Engineering Mechanics Solutions Manual

Solutions Manual
For
Engineering
Mechanics
Manoj Kumar Harbola
IIT Kanpur
1
Chapter 1
1.1 Rotational speed of the earth is very small (about
5
10 7

radians per second). Its
effect on particle motion over small distances is therefore negligible. This will not be
true for intercontinental missiles.
1.2 The net force on the (belt+person) system is zero. This can be seen as follows. To pull
the rope up, the person also pushes the ground and therefore the belt on which he is
standing. This gives zero net force on the belt. For the person, the ground pushes him
up on the feet but the belt pulls him down when he pulls it, giving a zero net force on
him.
1.3 A vector between coordinates (x
1
, y
1
, z
1
) and (x
2
,y
2
,z
2
) is given by
k z z j y y i x x
) (
) (
) (
1 2 1 2 1 2
+ + . Thus (i), (ii) and (iv) are equal.
1.4 The vectors are (i) k j i
2 + + (ii) k j i

3
4 + (iii) k j i
2 + (iv) k j i
3
1.5 (i) The resultant vectors are
k i
6 +
, k j i
10
4 + and
k i
+
(ii) The resultant vectors are k j i
2 , k j i
2 + and
k i
7 +
1.6
1.7 On each reflection, the sign of the vector component perpendicular to the reflecting mirror
changes.
1.8
2
A
B A

+
B
A B

+
z
x
O
v
y
The fly is flying along the vector from (2.5, 2, 0) to (5, 4, 4). This vector is
k j i
5 . 2 + + .
The unit vector in this direction is
25 . 26
5 . 2
16 4 25 . 6
5 . 2 k j i k j i + +
+ +
+ +
. The velocity of
the fly is therefore k j i
k j i
39 . 0
20 .
25 . 0
25 . 26
5 . 2
5 . 0 + +
+ +
.
1.9 After time t, the position vectors
A
r
and
B
r
of particles A and B, respectively, are

j t l i t l r
A
cos
sin +
j t l i t l r
B
cos
sin +
Their velocities
A
v
and
B
v
are given by differentiating these vectors with respect to

time to get
j t l i t l
A
sin
cos v
j t l i t l
B
sin
cos v
Velocity
AB
v
of A with respect to B is obtained by subtracting

B
v
from
A
v
i t l
B A AB
cos 2 v v v

1.10 For rotation about the z-axis by an angle
sin v cos v v
' y x x
+ cos v sin v v
' y x y
+
z z
v v
'

It is given that
30 . Therefore
( )
y x x
v 3 v
2
1
v
'
+ ( ) 3 v v
2
1
v
' y x y
+
z z
v v
'

3
1.11 Component of a vector
A
along an axis is given by its projection on that axis. This is

obtained by taking the dot product of the vector with the unit vector along that axis.
Thus
1
cos
A i A A
x

2
cos
A j A A
y

3
cos
A k A A
z

Also
2 2 2
2
z y x
A A A A + +
Substituting the expression for A

x
, A
y
and A
z
completes the proof.
1.12 (i) Dot product of two vectors
A
and
B
is
z z y y x x
B A B A B A B A + +

This gives the dot product of the first vector of problem 1.4 each of the other vectors to
be 4, 2 and 25.
(ii) Cross product between two vectors
A
and
B
is

( ) ( ) ( )
y z z y z x x z x y y x
A B A B A B i A B A B j A B A B k + +
r r
Taking
A
to be the fourth vector and

B
to be the first, second and the third vector

gives the cross products to be
k j i
11
9 +
k j i
21
9 +
k j i
24
11
33 + +
1.13 If the angle between two vectors is , the cosine of this angle is given by
B A
B A

cos
. Thus
Between (i) and (ii)
7 . 82 127 . 0
26 38
4
cos
Between (i) and (iii)
2 . 88 037 . 0
110 38
2
cos
4
Between (i) and (iv)
8 . 149 865 . 0
22 38
25
cos

Between (ii) and (iii)
6 . 41 748 . 0
110 26
40
cos
Between (ii) and (iv)
1 . 102 209 . 0
22 26
5
cos

Between (iii) and (iv)
6 . 67 380 . 0
22 38
11
cos
1.14Vector
A
can be written as
( ) k j i A A
cos
cos
cos
3 2 1
+ +

Similarly
( ) k j i B B
cos
cos
cos
3 2 1
+ +

Taking the dot product between the two vectors and using the formula
B A
B A

cos
,
where is the angle between the two vectors, we get the answer.
1.15Magnitude cos 2
2 2
B A B A B A

+ + +
Similarly cos 2
2 2
B A B A B A

+
Equating the two gives
0 B A

which implies that the two vectors are perpendicular
to each other.
1.16 ( ) ( ) ( )k C B C B j C B C B i C B C B C B
x y y x z x x z y z z y

+ +

( ) ( ) ( ) ( )
x y y x z z x x z y y z z y x
C B C B A C B C B A C B C B A C B A + +

This comes out to be equal to ( ) B A C

and ( ) A C B

1.17 From the expression for ( ) C B A

it is clear that it is equal to the determinant
5
z y x
z y x
z y x
C C C
B B B
A A A
Interchange of two rows in a determinant changes the sign of the determinant. This
implies
z y x
z y x
z y x
z y x
z y x
z y x
z y x
z y x
z y x
C C C
B B B
A A A
C C C
A A A
B B B
A A A
C C C
B B B

thereby proving the equalities in problem 1.16.
1.18 ( ) ( ) ( )k C B C B j C B C B i C B C B C B
x y y x z x x z y z z y

+ +

Therefore
( ) ( ) ( ) {
( ) ( ) {
( ) ( ) { k C B C B A C B C B A
j C B C B A C B C B A
i C B C B A C B C B A C B A
y z z y y z x x z x
x y y x x y z z y z
z x x z z x y y x y
+
+

The x-component of ( ) C B A

( ) ( ) { ) ( ) (
Z z y y x z z y y x z x x z z x y y x y
B A B A C C A C A B C B C B A C B C B A + +
On the right hand side above, add and subtract
x x x
C B A
to get
( ) ( ) {
) ( ) (
) ( ) (
B A C C A B
B A B A B A C C A C A C A B C B C B A C B C B A
x x
Z z y y x x x z z y y x x x z x x z z x y y x y

+ +
6
Do the same manipulation for the other components to get
( ) ( ) ( )C B A B C A C B A

1.19 ( i)
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( ) i k a j a i a k a j a BC
i j a k a i a k a j a AC
k j a k a i a j a i a AB

+ +
+ +
+ +
(ii) Body diagonal from the origin to the opposite corner is ( ) k j i a

+ + .
This vector is perpendicular to the vectors AB, AC and BC in the plane, because its
dot product with each one of them vanishes. This shows that the diagonal is
perpendicular to the plane.
Another way to see this is to find a vector perpendicular to the plane by taking cross
product of any of the two vectors from AB, AC or BC, and show that it is parallel to
the body diagonal. For example taking the cross product of AB and AC gives
( ) j i k a AC AB

2
+ +
which is parallel to the body diagonal.
(iii) If the angle between OA and AB is then
( ) ( )
( )( )
2
1
2 2

cos
+
a a
j a k a k a i a
BA OA
BA OA
This gives 60 . Note that we have taken dot product with the vector BA rather
than AB because we wish to keep less than 90 . In the same manner we get the
angle between OA and AC also to be 60 .
1.20 The problem is to be solved exactly in tha same manner as done in example 1.3 by
replacing the position vector by the velocity vector and the velocity vector by the
acceleration.
7
1.21 Position vector ( ) j t i t R t R
sin
cos ) ( +
Velocity vector ( ) j t i t R
dt
t R d
t v
cos
sin
) (
) ( +
Acceleration ( ) j t i t R
dt
t v d
t a
sin
cos
) (
) (
2
+
1.22 (i) In reference frame 2, the components

2 2 2
, ,
z y x
V V V
of vector
V
at time t are given in

terms of its components
1 1 1
, ,
z y x
V V V
in frame 1 by formula (1.10) as
1 2
1 1 2
1 1 2
cos sin ) (
sin cos ) (
z z
y x y
y x x
V V
t V t V t V
t V t V t V
+
+

Here
1 1 1
, ,
z y x
V V V
are time-independent because vector
V
is constant in frame 1.
Differentiating
2 2 2
, ,
z y x
V V V
with respect to time, we get
0
sin cos
) (
cos sin
) (
2
2 1 1
2
2 1 1
2

+
dt
dV
V t V t V
dt
t dV
V t V t V
dt
t dV
z
x y x
y
y y x
x

(ii) From (i) it is clear that
V k
dt
V d

1.23 Done in later chapters

1.24 Magnitude of a vector quantity ) (t A
is fixed. This means

constant ) ( ) ( t A t A

Differentiating both sides with respect to time we get
0
) (
) (
dt
t A
t A

8
Since ) (t A
is not zero, the equation above implies that ) (t A
and
dt
t A d ) (
are
perpendicular to each other.
An everyday example is a particle moving in a circle. The magnitude of its position
vector is a constant and therefore its velocity, which is the time-derivative of its
position vector, is perpendicular to the position vector.
1.25
( )
( ) j t i t R OB
j t i t R OA
cos
sin
cos
sin
2
1

+
+
The area of triangle OAB is given as
( ) t
R R
t t R R OB OA 2 sin
2
cos sin 2
2
1
2
1
2 1
2 1

This is maximum at
4
or
2
2 t t
1.26 Let the angle between the z axis and the vector be . Then the component OB is
sin OA . Thus the magnitude of OB is
OA k
. However, its direction is

perpendicular to the plane containing the z axis and the vector OA. To get the proper
direction we again take cross product of
OA k
with
k
. The component in the z

direction is given as
OA k
. Thus the vector OA is ( ) ( ) k OA k k OA k

+ . In general
k
can be replaced by n .
9
Chapter 2
2.1 (i)
(ii) Since the element of length y is in equilibrium, we have
yg
L
M
y y T y T + + ) ( ) (
Using Taylor series expansion for T(y+y), which gives
+ + + +
2
2
2
) (
2
1
) ( ) ( y
dy
T d
y
dy
dT
y T y y T
And taking limit
0 y
leads to the differential equation for T(y). The equation is
g
l
M
dy
dT

Solution of this equation is
C gy
L
M
y T + ) (
where C is the integration constant. This is determined by using the fact that at the lose
end (y=L) of the rope, the tension is zero. This gives
Mg C
and g
L
y L M
y T
) (
) (

10
y
L
y
T(y)
T(y+y)+
2.2 Torque
F r

It is given that j i r

2 +
and the force has magnitude 50N and acts in the direction of
vector j i
3 + . Thus the force is 50 times the unit vector in the direction of the given
vector. This gives
,
`
.
| +
13
3
50
j i
F
With this the torque is

( ) ( ) k j i j i
13
50
3
13
50

2 + +
2.3 (a)
(b) The centre of the rod is at (3, 2)
100N
100N
3m
11
The right end is at position j i r
8 +
and the force at this end is
,
`
.
|
+ j i F
2
1
2
3
100
The left end is at position j i r
2 +
and the force at this end is
,
`
.
|
+ j i F
2
1
2
3
100
Torque with respect to the origin =

( ) ( )
k
j i i j i j i j i j i
500
2
1
2
3
100
10
2
1
2
3
100
2
1
2
3
100
,
`
.
|
+
,
`
.
|
+ + +
,
`
.
|
+ +
Torque with respect to the centre of the rod =
( )
k
j i i j i i j i i
500
2
1
2
3
100
10
2
1
2
3
100
2
1
2
3
100
,
`
.
|
+
,
`
.
|
+ +
,
`
.
|
+
Torque with respect to the left end of the rod =
k
j i i
500
2
1
2
3
100
10
,
`
.
|
+
Torque with respect to the right end of the rod =
k
j i i
500
2
1
2
3
100
10
,
`
.
|
+
(c) Torques about all the points are equal because the net force on the rod is zero.
3m
12
2.4 (a)
(b)
0
y
F
gives
220 +
B A
T T (i)
Net torque about A is zero, which gives
415
120 5 . 2 30 5 . 1 70 1 3
+ +
B
T
(ii)
Equation (ii) gives N 138
B
T
This substituted in equation (i) gives N 82
A
T
2.5 Component of force in the plane perpendicular to the axis is cos F at a distance of R
from the axis.
Therefore the torque about the axis is cos RF
2.6 Free-body diagram of the block
30N
0.5m
A
3m
1m
B
70N
120N
T
A
T
B
13
N
1
, N
2
and W are three forces in a plane. Thus they must pass through one common
point for equilibrium. So the equilibrium conditions are only the force conditions.
0
horizontal
F
gives
cos sin
2 1
N N
0
vertical
F
gives
W N N + sin cos
1 1
Solution of these two equations is
sin and cos
2 1
W N W N
N
2
N
1
W
14
2.7 Free-body diagram of the plank
Free-body diagram of the block
If the rod makes angle with the horizontal then
2 . 0 sin and 98 . 0 cos
(a) To get the horizontal force F, we first calculate the normal force N on the rod. To do so,
we calculate the total torque about the hinged end of the plank ( ) cos 100 3 1 + N and
equate it to zero. This gives
N
N
294
98 3
cos 100 3

Now we balance the horizontal forces
( ) 0
horizontal
F
on the block to get
N
0.2m
Rx
100N
2m
1m
Ry
F
N
ground
N
15
N
F
59
294 2 . 0
sin 294

(b) Force balance on the plank
N N R F
x horizontal
59 sin 0

100 cos 0 +
N R F
y vertical
This gives
N R
y
188 288 100
Minus sign in front implies that the direction is opposite to that shown in the free-body
diagram above.
2.8 Free-body diagram of the rod
Balancing the vertical forces gives N
1
= W = 50N
Balancing the horizontal forces gives N
2
= F
Balancing the torque about the centre of gravity gives
5 . 0 50 8 F
leading to
N F 8 . 8
8
25

2.9 Free body diagram of the painting
W
N
2
F
N
1
16
Force balance equations give
T F
x

and W N N +
2 1
N
1
and N
2
are equal because the component of torque perpendicular to the wall must vanish.
This gives
N
1
=N
2
=25N
Balancing the component of torque parallel to the wall taken about the lower end of the
painting gives
50 10 3 20 T
giving
N T 4 . 14
3
25

N
1
+N
2
T
W
F
x
W
N
1
N
2
17
2.10 We first calculate the forces at the ends of the rod. These forces are applied by the
supports. After finding the forces on the rod, we then calculate the forces and the
torques applied by the wall on the supports.
Free body diagram of the rod
Free body diagrams of the left and the right supports
The forces on the rod satisfy
0
y
F
which gives
35
2 1
+ N N
Taking torque about the left end and using
0
gives
N 15 35 60 140
2 2
N N
This gives
N 20
1
N
Now balancing vertical forces and the torque on the supports gives
35N
60cm
140cm
N
1
N
2
1
F
1
N
1
5cm

2
F
2
N
2
5cm
18
For the left support F
1
=20N and Nm 1 20 05 . 0
1

For the right support F
2
=15N and Nm 75 . 0 15 05 . 0
2

2.11
To find the force applied by the plastic block, we balance torque about the upper left corner. This
leads to
N 30 40 30 40 N N
Balancing the vertical forces gives Ry = 40N
Balancing the horizontal forces gives Rx = 30N
Negative sign means that the direction of Rx is opposite to that assumed in the free-body diagram
above.
Free-body diagram of the pole
Ry
40cm
40N
60cm
Rx
N
19
Balancing the vertical forces on the pole gives N = 40N
There is no net horizontal force and the two horizontal forces give a couple = 30 0.4 = 12Nm
Balancing the torques on the pole about the ground gives = 30 0.4 = 12Nm
2.12 Free-body diagram of the table
To find Ny, we balance the torque on the table about its left hand edge to get
N 10 20 45 90 Ny Ny
30N
40cm
30N
40N
N
90cm
Nx
Ny
Ry
Rx
20N
20
By balancing the vertical forces, we get
N 10 Ry
. The negative sign tells us that the force is
direction opposite to that shown above.
Free-body diagram of one of the rods
Free body diagram of the entire system
To get Nx, we balance the component of the torque coming out of the paper on the entire system
about the lower hinge. This gives
N 3 10 20 45 3 30 Nx Nx
Sx
Sy
2
Rx
30
2
Ry
2Sy
Nx
Ny
30
90cm
20N
2Sx
21
The negative sign again tells us that the direction of the force is opposite to that shown. Balancing
the horizontal component of the force on the table then gives N 3 10 Rx
Note: The net force on each rod on its upper end is j i j
Ry
i
Rx
3 5
2
+ which is along the
rod as it must be for the equilibrium of a rod held at its ends.
Balancing the horizontal and vertical components of forces on each rod gives
N 5 and N 3 5
2
Sy
Rx
Sx
Thus the net force on each rod is 10N compressive.
2.13 Free body diagrams of the two side portions and the portion AC over the pulley:

Tension T
A
and T
C
at both ends of the portion over the pulley is the same because the torque about
the centre must vanish. This gives Mg
L
L
T T
C A
1

Free body diagrams of the portion AB and BC
T
A
T
A
T
C
T
C
N
F
g
L
M L
1
g
L
M L
2
g
L
RM
22
Notice that Torque of the normal reaction about the centre of the cylinder vanishes because for
each small portion of the rope over the cylinder, the normal reaction is radial. Thus T
A
(or T
C
) and
T
B
cannot be equal because they together provide a torque to balance the torque due to the weight
of the rope. Balancing the torque about the centre on AB gives
g
L
M R
L T T R g
L
RM R
T R
B B A

,
`
.
|
+ +
2 2
2
2
1

Thus if the net force by the cylinder on the rope is N
eff
at an angle from the horizontal then by
force balance
g
L
M R
L N g
L
M R
L N
eff eff

,
`
.
|
+
,
`
.
|
+
2 2
cos
2
sin
1 1

Note that N
eff
acts at a point different from the centre of BC because on different infinitesimal
portions it is different.
2.14 The support does not apply any torque about the x-axis. All other components and torques
are balanced by the support.
2.15 When forces are applied at two points of the rod, force balance demands that the force be
equal and opposite. However two such forces acting at two different points will give rise to a
couple moment. The couple moment is zero only if the forces point along the rod (see figure
below)
N
effx
T
A
T
B
g
L
RM
2
N
effy
N
effx
T
C
T
B
g
L
RM
2
N
effy
23
2.16 Let cables OA and OC make angle
1
and OB and OD angle
2
with the vertical. Then
balancing the vertical forces gives
45000 ) sin (sin 2
2 1
+ T
The sine of the angles is easily calculated to be
5
2
4 1 1
1
sin
2
1
sin
2 1

+

This gives T=14050N
2.17 The torque direction is given by the direction of cross product
F n

, which is perpendicular
to n . This implies there is no component of the torque in the direction of n .
2.18 The net force on the plate is j i i j i
50
120
70
50
50 +
Therefore the force that must be applied to the plate to keep it in equilibrium is j i F
50
120 +
.
Since there are only three forces acting on the body, they must all pass through the same point so
that their net torque is zero. This is shown in figure below.
Couple moment non-zero Couple moment zero
24
The force j i F
50
120 +
is at an angle

,
`
.
|

6 . 22
120
50
tan
1
from the line DC. Thus it does

not pass through O and intersects with side AD and diagonal BD of the square. Therefore:
(i) It is not possible to keep the square in equilibrium by applying the third force at O.
(ii) It is possible to keep the square in equilibrium by applying the third force at a point on
BD.
Equation of BD with O as origin is
x y
Equation of line along which the third force acts is
,
`
.
|

2
3
12
5
2
a
x
a
y
Solving the two equations gives a x y
34
3

This gives the distance of point O = 0.125a
And from B =
a a 58 . 0
34
3
2
1
2
,
`
.
|

(iii) It is clear that for equilibrium, the force can be applied only on AD and BC.
D C
B A
O
25
Chapter 3
3.1 For the three trusses shown, m = 21, j = 12. Thus they all satisfy 2j-3 = m. Thus they are
all simple trusses.
3.2 Showing that pin E is in equilibrium
There are five forces acting on E of which two (FE and ED) are horizontal, two (CE and
the external load) are vertical and one (BE) is at an angle. We wish to check if the
horizontal and vertical forces add up to zero. It is solved in 3.1 that
( ) ( )
( ) ( ) Tensile N F Tensile N F
Tensile N F Tensile N F
DE CE
BE FE
3
000 , 10
,
3
000 , 10
3
2 5000
,
3
5000

Since all the forces are tensile, they all pull the pin. In addition there is the external load
of 5000N vertically down.
The net horizontal force is
0
3
10000
3
2 5000
2
1
3
5000
45 cos
+
+
DE BE FE x
F F F F
Similarly the net vertical force is
0
3
10000
3
2 5000
2
1
5000
45 sin 5000
+ +
+ +
CE BE y
F F F
3.3 (i) The truss has 4 members and 4 joints. Number of force balance equations therefore is 8
(2 number of joints). On the other hand, number of forces available is only 7 (3+number of
members), which implies that the truss will not be stable and will collapse. In terms of stability
condition
m j > 3 2
which implies that the truss will collapse.
(ii) If we add one more member to the truss, i.e make m = 5, then
m j 3 2
is satisfied and
the truss becomes stable and a simple truss. Let us add a member across AC.
26
To find forces in each member we start by first finding the forces applied by the
external supports. The free-body diagram of the truss is as follows:
The direction of the forces applied by the external supports has been anticipated as
shown. To find N
D
, we balance torque about A to get
N 6875
5000 75 . 2
5000 ) 60 cos 5 . 1 2 ( 2

'

+
D
D
N
N
Now balancing the vertical and horizontal forces on the truss gives
N
Ax
= 0 and N
Ay
= 1875N
The negative sign again tells us that the direction of the force is opposite to that shown.
We begin to apply the method of joints from point D since at this point there are two
unknown forces F
AD
and F
CD
. Assuming these forces to be tensile gives the free body
diagram of joint D as follows
C B
5000N
N
Ax
N
Ay
N
D
A D
27
Balancing the vertical forces on point D gives
N 7939 0 6875 60 sin +
CD CD
F F
The negative sign shows that the force F
CD
is compressive and not tensile as assumed.
Balancing the horizontal forces on point D gives
N 3969 0 60 cos
AD AD CD
F F F
The negative sign again shows that the force F
AD
is compressive and not tensile as assumed.
Next we go to point A and balance the forces there. The free body diagram of point A is
In drawing the figure above, we have shown the direction of FAD according to it being a
compressive force.
The length of rod AC is =
( ) ( ) 04 . 3 60 sin 5 . 1 60 cos 5 . 1 2
2 2
+ +
m
60
F
AD
F
CD
6875N
F
AB
60
3969N
1875N
F
AC
28
So
904 . 0
04 . 3
60 cos 5 . 1 2
cos and 427 . 0
04 . 3
60 sin 5 . 1
sin
+

Now balancing the horizontal forces at A gives
1875 sin 60 sin +
AC AB
F F
and balancing the vertical forces at A gives
3969 cos 60 cos +
AC AB
F F
Solving these two equations gives F
AB
= 0 and F
AC
= 4390N
Since the sign of F
AC
is positive it is in the same direction as assumed and therefore tensile.
Now we can easily see that force F
BC
will be zero because point B is under equilibrium under
only two forces F
AB
and F
BC
and F
AB
has already been determined to be zero. Thus F
BC
= 0.
Thus all the forces are now determined. They are
ve) (compressi N 7939
CD
F
ve) (compressi N 3969
AD
F
F
AB
= 0 F
AC
= 4390N (tensile) and F
BC
= 0.
Finally to check our answer we make the forces at point C and see if they all balance. The free
body diagram of point C is
Balancing the horizontal forces at C gives
0 3969 3969 cos 4390 60 cos 7939
Balancing the vertical forces at C gives
7939N
60
5000N
4390N
29
0 1875 5000 6875 sin 4390 5000 60 sin 7939
This indicates that our answers are correct.
Note: We see that F
AB
and F
BC
both vanish. This implies that members AB and BC may
not bee needed for the truss. This is true because with just three members AD, AC and CD
(m=3) there are only three joints (j=3) and the truss satisfies the condition
m j 3 2
for it
to be a stable structure.
3.4 Free body diagram of the truss
Since point C is in equilibrium under one known and two unknown forces, both unknown
forces can be determined easily. The forces on C look as follows
Ry
B
30cm
20cm
30N
A
C
N
Rx
30
30 sin
AC
F
With
13
2
sin
this implies F
AC
= 54N (compressive)
(tensile) N 45
13
3
54 cos
AC BC
F F
The only force left is at AB. We calculate this by balancing forces acting on pin A, which look
as follows.
This gives
N 30 sin
AC AB
F F
Additionally we can also solve for the normal reaction N and the forces Rx and Ry. These are
N = 54N, Rx = 45N, and Ry = 30N
F
BC
30N
F
AC
F
AC
F
AB
N
31
3.5 Rod AB provides a vertical force to hold pin A. However if it is removed and the vertical
force is provided by a fixed pin joint, the structure will remain stable because we need
3j=6 forces for equilibrium of 3 joints; two of these are provided by the fixed supports and
two by the two members. The forces in the members remain the same. So do the forces
by the two support except that the fixed point at A also provides a vertical fore of 30N that
was earlier provided by member AB.
3.6 Free-body diagram of the truss
Since pin D has only two unknown forces acting on it, we can start our calculations from this
point onwards. The forces on D are
C
N
Rx
Ry
100N
A
B
D
32
It is immediately clear that
F
AD
= 0 and F
CD
= 100 N (tensile)
Next we go to pin C and balance the forces there. The forces acting on C are
N 2 100
AC
F (compressive)
Balancing the horizontal forces at C then gives
N 100
BC
F
(tensile)
Next we go to pin A. The forces there are as follows
F
CD
100N
F
AD
F
AC
100N
F
BC
33
Balancing the vertical forces at A gives
N 100
AB
F (tensile)
Balancing the horizontal forces at A gives
N=100N
Finally balancing forces at pin B will give the external forces
Rx = 100N and Ry = 100N
3.7 Free body diagram of the truss is as follows
(i) There are 4 reaction forces at the supporting pins at A and B. In addition the forces
generated by the members of the truss equal 6. This makes the total number of forces
available = 10. The number of joints in the truss is 5 that require exactly 10 number of
forces for equilibrium. Thus the truss is a stable one.
N
F
AB
N 2 100
D C
A
B
500N
Rx
Ry
Nx
Ny
EE
N
34
(ii) It is also statically determinate since the number of forces available is equal to the
number of equations to be satisfied for equilibrium.
(iii) First we find Nx by balancing the torque about point B. This gives
N 1000 500 5 . 1 75 . 0 Nx Nx
We now begin by balancing the forces at point D
Balancing the vertical forces at D gives
N 2 500
ED
F (compressive)
Balancing the horizontal forces at D then gives
N 500
CD
F
(tensile)
Nest we go to pin E because it has two unknown forces acting on it. The forces are as follows
F
ED
500N
F
CD C
NN
F
AC
35
Balancing forces at E gives
N 500
AE
F (compressive)
N 500
CE
F
(tensile)
Next we go to pin at A. The forces there are
Balancing the forces gives
N 2 500
AC
F (compressive)
and
N 500 Ny
(tensile)
Finally we go to point C where only one force F
BC
is unknown. The forces on C are
F
AE A
N
F
CE
F
AC
Ny
500N
1000N 1
F
AC
36
F
BC
=1000N
As a final check, the value for F
BC
gives the horizontal force Rx by pin B on the truss to be
1000N and vertical force Ry to be zero. This is consistent with the overall equilibrium of the
truss when it is treated as a system by itself.
3.8 Since each member of the truss weighs 50N, at each pin we take the load by each pin at
that point to be 25N. The free body diagram of the truss is as follows; here each small
arrow pointing down indicates the weight of the truss member, acting at its centre. a
F
AC
F
BC
500N
500N
37
We firs find N
E
. To do this we balance the torque about B. This gives
N 2275 1000 2 100
2
3
50 150
2
+ + +
E E
N l
l
l
l
N l
This immediately gives, by balancing forces on the entire truss
N
Bx
= 0 and N
By
= 925N
The negative sign showing that the force I opposite to the direction assumed in the figure
above.
We begin at pin D as there are two unknown forces there. The force diagram on pin D is as
follows (there are two members meeting at pin D that give a load of 2 25=50N there)
C
B
1000N
A
D
E
N
E
N
Bx
N
By
38
1485N N 2 1050
CD
F (tensile)
and
N 1050
DE
F (compressive)
Next we go to pin E. The forces acting there are (including 3 25=75N from 3 members)
N 2200
CE
F
(compressive)
and
N 1050
AE
F (compressive)
Next we go to pin A. The forces acting there are (including 3 25=75N from 3 members)
F
CD
1050N
F
DE
F
AE
2275N
F
CE
+75N
1050N
39
N 1485 N 2 1050
AC
F (tensile)
and
( ) N 975 N 975 N 1050 75
AB AB
F F (compressive)
Net we move to point B where the forces are (including 2 25N=50N from two members)
This immediately gives
F
AB
= 975N (compressive) and F
BC
= 0
As a final check, one balances all the forces at C and sees that they all balance properly. This
implies that the answers obtained by us are correct.
3.9 Free body diagram of the truss with the weight of each member included. The free body
diagram is then as follows.
F
AB
1050N
F
AC
75N
F
AB
F
BC
925N
50N
40
By balancing the torque about A we get
( )
3
16750
67000
1000 10 5000 500 8 1500 6 500 4 1000 2 12

'
+ + + + +
D
D
N
N
Balancing the vertical and horizontal forces on the truss, this gives
3
11750
A
N and 0 Nx
For calculating force in members, we take the weight of each member shared equally at each
joint. The forces on A are (including the weight of two members)
Balancing the forces at point A
) (
3
10250
2
0
) ( 4832 500
3
11750
2
0
tensile N
F
F gives F
e compressiv N F or
F
gives F
AB
AF x
AB
AB
y

Next we go to point F. The forces at point F are (including the weight of three members)
F
E
D
C B
5000N
N
A
N
D
N
x
A
N
3
11750
F
AF
F
AB
500N
41
Balancing the forces here gives
) tensile ( N
3
10250
) tensile ( N 750
FE
BF
F
F
Next we go to point B since now there are only two unknown forces there. At point B the forces
look as follows (including the weight of four members)
Balancing the forces
N F F gives F
tensile N F
F
gives F
BC BC x
BE
BE
y
5083 0
2
2357
2
4832
0
) ( 2357
2
4832
750 1000
2
0
+ +
+ +
Negative sign above means that the direction of the force is opposite to the one assumed. So
F
BC
= 5083N (compressive)
N
3
10250
F
BF
F
FE
750N
750N
F
BC
4832N
F
BE
1000N 1
N
42
We next consider point C and balance the forces there. The forces at point C are (including 750N
form the weight of three members)
Balancing the forces
) ( 4333 5083
2
750 0
) ( 7188 5083
2
0
tensile N F
F
F gives F
e compressiv N F
F
gives F
CE
CD
CE y
CD
CD
x
+

Next we go to pin D where the normal reaction is

3
16750
N and balance the forces there. The force
diagram there is (including 500N form the weight of two members)
It is easily seen that the vertical forces balance at this point. This points to the correctness of our
calculations so far. Balancing horizontal forces then gives
F
ED
= 5083 N (tensile)
750N
F
CE
5083N
F
CD
500N
7188N
F
ED
N
3
16750 1
NN
N
43
As a final check we should check whether all the calculated forces balance at pin E. The forces at
pin E are (including the weight of four members)
All these forces balance as can be seen by calculating the net x and y components of the
forces. Thus our calculations are correct.
3.10 Free body diagram of the truss
Taking torque about B we get
3
8000
2000 4 3
E E
N N
Balancing the horizontal and vertical forces now gives
N
Bx
= 1000 N and N
By
=
3
2000
N
Negative sign above means that the direction of the force is opposite to the one assumed.
1000N
2357N 2
N
4333N
5083N
5000N
E
D
C
B
A
1000N
2000N
N
Bx
N
By
N
EE
N
44
We begin at pin D. The forces there are
In the diagram above
745 . 0
5 . 1
1 5 . 1
sin and 667 . 0
5 . 1
1
cos
2

