CH 05

Chapter 5
Multiparticle Systems
5.1 Force Balance and Linear Momentum
131
5.1.1
GOAL: Find center of mass of two particles.
GIVEN: Position and mass of particles.
DRAW:
FORMULATE EQUATIONS:
2
1 X
r*G = m r*
m i=1 i i
SOLVE:
1
r*G = [(2 kg)(4 *
 m) + (3 kg)(4 *
ı m)]
(5 kg)
= 1.6 *
 m + 2.4 *
ı m
r*G = (2.4 *
ı + 1.6 *
 )m
132
5.1.2
GOAL: Find mass center of four particles.
GIVEN: Particle mass and position.
DRAW:
4
1 X
r*G = m r*
m i=1 i i/O
SOLVE:
1
r*G = [(5 slug)(2 *
 ft) + (10 slug)[(2 *
ı + 2*
 )ft
(45 slug)
+(20 slug)(2 *
ı ft) + (10 slug)(3 *
ı ft)]
ı + 23 *
r*G = (2 *  )ft
133
5.1.3
GOAL: Find system’s center of mass
GIVEN: Position and mass of four particles.
n
mi r*i
P
i=1
r*G = (1)
m
SOLVE:
* *
(2 kg)(0.5 *
ı m) + (2 kg)(1.2 *
 m) + (2 kg)(−0.5k m) + (2 kg)(−1.2 *
 + 1.5k m)
r*G =
(1)⇒ 8 kg
*
r*G = .125 *
ı + 0.25k m
134
5.1.4
GOAL: Find system’s center of mass
GIVEN: Position and mass of three particles.
DRAW:
n
mi r*i
P
* i=1
rG = (1)
m
SOLVE:
* *
*
(5 kg)(−0.2 *
 m) + (2 kg)(−0.2 *
 + 0.25k m) + (6 kg)(0.3 *
ı − 0.2k m)
rG =
(1)⇒ (5 + 2 + 6) kg
*
r*G = (0.138 *
ı − 0.108 *
 − 0.0538k ) m
135
5.1.5
GOAL: Find system’s linear momentum.
GIVEN: Position, mass and velocity of four particles.
DRAW:
n
mi v*i
P
i=1
v*G = (1)
m
SOLVE:
(1)⇒ (2 slug)(5 *
 ft/s) + (3 slug)(6 *
ı ft/s) + (4 slug)(−5 *
ı ft/s) + (4 slug)(−6 *
 ft/s)
v*G =
(2 + 3 + 4 + 4) slug
= (−0.154 *ı − 1.08 *
 ) slg· ft/s
*
L = mv*G = (−2 *
ı − 14 *
 ) slg· ft/s
136
5.1.6
GOAL: Find system’s linear momentum.
GIVEN: Position, mass and velocity of three particles.
DRAW:
n
mi v*i
P
* i=1
vG = (1)
m
SOLVE:
(1)⇒ (2 kg)(10 *
 m/s) + (3 kg)(20 *
 m/s) + (10 kg)(−10 *
 m/s)
v*G =
(2 + 3 + 10) kg
*
= −1.3  m/s
*
L = mv*G = −20 *
 kg· m/s
137
5.1.7
GOAL: Find the total force acting on the floor of a dance platform.
GIVEN:
• Dancers A and B weigh 120 lbs, dancer C weighs 110 lbs and dancer D weighs 150 lbs.
• v*A = a*A = v*B = a*B = 0
• v*C = v*D = 5 *
ı ft/s
ı ft2 /s
• a*C = a*D = −6 *
DRAW:
SOLVE:
Force balances:
Restricting ourselves to horizontal motions:
mD ẍD = −FD (1)

mC ẍC = −FC (2)
mB ẍB = −FB (3)
mA ẍA = −FA (4)
Using the given accelerations yields
110 lb 2
FD = 2 (6 ft/s ) = 20.50 lb
32.2 ft/s
150 lb
FC = (6 ft/s2 ) = 27.95 lb
32.2 ft/s2
110 lb
FB = (0) = 0 lb
32.2 ft/s2
110 lb
FA = (0) = 0 lb
32.2 ft/s2
Total force acting on the floor:
FT OT AL = FA + FB + FC + FD = 20.50 lb + 27.95 lb = 48.45 lb
138
5.1.8
GOAL: Determine the velocity of a four car pileup.
GIVEN:
• v*A = 40 m/s, mA = 1900 kg

• v*B = 0 m/s, mB = 1200 kg
• v*C = 10 m/s, mC = 1400 kg
• v*D = 5 m/s, mD = 2000 kg
DRAW:
The linear momentum of the system of particles is conserved.
*
ΣLi = CONSTANT
SOLVE:
*

*
Σ L = Σ L

t1 t2
All motion is in the *

ı direction and we have:
(2000 kg)(5 m/s) + (1400 kg)(10 m/s) + (1200 kg)(0 m/s) + (1900 kg)(40 m/s) =
(2000 kg + 1400 kg + 1200 kg + 1900 kg)v̄
v̄ = 15.4 m/s
139
5.1.9
GOAL: Find the distance m2 has moved when θ = 90◦ and its speed at that time.
GIVEN:
• m1 = 2 kg, m2 = 4 kg
• L = 3 m, ẋ(0) = 0, θ = 45
• The attachments are frictionless.
DRAW:
To solve this problem we’ll need to use both conservation of energy as well as conservation of linear
momentum in the * ı direction.
SOLVE:
(a):
We know that in the absense of external horizontal forces the system’s center of mass will not move
horizontally. Let m2 ’s initial position be x0 . If θ = 45 degrees then the systems center of mass is
at x = xC where

