dynamics

Vector Mechanics for Engineers Statics and Dynamics

A conveyor is moving cans at a constant speed v0 when, to pro-

and for B we have

mR1 D W=g D 38:82 slug; vE D v0 D 20:00 ft=s; IE D 1

mR2 D W =g D 38:82 slug; vG D v0 D 20:00 ft=s;

TR1 D 7764 ft lb and TR2 D 14;950 ft lb;

A pendulum consists of a uniform disk A of diameter d D 0:15 m and mass mA D

In Example 7.6 on p. 544, we analyzed the forces acting on a test tube in

Recalling that IG D 2:821 ⇥ 10 6 kg m2 , m D 0:01 kg, ! D 60;000 rpm D 60;000 2⇡

TBC D 12 mBC .!AB R/2 ; (2)

A T-bar consisting of two uniform bars, each of length L D 5 ft, is

The T-bar behaves like a pendulum in fixed axis rotation about O.

Force Laws. Due to our choice of datum, we have

V1 D 0 and V2 D 2mg 34 L D 32 mgL: (4)

Kinematic Equations. The T-bar is originally at rest, so

Computation. Substituting Eqs. (2)–(5) into Eq. (1), we have

!b2 D 3:693 rad=s:

Photo credit: © McGraw-Hill, Photo by Lucinda Dowell

In the FBD shown, the direction perpendicular to the plane of

Balance Principles. The only force doing work is gravity. Hence,

Balance Principles. Applying the work-energy principle as a statement of

Force Laws. Due to our choice of datum, we have

!b1 D 0 and !b2 D 0: (6)

Computation. Substituting Eqs. (2)–(6) into Eq. (1)

Following the hint in the problem statement, we have

which, recalling that ✓2 D ✓min , can be evaluated to obtain

Photo credit: NASA

Balance Principles. Applying the work-energy principle, we have

Force Laws. The work of the moment is given by

Kinematic Equations. The rotor starts from rest, so

Photo credit: NASA

Balance Principles. Applying the work-energy principle, we have

where m is the mass of the rotor.

Force Laws. The work of the moment is given by

Kinematic Equations. The rotor comes to a stop in ¡, so

Computation. Substituting Eqs. (2)–(5) into Eq. (1), we have

Balance Principles. Applying the work-energy principle as a statement

A door AB weighing 80 lb is pinned at A and swings in the horizontal

A door AB weighing 80 lb is pinned at A and swings in the horizontal

the law of cosines, the length of the spring is L C h

where we have used the trigonometric identity cos.✓1 C 90ı / D sin ✓1 .

A uniform thin bar AB of length L D 4 ft is released from rest at an angle ✓ D ✓1 . As

Balance Principles. Applying the work-energy principle as a

Force Laws. Due to the choice of datum,

A uniform thin bar AB of length L D 3 ft is released from rest at an angle

Force Laws. Due to the choice of datum,

V1 D 12 mgL sin ✓1 and V2 D 0: (4)

Kinematic Equations. The bar is released from rest, so

vG1 D 0 and !b1 D 0: (5)

vEA2 D vEB2 C !b2 kO ⇥ .ErA=B /2 (7)

!b2 D 2:274 rad=s:

The disk D, which has mass m, center of mass G, and radius of

Balance Principles. Applying the work-energy principle, we have

T1 C V1 C .U1-2 /nc D T2 C V2 ; (1)