Balancing the vertical forces gives
N 2683 2000 sin
ED ED
F F (compressive)
Balancing the horizontal forces gives
+ 1000 cos
ED CD
F F
2789N
Next we go to pin E. The forces there are
( ) N 895
3
8000
sin 2683 +
CE CE
F F (compressive)
1192 cos cos 2683
CE AE
F F
N (compressive)
1000N
F
ED
F
CD
2000N
F
AE
F
CE C
N
2683N
N
45
Next we go to pin A. The forces there are
Balancing the vertical forces gives F
AC
= F
AB
.
( ) ive) N(compress 895 1192 cos 2 cos +
AB AB AC AB
F F F F
This also means that
F
AC
= 895N (tensile)
Now we go to pin C. The forces there are
The vertical forces are already balanced here. Balancing the horizontal forces gives
N(tensile) 1596 2789 cos 895 2 +
BC BC
F F
To check our answers, we finally balance the forces at pin B and see if they all balance there.
At pin B the forces are as follows
F
AC
F
AB
1192N
895N
F
BC
895N
2789N
N
46
It is easily seen that all the forces above balance. So our answers are all consistent.
3.11 The weight of the road = volume of the road density g
= 12 8 .3 2000 10
= 576000N
This weight is divided equally between the two trusses on the sides. Thus only 288000N
is supported by each truss.
Weight of the members of the truss = 13 5000
= 65000N
Total weight supported by each truss therefore is = 353000N
Free body diagram of the truss is
From the balance of forces, is clear that
N 176500
2
353000
0
E Ay Ax
N N N
895N
1000N 1
N
1596N
N
Ax
H G F E
D C B
A
353000N
N
Ay
N
E
47
Let us now consider forces at each pin one by one. Each pin has the following forces
acting on it: The weight of the road divided over 5 pins, which is N 57600
5
288000
; the
weight of the members at that pin; and the forces applied by the members.
Let us now balance forces at point E. The forces on pin E are (including the weight of
the members)
In the figure above
8 . 0
5
4
cos 6 . 0
5
3
sin
Balancing the vertical forces in the figure above gives
N 142375 176500 5000 57600 cos + + +
DE DE
F F (compressive)
Balancing horizontal forces then leads to
N 85425 sin
DE FE
F F (tensile)
Next we consider pin D. The forces on pin D are (including the weight of the members)
57600N
F
EF
176500N
F
DE
5000N
48
N 85425 sin 142375
CD
F
(compressive)
N 106400 7500 8 . 0 142375
DF
F (tensile)
Next we look at pin F. The forces there are (including the weight of the members)
N 48500 106400 10000 57600 cos + + +
CF CF
F F
(compressive)
114525N N 85425 sin +
CF GF
F F
(tensile)
By symmetry of the problem, forces on the members to the left of member CG will be
exactly the same as on the corresponding members to its right. The only force that we
now have to calculate is on member CG. For this we consider point G. Two horizontal
F
CD
142375N
F
DF
7500N
57600N
F
GF
106400N
F
CF
10000N
85425N
49
forces at G are by HG and GF and are equal to 114525N each. The forces at point G are
then given as
This gives F
CG
= 65100N
Finally we check our answer at point C. The forces there (including the weight of 5
members meeting there) are
As is easily seen, the forces at C balance and therefore our calculations have been
consistent throughout.
3.12 Free body diagram of the truss is as follows
57600N
F
CG
7500N
114525N 114525N
65100N
48500N 48500N
F
CF
12500N
85425N 85425N
50
Here the distances and the angles are
AH = HG = GF = FE = 2.5m BH = DF = 1.25m (similarity of triangles)
894 . 0 cos and 447 . 0 sin 6 . 26 5 . 0
5 . 2
25 . 1
tan
Balancing torque about point A gives
N 1000 2000 5 . 2 1000 5 10 +
E E
N N
Thus N
A
= 2000N and R
A
= 0
Now that the external reactions have been determined, we can go about calculating the forces
in the members. We start with pin E because there are only two unknown forces there. The
forces at E are
N 2236 1000 sin
DE DE
F F (compressive)
2000 894 . 0 * 2236 cos
DE EF
F F N (tensile)
R
A
N
A
1000N
E
D
C
B
A F G H
2000N
N
E
F
EF

E
1000N
F
DE
51
Nest we go to pin D. The forces there are
N 2236
CD
F
(compressive)
F
DF
= 0
Next we go to point F where the forces are as shown below.
F
GF
= 2000N (tensile) F
CF
= 0
Pin G is considered next. Since the forces there are only vertical and horizontal, even without
making the forces there, we immediately can write
F
CG
= 0 and F
GH
= 2000N (tensile)
Next we consider point A where two members AB and AH meet and therefore there are two
unknown forces. The forces there are
D
2236N
F
DF
F
CD
2000N
F
CF
F
F
GF
0N
52
N 4472
4472 . 0
2000
2000 sin
AB AB
F F (compressive)
Balancing horizontal forces then gives
N 4000 cos 4472
AH
F (tensile)
Next we go to point B. Here there are four forces acting and each pair (F
BH
and 2000N; and
F
BC
and 4472N) has two forces in opposite directions. Thus without solving the detailed force
balance equations, we can directly write
F
BH
= 2000N (compressive) and F
BC
= 4472N (compressive)
Next we go to point H and balance the forces there. The forces there are as follows
By balancing the forces at H, it becomes clear that N 2 2000
CH
F (tensile)
Finally the answers are checked at C. The forces at C are as shown below
F
AB
F
AH
A
2000N
45
F
CH
4000N
2000N
H
2000N
53
As is easily seen, the horizontal a n vertical forces all balance at C. Thus our answers are all
correct.
To calculate the forces by method of sections, we make a cut through the truss so that it passes
the concerned members. In the present case we take the following section of the truss and
show various forces on that section.
In the figure above, F
CH
is determined easily by taking torque about A since the torque due to
F
CB
and F
GH
both vanish about A. This gives
N 2 2000 2000
2

CH
CH
F AH
F
AH
(tensile)
To find F
CB
, we balance the vertical component of the forces to get
N 4472
sin
2000
0 sin
2
+
CB CB
CH
F F
F
Negative sign here means that the force is opposite to the direction assumed and therefore is
compressive in nature.
Finally, balancing the horizontal forces leads to
1000N
D
2236N
4472N
N 2 2000
2000N
F
CB
B
A H
2000N
F
CH
F
GH
54
N 2000 894 . 0 4472 2000 0 cos
2
+ + + FGH F
F
F
CB
CH
GH

(tensile)
3.13 The free-body diagram of the truss on one side is as follows (Notice that the weight of the truck is
equally divided between the two trusses)
We first calculate NE by balancing torque about A. This gives
kN 5 . 37 kN 50 12 16
E E
N N
This gives N
A
= 12.5 kN and R
A
= 0
To find forces in members CD and DG, we make a cut through CD, DG and GF. This looks
like the following
To find F
GF
, we balance torque about point D about which the torques due to F
CD
and F
GD
vanish. This gives
R
A
N
A
N
E
50kN
H G F
E
D
C
B
A
F
GF
37.5 kN
50kN
F
GD
F
E
D
F
CD
55
kN 30 5 5 . 37 4
GF GF
F F
(tensile)
To obtain F
CD
, we take torque about point where F
DG
and F
GF
intersect, which is point G. This
leads to
kN 20 50 4 5 . 37 8 5
CD CD
F F
(compressive)
Now we balance the horizontal and vertical forces on the truss. Balancing horizontal forces
gives
kN 16 0 30 20
41
4
+
GD GD
F F

Negative sign here means that the force is opposite to the direction assumed and therefore is
compressive in nature.
To find the forces in the members BC and BG, we make a cut through the members BC, BG
and HG as follows and then calculate the forces.
To obtain F
BC
, we take torque about point where F
GH
and F
BG
intersect, which is point G. This
leads to
kN 20 5 . 12 8 5
BC BC
F F
(compressive)
Next we find F
GH
by taking torque about B. We get
kN 10 5 . 12 4 5
GH GH
F F
(tensile)
Finally we get F
BG
by balancing vertical and horizontal forces. Horizontal force balance gives
kN 16 10
41
4

BG BG
F F
(tensile)
Finally to find F
CG
, we make the following cut through the truss
12.5 kN
H
F
GH
F
BC
B
A
F
BG
56
Since the vertical forces all balance, this implies F
CG
= 0.
Further, the horizontal forces are also balanced.
12.5kN
37.5kN
50kN
H G F
E
D
F
CG
B
A
57
Chapter 4
4.1
4.2 Since the block is in equilibrium under three forces, the three forces must pass through the same
point. Thus the normal reaction will be at the point where the arrow showing the weight meets the
inclined plane. This is shown below.
4.3 The free body diagram of the block is as follows
Applied force
Frictional
force
s
N
F
max
f
mg
N
58
sin F f
cos F mg N +
Since the maximum frictional force
N f
max
, for equilibrium we should have
( )

cos sin
cos sin
+
mg
F F mg F
4.4 We consider two different situations when the weight on the table is about to move to the left or to
the right. When it is about to move to the left, its free body diagram will look as follows
By equilibrium conditions, we have
N = 50g
f + mg = 10g
f
N
mg
F
10g
N
50g
f
mg
59
Since
N f
We have
m g mg g f 5 50 1 . 0 10
Thus the minimum value of m is 5kg when the frictional force is at its maximum pointing to the
right. As m is increased above 5kg, frictional force becomes less and less, eventually changing
direction and attaining its maximum value pointing left. In that situation, the free body diagram of
the block on the table is as follows.
In this situation, the equation for horizontal force balance is
f + 10g = mg
This coupled with
N f
leads to
15 50 1 . 0 10 m g g mg f
Thus
15 5 m
4.5 Taking the x axis along the plane and the y axis perpendicular to the plane, the free-body
diagram of the block looks as follows.
50g
f
10g
N
mg
60
The equations describing equilibrium in the X and the Y directions are
+ 0 30 sin 100 30 cos 0 g F F F

x
0 30 cos 100 30 sin 0
g F N F
y
The first equation implies that
+ 30 sin 100 30 cos g F F
Taking g = 9.8ms
2
, the value of F for different values of F is
N 4 . 403 N 100
N 0 . 57 N 500
N 6 . 29 N 600

F F
F F
F F
4.6 Free body diagram of the box when it is about to move (i.e. the frictional force is at its
maximum) is shown below
N
F
F
30
30
X
Y
100g
N
a
b h
F
N
mg
61
When the box is about to move, the friction is at its maximum and is equal to N. The force F also
equals N at this point. This creates a couple that is counterbalanced by the couple formed by the
weight of the box mg and N (=mg). This is the reason that N shifts towards the direction of the
push. However, the maximum couple moment that can be created by mg and N is mg
a
2
. Thus for
the box not to topple, the couple created by F and the friction should remain less than mg
a
2
. Thus
implies
2 2
a
h mg
a
mg h
4.7 suppose each break show makes an angle at the centre as shown below
The force F is assumed distributed uniformly over the shoe. Then the torque due to the frictional
force will be
( )
( )
( )
( )
( ) b a
b ab a F
a b
a b F
dr r
a b
r F
b
a
+
+ +
2 2
2 2
3 3
2 2 3
2
3
2
2

With two shoes therefore, the torque would be

( )
( ) b a
b ab a F
+
+ +

2 2
3
4
4.8 It is given that mass M is balanced by mass m. The contact angle is . Since each time the
string is wound once more around the rod, the mass M that can be balanced by m becomes
twice as large, we have
62
) 2 exp( 2
) 5 exp( 4
) 3 exp( 2
) exp(
'
m M
m M
m M
This gives = 0.11
4.9 Neglecting the length of the rope passing over the pulley, we have mass
M
L L
L
2 1
1
+
on one
side of the pulley that is balanced by mass
M
L L
L
2 1
2
+
on the other side. Thus we have
2 1
2 1
2
2 1
1
) exp( ) exp( L L Mg
L L
L
Mg
L L
L

+
+
4.10 As the weight is put, it has a tendency to move down. Hence the frictional force will be in
the counterclockwise direction. Thus if the tension in the rope on the spring balance side is T
1
and that on the weight side is T
2
then
,
`
.
|
2
exp
1 2

T T
Now it is given that T
1
= 5g and T
2
= mg. Thus we get
kg m 85 . 6 ) 2 / 2 . 0 exp( 5
An interesting possibility exists if a person had pulled the weight down and then slowly
brought it to equilibrium. In that case the tension will work in the other direction and
kg m 65 . 3 ) 2 / 2 . 0 exp( 5
However we have not considered this possibility.
4.11 There is a range of M
2
that exists because frictional force can act with its maximum value in
one direction to the maximum in the other direction. Largest value of M
2
is when the mass M
1
is about to slide up the plane. The free body diagram of M1 in that case is as follows
63
When the mass M
1
is about to slide up, we have
) cos (sin cos sin
1 1 1 1 1
+ + g M g M g M T
The contact angle between the rope and the pulley is
,
`
.
|
+
2
Since the rope has a tendency to move clockwise, the frictional force due to the pulley will be
acting counterclockwise. Thus we have
( )
( )
'
'
,
`
.
|
+ +
'
'
,
`
.
|
+ +
'
'
,
`
.
|
+
2
exp cos sin
Thus
2
exp cos sin
2
exp
2 1 1 2
2 1 1 2 2 2
M M
g M g M T g M
The other extreme is when the mass M
1
is about to slide down the plane. In that case the free body
diagram of M
1
is
Thus we have
) cos (sin cos sin
1 1 1 1 1
g M g M g M T
f
N
M
1
g
T
f
N
M
1
g
T
64
Now the rope has a tendency to move counterclockwise, the frictional force due to the pulley will
be acting clockwise. Thus we have
( )
( )
'
'
,
`
.
|
+
'
'
,
`
.
|
+
'
'
,
`
.
|
+
2
exp cos sin
Thus
2
exp cos sin
2
exp
2 1 1 2
2 1 1 2 2 2
M M
g M g M T g M
4.12Free body diagram of the tire when it is loaded and is about to roll is as follows
bP
W
a W abP N
Balancing the horizontal forces gives F = f
Balancing torque about the centre of the wheel gives
bPR
W
F W
a
FR
2 2
2

N W
F
f
65
Chapter 5
5.1 Consider a composite surface of total area A made up of N different surfaces. Then the
coordinates
( )
C C
Y X ,
of the centroid satisfy
ydA AY
xdA AX
C
C
If the area of each surface is
) 1 ( N i A
i

then
i
i
A A
Now in the definition of the centroid, the integrals can be performed separately over each surface
so that we can write

i
i
i
Ci i C
i
i
i
Ci i C
Y A ydA AY
X A xdA AX
,
`
.
|
,
`
.
|
i
i C i i C i
C
i
i C i i C i
C
A
Y A
A
X A
Y
A
X A
A
X A
X and
5.2 By symmetry it is clear that X
C
= 2. We are nevertheless going to prove it below. We first
calculate the area of the surface. It is
( ) {
( )

4
0
2
4
0
4
0
2
2 16
2 4
dx x
dx x ydx A
Substituting 2 x z we get
3
32
3
16
16 16
2
2
2

dz z A
To calculate Xc, we take vertical strips of width dx on the
surface at distance x from the origin and then calculate
A
xdA
X
C

w
1
66
O X
Y
x
Thus
( ) {
2
3
32
2 4
4
0
2
dx x x
X
C
Similarly to calculate Y
C
, we take horizontal strips of width dy at height y and calculate
A
ydA
Y
C

At height y, the strip extends from x

1
to x
2
. These
points are given by the equation
( )
y x
y x x y
+

4 2 2
4 2 1 2 4
2
Therefore dy y dy x x dA 4 2 ) (
1 2
We thus have

4
0
4 2
3
32
dy y y Y
C
Substituting
2
sin 4 y so that
d dy cos sin 8
, we get
( )
( ) ( )
15
256
cos cos cos 128
cos cos sin 128 cos sin 8 cos 2 sin 4 2
3
32
1
0
4 2
1
0
2 2
2
0
2
d
d d Y
C
This gives
5
8
C
Y
Thus the centroid is at
,
`
.
|
5
8
, 2
w
1
67
x
1
x
2
O
X
Y
y
5.3 One curve (call it curve 1)
2
) 2 ( 4 x y in this problem is the same as that in the problem
above. The other curve (curve 2) is
( ) {
2 2
2 4 4 ) 2 ( 4 16 x x y
The y-axis of curve 2 is thus 4 times curve 1. The area of curve 2 is therefore
3
128
. Similarly the
x coordinate the centroid of curve will remain at 2 but the y coordinate will be
5
32
5
8
4 . Thus
we have
( ) ( )

,
`
.
|

,
`
.
|

5
32
, 2 ,
3
128
;
5
8
, 2 ,
3
32
2 2 2 1 1 1 C C C C
Y X A Y X A
The area A for which we wish to obtain the centroid
( )
C C
Y X ,
is obtained by removing surface
formed by curve 1 from the surface formed by curve 2. We thus have
( )
8
5
8
3
32
5
32
3
128
32
2 2 32
32
3
32
3
128
1 1 2 2
1 2 1 1 2 2

C C C C C
C C C C C
Y Y Y A Y A AY
X A A X X A X A AX
A
5.4 Trapezoidal loading is shown in the figure below
X
f(x)
X
1
X
2
w
2
w
1
68
The total force on the beam will be equal to the area under the curve. Thus the total force is equal
to
( )
( )
1 2
2 1
2
X X
w w
+
This load will be acting at the centroid of the area. Thus it acts at
( )
( ) ( )
( ) ( ) ( ) ( ) ( )
( ) ( )
( )( )
1 2 2 1
2 1 1
2
1 1 2 1 2
2
1 2 2 1 1
2
2 1
2
1 1 2 1 2
2
2 2
2
1 2
2
1 1
2
2 1
1 2 2 1
1 2 1 1 2 2 1
2
2
2
1 1 2
2
1
2
2
1
1 2 2 1
1
1 2
1 2
1
3
3 3 3 3 2 2 2 2 2 2 3 3
2
2 3 2
2
2
1
X X w w
X X w X w X X w X w X X w X w X w X X w X w X w X w X w
X X w w
X X X w w X X X X w w X X
w
X X w w
dx X x
X X
w w
w x
X
X
X
C
+
+ + + + +
+
+
+ +
+
,
`
.
|
( ) ( )
( ) ( )
( )( )
1 2 2 1
2 1 1 2 1 2 2 1
2
1 2 1
2
2
1 2 2 1
2 1 1 2 1 2
2
2 2
2
1 2
2
1 1
2
2 1
3
2 2
3
2 2
X X w w
X X w X X w w w X w w X
X X w w
X X w X X w X w X w X w X w
+
+ + +
+
+ +
Adding and subtracting

2 1 2
X X w and
2 1 1
X X w in the numerator we get
( ) ( )
( ) ( )
( ) ( ) ( ) ( )
( ) ( )
( ) ( )
( )
2 1
2 2 1 1 2 1
1 2 2 1
1 2 2 2 1 1 2 1 2 1
1 2 2 1
2 1 2 2 1 1 2 1 1 2 1 2 2 1
2
1 2 1
2
2
2 2
3
1
3
2 2
3
2 2 2 2
w w
X w w X w w
X X w w
X X X w w X X X w w
X X w w
X X w X X w X X w X X w w w X w w X
+
+ + +
+
+ + +
+
+ + + +
5.5 From figure 5.14, for a plate of width w

69
w gh w w gh w
2 2 1 1

Similarly, from figure 5.15
cos cos
2
2 2
1
1 1
h
Y X
h
Y X
This gives from formula 5.9
( )
( )
cos 3
2
cos ) (
) 2 ( ) 2 (
3
1
2 1
2
2 2 1
2
1
2 1
2 2 1 1 2 1
h h
h h h h
h h
h h h h h h
Y X
C C
+
+ +
+
+ + +

which is equivalent to the depth given by formula (5.17)
5.6 Loading on the tank door is triangular as shown below
The average pressure is the pressure of water at the centroid of the submerged part. Thus the
average pressure will be
2
) (
1225 125 . 0 8 . 9 1000

Nm gh
plate centroid
Thus the total force due to the water pressure is

N F 125 . 153 1225 25 . 0 5 . 0
0.25m
N
B
N
A
N
1
153.125N
19.6N
0.5m
70
This force acts at the centroid of the loading that is triangular in this case. Thus it is at a distance
( ) m 417 . 0 50 . 0 2 25 . 0
3
1
+
below point A.
We now apply equilibrium conditions to the door. This leads to
N 4 . 25 125 . 153
N 7 . 127 125 . 153 417 . 0 5 . 0
N 6 . 19
1
+

B A
B B
N N
N N
N
5.7 The rectangular surface looks as follows
To find I
xx
, we take a strip (see figure above) of width dy parallel to the x-axis and calculate
( )
12
3
2
2
2
ab
ady y I
b
b
xx

Similarly to find I
yy
, we take a strip (see figure above) of width dx parallel to the x-axis and
calculate
( )
12
3
2
2
2
b a
bdx x I
a
a
yy

To find I
xy
, we take a small square (see figure above) of size dx dy parallel and calculate
b
a
X
Y
71
( ) 0
2
2
2
2

b
b
a
a
xy
dxdy xy I
by symmetry of the inegrand.
5.8
From the figure
2 2
2 2
2
2 2
2 2 2 2
2 sin 1 2 cos
2
cos sin 2 2 sin
cos sin
b a
b a
b a
ab
b a
a
b a
b
+

+

+

From the formula for transformation of area moments (taking X and Y axis as in the problem
above) we get
b
Y
X
a
O
72
( ) ( ) ( )
( )
( )
2 2
3 3
2 2
2 2 2 2 2 2
' '
6
24 24
2 sin 2 cos
2 2
b a
b a
b a
b a a b ab b a ab
I
I I I I
I
xy
yy xx yy xx
x x
+
+

+
+
+
+

Similary
( ) ( ) ( )
( )
( )
( )
2 2
4 4
2 2
2 2 2 2 2 2
'
12
24 24
2 sin 2 cos
2 2
'
b a
b a ab
b a
b a a b ab b a ab
I
I I I I
I
xy
yy xx yy xx
y y
+
+
+

and
( )
( )
( )
( )
2 2
2 2 2 2
2 2
2 2
' '
12
2
24
2 cos 2 sin
2
b a
b a b a
b a
ab a b ab
I
I I
I
xy
yy xx
y x
+

73
[5.9
To calculate I
XX
we take a horizontal strip of width dy at y (see figure) for dA and calculate
dy y b
b
a
y dA y I
b
b
XX
2 2 2 2
2

Taking
sin b y
, we get
4 4
2 sin
2 cos sin 2
3
2
2
2
3
2
2
2 2 2 2
ab
d ab d b
b
a
b I
XX

Similarly for I
YY
, we take a vertical strip at x for dA and calculate
dx x a
a
b
x dA x I
a
a
YY
2 2 2 2
2

Taking sin a x , we get

4
3
b a
I
YY

And by symmetry
0
XY
I
b
a
X
Y
Y
74
We now calculate the moments and product of inertia about a set of axes rotated by an angle
3

with respect to the original one and with the same origin. Thus
( )
2 2
2 2 2 2
' '
3
16
8
) (
2
1
8
) (
120 sin 120 cos
2 2
b a
ab
a b ab a b ab
I
I I I I
I
xy
yy xx yy xx
x x
+
+
+

Similarly
( ) ( )
( )
16
3
8 2
1
8
120 sin 120 cos
2 2
'
2 2
2 2 2 2
'
b a ab
a b ab a b ab
I
I I I I
I
xy
yy xx yy xx
y y
+
+
+

Product of inertia is calculated using the formula
( )
( )
2 2
2 2
' '
3
16
8 2
3
120 cos 120 sin
2
b a
ab
a b ab
I
I I
I
xy
yy xx
y x

5.10
Y
Y
75

To calculate I
XX
we take a horizontal of width dy strip at y (see figure) for dA and calculate

R
XX
dy y R y dA y I
0
2 2 2 2
2
To evaluate the integral, we substitute
sin R y
so the integral is transformed to
2
0
2
4
2
0
2 2 4
2 sin
2
cos sin 2

d
R
d R I
XX
Now substituting 2 z , we get
8
sin
4
4
0
2
4
R
dz z
R
I
XX
X
Y
O
x
1
x
2
y
Y
76

Similarly for I
YY
, we take a vertical strip of width dx at x for dA (see figure) and calculate
( )
R
YY
dx R x R x
dA x I
2
0
2 2 2
2
Taking ( ) cos R R x we get
( )
( )

d R
d R I
YY
2
0
2 4
0
2 4
sin cos cos 2 1
sin sin cos 1
+ +
+
Now
2
sin
0
2

d
,
0 sin cos
0
2
d
and
8
cos sin
0
2 2

d
. This gives
4
8
5
R I
YY

5.11 Product of area about the origin O is given as

i
i i i xy
dA xy A y x I
If the centroid is at O which has the coordinates
( )
0 0
, y x
and the coordinates of a point with
respect to O are ( ) y x , then
y y y x x x + +
0 0
X
Y
O
x
77
Therefore
( ) ( )

+ + + + + dA y x dA x y dA y x A y x dA y y x x dA xy I
xy 0 0 0 0 0 0
However, by definition of the centroid

0 0 dA y dA x
Thus
+ dA y x A y x I
xy 0 0
5.12 Consider the moments and product of inertia of a square about a set of axes parallel to its
sides and passing through its centre.
O
(x
0
,y
0
)
X
Y Y
X
a
Y
X
78
For this set of axes
0
12
4
,
`
.
|

xy yy xx
I
a
I I
Now by the formula
2 cos 2 sin
2
' ' xy
yy xx
y x
I
I I
I +
I
xy
will always remain zero because of the equality of I
xx
and I
yy
irrespective of the angle of
rotation of the new set of axes xy. Thus any set of axes passing through the centre is the principal
set of axes.
5.13 The formulae for the moments of inertia in rotated frames are
2 sin 2 cos
2 2
' ' xy
yy xx yy xx
x x
I
I I I I
I
+
+
2 sin 2 cos
2 2
' ' xy
yy xx yy xx
y y
I
I I I I
I +
Taking the second derivative of these expressions with respect to , we get

2 sin 4 2 cos
2
4
2
' '
2
xy
yy xx
x x
I
I I
d
I d
+
2 sin 4 2 cos
2
4
2
' '
2
xy
yy xx y y
I
I I
d
I d
Thus the two derivatives have opposite signs. This implies if one of them is a maximum, the other
one will be a minimum.
79
Chapter 6
6.1 (i) (a) and (d) are the virtual displacements because these are the only ones consistent with
the constraint that the block can move only in the vertical direction.
Suppose the strech is y
0
. In that situation, the forces on the block are as shown
Now a virtual displacement gives a displacement of
y
in the vertical direction. Taking it in
the vertically up direction gives the virtual work to be
( ) y mg ky W
0
Equating this to zero gives
k
mg
y
0
6.2 Figure below shows the students and the plank on a wedge and a possible virtual displacement
of the system.
It is clear that as long as the point on the wedge does not move, the only possible displacement is
the rotation of the plank about this point and the system has only one degree of freedom. For the
ky
0
mg
x (3-x)
40g
50g
30g
80
virtual displacement shown, the displacement and the virtual work done by various forces is as
follows:
( ) ( )
( ) ( )

g x work virtual x n displaceme virtual
g x work virtual x nt displaceme virtual
xg work virtual x nt displaceme virtual

3 50 ; 3 t : kg 50
5 . 1 30 ; 5 . 1 : plank of gravity of Center
40 ; : kg 40
Since the net virtual work must vanish for equilibrium, we have
( ) ( ) { 625 . 1
120
195
0 195 120 0 5 . 1 30 40 3 50 + x x g x x x
6.3 (i) Since the number of parameters required to describe the system is 1, the number of degrees
of freedom is 1. We choose it to be the angle , the rod makes from the vertical. A virtual
displacement will be to change by .
(ii) To apply the principle of virtual work, we need to calculate the virtual work done by various
force when is changed to +. For this we first write the coordinates (x, y) of the tip of the
rod and yCG of the centre of gravity of the rod with respect to the pivot point. These are
20kg
T
2kg
1.5
m
81
cos 75 . 0 cos 5 . 1 sin 5 . 1
CG
y y x
As is changed to +, these coordinates change and the changes are given by
sin 75 . 0 sin 5 . 1 cos 5 . 1
CG
y y x
Thus the total virtual work done by the external forces 2g at the CG, 20g at the tip, both in the
positive y direction, and T at the tip in the positive x direction is
( ) g g T W 2 sin 75 . 0 20 sin 5 . 1 cos 5 . 1
Equating this to zero gives
tan 21g T
6.4 To find the forces applied by the bricks, we treat these forces as external. For only vertical
motion, there are two degrees of freedom. One is the vertical displacement of the centre of
gravity and the other the rotation of the plank about the CG. Equivalently, we can take the
vertical displacements of the ends A and B as the virtual displacements. We choose the
second option because this is related directly to the forces applied by the bricks. The plank in
equilibrium and virtually displaced is shown below
Now the vertical virtual displacement of different points is
Point A :
1
y
Point B :
2
y
Centre of gravity of the plank :
2
2 1
y y +
500N
N
A
2m
100N
N
B
y
2
y
1
1m
1.5m
82
Athlete :
2 1
1 2
1
75 . 0 25 . 0
2
5 . 1 y y
y y
y

+
,
`
.
|
+
Thus the total virtual work done is
( )
( ) ( )
2 1
2 1
2 1
375 50 125 50
2 75 . 0 1 25 . 0 500
2
100
y N y N
y y
y y
y N y N W
B A
B A

+
+
,
`
.
| +
+
Equating the virtual work to zero and therefore the coefficients of each independent displacement
(y1 and y2) to zero gives
N
A
=175N and N
B
= 425N
6.5 (i) Constraints on the system: length of the strings holding the masses is fixed
(ii) There is only one degree of freedom. This can be understood as follows. There are
three variables needed to describe the system: The distance of two masses and one
pulley from the ground. However there are two constraints: To of the strings have
fixed lengths. Thus only one variable is left to change freely.
(iii) In terms of the lengths shown in the figure
The constraint that the longer string has fixed length is expressed as
( ) ( ) . 2 3 2
1 2 1 2 1 1 1
const y h h h h y h +
y
2
M
2
M
1
h
1
y
1
h
2
83
The constraint that the shorter string has fixed length is expressed as
.
2 2
const y h
(iv) The constraint forces are the tension in the two strings. It is by these tensions that the
constraints are maintained.
(v) To apply the method of virtual work, we make a virtual displacement
1
y of mass 1.
The corresponding displacement of mass 2 is then
2
y . However, since there is only 1
degree of freedom, we will finally express
2
y in terms of
1
y to apply the method of
virtual work. The virtual work done in these processes is
2 2 1 1
y g M y g M W
Notice that the two virtual displacements are not independent. Therefore we should not
conclude that M
1
=M
2
=0 for equilibrium. To apply the method, we first express the virtual
work in terms of only
1
y .
From the first constraint equation, since h
1
if constant,
2
0 2
1
2 1 2
y
h y h

From the second constraint we have
2
0
1
2 2 2 2
y
h y y h

Substituting these in the expression for the virtual work gives
1
2
1
1
2 1 1
2 2
y g
M
M
y
g M y g M W

,
`
.
|
+
Equating this to zero then gives, for equilibrium
1 2
2M M
6.6 (i) Since the two blocks are free to move in one dimension without any constraint, the
number of degrees of freedom for the system is 2.
(ii) The system in equilibrium is shown below. At equilibrium spring on the left is
stretched by x
1
and the total stretch of the two springs together is by x
2
. Thus spring
on the right is stretched by (x
2
x
1
). Thus force on mass m
1
is
1 1
x k
to the left and
) (
1 2 2
x x k to the right. These two forces must be equal for equilibrium but we wish
84
to obtain this by applying the principle of virtual work. Similarly the two force acting
on m
2
are F and ) (
1 2 2
x x k to the left. Again these two forces must be equal for
equilibrium and we will obtain this by applying the principle of virtual work.
As the mass m
2
is moved by a virtual displacement
2
x , let us assume that mass m1 moves by
1
x . Then the virtual work done will be
2 1 2 2 2 1 1 2 2 1 1 1
) ( ) ( x x x k x F x x x k x x k W + +
Equating this to zero and therefore the coefficients of
1
x and
2
x to zero gives
) (
1 2 2 1 1
x x k x k and ) (
1 2 2
x x k F
This gives
1
1
k
F
x
and
,
`
.
|
+
2 1
2
1 1
k k
F x
.
6.7 (i) There is only one degree of freedom. Although the piston moves in the vertical direction
and the wedge in the horizontal direction, their movements are connected because the piston
moves on the surface of the wedge.
(ii) Normal reactions on all the surfaces are the constraint forces. In the present context, the
constraint force specific to the pistons movement on the surface of the wedge is the normal
reaction of the wedge surface on the piston.
(iii) if the distance of the middle line of the piston is at a distance a from the origin, its
height is y and the distance of the left edge of the wedge is x (see figure) then the
constraint is expressed as
F
k
1
k
2
m
1
m
2
x
1
x
2
85
( ) tan tan x y x a y
Now the method of virtual work is applied by considering x as the free variable, varying it by x,
and equating the total virtual work to zero. The virtual work is
( ) x mg F
y mg x F W

tan +

Equating the coefficient of x to zero gives
tan mg F
6.8 When the equilibrium angle is , the distances of various points (see figure) , taking A as the
origin are as follows
2
cos 2
2
sin
2
sin

l y l x l x
C D B

The force on the two points B and D due to the spring is
,
`
.
|
2
sin 2 2

l l k
to the left on B and to the right on D
F
m
a
y
x
86
It is clear that we need only one parameter to specify the system. Thus there is only one
degree of freedom. Now let us make a virtual displacement by changing by . In that
situation
2
sin
2
cos
2 2
cos
2

l y
l
x
l
x
C D B

Thus the total virtual work done as is changed by is
]
]
]

,
`
.
|
+
,
`
.
|

2
sin
2
cos
2 2
sin 2 2
2
cos
2 2
sin 2 2 mgl
l
l l k
l
l l k W
Vanishing of the virtual work then implies
0
2
sin
2
cos
2 2
sin 2 2
2
cos
2 2
sin 2 2
]
]
]

,
`
.
|
+
,
`
.
|

mgl
l
l l k
l
l l k
W
A
B D
C
x
y
87
Or equivalently
2
tan
2
sin 2 2

,
`
.
|

kl
mg
If 0
kl
mg
then the solution is
2
. For very small value of

kl
mg
therefore we have x
2
,
where x is very small. Substituting in the equation above, we get
,
`
.
|

,
`
.
|

,
`
.
|

2
45 tan
2
45 sin 2 2
x
kl
mg x

Since
2
x
is small, we get by Taylor series expansion
,
`
.
|

,
`
.
|
2
1
2
1
2
45 cos 45 sin
2
45 sin
x x x

( ) x
x x

,
`
.
|
1
2
45 sec 45 tan
2
45 tan
2
Thus the equation for equilibrium is
kl
mg
kl
mg
x x
kl
mg x

,
`
.
|
+
,
`
.
|

,
`
.
|

2
1
) 1 (
2
1
2
1
2 2
Or to a good approximation
2
kl
mg
x
Thus
2
2 kl
mg

6.9 (i) Even if we consider only one dimensional motion, we would require two variables, one
the angle that the bar makes with the vertical and the other describing the position of the mass.
However, the two are connected by a rope. Hence the two variables cannot vary
independently since the length of the rope is foxed (constraint). Therefore there is only one
degree of freedom in the system.
(ii) The constraint is the length of the rope remaining constant. It is enforced by the
tension that develops in the rope. This tension makes the movement of the bar and the
mass restricted. Thus it is the tension in the rope that is the force of constraint.
88
(iii) A virtual displacement would be to displace the bar by an angle from its
equilibrium position. Since the length of the rope is fixed, the midpoint of the bar
moves by the same distance as the mass connected to the rope. Therefore the tension
does positive work at one end of the rope and exactly equal but negative work at the
other end. The sum of the work done by the tension then vanishes.
(iv) Let us say we make a virtual displacement of the bar by turning it counterclockwise by
an angle from the vertical. Then the end of the rod moves by l in the direction
of the force. At the same time, the virtual displacement of the mass is equal to the
movement of the midpoint of the bar. Thus the mass moves by
2
l
opposite to the
gravitational force (see figure)
The net virtual wok therefore is

2
l
mg Fl W
Equating this to zero then gives
2
mg
F
6.10Initially the bars are at 90. The weight has a tendency to fall down so the torque applied is
such that it tends to pull the weight up. Thus is a virtual displacement of angle is made in
the direction of the torque, the weight will be lifted up by the corresponding distance y. The
m
F
89
corresponding virtual work done by the torque is and the corresponding work by the
gravity is Wy. By the method of virtual work then we have
0 y W
This gives
y
W
Next we calculate the relationship betweeny and . As the rod is rotated by angle , the
length of the horizontal diagonal decreases by
2
p
. If the corresponding angle at the
vertical corner changes from 90 to 90+, then we have (see figure)
Change in the length of the horizontal diagonal
=

2 2
45 cos
2
45 sin 2
2
2
90
sin 2
l l
l l
l
l
,
`
.
|
+
,
`
.
|
This should equal

2
p
so we have
2
2
p l
As the angle changes the length of the vertical diagonal changes by

2 2
45 sin
2
45 cos 2
2
2
90
cos 2
l l
l l
l
l
,
`
.
|

,
`
.
|
(90+)
90
Thus we have

2 2
2
p y p l
y
This gives
2
pW
6.11(a) For the motion in a plane, the orientation of the rod can be described by the displacement
of its centre of mass and the angle it has rotated by about its CM. Or equivalently the
displacement of its two ends is sufficient to describe its orientation. Thus the degrees of
freedom is 2.
(b) We take the vertically down displacement of the two ends as the virtual displacement as
shown in the figure.
Let the centre of mass be at a distance
3
2L
from the left hand end of the rod. In that case, the
centre of mass moves down by ( )
2 1 1 2 1
3
2
3
1
3
2
y y y y y y
CM
+ + . The virtual work done
y
2
y
1
y
CM
91
by the springs in such a virtual displacement is
1 1
y ky and
2 2
y ky respectively while that by the
weight of the rod is
2 1
3
2
3
y
W
y
W
y W
CM
+ . Thus equating the net virtual work to zero gives
0 2 1
3
2
3
2 1 2 1
+ y ky y ky y
W
y
W

Now equating the coefficient of each independent displacement to zero gives
k
W
y
k
W
y
3
2
3
2 1

92
Chapter 7
7.1 For Cartesian coordinates (x,y), the planar polar coordinates are
2 2
y x r + and
,
`
.
|

x
y
1
tan
. If y<0 and x<0, 270> >180 and if y<0 and x>0, >270.
Unit vectors are given by
r
j y i x
r

+
and
r
j x i y

+

7.2 At each point the velocity v
is given as ( ) ( )

. . v r r v

+ . Thus for (iv) j i v
2 +
for a
particle at (-2,-3), the velocity is
( )
( )
( )
( )
13
12 5
13
2
13
+ +

+
r j i
j i r
j i
j i
7.3 The two points with polar coordinates ( )
1 1
, r and ( )
2 2
, r and the corresponding vectors
are shown in the figure below
(i) As is clear from the figure, the angle between the vectors
1
r
and
2
r
is ( )
1 2
. This also the
angle between unit vectors
1
r and
2
r and unit vectors
1
and
2
. Therefore
2
1
(
21
)
2
r
93
( )
1 2 2 1 2 1
cos

r r
Similarly, angle between
1
r
and
2
is ( )
1 2
2

+ and that between

2
r
and
1
is ( )
1 2
2

.
Therefore
( )
( )
1 2 1 2 1 2
1 2 1 2 2 1
sin ) (
2
cos
sin
2
cos

,
`
.
|

,
`
.
|
+
r
r
(ii) Similarly, from the figure ( ) z r r sin
1 2 2 1

(iii) ( )
1 2 2 1
2
2
2
1 2 1
cos 2 + r r r r r r

7.4 The trajectory of the projectile is shown schematically in the figure below. The
horizontal distance from the origin to the point of highest elevation (height 1.25m) is
m 3 5 . 2 . The vertical component of the velocity at this point vanishes while the
horizontal component is
-1
ms 3 5 . Similarly, the vertical component of the acceleration
is 10ms
-2
vertically down. Also shown in the figure are unit vectors in the radial and the
tangential directions at the highest point and on the ground.
From the figure it is clear that for the point of highest elevation
m 3 5 . 2
1.25m
94
13
3
2 cos ;
13
1
sin ;
3 2
1
3 5 . 2
25 . 1
tan
Therefore the radial and tangential components of the velocity at the highest point are
1 1
ms
13
3
5 sin 3 5 ms
13
30
13
3
2 3 5 cos 3 5

v v
r
Similarly the radial and tangential components of the acceleration are
2 2
ms
13
3
20 cos 10 ms
13
10
sin 10

a a
r
On the ground, the radial unit vector points towards positive x direction and the tangential
unit vector is in the negative y direction. Thus the radial component of the velocity is its x
component and the tangential component is its y component. Therefore
1 1
ms 5 ms 3 5

v v
r
Similarly, since the gravitational acceleration on the ground is in the negative y direction,
its radial and tangential components are
2
ms 10 0

a a
r
7.5 The position of the particle at time t is shown in the figure below.
The polar coordinates of the particle at time t are given as
2t
1
2ms
-1
95
,
`
.
|
+

t
t r
2
1
tan 1 4
1 2
Therefore
1 4
2
1 4
4
2
2
+

+
t
t
t
r
This gives the velocity in polar coordinates as

1 4
2
1 4
4
2 2
+
+
+
t
r
t
t
r r r v

Differentiating the velocity vector gives

( ) ( )

1 4
2
1 4
8
1 4
4
1 4
16
1 4
4
2
2 3
2 2
2 3
2
2
2
+
+
+
+
+
+
t t
t
r
t
t
r
t
t
r
t
dt
v d
Now substituting
1 4
2
2
+

t
r

and r
t
r
1 4
2
2
+

, we get the acceleration above to

be zero.
7.6 (i) Keplers second law states that the rate of the area swept ) ( A
by the radius vector is

constant. This can be expressed as (see figure for the symbols used)

2
2
1
r A constant
Now differentiating the equation above with respect to time gives
Sun
r
96
0 2 0
2
1
2 2
+ +

r r r r r r
The expression on the right is the tangential acceleration. Thus Keplers second law gives
tangential acceleration to be zero.
(ii) Since the tangential acceleration is zero, the force is only in the radial direction.
Acceleration in the radial direction is
( )
2
r r a
r

We differentiate the orbit equation
cos 1
0
e
r
r
+
with respect to time to get

( )
0 0
2
2
0
sin 2 sin
cos 1
sin
r
e A
r
e r
e
e r
r

Since
A
is constant, differentiating the equation above once more with respect to time, we get
,
`
.
|

,
`
.
|
1
4
1 2
cos 2
0
2
0
2
0
0
0
r
r
r r
A
r
r
r
A
r
e A
r

This gives
2
0
2
4
2
0
2
0
2
2 0
2
2
1 4
4
1
4
1
4
r r
A
r
A
r
r
r
r r
A
r
r
r
r
A
a
r
,
`
.
|

,
`
.
|

,
`
.
|

This shows that the force is proportional to r
2
.
7.7 It is given that
t F y m
t F x m
cos
sin

which gives
t y m F sec
Now write
t x y tan
and differentiate it twice with respect to t to get
t t x t x t x y tan sec 2 sec 2 tan
2 2 2
+ +
97
This gives
( ) t t t x t x t x m y m F sec tan sec 2 sec 2 tan
2 2 2
+ +
Substitute this in
t F x m sin
to get
( ) t t t t x t x t x x sec sin tan sec 2 sec 2 tan
2 2 2
+ +
Multiplying and rearranging terms gives
t x t x x
2 2
tan 2 tan 2
The equation does not appear to be easily ingrable.
7.8 It is given that t r 2 and
1
1

s rad
(i) Since
1 ) 0 ( r
, integrating the equation for r gives
2
0
) (
1
1 ) ( ' ' 2 t t r dt t dr
t t r

or equivalently 1 ) (
2
+ t t r
(ii)
) 1 ( 2
v
2
+ + + t r t r r r

If the velocity vector is at 45 to the radius vector, we have

( ) ( )
2 2 2 2
) 1 ( 4
2
1
.
) 1 ( 2 45 cos . + + + + t t r t r t v r v

This gives
2
1 6
2
2 1 4
2
2 4 2 4 2
+ +
+ + +
t t t t t
t
Squaring both sides gives
1 6 8
2 4 2
+ + t t t OR 0 1 2
2 4
+ t t
This is equivalent to
( ) s t t 1 0 1
2
2

(iii) Radial acceleration zero implies
( ) 0
2

r r a
r
2 2 r t r which leads to
( ) 0 1 2
2
+ t giving s t 1
This also gives the distance from the origin to be
m t r 2 1 1 ) 1 ( +
98
7.9 Free body diagram of the bead when its radius vector is making an angle (increasing as
the particle slides down) from the vertical is shown below
Taking the components of the forces in the radial and tangential directions and equating these
to mass times the radial and tangential components of the acceleration, respectively, gives
In the radial direction ( )
2
cos

r r m mg N
In the tangential direction ( )

r r m mg 2 sin +
Since the particle moves on a path of constant radius R r , we have 0 r r
When substituted in the equations above, this gives
2
cos

mR mg N

R g sin
Now using
d
d
2
2
1

, we get from the second equation above
sin
2
2
g
d
d R
R

which gives upon integration
( ) ( )
cos 1 2 cos 1 sin

2
2
0
2

g R g d g
R

When substitutes in the equation
2
cos

mR mg N , this gives
( ) g g m N 2 cos 3
R
mg
N
99
7.10 The free body diagram of the bead at equilibrium is shown in the figure below.

The horizontal components of the normal reaction N provides the centripetal force while the
vertical component balances the weight of the bead. Thus
mg N
mx N

cos
sin
2
Dividing the first equation by the second one gives
g
x
2
tan

The slope of the curve is also equal to tan . Thus
3
2
4cx
dx
dy
g
x

This gives
cg
cg
x
2
4
2

and
2
4
4
16cg
cx y

7.11 Since
2
2
1
t , we have
2 2 , 2
2
r and t r t r ;
1 and t
Thus ( )
4 2
2 t r r a
r

and
( )
2 2 2
5 4 2 t t t r r a + +

7.12 We know that
k j i r
cos
sin sin
cos sin + +
mg
100
k j i
sin
sin cos
cos cos
+
j i
cos
sin
+
Therefore
( ) ( )

cos
cos
sin cos
cos
sin sin
cos sin
cos
cos cos
sin sin
sin cos
cos sin
+
+ + + +
+
r
j i k j i
k j j i i
Similarly
( )
( )

cos sin
sin
cos
+
+
r
j i
7.13 Since
g m T y m
3 2 3 3

We get from the solution
g
m m m m m
m m m m m
y
3 2 1 2 1
3 2 1 2 1
3
4
4
,
`
.
|
,
`
.
|
+ +
+

( )
( )
( )
3 2 1 2 1
3 2 1
3
3 2 1 2 1
3 2 1 2 1
3 2
4
8
4
4
m m m m m
g m m m
g m g
m m m m m
m m m m m
m T
+ +
+
+ +
+
From
0 2
1 2
T T
,
we get
( )
3 2 1 2 1
3 2 1
1
4
4
m m m m m
g m m m
T
+ +
Now from
g m T y m
1 1 1 1

we get
( )
g
m m m m m
m m m m m m
y
3 2 1 2 1
3 1 2 1 3 2
1
4
4 3
+ +

And from
g m T y m
2 1 2 2

we get
( )
g
m m m m m
m m m m m m
y
3 2 1 2 1
3 2 2 1 3 1
2
4
4 3
+ +

101
7.14
(i) The tension in the outermost string provides the centripetal force for the outermost bead.
Let the tension in this string be T
1
. Then
2
1
Nml T
Similarly, centripetal force for the second bead from outer end is provided by the difference in
the tension T
2
in the second string and tension T
1
in the first string. Thus
( )
2
2
2
1 2
1 2 ) 1 ( ml N T ml N T T
Extending further
( )
2
3
2
2 3
3 3 ) 2 ( ml N T ml N T T
( )
2
4
2
3 4
6 4 ) 3 ( ml N T ml N T T
and so on. In general we can write for the i
th
string from the outside,
[ ]
[ ] [ ] + + +
+
2 2
2
2
1
) 1 ( ) 2 (
) 1 (

ml i N ml i N T
ml i N T T
i
i i
This is then easily seen to be
{ [ ]
( ) 1 2
2
2
) 1 (
0 1 2 ) 3 ( ) 2 ( ) 1 (
2
2
2
+
]
]
]

+ + + + + +
i N
iml
ml
i i
iN
ml i i i iN T
i

(ii) Now we generalize the result of part (i) to a rope of length L and mass per unit length
. To make the transformation from the problem in part (i) to this problem, we
consider the mass of each bead to be distributed over the connecting string whose
length we take to be vanishingly small i.e. 0 l . Thus we have
( ) il x L l i N x Nl L , ) ( , and l m
m l
T
1
T
2
102
Substituting this in the expression for T
i
above, we get
) )( (
2
) 2 )( (
2
) 2 (
2
) (
) (
2
2
2
l x L x L
l x L L x L
l il Nl
x L
T x T
i
+ +
+ +
+
On taking limit 0 l , we then get

) (
2
) (
2 2
2
x L x T

To get this answer by considering the rope directly, we take a small portion of the rope of
length x at a distance x from the centre O. The centripetal force to it is provided by the
difference in the tension at its two ends, as shown in the diagram below
Then
x
x
x x T x T
x x x x T x T
2 2
) ( ) (
) ( ) (
+
+
This gives the differential equation
x
dx
dT
2

The solution of this equation is
2
) (
2 2
x
C x T

where C is the integration constant. With the condition that the tension vanishes at x=L, we
then get
( )
2 2
2 2 2
2
) (
2
x L x T and
L
C

7.15 Consider a small section of the rope making a small angle at the centre of the loop.
The force at its two ends due to the tension in the rope is shown in the diagram below
T(x) T(x+x)
103
For small angle the forces at the ends give a net force towards the centre which is equal to

T T T
,
`
.
|
2
2
2
sin 2
This provides the required centripetal force for the segment. Therefore
2 2 2
R T R R T
7.16 The relevant coordinates and the free body diagrams of the two masses are shown below
T T
/2
Tsin(/2)
r
y
M
m
Mg
T
mg
T
104
We treat the mass m using the polar coordinates as shown in the figure. The total number of
unknowns in the problem are : y coordinate of mass M, polar coordinates of mass m and
tension T in the string. The corresponding equations are
( )
( )

sin 2
cos
2
mg r r m
T mg r r m
T Mg y M
+

And the constraint equation
0 and 0 constant + + + y r y r y r
7.17(i) After time t, the end of the rod that was at the origin has moves by a distance
2
2
1
At .
Thus the relationship between the x and y coordinates will be
2
2 2
1
cot tan
2
1
At x y
At x
y

(ii) Free body diagram of the bead is shown below
Thus the equations of motion are
cos
sin
N y m
N x m

From the constraint equation
x y A + cot
Thus
( ) ec y m ec mA N y A m N cos cot cos cot sin + +
which gives
N
105

2
cot cot cos y m mA N +
Thus
cot cos cot cot
2 2
mA ec y m y m mA y m
Or
2 sin
2
sin cos
A
A y
(iii) Integrating the equation above with the condition
d y and y ) 0 ( 0 ) 0 (
gives
2
2 sin
4
) ( t
A
d t y
Thus the bead will take time
2 sin
4
A
d
t to reach the lower end.
7.18Suppose the lower corner with angle is at the origin at t=0. Then if the position of the
mass is (x, y) at time t, the relationship between these coordinates is
2
2 2
1
cot tan
2
1
At x y
At x
y

if the acceleration of the wedge is A. This implies
x y A + cot
(i) Now if the mass falls vertically down,
g y
which gives
cot g A
i.e. the
wedge accelerates to the right with acceleration
cot g
. The interpretation is quite
simple: when the wedge moves by horizontal distance
2
2
1
At , the mass should
move vertically down by
2
2
1
gt and the relationship between the two at minimum
acceleration is
cot tan
2
1
2
1
2
2
g A
At
gt

.
(ii) For the particle not to move with respect to the wedge, we have
0 y
106
which implies
A x .
The free body diagram of the mass is as follows
Thus we have by the conditions above
mA N
mg N

sin
cos
which gives
tan g A
7.19 From example 7.9
tan ) (
sin
sin
2 1 2
1 1
1 2
x x y
N x M
N x m

,
`
.
|
+
2
1
sin 1
cos
M
m
mg
N

This gives (assuming 0 ) 0 ( ) 0 (
1 1
x x
)
,
`
.
|
+

2
1
sin 1
sin cos
M
m
g
M
m
x
Similarly
Y
X
N
107
,
`
.
|
+

2
2
sin 1
sin cos
M
m
g
x
This gives
,
`
.
|
+
,
`
.
|
+

2
2
2
sin 1
sin 1
M
m
g
M
m
y
Thus if mass m starts from height h, it will take time
g M m
ec M m h
y
h
t
) (
) cos ( 2 2
2
2
+
+

And at this time the speed of the wedge will be
) cos )( (
2
cot
2
1
ec M m M m
gh
m t x
+ +

7.20 The coordinates used in solving the problem are shown in the figure below
Let the tension in the string be T. The equations of motion for the two masses are
mg T y m
mg T y m

2
1

And since the pulley P3 is massless, we have
P1
P2
P3
m
m
y
1
y
2
y
3
T
T
T
T
h
1
h
2
108
( ) 0 2
3
h y k T
Thus we have four unknowns y
1
, y
2
, y
3
and T but only three equations. One more equation is
provided by the constraint equation. The constraint is that the length of the string is a constant. If
the heights of the two fixed pulley are h
1
(for P1) and h
2
(for P2), the constraint is expressed as
( ) ( ) ( ) ( ) .
2 2 3 2 3 1 1 1
const y h y h y h y h + + +
or equivalently as
3 2 1 2 3 1
2 . 2 y y y const y y y + + +
Now adding the equations of motion for the two masses gives
( ) mg T y y m 2 2
2 1
+
On substituting
3 2 1
2y y y +
and
( ) h y k T
3
2
from the equations above, we get
mg kh ky y m 2 2
3 3

This gives
,
`
.
|
+ +
m
kh
g y
m
k
y
2 2
3 3

The general solution of the equation above is the sum of its homogeneous solution y
h
(t) and the
particular solution y
p
(t). We have
k
mg
h t y
t B t A t y
p
h
2
) (
sin cos ) (
+
+
Here A and B are two constants to be determined by the initial conditions and
m
k
2
. Thus
the general solution is
,
`
.
|
+ + +
k
mg
h t B t A t y
2
sin cos ) (
3

Now the initial condition is
0 ) 0 ( ) 0 (
3 3
t y h t y
These give
0
2
B
k
mg
A
Thus
109
,
`
.
|
+ t
m
k
k
mg
h t y
2
cos 1
2
) (
3
This immediately gives through the equation
( ) 0 2
3
h y k T
,
`
.
|
t
m
k
mg T
2
cos 1
This gives
t
m
k
g y
2
cos
1

This is easily integrated. Since it is gives that 0 ) 0 (
1
t y
and h t y ) 0 (
1
, we get
,
`
.
|
t
m
k
k
mg
h t y
2
cos 1
2
) (
1
In exactly tha same manner we get
,
`
.
|
t
m
k
k
mg
h t y
2
cos 1
2
) (
2
7.21 (i) Wedge m
3
is free to move only in the horizontal direction; m
1
and m
2
move both horizontally as
well as vertically. Thus we would have had 5 degree of freedom. However, there are three
constraints: The length of the string is fixed, mass m
1
moves only in the vertical shaft and mass m
2
moves on the plane of the wedge. These constraints reduce the degrees of freedom to 2. Thus
there are only two degrees of freedom.
(ii) The origin and the coordinate axes chosen to describe the motion are given in the figure below.
Also shown are the free-body diagrams of the three masses
110
We see that there are in total 8 unknowns: x
1
, y
1
, x
2
, y
2
, x
3
, N
1
, N
2
, N
3
and T. The equations of
motion are:
( ) ) vi ( cos sin 1
) v ( sin cos y m
) iv ( sin sin
) iii ( cos sin
) ii (
) i (
3 2 3
2 2 2 2
2 2 2
2 1 3 3
1 1
1 1
g m N T N
g m T N
T N x m
T N N x m
g m T y m
N x m
+ + +
+

+

These are the equations of motion. In addition there are three constraint equations.
( ) ( )
( ) ( ) ( )
( ) ) ix ( .
) viii ( 0 sec . sec
) vii ( tan tan
3 1 1 3
1 2 1 1 2 1
2 3 2 2 3 2
x x const x x
x x y const x x y h
x x y x x y

+ +

m
2
m
1
m
3
x
1
y
1
x
2
x
3
y
2
m
2
g
m
1
g
m
3
N
1
N
1
N
2
N
2
N
3
T
T
T
T
m
2
g
111
In the above, h is the height of the wedge. There are a total of nine variables and nine equations.
Of these equation (vi) is not relevant for the motion since the wedge moves only in the horizontal
direction.
Equations (i), (iii), (iv) and (ix) give
2 2 1 1
2 1 1 1 3
cos sin
x m x m
T N x m x m

+
which gives
( ) 0
2 2 1 3 1
+ + x m x m m
This is the equation expressing momentum conservation in the horizontal direction.
Similarly equation (iv) and (v) along with (ii) give

sin
sin sin cos
2 1 1 1
2 2 2 2 2
g m g m y m
g m T y m x m
+
+

Now substituting for
1
y
from (viii) and
2
y
from (vii) and using (ix), we get
( ) ( ) sin sec sin tan cos
2 1 1 2 1 2 1 2 2 2
g m g m x x m x x m x m +
Which is equivalent to
( ) ( ) ( )
( ) ( ) ( )

cos sin sin
cos sin sin cos
2 1 1
2
2 1 2 2 1
2 1 1 2 1
2
2 1 2
2
2 2
g m m x m m x m m
g m m x x m x x m x m
+ +

Now using
( ) 0
2 2 1 3 1
+ + x m x m m
, we eliminate
2
x
from the equation above to get
( ) ( )
( ) ( ) cos sin sin
2 1 1
2
2 1 1
2
3 1 2 1
g m m x m m x
m
m m m m
+
+ +

This gives
( )
3
2 2
2 3 2 3 1 2 1
2
1
2 1 2
1
sin 2
cos sin
x
m m m m m m m m
g m m m
x
+ + + +

And using
( ) 0
2 2 1 3 1
+ + x m x m m
, we then get
( ) ( )

2 2
2 3 2 3 1 2 1
2
1
2 1 3 1
2
sin 2
cos sin
m m m m m m m m
g m m m m
x
+ + + +
+

Now using equation (viii) we get
( ) ( )
2 2
2 3 2 3 1 2 1
2
1
2 1 3 2 1
1
sin 2
sin
m m m m m m m m
g m m m m m
y
+ + + +
+ +

dx
112
Using equation (vii), we get
( )( )

2 2
2 3 2 3 1 2 1
2
1
2 1 3 2 1
2
sin 2
sin sin
m m m m m m m m
g m m m m m
y
+ + + +
+ +

As

3
m
, we get
( )
( )
( )
( )
( )
( )
2 1
2 1
2
2 1
2 1
1
2 1
2 1
2 3 1
sin sin sin cos sin
0
m m
g m m
y
m m
g m m
y
m m
g m m
x x x
+

7.22 Consider two parts of the rope x and (L-x) in length. The free body diagrams (showing only the
horizontal forces) of the rope and these two parts are shown below
Since the rope is moving with constant speed, there is no net force on the rope or any part of it.
Thus from the free body diagram of the rope
Mg F
From the free body diagram of the left portion of the rope
( )
Mg
L
x L
x T xg
L
M
x T F

) ( 0 ) (
Or from the free body diagram of the right portion of the rope
( )
Mg
L
x L
x T

) (
x
F
Friction
F
Friction
T(x)
T(x)
Friction
dx
113
It is also instructive to solve the problem by considering a small portion of length dx at distance
x from the left and balancing the forces there to get a differential equation for T(x). The free
body diagram of such a portion is as given below
( ) g
L
M
x
x T
Mg
L
x
x T x T x T +
d
) ( d d
) ( d ) ( ) (
With the condition that T(L) = 0, the equation above can be integrated to get
( )
Mg
L
x L
x T x d g
L
M
T
x
L
x T

) ( d
) (
0
7.23 The force applied should be such that the frictional force on mass m is sufficient to balance its
weight. Free body diagrams of the two blocks are shown below
If the entire system is moving with acceleration a then
ma N F
Ma N

This gives
F
m M
M
N and
m M
F
a
+
If mass m is not falling then

T(x)
Friction
T(x)+dT(x)
dx
mg
M
F
friction
N
N
friction
Mg Normal reaction
114
( )
M
mg m M
F mg F
m M
M
N friction

+

+

Thus
( )
M
mg m M
F
min
For m=16kg, M=88kg, =0.38 and g=9.8ms
-2
, we get
N F 7 . 487
88 38 . 0
8 . 9 16 104
min

7.24 The forces on the bead are: Its weight, normal reaction N
V
in the vertical direction and normal
reaction N
H
in the horizontal direction. Thus the free body diagram of the bead is as follows
(assuming the rotating arm is going into the page)
These force provide the radial and the tangential acceleration given by
( ) ( )
2
2

r r r r r a + +
Since the rod is rotating with a constant angular speed , we have
( )
2
2
r r r r a
+
(i) If the bead is stationary at r=R, we have
r R a
2

This gives
2
0 mR friction N mg N
H V

Since
N friction
, we get for stationary bead
R
g
mg mR

2
0
2
mg
N
V
N
H
friction
115
(ii) If
0
>>
and negligible weight of the bead, we have
r m N friction r r g m N r m N mg N
H V
2 2 4 2
2 2 2
+
The minus sign for the friction shows that since the bead slides outwards, the frictional force in
inwards. The equation describing the motion of the bead is then
0 2 2
2 2
+ r r r OR r r r
Assuming a solution of the form
t
e t r

) ( and substituting it in the equation above we get
0 2
2 2
+
Solution of this equation gives
( ) ( ) + + +
2
2
2
1
1 1 and
Thus the general solution is
( ) [ ] ( ) [ ] + + + +
2 2
1 exp 1 exp ) ( t B t A t r
Here A and B are to be determined by the initial conditions that
0 ) 0 ( ) 0 ( t r and R t r
.
Thus
( ) ( ) 0 1 1
2 2
+ + + + B A R B A
The solution is
,
`
.
|
+
+
,
`
.
|
+
+ +
2
2
2
2
1
1
2
1
1
2

R
B and
R
A
Thus the distance of the bead from the center is given as
( ) ( ) [ ] ( ) ( ) [ ] {
+ + + + + + +
+
2 2 2 2
2
1 exp 1 1 exp 1
1 2
) ( t t
R
t r
7.25 The solution for the distance travelled by the particle is
( )
( )
]
]
]

t m k
e
k
m
t
k
F
t x 1 ) (
116
For k=0, we cant substitute this directly in the formula since we are dividing by k in the
expression above. Thus we take the limit 0 k . In this limit, the first nonzero term we get is
2
2
2
2
2
1
2
1
1 1
t
m
k
terms order higher t
m
k
t
m
k
k
m
t
,
`
.
|
+ +
This gives
2
2
1
) ( t
m
F
t x
7.26 The equation of motion for the particle is
g y
m
k
y OR y
m
k
g y +
The solution of the homogeneous equation
0 + y
m
k
y
is
,
`
.
|
t
m
k
A y exp
Here A is a constant to be determined by the initial conditions. The particular solution is
k
mg
y
Therefore the full solution is
k
mg
t
m
k
A y
,
`
.
|
exp
Now the initial condition is
0
) 0 ( v t y
. This gives
k
mg
v A +
0
Thus
k
mg
t
m
k
k
mg
v t y
,
`
.
|

,
`
.
|
+ exp ) (
0
This is easily integrated to get y(t) also. Thus

117
]
]
]
,
`
.
|

,
`
.
|
+ + t
m
k
k
mg
v
k
m
t
k
mg
t y exp 1 ) (
0
When the ball reaches the highest point, its speed is zero. If this time is t
up
, then
,
`
.
|
+
,
`
.
|
+
,
`
.
|
+

,
`
.
|

,
`
.
|

,
`
.
|
+
mg
kv
k
m
t
mg
kv
k
mg
v
k mg
t
m
k
k
mg
t
m
k
k
mg
v
up
up up
0
0
0
0
1 ln
OR
1
1
exp exp 0
This gives the height h to be
,
`
.
|
+
]
]
]
]
]
]
+

,
`
.
|
+ +
,
`
.
|
+
mg
kv
k
g m
k
mv
mg
kv
k
mg
v
k
m
mg
kv
k
m
k
mg
h
0
2
2
0
0
0
0
1 ln
1
1
1 1 ln
If the total time of flight is T then T=t
up
+t
dn
, where tdn is the time taken to come down from the
highest point. At time T, y(T)=0. Therefore
( )
]
]
]
,
`
.
|

,
`
.
|

,
`
.
|
+ + +
dn up dn up
t
m
k
t
m
k
k
mg
v
k
m
t t
k
mg
exp exp 1 0
0
Thus t
dn
will be given by solving
]
]
]
,
`
.
|
+ +
]
]
]
'
'
,
`
.
|
+ +
]
]
]
]
]
]
,
`
.
|
,
`
.
|
+

,
`
.
|
+ +
dn dn
dn dn up
dn dn up
t
m
k
k
m
g
v
t
t
m
k
k
mg
v
g
t t
OR
t
m
k
k
mg
v
k mg
k
mg
v
k
m
t
k
mg
t
k
mg
exp 1
exp 1
1
exp 1
0
0
0
0
To understand whether t
up
is larger or t
dn
is larger, let us see the time change in the limit of very
small k. In that case (up to order k)
118
2
2
0 0
2 2
2
0
2
0 0
2
1
......
2
1
1 ln
mg
kv
g
v
g m
v k
mg
kv
k
m
mg
kv
k
m
t
up

]
]
]
,
`
.
|
+
And t
dn
is given by solving
2 0
2
2
2
0
0
2
1
2
1
1 1
exp 1
dn
dn dn dn
dn dn up
t
m
k
g
v
t
m
k
t
m
k
k
m
g
v
t
t
m
k
k
m
g
v
t t

]
]
]
+ + +
]
]
]
,
`
.
|
+ +
This gives
3
3
0
2
2
0
3 3
3
0
3
2 2
2
0
2
0
2
2
0
0
2
2
0 2
3
2
....
3
1
2
1 2 2
1 ln
2 2
mg
kv
g
v
g m
v k
g m
v k
mg
kv
k
m
kg
mv
mg
kv
k
m
kg
mv
t
dn

,
`
.
|
+ +
,
`
.
|
+
Therefore
2
2
0 0
2 1
0 0
3
1
3
2
1
mg
kv
g
v
mg
kv
g
v
t
dn