L
m2 x0 + m1 x0 + √
2
xC =
m1 + m2
(4 kg)x0 + (2 kg) x0 + 3√m

2
xC =
2 kg + 4 kg
1m
xC = x0 + √
2
Thus when θ = 90 degrees (and m1 and m2 are vertically aligned, and hence their horizontal center
must be at the center of mass), m2 will have moved to the right √1 m
2
(b):
At θ = 90 degrees we know that
v*m1 = v*m2 + Lθ̇ *

ı
v*m1 *
ı = v*m2 *
ı + Lθ̇ *
ı
140
vm1 = vm2 + Lθ̇ (1)
Conservation of system momentum gives us
m1 vm1 + m2 vm2 = 0 (2)

(1) → (2) ⇒ 0 = m2 vm2 + m1 vm2 + Lθ̇
−m1 Lθ̇ −(2 kg)(3 m)θ̇

vm2 = = = −(1 m)θ̇ (3)
m1 + m2 6 kg
(3) → (2) ⇒ vm1 = (2 m)θ̇ (4)

We now need to apply conservation of energy

KE + PE = KE + PE

45◦ 45◦ 90◦ 90◦
1 1 1

0 + L 1 − √ m1 g = m2 (vm2 )2 + m1 (vm1 )2
2 2 2
Using our expressions for vm1 , vm2 in terms of θ̇
1 1 1
2 2
(3 m) 1 − √ (2 kg)(9.81 m/s2 ) = (4 kg) θ̇ + (2 kg) 2θ̇
2 2 2
θ̇ = ±1.695 rad/s
Physically we see that the negative solution is needed.
vm2 = −(1 m)θ̇ = 1.695 m/s
vm1 = (2 m)θ̇ = −3.390 m/s
141
5.1.10
GOAL: Find speed of three carts after they have collided.
GIVEN: Slope of surface, mass of carts, and initial spacing of carts.
DRAW:
The interaction forces due to the collisions are internal to the system and thus will not change
the system’s momentum. We need to apply conservation of energy to determine A’s speed when it
strikes B, conservation of linear momentum through the collision, energy conservation to determine
A/B’s speed when they strike C and finally conservation of linear momentum through the final
collision.
SOLVE: Cart A is initially moving at 1.1 m/s, hence
1
KE = (30 kg)(1.1 m/s)2 = 18.15 N·m

1 2
when it hits Cart B it has dropped by
(2m) sin(3◦ ) = 0.105 m

The potential energy change is mgh, hence
1
m v 2 = 18.15 N·m + (30 kg)(9.81 m/s2 )(0.105 m) = 49.0N·m
2 A A
s
2(49.0 N·m)
vA = = 1.81 m/s
30 kg
Momentum is conserved during the collision with Cart B:
mA vA + mB vB = (mA + mB )v1
(30 kg)(1.81 m/s) + 0 = (60 kg)v1
v1 = 0.903 m/s

KE + PE = KE + PE

2 2 3 3
1 1
(60 kg)(0.903 m/s)2 + (60 kg)(9.81 m/s2 )(0.105 m) = (60 kg)v22
2 2
v2 = 1.69 m/s
Momentum Conservation:
(mA + mB )v2 + mC vC = (mA + mB + mC )v3
142
(60 kg)(1.69 m/s) + 0 = (90 kg)v3
v3 = 1.13 m/s
143
5.1.11
GOAL: Find speed of a mechanism after 2 internal collisions.
GIVEN: Mass of drawers and initial speed of each drawer and enclosure.
DRAW:
All impacts are internal to the three mass system and thus linear momentum is conserved.
mA vA + mB vB + mC vC = (mA + mB + mC )v
SOLVE:
(1 kg)(3 m/s) + 0 + 0 = (7 kg)v
0.429 m/s
144
5.1.12
GOAL: Find original orientation of a sliding sled and the time of its explosion
GIVEN: Positions and velocities of the sled pieces after it’s blown up
DRAW:
FORMULATE EQUATIONS: The forces due to the explosion are internal and therefore the
momentum of the system’s mass center is unchanged. We’ll apply conservation of momentum and
our center of mass formula
SOLVE:
1 h * i
r*G = m r A/ + m r*B/ + m r*C/ + m r*D/
4m O O O O
r*G = (300 *
ı + 0*
)m
Each mass is 200 m away from the x axis and moving with a speed of 200 m/s in the ± *
 direction.
Thus the explosion occurred 1 second ago at t = 2 s.
1 h * i
r*˙ G = mv A/ + mv*B/ + mv*C/ + mv*D/
4m O O O O
v*G = 100 *
ı m/s
The sled’s CG is moving along the x axis and thus the initial launch was also along the x axis, in
the *
ı direction.
145
5.1.13
GOAL: Find position and speed of piece A.
GIVEN: Original body’s velocity, inidividual masses, time of explosion and position/time of piece
B.
DRAW:
All forces of the explosion are internal to the system of A/B and thus system momentum is con-
served.
mv*G = mA v*A + mB v*B (1)

SOLVE:
m r*G/ = (mA r*A/ + mB r*B/ ) (2)

O O O
We’re given that m = 600 kg and v*G = 20 *

ı m/s
(2) ⇒ (600 kg)(20 *
ı m/s) = (100 kg)v*A + (500 kg)v*B (3)
At t = 5 s we know the position of G:
r*G/ = v*G t = (20 *

ı m/s)(5 s) = 100 *
ı m (4)
O
100 *
ı m= 1 [(100 kg)( r*A/ ) + (500 kg)(100 *
ı + 10 *
 m)]
(2), (4) ⇒ (600 kg) O
100 r*A/ = [10, 000 *

ı − 5000 *
 ]m
O
r*A/ = [100 *
ı − 50 *
 ]m
O
To find the velocities of A and B we use the fact that equal and opposite forces acted between
them at t = 3s. Thus their equal and opposed linear impulse:
*
mA v*A = mA (20 *
ı m/s) + LI (5)
*
mB v*B = mB (20 *
ı m/s) − LI (6)
At t = 3 both A and B were located at
r* = (20 *
ı m/s)(3 s) = 60 *
ı m (7)
*
* *
LI
vB = 20 ı m/s − (8)
mB
146

* *
r =r + (2 s)v*B (9)

B/ B/
O O
t=5 s t=3 s
 *

LI 
(7), (8), (9) ⇒ [100 *
ı + 10 *
 − 60 *
ı ]m = (2 s) 20 *
ı m/s −
mB
*
* * *
LI
(40 ı + 10  )m = 40 ı m − (2 s)
mB
*
LI = −5mB *
 m/s = −2500 *
 kg·m/s (10)
−2, 500 *
 kg·m/s
(10) → (8) ⇒ v*B = 20 *
ı m/s − = (20 *
ı + 5*
 )m/s (11)
500 kg
(11) → (3) ⇒ 12, 000 *
ı kg·m/s = (100 kg)v*A + (500 kg)(20 *
ı + 5*
 )m/s
v*A = (20 *
ı − 25 *
 )m/s
147
5.1.14
GOAL: Determine whether a single or multiple explosions occurred from mass/position/velocity
data. * *
GIVEN: mA = 1000 kg, mB = 500 kg, mC = 500 kg, r*A/ (t0 ) = (400 i − 1000 j ) m, r*B/ (t0 ) =
O O
* * * * * *
(1000 j ) m, r*C/ (t0 ) = (800 i +1000 j ) m, v*A (t0 ) = (−500 j ) m/s, v*B (t0 ) = (−400 i +500 j ) m/s, v*C (t0 ) =
O
* *
(400 i + 500 j ) m/s
DRAW:
ASSUME: No external forces, so linear momentum of system is conserved during explosion.

mA v*A + mB v*B + mC v*C = constant (1)
r*i (t) − r*i (t0 ) = v*i (t − t0 ) (2)

SOLVE:
What we’ll do is work backwards from the present state. We need to track where the particles are
a time ∆1 in the past, where t1 = t0 − ∆1 :
(2)⇒
r*A (t1 ) = −(v*A )(t0 − t1 ) + r*A (t0 )
* * *
r*A (t1 ) = −(−500 j m/s)∆1 + (400 i m − 1000 j m)
* *
= 400 i m + (500 m/s)∆1 *
 − 1000 j m (3)
(2)⇒
r*B (t1 ) = −v*B (t0 − t1 ) + r*B (t0 )
* * *
r*B (t1 ) = −(−400 i m/s + 500 j m/s)∆1 + 1000 j m
* *
= (400 m/s)∆1 i − (500 m/s)∆1 *
 + 1000 j m (4)
(2)⇒
r*C (t1 ) = −v*C (t0 − t1 ) + r*C (t0 )
* * * *
r*C (t1 ) = −(400 i m/s + 500 j m/s)∆1 + (800 i m + 1000 j m)
*
= (800 m − (400 m/s)∆1 ) i + (1000 m − (500 m/s)∆1 ) *
 (5)
We can see that for ∆1 = 1 s the position of masses B and C coincide. This implies that at this
time the two particles were part of a single mass. We can determine the momentum before they
broke apart by applying conservation of linear momentum:
148
(1)⇒
mA v*A + mBC v*BC = mA v*A + mB v*B + mC v*C

* * * *
mBC v*BC = (500 kg)(−400 i + 500 j m/s) + (500 kg)(400 i + 500 j m/s)
*
mBC v*BC = (1000 kg)(500 j m/s) (6)
* *
⇒ v BC = 500 j m/s (7)
Now let’s continue going back in time, letting t2 = t1 − ∆2 .

(3)→(2)⇒
r*A (t2 ) = −v*A (t1 − t2 ) + r*A (t1 )
* * *
r*A (t2 ) = −(−500 j m/s)∆2 + (400 i − 500 j m)
*
 m + (500 m/s)∆2 *
= 400 i m − 500 *  (8)
(5),(7)→(2)⇒
r*BC (t2 ) = −v*B (t1 − t2 ) + r*B (t1 )
* * *
r*BC (t2 ) = −(500 j m/s)∆2 + (400 i + 500 j m)
*
= 400 i m + 500 *
 m − (500 m/s)∆2 *
 (9)
We can see from these two expressions that for ∆2 = 1 s the two positions coincide. This implies that
at this time, both particles were part of the original satellite. Thus, the prosecution is correct ;
there were two separate explosions.
149
5.1.15
GOAL: Determine if illustrated configuration is possible after a rigid body has exploded at some
time in the past.
GIVEN: Current configuration of particles. mA = 20 kg, mB = 15 kg, mC = 10 kg
DRAW:
ASSUME: No external forces, so linear momentum of system is conserved during explosion. Center
of mass of system should stay at rest at the origin.
n
mi r*i
P
* i=1
rG = n
P
(1)
mi
i=1
*
Before explosion: r*G = 0 (2)
* * * *
After explosion: r*A/ = (50 j ) m, r*B/ = (30 i + 20 j ) m, r*C/ = (70 i ) m (3)
O O O
SOLVE:
* * * *
*
(20 kg)(50 j m) + (15 kg)(30 i + 20 j m) + (10 kg)(70 i m)
rG =
20 + 15 + 20 kg
* *
r*G = 20.9 i + 23.6 j
*
r*G 6= 0
The center of mass has moved from the origin, which is not possible due to the absence of external
forces. Thus the answer to the question is no .
150
5.1.16
GOAL: Determine acceleration of m1 and m2 . Which one(s) accelerate is not immediately obvious.
GIVEN: T = 30 N, mA = 10 kg, mB = 1 N, µ1s = 0.4, µ1d = 0.35, µ2s = 0.2, µ2d = 0.15
DRAW:
First assume that neither block moves.
T T
Block A 0 = ( √ + N1 − mA g) *
 + ( √ − S1 ) *
ı
2 2
T
*
ı : S1 = √ = 21.2 N
2
T
*
 : N1 = − √ + mA g = 76.9 N
2
The maximum obtainable friction force is µ1 N1 = 30.7 N. All we need to keep Body A from
s
slipping on Body B is for S1 to be less than this and for this problem the applied force is 21.2 N.
Therefore Body A doesn’t slip on Body B.
Next, consider whether Bodies A and B move as a single unit. We’ll start by continuing with our
assumption of no motion at all. Our new free body diagram is shown in Figure (b) and a balance
of linear momentum gives us
T T
Blocks A and B: 0 = (N2 − (mA + mB )g + √ ) *  + ( √ − S2 ) *ı
2 2
T
*
ı : S2 = √ = 21.2 N
2
T 30 N
*
 : N2 = (mA + mB )g − √ = (11 kg)(9.81 m/s2 ) − √ = 86.7 N
2 2
S2 = µ2 N2 = 0.2(86.7 N) = 17.3 N
max s
21.2 N exceeds the maximum friction force of 17.3 N and thus we will have slip between the bottom
block and the floor. Thus we can now treat the two blocks as a single mass that’s slipping on the
floor. Let x measure the horizontal displacement of the two blocks.
T T
Blocks A and B: ı = (N2 − (mA + mB )g + √ ) *
(mA + mB )ẍ *  + ( √ − S2 ) *
ı
2 2
151
T
*
ı: (mA + mB )ẍ = √ − µ2 N2
2 d
30 N
(11 kg)ẍ = √ − 0.15(86.7 N) ⇒ ẍ = 0.746 m/s2
2
ı m/s2
a*A = a*B = 0.746 *
152
5.1.17
GOAL: Determine the acceleration of two masses under different applied forces
GIVEN: Applied force, masses and frictional coefficient.
DRAW:
FORMULATE EQUATIONS: Apply a force balance.

Body A:
(F − S1 ) *
ı + (N1 − mA g) *
 = mA aA *
ı (1)
Resolve onto *
ı and *

F − S1 = mA aA (2)
N1 = mA g (3)
Body B:
(S1 − S2 ) *
ı + (N2 − N1 − mB g) *
 = mB aB *
ı (4)
Resolve onto *
ı and *
 using (3)
S1 − S2 = mB aB (5)
N2 = (mA + mB )g (6)
SOLVE: (a) Assume that neither block moves for F = 40 N From (2), (3), (5), and (6) we get
S1 = 40 N, N1 = 196.2 N, S2 = 40 N, N2 = 1177.2 N (7)
On the other hand, S1max and S2max are given by
S1max = µ1 N1 = (0.5)(196.2 N) = 98.1 N, S2max = µ2 N2 = (0.05)(1177.2 N) = 58.86 N (8)
Since S1 < S1max and S2 < S2max , the no-slip assumption is valid and aA = aB = 0.
(b) Assume no-slip and let F = 80 N, (2) and (5) give S1 = 80 N and S2 = 80 N. Since S1 > S1max
and S2 < S2max , the no-slip assumption is violated and we therefore have slip between B and the
ground, i.e., S2 = µ2 N2 . Assume aA = aB . From (2) we get
80 N − S1 = mA aA = mA aB (9)
153
From (5) we get
S1 − mB aB = S2 = µ2 N2 = 58.86 N ⇒ S1 = 58.86 N + mB aB (10)
Substitute for S1 in (9) and solve for
aB = 0.1762 m/s2
Now check that this dynamic solution does not invalidate our assumptions. Use (9) to solve for
S1 = 76.48 N. Because S1 is less than S1max , we don’t have relative slip, as assumed.
154
5.1.18
GOAL: Assume that two blocks move as one and use a force body diagram to disprove the
assumption.
DRAW:
a*A = aA *
ı
a*B = aB *
ı
(F − S1 ) *
ı + (N1 − mA g) *
 = mA aA *
ı
(S1 − S2 ) *
ı + (N2 − N1 − mB g) *
 = mB aB *
ı
Equating coefficients for both masses:
*
ı: F − S1 = mA aA (1)
*
: N1 = mA g (2)
*
ı: S1 − S2 = mB aB (3)
*
: N2 = (mA + mB )g (4)
Using the given assumption, aA = aB , different from zero. Also, since aA and aB aren’t zero, we
know block B is slipping on the ground and therefore the frictional force is equal to:
µ2 N2 = µ2 g(mA + mB )
Using these assumptions, (1) and (3) become:
F − S1 = mA aA (5)
S1 − µ2 g(mA + mB ) = mB aA (6)
(5),(6)⇒ F − µ2 g(mA + mB ) − mB aA = mA aA
F − µ2 g(mA + mB ) 30 N − 0.05(9.81 m/s2 )(20 kg)

aA = =
mB + mA 20 kg
aA = aB = 1.0095 m/s2
155
Now check validity of the assumptions:
(5)⇒ S1 = F − mA aA = 30 N − (10 kg)(1.0095 m/s2 ) = 19.905 N
S1max = µ1 N1 = (µ1 )(mA g) = (0.15)(10 kg)(9.81 m/s2 ) = 14.72 N
The needed frictional force, 19.905N exceeds the maximal attainable 14.72N.
Thus we conclude that our initial assumption was wrong and the masses do not move together as
a single unit.
156
5.1.19
GOAL:
What is the maximum force applied to the shell?
What is the final velocity of the boat?
GIVEN: Mass of boat and shell, muzzle speed and impact speed of shell.
DRAW:
v*b is the velocity of the boat and v*s is the velocity of the shell.
t0 : start of firing interval (boat and shell moving at v*0 )
t1 : end of firing interval (t1 = t0 + 0.1)
Conservation of linear momentum: 0 = mb v*b + ms v*s (1)
Given: v*s/ = 1000 *

ı m/s (2)
b
v*s = 990 *
ı m/s (3)
relative velocity: v*s = v*b + v*s/ (4)

b
*
linear impulse: ms v*0 + LI = ms v*s (5)
SOLVE:
(2),(3)→(4)⇒ 990 *
ı m/s = v*b + 1000 *
ı m/s (6)
v*b = −10 *
ı m/s
(5)⇒ ms · 0 + LI = (10 kg)(990 m/s) ⇒ LI = 9900 kg· m/s

Because the force profile is linear (starts at the maximum and goes down to zero) the maximum
force will be twice the average:
fmax

LI = (favg )(∆t) = (0.1 s) = 9900 kg·m/s ⇒ fmax = 198, 000 N
2
157
5.1.20
GOAL:
Determine final velocities of the 3 masses
DRAW:
ASSUME: Just before the point of impact (t2 ), all three masses will have the same velocity in
the *
 direction (Figure (b)) because m1 and m2 are constrained by the connecting string. Because
there is no external force, energy is also conserved for the system. From symmetry, m1 will be
moving to the right at the same speed that m2 will be moving to the left.
v*3 (t2 ) = v *

Just before the collision of m1
and m2 :  + v0 *
v*1 (t2 ) = v * ı
 − v0 *
v*2 (t2 ) = v * ı (1)
*

L = m1 v*1 + m2 v*2 + m3 v*3 (2)

Linear momentum (t1 ): sys
n
X 1
KE = mi vi2 (3)

Energy: sys 2
i=1
SOLVE:
*

L (t1 ) = (2 kg)(−10 *
 m/s) + (2 kg)(−10 *
 m/s) + 0

(2)⇒ sys
= −40 *
 kg· m/s (4)
*

 + v0 *
L (t2 ) = (2 kg)(v *  − v0 *
ı ) + (2 kg)(v * ı ) + (4 kg)v *


(2)⇒ sys
= (8 kg)v *
 (5)
−40 *
 kg· m/s = (8 kg)v ⇒ v = −5 m/s
(4)→(5)⇒
v*3 = −5 *
 m/s (6)
To find the velocities of m1 and m2 , we’ll use conservation of energy:
158
KE(t1 ) = KE(t2 )
(2 kg)(10 m/s)2 + (2 kg)(10 m/s)2 2(2 kg)[(5 m/s)2 + v 02 ] + (4 kg)(5 m/s)2
(1),(6),(3)⇒ =
2 2
200( m/s)2 = 100( m/s)2 + (2v)02
v 0 = 7.071 m/s
v*1 (t2 ) = (−5 *

 + 7.071 *
ı ) m/s
v*2 (t2 ) = (−5 *
 − 7.071 *
 ) m/s
159
5.1.21
GOAL: Calculate constant speed relative to ladder required for astronaut to reach bottom of
hatch.
GIVEN: System geometry, mass of the two moving objects, dimensions and initial velocity of the
ladder/astronaut.
DRAW:
The initial configuration is given in (a). The center of mass of the m1 /m2 system is initially moving
at −1 * m/s and continues to do so. To reach the top of the ladder as it passes the hatch means
that the system’s configuration is as shown in (b).
FORMULATE EQUATIONS: We’ll use the fact that the linear momentum of the ladder/astronaut
is constant during her motion along the ladder.
SOLVE: Because both m1 and m2 have the same mass, the center of mass of the m1 /m2 system
is between the center of the ladder and m2 . The center of mass in (a) is 2 m above the hatch edge.
In (b), it is 4 m below the edge.
The total distance traveled by center of mass d = 6m (1)
d 6m
Time needed at v = 1 m/s t= = = 6s (2)
v 1 m/s
The astronaut has to travel the full length of the ladder in this time, a distance of 16 m. Thus her
relative speed has to be:
16 m
= 2.6 m/s
6s
160
5.1.22
GOAL: Find the platform’s velocity and the force between platform and child.
GIVEN: Size of the platform, mass of child and platform, and relative acceleration of child with
respect to platform.
DRAW:
y indicates the position of m2 with respect to m1 . For uniform acceleration from rest we have
1
∆y = ÿt2 (1)
2
Using the given parameter values we have
1
−6 m = ÿ(2 s)2 ⇒ ÿ = −3 m/s2 (2)
2
The total acceleration of the child is given by the platform’s acceleration and the child’s acceleration
relative to the platform:
am2 = ẍ *
ı + ÿ *
ı = (ẍ + ÿ) *
ı (3)
SOLVE: Locate the center of mass of the system
L *
(m1 + m2 ) r*G = m1 (x + ) ı + m2 (x + y) *
ı (4)
2
Substitute the values of m1 , m2 , and L and get
r*G = (x + 0.6y + 1.2 m) * ı (5)

