M E 345 FINAL EXAM RECITATION

Reminders and Announcements

 Professor Secor’s students:

The location of your final exam is in: 2155 Marston Hall

Professor Schafbuch’s students:

The location of your final exam is in: Hoover Hall auditorium.

Professor Pawar’s students:

The location of your final exam is in: Hoover Hall auditorium.

Professor Starns’ students:

The location of your final exam is in: 0101 Design

Everyone:

The exam begins at 4:30 p.m. and ends at 6:30 p.m. on Tuesday, December 13 .
Suggestions for Exam Strategy

Be attentive to phrasing of the problems and information given in the problem statements:
“Starts from rest”
“Smooth”
“Without slipping”
Be attentive to coordinate systems and be consistent in using them
If CW is positive for an angular velocity, then summing moments for any part of the must use CW
as positive
If a coordinate system is not provided, include one that you will use to solve the problem
If a coordinate system is provided, use it…do not change it or be inconsistent in using it.
Determine what is happening before you start writing out the solution
Which way will the body or particle move? Draw directions if it will help.
How are forces acting on the body? Friction, weight, springs, dampers, etc.
Draw a FBD whether one is required or not.
Exam Strategy
Write out the symbolic equation representing the related concept first. Then plug in numerical values.

Be attentive to units: the base unit for mass in USCS is slugs:

What are the units for c, the damping coefficient in SI units? And in USCS?

Stay as organized as you can…make sure your work can be followed and that anyone grading it can find all
of your work
do not write on the back page of another problem to finish work on a problem

Do not erase any work—cross through it. It is not uncommon to start off on a problem correctly and then
begin second guessing yourself and go down the wrong path.

If you run out of time, write out in words what you would do to finish the problem.

Do not be reluctant to ask a question during the exam. If your professor believes you should know the
answer to that question, he or she will let you know. If it is a question that a lot of people are asking, it could
be that the problem statement is missing a parameter or the phrasing of the problem is awkward or
confusing.
Scope of the Exam
Rigid Body Work and Energy
Rigid Body Impulse and Momentum, Linear and Angular
Free damped and undamped vibrations
Overdamped and critically damped systems—not likely
One problem using concepts covered earlier in the semester

Not Included:
Relative acceleration problems (problem 4 on Exam 3)
Parabolic Motion
Oblique or direct central impact problems
Radial or Transverse coordinates or coordinate transformations

Fair game:
Kinematics and kinetics of particles in any coordinate system other than r-ϴ
Constant acceleration equations
Work Energy particle problems
Impulse Momentum particle problems
Combined principles: Impulse Momentum, Work Energy, Equations of motion
Constrained motion
Review Problem 1
Review Problem 1

Impulse due to O in the x-direction

Unknowns:
Ox
𝐿
𝑣 𝐵 2=−
vB2 𝜔2
6
𝐿
𝑣
Vc2
𝑐2 =− 𝜔2
3

1
12
2
()𝐿
6
𝐿
6
1
12
2
( ) 𝐿 𝐿
𝑚𝐵 𝐿 𝜔1 −𝑚𝑐 𝑣 𝑐 1 +∫ −𝑂 𝑥 𝑑𝑡=¿ 𝑚 𝐵 𝐿 𝜔 2 −𝑚 𝑐 𝜔2 ¿
6 6
Review Problem 1
𝐿 𝐿
𝑣 𝐵 2=− 𝑣
𝜔 =− 𝜔2
6 𝑐2 3

1.5

Solve for w2. w2=0.1543 rad/s

𝑂 𝑥 𝑡=1.98 𝑁 𝑠 − →
Solve for Oxt. 1.5
 Important Insight:
2 2
𝐼 0=( .250 ) ( 30 )=1.875 𝑘𝑔 𝑚
The cart and the supports for the reel are
translating

The reel is rotating around O

Important Insight:

The cart and the supports for the reel are translating

The reel is rotating around O

The translational velocity of point O is the same as that of

cart. The mass center of the reel is at point O.
 Dynamic Analysis
𝐹 𝑐 =−𝑐 𝑥˙
𝐹 𝑠=−𝑘( 𝛿𝑠𝑡 + 𝑥)

W 𝑚 𝑥¨
¨ −k ( 𝛿 𝑠𝑡 + 𝑥 ) −𝑐 𝑥
𝑚 𝑥= ˙ +𝑊
𝑚 𝑥¨ +c 𝑥˙ +𝑘𝑥 =− k ( 𝛿𝑠𝑡 ) +𝑊 =0

𝜔 𝑛=

𝜔 𝐷 =𝜔 𝑛 √ 1− 𝜁 =( 6 ) √ 1 −.5 =5.196
2 2
3√
108 𝑟𝑎𝑑
=6
𝑟𝑎𝑑
𝑠
𝑠
𝑚 𝑥¨ +c 𝑥˙ +𝑘𝑥 =− k ( 𝛿𝑠𝑡 ) +𝑊 =0

𝑟𝑎𝑑
𝜔 𝑛=
3√
108 𝑟𝑎𝑑
=6
𝑠
𝜔 𝐷 =𝜔 𝑛 √ 1− 𝜁 =( 6 ) √ 1 −.5 =5.196
2 2
𝑠

1 1 2𝜋 2𝜋
𝑡 1= 𝜏 𝐷 = = =0.6046 𝑠
2 2 𝜔 𝐷 2(5.196)
𝑥 ( 0 )= 40 𝑚𝑚= 𝐴 3

˙ ( 𝑡 ) =− 𝜁 𝜔 𝑛 𝑒− 𝜁 𝜔
𝑥 𝑛 𝑡
{ 40 cos ( 𝜔 𝐷 𝑡 ) + 𝐴4 sin ( 𝜔 𝐷 𝑡 ) }+𝑒− 𝜁 𝜔 𝑡 {− 40 𝜔 𝐷 sin ( 𝜔 𝐷 𝑡 ) + 𝐴4 𝜔 𝐷 cos ⁡(𝜔 𝐷 𝑡 ) }
𝑛

𝜁 ( 𝜔𝑛 ) (0.5) ( 6 )
˙ ( 0 )=0=− 𝜁 𝜔𝑛 { 40 }+ { 𝐴 4 𝜔 𝐷 }
𝑥 𝐴 4 =40 =40 =23.097
𝜔𝐷 5.196
− .5 ( 6 ) (.6046 )
𝑥 ( .6046 ) =𝑒 ¿
RECITATION PROBLEM 1
A slender bar, weighing 15 pounds, is attached to two blocks of negligible mass and is released from rest in the
position shown on the left. Each of the following questions pertains to the change in work and energy between the
two positions illustrated in the figure. The angle, , is 20o. The blocks are guided in smooth channels.

Determine the value of each of the following, if there is zero friction from the pins at A & B:
a. the change in gravitational potential energy, , between states 1 and 2.
b. the angular velocity of the bar in the second position (state 2), :
c. the change in kinetic energy, :
 
d) If there is a moment, M, due to friction in the pin joint at A of 40 in-lb, determine
the value of the angular velocity of the bar when it reaches an orientation of 20 o
below horizontal.
RECITATION PROBLEM 1
A slender bar, weighing 15 pounds, is attached to two blocks of negligible mass and is released from rest in the
position shown on the left. Each of the following questions pertains to the change in work and energy between the
two positions illustrated in the figure. The angle, , is 20o. The blocks are guided in smooth channels.

Work-energy Problem:

 KINETIC ENERGY:
[Bar released from rest]

KINEMATICS:
|𝑣|=0.5 𝜔 𝐿= ( 18 𝑖𝑛
12 𝑖𝑛 )( ) ( )
1
2
𝜔=
3
4
𝜔 𝑓𝑡 / 𝑠
RECITATION PROBLEM 1
A slender bar, weighing 15 pounds, is attached to two blocks of negligible mass and is released from rest in the
position shown on the left. Each of the following questions pertains to the change in work and energy between the
two positions illustrated in the figure. The angle, , is 20o. The blocks are guided in smooth channels.