,
`
.
|

A comparison shows that t
up
is smaller than t
dn
. This makes sense because the while coming
down, the average speed is smaller since the particle has lost energy due to viscosity and
continues to do so.
This also gives the total time of flight to be (up to order k)
2
2
0 0
6
5 2
mg
kv
g
v
t t T
dn up
+
However, this approximation will be valid only if
1
2
2
0
<<
mg
kv
1
0
100

ms v and 45 . Therefore
1
0 0
2 50 cos sin

ms v v . It is
also given that
2
10

ms g .
119
(i) Height = m
g
v
250
2
sin
2 2
0
Range =
m v
g
v
1000 cos
sin 2
0

(ii) When 0 k , from the expression derived in the problem above, we get with the initial vertical
speed
sin
0
v
Height =
,
`
.
|
+
mg
kv
k
g m
k
mv sin
1 ln
sin
0
2
2
0
Substituting the values , we get
For k=0.1, Height = 202m
For k=0.2, Height = 172.3m
To find the range, we first fine the total time of flight and then use formula derived in example
7.13 to find the horizontal distance travelled. From the solution of the previous problem, we know
that the time of flight T is given by solving
]
]
]
,
`
.
|

,
`
.
|
+ T
m
k
k
mg
v
k
m
T
k
mg
exp 1 sin
0

For k=0.1, this gives
[ ] [ ] ) 05 . 0 exp( 1 07 . 27 ) 05 . 0 exp( 1 5414 200 T T OR T T
Since the time of flight without drag is
s
g
v
14 . 14
sin 2
0
, and as the result of the problem shows

the time of flight becomes smaller for 0 k , we tabulate T and the right hand side of the equation
above to find T for 14 T
It is clear from the Table above that the expression on the right was smaller than T till T=13s and
becomes larger at 12.5s. Thus the time of flight will be between 13 and 12.5s. A little more
tabulation gives T=12.8s.
T [ ] ) 05 . 0 exp( 1 07 . 27 T
14 13.62
13.5 13.29
13 12.93
12.5 12.58
120
Substituting this in
( )
[ ]
T m k
e
k
m
T x
o
/
1
cos v
) (

, we get Range = 669m
Since
s
mg
kv
k
m
t
up
05 . 6
sin
1 ln
0
,
`
.
|
+

, we get t
dn
= 6.75s. This confirms numerically that time
taken to come down is greater.
For k=0.2, the equation to determine the time of flight is
[ ] [ ] ) 1 . 0 exp( 1 07 . 17 ) 1 . 0 exp( 1 107 100 T T OR T T
Making a table like above gives T=11.8s and Range
( )
[ ] m 490 1
cos v
) (
/

T m k
e
k
m
T x
o

121
(iii)
(iv) When drag is introduced, it is the range that is affected much more than the height.
(7.28) In the problem above, we have already found the range for 45 . Let us now take the
case of k=0.1 and find the range for 40 and 50 .
For 40 , the equation
122
k=0
k=0.1
k=0.2
]
]
]
,
`
.
|

,
`
.
|
+ T
m
k
k
mg
v
k
m
T
k
mg
exp 1 sin
0

beomes
( ) [ ] T T 05 . 0 exp 1 5286 200 or ( ) [ ] T T 05 . 0 exp 1 43 . 26
and gives
T=11.7s.
This gives a range of
[ ]
7 . 11 05 . 0
1
1 . 0
40 cos 100 2
) (

e T x = 678m.
Thus for 40 , the range increases.
For 50 , the equation
]
]
]
,
`
.
|

,
`
.
|
+ T
m
k
k
mg
v
k
m
T
k
mg
exp 1 sin
0

beomes
( ) [ ] T T 05 . 0 exp 1 5532 200 or ( ) [ ] T T 05 . 0 exp 1 66 . 27
and gives
T=13.8s.
This gives a range of
[ ]
8 . 13 05 . 0
1
1 . 0
50 cos 100 2
) (

e T x = 641m.
Thus for 50 the range decreases.
The two calculations above show that for maximum range, the projectile should be launched at an
angle less than 45 .
The reason for this is as follows. Since the horizontal speed reduces as the projectile moves, it
should cover a larger distance in the initial part of the flight. For this it is better to have a relatively
larger horizontal component of the velocity compared to the case when there is no drag. Thus the
angle should be smaller than 45 .
(7.29) In this case the drag force is proportional to the square of the speed. So the equation of
motion will be given as follows for the motion up and motion down (taking vertically up
direction to be the positive y direction)
123
Motion up
2
y k mg y m
Motion down
2
y k mg y m +
Since we are only interested in height, we change
y
to
( )
2
2
1
y
dy
d

to get the speed as a
function of the vertical distance of the ball from the ground. The first equation in that case is
( ) g y
m
k
y
dy
d
+
2 2
2
1

The solution of this equation is the sum of the solution
) (
2
y y
h
of the homogeneous equation

( ) 0
2
1
2 2
+ y
m
k
y
dy
d

and a particular solution
) (
2
y y
p
. These solutions are
,
`
.
|
y
m
k
A y y
h
2
exp ) (
2
and
k
mg
y y
p
) (
2
Here A is a constant to be determined from the initial conditions. The full solution therefore is
k
mg
y
m
k
A y y
,
`
.
|

2
exp ) (
2
The initial condition is that

2 2
) 0 (
i
v y y
. This gives
k
mg
v A
i
+
2
This the speed of the ball as it moves up is
]
]
]
,
`
.
|

,
`
.
|
y
m
k
k
mg
y
m
k
v y y
i
2
exp 1
2
exp ) (
2 2
At the maximum height h, the speed becomes zero. Therefore

]
]
]
,
`
.
|

,
`
.
|
h
m
k
k
mg
h
m
k
v
i
2
exp 1
2
exp 0
2
This gives
,
`
.
|
+
,
`
.
|
+

mg
kv
k
m
v k mg
k mg
k
m
h
i
i
2
2
1 ln
2
ln
2
Now we consider the motion for downward motion. This can be rewritten as
( ) g y
m
k
y
dy
d

2 2
2
1

124
Again the solution of this equation is the sum of the solution
) (
2
y y
h
of the homogeneous equation

( ) 0
2
1
2 2
y
m
k
y
dy
d

and a particular solution
) (
2
y y
p
. These solutions are
,
`
.
|
y
m
k
A y y
h
2
exp ) (
2
and
k
mg
y y
p
) (
2
. Thus the complete solution is

k
mg
y
m
k
A y y +
,
`
.
|
2
exp ) (
2
Now the initial conditions are

0 ) ( h y y
. This gives, with
,
`
.
|
+
mg
kv
k
m
h
i
2
1 ln
2
mg
kv
k mg
A
k
mg
mg
kv
A
i
i
2
2
1
1 0
+
+
,
`
.
|
+
This gives
k
mg
y
m
k
mg
kv
k mg
y y
i
+
,
`
.
|
+

2
exp
1
) (
2
2
If the final speed is v

f
, then
mg
kv
v
k
mg
mg
kv
k mg
v
i
i
i
f
2
2
2
2
1 1 +
+
+

Note that of k=0 then
2 2
i f
v v
The answer can also be written as
mg
k
v v
i f

2 2
1 1
125
Chapter 8
8.1 Since there is no external force on the system in the horizontal direction, the total momentum
in the horizontal direction is conserved.
Initial momentum in the horizontal direction = momentum of the carriage + momentum of rain
= 0 + Mv
=Mv
Final momentum of the system after time t =
( )
f
v mt M +
Here v
f
is the final velocity. Equating the two moment gives
( ) mt M
Mv
v
f
+
8.2 Since the water leaking out of the carriage still has a horizontal velocity equal to the velocity
of the carriage, total momentum of water after it came out for time t is =
mtv
If the initial amount of water in the carriage was m
0
, then the initial momentum of the system
(carriage + water in it) =
( ) v m M
0
+
If the aped of carriage (with left over water in it) after time t is v
f,
then by momentum
conservation
( ) ( ) v v v m M mtv v mt m M
f f
+ + +
0 0
8.3 Exactly like in problem 8.2, there will be no change in the speeds of the two bicyclists. This is
easily done by considering the momentum of the two friends before and after the books are
given by one of them to the other person. Consider the person giving the books. Her
momentum before transferring the books is Mv . After she gives the books, let her speed by
v
f
. Then by momentum conservation
( ) v v v m M mv Mv
f f
+
Similarly, for the person receiving the books
( ) v v v m M mv Mv
f f
+ +
8.4 Conserve momentum after the first bullet has been fired. Initial momentum is 0. Let the
velocity (since the motion is one dimensional, we write only the symbol for it, the direction is
taken care of by the sign) of the gun after the bullet is fired be v
1
. Since the relative velocity of
126
the bullet when it leaves the gun is u, and the bullet leaves the gun when the gun is already
moving with v, bullets speed u
g
with respect to the ground is calculated as follows:
1 1
v u u v u u
g g
+
Therefore momentum conservation gives
( ) [ ] ( )
Nm M
mu
v v u m v m N M
+
+ + +
0
1 1 1 0
0 1
Now the momentum of the gun and ( ) 1 N bullets in it is
( ) [ ]
( ) Nm M
mu
m N M
+
+
0
0
1
Now let the speed of the gun after the second bullet is fired be v
2
. Then momentum
conservation gives
( ) [ ] ( ) ( ) [ ]
( )
( ) m N M
mu
Nm M
mu
v
Nm M
mu
m N M v u m v m N M
1
1 2
0 0
2
0
0 2 2 0
+
+

+
+ + + +
Similarly one can now show that if the speed after the third bullet is fired is v
3
then
( ) ( ) m N M
mu
m N M
mu
Nm M
mu
v
2 1
0 0 0
3
+
+

Generalizing this we get after N bullets have been fired
( )
1
0 0
final
) (
v
N k
k
m k N M
mu
8.5 (i) Momentum of the system = sum of the momentum of each particle
= j i
4 . 0
2 . 0 + kgms
1
(ii) velocity of the centre of mass = total momentum/total mass
( )
1
3
4
3
2
4 . 0
2 . 0
3 . 0
1
+
+
ms j i
j i
8.6 (i) acceleration of the CM
127
( ) j i
j i
mass total
F
net

3
10
3 . 0

+
+
(ii) No, the acceleration is not in the same direction as the momentum of the CM.
8.7 If the base of the cylinder is in the xy plane, as shown in the figure, the x and y coordinates of
the CM are (0, L/2). We thus have to calculate the z coordinate of the CM.
To obtain the z coordinate of the CM, consider a rectangular sheet of thickness dz at height z, as
shown in the figure below.
If the density of the material that the cylinder is made of is , the z coordinate of the CM, by
definition, is
L
R
x
y
z
z
R
128
zdz z R
R R L
zdz z R L
z
R
R
CM

0
2 2
2 2
0
2 2
4
2
2

To evaluate the integral, we substitute sin R z and d R dz cos . This gives

( )
3
4
cos cos
4
cos sin cos
4
1
0
2
2
0
2
R
d
R
d R R R
R
z
CM
8.8 (i) CM of a cone shown in the figure below

The CM is on the axis of the cone by symmetry. To calculate its height, we take a thin disc of
thickness dz at height z. By similarity of triangles, it radius r is given by
( )
h
R
z h r
h
R
z h
r

If the density of the material that the cone is made of is , then the position of the CM is given by
( )
4
2
3
3
1
2 2
0
2
2
2
2
0
2
h
zdz hz z h
h
R
h R
h R
dz r z
z
h
h
CM
+

It is reasonable that the location of the CM is more towards the base since larger mass of the cone
is concentrated there.
R
2
h
z
r
129
(ii) Hemispherical bowl of radius R is shown in the figure below.
The CM will be on the line passing through the centre of the base. To calculate its height zCM, we
take a ring of height dz at height z. According to the figure
sin R z and
d R dz cos
,
R
z R
R
r
R
z
2 2
cos , sin

If the mass per unit area for the shell is , then the mass dm of the ring is
dz R
dz
z R d R r dm
2
cos
2 2
2 2

Thus
2 2
2
2
0
0
0
R
R
zdz R
dm
zdm
z
R z
z
R z
z
R z
z
CM

8.9 Given N particles of masses m
i
(i=1-N) with total mass
N
i
i
m M
1
at positions
i
r
(i=1-N),
position of their CM
CM
R
is given as
M
r m
m
r m
R
N
i
i i
N
i
i
N
i
i i
CM

1
1
1

r
R
z
130
Now let us make m subsystems of these masses with number of particles N
1
, N
2
, N
3
N
m
in
them. Then we have the mass of each subsystem as
i
N
i
i i
m M
1
. The position of the CM can then
be written as
M
r m r m
m
r m
R
N
i
N
i
i i i i
N
i
i
N
i
i i
CM

+ +

1 2
1 1
1
1
.......

By definition of the CM we have for the position

CMi
R
of each subsystem
i
N
i
i i CMi i
r m R M
1
. Thus
the expression above can be written as
+ +

m
i
i
m
i
i CM i
m
i
i
CM CM
N
i
i
N
i
i i
CM
M
R M
M
R M R M
m
r m
R
1
1
1
2 2 1 1
1
1
.....

This shows that the CM of the system can be calculated by treating each susbsystem as a point
particle of mass M
i
located at the CM of each subsystem.
8.10 To find the CM, we will treat the cone and the hemisphere as two subsystems. It is also
clear by symmetry that the CM will be on the extended axis of the cone. Taking the axis as
the z direction with z = 0 at the base of the cone, we have
mass total
cone z cone the of mass sphere z sphere the of mass
z
CM CM
CM
) ( ) ( +
Assuming the entire system is made of a material of uniform density, we get

H R R
H R R
H R R
H R H R R
z
CM
2
2
3
1
2 2
2
4
1
2
2
3
1
2
2
3
1 1
4 8
3
3 3
2
3 4 3
2
8
3
+
+
+
+

8.11Since there is no external force on the system in the horizontal direction, the position of the
CM will remain unchanged as the small block moves from one side to the other. Taking
horizontal direction to be the x-direction, let the position of the CM when the block in on the
131
left be X
1
and let it be X
2
when the block is on the right. Then the poison of the CM of the
block is (X
1
R) and (X
2
+R), respectively. Since the CM does not move, we have
( ) ( )
2 2 1 1
MX R X m MX R X m X
CM
+ + +
8.12When the ball is compressed, it looks like shown in the picture below
The radius r of the circular area of contact for x<<R is
( ) Rx x R R r 2
2 2

Thus, if the pressure in the ball remains unchanged, the force that the ball applies on the wall is
pRx p r F 2
2

8.12As a photon hits the surface, it gives it an impulse proportional to its momentum. If it gets
absorbed, the impulse
c
J

and if it is reflected then
c
J
2
. And the force by the
stream of photons hitting the surface will be nJ where n is the number of particles hitting the
surface per second. If the cross-sectional area of the parallel beam of light is a, then
acN n
Thus the pressure P
R
Rx
132
(i) when the light is completely absorbed
N
c a
acN
P
(ii) when light is perfectly reflected
N
c a
acN
P 2
2

8.14 By equation (8.42b), the force on the planar surface will be equal to momentum transfer
per unit time. On hitting the surface, the component of momentum perpendicular to the
plane becomes zero while that parallel to the plane remains unchanged. Thus all the
momentum that water stream carries perpendicular to the surface is transferred to it. The
momentum carried by the stream of water per second is
2
2 2
4 4
v
d
v v
d

Its component perpendicular to the surface is
2
2
2 4
v
d
When the water stream hits the surface, it makes an elliptical cross sectional area on the
surface because the surface is slanted. The major axis of the ellipse is =
2
2
2 d d
And the minor axis remains the same as

2
d
Thus the cross-sectional are of the ellipse is =
2 2
2
d
Thus the pressure on the surface =
2
2 2
2 4
2
2
2
2
v
d
v
d
8.15 At steady state flow let the mass flow rate from the upper portion of the hour-glass be
m . If the height through which it falls before hitting the lower surface is h then the
amount of mass in the air is the rate at which the mass is falling and the time it takes for
it to reach the bottom. Thus it is
g
h
m
2
and its weight is hg m 2 . Thus the hour

133
glass should have weighed less by this amount. However as the sand hits the bottom, it
transfers momentum to the hour glass that exactly compensates for the weight in the
air. This is shown as follows. As the mass hits the bottom, its speed is hg 2 . Thus
the momentum it transfers to the bottom per second is hg m 2 .
8.16 Consider equation (8.43) for the rocket.
( ) t F u m m M
ext
+ +

v v ) (
Now since the mass coming out leaves the rocket with
rel
u
, we have
) ( v v u u
rel

+
This is because when the mass leaves the rocket, it has already achieved velocity
) ( v v

+
.
This gives in the equation above
t F u m M
ext rel
+

v
8.17 Example (8.9) using equation derived above. The example is solved exactly as done in
the text except that in applying the equation derived above,
) ( v v u u
rel

+
each
time the bullet is fired. This immediately leads to equation (8.50) and the rest is the
same as done in the example.
8.18 (i) Force needed to hold the chain is equal to the force required to hold the part of the
chain hanging vertically. This force is =
gh
(ii)If the chain is to be pulled at a constant speed v, its mass increases at the rate of v .
This gives momentum change per unit time =
2
v . This is the additional force required to
provide momentum. Thus the total force is
2
v gh + . This is also seen easily by the
rocket equation
ext rel
F u
dt
dM
dt
d
M

+
v
Now it is given that v u v
dt
dM
dt
v d
rel
, , 0
. This substituted in the rocket

equation immediately gives the result derived above.
134
(iii) The rocket equation, with v u v
dt
dM
rel
, is
F v
dt
dv
t M +
2
) (
If at a time t, the length of the chain on the table is x then
) ( ) ( x h t M +
and
dx
dv
dt
dx
dx
dv
dt
dv
2
2
1
. Thus the rocket equation can be rewritten as
F v
dx
dv
x h + +
2
2
) (
2

This is integrated as
( )

+
x V
x h
dx
v F
dv
0 0
2
2
'
' 2
2

Upon integration this gives
2
2 2
ln
2
ln
1
,
`
.
| +

,
`
.
| +

,
`
.
|
h
x h
V F
F
h
x h
V F
F

Upon solving this gives
( )
( ) hx x
F
x h
V 2
1
2
+
+
8.19 Since the peg is frictionless and the length of the portion of chain passing over the peg
is negligible, the other portion has length (Lx) and the tension in the chain is the same
throughout. Taking the tension to be T, the equation of motion for the two portions is
(see figure)
135
g x L
L
M
T x x L
L
M
T g x L
L
M
x L x L
L
M
T g x
L
M
x x
L
M
) ( ) ( ) ( ) )( (

,
`
.
|

,
`
.
|

Adding the two equations to eliminate T gives
g x
L
g
x Mg g
L
Mx
x M
2 2

x(t)
T
xg
L
M
T
g x L
L
M
) (
) ( x L
136
This equation is also obtained by direct application. Since the total mass being moved is M,
the net force is [ ] Mg g
L
Mx
x L x g
L
M

2
) ( and the acceleration is x .
The solution for the equation above is a sum of the solution of the homogeneous equation
0
2
x
L
g
x
and the particular solution
2
L
x
p
. The solution of the homogeneous part is
,
`
.
|
+
,
`
.
|
t
L
g
B t
l
g
A t x
h
2
exp
2
exp ) (
Where A and B are two constants to be determined by the initial conditions. The full
solution is
2
2
exp
2
exp ) (
L
t
L
g
B t
l
g
A t x +
,
`
.
|
+
,
`
.
|
The initial conditions are 0 ) 0 ( and

4
3
) 0 ( t x
L
t x
. This gives
8
L
B A . This give
the solution for x(t) to be
]
]
]
]
,
`
.
|
+
+
,
`
.
|
+
,
`
.
|
t
l
g L
L
t
L
g L
t
l
g L
t x
2
cosh
2
1
1
2
2
2
exp
8
2
exp
8
) (
8.20 (i) Since the pressure inside the box is p, and the force is unbalanced over an area S, the
force on the box will be pS.
(ii) The acceleration of the box will be
M
pS
(iii) In the simplest calculation, the rate at which the molecules are coming out in one
second will be those contained in a cylinder of height
x
v
, where
x
v
is the average
speed in the x direction in the rms sense. Thus the rate at which the gas will be
leaking out is
x
v Snm
where n is the number density of molecules and m the mass of
each molecule.
(iv) Equation (8.45)
137
ext rel
F u
dt
dM
dt
d
M

+
v
In our case 0 ; ;
ext x rel x
F v u v Snm
dt
dM

so
pS v Snm v Snm
dt
d
M
x

2 2
3
1 v
by equation (8.40)
8.21 By the rocket equation
,
`
.
|
f
i
f
M
M
u ln v
. If the mass of the fuel is M, we have
M M
i
+ 1000
, M
f
= M. Thus we have
,
`
.
| +
1000
1000
ln 5 6
M
This gives
kg M
M
2320
5
6
exp
1000
1
,
`
.
|
+
8.22 In this case the rocket equation becomes (assuming vertically up direction to be
positive)
( ) g u bv
dt
dv
bmv mg mu
dt
dv
m +
Solution to the equation above is given by the sum of the solution for the homogeneous part
and the particular solution. This gives
b
g u
bt A t v

+

) exp( ) (
A is determined by the initial condition
0 ) 0 ( t v
. This gives
b
g u
A

. Thus
[ ] ) exp( 1 ) ( bt
b
g u
t v

138
Chapter 9
9.1 Consider a frame the origin O and another frame with origin O. Frame O is moving with
velocity V in the x-direction with respect to frame O. Let there be a force F act on a particle; the
force is the same in the two frames. Then by the work energy theorem in frame O, we have

f
i
i f
x
x
dx x F m m ) ( v
2
1
v
2
1
2 2
Now in the frame O, the corresponding velocities are related to the velocities in frame O as
follows
' '
i i f f
v V v v V v + +
and
Vdt dx dx Vt x x + + ' '
and
' ' dt dt t t
Substituting this in the work energy theorem gives
( ) ( ) ( )

+ +
f
i
t
t
i f i f
t Fd V dx x F v v mV m v m
f
x
i
x
'
'
' ) ' ( v
2
1
2
1
' '
2
'
2
'
Now

f
i
t
t
t Fd
is noting but the momentum change
( ) ( )
' '
i f i f
v v m v v m
, which is the same
in both the frames. Thus
( )
' '
i f
t
t
v v m t Fd
f
i

. This, when substituted in the equation above

leads to
( ) ( )

'
'
' ) ' ( v
2
1
2
1 2
'
2
'
f
x
i
x
dx x F m v m
i f
Which is the work energy theorem in frame O.
9.2 Kinetic energy of each particle is
139
J J 4 . 0 2 2 . 0
2
1
and 05 . 0 1 1 . 0
2
1
2 2

Thus the total kinetic energy of the system is = 0.45J
Momentum of the system is =
1
kgms 5 . 0 4 . 0 1 . 0

+
Velocity of the CM therefore is =
1
ms 667 . 1
3 . 0
5 . 0

Thus the kinetic energy of the CM is =

( )
J
m m
P
CM
417 . 0
3 . 0 2
25 . 0
2
2 1
2
+
Thus the kinetic energy of then particles in the CM frame is = 0.450.417 = 0.033J
This can also be checked by calculating the kinetic energy of each particle in the CM frame,
which is
( ) ( )
( ) ( ) J
J V
CM
011 . 0 667 . 1 0 . 2 1 . 0 667 . 1 . 2 2 . 0
2
1
022 . 0 667 . 1 0 . 1 05 . 0 0 . 1 1 . 0
2
1
2 2
2 2

9.3 Since the momentum of the system is zero, the kinetic energy of the CM = 0
9.4 Masses, velocities, moment and kinetic energies o feach particle are shown in the table below
m
i
(kg)
v
i
(ms
1
) p
i
(kgms
1
)
KE
i
(J)
1
1 1
0.5
2 2 4 4.0
3
3 9
13.5
4 4 16 32
5
5 25
62.5
Thus the total mass is = 15kg
Total momentum is = 15kgms
1
Velocity of the CM =
1
1
15
15

ms
Total kinetic energy = 112.5J
Kinetic energy of CM =
J
mass total
P
CM
5 . 7
15 2
15 15
2
2
140
Kinetic energy about the CM = 105J
This is easily checked by calculating the kinetic energy of each particle about the CM and
adding them all up. Thus
KE about the CM = ( ) ( ) ( ) ( ) ( ) [ ]
2 2 2 2 2
1 5 5 1 4 4 1 3 3 1 2 2 1 1 1
2
1
+ + + + + + + + +
= 105J
9.5 From equation (9.37), we have
) (
) (
2 1
2 1
1
2
2 1
2 1
2
1
v v
m m
m
V v
v v
m m
m
V v
CM
CM
+
+
Thus the kinetic energy of the system
( )
( )
( )
( )
( )
( )
( )
( )
2 1
2 1
2 1
2
2 1
2
2 1
2
1 2 2
2
2 1
2 1
2 1
2
2 1
2
2 1
2
2 1 2
1
2
2 2
2
1 1
2
1
2
1
2
1
2
1
2
1
2
1
v v V
m m
m m
v v
m m
m m
V m
v v V
m m
m m
v v
m m
m m
V m v m v m
CM CM
CM CM
+

+
+ +
+
+
+
+ +
Since
2 1
v v v
rel

, we get
( )
( )
( )
2 2
2
2 1
2 1
2 1 2
2 1
2
2 2
2
1 1
2
1
2
1
2
1
2
1
2
1
2
1
rel CM
CM
v MV
v v
m m
m m
V m m v m v m
+
+
+ + +
9.6 (a) We will be using
dx
x dU
x F
) (
) ( to calculate the force. Thus
C dx x F x U +
) ( ) (
, where
C is a constant chosen according to the reference point x
0
, where
( ) 0
0
x U
.
(i)
kx x F ) (

+ + C kx C kxdx x U
2
2
1
) (
(ii)
2 2
1
) (
a x
x F
+
To calculate the potential energy, substitute z a x sinh so that

zdz a dx cosh to get C
a
x
x U +
1
sinh ) (
141
(iii)
x x F 2 sin 5 ) (
C dx x dx x x U +
2 cos
2
5
2 sin 5 ) (
(iv) x x F 2 sin 5 ) (
2

( ) C
x
x dx x dx x x U +
,
`
.
|

4
4 sin
2
5
4 cos 1
2
5
2 sin 5 ) (
2

(b) The plots of force and potential in each of the cases above are as follows. The force is shown
on the left and the corresponding potential on the right in each case.

(i) We have taken k = 1.5. We have chosen the constant such that U(0) = 0.
(ii) The plots are drawn for a = 5
(iii) We have chosen the constant such that U(0) = max.
142
(iv)We have chosen the constant such that U(0) = 0. Notice that the average force is always
positive, i.e. pointing in the positive x-direction. Therefore the potential energy curve keeps
going down as x increase.
9.7 We use
C dx x F x U +
) ( ) (
and keep the potential continuous everywhere. In the
plots the force is shown on the left and the corresponding potential on the right in each
case.
(i)
'
< +
>
0
0
) (
x if k
x if k
x F
C x k x U
C kx C kdx x U x
C kx C dx k x U x
+
'
+ + <
+ + >
) (
) ( 0
) ( ) ( 0
143
If we choose
x k x U U ) ( , 0 ) 0 (
For the plots drawn below we have chosen k = 2.
(ii)
x k x F ) (
C kx C dx kx x U x
C kx C dx kx x U x
+ + <
+ + >
2
2
2
1
) ( ) ( 0
2
1
) ( 0
If we choose U(x) = 0, C=0.
For the plots below, we have chosen k=2.

(iii)
144
'
>
a x if kx
a x if
x F
0
) (
The nature of force implies that the potential is a constant for a x a
C ka x U a x
C kx C dx kx x U a x
+
+ + >
2
2
2
1
) (
2
1
) (
Choosing U(0) = 0 gives
2
2
1
ka C and
( )
0 ) (
2
1
) (
2 2

>
x U a x
a x k x U a x
For the plots below, we have chosen k=2 and a =15.
(iv)
'
>
a x if
x
C
a x if
x F
2
0
) (
The nature of force implies that the potential is a constant for a x a
const
a
C
x U a x
const
x
C
const dx
x
C
x U a x
+
+ + >
) (
) (
2
Choosing U(0) = 0 gives a x
a
C
const a x
a
C
const > < for and for
Thus
145
'

>
+ <
0 ) (
) (
) (
x U a x
a
C
x
C
x U a x
a
C
x
C
x U a x
For the plots below, we have chosen C=250 and a =20.
9.8 We use
dx
x dU
x F
) (
) ( . This gives
(i)
kx x U ) ( k
dx
dkx
x F ) (
(ii)
x k x U ) (
( )
'
<
>
0
0
) (
x k
dx
kx d
x k
dx
kx d
x F

(iii)
2 2
1
) (
a x
x U
+
( )
2
2 2
2 2
2 1
) (
a x
x
a x dx
d
x F
+

,
`
.
|
+

(iv)
2 2
1
) (
a x
x U
+

( )
2
2 2
2 2
2 1
) (
a x
x
a x dx
d
x F
+

,
`
.
|
+

(b) Plot for part (i) is straightforward; it is a constant force and linearly varying potential
Plots for part (ii) are similar to that of part (i) in problem 9.7. This has been given above.
146
(iii) We have chosen a = 5. The force is shown on the left and the corresponding potential
on the right.

Notice that the force is negative for negative x and positive for positive x. Thus it is a force
that pushes a particle away from x = 0 and the position at x = 0 is an unstable equilibrium point.
Thus when a particle is displaced slightly from this point, it will runaway to infinity.
(iv) We have chosen a = 5. The force is shown on the left and the corresponding potential
on the right.

Notice that the force is positive for negative x and negative for positive x. Thus it is a restoring
force and the position at x = 0 is a stable equilibrium point. Further the force is varying almost
linearly with x near x = 0. Thus when a particle is displaced slightly from this point, it will
perform simple harmonic oscillation.
9.9 Since all the potentials except (i) are time-dependent, only (i) is conservative.
9.10 For the block not to fall off the track, its speed v at the top of the loop should be such that
147
Rg v g
R
v

2
2
Now by the conservation of energy we have
R h
mgR
mv R mg mgh
2
5
2 2
1
) 2 (
2

9.11 For the potential energy ( )
3
) ( a x C x U we have the potential energy curve (with parameters C
= 0.5 and a =2)
It is clear from the curve that a particle will always experience a force in the negative direction
except at a = 2. From this it is clear that the point x = a is a point of unstable equilibrium.
For the potential energy ( )
3
) ( a x C x U we have the potential energy curve (with parameters C
= 0.5 and a =2)
148
This potential energy curve gives force opposite to the displacement, and the force is zero at x = a.
Thus this point is a point of stable equilibrium. Notice that unlike the potential energy for a
spring
,
`
.
|
2
2
1
kx
, this potential energy is quite flat near the equilibrium point (because
( ) ( )
2 4
a x a x < for
1 < a x
. For larger displacements from x = a, the curve rises much faster
than the spring potential energy.
9.12 Let the velocities of the balls be v
1
and v
2
after the collision (since this is a one dimensional motion,
we are not putting vector signs on top of the velocities). Then by momentum conservation
( )
( )
2
2
2
1
2 2
2
2
1
2
2 1 2 1
2
1
2
1
v v V v v m mV
v v V v v m mV
+ +
+ +
The first equation gives
2 1
2
2
2
1
2
2 v v v v V + +
This and the second equation implies that 0 2
2 1
v v
Thus either v
1
is zero, i.e. the first ball is not moving. This is the situation after collision. Or
v
2
is zero, i.e. the second ball is not moving. This is the situation before collision.
9.13 According to the situation give, the two balls are undergoing an elastic collision (no loss in energy)
when they are moving in the opposite directions with equal speed V. Let the mass of the lighter
149
ball be m and that of the heavier one be M. If the velocity of smaller ball is v
1
after the collision,
then by equation 9.36 (taking vertically up direction to be positive)
( )
m M
mV MV
V
m M
M
m M
V m M
v
+
3
) 2 (
1
In the extreme limit, when M>>m, we have V v 3
1

If the balls are dropped from a height h then gh V 2
If after the collision the smaller ball goes to height H then gH V 2 3
These two equations give h H 9
9.14 By momentum conservation we have
( )
2 1
1
0 1 2 1
m m
v m
v v m v m m
o
+
+
Totla initial energy =
2
0 1
2
1
v m
Final energy =
( ) energy initial
2
1
2 1
1
2 1
2
0
2
1
+ m m
m
m m
v m
As is clear, the final energy is less than the initial energy. Therefore some energy is lost in
the process.
Now consider a pile of beads, each of mass m, connected with strings of length l between
them. As the first bead falls over the edge, its initial speed is zero bu by the time the string
connecting it to the second bead is taut, it gains a velocity of gl v 2 . However, as soon as
it pulls the second bead, by momentum conservation at that instant (neglecting the impulse
due to gravity) the speed of two beads is
2 2
2 gl
m
gl m
v
Now the two beads fall together and as the string connecting the second bead to the third
bead becomes taut, the energy of hse two beads is
mgl mgl
gl
m
2
5
2
2
2
2
1
+
150
This gives the speed of the two beads to be
2
5gl
Thus when the third bead is pulled over, momentum conservation at that instant gives the
speed of the three beads to be =
2
5
3
2
3
2 5 2
gl
m
gl m
One can go on like this and build up the solution up to p

th
bead falling by recognizing a
pattern. We can also do the problem in the following way.
Suppose when the (p-1)
th
bead has just fallen of the edge, the speed of the beads becomes
1 p
v
. Then when these beads fall and the string between the (p-1)
th
and p
th
string becomes
taut, the energy of the system will be
mgl p v m p
p
) 1 ( ) 1 (
2
1
2
1
+

Thus the speed of these beads just before the pth bead falls off the edge is given by
gl v v mgl p v m p mv p
p p
2 ) 1 ( ) 1 (
2
1
) 1 (
2
1
2
1
2 2
1
2
+ +

By momentum conservation, therefore, we get the speed when the pth bead falls off as
follows
gl p v p v p gl v p pv mv p pmv
p p p p p
2 ) 1 ( ) 1 ( 2 ) 1 ( ) 1 (
2 2
1
2 2 2 2
1
+ +

We know that 0
1
v i.e. when the first bead just falls off the edge of the table, its speed is
zero. Now we can write
gl p v p v p
p p
2 ) 2 ( ) 2 ( ) 1 (
2 2
1
2 2 2
+

And so on so that continuing in this manner we get ( 0
1
v )
[ ] gl
p p p
i gl gl p p p v v p
p
i
p
2
6
) 1 2 ( ) 1 (
2 2 1 .......... ) 3 ( ) 2 ( ) 1 (
1
1
2 2 2 2 2
1
2 2

+ + + + +

This gives
p
gl p p
v
p
3
) 1 2 )( 1 (
9.15 From problem 8.18, the total force required to move the chain is
2
v gh + . Thus the power
delivered by the person pulling the chain is =
3
v ghv +
151
On the other hand, the energy of the chain is = kinetic energy + potential energy
If the length of the chain on the table is x then v
dt
dx
and
Kinetic energy =
2
) (
2
1
v h x + potential energy = xgh gh +
2
2
1
Thus Total energy E = xgh gh v h x + + +
2 2
2
1
) (
2
1
This gives vgh v
dt
dE
+
3
2
1
Thus the rate of change of the energy of the chain is not equal to the power delivered. As
shown in the previous problem, the energy is lost in the inelastic collision.
One may ask a question: what if instead of the chain, it s a rope or a strin that is being pulled?
Where does the energy go in that case? The answer is that the energy difference is then used
in stretching the rope to generate the required force.
9.16 Let the length of the chain be L. If its length y is hanging from the table, the force
pulling it down is = y
L
Mg
Taking the vertically down direction to be positive, the coordinate of the end of the hanging
portion of the chain, when its length is y , is also y.
Thus the equation of motion of the chain is 0 or y
L
g
y y
l
Mg
y M
The equation can also be derived by considering the two protions, the one hanging from the
table and the other on the table, separately.
Writing
dy
y d
y
2
2
1
we get from the equation above
0 ' '
2
1
0
2
1
1 0
2
2

y
y
v
dy y
l
Mg
y d M y
l
Mg
dy
y d
M
This gives
152
( )
2
1
2 2 2
1
2 2
2
1
2
1
2
1
0
2
1
2
1
y
l
Mg
y
l
Mg
Mv or y y
l
Mg
Mv
The second term in the equation above is the change in the potential energy of the chain as
the length of its hanging portion changes from y
1
to y. Thus the total energy of the chain
remains unchanged as it slips off or the energy is conserved. This can also be seen as follows
When length y
1
is hanging,
kinetic energy = 0 potential energy =
2
1
2
1
y
l
Mg
Total energy =
2
1
2
1
y
l
Mg
When length y is hanging,

kinetic energy =
2
2
1
Mv potential energy =
2
2
1
y
l
Mg
Total energy =
2 2
2
1
2
1
y
l
Mg
Mv
It is clear from the above that the total energy remains unchanged.
9.17 As the chain unfolds, the mass of the hanging (and moving) portion keeps on changing.
Thus the problem is like the variable mass problem. We take the mass per unit length of
the chain to be . Taking the vertically down direction to be positive, the coordinate of
the end of the hanging portion of the chain, when its length is y , is also y. The external
force on the chain is
yg
, y
dt
dm
, and the relative velocity of the mass that is added
to it is
y
. Thus the equation of motion
ext rel
F u
dt
dm
y m +
of the chain is
yg y y y yg y y y + +
2 2
OR
Using
dy
y d
y
2
2
1
we write this equation as
g
y
y
dy
y d
+
2 2
2
1
153
We now solve this equation for
2
y as the sum of the solution
2
2
y
A
y
of the homogeneous
part and the particular solution yg
3
2
to get
yg
y
A
y
3
2
2
2
+
Here A is a constant. Using the condition that 0 ) (
1
2
y y y , we get g y A
3
1
3
2
and
therefore
( )
g
y
y y
y
2
3
1
3
2
3
2

The same result can be obtained by letting
p
and 0 l such that
y pl
in the
solution for a coiled set of beads in problem 9.14.
Now let us compare the energy of the chain at the beginning o fthe motion and agter it has
slipped so that y of its length is hanging.
At the beginning, when length y
1
is hanging,
kinetic energy = 0 potential energy =
2
1
2
1
gy Total energy =
2
1
2
1
gy
When length y is hanging,
Kinetic energy =
( )
g
y
y
g y g
y
y y
y y
3
1 2
3
1
3
2
3
1
3
1
3 2
1

Potential energy =
2
2
1
gy
Total energy =
energy total Initial gy energy total Initial
y
y
gy g
y
y
<
,
`
.
|

2 1 2
3
1
6
1
3
2
6
1
3
1

Thus we see that the energy is lost during the motion. This happens due to the inelastic
collision between the chain links as each new link is pulled by the moving chain (see
problem 9.14).
154
Chapter 10
10.1 (a) The fields are shown on the axses. They are the same all over the place.
(i) i y y x F
) , (
(ii) j x y x F
) , (
(b) If we think of the force arrows as velocity of a fluid, we see that a matchstick thrown in
that fluid will tend to rotate clockwise in (i) and counterclockwise in (ii). Thus the curl of
both the fields is not zero; it is negatve for (i) and positive for (ii).
(c) curlf of force field (i)
k
y
z y x
k j i
F
0 0

Curl of force field (ii)
k
x
z y x
k j i
F
0 0

155
x
y
x
y
10.2
(i) Force field i y y x F
) , (
.
Path 1: Work done is zero as the particle moves along the x-axis. Similarly as it moves from (2,0)
to (2,1), work done is again zero since the particle is moving perpendicular to the force field. Thus
alongh path 1, the net work is zero.
Path 2: Work done is zero as the particle moves along the y axis. However, as it moves from
(0,1) to (2,1), it is under a constant force of 1 unit in the x direction. So the work done by the field
is 2 units.
Path 3: Along path 3
2
x
y . Thus i
x
y x F
2
) , (
. The displacement along path 3 is given as

j dx i dx j dy i dx l d
2
1

+ +
. Thus
1
2
1
.
2
0

xdx l d F dW

unit
(ii) Force field j x y x F
) , (
Path 1: Work done is zero as the particle moves along the x-axis since the particle is moving
perpendicular to the force field. Similarly as it moves from (2,0) to (2,1), Field is constant and
O X
Y
(2, 1)
(2,1)
156
equal to 2 units. Thus the work done by the field will be 2 units. Thus alongh path 2, the net
work is 2 units.
Path 2: Work done is zero as the particle moves along the y axis because the field is zero. As it
moves from (0,1) to (2,1), it is is moving perpendicular to the force field so the work done is zero
again. So the net work done by the field is zero.
Path 3: Along path 3
2
x
y . Thus j x y x F
) , (
. The displacement along path 3 is given as

j dx i dx j dy i dx l d
2
1

+ +
. Thus
1
2
1
.
2
0

xdx l d F W

unit
In both the cases the work done depends on the path. It is therefore consistent with the curl of both
the fields not being zero.
10.3 Force field is

2 3 F yi x j +
r
. The paths are shown below
We will calculate the work done along path 1 in two parts: first when the particle mones along
the x-axis and secondly when it is moving from (1,0) to (1,1). Along the x-axis, the force is
j x F
and the displacement is i dx
. Thus the work done is zero when the particle moves

along the x-axis. When the particle moves from (1,0) to (1,1), the force is j i y F
and
displacement is j dy
. Thus the total work done is

Path2
O X
Y (1, 1)
path1
(2,1)
157
units 3 3
1
0

dy W
This then is the total work done along path 1.
Along path 2 y = x so that dy = dx. The work done is given by the integral
units
2
5
3 2 3 2 .
1
0
1
0
1
0
1
0
+ +

ydy xdx xdy ydx l d F W

Since the work done along two paths is different, the force field is NOT conservative.
10.4 The figure for the path si shown below. The way we have set up the transformations

) sin 1 ( and ) cos 1 ( + y x
, the corresponding angle is as shown in the figure and
varies from to 2. Thus the integral

+
ACB
y
ACB
x ACB
dy F dx F W
)
from A to B over the
semicircular path is
( ) ( ) ( )
d cos cos 1
3
d sin sin 1 cos 1
3
2
2
2
2
3
)
2

+ +
+
A
A
dy
x
A ydx x A W
ACB ACB
ACB
The integral can be carried out easily and gives
3
8A
W
ACB

10.5 j x k i y k F

2 1

. The force field will be conservative if its curl vanishes. The curls of
it is
Y
X
C
B
A
(0,1)
(2,1)
158
1 2
2 1
0

k k
x k y k
z y x
k j i
F +

If the curl has to vanish, we should have
2 1
k k .
For the force field j x i y F

it is clear by inspection that the potential should be

xy y x U ) , (
. However, to derive it formally we put
j x i y j
y
U
i
x
U

This gives
y
x
U
Which is integrated to
) ( ) , ( y f xy y x U +
Differentiating this with respect to y and writing
x
y
U
gives
. 0 const f OR
dy
df

By the condition
0 ) 0 , 0 ( U
, the const. is zero. Thus
xy y x U ) , (
10.6 (i) Curl of the field
i A
Az A
z y x
k j i
F
0 3

is not zero. Therefore the field is not conservative.
(ii) The curl of the field
( ) ( ) ( ) [ ] k y x z j x z y i z y x A
Axyz Axyz Axyz
z y x
k j i
F

+ +

is not zero. Therefore the field is not conservative.
159
10.7 (i) The function
]
]
]
+ +

4
) 1 ( ) 2 (
exp 2 ) , (
2 2
y x
y x f
will be a constant where its
argument
2 2
) 1 ( ) 2 ( + + y x is a constant. Thus the contours are given by
. ) 1 ( ) 2 (
2 2
const y x + +
These are concentric circles with centre at ( ) 1 , 2 .
(ii) The gradient of the function is given by
( ) ( ) ( ) ( )
( ) ( ) [ ] j y i x
y x y x
y
j
x
i
2
4
1 2
exp
4
1 2
exp 2
2 2 2 2
+ +
]
]
]
+ +

]
]
]
+ +
,
`
.
|
10.8 Kinetic energy of the system of N particles with masses

( ) N i m
i
1
and positions
( ) N i r
i

1
is
N
i
i i
r m
1
2
2
1

Let the position of the CM be

R
so that
R V

. If the positions and velocities of these

particles with respect to the CM are given respectively by
( ) N i r
ic

1
and ( ) N i r
ic

1 then
i
r R r

+ and
ic ic
r V r R r

+ +
Substituting this in the equation for kinetic energy above, we get

+ +
N
i
ic i
N
i
ic i
N
i
i
N
i
i i
V r m r m V m r m
1 1
2 2
1 1
2
2
1
2
1
2
1

Denoting the total mass
M
i
i
m
1
as M and using the property of the CM that
0
1

N
i
ic i
r m

, we
get

+
N
i
ic i
N
i
i i
r m MV r m
1
2 2
1
2
2
1
2
1
2
1

This is the desired result.

10.9 When some energy is released during collision, the equations during the collision are
160
2 1 2 1
p p p p + +

(momentum conservation)
2
2 '
2
1
2 '
1
2
2
2
1
2
1
2 2 2 2 m
p
m
p
E
m
p
m
p

+ + +
(energy conservation)
Here the unprimed quatities are before collision and the primed quantities are after collision.
Further 0 > E . The easiest way to prove that in the bove situation, the paricles cannot move
stuck together is to write all quatities in the with respect to the CM. In that case (referring to
quantities in the CM frame with subscript c)
c c c c c c c c
p p p p p p p p
2 1 2 1 2 1 2 1
and 0 + +

And using the splitting of the kinetic energy as in the problem above and the fact that
c c c c
p p p p
2 1 2 1
and

,
`
.
|
+ +
,
`
.
|
+ + + +
2 1
2 '
1
2 1
2
1
2
2 '
2
1
2 '
1
2
2
2
1
2
1
1 1
2
1 1
2 2 2 2 2 m m
p
E
m m
p
m
p
m
p
E
m
p
m
p
c c c c c c

Now if the particles are moving together, their momenta after the collision with respect to the
CM will be zero. This is also seen mathematically as follows. By momentum conservation
c c
p p
2 1

And if they are moving together, then
c c
p p
2 1

The above two equation give
0
2 1

c c
p p

Putting this in the energy conservation equation gives
,
`
.
|
+ +
,
`
.
|
+
2 1
2
1
2 1
2
1
1 1
2
0
1 1
2 m m
p
E E
m m
p
c c

However that is not possible because two positive quantities cannot add up to zero. Thus the
particles cannot move stuck together.
10.10 The picture of the carom coin and the striker is shown below
161
The coin will move in the direction of the impulse that it receives from the striker. This
direction is perpendicular to their common surfaces and theefore along the line joining their
centres. Thus the coin moves at an angle such that

+
75 . 33 and
9
56
cos
9
5
) 55 . 1 05 . 2 (
2
sin
We will work in cgs units. Initial momentum of the system is that equal to the initial
momentum of the striker which is i p
3000
.
If after the coliision, the velocity of the striker is j V i V V
y x

+
and the speed of the coin is v

then its velocity would be j
v
i
v
j v i v v
9
5
9
56
sin
cos + +
and the momentum

conservation will lead to
0 15
9
5
5
3000 15
9
56
5
+
+
y
x
V
v
V
v
Since the collision is elastic, the total energy is conserved and we get
( )
2 2 2 2
200 15
2
1
15
2
1
5
2
1
+ +
y x
V V v
These equations simplify to
Y
X
2cm
2ms
-1
2.05cm
1.55cm
Direction of
impulse on coin
0.0075kgms
1
0.0075kgms
1
162
120000 3 3
0 27 5
600 3
9
56
2 2 2
+ +
+
+
y x
y
x
V V v
V v
V
v
These are 3 equations for 3 unknowns so all the answers can be obtained from these equations.
Substituting
27
5
and
27
56
200
v
V v V
y x

In the energy conservation equation gives
0
9
2993
3
4

,
`
.
|
v
v
This gives
1 1
ms 5 . 2 cms 4 . 249

v after collision. The trivial answer 0 v of course refers
to the situation before collision.
This then leads to
1 1
ms 46 . 0 and ms 30 . 1

Vy V
x
. This gives the angle of deflection of
the striker to be

,
`
.
|
5 . 19
30 . 1
46 . 0
tan
1
below the x-axis.
(ii) KE o fthe CM remains unchanged during the collision. It is therefore
( )
J 0225 . 0 10
15 5 2
3000
7
2

+
.
(iii) Velocity of the CM =
( )
1
ms 5 . 1
5 15
2 15

Therefore the striker is moving with velocity 0.5 ms
1
and the coin with -1.5 ms
1
along the x-
axis in the CM frame. The magnitude of momentum of each body is 0.0075 kgms
1
in
directions opposite to each other (see figure). In the CM frame the magnitude of velicities does
not change during an elastic collision. Thus the momentum and the velocity vectors of the
striker and the coin just rotate. Further, the impulse J is in the direction (see figure) such that it
makes and angle

,
`
.
|

75 . 33
6 . 3
2
sin
1
0.0075kgms
1
0.0075kgms
1
163
from the x-axis. As is clear from the figure, the magnitude of J must be such that the final
momentum has the same magnitude as the initial momentum. This is seaily done by drawing a
circle of radius equal to the magnitude of the momentum with its centre at the tail of the initial
momentum vector. We then draw the impulse vector from the head of the initial momentum
vector at the angle and take its length such that its head touches the circle. The vector from
the centre to this point gives the final momentum. The construction immediately shows that
J p p
i f

+
It is also clear from the figure that
1
kgms 0125 . 0 75 . 33 cos 0075 . 0 2

J
It is also clear from the figure that the angular momenta vector srotate by
5 . 112 75 . 33 2 180
CM
As a check we now calculate the velocities of the striker and the coin in the lab frame from the
information above and compare our answer. As is clear from the figure, the x component of
the strikers velocity in the CM frame is
1
ms 187 . 0 5 . 112 cos 5 . 0

xCM
V
This then gives V
xlab
as follows (keep in mind that the CM is moving in x direction only)
1
ms 313 . 1 187 . 0 5 . 1

+
xCM CM xlab CM xlab xCM
V V V V V V
33.75
J
0.0075kgms
1
0.0075kgms
1
CM
164
And we get from the figure (the CM is moving in x direction only)
1
ms 462 . 0 5 . 112 sin 5 . 0

yCM ylab
V V
Thus
1 2 2
, triker
ms 39 . 1

+
ylab xlab lab s
V V V
Similarly for the coin (see figure)
( )
1
ms 574 . 0 5 . 112 180 cos 5 . 1

xCM
V
This gives
1
ms 074 . 2 574 . 0 5 . 1

+ +
xCM CM xlab
V V V
and we get from the figure
( )
1
ms 386 . 1 5 . 112 180 sin 5 . 1

yCM ylab
V V
This gives
1 2 2
,
ms 49 . 2

+
ylab xlab lab coin
V V V
These match with the previously obtained answers.
10.11 As in the problem above, the stationary balls will move in the direction of impulse after
the collision. This is going to be along the line joining the centre of the striking ball and the
centres of the stationary balls. At the time of colliding, the three balls will look as shown
below.
Since the net impulse (due to the two stationary ball) will be along the line of its initial motion
by symmetry (see figure), it will continue to move along its original direction. This is also
seen by noticing that the statinary balls have a net momentum in the direction of v
0
. Thus there
30
Direction of
impulse on ball
Direction of
impulse on ball
165
will be no component of the momentum to be balanced in the direction perpendicular to that.
Thus the striking ball will continue to move along its original direction. Let the speed of the
striking call be v
1
after the collision and the speeds (equal by symmetry) of the other balls be v.
Then by momentum conservation
3
2
3
2
1 0 1 0
v v v v m mv mv + +
Since the collision is elastic, we have by energy conservation
2 2
1
2
0
2 2
1
2
0
2
2
1
2
2
1
2
1
v v v v m mv mv + +
There are two unknowns v
1
and v and two equations so we can get their values. Squaring the
momentum conservation equation and subtracting it from the energy conservation equation
gives
( ) 0 3 2
1
+ v v v
One of its solutions is the trivial solution 0 v referring to the situation before collision.
Theother solution is
3 2
1
v v
Substituting this in the the momentum conservation equation gives
5
3 2
and
5
0 0
1
v
v
v
v
166
Chapter 11
11.1 Disc rotating about a point on its periphery. Consider first a rotation about a point on the
periphery by an angle. This is shown on the left in the figure below. The dashed circle
shows the initial position of the disc while the solid circle shows the position after
rotation.
On the right we show the same rotation carried out by translating the CM of the disc first to its
new position, as shown by the straight arrow and then carrying out the rotation about the CM.
We have made the disc in this position by dotted circle. As is evident from the figure, the
magnitude and the sense of rotation is the same as in the figure on the left.
11.2 Now we generalize the result of the problem above. On the right in the figure below, we
show the same rotation as in the figure on the left carried out by translating the opposite end of
the diameter of the disc first to its new position, as shown by the straight arrow and then
carrying out the rotation about the this point. We have made the disc in this intermediate
position by dotted circle. As is evident from the figure, the magnitude and the sense of rotation
is the same as in the figure on the left. Similarly, it can be shown about any other point.
167
11.3 The angular momentum
L
about the origin is given by

v r m L

. Thus the answers in
different cases are
(i)
0
2 i i L
(ii) k i j L
(iii) ( ) k j i j L
4

2
2 +
(iv) ( ) ( ) k k k j i j i L
4

2
+ +
11.4 The position of the wheel and the stone stuck to its periphery is shown in the figure
below.
Vt
t
X
Y
x(t)
y(t)
168
Thus we have for the position
) (t r
, velocity
) (t v
(obtained by differentiating
) (t r
with respect
to time once) and acceleration
) (t a
(obtained by differentiating
) (t r
with respect to time

twice) of the stone
( ) j t R i t R Vt t r
cos
sin ) (
( ) j t R i t R V t v
sin
cos ) ( +
j t R i t R t a
cos
sin ) (
2 2
+
As is evident, the acceleration is towards the centre of the wheel. It is the centripetal
acceleration. The force for this is provided by the force that keeps the stone stuck to the
wheel. This force is
j t R m i t R m t a m F
cos
sin ) (
2 2
+

The angular momentum ) (t L
of the stone with respect to the origin is

( ) [ ] ( ) [ ]
( )k t VR R t Rt V m
j t R i t R V j t R i t R Vt m t v t r m t L
cos sin
sin
cos
cos
sin ) ( ) ( ) (
2

+
+

This gives
k t Rt mV
dt
L d
cos
2

The angular momentum changes due to the torque provided by the force that keeps the stone
stuck to the wheel and is equal to the centripetal force. Thus the torque
( ) [ ] [ ]
k t Rt mV
j t R i t R j t R i t R Vt m
cos
cos
sin
cos
sin
2
2 2

Thus it is equal to the rate of change of the angular momentum.

11.5 We assume that at time t = 0, the paricle is on the x axis. Thus after time t, its position
vector is give as (see figure)
( ) j t R i t R R t r
sin
cos ) ( + +
169
Thus its velocity and acceleration are (obtained by differentiating
) (t r
with respect to time

once for the velocity and twice for the acceleration)
j t R i t R t v
cos
sin ) ( +
j t R i t R t a
sin
cos ) (
2 2

As expected, the acceleration is the centriprtal acceleration. It is provided by the external force
towards the centre. The angular momentum of particle with respect to the origin is
( ) [ ] [ ]
[ ]k t R m
j t R i t R j t R i t R R m t v t r m L
cos 1
cos
sin
sin
cos ) ( ) (
2

+
+ + +

Its time derivative is

k t R m
dt
L d
sin
2 2

The torque due to the external force is

( ) [ ] [ ]
k t R m
j t R i t R j t R i t R R m t a t r m
sin
sin
cos
sin
cos ) ( ) (
2 2
2 2

+ +

This is the same as the rate of change of angular momentum.
11.6 The angular momentum for a collection of particles about an origin O is

i
i i i O
v r m L

Now let is choose a different origin O such that the position vector of O from O is
R
(see
figure) so that
'
i i
r R r

+ and
'
i i
v v

X
Y
R
O
t
170
Substituting the expressions above in the formula for
O
L
, we get
( )

+ +
i i i
i i i i i i i
i
i i O
v r m v m R r R m r m L
' '
i
'
i
v v

where we have used the fact that

'
i i
v v

.
Now the angular momentum about O is

' '
' i i i O
v r m L

Thus if the total momentum of the system is zero, then

i
i i
i
i i
v m v m 0
'

and
' O O
L L

11.7 At the maximum distance R

max
and the minimum distance R
min
from the sun, the velocity
vector is perpendicular to the radius vector. If the speed of the earth at these distances is
Vmax and Vmin, respectively, then the angular momentum of the earth at these two
points is M
earth
R
max
V
max
and M
earth
R
min
V
min
, respectively. By the conservation of angular
momrntum we have
M
earth
R
max
V
max
= M
earth
R
min
V
min
This gives
967 . 0
52 . 1
47 . 1
max
min
min
max

R
R
V
V
O
O
i
r
'
i
r
X
X
Y
Y
Z
Z
171
11.8 Initial momentum
i
p
, the final mpmentum

f
p
and the change in the momentum

i f
p p p

are shown in the figure below.
As is evident from the figure, the magnitude of
p
is
2
sin 2

p where
f i
p p p

and it
is in the direction bisecting the angle ( ) between the incident and the scattered direction.
Mathematically it can be seen as follows. Choose the direction of incoming particle to be the x
direction. Then
i p p
i
and j p i p p
f
sin
cos +
( )
,
`
.
|
+

+
j i p
j p i p
j p i p p
2
cos
2
sin
2
sin 2
2
cos
2
sin 2
2
sin 2
sin
1 cos
2
Thus the magnitude of

p
is
2
sin 2

p and it is in the direction
,
`
.
|
+
j i
2
cos
2
sin
.
X
Y
( )
i
p
f
p
172
(ii) Since the paticle is moving parallel to the x axis at a distance d, its angular momentum is
mvd going into the plane of the paper. This can be seen as follows. The position and velocity
vectors of the particle are
j d i x r

+
and
i v v
This gives for the angular momentum

k mvd v r m L
Further, since the force is central, the angular momentum about the origin is a constant.
(iv) Since F
dt
p d

, we have
dt F p

. Therefore
dt F
is in the same direction as

p
.
To calculate
dt F
, we change the integration over time to integration over the angle by using
the angular momentum conservation. Using polar coordinates, we write the angular
momentum of a particle moving in the xy plane as k
dt
d
mr L
. Since in the present

problem, it is a constant equal to k mvd
, we have
d
vd
r
dt mvd
dt
d
mr
2
2

The force
F
between the two charges is in the radial direction and is equal to

( ) j i
r
Qq
k F
sin
cos
2
+
Thus
( )
( )
( ) [ ]
,
`
.
|
+

+ +
+
+
j i
vd
Qq
k
j i
vd
Qq
k
d j i
vd
Qq
k
d
vd
r
j i
r
Qq
k dt F
2
cos
2
sin
2
cos 2
cos 1
sin
sin
cos
sin
cos
2
2
Thus the magnitude of
dt F
is
2
cos 2

vd
Qq
k . Comparison of this expression with that for the
momentum change shows that the two are in the same direction and
173
2
cos 2
2
sin 2

vd
Qq
k p
Or
2
cot
2
cot
2

mv
Qq
k
pv
Qq
k d
This is the Rutherford formula.
11.9 (i) At angle
1
the potential energy of the girl is ( )
2
1 1
2
1
cos 1 MgL MgL with
respect to the equilibrium point, i.e. when the swing is in the vertical position. The
kinetic energy of the system at the lowest point , if the angular speed is
1
, is
2
1
2
2
1
ML .
By energy conservation
L
g
MgL ML
1 1
2
1
2
1
2
2
1
2
1

(ii) Whe the child stands up at the lowest point, all the external forces on the her are
passing through the pivot so her angular momentum remains unchanged. However as
she stands up her moment of inertia about the pivot is ( )
CM
I d L M +
2
where I
CM
is
her moment ofinertia about her CM. Neglecting it gives the moment of inertia to be
( )
2
d L M . Then by conservation of angular momentum
( )
( )
1 1
2
2
2 1
2
2
2
2
1
,
`
.
|
+

L
d
d L
L
ML d L M
keeping only linear terms in
L
d
since d<<L.
(iii) The final kinetic energy of the girl is
174
( )
( )
,
`
.
|
+
,
`
.
|
+
,
`
.
|

,
`
.
|
+
,
`
.
|
+
L
d
ML
L
d
L
d
ML
L
d
dL L M
L
d
d L M I
2
1
2
1
4
1
2
1
2
1
4
1 2
2
1
2
1
2
1
2
1
2
1
2
2
1
2
2
1
2
2
1
2
2 2

L
d
since d<<L. Thus we see that the kinetic energy of the
system has increased in comparison with the original energy. Threfore the swing would go
higher on the other side.
(iv) Suppose the swing goes up to angle
2
on the othwr side, we have by energy
conservation and the fact that
2
1
2
1
2
2
1
2
1
MgL ML
( )
2
1
2
2
2
2
2
1
2
2
1
2
1 2
1
2
1

,
`
.
|
+
,
`
.
|

,
`
.
|
+
L
d
d L
L
d L Mg
L
d
ML
Now we have the approximation d<<L, which gives
L
d
L
d
L
d
L
d
d L
L 3
1
2
1 1
2
1 +
,
`
.
|
+
,
`
.
|
+
,
`
.
|
+
,
`
.
|

L
d
. Thus
1 2 1
2
1
2
2
3
1
3
1
,
`
.
|
+
,
`
.
|
+
L
d
L
d
This gives the increase in the angle of swing in half a period. While going back, the new
amplitude
1
by the time the swing reached its starting point will be.
,
`
.
|
+
,
`
.
|
+
,
`
.
|
+
L
d
L
d
L
d 3
1
2
3
1
2
3
1
1
2
1 2 1

In the full period, the net increase in the amplitude will therefore be
175
1 1 1
3

L
d

176
Chapter 12
12.1 Moment of inertia of a ring. Let the mass of the ring be m and its radius R. Since all the
points on the radius are at the same distance from the axis, each small mass m on the
periphery gives the same contribution
2
mR to the moment of inertia. Thus the total
moment of inertia is

2 2
mR mR I
A disc can be thought of made of many rings of width dr at different radii (see figure).
The moment of inertia of each ring is
rdr
R
M
r
2
2
2
. Thus
the total moment of inertia is
2 3
2
2
1
2 MR dr r
R
M
I
For the moment of inertia about the diameter of a ring, consider a small portion of it of extent
d at and angle It moment of inertia about the diameter is ( )
Rd R
R
M
2
cos
2
.
Thus the total moment of inertia is
2
2
0
2
2
2
1
cos
2
MR d
MR
177
12.2 Moment of inertia of a rectangular sheet. The sheet is shown in the figure below
We first calculate its moment of inertia about the x axis. For this, let us take a thin strip of
width dy parallel to the x axis and at a distance y from it. Its mass is dy
b
M
dy a
ab
M
. Since
the perpendicular distance of all its points is y from the x-axis, its moment of inertia about the
x axis is dy
b
M
y
2
. Thus the total moment of inertia about the x-axis is
12
2 2
2
2
Mb
dy y
b
M
I
b
b
x

Similarly by taking a thin strip parallel to the y axis, we will get the moment of inertia I
y
about the y axis to be
12
2 2
2
2
Ma
dy y
a
M
I
a
a
y

Let us now calculate the moment of inertia about the z axis. Consider again the strip parallel
to the x axis. By parallel axis theorm the moment of inertia of this strip about the z axis is =
(moment of inertia of its CM with respect to the z-axis + its moment of inrtia about the axis
passing through its CM and parallel to the z-axis)
dy
b
M
a dy
b
M
y dI
z
2 2
12
1
+
which upon integration leads to
Z
Y
b
a
X
y
178
( )
2 2
12
b a
M
I
z
+
12.3 The disc and a strip on it perpendicular to the axis of rotation (y-axis) is shown in the
figure below. The strip is of width dy and at a distance y fron the centre.
Length of this strip is
2 2
2 y R and its mass is
dy y R
R
M
2 2
2
2
. Thus its moment of

inertia about the y-axis is
( ) ( ) dy y R
R
M
dy y R
R
M
y R dI
y
2
3
2 2
2
2 2
2
2 2
3
2 2
4
12
1

The integration is easily carried out by substituting
cos R y
and gives the resuly
2
4
1
MR I
y

12.4 This problem can be done exactly in the same manner as above. We now divide the
shell inti thinn rings at an angle (see figure).
X
Y
y
R
179
The radius of the ring is cos r and therefore its mass is

d
M
rd r
r
M
cos
2
cos 2
4
2

and
its moment of inertia about the rotation axis is
d
M
r dI cos
2
cos
2 2

2
2 2
2
3
2
3
2
3
4
2
cos
2
Mr
Mr
d
Mr
I

12.5 In this problem, we divide the sphere into thin discs and add the moments of inertia of
all discs. Thus for a disc of thickness dy at height y (see figure), its radius is
2 2
y R , its
mass is
( ) ( )dy y R
R
M
dy y R
R
M
2 2
3
2 2
3
4
3
3 4

180

Therefore, the moment of inertia of the disc is
( ) ( ) ( ) dy y R
R
M
dy y R y R
R
M
dI
2
2 2
3
2 2 2 2
3
8
3
4
3
2
1
.
Integrating it from R to R gives the total moment of inertia
( )
2
5
3
5 5
5
3
2
2 2
3
5
2
15
16
8
3
3
4
5
2
2
8
3
8
3
MR
R
R
M R R
R
R
M
dy y R
R
M
I
R
R

,
`
.
|
+
12.6 For the moment of inertia about the y-axis, the problem is done exactly in the same way
as in 12.5 by taking a disc at height y. The only difference is that the mass M is now
distributed over half the volume and the y integration runs from 0 to R. Thus the mass
of the disc is
( ) ( )dy y R
R
M
dy y R
R
M
2 2
3
2 2
3
2
3
3 2

And its moment of inertia is

( ) ( ) ( ) dy y R
R
M
dy y R y R
R
M
dI
2
2 2
3
2 2 2 2
3
4
3
2
3
2
1

Thus the total moment of inertia is given as
( )
2
5
3
5 5
5
3
0
2
2 2
3
5
2
15
8
4
3
3
2
5 4
3
4
3
MR
R
R
M R R
R
R
M
dy y R
R
M
I
R