* *
v G = (ẋ + 0.6ẏ) ı (6)
a*G = (ẍ + 0.6ÿ) *
ı (7)
a*G = 0 because there exist no external forces. Thus, we get
ẍ = −0.6ÿ = −0.6(−3 m/s2 ) = 1.8 m/s2 (8)
Substitute in (3) to obtain am1 = −1.2 m/s2 . Thus, a*m2 = −1.2 *

ı m/s2
(a) Velocity of the platform at t = 2 s is
v = (1.8 m/s2 )(2 s) *

ı = 3.6 *
ı m/s
*
(b) From F = ma* we can find the force acting on the child:
*
F = (60 kg)(−1.2 m/s2 ) *
ı = −72 *
ı N
161
5.1.23
GOAL: Explain whether the total work done by the spring on the two masses is zero or not
GIVEN: System configuration.
SOLVE: False. It is true that the forces on m1 and m2 are equal and opposite. These forces
are acting on individual
R * *
masses, the displacements and velocities of which are in general unrelated.
R * *
The work done, F 1 ·d r 1 and F 2 ·d r 2 are therefore different.
Example: Initially the spring is extended L1 − L0 , where L0 is the unstretched length. If the
masses are released they will move towards each other, their kinetic energies increasing in proportion
to the work done by the spring.
162
5.1.24
GOAL: Find the required conditions for which an interconnected system of masses remains in
contact when held in equilibrium.
GIVEN: System configuration.
DRAW:
Only the free-body diagrams are drawn. The system is in equilibrium and therefore the inertial
response diagrams are all simply zero.
FORMULATE EQUATIONS: In equillibrium, sum of forces equals to zero. For woman:
S + N − mg = 0 (1)
For platform:
2S − N − mp g = 0 (2)
SOLVE: Use (1) to find S = mg − N . Substitue in (2) and solve for N
2
N = (2m − mp )g (3)
3
A positive normal force N is required for contact to exist between the woman and the platform.
The critical condition is N = 0. Thus,
mp ≤ 2m
163
5.1.25
GOAL: Prove that N = 32 mg if the platform has zero mass.
DRAW:
Body:
Force balance: S + N − mg = 0 (1)
Platform:
Force balance: 2S + N = 0 (2)
SOLVE:
(1),(2)⇒ 3S = mg
mg
S= (3)
3
2mg
(3)→(2)⇒ N= 3
164
5.1.26
GOAL: Find the maximal platform mass for the person to stay in contact with the platform.
GIVEN: The rope is pulled in at a rate of 1.2 m/s2 , m = 60 kg
DRAW:
2∆y + ∆x = 0
2ẏ + ẋ = 0
ẍ = −2ÿ
Platform:
Force balance: mP g + N − 2S = mP ÿ (1)
Person:
Force balance: mg − N − S = m ÿ (2)
a*platf orm + a*rope/platf orm = a*rope

1 3
a*rope/platf orm = ẍ − ÿ = ẍ − (− ẍ) = ẍ = −3ÿ
2 2
If we let a*rope/platf orm = d, we have:
2 1
ẍ = d ÿ = − d (3)
3 3
m
(2),(3)⇒ S = mg − N − mÿ = mg − N + d (4)
3
m d

(4)→(1)⇒ mP g + N − 2(mg − N + d) = mP ÿ = mP −
3 3
2 m

3N + mP g − 2mg = d m− P
3 3
g 2 m d d g

N= m− P + 2m − mP = (2m − mP ) +
3 3 3 9 9 3
165
If N = 0, then:
2m − mP = 0
mP = 2m = 2(60 kg) = 120 kg
The result is independent of the rate at which the rope is pulled out onto the platform.
166
5.1.27
GOAL: Determine acceleration of m1 and m2 .
GIVEN: Coefficient of friction, mass of bodies and applied force.
DRAW:
m1 : m1 ÿ *
ı = (40 − F1 ) *
ı + (N1 − m1 g) *

*
ı: m1 ÿ = 40 N − F1 (1)
*
: 0 = N1 − m1 g (2)
m2 : m2 ẍ *
ı = (F1 − F2 ) *
ı + (N2 − N1 − m2 g) *

*
ı: m2 ẍ = F1 − F2 (3)
*
: 0 = N2 − N1 − m2 g (4)
ASSUME: We will first assume that neither mass moves. This purely static case would be the
simplest outcome. If it turns out that this assumption is invalid we’ll then consider the case of only
one slip condition and, if this also fails, consider the case of two slip conditions.
SOLVE: First assume neither mass moves, i.e. ẍ = ÿ = 0
(1) ⇒ F1 = 40 N
|F1 | = µ1 N1 |{z}
= µ1 m1 g = 19.6 N
max
(2)
Because 40 > 19.6 we know m1 moves and our static assumption is therefore invalid.
Now assume that only m1 moves, i.e. ẍ = 0
(3) ⇒ F2 = F1 = 19.6 N
N2 = N1 + m2 g |{z}
= (m1 + m2 )g (5)
(4) ⇒
(2)
|F2 | = µ2 N2 |{z}
= µ2 (m1 + m2 )g = 26.5 N
max
(5)
Because 19.6 < 26.5 we know m2 doesn’t move - there’s not enough force to break it free.
ẍ2 = 0
(1) ⇒ m1 (x¨2 + x¨1 ) = m1 x¨1 = 40 N − F1 ⇒ 4x¨1 = 40 N − 19.6 N ⇒ ẍ1 = 5.1 m/s2
167
5.1.28
GOAL: Find velocity of a boat after a cannonball is fired and also the time the cannonball needs
to travel through the gun.
DRAW:
We’ll use conservation of system momentum in the *
ı direction:
mboat vboat + mball vball = mboat v 0 + mball v 0 (1)