Zero Datum

Work-energy Problem:

 GRAVITATIONAL POTENTIAL ENERGY:

[Datum chosen at horizontal position]

(a) Change in potential energy:

 ELASTIC POTENTIAL ENERGY:

 WORK DONE BY NON-CONSERVATIVE FORCES: [There is no friction, thus no force responsible for non-
conservative forces]
RECITATION PROBLEM 1
A slender bar, weighing 15 pounds, is attached to two blocks of negligible mass and is released from rest in the
position shown on the left. Each of the following questions pertains to the change in work and energy between the
two positions illustrated in the figure. The angle, , is 20o. The blocks are guided in smooth channels.

Zero Datum

Work-energy Problem:

Combining all the terms:

CCW
RECITATION PROBLEM 1
A slender bar, weighing 15 pounds, is attached to two blocks of negligible mass and is released from rest in the
position shown on the left. Each of the following questions pertains to the change in work and energy between the
two positions illustrated in the figure. The angle, , is 20o. The blocks are guided in smooth channels.

Zero Datum

(c) Change in kinetic energy:

(d) Moment due to friction force at pin joint A:

CCW
RECITATION PROBLEM 2
A 16 lb bowling ball with a diameter of 8.5 inches is sliding down an alley with a velocity, vo, of 25 ft/s and an
angular velocity, , of 9 rad/s (CCW). The coefficient of kinetic friction, , between the ball and the alley floor is,
0.10. NOTE: IG for a sphere is: . Please determine:
a) The value of the mass moment of inertia about the mass center, IG, for the bowling ball is (in slugs-ft2):
b) The velocity of the center of mass, , after a time of 2.0 seconds have elapsed.
c) Determine the magnitude of the angular velocity, , of the ball after 2.0 seconds have
elapsed.

𝝎𝟎
RECITATION PROBLEM 2
A 16 lb bowling ball with a diameter of 8.5 inches is sliding down an alley with a velocity, vo, of 25 ft/s and an
angular velocity, , of 9 rad/s (CCW). The coefficient of kinetic friction, , between the ball and the alley floor is,
0.10. NOTE: IG for a sphere is: . Please determine:
a) The value of the mass moment of inertia about the mass center, IG, for the bowling ball is (in slugs-ft2):

b) The velocity of the center of mass, , after a time of 2.0 seconds have elapsed.

Impulse-Momentum Equation:

G
𝑊
𝑁
𝑓
RECITATION PROBLEM 2
A 16 lb bowling ball with a diameter of 8.5 inches is sliding down an alley with a velocity, vo, of 25 ft/s and an
angular velocity, , of 9 rad/s (CCW). The coefficient of kinetic friction, , between the ball and the alley floor is,
0.10. NOTE: IG for a sphere is: . Please determine:
a) The value of the mass moment of inertia about the mass center, IG, for the bowling ball is (in slugs-ft2):

c) Determine the magnitude of the angular velocity, , of the ball after 2.0 seconds have
elapsed.
Impulse-Momentum Equation:

G
𝑊
𝑁
𝑓
RECITATION PROBLEM 3
Harmonic Motion A uniform slender 7 kg rod pivots without friction at point O. The rod is in its equilibrium position when
the rod is exactly horizontal [ y = 0]. The spring has a stiffness coefficient (k) of 110 N/m. The distances “a” is 0.6 m and “b”
is 1.4 m. The following analysis should only consider small rotations, so that the point ( E ) at the end of the rod only moves
(approximately) vertical.
a) Draw an appropriate Free Body Diagram
b) Write the Equation of Motion governing the rod’s rotation
Determine:
c) The natural frequency of any harmonic motion of this system.
d) The value of the damping coefficient that would result in critically damped motion.
e) If the damping coefficient ( c ) were ZERO, write an equation y(t) which describes the vertical position of the end of the rod
( E ). Assume the position of point at ( E ) time = 0 is 14 mm and the angular velocity of the rod is 0.04 radians per second
CW.
f) Position (y) at time = 0.125 sec.
RECITATION PROBLEM 3
Harmonic Motion A uniform slender 7 kg rod pivots without friction at point O. The rod is in its equilibrium position when
the rod is exactly horizontal [ y = 0]. The spring has a stiffness coefficient (k) of 110 N/m. The distances “a” is 0.6 m and “b”
is 1.4 m. The following analysis should only consider small rotations, so that the point ( E ) at the end of the rod only moves
(approximately) vertical.
a) Draw an appropriate Free Body Diagram

𝐹 𝑆
𝑂 𝑌
𝑂 𝑋

𝑊𝐹
RECITATION PROBLEM 3
Harmonic Motion A uniform slender 7 kg rod pivots without friction at point O. The rod is in its equilibrium position when
the rod is exactly horizontal [ y = 0]. The spring has a stiffness coefficient (k) of 110 N/m. The distances “a” is 0.6 m and “b”
is 1.4 m. The following analysis should only consider small rotations, so that the point ( E ) at the end of the rod only moves
(approximately) vertical.
b) Write the Equation of Motion governing the rod’s rotation
𝐹 At static equilibrium:
𝑆

When displaced from equilibrium:

Comparing with standard form:

RECITATION PROBLEM 3
Harmonic Motion A uniform slender 7 kg rod pivots without friction at point O. The rod is in its equilibrium position when
the rod is exactly horizontal [ y = 0]. The spring has a stiffness coefficient (k) of 110 N/m. The distances “a” is 0.6 m and “b”
is 1.4 m. The following analysis should only consider small rotations, so that the point ( E ) at the end of the rod only moves
(approximately) vertical.
c) The natural frequency of any harmonic motion of this system.
𝐹 𝑆
Comparing with standard form:
RECITATION PROBLEM 3
Harmonic Motion A uniform slender 7 kg rod pivots without friction at point O. The rod is in its equilibrium position when
the rod is exactly horizontal [ y = 0]. The spring has a stiffness coefficient (k) of 110 N/m. The distances “a” is 0.6 m and “b”
is 1.4 m. The following analysis should only consider small rotations, so that the point ( E ) at the end of the rod only moves
(approximately) vertical.
d) The value of the damping coefficient that would result in critically damped motion.
𝐹 𝑆

For critical damping

RECITATION PROBLEM 3
Harmonic Motion A uniform slender 7 kg rod pivots without friction at point O. The rod is in its equilibrium position when
the rod is exactly horizontal [ y = 0]. The spring has a stiffness coefficient (k) of 110 N/m. The distances “a” is 0.6 m and “b”
is 1.4 m. The following analysis should only consider small rotations, so that the point ( E ) at the end of the rod only moves
(approximately) vertical.
e) If the damping coefficient ( c ) were ZERO, write an equation y(t) which describes the vertical position of the end of the rod
( E ). Assume the position of point at ( E ) time = 0 is 14 mm and the angular velocity of the rod is 0.04 radians per second
CW.

𝐹 Expression for y(t) for undamped harmonic motion:

𝑆
RECITATION PROBLEM 3
Harmonic Motion A uniform slender 7 kg rod pivots without friction at point O. The rod is in its equilibrium position when
the rod is exactly horizontal [ y = 0]. The spring has a stiffness coefficient (k) of 110 N/m. The distances “a” is 0.6 m and “b”
is 1.4 m. The following analysis should only consider small rotations, so that the point ( E ) at the end of the rod only moves
(approximately) vertical.
f) Position (y) at time = 0.125 sec.

𝐹 𝑆
Expression for y(t) for undamped harmonic motion: