Sei sulla pagina 1di 31

Contents

Chapter 1 :- Introduction

Chapter 2 :- Free body diagram & equilibrium

Chapter 3 :- Trusses & frames

Chapter 4 :- Friction

Chapter 5 :- Virtual work

Chapter 6 :- Rectilinear & curvilinear motion of the particle

Chapter 7 :- Kinetics of a particle

(a) Work & energy

(b) Impulse & momentum

Chapter 8 :- Impact : collision of elastic bodies

Chapter 9 :- Kinetics of Rigid body

(a) Force & acceleration

(b) Work & energy


Q. A fly wheel rigidly attached to shaft of 5 cm radius is placed on two parallel
rails which are fixed at an angle α = 150 to the horizontal as shown in fig. when
released from rest, the system rolls through a distance of 0.875 m in 10
seconds. Determine the centroidal radius of gyration of the system.
Sol.

Shaft

Fly wheel

θ = 150

θ
θ = 150

M+m

Where M = flywheel mass , a = linear acceleration


m = shaft mass , α = angular acceleration
F = friction force

∑ Fy = (M + m) x a
(M+m)gsin150 – F = (M + m) x a

(M+m)gsin150 – (M + m) x a = F

∑ MG = IG x α
Fxr = IG x α
𝑎
[ (M+m)gsin150 – (M + m) x a ] x r = (M + m) K2 x 𝑟
𝑎
[ (M+m)gsin150 – (M + m) x a ] x r = (M + m) K2 x 𝑟

SHUBHAM SINGH
SHUBHAM SINGH
𝑎
[ gsin150 – a ] x r = K2 x 𝑟

u= initial velocity = 0
s = 0.875 m
t = 10 sec

1
s = ut + x at2
2
0.875 = 0 + 0.5 x a x 102

a = 0.0175 m/sec2

𝑎
[ gsin150 – a ] x r = K2 x 𝑟
0.0175
[ 9.81 x sin 150 - 0.0175 ] x 0.05 = K2 x 0.05

K2 = 0.36

K = 0.6 m

K = 60 cm

NOTE =>
∑ Fx = max
∑ Fy = may Equation of motion of a rigid body
∑ MG = IGα
Rolls without slipping
In this case, the forward motion of the mass is related to its angular motion. The
distance travelled and the angle turned by the body are related as
x = rθ , v = rω , a = rα

a = rα
Only used when a body rolls without slipping.
Q. Two masses M1 and M2 are connected by a string passing over a pulley of
mass M and radius of gyration ig. Find the acceleration of the system . Are
tension same on both the string ?
Sol.
α

r r
M M

T2 T1
T2 T1

M2 M1 a M2 M1
a

T2 T1

M2a M2 M1a M1

M2g IG α M1g
α

r
M

T2 T1

SHUBHAM SINGH
Assume :- M1 > M2

For mass M1 ,

∑ Fy = ma

M1g - T1 = M1 x a , T1 = M1 x g - M1 x a

For mass M2 ,

∑ Fy = ma

-M2g + T2 = M2 x a , T2 = M2 x a + M2 x g

For Pulley :-

∑ MG = IG x α

T1 x r – T2 X r = M x (ig)2 x α

(M1g – M1a) x r - (M2a + M2g) x r = M x (ig)2 x α


𝑎
(M1g – M2g) x r - (M1a + M2a) x r = M x (ig)2 x
𝑟

SHUBHAM SINGH
𝑎
(M1g – M2g) x r = (M1a + M2a) x r + M x (ig)2 x 𝑟

𝑎
(M1 – M2) x r x g = (M1r + M2r) x a + M x (ig)2 x 𝑟

M x (ig)2
(M1 – M2) x r x g = [ M1r + M2r + ]xa
𝑟

(M1 – M2) rg
a= 2
M1r + M2r + M x (ig)
𝑟

Why both pulley having same acceleration wherever the masses of the
pulley is not same. M1 ≠ M2

Ans. Consider a two step pulley supports two r1


weights P & Q. ( P > Q)
r2
Let the acceleration of weight Q on pulley
r1 is = aq
similar for pulley P , ap
P Q
Relation b/w ap & aq

For an angle θ turned by the pulley,


l1
θ
l2

l1 l2
θ= =
𝑟1 𝑟2
𝑎𝑟𝑐
Angle =
𝑟𝑎𝑑𝑖𝑢𝑠
SHUBHAM SINGH
l1 x r2 = l2 x r1

Differentiating twice wrt time


𝑑2 𝑑2
(l x r2) = 𝑑𝑡2 ( l2 x r1)
𝑑𝑡2 1

aq x r2 = ap x r1 Always remember this equation

ap x r1
aq = aq x l2 = ap x l1
r2

So in our case the both masses having different magnitude but


they are attached to same pulley means l1 = l2 , r2= r1 so according
to our equation ,

a1 x r = a2 x r

a1 = a 2 = a

That’s why both the masses having same acceleration .