boat ball
and our linear impulse equation
* * *
L(t2 ) = L(t1 ) + LI1−2 (2)
to each of the two interacting bodies.
SOLVE:
(1) ⇒ (300 kg)(3 m/s) + (5 kg)(3 m/s) = (300 kg)v 0 + (5 kg)(−300 m/s)
boat
v0 = 8.05 m/s
boat
To find the time that the cannonball remains within the bore we need to examine the linear impulse
that’s applied to each mass.
(2) applied to the boat: (300 kg)(3 m/s) + F ∆t = (300 kg)(8.05 m/s) ⇒ F ∆t = 1515 N·s
1515 N·s
F = (3)
∆t
F 1515 N·s
Force balance plus (3)⇒ |aball | = = (4)
mball (5 kg)∆t
F 1515 N·s
Force balance plus (3)⇒ |aboat | = = (5)
mboat (300 kg)∆t
The bore is 1.5m long. Thus the cannonball has left the boat when the boat moves 1.5 m further
than the cannonball:
∆xboat − ∆xball = 1.5 m (6)
Assuming constant accelerations aball , aboat for the cannonball and boat, we can determine their
change in position by integration. We’ll start our integration from the instant that the cannonball
begins to move relative to the boat and define both boat and cannonball as being at the origin at
that time.
168
∆t2
∆xball = (3 m/s)∆t − |aball | = −∆t(148.5 m/s) (7)
2 |{z}
(4)
∆t2
∆xboat = (3 m/s)∆t + |aboat | = ∆t(5.525 m/s) (8)
2 |{z}
(5)
(7), (8) → (6) ⇒ ∆t(154 m/s) = 1.5 m ⇒ ∆t = 9.74×10−3 s
169
5.1.29
GOAL: Determine the accelerations of a constrained, two particle system.
GIVEN: m1 = 10 kg, m2 = 20 kg
DRAW:
m1 : m1 ẍ = 6T − 8 N (1)
m2 : m2 ÿ = −5T + 10 N (2)
Conservation of rope:
−6∆x + 5∆y = 0
5
⇒ ẋ = ẏ
6
5
⇒ ẍ = ÿ (3)
6
SOLVE:
m2 ÿ
2⇒ T = 2N − (4)
5
m2 6 6

(1),(3),(4)⇒ m1 ẍ = −8 N + 6 2 N − ÿ = 4 N − m2 ẍ
5 5 5
2 !
6
ẍ 10 kg + (20 kg) = 4N
5
ẍ(38.8 kg) = 4 N
⇒ ẍ = 0.103 m/s2
⇒ ÿ = 0.124 m/s2
10 kg(0.103 m/s2 ) + 20 kg(0.124 m/s2 )

a*G = 30 kg = 0.117 m/s2
170
5.1.30
GOAL: Find tension force between cars during constant velocity and constant acceleration condi-
tions.
GIVEN: mA = mB = mC = 1300 lbs, mD = 1200 lbs. ”People mover” initially moving at 5 ft/s
and accelerates at 3 ft/s2 for 2 seconds
DRAW:
Body A force balance: mA ẍA = T1 (1)
Body B force balance: mB ẍB = −T1 + T2 (2)
Body C force balance: mC ẍC = −T2 + T3 (3)
Body D force balance: mD ẍD = −T3 + F (4)

ASSUME:
ẍA = ẍB = ẍC = ẍD = ẍ (5)
SOLVE:
(1),(5)⇒ T1 = mA ẍ (6)
(6)→(2)⇒ T2 = (mA + mB )ẍ (7)
(7)→(3)⇒ T3 = (mA + mB + mC )ẍ (8)

