— a =< Problem 2.116 At ¢=0 acar starts from rest at point A. It moves toward the right and the tangential component of its acceleration is a, = 0.41 m/s”. What is the magnitude of the car's, acceleration when it reaches point B? Solution The velocity of the car along the path as a function of time is (t= Saat = 0217, since the car starts from rest. The distance traveled from point Ais + = fy) from the sketch, s = 200+ RO = 200+50x/2= 278.54 m. 1 ‘The time of travel is t= =} 16.11 s. The tangential acceleration at point B is [aaj] =6447 m/s? ay ee 4, =[049)], ,,,, = 644) m/s? The velocity at point Bis ¥ =[024 Toran? 751887 m/s. The 2 2 (5188) . normal acceleration at point B is dy aus fussy 5383 m/s”. The magnitude of the acceleration at point B is [a] = 6.44? +5383? = 5422 m/s? SSSSSS5o: == == — 7 = Problem 2.117 A group of engineering students constructs a sun-powered car and tests it on a circular track of 1000 fr radius. If the car starts from rest and the tangential acceleration component of its acceleration is given in terms of the car's velocity as a, =2—Olv ft/s, Determine v and the magnitude of the car's acceleration 15 s after it starts 7 ly Solution: The acceleration is given by a, = 4° =2—O.lvfr/s*. Setting up the integral, we get = [[at. Integrating, we nave-(Z inva (Zine) =1s. Solving for v, we get v=15.54f1/s. Substititing this back into the equation for the acceleration, we get a, = 0.446 ft/s?. In the radial direction, a, = v? /r=(15.54)' /1000 = 0.241 ft/ s?. The total acceleration is then given by lal= ya? +a? = Vi (0.241)° + (0.446) = 0.507 ft/s? Problem 2.118 Suppose that the tangential component of acceleration in Problem 2.117 is 4, =2-0.008s ft/s", where s is the distance the car travels along the track from the point where it starts from rest. Determine the velocity v and the magnitude of the car's acceleration when it has traveled a distances = 100/t. Solution: The acceleration is given by a, -4 a = 2-0.008s ft/s?, Setting up the integral, we get [ydv = [(2-0.008s)ds. Integrating, we ey =17.89,i/s. Substituting s = 100 frinto the acceleration relationship, we get a, = 1.2ft/s?. In the radial direction, a, = v* /r = (17.89)' /1000 =0.320fr/s?. The total acceleration is then given by lal= fa? +? = (0.320) +(12)' =1.248/5? (2+-a00s8. Evaluating at s = 100ft, we getProblem 2.121 An astronaut candidate is to be tested in a centrifuge with a radius of 10 m, He will lose consciousness if his total horizontal acceleration reaches 14 g's, What is the maximum constant angular acceleration of the centrifuge, starting from rest, if he is not to lose consciousness within one minute? Solution The angular velocity is a acceleration at the astronaut is a, = ‘cc. The normal acceleration is a, = Ra* = Rat”. The magnitude of the acceleration is fal = VR?a + Ra‘1* = 14(9.81) m/s”. Square both sides and reduce: » Where b = 3858x10~* and 40003815 = 0.06177 rad /s? Rta + Ra? — 188623=0. In canonical form: a! +2ba? +0 = 455% 10°. The solution is «? = #0,003815, from which = 354 deg / s”| is the maximum constant acceleration from rest allowed. =Sss=: Sq>ssssa=: Problem 2.122 After first-stage separation and before the second-stage engines have fired, a rocket is moving at ee ¥=3000m/s and the angle between its velocity vector and the o vertical is 60°. Because aerodynamic forces are negligible, the rocket’s acceleration is that due to gravity, which is 9.50m/s? at the rocket’s altitude. Determine (a) the normal and tangential components of the rocket’s acceleration, and (b) the instantaneous radius of curvature of the rocket's path, Solution: ‘The components of the acceleration are ay = gcos(60") toward the rear of the rocket, and ay = gsin(60*) normal to the axis of the rocket directed 30 degrees away from straight down, The normal acceleration is also given by ay = v* /, where ris the radius of curvature of the path. Substituting g =9.50m/ s? and v=3000m/s into these relations, we get a, =4.75m/$*, dy =8.23m/s*, and 59Problem 2.141 The radial line rotates with a constant angular velocity Of 2 rad/s. Point P moves along the line at a constant speed of 4 m/s. Determine the magnitude of the velocity and acceleration of P when r = 2. Solution The angular velocity of the line is 2 =@=2 rad/s, from 2 which Tp = 0. Te radia velocity ofthe pointis $= 4 m/s, from % 2 which SF =O. The vector vloiy i 7 € (2s 48, +485. The magnitude is ir Va? +4? =566 m/s] The acceleration is @ = (204), +12(4)(2)¥, magnitude is a] = 18? +16? = 1789 m/s? ==ss= a — Problem 2.142 At the instant shown, the coordinates of the slider A are *=16/t,y = LO fi, and its velocity and acceleration are v=10j ft/s and a =~32.2j ft/s’. Determine the slider’s velocity and acceleration in terms of polar coordinates. Solution: The equation relating the unit vectors in polar coordinates to those in cartesian coordinates are , ‘The inverse relationships are The angle 6 is determined from tan@=="2. Hence, @ = 32.01". ‘Then, in the general case, x ¥, =¥, 0088+, sind and v, =—v, sin@+v, cos. Similar equations hold for the accelerations. ‘Substituting in numbers, and noting that v, a, =~17.07 ft! s*, and a, =-27.31 ft/s? adr d0 Problem 2.143 In Problem 2.142, determine E and om Solution: The total radial acceleration is a, = -(2) and the total circumferential acceleration is i 20 dr dO dr de =r—>+2——-. The velocity relationships are y, =— and ve, . From Problem 2.142, we eb de . Pee Y= Gp tnd =P Gy From have that v, = 5.30ft/ 5, vg = 8.48,ft/s, a, =—17.07ft/s?, and @, =~2731ft/s*. Also, note that [x7 +y? = 1.89/2. From the equations for the velocity components, we get & =v, =530ft/s and 49 ‘ne 18 ; 8.48/8/s. Since we know r, we can determine r .49 rad/s. We now go to the 2 acceleration equations. We know everything in the a, equation except s and we know everything in the a, equation except a. Evaluating these, we get a 2L0fi/s? and o = ~396 rad/s?mn Problem 2.161 A charged particle P in a magnetic field moves along the [y spiral path described by r= 1m, @ = 2z rad , where z is in meters. The x particle moves along the path in the direction shown with constant speed |] =1 m/s. What is the velocity of the particle in terms of cylindrical coordinates? Solution The radial velocity is zero, since the path has a constant radius, 2 3 The magnitude of the velocity is v = 4|r?| (2) (8) = 1000 m/s. The angular velocity is do de va f(y (2) -(# Lo vas, dt a Substitute: v = ,/r’ (2) +4 a di 2 ae 1.25 , from which do _ 1000 a 125 894.4 rad / s, from which the transverse velocity is vg = (@ & 4a 2\ dr velocity along the cylindrical axis is “F = = 4472 m/s. The velocity vector: 94.48, + 447.22, <>: Problem 2.162 Two cars approach an intersection. Car A is going 20 m/s and is accelerating at 2 m/s? , and car B is going 10 m/s and is decelerating at 3 m/s2, In terms of the earth fixed coordinate system shown, determine the velocity of car A relative to car B and the velocity of car B relative to car A. Solution The velocity of car A is - The velocity of car Bis ¥, = j10 m/s. The relative velocity is ‘20-10 m/s] 207 +10j] Problem 2.163 _ In Problem 2.162, determine the accelerations of car A relative to car B, and the accelerations of car B relative car A. Solution Car A is accelerating inthe pose x direction; car B is accelerating inthe negaive_y 3] direction: [4p =44 -@y = 2 | aoa = 2m -Gy =Problem 2.169 The bar rotates about the fixed point O with a constant angular velocity of 2 rad/s, Point A moves outward along the bar at a constant rate of 100 min/s. Point B is a fixed point on the bar. In terms of the nonrotating reference frame with origin O, what is the magnitude of the velocity of point A relative to point B? Solution Use polar coordinates: The radial velocities: +r Be, = 1008, +80(2)% = 1008, +1602, (mm/s) = 200(2)é = 40084 mm/s. The relative velocity in Polar coordinates: ¥4,g = 4 —Fy = 1008, — 24084 (mm/s). The magnitude of the relative velocity: — Problem 2.170 _ In Problem 2.169, what is the magnitude of the acceleration of point B relative to point A at the instant shown? Solution Use polar coordinates. the radial accelerations: 5, -(@r_,(40) |, (420, (dr a0). . 5 4 -(-(2) {S24 £( 2) = age, + 20028. 2 2 2 as (& (2) ‘ +(-S2fZ]2)p. = ~200(4)é,.. The relative acceleration is a? \ de a? “\dtKdt Gp)q = (-800 + 320)2, —(400)é9. The magnitude is ld z,4| = V480" + 400? = 625 mm/s? Problem 2.171 The bars OA and OB are each 400 mm Jong and rotate in the x-y plane. OA has a counterclockwise angular velocity of 10 rad/s and a counterclockwise angular acceleration of 2 rad/s?. AB has a counterclockwise angular velocity of 5 rad/s relative to the nonrotating coordinate system. What is the velocity of point B relative to point A? Solution Use polar coordinates. The velocity of B relative to A is ia = (<. + ($F. 400(5)é (mm/s). In cartesian coordinates: (See Problem 2.133) &, sin + j cos@ , from which the relative velocity in cartesian coordinates is Fava = (400)(5)(—7 sin 60° + j cos60”) = 1732.17 +1000 (mm/s) <>: Problem 2.172 _ In Problem 2.171, what is the acceleration of point B relative to point A? Solution Use polar coordinates: The acceleration of B relative to A is 2 2 2 . 