(b) As from our solution you can easily see that,

T1 ≠ T2

SHUBHAM SINGH
Q. A solid homogeneous cylinder A and a pipe B are in contact when they are
released from rest from an inclined plane as shown in fig, If they roll without
slipping. Determine the distance between them after 2 second.
Sol.

r
r

α = 150

For cylinder
α

a
R
W
α = 150

Where F is friction force.

∑ Fx = ma ∑Fy =0
𝑊 Wcos150 – R = 0
Wsin150 –F= x a
𝑔
R = Wcos150
𝑊
F = Wsin150 – x a
𝑔

∑ MG = IG x α

𝑊 𝑟2 𝑎
Fxr = x 2 x
𝑔 𝑟

𝑊
F = xa
2𝑔

SHUBHAM SINGH
Using the equation

𝑊
F = Wsin150 – x a
𝑔
𝑊 𝑊
x a = Wsin150 – x a
2𝑔 𝑔

2𝑔
a= x sin150
3

1
s = ut + 2 x at2
2𝑔
s1 = 0 + 0.5 x x sin150 x 22
3

s1 = 3.385 m

s1 = Distance travelled by the cylinder before coming into rest.

For pipe
α

a
R
W
α = 150

∑ Fx = ma ∑Fy =0
𝑊 Wcos150 – R = 0
Wsin150 –F= x a
𝑔
R = Wcos150
𝑊
F = Wsin150 – x a
𝑔

SHUBHAM SINGH
∑ MG = IG x α

𝑊 𝑎
Fxr = x r2 x
𝑔 𝑟

𝑊
F = xa
𝑔

Using the equation

𝑊
F = Wsin150 – x a
𝑔
𝑊 𝑊
x a = Wsin150 – x a
𝑔 𝑔

𝑔
a= 2
x sin150

1
s = ut + 2 x at2
𝑔
s2 = 0 + 0.5 x 2 x sin150 x 22

s2 = 2.539 m

s2 = Distance travelled by the pipe before coming into rest.

So the Distance b/w them

s1 - s2 = 3.385 – 2.539 = 0.845 m

SHUBHAM SINGH
Q. A fly wheel of mass 1000 kg and radius of gyration 30 cm has a block M of
mass 15 kg attached to a cord wrapped around its rim of radius r = 40 cm. If the
system is released from rest find the acceleration of the block M and the
speed of the block after it has travelled a distance of 1 m.
Sol.

α M

T
T

M
a
1m

Where M = mass of block = 15 kg


m = mass of the fly wheel = 1000 kg
K = radius of gyration = 30 cm
r = radius of fly wheel = 40 cm
u = initial velocity = 0
s = 1 meter
For body M
∑Fy = Ma
Mg – T = Ma
T = Mg - Ma
SHUBHAM SINGH
∑ MG = IG x α

𝑎
T x r = m x K2 x
𝑟

𝑎
(Mg – Ma) x r = m x K2 x
𝑟

𝑀𝑔𝑟2
a =
𝑀𝑟2+𝑚𝐾2

Putting the values,

15 𝑥 9.81 𝑥 0.42
a =
15 𝑥 0.42+1000 𝑥 0.32

a = 0.254 m/sec2

v2 = u2 + 2as
v2 = 0 + 2 x 0.254 x 1

V = 0.712 m/sec

Shapes MOI

Cylinder/ Solid disc 𝑚 𝑥 𝑟2


2
Hollow disc 𝑚 𝑥 𝑟2

Hollow cylinder 𝑚 𝑥 (𝑟12+𝑟22)


2
Sphere (solid) 2𝑚 𝑥 𝑟2
5

Sphere (hollow) 2𝑚 𝑥 𝑟2
3

SHUBHAM SINGH
Q. A cord over a pulley as shown in fig. carrying a mass M1 at the end and
wrapped around a cylinder of mass M2 which rolls on a horizontal plane.
Determine the acceleration of mass M1 . Assume the pulley to be massless.

r
massless pulley
M2

M1

T2 T2
α
a
T1
F M2
T1
M1
a’

Where M1 = block mass , a = linear acceleration


M2 = cylinder mass , α = angular acceleration
F = friction force

For mass M2

∑ FX = M2 x a

T2 – F = M2 x a

T2 = F + M2 x a

SHUBHAM SINGH
For mass M2
∑ MG = IG x α
M2x 𝑟2 𝑎
T2 x r + F x r = x
2 𝑟

M2x 𝑟2 𝑎
[F + M2a + F ] x r = x
2 𝑟

−M2a 3M2a
F= T2 =
4 4

For pulley (no mass)

