Homework 4–Engineering Mechanics: Dynamics

Summer 2018

PROBLEM 15.CQ1

A rectangular plate swings from arms of equal length as shown

below. What is the magnitude of the angular velocity of the
plate?
(a) 0 rad/s
(b) 1 rad/s
(c) 2 rad/s
(d ) 3 rad/s
(e) Need to know the location of the center of gravity

SOLUTION
Answer: (a)
PROBLEM 15.CQ3

The ball rolls without slipping on the fixed surface as shown. What is the direction
of the velocity of Point A?

(a) (b) (c) (d ) (e)

SOLUTION
Answer: (b)
PROBLEM 16.CQ2

Two pendulums, A and B, with the masses and lengths shown are
released from rest. Which system has a larger angular acceleration
immediately after release?
(a) A
(b) B
(c) They are the same.

SOLUTION
Answer: (a)

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PROBLEM 17.CQ1

A round object of mass m and radius r is released from rest at the top of a curved surface and rolls without
slipping until it leaves the surface with a horizontal velocity as shown. Will a solid sphere, a solid cylinder or
a hoop travel the greatest distance c?

(a) A solid sphere

(b) A solid cylinder
(c) A hoop
(d ) They will all travel the same distance.

SOLUTION
Answer: (a) It has the smallest mass moment of inertia, so it will have the greatest speed at the bottom of the
PROBLEM 17.CQ2
surface.
A solid steel sphere A of radius r and mass m is released from rest and rolls without slipping down an incline
as shown. After traveling a distance d the sphere has a speed v. If a solid steel sphere of radius 2r is released
from rest on the same incline, what will its speed be after rolling a distance d?

(a) 0.25 v
(b) 0.5 v
(c) v
(d) 2v
(e) 4v

SOLUTION
Answer: (c) Using conservation of energy you can show that the speed after traveling a distance d will be
independent of the mass and the radius.

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 PROBLEM 15.82

An overhead door is guided by wheels at A and B that roll in

horizontal and vertical tracks. Knowing that when θ = 40° the
velocity of wheel B is 1.5 ft/s upward, determine (a) the angular
velocity of the door, (b) the velocity of end D of the door.

SOLUTION

Locate instantaneous center at intersection of lines drawn perpendicular

to vA and vB.
(a) Angular velocity.
vB = ( BC )ω
1.5 ft/s = (3.214 ft)ω
ω = 0.4667 rad/s ω = 0.467 rad/s
(b) Velocity of D:
6.427
In ∆CDE: β = tan −1 = 59.2°
3.83
6.427
CD = = 7.482 ft
sin β
vD = (CD )ω
= (7.482 ft)(0.4667 rad/s)
= 3.49 ft/s

vD = 3.49 ft/s 59.2°

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 PROBLEM 15.123
The disk shown has a constant angular velocity of 500 rpm counter-clockwise.
Knowing that rod BD is 10 in. long, determine the acceleration of collar D
when (a) θ = 90°, (b) θ = 180°.

SOLUTION

Disk A. ω A = 500 rpm = 52.36 rad/s

α A = 0, ( AB) = 2 in.

vB = ( AB)ω A = (2)(52.36) = 104.72 in./s

aB = ( AB)ω A2 = (2)(52.36)2 = 5483.1 in./s 2

(a) θ = 90°. v B = 104.72 m/s , v D = vD

2 in.
sin β = = 0.4 β = 23.58°
5 in.
vD and vB are parallel.

ωBD = 0

a B = 5483.1 in./s 2 , a D = aD , α BD = α BD

a D/B = [( BD )α BD β ] + [( BD )ωBD
2
β]
= [10 α BD β]+ 0
a D = a B + a D/B Resolve into components.

: 0 = 5483.1 + (10 cos β )α BD α BD = −598.26 rad/s 2

: aD = 0 − (10 sinβ )( −598.26) + 0 = 2393.0 in./s 2 a D = 199.4 ft/s 2

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 PROBLEM 16.63

A beam AB of mass m and of uniform cross section is suspended

from two springs as shown. If spring 2 breaks, determine at that
instant (a) the angular acceleration of the bar, (b) the acceleration
of Point A, (c) the acceleration of Point B.

SOLUTION

1 1
Statics: T1 = T2 = W = mg
2 2
(a) Angular acceleration:

L
ΣM G = Σ( M G )eff : T = Iα
2
1 L 1
mg = mL2α
2 2 12
3g 3g
α= α=
L L
ΣFy = Σ( Fy )eff : W − T1 = ma
1
mg − mg = ma
2
1 1
a= g a= g
2 2
(b) Acceleration of A:
a A = aG + a A/G
1 L
aA = g− α
2 2
1 L 3g
= g−
2 2 L
aA = − g aA = g
(c) Acceleration of B:
a B = aG + a B/G
L 1 L 3g
aB = a + α= g+ = + 2g aB = 2g
2 2 2 L

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 PROBLEM 16.74
A sphere of radius r and m has a linear velocity v0 directed to the left and no
angular velocity as it is placed on a belt moving to the right with a constant
velocity v1. If after first sliding on the belt the sphere is to have no linear
velocity relative to the ground as it starts rolling on the belt without sliding,
determine in terms of v1 and the coefficient of kinetic friction µk between
the sphere and the belt (a) the required value of v0, (b) time t1 at which the
sphere will start rolling on the belt, (c) the distance the sphere will have
moved relative to the ground at time t1.

SOLUTION

Kinetics: ΣFx = Σ( Fx )eff : F = ma

µk mg = ma
a = µk g

ΣM G = Σ( M G )eff : Fr = Iα
5 2
( µk mg )r = mr α
2
5 µk g
α=
2 r

Kinematics: v = v0 − at = v0 − µk gt (1)

5 µk g
ω = αt = t (2)
2 r
Point C is the point of contact with belt.
vC = −v + rω
5 µk g
vC = −v + r t
2 r
5µk g
vC = −v + t (3)
2
But, when t = t1, v = 0 and vc = v1
5µ k g 2v1
Eq. (3): v1 = t1 t1 =
2 5 µk g

Eq. (1): v = v0 − µk gt

2v1 2
When t = t1 , v = 0, 0 = v0 − µk g v0 = v1
5µ k g 5

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 fixed rods. If rod AB is released from rest when θ 5 30°, determine
immediately after release (a) the angular acceleration of the rod,
B
(b) the reaction at A.

16.119 A 40-lb ladder rests against a wall when the bottom begins to slide
out. The ladder is 30 ft long and the coefficient of kinetic friction A
L between the ladder and all surfaces is 0.2. For θ 5 40°, determine
(a) the angular acceleration of the ladder, (b) the forces at A and B. Fig. P16.1

16.120 A beam AB of length L and mass m is supported by two cables as

shown. If cable BD breaks, determine at that instant the tension in
the remaining cable as a function of its initial angular orientation θ.

C D

B
q q
A B
length of 2L 5 2 ft and is Fig. P16.120 θ
at slide without friction along
est when θ 5 30°, determine
ular acceleration of the rod,

en the bottom begins to slide

coefficient of kinetic friction A
bee87342_ch16_1107-1180.indd 1169
0.2. For θ 5 40°, determine
er, (b) the forces at A and B. Fig. P16.119

s supported by two cables as

at that instant the tension in
s initial angular orientation θ.

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 PROBLEM 16.145

A uniform rod AB, of mass 15 kg and length 1 m, is attached to the 20-kg

cart C. Neglecting friction, determine immediately after the system has been
released from rest, (a) the acceleration of the cart, (b) the angular acceleration
of the rod.