2 (2) la + ¢ 2), = ~400(25)é, . In cartesian coordinates: cos6 + j sin® , from which fg, =-50001 ~ 8660] (mm/s?)cms — — ae —=<7 a Problem 2.182 In Problem 2.181, at what point on the x axis should the player aim the puck's velocity vector relative to him so that it enters the goal? Solution Use the solution to Problem 2.181. The velocity of the puck relative to the player is 5pm =—V(i cose +k sind) (fr/s). The velocity of the player relative to the rink is Fyyp = 41 —20K (ft/s). The velocity of the puck relative to the rink is Fpye =V pin +P y)p = (4—V cos6)i —(20+V sinO)k . The path of the puck is x(t) =(4—Veos6)r+12 ft, 2(t)=-(20+V sin6)r +12. The x axis crossing occurs when z(T)=0, (4-1 38) from which 7'=——!2___ 5, from which x = (4= 1002080) 20+ 100sin@ 20+ 100siné x= 347 fi (the solution to Problem 2.181) when 6 = 45°, and it does. check. To hit the center of the goal, x =0, from which (cos6 —sin6) = 0.24.. This can be solved by iteration to obtain 6 = 35.23° ‘The aiming point is the point that the puck would strike if the player were stationary, hence the velocity + 1a. Check: This should reduce to relative to the player is used. The path relative to the player is xpjx (#)=-100c0s3523°r+ 12, and : 12 : zpy(t) = -100sin35.23°1 +12. At zpyy(T)=0, T=——2 = 0208 s, from which aoe ein(t) 100sin 3523 [xpin(T) = -4.993 fi] is the aiming point, = < Problem 2.183 An airplane flies in a jet stream flowing east at 100 miles per hour. The airplane's airspeed (its velocity relative to the air) is 500 miles per hour toward the northwest. What are magnitude and direction of airplane's velocity relative to the earth? Solution The airplane's relative velocity is Farx =V(F cos0+ j sind), where V = 500 mi /hr, and @ Fwic Fac = Faye + Pw iG = (100+500c0s6)F + 500sin gj 12536? +3536? where 180° must be added because the angle is in the second quadrant. (The compass direction on a four point compass is 12565” -90° = 35.65? West of North.) = < Problem 2.184 In Problem 2.183, if the pilot wants to fly toward a city that is northwest of his current position, what direction must he point the airplane, and what will be the magnitude of his velocity relative to the earth? Solution The velocity relative to the earth: F416 = Faw +Fwig Fag = 500(i cos + j sind) +1007 = V(i cosi35” +7 sin135°), from which sin@ + cos@ = -0.2 Solve: 35°. The velocity of the air relative to the ground is (007 (mi / hr) . The velocity of the airplane relative to the ground is 35.1 mi /hr| The direction is B = tan“! (235)+ 180° = 125.65, 143.1°| (53.1° West of North ), and [V = 424.26 mi / hr] < 84Problem 2.185 A river flows north at 3 m/s. (Assume that the current is uniform.) If you want to travel in a straight line from point C to point D in a boat that moves a constant speed of 10 m/s relative to the water, in what direction do you point the boat? How long does it take to make the crossing? Solution The direction of travel from C to D is 6 = tan F-28660 500, north of east. The velocity relative to the earth is Fay2 =Vpyy +Fwie, Fare =Voye (i cosB + j sin B) =Vayy(7cos8 + Jjsin6)+37 (m/s) Reduce: Vpyz cos = Vp cOs® , Vays sin B = Vpyw sind +3, from which tmB= 10 Yanv Si08+3 sove:|0 = B- sn(2288) = 38.66 —sin™1(0.234) = 2511°| north of east (64.9° cos 09054 north) and Vgyg =Vgpy| > |= 10 >" |= 116 m/s. The distance i east of north) and Viy¢ Yom 228) aa) m/s. The distance is L L-=¥400? +500? = 6403 m, and the time of travel is|¢ 775525] Problem 2.186 In Problem 2.185, what is the minimum boat speed relative to the water necessary to make the trip from point C to D? Solution . The strategy is (a) to show that when the boat must follow a given straight line path, the ‘magnitude of the boat velocity relative to the water is a minimum when the boat heading is normal to the desired path, and then (b) to determine the value of this minimum, From the solution to Problem 2.185, the velocity along the desired path relative to the earth is Fae = Vere (i cosB + j sin B) =Vpry(i cosd + jsin@) +37. Equate the components, and take the ratio ei Venw sind +3 3cosB . to eliminate Vp,~ to obtain tanB = 2% "= solve: V, =>: The minimum occurs are Pees am = 80) Wa cos(B. (3cos)=0. Since A isa constant angle along the desired path, this x minimum is satisfied when cos(B-@)=0, or B- - From physical considerations, the boat will 2 cross only for an easterly heading, hence the positive sign is applicable, and ar = 38.66" 90° = ~5134°, which is perpendicular to the path. That this is indeed a minimum: ad Vw. ae? for this heading is|Vapw = 6= _6c0sBcos*(B-6) 4 —3e0sB sin?(B-0) sin(B -6) | =3cosB >0 The value of the minimum po 2 = 3c0s B = 2.34 m/s| x