∑ MG = IG x α = 0 No mass, no mass moment of inertia


Assume pulley radius r’
T2 x r’ – T1 x r’ = 0

3M2a
T2 = T1 = 4

For mass M1,

∑ Fy = M1 x a’

M 1g - T 1 = M1 x a’
3M2a
M 1g - = M1 x a’
4

3M2
M1g = M1 x a’ + xa a’ = 2a
4

3M2 𝑎′
M1g = M1 x a’ + x
4 2

3M2
M1g = { M1 + } x a’
8

SHUBHAM SINGH
M1g
a’ =
M1 + 3M2
8

Why acceleration of mass M1 is twice the acceleration of mass M2 ?


𝑥
2

Sol.
r a
M2 M2

M1
a’
x

M1

Distance travelled by mass M1 = x


Distance travelled by mass M2 = 𝒙
𝟐

As we know , aq x l2 = ap x l1

aq = a’ , ap = a
𝑥
𝑥 l2 = 2 , l1 = x
a’ x 2 = a x x

That’s why

a’ = 2a

SHUBHAM SINGH
Q. A circular rotor of weight W and radius r which can rotate about its
geometric axis is braked by the device shown in Fig . The rotor has an initial
angular velocity  before the brake is applied . If the coefficient of friction
between rotor and the brake shoe is µ , how many revolution will the rotor
make before coming to rest?
b

a
0

α
r
P

a
0

μR
R T

R T
μR

W r
P

SHUBHAM SINGH
For brake shoe

∑ M0 = 0

Txb–Rxa = 0

𝑇𝑥𝑏
R=
𝑎

For rotor

∑ Fy = 0

R+W = 0

∑ MG = IG x α

μR x r = IG x α

𝑇𝑥𝑏 𝑊 𝑟2
μx x r = 𝑥 x α
𝑎 𝑔 2

2μ 𝑇𝑏𝑔
α =
𝑊𝑎𝑟

Using newton’s equation for angular motion ,

ω2 = ω02 + 2αθ

SHUBHAM SINGH
ω2 = ω02 + 2αθ

ω2 = ω02 + 2αθ ω0 = initially at rest

2μ 𝑇𝑏𝑔
ω2 = 2 x θ x
𝑊𝑎𝑟

𝑊𝑎𝑟ω2
θ =
4μ 𝑇𝑏𝑔

As we know , θ = 2πn

θ
n = 2π

𝑾𝒂𝒓ω2
n =
𝟖π𝝁𝑻𝒃𝒈

SHUBHAM SINGH
Q.A right solid circular cylinder of weight W and radius r is pulled u[p a 300
inclined plane by a constant force F = W/2 . The force F is applied to the end
of a string wound the circumference of the cylinder as shown in Fig . Find the
acceleration of the centre of mass G of the cylinder assuming no slip at the
point of contact A.

α
G
W
A

α = 300

θ
W Wcosθ
θ = 300

∑ Fy = 0

Wcos300 – R = 0

Wcos300 = R

SHUBHAM SINGH
𝑊
∑ Fx = xa
𝑔

𝑊 𝑊
- Wsin300 – F1 = xa
2 𝑔

𝑊 𝑊
- Wsin300 - x a = F1
2 𝑔

∑ MG = IG x α

F x r + F1 x r = IG x α

𝑊 𝑊 𝑊 𝑊 𝑟2
xr+ (2 - Wsin300 - xa)xr = 𝑥 x α
2 𝑔 𝑔 2

ar 𝑟2 𝑎
r - rsin300 - = x
𝑔 2𝑔 𝑟

3𝑎
1 - sin300 = 2𝑔

𝒈
a=
𝟑

SHUBHAM SINGH
Q. A uniform bar of weight W and length l is supported as shown in fig . If the
wire BC suddenly breaks determine (a) the acceleration of the end B (b)
the reaction at the pin support.
C
l

A B

C
l
BC wire suddenly breaks

A B

When wire suddenly break, the bar will started moving in downward direction
instantaneously. So the bar having both tangential as well as normal acceleration .