SOLUTION
Kinematics: We resolve the acceleration of G into the acceleration of the cart and the acceleration of G
relative to A:
aR = aG = a A + aG/A
aR = aC + aG/A

1
where aG/A = Lα
2
Kinetics: Cart and rod

mR = 15 kg
mC = 20 kg
L =1 m
1
I R = mR L2
12
1
aG /A = (1)α = 0.5α
2
ΣFx = Σ( Fx )eff : ( mC + mR ) g sin 25° = ( mC + mR )aC − mR aG /A cos 25°
mg L
g sin 25° = aC − α cos 25°
mC + mR 2
15
aC = (9.81)sin 25° + (0.5cos 25°)α
20 + 15
aC = (9.81)sin 25° + 0.19421α (1)

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 PROBLEM 17.14

The double pulley shown has a mass of 15 kg and a

centroidal radius of gyration of 160 mm. Cylinder A
and block B are attached to cords that are wrapped
on the pulleys as shown. The coefficient of kinetic
friction between block B and the surface is 0.2.
Knowing that the system is at rest in the position
shown when a constant force P = 200 N is applied to
cylinder A, determine (a) the velocity of cylinder A
as it strikes the ground, (b) the total distance that
block B moves before coming to rest.

SOLUTION
Kinematics. Let rA be the radius of the outer pulley and rB that of the inner pulley.
rB
v A = rAωC vB = rBωC = vA
rA
rB
s A = rAθC sB = sA
rA
Use the principle of work and energy with position 1 being the initial rest position and position 2 being when
cylinder A strikes the ground.
T1 + U1→2 = T2 :

where T1 = 0

1 1 1
and T2 = m A v 2A + mB vB2 + I C ωC2
2 2 2

with m A = 5 kg, mB = 15 kg, I C = mC kC2 = (15 kg)(0.160 m) 2 = 0.384 kg ⋅ m 2

1 m r2 I
T2 = m A + B2 B + C2 v A2
2 rA rA
1 (15 kg)(0.150 m) 2 0.384 kg ⋅ m 2 2
= 5 kg + + vA
2 (0.250 m) 2 (0.250 m) 2
= (8.272 kg)v A2

Principle of work and energy applied to the system consisting of blocks A and B and the double pulley C.
Work. U1→2 = Ps A + mA g s A − FF sB − mB g sB sin 30°

where sA = 1 m

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 PROBLEM 17.31

A sphere of mass m and radius r rolls without slipping inside a curved

surface of radius R. Knowing that the sphere is released from rest in the
position shown, derive an expression (a) for the linear velocity of the
sphere as it passes through B, (b) for the magnitude of the vertical
reaction at that instant.

SOLUTION
Kinematics: The sphere rolls without slipping.
v
v = rω ω =
r
Kinetic energy.
1 1
T= mv 2 + I ω 2
2 2
2
1 1 2 2 v
= mv 2 + mr
2 2 5 r
7
T = mv 2
10
7
T1 = 0 T2 = mv22
10
Work. U1− 2 = mgh = mg ( R − r )(1 − cos β )

Principle of work and energy. T1 + U1− 2 = T2 :

7
0 + mg ( R − r )(1 − cos β ) = mv22
10

10
(a) Linear velocity at B. v2 = g ( R − r )(1 − cos β )
7
Free body diagram when β = 0.

ΣF = mat : at = 0

ΣM G = I α : α =0

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 PROBLEM 17.43
The 4-kg rod AB is attached to a collar of negligible mass at A and to a flywheel
at B. The flywheel has a mass of 16 kg and a radius of gyration of 180 mm.
Knowing that in the position shown the angular velocity of the flywheel is 60 rpm
clockwise, determine the velocity of the flywheel when Point B is directly below C.

SOLUTION
Moments of inertia.
1
Rod AB: I AB = m AB L2AB
12
1
= (4 kg)(0.72 m)2
12
= 0.1728 kg ⋅ m 2
Flywheel: I C = mk 2
= (16 kg)(0.18 m) 2
= 0.5184 kg ⋅ m 2
Position 1. As shown. ω = ω1
0.24
sin β = β = 19.471°
0.72
1
h1 = (0.72) cos β = 0.33941 m
2
V1 = WAB h1
= (4)(9.81)(0.33941)
= 13.3185 J
Kinematics. vB = rω1 = 0.24ω1
Bar AB is in translation. ω AB = 0, v = vB
1 1 1
T1 = m AB v 2 + IABω AB
2
+ I C ω12
2 2 2
1 1
= (4)(0.24ω1 ) + 0 + (0.5184)ω12
2
2 2
= 0.3744ω1 2

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