Solutions: Homework Set 1

1. Problem 1.3. Draw free-body diagram (FBD) of mass m. Forces on m include the
weight mg and the string tension T . Orient coordinates so that one axis is tangent to
the path of m and the other is normal to it (along the string, radially inward), and
apply Newton’s second law:
X
Fn = man : T − mg cos θ = mLθ̇2
X
Ft = mat : −mg sin θ = mLθ̈

dθ̇ dθ dθ̇
Either integrate the second equation, using θ̈ = = θ̇ :
dθ dt dθ
θ̇1 θ1  θ1
θ̇12
Z Z

mLθ̇ dθ̇ = −mg sin θ dθ =⇒ mL = mg cos θ
0 θ0 2 θ0

or use conservation
P of energy to obtain θ̇ at various values of θ. Finally use the
equation from Fn = man to find the tension at θ1 and θ2 .
2. P
Problem 1.5. Fixed axis rotation about the hinge axis. Draw FBD of door; apply
Mhinge = Ihinge θ̈. If ı̂, ̂ and k̂ are unit vectors directed along the bottom edge of
the door, along the hinge axis, and out of the plane of the door, respectively, C is the
door’s center of mass, O is any (fixed) point on the hinge axis, and W is the single
force vector equivalent to the distributed weight of the door (acting through C),
X
Mhinge = (rC/O × W) · ̂

where
B
rC/O = (ı̂ cos θ − k̂ sin θ)
2
and
W = W (−̂ cos α + ı̂ sin α)
The mass moment of inertia is given by
Z HZ B
W B2
Z
2 W
Ihinge = r dm = x2 dx dy =
0 0 gBH 3g
EOM:  
3g
θ̈ + sin α sin θ = 0
2B
3. Problem 1.8. Draw FBD of disk. Forces include weight and normal and friction
components of contact force. Applying Newton’s second law in the direction along
the path of the disk center yields:
X
Ft = mat : F − mg sin θ = m(R − r)θ̈

1
 Applying the rotational analog of Newton’s second law:
X
MC = IC α : F r = −IC ψ̈
where IC = mr2 /2. To relate θ and ψ, note that vA = 0 because there is no slip,
and PvA = vC + ω × rA/C . This gives (R − r)θ̇P = rψ̇. Use this to replace ψ̈ with θ̈ in
the MC = IC α equation, and then use the Ft = mat equation to eliminate the
unknown friction force F and obtain the EOM: 3(R − r)θ̈ + 2g sin θ = 0.
4. Problem 1.13. In this case, the equivalent spring constant keq relates the downward
displacement of mass m to the force on m, which equals the force F1 in spring k1 :
keq ≡ F1 /x. Unknowns are spring elongations e1 and e2 , spring forces F1 and F2 ,
and displacement x. Equations include Fi = ki ei , i = 1, 2, and x = (a/b)e2 + e1
(from kinematics), and F1 a = F2 b (from a FBD of the rigid massless bar, considering
rotation about O). Using these with the equation defining keq enables the unknowns
to be eliminated, yielding
k1 k2 b2
keq =
k1 a2 + k2 b2
5. For both cases (tip force and tip moment), draw FBD of portion of the beam from
position x to the right end, created by cutting the beam at location x. Then the
bending moment at x equals F (L − x) for the tip force case and M for the tip moment
case. Integrating EIv 00 = M (x) twice for the tip force case yields
 2
x3

F Lx
v(x) = − + C1 x + C2
EI 2 6
Applying the fixed-end boundary conditions gives C1 = C2 = 0, so that v(L) =
F L3 /3EI, and keq ≡ F/v(L) = 3EI/L3 .
Integrating EIv 00 = M (x) = M once for the tip moment case yields
M
v 0 (x) = x + C1
EI
where C1 must be zero from v 0 (0) = 0. In this case, the beam behaves as a torsional
spring, so keq ≡ M/v 0 (L) = EI/L.
5. Problem 1.29. Draw FBD of m, without including weight mg if the downward dis-
placement x is to be measured relative to equilibrium position. Then mẍ = −FS
where FS is equal to the (tensile) spring force, which must be equal to the midspan
load on the beam. From strength of materials (or Table 1.2, p. 38), the midspan
beam deflection δ is related to FS by FS = (192EI/L3 )δ. Since FS = ke, where e is
the spring elongation, and x = e + δ, the equation of motion becomes
−1
L3

1
mẍ + + x = 0,
k 192EI
if x is measured relative to equilibrium, or
−1
L3

1
mẍ + + x = mg,
k 192EI
if x is measured relative to the undeformed spring and beam position.