,
`
.
|
+
Similarly, to calculate the moment of inertia about the x axis, we make a cylindrical shell as we did
in example 12.3 (see figure)
X
Y
y
R
181
Thus the moment of inertia will be calculated exactly like in example 12.3. The mass of this shell
is given by
dy y y R
R
M
dy y
R
M
dm
2 2
3
3
3
2 2
3 2 2
1

Th factor of
2
1
comes because there is only half the shell in a hemisphere. Therefore the moment
of inertia of the hemisphere is
2
0
2 2 3
3
2
5
2 3
MR dy y R y
R
M
dm y I
R

12.7 A conical shell is shown below. To calculate the moment of inertia, we take a ring at a
distance x from the base extending from x to x+dx. Then by similarity fo triangles, its radius
is
( )
h
x h
r y

. Similarly the length of its side is
dx
r h
h dx
2 2
cos
+

Y
R
y
X
182
Thus the mass of the ring is
( ) dx x h
h
m
dx
h
r h
y
r h r
m
dm
+

+
2
2 2
2 2
2
2
. Its moment
of inertia therefore is
( ) ( ) dx x h
h
mr
dx x h
h
m
y dI
3
4
2
2
2
2 2

The moment of inertia of the shell is then given by integrating the expression above over x from 0
to h and gives
( ) ( )
2
3 3
2 2
2
0
3 2 2 3
4
2
0
3
4
2
mr
dx x hx x h h
h
mr
dx x h
h
mr
I
h h
+

Now we calculate the moment of inertia about the y-axis. To do this we use the parallel axis
theorem and write the moment of inertia of the ring considered above as that of its CM plus its
moment of inertia about the axis parallel to the y axis and passing through the CM. Thus
( ) ( ) ( ) ( ) dx x h
h
mr
dx x hx
h
m
dx x h
h
m
y dx x h
h
m
x dI
3
2
2
3 2
2 2
2
2
2
2 2
2
1 2
+ +
Integrating this we get
6 4
2 2
mh mr
I +
We now do the calculations for a solid cone. The calculations proceed in exactly the same manner
as for the shell bu now instead of a ring, we take a disc at distance x. The mass of the disc is
( ) dx x h
h
m
dx y
h r
m
dm
2
3
2
2
3
3

. Thus its moment of inertia is

( ) ( ) dx x h
h
mr
dx x h
h
m
y dI
4
5
2
2
3
2
2
3 3
2
1

X
Y
h
r
x
183
( )
2
0
4
5
2
10
3
2
3
mr dx x h
h
mr
I
h

For the moment of inertia about the y axis, we again consider the same disc and use the parallel
axis theorem to write the moment of inertia of the ring considered above as that of its CM plus its
moment of inertia about theaxis parallel to the y axis and passing through the CM. So
( ) ( ) ( ) ( ) dx x h
h
mr
dx x h x
h
m
dx x h
h
m
y dx x h
h
m
x dI
4
5
2
2 2
3
2
3
2 2
3
2
4
3 3 3
4
1 3
+ +
Now the integration over x from 0 to h gives
2 2
20
3
10
1
mr mh +
12.8 (i) The total angular momentum = angular momrntum of large disc + angular
momentum of small disc
+ ) disc small ( ) disc large (
2 1
I I L
2
1
2
1
MR I
I
2
is calculated using the parallel axis theorem and its value is
2 2
2
1
mr md +
Thus ( ) + +
2 2 2
2
1
md mr MR L
(ii) Let the large disc start rotating with angular speed in the opoosite direction. Then
by conservation of angular momentum
( )
( )
2 2 2
2
2 2 2 2
2
0
2
1
2
1
d r m MR
mr
mr md mr MR
+ +
+ +

(iii) For 0 M and 0 d , we have

This keeps the total angular momentum zero since the large disc rotates in the opposite
direction with exactly the same angular speed as given to the small disc.
184
(iv) In a helicopter also, as the large rotor starts, the body of the helicopter will tend to
rotate in the opposite direction. To prevent this, a tail rotor is fitted that provides the
counterbalancing torque.
12.9 The position of the person (represented by the filled circle) after time t is shown on the
platform in the figure below.
As the person moves on the platform, the platform starts rotating clockwise with angular
speed so that the total angula momentum remains zero. As the platform rotates, the person
also moves with it. The net velocity v
of the person with respect to the ground is equal to

(velocity u
of the person with respect to the platform + rotational velocity

rot
v
of the person
due to the rotation of the platform). This is expressed as
rot
v u v

+
Thus the angular momentum of the person is
( )
rot p
v u r M l

+
Here r
is the position vector of the person from the origin O on the axis. The position,
various distances and the velocities, as seen from the top, are shown in the figure below.
u
A
B
ut
O
185
It is clear from the figure that
]
]
]
]
,
`
.
|
+
,
`
.
|

,
`
.
|
+
,
`
.
|
2 2
2
2 2
2 2 2 2 2
ut
a a
r v r u
a
u r ut
a a
r
rot

Here the sign takes care of the ddirection of angular momentum along the aixs of rotation; it
is positive for counterclockwise rotation and negative for clockwise rotation. Thus the
angular momentum of the perso is
]
]
]
]
,
`
.
|
+
,
`
.
|

2 2
2 2 2
ut
a a
M
Mau
l
p

The angular momentum of the platform is
6
2
ma
l
plat

O
2 a
r
A
B
ut
rot
v
186
Now equation the total angular momentum to zero (by conservation of angular momentum)
gives
0
6 2 2 2
2
2 2

]
]
]
]
,
`
.
|
+
,
`
.
|

ma
ut
a a
M
Mau
This gives
]
]
]
]
,
`
.
|
+
,
`
.
|
+
2 2
2
2 2 6
2
) (
ut
a a
M
ma
u Ma
t
Total time that the person takes to move from A to B is
u
a
Thus the angle through which the platform rotates by the time the person reaches B is
dt
ut
a a
M
ma
u Ma
dt t
u a u a

]
]
]
]
,
`
.
|
+
,
`
.
|
+

0
2 2
2
0
2 2 6
2
) (
This integration can be done by substituting
udt dz ut
a
z and
2
So we get
dz
z a
M
m
a
dz
Mz a
M m
Ma
a
a
a
a

+
,
`
.
|
+
+
,
`
.
|
+

2
2
2 2
2
2
2 2
4
1
6
1
2
4 6
2
Now substitute tan
4
1
6

,
`
.
|
+
M
m
a z which gives d
M
m
a dz
2
sec
4
1
6

,
`
.
|
+ to get
d
a
M
m
M
m
a
a
,
`
.
|
+
,
`
.
|
+

0
0
2 2
2
sec
4
1
6
sec
4
1
6
2
where
2
1
0
4
1
6 2
1
tan

,
`
.
|
+
M
m
. This gives
187
,
`
.
|
+

4
1
6
0
M
m
If m = 0, we have
4
0

and
2
. Thus although on the platform, the person has moved

from A to B but overall he remains at his original position since the platform has rotated back
by
2
.
For M m << , we have
M
m
M
m
M
m
3
1
6
4
1
2
2
4
1
6 2
1
tan
2
1
2
1
0

,
`
.
|
+
,
`
.
|
+

Thus
4
0

, where 1 << . We can therefore write

,
`
.
|
2 1
4
sec
4
tan
4
tan tan
2
0

Thus
M
m
6

This gives
,
`
.
|
+
,
`
.
|

,
`
.
|

,
`
.
|
+
,
`
.
|

1
2 3 2 3
1
3 2 6 4
1
6 4
2
1

M
m
M
m
M
m
M
m
M
m
12.10 This is similar to the variable mass problem except that in this problem we will get the
answer by applying the principle of conservation of angular momentum because this is
an extended body and if we try to apply Newtons second law to each point particle, it
is impossible to solve the problem because of a large number of internal forces
involved.
Let a small mass m come out at a given time t during the time interval from t to
t+t from one of the containers. Let the angular speed of the display be at t. Then
the speed of gases coming out with respect to the ground is ( ) l u , as shown in the
figure
188
If in time t the angular speed of the display becomes + , then by conservation of
angular momentum
( ) ( ) ( ) l u ml l m m l m + 4 4 4
2 2
Here factor of 4 comes because of 4 containers. Here m is the mass of each container at
time t. Obviously
t m M m +
. Neglecting the second order term m , we get
u m l m mlu l m
2
Thus
l m
u
dt
dm
dt
d
This equation can not yet be integrated because

dt
dm
should be written in terms of m for that.
Obviously
dt
m d
dt
dm
. This gives
l m
u
dt
m d
dt
d

Integrating this gives, starting from = 0 at t = 0
,
`
.
|
+
+

+
+
t m M
m M
l
u
m
m d
l
u
t
t m M
m M

ln ) (
Thus after the entire gubpowder is exhausted, we have
u-l
u-l
189
,
`
.
| +
M
m M
l
u
ln
12.11 This problem is exactly the same as the problem above except that the moment of
inertia of the display is different because of different positioning of the containers of
gunpowder. Conservation of angular momentum now gives
( ) ( ) ( ) ( )
( )

,
`
.
|

+
,
`
.
|
+ +
,
`
.
|
+
2 2
4 4
2
4 4
2
4 4
2
2
2
2
l
u
l
m l u ml
l
m m l m m
l
m l m

Neglecting second-order terms and simplifying leads to
mlu l m
lu
lu m
l
m l m
,
`
.
|
+
,
`
.
|
+
2
3
4
5
2 4
2
2
2

Following the steps in the solution of problem 12.10, this leads to
,
`
.
|
+
+
t m M
m M
l
u
t
ln
5
6
) (
and
,
`
.
| +
M
m M
l
u
ln
5
6
12.12 As the water comes out of the sprinkler pipes, it carries angular momentum with it. If
the opposing torque were not there, the system will rotate in the opposite direction with
increasing angular speed to conserve the angular momentum. However it does not happen
because of the opposing torque which is the external torque on the system. Taking the
direction of rotation of the rods to be positive, we have
( ) t torque external t L t t L + ) (
Here external torque is

with the minus sign indicating that it is in the direction opposite
to the rotation. Since the mass of the rod remains unchanged, if the mass of water coming
out from each end in time interval t is m , we have
( ) ( )
( )

,
`
.
|
+
,
`
.
|
+ +
2
2
6
2 2
4
12
2
2
2
l
u ml
ml
l
u
l
m
ml
t t L

and
190

6 12
2 ) (
2 2
ml ml
t L
Thus we have
t
l
u ml
ml

,
`
.
|

2
2
6
2
This gives

,
`
.
|

2
2
6
2
l
u l
dt
dm
dt
d ml
Since the area of each hole is S, we have u S
dt
dm
, where is the density of water. In
steady state, the sprinker system rotates with constant angular speed so that 0
dt
d
.
Substituting u S
dt
dm
and 0
dt
d
in the equation above gives
2
2
ul S l
u

Assuming that at the beginning of turning the spinker on, all pipes are filled, we also solve
how the angular speed changes with time until it approaches the above vaue. The differential
equation for can be written as
2
2
6 12 6
ml ml
u S
m
u S
dt
d

+
This equation has the solution
,
`
.
|
+
,
`
.
|

2
2 6
exp ) (
ul S l
u
t
m
u S
A t
Since
0 ) 0 ( t
, we get
,
`
.
|

2
2
ul S l
u
A
This gives
]
]
]
,
`
.
|

,
`
.
|
t
m
u S
ul S l
u
t

6
exp 1
2
) (
2
191
12.13 Let the angle between the unit vector n
and vector r
be (see figure).
It is clear from the figure that the magnitude of r
is
sin r
and it is in the direction of
r n

. Since the magnitude of r n

is also
sin r
, we get r n r

.
12.14As the disc hits the rough surface, let the surface apply an impulse J on it (see figure).
As a consequence the disc moves with a smaller velocity and also starts rotating because the
impule applies a torque on it about its CM. By rolling condition we have R V
1
.
By the equation for the CM, we get
1
mV mV J
And by the torque equation
1
2
2
1
2
1
2
1
mV mR J mR JR
r

n
r
J
V
V
1
192
This gives V V
3
2
1

12.15 Free body diagram of the disc is given below.
Here f is the frictional force on the disc. By the equation for the motion of its CM we get
ma f F
Taking torque about the CM of the disc we get
mR f mR fR
2
1
2
1
2

For pure rolling we have R a . Substituting this in the above two equations we get
m
F
a
3
2
12.16 (i) Free body diagram of the cylinder is shown below.

Here J
f
is the frictional impuse on the disc. By the equation for the motion of its CM we get
MV J J
f

Similarly the angular momentum equation about the CM gives
2
2
2
MRV
MR
fR Jd
+
f
F
J
f
J
d
193
Where the second equality follows from the rolling condition R V . Solving the above
two equations leads to
R
J
MV
d
,
`
.
|
1
2
3
(ii) For a sphere the equations are the same as for a cylinder except that its I about the
CM is different. Thus the equations become
MV J J
f

5
2
5
2
2
MRV
MR
fR Jd
+
Their solution gives
R
J
MV
d
,
`
.
|
1
5
7
.
12.17 The rod in example 12.11 bounces back with angular speed and speed V. Before it
impacts the ground, its angular momentum about the point of impact is equal to the
angular momentum of its CM because it is not rotating, and it is pointing into the page
(see figure).
Thus
cos
2
2gh ml
L
initial

h
V
l/2
194
After the impact, the rotation about CM gives angular momentum coming out of the page and
the translational motion gives angular momentum going into the page. Thus
cos
2 12
2
mlV ml
L
final

By conservation of angular momentum, we have
cos 2 6 cos 6 cos
2
2
cos
2 12
2
gh V l
gh ml mlV ml

By energy conservation we have
gh V l mgh mV
ml
24 12
2
1
12 2
1
2 2 2 2 2
2
+ +
These are two equations for two unknowns. Substituing ( ) gh V l 2 cos 6 + from the
first equation into the second equation, we get the equation
( ) ( ) ( ) 0 cos 3 1 2 cos 2 6 cos 3 1
2 2 2
+ + gh V gh V
This is a quadratic equation in V, and its solution is
,
`
.
|
+
+ t

2
2
cos 3 1
cos 3 1
2gh V
The plus sighn in front of 1 above gives the trivial solution that the velocity of the rod before
impact is gh 2 downward. And after the impact its velocity is gives by the second root
which is
,
`
.
|
+
2
2
cos 3 1
cos 3 1
2gh V
From ( ) gh V l 2 cos 6 + , this gives
( )
2
cos 3 1
cos 2 12
+
l
gh
It is evident from the equations above, for
2
, the rod rebounds without any rotation.

195
12.18 This problem is similar to the problem 12.17 . However, the CM and the moment of
inertia about the CM are different in this problem. In this case the CM is at distance
l
m
ml
3
3
from mass m. Thus the moment of inertia about the CM
2 2 2
6 4 2 ml l m ml I
CM
+
Like the previous problem, before the system impacts the ground, its angular momentum
about the point of impact is equal to the angular momentum of its CM because it is not
rotating, and it is pointing into the page. Its value is
cos 2 3 gh ml L
initial

Let the system bounce back with angular speed and speed V after the impact. Then
cos 3 6
2
mlV ml L
final

Thus angular momentum conservation about the point of impact gives
cos 2 cos 2 cos 2 3 cos 3 6
2
gh V l gh ml mlV ml
Similarly energy conservation gives
gh V l mgh mV ml 2 2 3 3
2
1
6
2
1
2 2 2 2 2 2
+ +
Again we substitute ( ) cos 2
2
1
gh V l + in the second equation to get
( ) 0 cos
2
1
1 2 cos 2 cos
2
1
1
2 2 2

,
`
.
|
+
,
`
.
|
+ gh V gh V
Its solution gives one trivial solution gh 2 and for speed after impact
,
`
.
|
+
2
2
cos
2
1
1
cos
2
1
1
2gh V
and
,
`
.
|
+
2
cos
2
1
1
cos 2 2
l
gh
196
12.19 The figure below shows the rod and the stone just before the impact.
(i) Right after the impact the angular momentum about the pivot is conserved. Thus, if
the rod and stone stuch with it move with angular speed after the impct, we have
(moment of inertia of the rod and the stone together is
]
]
]
]
+
,
`
.
|
3 4
3
2
2
0
ml l
m
)
]
]
]
]
+
,
`
.
|
3 4
3
4
3
2
2
0 0 0
ml l
m
l
v m
With gl v
m
m
0
and
3
0 , we get
l
g
25
12

(ii) The kinetic energy of the rod and the stone system after the impact is
mgl
l
g
ml
ml l
m KE
50
3
25
12
48
25
2
1
3 4
3
2
1
2
2 2
2
2
0

,
`
.
|

]
]
]
]
+
,
`
.
|

If the rod rises by an angle , the potential energy of the system at this point is
( ) ( ) ( ) cos 1
4
3
cos 1
4
3
cos 1
2
0
+
mgl l
g m
l
mg PE
Equating the KE and PE, we get
l
4
3l
197
23 92 . 0 cos
(iii) The impulse by the pivot. As soon as the stone hits the rod and gets stuck with it, the
horizontal momentum of the system changes. This change is brought about by the
impulse that the pivot applies on the rod. Thus by calculating the change in the
momentum of the system, we obtain the impulse that the pivot applies on the rod.
Initial momentum of the system =
3
0
gl m
gl m
Final momentum of the system =
gl m
l
g ml
l
m
l
m
25
9
25
12
4
3
4
3
2
stone the of momentum rod the of CM the of momentum
0

+
+

Thus after the stone gets stuck, the momentum of the system changes by
gl m gl m
75
2
3
1
25
9

,
`
.
|
in the same direction that the stone was moving initially. Thus the impulse given by the
pivot is
gl m gl m
0
25
2
or
75
2
in the same direction that the stone was moving initially.
It is also instructive to solve this problem by angular momentum consideration by calculating
the change in the angular momentum of the system and attributing it to the torque provided
by the impulse. For this we apply the equation
CM applied
dt
dL
CM
,

Here CM is the centre of mass of the entire system (rod+sone). Note that this equation can be
applied only about the CM of the system and NOT about the CM of the rod alone.
198
Distance of the CM from the pivot point =
16
9
4
3
3 2 3 4
1 l l m l
m
m

,
`
.
|
+
Thus the CM of the rod is
16 2 16
9 l l l

,
`
.
|
above the system CM. Similarly the stone is

16
3
16
9
4
3 l l l

,
`
.
|
below the system CM. The velocity of the CM is

4
0
0
0 0
v
m m
v m
+
in the same
directon as the stone. Thus befor the stone strikes the rod, it is moving with respect to the
system CM with speed
4
3
0
v
in the same direction and the CM of the rod is moving with
speeed
4
0
v
(in the opposite direction). This is shown in the figure below in the system CM
frame.
Thus the angular momentum of the system in its CM before the impact is
16
9l
4
3
0
v
4
0
v
199
16
4
3
16
3
0
4 16
) ( ) (
0
0
0
0
mlv
v l
m
v l
m
L rod of CM about L rod of CM of L
L L L
stone rod
stone rod initial
+ +
+ +
+
3
0
m
m . The sense of rotation is counter clockwise.
Immediately after the stone hits the rod, rod starts moving with speed
0
0
100
27
25
12
16
9
16
9
v
l
v l l

With respect to the CM of the system, the CM of the rod and the stone are moving with speed
(keep in mind that is the same about any point and we are thinking of the motion of the
system as the translation of the system CM plus rotation about the system CM. Thus with
respect to the system CM, the motion is roational)
100
3
25
12
16 16
0 0
v
l
v l l
v
rod
CM
and
100
9
25
12
16
3
0 0
v
l
v l
v
stone

Thus the angulat momentum of the system about the system CM after the impact
400
19
100
9
16
3
25
12
12 100
3
16
) ( ) (
0
0
0
0
2
0
mlv
v l
m
l
v ml v l
m
L rod of CM about L rod of CM of L
L L L
stone rod
stone rod final
+ +
+ +
+
3
0
m
m . The sense of rotation is counter clockwise. Thus
the impuse gives a torque equal to
200
3
16
1
400
19
0
0
mlv
mlv L L
initial final

,
`
.
|

The negative sign here shows that the change is in clockwise direction. Its magnitude is the
torque impulse which is equal to the impulse J provided by the pivot times the distance fo the
pivot from the system CM. For clockwise sense, J is in the same direction as the firction of
stones velocity. Thus
200
25
2
or
75
2
200
3
16
9
0 0 0 0
lv m mlv
J
mlv l
J
12.20 Let the distance of the sweet spot be l
s
. The ball hitting the bat and its swing is shown
in the figure below.
The point where the bat is held is the pivot point of the bat. Further, let the ball come
horizontally with speed v
i
and retun alonh the same line with speed v
f
. Considering
clockwise rotation to be represented by the positive direction, we have:
Initial angular momentum
s i i
l mv I L
0
Final angular momentum

s f f
l mv L
Since there is no external torque about the pivot, we have
s f s i f i
l mv l mv I L L
0
or
( )
s
i f
l
I
v v m
0
+
Finally the momentum change of the system is caused by the force applied on the bat. Initial
momentum is the sum of the momentum of the bat and that of the ball. The final momentum
is that of the ball only. This gives
) (
0
c i f i f
ML mv mv P P F
Since for the sweet spot force is zero, we have
( )
0
c i f
ML v v m +
l
s
0
F
201
This combined with the equation
( )
s
i f
l
I
v v m
0
+
gives
c
s
ML
I
l
(i) For M=2 kg, L
C
=40 cm and I=0.3kgm
2
, we get
cm 5 . 37 m
4 . 2
3 . 0
s
l
(ii) From the momentum equation above, we get
( )
1
0
s rad 55 . 11
4 . 0 2
60 154 . 0

c
i f
ML
v v m
(iii) With the wrapping of the tape, the mass the moment of inertia of the bat and its CM
all change. We have
2 2
m kg 321 . 0 65 . 0 050 . 0 3 . 0 +
new
I
and
m kg 8325 . 0 65 . 0 05 . 0 4 . 0 2 65 . 0 05 . 0 + +
c new c new
ML L M
This gives
cm 6 . 38 m
8325 . 0
321 . 0

new s
l
Thus the sweet spot is lowered by 1.1 cm.
12.21 The problem is solved as example 15.2 in chapter 15.
12.22 For generality we first take the masses on the dumbel to be of mass M each and the
mass striking to have mass m. Since there are no external forces or torques acting on
the system, its momentum and angular momentum remains the same before and after
the collision. For convenience we take angular momentum about the origin. We show
various distances in the figure below.
202
The momentum components of the mass m are as follows
2 2 2 2
2 2 2 2
4 4
2
4
2
4
l a
mvl
l a
l
mv p
l a
mva
l a
a
mv p
y
x
+
+

+
+

Initial angular momentum about the origin arises only from the motion of mass m. When particle
is on the x axis, only the y component of its momentum gives the angular momentum about the
origin and it is
2 2 2 2
4 4
2
l a
mvla
a
l a
l
mv L
initial
+

+

clockwise
After the mass m gets stuck with M after hitting it, the CM of the system is at
( )
( ) ( ) m M
ml
m M
l M l m M
y x
CM CM
+
+
+

2 2 2
2 2
0
immediately after the impact.
By momentum conservation the momentum of the system after the imact is the same as before it.
Thus the angular momentum of the CM of the system after the impact is (see figure below)
a
l/2
M
l/2
O v
M
m
X
Y
203
( )
2 2
2
4 2 l a m M
vla m
p y L
x CM CM
+ +

Since angular momentum is conserved, the rest of the angular momentum comes from the angular
momentum about the CM of the system. Thus the angular momentum about the CM is
( )
2 2
4 2
2
l a m M
Mmvla
L L L
CM initial aboutCM
+ +

This then gives the rate of rotation through the equation
aboutCM aboutCM
L I
For this we first calculate
aboutCM
I
. It is
( )
( ) ( )
( )
( ) m M
l m M M
m M
ml l
M
m M
ml l
m M I
aboutCM
+
+
,
`
.
|
+
+ +
,
`
.
|
+
+
2 2 2 2 2 2 2
2
2 2
Thus
( )
( )
( )
2 2 2 2
2
4
2
4 2
2
2
l a l
va
m M
m
l a m M
Mmvla
m M
l m M M
+
,
`
.
|
+

+ +
+
+

With these we easily calculate the velocity of mass (M+m) and mass M right after the impact.
These will be given by adding the velocity of the CM to their velocity due to rotation about the
CM. Thus
Y
p
x
M
O
y
CM
M
(M+m)
X
p
y
204
( ) ( ) ( ) ( )
( ) ( )
( )
( ) ( ) m M
p
v v
m M
l m M
m M
p
m M
ml l
v v
m M
p
v v
m M
l M
m M
p
m M
ml l
v v
y
yCM yM
x
xCM xM
y
yCM m M y
x
xCM m M x
+

+
+
,
`
.
|
+
+
+

+
+
+
,
`
.
|
+
+
+ +
2 2 2 2 2 2
2 2 2 2 2 2
) ( ) (
For M m these answers become

Angular momentum of the system CM about the origin after the impact =
2 2
4 3 l a
Mvla
+

Angular momentum of the system about its CM
2 2
4 3
2
l a
Mvla
+
and
2 2
2 2
) (
2 2
) (
4 3
0
4 3 4
l a
vl
v v v
l a
vl
v v
l a
va
v
yCM yM xM
yCM m M y m M x
+

+

+
+ +

Chapter 13
13.1 (i)
( )
2 2 2
2mw z y m I
i
i i i xx
+

( )
2 2 2
2ml z x m I
i
i i i yy
+

( ) ( )
2 2 2 2
2 w l m y x m I
i
i i i zz
+ +

mlw y x m I I
i
i i i yx xy

0

i
i i i zx xz
z x m I I

0

i
i i i zy yz
z y m I I
Thus
( )
]
]
]
]
]
2 2
2
2
2 0 0
0 2
0 2
w l m
ml mlw
mlw mw
I
(ii) To find the principal axes, one rotates the frame with respect to the z-axis by an angle
so that the coordinates for each particle transform by the formulae

cos sin '
sin cos '
y x y
y x x
+
+
a
a
205
and the resulting coordinates make
0
' '

y x
I
. Numbering the masses as shown in the figure,
we get

cos cos sin sin 0
sin sin cos cos 0
'
4
'
3
'
2
'
1
'
4
'
3
'
2
'
1
w y w l y l y y
w x w l x l x x
+
+
Substituting these in the formula for
' ' y x
I
and equating the resulting expression to zero gives
2 2
2 tan
w l
lw

Substitution of new (x, y) also gives
( )
( )
]
]
]
]
+
2 2 4 4
2 2
2 2 4 4
2
2 2
2 2
' '
w l w l
w l
w l w l
w l
w l m I
x x
and
( )
( )
]
]
]
]
+
+
+
+ +
2 2 4 4
2 2
2 2 4 4
2
2 2
2 2
' '
w l w l
w l
w l w l
w l
w l m I
y y
13.2 The principal axes (1,2) of the rectangle passing through its CM are shown in the figure
when it is in the plane of the paper. Axis (3) is coming out of the paper.
Y
w
l
X
1 2
3 4
X
Y
a
a
206
(i) Components of the angular velocity are
0 sin cos
3
2 2
2
2 2
1

+

+

b a
a
b a
b
(ii) Components of angular momentum along the principal axes are
0
12 12
3
2 2
2
2 2 2
2 2
2
1 1 1

+

+
L
b a
mab
I L
b a
b ma
I L

Thus if the unit vectors along the principal axes are denoted as 2
, 1
and
3
then
( ) 2
12
2
12
1
12
2 2 2 2
2
2 2
2
b a
b a
mab
b a
mab
b a
b ma
L +
+
+
+
+
(iii) Kinetic energy of the rectangle

( )
2 2
2 2 2
2
2 2
2
1 1
12 2
1
2
1
2
1
. .
b a
b ma
I I L E K
+
+

13.3 The system and its principal axes (1,2) are shown in the figure below. Principal axis
(3) is coming out of the paper.
a
a
b
1
2
207
We have
( )
2 2
3
2
2
2
2
2
1
4
2 2
4
2 2 b a m I mb
b
m I ma
a
m I +
0 sin cos
3
2 2
2
2 2
1

+

+

b a
a
b a
b
0
3
2 2
2
2 2 2
2 2
2
1 1 1

+

+
L
b a
mab
I L
b a
b ma
I L

Rate of change of angular momrntum can be found easily by either the Eulers equations or
by taking components of angular momentum in directions parallel to and perpendicular to the
direction of
.
By Eulers equations: Since the components of
in the direction of the principal axes

remain unchanged, we have for the change in angular momentum
3
) ( 2
) ( 1
) (
1 2 2 1 3 1 1 3 2 3 3 2
L L L L L L
L
dt
L d

+ +

With the components calculated above, we get

3
) (
2 2
2 2
2
1 2 2 1

,
`
.
|
+

b a
b a
mab L L
dt
L d

1
2
a
b
208
Thus the
dt
L d
vector is always in the direction opposite to that of principal axis

3
. Thus at the
instant shown, it is pointing into the paper.
By taking components of angular momentum in directions parallel to and
perpendicular to the direction of
: If we decompose the angular momentum components

L
||
in the direction parallel to
and L
perpendicular to
, then as the body rotates, L

||
remains unchanged and L
rotates with angulae speed and changes at the rate
L
and that
gives the rate of change of angular momentum. From the figure above, it is clea that
,
`
.
|
+
2 2
2 2
2 1
cos sin
b a
b a
mab L L L
This is also shown in the figure above. It is then clear that at the instant shown this vector is
going to rotate into the plane of the paper. Thus the direction of change of angular
momentum is into the paper and its magnitude is
,
`
.
|
+
2 2
2 2
2
b a
b a
mab L
13.4 The picture of the system of eight particles is shown below. We also show the
diagonal about which we consider it rotating.