Ry

l
A B
Rx an
at

SHUBHAM SINGH
∑ Fy = mat

W - RY = mat

𝑊 𝐿
W - RY = x xα
𝑔 2
a=rxα
𝐿
𝑊 𝐿 a= xα
RY = W- x xα 2
𝑔 2

∑ FX = man

𝑊
Rx = x an
𝑔

∑ MG = IG x α

𝐿 𝑚 𝐿2
RY x = xα
2 12
𝑊
𝑚𝐿 ∴m =
RY = x α 𝑔
6

𝑊 𝐿 𝑚𝐿
W- x xα = xα
𝑔 2 6

𝑊𝐿 𝑊 𝐿
W = xα + x xα
6𝑔 𝑔 2

4𝑊𝐿
W = xα
6𝑔

6𝑔 3𝑔
α = =
4𝐿 2𝐿 Answere

𝐿
∴ at = r x α = xα
2

3𝑔 𝐿 3𝑔
at = x at =
2𝐿 2 4
SHUBHAM SINGH
Using the equation ,
𝑊 𝐿 3𝑔
RY = W- x 2 x 2𝐿
𝑔

𝑊
RY = (N)
4

Using the equation ,


𝑊
Rx = x an
𝑔

𝑊
Rx = x0
𝑔

Rx = 0

R = Rx2 + Ry2

𝑊 𝑊
R = 0 + Ry2 = RY = R=
4 4 Answere

Why the normal acceleration is equal to zero, wherever the α is not


equal to zero ?

Sol. As we know that an = rω2 , but in this question bar is suddenly breaks, it
means the instantaneous angular velocity is equal to zero, ω = 0 . But it is
increasing continuously then also angular acceleration is not constant. It will also
increasing continuously. But in this question we have to find the Reaction when
the bar is suddenly breaks so never confused that ω = 0 but α ≠ 0 bcoz as
α increases the ω also increases.

SHUBHAM SINGH
Q. A sphere of mass M and radius r is pulled along a horizontal plane by a
horizontal force F applied to the end of a string attached to the C. G of the
sphere . Determine the acceleration of the C.G of the sphere . Assume it to roll
without slipping.

Sol. r
M F
G

F
a
Mg
F1

Where F1 is the friction force,

∑ Fy = Ma

F - F1 = Ma

F1 = F - Ma

∑ MG = IG x α

F1 x r = IG x α

SHUBHAM SINGH
F1 x r = IG x α

2 𝑎
( F - Ma ) x r = x Mr2 x
5 𝑟 2
IG = 5 Mr2
2 a = rα
F - Ma = xM xa
5

5𝐹
a=
7𝑀

In case of
α
(a) Rolls without slipping :- F1 ≤ μR
a

F1

a
(b) Slip without rolling :- F1 = μR
F1

α
(c) Rolls as well as slips :- F1 = μR
a

F1

SHUBHAM SINGH
Q. An arrangement consisting of a rod length 1.2m rigidly fixed to a
solid cylinder of diameter of 0.4 m is used for lowering the block A of
mass 100kg . Determine the mass of the rod so that the block will be
lowered a distance of 10 m in 5 seconds after the system is released
from rest.

cylinder
Rod
0

1.2 m 0.2 m

A 100 kg

W α

0.6 m

T
T

100 kg
a

Lets Rod having weight W and the cylinder having no mass means it is a
massless cylinder .

a is acceleration of the mass 100 kg.


α is the angular acceleration of the cylinder.
SHUBHAM SINGH
As we know ,

1
s = ut + 2 x at2
10 = 0 + 0.5 x a x 52

20
a = m/sec2
25

For the block of mass 100 kg ,


∑ Fy = mxa

100 x 9.81 – T = 100 x a


20
100 x 9.81 – T = 100 x 25

T = 901 N

∑ MG = I0 x α
a = r xα
-W x 0.6 + T x 0.2 = I0 x α

𝑊 𝐿2 𝑊 𝐿 𝑎
-W x 0.6 + 901 x 0.2 = ( x 12 + x (2)2 ) x 𝑟
𝑔 𝑔

I0 = moment of the inertia of the combined cylinder & Rod about


the centre O .

I0 = (I0) Rod + (I0)cylinder

But as we know that cylinder is massless. So (I0)cylinder = 0 ,


No mass , no moment of inertia.
(I0) Rod = IG + M x (Distance b/w centre of the mass to the point where we have

to calculate MOI)2
SHUBHAM SINGH
𝑊 𝐿2 𝑊 𝐿 𝑎
-W x 0.6 + 901 x 0.2 = ( x + x ( )2 ) x
𝑔 12 𝑔 2 𝑟

𝑊 (1.2)2 𝑊 1.2 20
-W x 0.6 + 901 x 0.2 = ( x + x ( )2 ) x
𝑔 12 𝑔 2 25 𝑥 0.2

901 x 0.2 = W x ( 0.6 + 0.1957 )

W = 226.4619 N

𝑊
M = = 23 kg
𝑔

SHUBHAM SINGH
 It gives me a great pleasure to present the solution of the unsolved
problem of Engineering mechanics.
 The solution is basically helpful for the undergraduate student and
for those who are preparing UPSC and Gate exam.
 I would very much appreciate suggestions and comments for the
improvement.

For complete E – book ,


Contact at
Email id :- singhshubham2846@gmail.com

Potrebbero piacerti anche