X
Y
Z
209
(i) To show that the coordinate system chosen is is also the principal axes system, it
is sufficient to show that all the off diagonal elements of its moment of inertia
tensor vanish. This is easily shown. We do it for I
xy
here.
0
2 2 2 2 2 2 2 2 2 2

]
]
]
,
`
.
|
+
,
`
.
|
+

i
i i i yx xy
h h h h l h h h h l
m y x m I I
Thus the set of axes chosen is the principal set of axes.
(ii) For the diagonal shown, the unit vector is =
2 2 2

w h l
k w j h i l
+ +
+
Thus the angular velocity is given as
2 2 2

w h l
k w j h i l
+ +
+

To calculate the angular momentum, we also need the moment of inertia about the principal
axes. These are
( )
( )
( )
2 2
2 2
2 2
3
2 2
2 2
2 2
2
2 2
2 2
2 2
1
2
4 4
8 ) (
2
4 4
8 ) (
2
4 4
8 ) (
h l m
h l
m y x m I
l w m
l w
m x z m I
w h m
w h
m z y m I
i i
i
i
i i
i
i
i i
i
i
+
,
`
.
|
+ +
+
,
`
.
|
+ +
+
,
`
.
|
+ +
Thus we have
( ) ( ) ( )
2 2 2
2 2
3
2 2 2
2 2
2
2 2 2
2 2
1
2 2 2
w h l
w h l m
L
w h l
h l w m
L
w h l
l w h m
L
+ +
+

+ +
+
+ +
+

The kinetic energy
( )
2 2 2
2 2 2 2 2 2 2
2
3 3
2
2 2
2
1 1
2
2
1
2
1
2
1
. .
w l h
h w l w l h m
I I I E K
+ +
+ +
+ +

13.5 As the rod rotates, its angular momentum also changes. The required torque is
provided by the gravitational force pulling it down. Thus the rod can be in
equilibrium at two positions. Absolutely vertical or at an angle from the vertical.
The first solution is trivial. For the second solution, we find by equating the angular
210
momentum change about the pivot (a staionary point) to the torque. Later we will
check the answer by applying the torque equation about the centre of mass also.
The rotating rod in the plane of the paper is shown in the figure along with its principal axes
at the pivot; axis (3) is coming out of the plane fop the paper. Also shown is the free body
diagram of the rod. The pivot applies a vertical force N to balance the weight mg of the rod
and a horizontal force F to provide the required centripetal accelerartion to the CM of the
rod.
The moment of inertia of the rod about the principal axes at the pivot are
3
0
3
2
3 2
2
1
ml
I I
ml
I
The angular velocity components are
0 cos sin
3 2 1

Thus the angular momentum components are
0 0
3
sin
3 2
2
1
L L
ml
L

Since the angular velocity and its components along the principal axes are constant, we have for
the torque
3
) ( 2
) ( 1
) (
1 2 2 1 3 1 1 3 2 3 3 2
L L L L L L L
dt
L d
+ +

Thus
1
2 N
F
mg
211
3
cos sin
0 0
2 2
3 2 1

ml

Here the negative sign shows that the torque is pointing into the paper. This is proided by the
weight of the rod. The torque of the weight about the pivot is pointing into the paper and its
magnitude is
sin
2
l
mg
Thus we should have
,
`
.
|

2
1
2 2
2
3
cos
3
cos sin
sin
2
l
g ml l
mg
The same answer can also be obtained by taling horizontal (perpendicular to
) L
H
and
vertical (parallel to
) L
V
components of the angular momentum and then calculating the
rate of change of angular momentum as L
H
.
Now we calculate F. This provideds the centripetal force so we have
2
sin
2

,
`
.
|
l
m F
Check: To check our answers, we apply the torque equation about the CM and see if the forces
calculated by us satisfy this. About the CM we have
CM applied
dt
L d
CM
,
Further, for the principal axes at the CM (parallel to those at the pivot)
12
0
12
2
3 2
2
1
ml
I I
ml
I
So that (angular velocity components are the same)
0 0
12
sin
3 2
2
1
L L
ml
L

Thus we have, with
,
`
.
|
2
2
3
cos
l
g
8
sin
12
cos sin
0 0
2 2
3 2 1

mgl ml

212
Let us see if , N and F calculated by us give the same torque. This is in the direction
perpendicular to the paper and its magnitude is
sin
2
cos sin
4
sin
2
cos
2
2
2
l
mg
l
m
l
N
l
F
Substituting
,
`
.
|
2
2
3
cos
l
g
we get the torque as
8
sin
sin
2 2
3
sin
4
2
2
2

mgl l
mg
l
g l
m
Thus our answers also satisfy the torque equation about the CM and are therefore correct.
13.6 (i) Since the wheel is rolling without slipping, it rotates about the horizontal axis with
an angular speed
R
V
H

Further, it rotates about the vertical axis with an angular speed
L
V
V
. This can also be
seen easily as follows. Since the wheel rotates a full 2 radians in time
V
L 2
, its angular
speed about the vertical is
L
V
V
L
V

,
`
.
|

2
2
in counterclockwise direction looking at it
from the top.
(ii) Angular momentum about O = angular momentum of the CM + angular momentum about
the CM
Angular momentum of the CM about O = MLV in the vertically up direction
Angular momentum about the CM has both the horizontal and the vertical components.
Angular momentum about the CM =
,
`
.
|
L
V
MR
2
4
1
in the vertically up direction + MRV
2
1
in
the horizontal direction pointing towards O.
Thus total angular momentum about O is
Horizontal component L
H
= MRV
2
1
in the horizontal direction pointing towards O.
213
Vertical components L
V
=
L
V MR
MLV
2
+ in the vertically up direction.
(iii) As the wheel rotates, the vertical component of the angular momentum remains
unchanged while the horizontal component rotates. Its rate of change is therefoe
equal to
L
MRV
L
H V
2
2
1

If seen from the top, its direction is as shown in the figure below
(iv) The free body diagram of the wheel, when it is going into the page is shown below.
As the wheel rotates, the change in the angular momentum is such that at the position shown
above, it will point out of the paper. On the other hand, torque due to the weight about O is
O
L
H
L
H
mg
O
N
N
1
L
F
214
pointing into the paper. Thus to generate torque coming out of the paper, the normal reaction
of the ground has to be more than the weight of the wheel so that
( )
2
2 2
2
1
2
1
L
MRV
mg N
L
MRV
mg N L
momentum angular in change Torque
+
By balancing the vertical forces, we get

2
2
1
2
1
L
MRV
N
Thus when the wheel is moving, it is pulled down by the vertical shaft at the centre. In turn,
the shaft is pulled up. Thus with time it will tend to come out of the ground.
The horizontal force applied by the shaft provided the centripetal acceleration. Thus
L
mV
F
2
The explanation for why the wheel presses theground harder has been given above. Another
way to think about it is as follows. If there were no gravity, the horizontal shaft of the wheel
will tend to turn clockwise about a horizontal axis as the wheel moves so that the change in
the torque is zero. In turn the wheel presses the ground and generated enough torque so that
the rate of change of its angular momentum is equal to the torque generated.
13.7 This problem is like the previous problem except for position of the centre of mass and
the moment of inertia of a cone. We again obtain the horizontal component of the angular
momentum of the cone and multiply it with the vertical component of the angular velocity of
the cone to get the rate of change of the angular momentum. The horizontal and the vertical
components of the angular velocity and the free body diagram of the cone are shown below.
V
N
1
mg
N
F
215
Since the speed of the centre of cones base is V and its radius is R,
R
V
H
. Similarly
h
V
V
.
The principal axes of the cone at its vertex are its axis and two axes perpendicular to it. The
moment of inertia about the axis of the cone is
2
10
3
mR . Thus the horizontal moment of
inertia is
mVR
R
V
mR L
H
10
3
10
3
2

And its rate of change is
h
R mV
mVR
V
2
10
3
10
3

Coming out of the plane of the paper at the position of the cone shown. This shoud be equal
to the torque about the pivot. Thus
2
2 2
10
3
4
3
10
3
4
3
h
R mV
mg N
h
R mV
hmg hN +
And
+ N mg N
1
2
2
1
10
3
4
1
h
R mV
mg N +
Similarly, the force F provides the centripetal force. Thus
h
mV
h m F
V
2
2
4
3
4
3

13.8This is a problem where we take the components of the angular velocity according to the
convenience of applying the rolling condition. So we split the angular velocity so that it has
component about the vertical and about its axis. We then find the relationship between
them by demanding that the speed of all the points on the ground vanishes so that the cone
rolls without slipping.
(i) Now a point at distance x from the vertex (pivot point) on the line touching the ground
moves with speed x due to the rotation about the vertical axis through the vertex and speed
216
sin x (see figure below) in the opposite direction due to rotation about the axis of the
cone.
Thus for rolling we get
sin
Now if the centre of the base moves with speed V, we have
cos
cos
h
V
h V
This also gives

sin cos h
V
As is clear from the components, the net angular velocity
of the cone is cos parallel to

the line touching the ground an in direction shown in the figure. Thus
hR
R h V
h
V
2 2
sin
cos
+

(ii) To calculate the angular momentum of the cone, we calculate the angular momenta
along the principal axes shown in the figure below.
1 2
217
From the figure it is clear that
mRV
R h
h
hR
R h V
mR I L
10
3
10
3
cos
2 2
2 2
2
1 1

+
+

h
V
mh mR
R h
R
hR
R h V
mh mR I L
,
`
.
|
+
+
+

,
`
.
|
+
2 2
2 2
2 2
2 2
2 2
80
3
20
3
80
3
20
3
sin
In this case, the angular momentum changes because its vertical component rotates with
angular speed . Thus the rate of change of angular momentum is given by
( )
R
mhV
h
mRV
R h
R
mRV
R h
h
h
V
mh mR
hR
R h V
L L L
dt
L d
V
2 2
2 2 2 2
2 2
2 2
1 2
80
3
20
3
10
3
80
3
20
3
sin cos
+
]
]
]
+

+

,
`
.
|
+
+
and it is in the direction of axis 3. Its sign depends on the relation between h and R.
Check: The answer can be checked easily by applying the Euler equations that give
,
`
.
|
+
,
`
.
|
+

2 2
2
2 2 2
1 2 2 1 3
2 1 1 3 2
2 3 3 2 1
80
3
20
3
80
3
20
3
cos sin ) (
0 ) (
0 ) (
mh mR
hR
V
mh mR I I L
I I L
I I L

which is the same answer as obtained above.

13.9 In the figure below, we show the horizontal angular momentum L
H
of the rotating disc,
its change L
H
as the platform rotates and its free body diagram.
mg
N
2
N
1
L
H
L
H
218
We have

0
2
0
2
2
1
2
1
mR L
dt
L d
mR L
H H
If the torque applied on the disc is zero, i.e., N

1
and N
2
are equal, there cannot be any change
in the angular momentum. Hence the disc will tend to rotate clockwise in the position shown
so that N
1
will become larger than N
2
. Finally, N
1
and N
2
will be such that the torque is equal
to change in the angular momentum. This gives
( ) +
0
2
2 1 2 1
2
1
2
mR N N
l
mg N N
Solving these two equations gives
l
mR mg
N
l
mR mg
N
2 2 2 2
0
2
2
0
2
1

+

13.10: It has been worked out in section 13.5.3 (see figure 13.18). Carry it out further for
each axis step by step.
13.11 We show in the figure below the principal axes for the system at the pivot point and
the forces that act on the vertical rod at the bearings. Principal axis 1 is along the rod
and 2 and 3 are perpendicular to the rod with axis 3 coming out of the plane of the
paper at the instant the rod is shown. In the free body diagram of the rod, we have not
shown the vertical forces. The cetre of mass of the system is also indicated in the
figure.
219
The moment of inertia about the principal axes are as follows
2
2 2
3 2 1
2
5
4
9
4
0 ml
l
m
l
m I I I +
The angular velocity components are
0 sin cos
3 2 1

Thus the angular momentum components are
0 sin
2
5
0
3
2
2 1
L ml L L
The torque required to keep the rod rotating can be calculated either by Eulers equations or
by the horizontal component L
H
of the angular momentum and multiplying it by .
Euler equations give

cos sin
2
5
) (
0 ) ( 0 ) (
2 2
1 2 2 1 3
3 1 1 3 2 2 3 3 2 1
ml L L
L L L L

This is the same answer as obtained through L
H
as is easily checkd.
The torque is provided by the reactions of the bearings. The difference in these reactions
also provides the centripetal force as the CM of then system is moving in a circle of radius
sin
2
l
. Thus
N
2
d
1
2
d
L
H
N
1
220
( )

sin sin
2
2
cos sin
2
5
cos sin
2
5
2 2
2 1
2 2
2 1
2 2
2 1
ml
l
m N N
ml
d
N N ml d N N

+ +
Solving these two equations gives
,
`
.
|

,
`
.
|
+
d
l ml
N
d
l ml
N
2
cos 5
1
2
sin
2
cos 5
1
2
sin
2
2
2
1

13.12 In the figure below we show the principal axes for all the three rigid bodies. Axes (1,
2) are in the plane of the paper and axis 3 is coming out of the the paper in all three
cases.
In all the three cases we have
0 sin cos
3 2 1

and
0 sin cos
3 2 2 1 1
L I L I L
Thus we have
( )

cos sin ) (
0 ) ( 0 ) (
2
1 2 1 2 2 1
3
3 1 1 3
2
2 3 3 2
1
I I L L
dt
dL
L L
dt
dL
L L
dt
dL

,
`
.
|

,
`
.
|

,
`
.
|
Now in case (a)
(b)
1
2

(c)
1
2
(a)
1
2
221
2 2 2 2
2
2
2
1
cos sin
12 12
b a
a
b a
b ma
I
mb
I
+
+

This gives
,
`
.
|
+

,
`
.
|
2 2
2 2 2
3
12 b a
b a ab m
dt
dL
In case (b)
12 12 12
2 2
2
2
1
mb ma
I
mb
I + . This gives

cos sin
12
2 2
3
ma
dt
dL

,
`
.
|
In case (c)
2 4
2
2
2
1
mR
I
mR
I . This gives

cos sin
4
2 2
3
mR
dt
dL

,
`
.
|
13.13As the ring rotates, the tension in the string does two three things: it balances the
weight of the ring, it provides the centripetal acceleration and it provides the torque for
the angular momentum change of the ring. The figure below shows the principal axes
of the ring at its CM and the free body diagram of the ring. Axes (1, 2) are in the plane
of the paper while axis 3 is coming out of the paper.
222
mg
B
A
T
O
2
B
A
1
The components of the angular velocity are

0 sin cos
3 2 1

Therefore components of the angular momentum along the principal axes at the CM are
0 sin cos
2
1
3
2
2
2
1
L mR L mR L
Thus the change in the angular momentum is times the horizontal component of the
angular momentum =
cos sin
2
1
sin cos
2
1
cos sin
2 2 2 2
mR mR mR
,
`
.
|
And it points in the direction of axis (3) i.e. coming out of the page at the instant shown.
Euler equations also give the same answer through
( )

cos sin ) (
0 ) ( 0 ) (
2
1 2 1 2 2 1
3
3 1 1 3
2
2 3 3 2
1
I I L L
dt
dL
L L
dt
dL
L L
dt
dL

,
`
.
|

,
`
.
|

,
`
.
|
However, at the position shown, the tension and the weight of the ring give no torque about
the CM of the ring. Thus the internal forces will move the ring so that there is an opposing
change in the angular momentum. This ring moves so that its B end moves up. This implies
that the ring moves towards position 1. However, as it moves up, the tension gets
misaligned with the CM and starts giving a torque about it and finally the ring stops at an
angle such that the torque equals the angular momentum change.
Now balancing the forces gives
( ) ( )
2 2
sin sin
cos

l R m T l R m T
mg T
+ +
These equations give

( )
( ) ( )
( ) l R
g
l R
g
l R
g
l R
g
+

'
+

+

<<
+
2
2 4
2
2 4
2
2
cos sin
2
1 1 sin
1 cos
223
If the ring moves up by an angle , The perpendicular distance of the tension and the CM is
about
R
. This gives a torque
( )
2
3
l R mR RT +
Equating this to the rate of change of angular momentum gives
( )
( ) l R
g
mR mR l R mR
+
+
2
2 2 2 2 2
2
1
cos sin
2
1

This gives
( )
2 2
2 l R
Rg
+
13.14 Following the notation of example 13.7, we have (using parallel axis theorem for calculating
I )
( )
2 4 4 3 6 2
2
2 5
2
2 3 2
kgm 10 3 . 1 10 25 10 50 10 5
4
kgm 10
2
10 2 10 50
2

+ +

ml
mR
I
mR
I
Given
1
rads 100

S
(i) The presseion angular frequency will then be
1 1
5
2 3
450 rads 8 . 7
100 10
10 5 8 . 9 10 50

s
I
mgl
p

Seeing the change in the angular momentum for the given sense of rotation, the top will be coming
out of the paper.
(ii) We see that
S p
<<
. Therefore for the nutation motion we can write
( ) t
p
cos 1
sin
) (
0
0

with S
I
I

The maximum difference between and

0
is therefore
0
sin 2
p
. Substituting all the numbers,

we get
+
+ 6 . 48 6 . 18 30
sin 2
0
0 max

p
(iii) The frictional force is needed to provide the centripetal force. Thus
224
N 076 . 0 8 . 7 5 . 0 10 5 10 50 30 sin
2 2 3 2

p friction
ml F
13.15 The soulution of the Euler equations governing the motion is the same as in
example 13.7 but the initial conditions are different. Thus we have
( ) t
I
t B t A
S
S

cos
sin
cos sin
0 0 2
+ +
( ) t
I
t B t A
S
S

sin
sin
sin cos
0 0 3
+
Here
( )
S
I
I I

0
. Let the initial angular speed given about the vertical be
0
. Then
the initial conditions for the subsequent motion are
0 ) 0 ( sin ) 0 (
3 0 0 2
t t
These give
0 0
sin 0
,
`
.
|

S
I
B A
Thus we get
( ) ( ) t
I
t
I
S
S S

cos sin cos sin

0 0 0 2
+
,
`
.
|

( ) ( ) t
I
t
I
S
S S

sin sin sin sin

0 0 0 3

,
`
.
|

If the precession velocity of the top is
p
then
( ) ( )
( )
,
`
.
|
,
`
.
|
+
,
`
.
|
+ +
+ +

t
I
I
I
t
I
I
t t t
I
t t t
I
t t
t t
S
S
S
s S
S
s S
S
S
s s p

cos sin sin cos sin
sin sin sin sin sin
cos cos sin cos sin cos sin
sin cos sin
0 0 0
0 0
0 0 0 0 0
3 2
This gives
225
,
`
.
|
,
`
.
|
+
,
`
.
|

t
I
I
I
t
I
I
S
S
S p

cos
sin
sin
1 cos
sin
sin
0 0
0
And
( ) ( )
( )
,
`
.
|
,
`
.
|
+
+ +
+

t
I
I
I
t t t
I
t t t
I
t t
t t
S
S
s S
S
s S
S
S
s s

sin sin
cos sin sin sin sin
sin cos sin cos sin sin sin
cos sin
0 0
0 0
0 0 0 0 0
3 2
Upon integration, the equation for
gives
]
]
]
,
`
.
|
,
`
.
|
+ +
t
I
I
I I
I
t
S
S S

cos 1 sin ) (
0 0 0
The variation of
) (t
with time is similar to that shown in figure 13.23.
To get the angle through which the top has precessed, we substitute the value of
) (t
in the
equation for
) (t
p
and integrate it numerically. Finally to see the motion of the tip of the
axis of the top, is plotted against
dt t
p
) (
.
226
Chapter 14
14.1 For this spring 54 . 3
2
25

m
k
rads
1
(i)
1 . 0 ,
2 0 cos
1 . 0 sin

'
A
A
A

giving
,
`
.
|
+
2
54 . 3 sin 1 . 0 ) (

t t x
(ii)
rad 17 . 1 or 38 . 2 tan , 11 . 0
042 . 0 cos 15 . 0 cos
1 . 0 sin

'
A
A A
A

leading to ( ) 17 . 1 54 . 3 sin 11 . 0 ) ( + t t x
(iii)
57 . 3 tan , 104 . 0
028 . 0 cos 1 . 0 cos
1 . 0 sin

'
A
A A
A
1.84rad gives which
2
0 tan
0 cos
0 sin
< <
'
<
<
>

( ) 84 . 1 54 . 3 sin 104 . 0 ) ( + t t x
(iv)
76 . 1 tan , 115 . 0
0565 . 0 cos 2 . 0 cos
1 . 0 sin

'
A
A A
A
1.06rad gives which 0
2
0 tan
0 cos
0 sin
< <
'
<
>
<

( ) 06 . 1 54 . 3 sin 115 . 0 ) ( t t x
(v)
14 . 7 tan , 202 . 0
028 . 0 cos 1 . 0 cos
2 . 0 sin

'
A
A A
A
1.43rad gives which 0
2
0 tan
0 cos
0 sin
< <
'
<
>
<

( ) 43 . 1 54 . 3 sin 202 . 0 ) ( t t x
227
(vi)
57 . 3 tan , 208 . 0
056 . 0 cos 2 . 0 cos
2 . 0 sin

'
A
A A
A
rad 84 . 1 gives which
2
0 tan
0 cos
0 sin
< <
'
>
<
<
( ) 84 . 1 54 . 3 sin 208 . 0 ) ( t t x
) 2 sin( 5 ) ( + t t x
. Thus the velocity is
) 2 cos( 10 ) ( + t t v
and the
acceleration is
) 2 sin( 20 ) ( + t t x
. This is shown below for different values of .
Displacement curve is the one with smallest amplitude of 5, the velocity curve has
intermediate amplitude of 10 and the acceleration curve has the largest amplitude of 20.
Notice that phase difference of and give identical curves.

0

4

228

3

3
2

3
2

229

4
3

4
3

14.3 Equilibrium points of the potential are given by 0
) (
dx
x dV
. For
3 2
( ) 2 9 12 V x x x x +
, this gives
0 2 3 0 12 18 6
2 2
+ + x x x x
The roots of this equation are at x = 2 and x = 1. The second derivative of the potential at
these points is
( )
( )
'
+

2 6
1 6
18 12
) (
2
2
x
x
x
dx
x V d
Thus the potential is minimum at x = 2. The corresponding spring constant is
6
2

x
V k
.
This gives
1
s rad 45 . 2 6

m k .
230
14.4 ( ) ( )
) ( ) (
2
0 0
1 2 1 ) (
)
0
(
x x a x x a
ae e C
dx
dV
e C x V
x x a

Equating the derivative to zero gives x = x
0
. At this point the second derivative
( )
2 ) ( 2 ) ( 2 2
2
2
2 2 2
0 0
Ca e a e a C
dx
V d
x x a x x a

is positive and therefore at this point the potential is minimum.
(i) The corresponding spring constant
2
2Ca k .
(ii) To plot the potential and harmonic approximation to it, we have taken C=2, x
0
=1.0
and two values of a: a=0.4 and a=1.2

a = 0.4 a = 1.2

(iii)
m
C
a
m
k 2

(iv) As is clear from the figure, depending on the value of a the potential becomes softer
or harder for larger displacements from x = x
0
. Thus the frequency will become
smaller and time-period larger for a=1.2 and the frequency will become larger and
time-period smaller for a=0.4.
14.5
]
]
]
+
]
]
]
]
,
`
.
|

,
`
.
|
7
6
13
12
6 12
6 12 ) (
x x dx
dV
x x
x V

Equating the derivative to zero gives

6 1
2 x . At this point the second derivative
2 3 1 3 1 8
6
3 1 14
12
8
6
14
12
2
2
2
18
2 2
42
2 4
156 42 156

]
]
]
]
]
]

x x dx
V d
231
Thus the corresponding spring constant is
2 3 1
2
18
and the frequency of small oscillations is

m m m
k
3 1
3 1
2 9
2
18 1

14.6 The surface charge density
x t
gives a electric field
0
x
E

that pulls the

displaced electrons back, i.e. it applies a restoring force. We consider volume V of the
displaced block, the force on it is
0
2
0

x V x
V

.
The total mass of the block is = number of electrons in volume V electron mass
= e
m
e
V

So the equation of motion for the displaced block of electrons is (writing
y x
)
0
0 0
2
+ y
m
e
y y
V
y m
e
V
e
e

This gives the plasma frequency (here n is the number density of electrons)
e e
p
m
ne
m
e
0
2
0

14.7 In this problem kg 75 Nm 2000
1

m k
(i)
1
s rad 16 . 5
75
2000

m
k
(ii) Velocity of platform and person on it is calculated by principle of linear momentum

conservation and gives
( )
1
ms 59 . 4
20 55
2 55

gh
v
232
(iv) If we take the equilibrium point of (person+platform) as y=0, then the displacement
without the person on the platform is = m 27 . 0
2000
8 . 9 55
. Thus this is a problem

with the initial conditions
1
ms 6 . 4 ) 0 ( 27 . 0 ) 0 (

t y t y
Representin the motion as
) sin( ) ( + t A t y
, we have
30 . 0 tan and 93 . 0
89 . 0 cos 6 . 4 cos
27 . 0 sin

'
A
A A
A
2.85rad gives which
2
0 tan
0 cos
0 sin
< <
'
<
<
>

Thus the displacement is given by ( ) 85 . 2 16 . 5 sin 93 . 0 ) ( + t t x

14.8 In this case, it is the motion of a rigid body about a pivot point. Thus the equation of
motion is written in terms of the moment of inertia, angular acceleration and the
restoring torque. If the square is displaced by an angle about the vertical (see figure)
the torque is

2
sin
2
mga a
mg
The moment of inertia about the pivot is calculated by the parallel axis theorem and is
a
mg
233
2
2
2
3
2
6
2
ma
a
m
a
m I +
,
`
.
|
The quation of motion is

0
2
3
2
or
2
2
+
mga
ma
mga
I

This can be rewritten as
0
2 2
3
+
a
g

This gives the frequency of oscillation to be
2 2
3
a
g

14.9 These two pendulums with their displacements are shown in the figure below.
For visualizing the force applied by the spring, let us take
1 2
> . Then the bob on the left
feels a force to the right due to the spring and to the left due to the weight of the bob. The
spring force is in the opposite direction on the pendulum on the right.
(i) Since the rods are rigid, and therefre generate internal forces, we use the angular-
momentum torque equation for describing the motion of the pendulums. Thus the equations
of motion for the two pendulums are
( ) ( )
1 2 1 1 1 2 1 1
2
4 2 2
+ +
M
k
L
g L
k
L
Mgl ML

M
L
1
K
2
234
( ) ( )
1 2 2 2 1 2 2 2
2
4 2 2
+
M
k
L
g L
k
L
Mgl ML

(ii) The equations above are solved by adding them to get the equation for
) ( ) ( ) (
2 1
t t t + and for ) ( ) ( ) (
2 1
t t t . These are
0
2
0
,
`
.
|
+ + +
M
k
L
g
L
g

These give
,
`
.
|
+ +
,
`
.
|
+
M
k
L
g
t D t C t
L
g
t B t A t
2
sin cos ) ( sin cos ) (
2 2 2 1 1 1

Combination of these two gives ) (
1
t and ) (
2
t . There are four unknowns that will be given
in terms of four initial conditions.
14.10 Angular displacement of the rod by and angle and the corresponding angle
that
the strings make with the vertical are shown in the figure below. Also shown are the
tensions in the strings; these are equal by symmetry.
Since we are dealing with a rigid rod, the correct equation of motion to be used is the angular
momentum-torque equation. There are three unknowns in the problem: , and T. We
thus need three equations. These are
sin
2
sin sin
12
cos 2
2
L
l and T L
mL
mg T

In the small angle approximation we have
l
L
T
T
235
sin sin 1 cos and
Then

l
L mg
T
2 2

And the equation of motion becomes
0
3
2 2 12
2
+
l
g
l
L mg
L
mL

Thus the frequency of oscillation is
l
g 3
.
14.11We show in the figure below a displacement of the rod when the left spring is stretched
by y
1
and the right one by y
2
.
The equation of motion for the CM is
) (
2 1
y y k F y M
ext CM
+
with
2
2 1
y y
y
CM
+
.
And the equation for rotation about the CM is
ext
I

where we mesure counterclockwise as positive. Then
) (
2
2 1
2 1
y y k
L
L
y y
ext

Thus we have for the CM
L
y
1
y
2 y
CM
236
M
k
y
M
k
y
CM CM CM
2
0
2
+
And for rotation about the CM
M
k
M
k kL ML
rot
6
0
6
or
2 12
2 2
+

With the initial conditions
2 2 1 1
and A y A y and the rod held stationary in the beginning,
we have
0 ) 0 ( , ) 0 ( , 0 ) 0 ( ,
2
) 0 (
2 1 2 1

+
t
L
A A
t t y
A A
t y
CM CM

This then gives the answer

t
L
A A
t t
A A
t y
rot CM CM
cos ) ( and cos
2
) (
2 1 2 1
,
`
.
|

,
`
.
| +
14.12 Since we are writing the displacement as ( ) + t A t y sin ) ( , the projection of the
phasor on the y-axis gives the displacement. The phase angle is measured from the x-axis.
In the following we show the position of he phasor at t = 0. After that it rotates
counterclockwise.
(i) (ii) (iii)
(iv) (v) (vi)
237
14.13 Assuming that the swing is performing simple harmonic motion, the period of the
swing is
1
s 28 . 1
6
8 . 9

l
g
Therefore the speed of the person on the swing as the swing passes through its equilibrium
point is =
1
ms 56 . 2 2 28 . 1

A
(i) When the swing is at the extremes and the child is handed over, the amplitude will
not change. It is like strating a swing, ireespective of its mass, from a distance A
from the equilibrium with zero initial speed. Energetically it can be seen as follows:
When only the man is on the swing the total energy is =
l
gA M
A M
man
man
2 2
1
2
2 2

When the child is handed over to the person at the extreme, the child brings in additional
potential energy (with respect to the equilibrium point)
= M
child
g the height of the extreme point with respect to the equilibrium point
[ ]
l
gA M
A l l g M
child
child
2
2
2 2

Thus the total energy that the swing posseses after the child is handed over is
( )
l
gA M M
child man
2
2
+
If the new amplitude is A
new
, this should equal (keep in mind that remains unchanged)
( )
( )
l
gA M M
A M M
new child man
new child man
2 2
1
2
2 2
+
+
A comparison in the total energies calculated in two ways immediately gives
A A
new

.
(ii) When the child is handed over at the equilibrium point, the speed os the swing decreses
by the conservation of linear momentum. It is
1
ms 13 . 2
60
56 . 2 50

child man
initial man
M M
V M
V
And the total energy of the system is now
( ) J 53 . 136
2
1
2
+ V M M
child man
If the new amplitude is A
new
, then (keep in mind that remains unchanged)
238
( ) 53 . 136 64 . 1 30
2
1
2 2 2
+
new new child man
A A M M
This gives
m 67 . 1
new
A
.
(iii) As is clear from the calculations above, energy is conserved in case (i) only.
14.14 The equation of motion now will be
f kx x m
Its general solution is
k
f
t D t C t x
o o
+ sin cos ) (
0 ) 0 ( and ) 0 ( x A x
, the solution is
k
f
t
k
f
A t x
o

,
`
.
|
cos ) (
Since the velocity x of the block is
t
k
f
A x
o o
sin
,
`
.
|

It becomes zero at
t
0
, At this time
k
f
A
k
f
k
f
A t x
2
) (
,
`
.
|

14.15 (i) Since this is the motion of a rigid body pivoted at a point under an external force, its
motion is described by the angular momentum-torque equation. The torque on the body is
applied by the weight acting at its CG, and it is a restoring torque (see figure). The value of
the torque about the pivot point is
sin
2
mg
l
The moment of inertia of the rod about the pivot point is

3
2
ml
I
239
Thus the equation of motion for the rod is
sin
2 3
2
mg
l ml

For small angles this equation bocomes
l
g
l
g
mg
l ml
2
3
0
2
3
or
2 3
2
+

(ii) As the pendulum swings about, the frictional torque causes it to lose energy and
therefore the amplitude of the pendulum decreases slowly. The equation of motion
can be written and solved exactly as in the problem above. When the pendulum in
the figure above is moving clockwise, the equation of motion is
2
2
3
2
3
or
2 3 ml l
g
mg
l ml
+ +

With the initial conditions 0 ) 0 ( , ) 0 (
0
t t

, the solution of the equation above is
(just like in the problem of spring-mass system with friction)
mgl
t
mgl
t

2
cos
2
) (
0
+
,
`
.
|

Like in the problem above, this then leads to a reduction in the amplitude by
mgl
4
by the
time the pendulum reaches the left extreme. Thus in one cycle the amplitude reduces by
mgl
8
. We will now derive this result from energy considerations also.
mg
240
Suppose at a certain instant the pendulum starts with the maximum displacement of
1
and
goes to the maximum angle
2
on the other side. Then the total angle covered by it is
( )
2 1
+ and the work done against the frictional torque is therefore ( )
2 1
+ . The energy
loss during the motion is
2
2
2 2
1
2
2
1
2
1
I I . Equating this to the work done against
friction gives
( ) ( )
mgl
l
g ml I
I I

4
2
3
3
2 2
2
1
2
1
2 2
2 1 2 1
2
2
2 2
1
2
+
Thus in one cycle the amplitude reduces by
mgl
8
.
Now if the pendulum starts with an angle
0
and completes N cycles, it will stop swinging

when it is at angle such that
mgl
mgl

2
2

. Thus we have
8 4
1
8
2 8
0 0
0
mgl mgl
N
mgl mgl
N
14.16 As the mass leaks out, it carries with it the energy at the rate
2 2
2
1
2
1
Cv v
dt
dm
. If at time t,
the amplitude is A(t) and the frequency (t), then
( ) + t t A t t v sin ) ( ) ( ) (
and the average
rate of loss
dt
t dE ) (
of energy E(t) of the oscillator is
( ) ) ( ) (
4
1
sin ) ( ) (
2
1 ) (
2 2 2 2 2
t A t C t t A t C
dt
t dE
+
In time averaging A(t) and (t) come out of the integral because they vary slowly over a few
oscillations (that is precisely why they can be defined). The negative sign shows that the
energy is being lost with time.
Ct m
k
t m
k
t

0
2
) (
) (
241
And if amplitude is A(t), the energy ) (
2
1
) (
2
t kA t E and the rate of change of energy
dt
t dA
t kA
dt
t dE ) (
) (
) (
. Combining all this gives
( )
) (
4
) (
) (
4
1 ) (
) (
0
2
0
t A
Ct m
C
dt
t dA
t A
Ct m
k
C
dt
t dA
t kA

If the amplitude at t = 0 is A
0
, this equation is integrated as
( )

t A
A
t C m
t d
A
A d
0 0
4
0
This gives
4 1
0
0
1 ) (

,
`
.
|

m
Ct
A t A
14.17 The energy loss is given by the formula
t
c
A e
dt
dE
2
3
0
2 2 4
cos
6

Thus the average energy loss is
3
0
2 2 4
2
3
0
2 2 4
6 2
1
cos
6 c
A e
t
c
A e
dt
dE

If the damping factor of the system is , then
E
dt
dE

where the energy E is
2 2
2
1
A m E
e
. Thus for the current problem we get
3
0
2 2
3
0
2 2 4
2 2
6 6 2
1 2 1
c m
e
c
A e
A m dt
dE
E
e e

14.18 We consider an oscillator with initial conditions so that its motion is given by
t Ae t x
t
0
sin
2
) (
242
For undamped oscillatot the siplacement is maximum when
2
0

t . For the damped
oscillator, it will be given at time when
Q t e t t A
dt
dx
t
2
2
tan 0 cos sin
2
0
0
2
0 0 0

,
`
.
|
+

Since Q is very high, the maximum occurs when

2
0
t where is very small. Since
the maximum occurs before
2
, it is advanced by phase angle . Thus

Q Q 2 cot 2
2
tan
,
`
.
|

For small , we have

1
sin
cos
cot
This gives
Q 2
1

.
14.19 If the person gives an impulse J, the energy gained by him is Jv, where v is the speed at the
equilibrium point. Since A v , we have
Energy gained per cycle = A J
This will equal the energy loss per cycle due to damping.
Energy loss per cycle = 2 energy loss per radian =
Q
E
2
Here E is the energy of the swing. This follows from the definition of the quality factor.
l
mgA
A m E
2 2
1
2
2 2

Thus we get
l
g
Q
mA
Q
A m
J
A m
Q
A J

2
1
2
2 2
Putting in all the numbers gives
243
Ns 9 . 7
5
8 . 9
50
2 45

J
1
Nm 5000

k and the mass of the platform is 50kg. Since the system is
critically damped for 500kg put on the platform, we have
03 . 6
550
5000
4 4 4
2 2

m
k
So the coefficient of drag force
1
N/ms 5 . 3316 03 . 6 550

m b
Thus when a 200kg weight is on the platform, the value of
1
s 27 . 13
250
5 . 3316

m
b
And the angular frequency

1
0
s rad 47 . 4
250
5000

m
k
Thus 80 4 1 . 176
2
0
2
> , which makes the system hevily damped.
The solution then is
t t
Be Ae t y
2 1
) (

+
with
535 . 11
4 2
and 735 . 1
4 2
2
0
2
2
2
0
2
1
+

So
t t
Be Ae t y
535 . 11 735 . 1
) (

+
Here A and B are to be determined by the initial conditions.
Initial conditions:
Since we are taking the equilibrium position of the (load+platform) as y = 0, the initial
displacement from that position is m
k
g
t y 4 . 0
200
) 0 ( .
(i) The speed of the load when it lands on the platform is
1
47 . 4 20 2

ms gh .
Then by momentum conservation, the load+platform will move with the speed
1
58 . 3
250
47 . 4 200

ms .
(ii) From the above, the initial conditions are
1
58 . 3 ) 0 ( 4 . 0 ) 0 (

ms t y t y .
244
Thus we have from the solution above
58 . 3 535 . 11 735 . 1 4 . 0 + + B A B A
Thses give
294 . 0 106 . 0 B and A
The solution therefore is
t t
e e t y
535 . 11 735 . 1
294 . 0 106 . 0 ) (

+
14.21 For a forces oscillation the angle by which the displacement lags the applied force is
given by equations
) (
tan and
) (
) (
cos
) (
sin
2 2
2 2 2 2 2
2 2
2 2 2 2 2

o
o
o
o
For a very heavily damped oscillator

. Thus we have
tan and 0 cos 1 sin
This gives
2

245
Chapter 15
15.1 We perform our calculations in a noninertial frame attached with the box and take the
origin (x = 0) at the point where the spring is connected to the box. In this frame, there
is a pseudo force ma acting in the negative x direction. Thus the system in the
noninertial frame looks as shown below.
The equilibrium point x
0
is given by
[ ]
k
ma
l x ma l x k
0 0
0 ) (
Thus the equation of motion for the mass in this frame is
0
,
`
.
|
+ + +
]
]
]
,
`
.
|

k
ma
l x
m
k
x
k
ma
l x k x m
At 0 t , the initial conditions are
. 0 ) 0 ( , ) 0 ( t x l t x
We change the variables to
,
`
.
|
+ +
k
ma
l x y
and write the above equation as
0 + y
m
k
y
with the initial conditions . 0 ) 0 (
,
) 0 ( t y
k
ma
t y
This gives the
soulution
,
`
.
|
t
m
k
k
ma
l t x t
m
k
k
ma
t y cos 1 ) ( cos ) (
15.2 This problem is very easy to solve in the accelerating frame attached with the car. The
free body diagram of the door in the car frame with pseudo force included is shown
below.
ma
x = 0
l
246
In the car frame therefore the door is being pulled at its CM by a force Ma and rotates about
the hinges. Thus the problem becomes like examples 12.7 and 15.3 where a ruler/rod,
pivoted at one of its ends rotates about an axis at that point when the pivot point starts
accelerating with an acceleration. Then by energy conservation this gives the answer for the
angular speed of the door when it is about to close
w
a 3

15.3 This problem is similar to problem 12.7 and the problem above and is solved in exactly
the same manner.
15.4 We substitute
rotating
v A

in
A
dt
A d
dt
A d
rotating inertial

+
to get
rotating
rotating
rotating
inertial
rotational
v
dt
v d
dt
v d
+
Now from equation 15.8
r v
inertial rotating

v
and
rotating
r
rotating
dt
d
a
otating
v
so we have
( )
rotatingl rotating
inertilal inertial
inertial
v a
dt
r d
dt
v d

+
Since
inertial
inertilal
dt
r d
v

, the above equation is

rotating rotating inertial
inertial
inertial
v a v
dt
v d
+
car
Ma w
247
Again substituting
r v v
rotating inertial

+
from equation 15.8 and
inertial
inertial
dt
d
a
inertial
v
,
we get
( )
rotational rotating rotational inertial
v a r v a

+
which gives
) ( 2 r v a a
rotating rotating inertial

+ +
15.5 In the rotating frame the rod is stationary and there is a pseudo force the centrifugal
force acting on it. Thus the free-body diagram of the rod in the rotating frame is as shown
below. Notice that we are not taking the centrifugal force to be acting at the centre of mass
because it is different for different portions of the rod; it increases with the distance of fom
the axis.
(i) It is clear from the figure above that the rod is pulled out horizontally by the
centrifugal force (in the rotating frame) and would therefore move out when
displaced from the vertical position. Since we are dealing with a rigid body, we
should be working in terms of totques. Thus at the given position, the centrifugal
force applies a counterclockwise torque on the rod but at the vertical position, neither
its weight nor the force by the pivot apply any torque. Thus the rod will tend to
swing away from the axis. It will be clearer mathematically in part (ii).
(ii) When the rod is at an angle from the vertical, the component of force on a portion
of length ds at distance s from the pivot is
2
) sin ( s ds
l
m
(see figure).
Centrifugal
force
mg
248
Thus the torque due to the centrifugal force is

cos sin
3
) sin ( cos
2 2
2
0
ml
s ds
l
m
s
l
l centrifuga

At the same time there is an opposing torque due to gravity and its value is
sin
2
mgl
gravity

Balancing these two gives
2
2
3
cos
l
g
Thus as long as
2
3
. i.e , 1 cos
2
g
l > < , the rod will be at equilibrium at the angle whose
cosine is given above. Thus when disturbed from the vertical position it will move out to this
equilibrium position (with very small friction damping the motion but not affecting the
equilibrium position). For angular speeds such that
2
3
. i.e , 1 cos
2
g
l < > , the rod will
not move out because the torque due to the centrifugal force will not be able to overcome the
torque due to the rods weight.
15.6 This problem is similar to the problem above except that there is no gravitational force
involved here. If looked at from the top along CD, the free body diagram of the rod in
the rotating frame, when it is at an angle from the frame, looks as shown below.
2
) sin ( s ds
l
m
mg
s
249
If we take a strip of width ds at a distance s from the axis CD, the mass of the strip will be
ds
l
m
wds
lw
m
and the centrifugal force on it =
2
) sin ( s ds
l
m
. The net torque on it is
therefore

cos sin
12
) sin ( cos
2 2
2
2
2
ml
s ds
l
m
s
l
l
l centrifuga

This shows that both 0 and

2
are equilibrium positions of the sheet.

(i) Thus when disturbed slightly ( ) 0 ~ , the torque on the sheet is
12
2 2
ml
l centrifuga

and tends to take it away from that position. The equation of motion for slight
disturbance from the position parallel to the frame is therefore
0 or
12 12
2
2 2 2

ml ml
I
This gives
) exp( ) exp( ) ( t B t A t +
Therefore the equilibrium position at 0 is an unstable equilibrium position.
(ii) If we call the angle from the perpendicular position of the sheet then

2
.
The expression for torque in terms of remains

cos sin
12
2 2
ml
l centrifuga

A B
s
2
) sin ( s ds
l
m
250
However, as the sheet is disturbed from this position, the torque has restoring nature. For
small therefore the equation of motion is
0 or
12 12
2
2 2 2
+

ml ml
I
Thus the motion about this position is oscillatory and is given by
) sin( ) cos( ) ( t B t A t +

or equivalently by
) sin( ) cos( ) ( t B t A t +
Therefore the equilibrium position at
2
is a stable equilibrium position.

15.7 We follow the convention for the directions as in the main text. There is no force in the
horizontal plane. The equations of motion in the northern hemisphere are therefore

sin 2
cos 2 sin 2

x
y
z y
x
v
dt
dv
v v
dt
dv
cos 2 +
x
z
v g
dt
dv
If 0 , v
x
and v
y
would remain zero for a particle thrown up. Thus correct to the linear
order in , the equations above are
cos 2
z
x
v
dt
dv
and g
dt
dv
z

This gives
2
) ( ; ) (
2
0 0
gt
t v t z gt v t v
z z z
and ( ) cos 2
0
2
2
gt v
dt
x d
dt
dv
z
x
Upon integration, the second equation gives
( ) cos
3
) ( and cos 2 ) (
3
2 2
,
`
.
|
+ +
gt
t v t x gt t v t v
zo zo x
Straightforward approach to solve for the deflection by the time the particle reaches the earth again
would be to find the time for it to come back to the ground and substitute it in the equation for x(t).
We have
251
1
0
ms 27 . 44 100 8 . 9 2 2

gh v
z
,
Time taken to reach the highest point
s 52 . 4
0

g
v
T
z
And the total time of flight = 2T = 9.04s.
Thus the total deflection by the time the stone comes back to the ground is
cos 8 . 8 cos 65 . 1206 cos
3
04 . 9 8 . 9
04 . 9 27 . 44 ) 2 (
3
2

,
`
.
|
+ T x
cm
The negative sing in front indicates that the deflection is towards the west. This is an interesting
result. Ones immediate answer would normally have been that the stone deflects one way while
going up and the other way while coming down, since the sign of vz changes, the net deflection
would have been zero. This does not happen because by the time the stone reaches its highest
point, it already has a westward velocity. To see its effect, let us calculate the distances in two
steps: first when the stone goes up and the second when it comes down.
While going up, the deflection of the particle by the time it reaches the highest point is
cos 4 . 4 cos 33 . 603 cos
3
52 . 4 8 . 9
52 . 4 27 . 44 ) (
3
2

,
`
.
|
+ T x
At this point it has the horizontal velocity
( ) cos 46 . 1 cos 22 . 200 cos 52 . 4 8 . 9 52 . 4 27 . 44 2 ) (
2
+ T v
x
cm s
1
The negative sing in front indicates that the velocity is towards the west. Now, as shown in
example 15.9, if a stone is dropped from a height of 100m, it deflects to the east by cos 2 . 2 cm.
However, now the stone has an initial westward speed of cos 46 . 1 cm s
1
. Thus the nest
deflection fo th stone while it is coming down will be
cos 4 . 4 cos 2 . 2 52 . 4 cos 46 . 1 +
This gives a total deflection of cos 8 . 8 during the entire flight.
15.8 The initial components of the velocity in the east, north and vertical direction are
sin sin cos cos cos
0 0 0 0 0 0
v v v v v v
z y x

Equations of motion in are
252

cos 2
sin 2
cos 2 sin 2
+

x
z
x
y
z y
x
v g
dt
dv
v
dt
dv
v v
dt
dv
Since is very small, we will do our calculations correct to the first order in . This means that
for v
x
and v
y
, we substitute their initial values and for v
z
we substitute
gt v t v
z
sin ) (
0
in the
equations above. This gives
( )

cos cos cos 2
sin cos cos 2
cos sin 2 sin sin cos 2
0
2
2
0
2
2
0 0
2
2
+

v g
dt
z d
dt
dv
v
dt
y d
dt
dv
gt v v
dt
x d
dt
dv
z
y
x
Integration of the last equation, with proper initial conditions
0 ) 0 ( , 0 ) 0 (
0
t z t v
z
, gives

cos cos cos
2
1
sin
cos cos cos 2 sin
2
0
2
0
0 0
t v gt t v z
t v gt v v
z
+
+
For time of flight T calculation, we substitute z = 0 and get
,
`
.
|
+

g
v
g
v
v g
v
T

cos cos cos 2
1
sin 2
cos cos cos 2
sin 2
0 0
0
0
Thus the time of flight of the projectile increases. Now we integrate the equation for motion in the
x direction, with the initial conditions
0 ) 0 ( , cos cos ) 0 (
0 0
t x v t v
x

to get

cos
3
sin sin sin cos cos cos ) (
cos
2
1
sin 2 sin sin cos 2 cos cos ) (
3
2
0
2
0 0
2
0 0 0
,
`
.
|
+

,
`
.
|
+
gt
t v t v t v t x
gt t v t v v t v
x
253
Similarly, integration of the equation for the motion in the y direction gives

sin cos cos sin cos ) (
sin cos cos 2 sin cos ) (
2
0 0
0 0
t v t v t y
t v v t v
y

Thus the deflection of the projectile in the east and north direction are known. As a check, we take
a projectile thrown staright up ( ) 90 and find that the answer matches with that obtained in
problem 15.7. To know the deflection
) (t x
in the direction of launch and
) (t y
perpendicular to
it, we transform these as (see figure)

cos sin '
sin cos '
y x y
y x x
+
+
This transformation gives
cos cos
3
sin cos ) (
3
2
0 0

,
`
.
|

gt
t v t v t x
cos sin
3
sin sin cos ) (
3
2
0
2
0

,
`
.
|
+
gt
t v t v t y
To calculate the range and deflection from the path during the flight, we substitute the time of
flight T for t. To the first order in , we then have
,
`
.
|
+
g
v
g
v
T
cos cos cos 2
1
sin 2
0 0
X
Y
X
Y
O
254
,
`
.
|
+
g
v
g
v
T
cos cos cos 4
1
sin 4
0
2
2 2
0 2
,
`
.
|
+
g
v
g
v
T
cos cos cos 6
1
sin 8
0
3
3 3
0 3
Therefor the range, up to the first order in is

cos cos sin

3
1
cos
sin 4 cos sin 2
cos cos
sin 8
3
sin 4
sin
cos cos cos 2
1
sin 2
cos ) (
2 2
2
3
0
2
0
3
3 3
0
2
2 2
0
0
0 0
0
,
`
.
|
,
`
.
|

,
`
.
|
+
g
v
g
v
g
v g
g
v
v
g
v
g
v
v T x
So the change in the range due to the coriolis force is

cos cos sin

3
1
cos
sin 4
2 2
2
3
0
,
`
.
|
g
v
.
The sideways deflection is given by
,
`
.
|
,
`
.
|
+

sin cos cos sin sin

3
1 sin 4
cos sin
sin 8
3
sin 4
sin sin cos
sin 4
) (
2
2 3
0
3
3 3
0
2
2 2
0
0
2
2 2
0
0
g
v
g
v g
g
v
v
g
v
v t y
Thus the sideways deflection is
,
`
.
|
sin cos cos sin sin

3
1 sin 4
2
2 3
0
g
v
.
This shows that a projectile fired eastward ( ) 0 will deflect towards the south and that fired
westward ( ) 180 will deflect to the north. If we look at the equations of motion in the northern
and the southern hemisphere, they differ by the sign of the terms containing sin , which is
equivalent to changing the sign of to . From the expression derived above, it is then clear that
255
the change in the range will not change but the sideways deflection will change to
,
`
.
|
+
sin cos cos sin sin

3
1 sin 4
2
2 3
0
g
v
in the southern hemisphere.
15.9 Exact solution of the equations of motion on the surface of the earth. Thse are

cos 2
sin 2
cos 2 sin 2
+

x
z
x
y
z y
x
v g
dt
dv
v
dt
dv
v v
dt
dv
To get the exact solutions, we differentiate the first equation once and get
cos 2 sin 2
2
2

dt
dv
dt
dv
dt
v d
z
y
x
Substituting for the derivatives of the velocity components appearing on the right, we get
cos 2 4 cos 2 4
2
2
2
2
2
2
+ + g v
dt
v d
g v
dt
v d
x
x
x
x
The solution of this differential equation is given by the sum of the solution for its homogeneous
part and the particular solution. Thus it is
( ) ( )
+ +
2
cos
2 sin 2 cos ) (
g
t B t A t v
x
Here A and B are determined by the initial conditions. Subztituting this solution in the equation for
v
y
gives
( ) ( ) [ ] C gt t B t A t v
y
+ + sin cos 2 cos 2 sin ) (
Here C is another constant. Similarly from the last equation we get
( ) ( ) [ ] D gt t B t A gt t v
z
+ + + cos cos 2 cos 2 sin ) (
256
Here D is another constant.
No wlet us determine the constants appearing in the equations above for a stone dropped from
height h. Since we have solved a second-order differential equation for v
x
, we need two initial
condtions for it. These are 0 ) 0 ( , 0 ) 0 ( t
dt
dv
t v
x
x
. Then we have
0 ,
2
cos
B
g
A

This gives
( ) [ ] t
g
t v
x

2 cos 1
2
cos
) (
( )
C t
t
g t v
y
+
]
]
]
sin cos
2
2 sin
) (
( )
D t
t
g gt t v
z
+
]
]
]
+
2
cos
2
2 sin
) (
For the y and the z components of the velocity we have
0 ) 0 ( , 0 ) 0 ( t v t v
z y
. These give
C = 0 and D = 0. Thus the complete solution for the velocity is
( ) [ ] t
g
t v
x

2 cos 1
2
cos
) (

( )
sin cos
2
2 sin
) (
]
]
]
t
t
g t v
y

( )
2
cos
2
2 sin
) (
]
]
]
+ t
t
g gt t v
z
In the limit of 0 this gives, to the first order in ,
gt t v t v t g t v
z y x
) ( 0 ) ( cos ) (
2
This leads to the same answers as in example 15.9.

257
15.10 Cyclone building up in the Bay of Bengal. If only the motion in the horizontal plane is
considered, the equations of motion are

sin 2 sin 2
sin 2 sin 2

dt
dx
v
dt
dv
dt
dy
v
dt
dv
x
y
y
x
We choose the coordinate system such that its origin is where the storm starts from. Thus the
initial conditions are
0 ) 0 ( , 0 ) 0 ( , kmph 50 ) 0 ( , 0 ) 0 ( t v t y t v t x
y x
. The second
equation above can be immediately integrated to obtain
C t x t v
y
+ sin ) ( 2 ) (
where C is a constant. Since
0 ) 0 ( , 0 ) 0 ( t v t x
y
, we get C = 0. Thus
sin ) ( 2 ) ( t x t v
y

We substitute this in the first equation above to get
( ) ( ) 0 sin 2 or sin 2
2
2
2
2
2
2
+ x
dt
x d
x
dt
x d
dt
dv
x

This gives
( ) ( ) sin 2 cos sin 2 sin ) ( t B t A t x +
1
ms 9 . 13 kmph 50 ) 0 ( , 0 ) 0 (

t v t x
x
, this gives
( )

sin 2 sin
sin 2
9 . 13
) ( 0 ,
sin 2
9 . 13
t t x B A

Thus
( ) ( ) C t t y t
dt
dy
t v
y
+
sin 2 cos
sin 2
9 . 13
) ( sin 2 sin 9 . 13 ) (
258
0 ) 0 ( , 0 ) 0 ( t v t y
y
we get
sin 2
9 . 13
C . Thus finally we have

for the coordinates of the eye of the cyclone
( )
sin 2 sin
sin 2
9 . 13
) ( t t x
and ( ) [ ]
sin 2 cos 1
sin 2
9 . 13
) ( t t y
(i) This gives the equation for the trajectory as

2 2
2
sin 2
9 . 13
sin 2
9 . 13
,
`
.
|

,
`
.
|
+

y x
Since km 278
20 sin 10 3 . 7 2
10 13.9
m
sin 2
9 . 13
5
-3
, the above equation can also be written in

kilometers as
( )
2 2 2
278 278 + y x
Thus the trajectory is a circlular one with the centre at ( ) 278 , 0 km.
(ii) Thus the sense of the trajectory is clockwise as seen from above. On the other hand, since
we are in the northern hemisphere, the winds around the eye move in counterclockwise direction.
(iii) To find out where the cyclone hits the coast, we substitute in the equation above
km 10 x
and get
km 6 . 18 y
and
km 4 . 537 y
. The second coordinate is for the
return path. Thus the cyclone hits the coast 18km north of where it started from.
15.11 The solution here is similar to the solution above except for the initial conditions. We take
the origin to be where the striker is played from. The x and the y axes are shown in the figure
below.
259
For the problem
z
. Thus the equation of motion in the xy plane are

dt
dx
v
dt
dv
dt
dy
v
dt
dv
x
y
y
x
2 2
2 2

Note that the signs on th right hand side are opposite to what they are in the equations of motion in
the orther hemisphere of the earth because the direction of the angular velocity is opposite.
Assuming that the striker is played at an angle from the x axis, the initial conditions are
sin ) 0 ( , 0 ) 0 ( , cos ) 0 ( , 0 ) 0 ( v t v t y v t v t x
y x

The second equation above is integrated to give
C t x t v
y
+ ) ( 2 ) (
With the initial condition
sin ) 0 ( , 0 ) 0 ( v t v t x
y

, we get sin v C . Thus
sin ) ( 2 ) ( v t x t v
y
+
Substituting this in the first equation of motion, we get
( ) ( ) sin 2 2 or sin 2 2
2
2
2
2
2
2
v x
dt
x d
v x
dt
x d
dt
dv
x
+
1
2
A
B
x
y
260
The solution for the equation is then obtained as the sum of the solution for the homogeneous part
and the particular solution. Thus
( ) ( )

2
sin
2 cos 2 sin ) (
v
t B t A t x +
With the initial condition
cos ) 0 ( , 0 ) 0 ( v t v t x
x

, we get
2
sin
,
2
cos v
B
v
A . Thus
( ) ( )
2
sin
2 cos
2
sin
2 sin
2
cos
) (
v
t
v
t
v
t x +
When substituted in
sin ) ( 2 ) ( v t x t v
y
+
, this gives
( ) ( ) t v t v
dt
dy
2 cos sin 2 sin cos +
Solved with the initial condition y(0) = 0, this gives
( ) ( )
2
cos
2 sin
2
sin
2 cos
2
cos
) (
v
t
v
t
v
t y + +
Thus the trajectory is described by the coordinates
( ) ( )
2
sin
2 cos
2
sin
2 sin
2
cos
) (
v
t
v
t
v
t x +
( ) ( )
2
cos
2 sin
2
sin
2 cos
2
cos
) (
v
t
v
t
v
t y + +
These can be combined together to give the equation of trajectory as
2 2 2
2 2
cos
2
sin
,
`
.
|

,
`
.
|
+
,
`
.
|
+

v v
y
v
x
Thus the trajectory is a circle with centre at
,
`
.
|
2
cos
,
2
sin v v
and the sence of direction is
therefore counterclockwise. This implies that the striker should be played in direction 2. Now we
want the trajectory to be such that it pass through point B, i.e. through coordinates ( ) L , 0 . When
substituted in the equation for the trajectory, this gives
v
L
cos
If the angle with AB is , then
,
`
.
|

v
L
v
L
1
sin sin
261
The striker is played in direction 2 making an angle
,
`
.
|

v
L
1
sin
from AB.
(ii) We first solve this problem for L v >> correct to first order in
v
L
in an easy way. We then
solve the problem exactly.
Easy approximate solution correct to first order in
v
L
:
x
y
y
x
v
dt
dv
v
dt
dv
2
2

It is given that initially
v v
y

and
0
x
v
. Thus as we integrate the equations above

x
v
and
therefore
2

dt
dv
y
. So up to order , v
y
can be taken to be a constant equal to v. Thus
vt t y ) (
and the integration of the first equation above gives
C y t v
x
+ 2 ) (
Since
0 ) 0 ( y v
x
, we get C = 0. This gives
2
) ( 2 ) ( vt t x and vt t v
x
because x(t=0)=0.
Therefore by the time the striker reaches the other end, time taken by it is
v
L
T and its has
moved a distance
v
L
T x
2
) (

and has x-component of the velocity
L T x 2 ) (
. Now the
striker starts its journey back after hitting then board. It again takes time
v
L
T to reach the side it
started from. Now the initial x-componet of the velocity is
L T x 2 ) (
and the displacement
v
L
T x
2
) (

. Now if we integrate the equation with these conditions, then
262
[ ]
[ ]
( ) vt L vt L
L t T y
T y t T y t d v v d
t T
T
y
v
L
x
x

2 2
) ( 2
) ( ) ( 2 2
2

+
+

+
This gives
vt L t T v or vt L t T v
x x
2 2 ) ( 2 2 ) ( + + + +
Keep in mind that t is being measured from T onwatds. Thus t = 0 inplies when the striker starts its
journey back. Integrating this with the initial condition
v
L
T x
2
) (

, we get
( ) vt Lt
v
L
t T x vt Lt t d t v L x d
t t T x
v
L

+ + + +

+
2 ) ( 2 2 2
2
0
) (
2
For
v
L
T t this gives
v
L
T x
2
2
) 2 (

This is the final displacement when the striker comes back. One would have thought that the
striker will come back to its original position; that does not happen because when it starts its
journey back, it has an x-component of velocity that makes it drift. Had the x-component been
zero when it started back, the striker would have reached its original position.
Exact solution:
If the striker is played along line AB then 90 . The trajectory of the striker is then
2
2
2
2 2

,
`
.
|
+
,
`
.
|
+

v
y
v
x
and with time x(t) and y(t) vary as
( ) ( ) t
v
t y
v
t
v
t x

2 sin
2
) (
2
2 cos
2
) (
Thus for y = L, we have from the trajectory equation
2
2 2
2 2
4
1
2 2
0
v
L v v
x L x
v
x

t + +
263
Thus the striker gets displaced in x direction as it reached point B. One of the two answers
(smaller magnitude
2
2 2
4
1
2 2 v
L v v

+ ) is when the particle is moving upward. The other
one (larger magnitude
2
2 2
4
1
2 2 v
L v v

) is when the striker would have returned had it
not hit the other side of the board. Further, when the striker reaches the other end, it would have
taken time T such that y(T) = L. This gives
( ) ( ) ( )
2
2 2
4
1 2 cos ,
2
2 sin 2 sin
2 v
L
T
v
L
T T
v
L

The x and y components of the velocity at the other end are therefore
( ) ( )
2 2 2
4 2 cos ) ( 2 2 sin ) ( L v T v t y L T v t x
T t T t

From the above, one sees that the speed
2 2
y x + remains unchanged during the motion. This is
expected since the coriolis force is perpendicular to the velocity and therefore does no work on the
striker. As the striker hits the opposite side of the carom and returns back, its x velocity remains
unchanged and the y component of the velocity changes direction and it traverses a new trajectory.
Taking the time when it starts back to be t = 0, the new trajectory is thus determined by the initial
conditions
2 2 2
2
2 2
4 ) 0 ( , ) 0 ( , 2 ) 0 ( ,
4
1
2 2
) 0 ( L v y L y L x
v
L v v
x

+
One could solve this problem with these initial conditions. However, we can make use of the
equations already derived for the trajectory if we describe the journey back with new coordinate
system with the origin at the point where the striker starts back. This is shown in the figure below.
In this coordinate system the initial conditions are
2 2 2
4 ) 0 ( , 0 ) 0 ( , 2 ) 0 ( , 0 ) 0 ( L v y y L x x
So that we have initial speed v at an angle such that
v
L
v
L v
L
L v
2
cos ,
4
sin ,
2
4
tan
2 2 2 2 2 2
264
Thus the x and y displacement of the striker in the new coordinate system is
( ) ( )
( ) ( )
2
2 2
2
2 2
4
1
2
2 cos
4
1
2
2 sin
2
sin
2 cos
2
sin
2 sin
2
cos
) (
v
L v
t
v
L v
t L
v
t
v
t
v
t x
+
+
( ) ( )
( ) ( ) L t
v
L v
t L
v
t
v
t
v
t y
+ +
+ +
2 sin
4
1
2
2 cos
2
cos
2 cos
2
sin
2 cos
2
cos
) (
2
2 2
These can be combined together to give the equation of trajectory as
( )
2
2
2
2
2 2
2
4
1
2

,
`
.
|
+
,
`
.
|
+
v
L y
v
L v
x
For y = L this then gives
2
4
1
2
2
2 2
v
v
L v
x t
While cutting the y = L line for the first time, the value of x will be
2
4
1
2
2
2 2
v
v
L v
x +
x
y
v
2
4
1
2
2
2 2
v
v
L v
x +
A
B
265
This is in addition to the previous displacement of the origin in B A journey. Thus the total
displacement is
v
v
L v
x +
2
2 2
4
1
It is easily seen that for L v >> this goes over to the approximate answer obtained earlier.
266
Appendix A
A.1 In this problem there are four variables. So we make one dimensionless variable and equate it
to a constant. The variables of the problem and the corresponding dimensions are
1 3 2 1
LT v L n M m T ML p
Let the dimensionless variable be
d c b a
v n m p . Since this is a dimensionless variable we have,
on equating the dimensions of the right hand side in the equation above to zero
0 2 0 3 0 + + d a d c a b a
Since we want an expression for p, we take a = 1. Then the equations above give
, 2 , 1 d b

and 1 c . Therefore the dimensionless variable is
2
mnv
p

Equating it to a constant k, we get
2
kmnv p
A.2 This problem has three variables. Therefore to apply Buckinghams theorem we form one
dimensionless variable and equate it to a constant. The variables of the problem and the
corresponding dimensions are
L R MT T T ML p
2 2 1
Let the dimensionless variable be
c b a
R T p . On equating the dimensions of the right hand side
in the equation above to zero we get
0 0 2 2 0 + + c a b a b a
Taking a = 1, since we want an expression for p, we get 1 b and 1 c . Therefore the
dimensionless variable is
T
pR

R
T
k p
267
A.3 This problem has four variables. Therefore to apply Buckinghams theorem we form one
dimensionless variable and equate it to a constant. The variables of the problem and the
corresponding dimensions are
L R M m T ML h T ML E
1 2 2 2
If the dimensionless variable is
d c b a
R m h E , on equating the dimensions of the right hand side
0 2 0 2 2 0 + + + + b a d b a c b a
Since we want an expression for E, we take a = 1. Then the equations above give
, 2 , 2 d b

and 1 c . Therefore the dimensionless variable is
2
2
h
EmR

2
2
mR
h
k p
A.4 This problem has four variables. Therefore we form one dimensionless variable and equate it
to a constant. The variables of the problem and the corresponding dimensions are
3 1 2 2 1
L n M m T ML h T ML
V
E
If the dimensionless variable is
d c b a
n m h E , on equating the dimensions of the right hand side
0 2 0 3 2 0 + + + b a d b a c b a
Since we want an expression for
V
E
, we take a = 1. Then the equations above give 1 c and
,
3
5
, 2 d b . Therefore the dimensionless variable is
( )
3 5 2
n h
m V E

3 5
2
n
m
h
k
V
E
268
A.5 This problem has five variables. Therefore to apply Buckinghams theorem we form
twodimensionless variables and write one of them as a function of the other. The variables of the
problem and the corresponding dimensions are
L R L L T ML T ML P T L
dt
dV

1 1 2 1 1 3
If the dimensionless variables are expressed as

e d c b
a
R L P
dt
dV

,
`
.
|
, on equating the
dimensions of the right hand side in the equation above to zero we get
0 2 0 3 0 + + + c b a e d c b a c b
These give
a c a b ,
and a e d 3 + . Since we want an expression for
dt
dV
, we form one of
the dimensioless variables with a = 1. Then the equations above give
, 1 , 1 c b
and
3 + e d . Taking d = 0 gives 3 e giving one dimensionless variable as
3
1
PR dt
dV
,
`
.
|
For the other dimensionless variable, we take a = 0. This gives b = c = 0 and e d . Taking e =
1, the second dimensionaless variable is
L
R
Thus the functional relationship between the variables can be expressed as

( )
2 1
f
Now we have several choices for the function f. If we take it to be a constant, we get
3
PR
k
dt
dV

,
`
.
|
But this is not consistent with observations. We next take ( )
2 2
k f where k is a constant.
Then we get
L
PR
k
dt
dV

,
`
.
|
This gives answer consistent with observations. For corrections to higher orders, we can take
higher powers of
2
and construct higher order functional relationships.
269

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of particles A and B, respectively, are

are given by differentiating these vectors with respect to

of A with respect to B is obtained by subtracting

along an axis is given by its projection on that axis. This is

Substituting the expression for A

to be the fourth vector and

to be the first, second and the third vector

1.22 (i) In reference frame 2, the components

at time t are given in

1.23 Done in later chapters

is fixed. This means

is not zero, the equation above implies that ) (t A

. However, its direction is

. The component in the z

. Thus the vector OA is ( ) ( ) k OA k k OA k

With this the torque is

and the force at this end is

The left end is at position j i r

and the force at this end is

Torque with respect to the origin =

from the line DC. Thus it does

Next we go to pin D where the normal reaction is

+ 0 30 sin 100 30 cos 0 g F F F

With two shoes therefore, the torque would be

At height y, the strip extends from x

Adding and subtracting

5.5 From figure 5.14, for a plate of width w

Thus the total force due to the water pressure is

Taking sin a x , we get

5.11 Product of area about the origin O is given as

Taking the second derivative of these expressions with respect to , we get

. For very small value of

This should equal

As the angle changes the length of the vertical diagonal changes by

+ and that between

This gives the velocity in polar coordinates as

Differentiating the velocity vector gives

, we get the acceleration above to

by the radius vector is

with respect to time to get

This shows that the force is proportional to r

If the velocity vector is at 45 to the radius vector, we have

cos 1 2 cos 1 sin

On taking limit 0 l , we then get

If mass m is not falling then

This is easily integrated to get y(t) also. Thus

, and as the result of the problem shows

of the homogeneous equation

. These solutions are

The initial condition is that

At the maximum height h, the speed becomes zero. Therefore

of the homogeneous equation

. These solutions are

. Thus the complete solution is

Now the initial conditions are

If the final speed is v

To evaluate the integral, we substitute sin R z and d R dz cos . This gives

8.8 (i) CM of a cone shown in the figure below

By definition of the CM we have for the position

Assuming the entire system is made of a material of uniform density, we get

And the minor axis remains the same as