(a)
If ẍ = 0, then T1 = T2 = T3 = 0 lb
(b)
!
T1 = 1300 lbs (3 ft/s2 ) = 121 lb
32.2 ft/s2
!
T2 = 2600 lbs (3 ft/s2 ) = 242 lb
32.2 ft/s2
!
T3 = 3900 lbs (3 ft/s2 ) = 363 lb
32.2 ft/s2
171
5.2 Angular Momentum
172
5.2.1
GOAL: Calculate the angular momentum of system about O.
* * * *
GIVEN: mA = 2 kg, mB = 4 kg, mC = 10 kg, r*A/ = (2 j + 2k) m, r*B/ = (3 i + 2 j ) m, r*C/ =
O O O
* * * * * * *
(2 i + 2k) m, v*A = (−10k) m/s, v*B = (3 i + 3 j ) m/s, v*C = (−4 i − 4k) m/s
DRAW:
n
* X
HO = r*i/ × mi v*i (1)
O
i=1
SOLVE:
* * * *
HO = (2 j + 2k) m × (2 kg)(−10k) m/s +
* * * *
(3 i + 2 j ) m × (4 kg)(3 i + 3 j ) m/s +
* * * *
(2 i + 2k) m × (10 kg)(−4 i − 4k) m/s
* * *
HO = (−40 i + 12 k) kg· m2 /s
173
5.2.2 *
GOAL: Find HP for given system of particles.
*
GIVEN: r*P/ = (2 *
ı +2 *
 +2k ) cm , mA = 0.5 kg, mB = 0.4 kg, mC = 1.0 kg, r*A/ = (3 *
ı +3 *
 ) cm,
O O
* * *
r*B/ = (1.5 *
ı + 3*
 ) cm, r*C/ = 3 *
ı cm, v*A = −10k cm/s, v*B = 3k cm/s, v*C = (−2 *
ı − 2k ) cm/s.
O O
DRAW:
3
* X
HG = r*i/ × mi v*i (1)
G
i=1
3
*
1 X
rG = m r* (2)
m i=1 i i
3
1 X
v*G = m v* (3)
m i=1 i i
SOLVE:
(2) ⇒ r*G/ = 1.91kg [(0.5 kg)(3 *
ı +3 *
 )cm+(0.4 kg)(1.5 *
ı +3 *
 )cm+(1.0 kg)(3 *
ı cm)]
O
r*G/ = 2.68 *
ı + 1.42 *
 (4)
O
1 * * *
v*G = ( )[(0.5 kg)(−10k cm/s) + (0.4 kg)(3k cm/s) + (1.0 kg)(−2 *
ı − 2k )cm/s]
1.9 kg
*
v*G = [−1.05 *
ı − 3.05k ]cm/s (5)
3
* X
HG = ( r*i/ − r*G/ ) × mi v*i
O O
i=1
*
= [(3 *
ı + 3*
 )cm − (2.68 *
ı + 1.42 *
 )cm] × (0.5 kg)(−10k )cm/s
*
+[(1.5 *
ı + 3*
 )cm − (2.68 *
ı + 1.42 *
 )cm] × (0.4 kg)(3k )cm/s
*
+[3 *
ı cm − (2.68 *
ı + 14.2 *
 )cm] × (1.0 kg)(−2 *
ı − 2k )cm/s
174
* *
HG = [−3.16 *  − 2.84k ]kg·cm2 /s
ı + 3.66 *
* * *
HP = HG + r*G/ × mv*G = HG + ( r*G/ − r*P/ ) × mv*G
P O O
* * *
= HG + [(2.68 *
ı + 1.42 *
 )cm − (2 *
ı + 2*
 + 2k )cm] × (1.9 kg)(−1.05 *
ı − 3.05k )cm/s
* *
HP = (−3.16 *  − 2.84k )kg·cm2 /s
ı + 3.63 *
*
+(3.36 *  − 1.16k )kg·cm2 /s
ı + 7.97 *
*
(0.2 *  − 4.0k )kg·cm2 /s
ı + 11.6 *
175
5.2.3
GOAL:
a) Determine v*C and yA for a multi-body momentum problem.
b) Verify that the angular momentum about O is zero, even after the asteroid has split up.
DRAW:
All forces are internal to the system of asteroid pieces and thus we have:
* *
Constant lin. mom.: L(t0 ) = L(t1 ) (1)
* *
Constant ang. mom. about O HO (t0 ) = HO (t1 ) (2)
SOLVE:
m0 10 *
 m/s = mA v*A + mB v*B + mC v*C
(1)⇒ = (0.5m0 )(−20 *
ı + 10 *
 ) m/s + (0.3m0 )(33.3 *
ı + 10 *
 ) m/s
*
+(0.2m0 )(vC *
ı + vC *
 + vC k )
1 2 3
*
ı: −10m0 m/s + 10m0 m/s + 0.2m0 vc = 0 ⇒ vc = 0 (3)
1 1
*
: 5m0 m/s + 3m0 · m/s + 0.2m0 vc = 10m0 m/s ⇒ vc = 10 m/s (4)
2 2
* 0 + 0.2vc = 0 ⇒ vc = 0 (5)
k: 3 3
*
HO (t0 ) = 0 because we know the asteroid passed through the origin and therefore its angular
momentum through O must be zero.
0 = 0.5(−20 *
ı m + yA *
 ) × (−20 *
ı + 10 *
 ) m/s
(2)⇒ +0.3(33.3 *
ı + 20 *
 ) m × (33.3 *
ı + 10 *
 ) m/s
+0.2(20 *
 m) × (10 *
 ) m/s
176
*
ı: 0=0 (6)
*
: 0=0 (7)
* 0 = 0.5(−200 m + 20yA ) + 0.3(333.3 − 666.6) m

k :
0 = −100 m − 100 m + 10yA
yA = 20 m
177
5.2.4 *
GOAL: Find HP for three particles
GIVEN: Position, mass, and velocity of particles.
DRAW:
3
* X
HP = r*i/ × mi v*i
P
i=1
SOLVE:
r*i/ = r*i/ + r*O/ = r*i/ − r*P/

P O P O O
Thus
* *
r*A/ = r*B/ = r*C/ = (50 *
ı + 40k )cm − (−10 *
ı + 20 *
 + 30k ) cm
P P P
*
= (60 *
ı − 20 *
 + 10k )cm
* *
HP = (60 *
ı − 20 *
 + 10k ) cm × [(0.2 kg)(10 *
ı + 5*
 ) cm/s+
*
(0.4 kg)(2 *
ı + 2k )cm/s+
*
(0.1 kg)(−5 *
 − 5k )cm/s]
* *
= (60 *
ı − 20 *
 + 10k )cm × [2.8 *
ı + 0.5 *
 + 0.3k ] kg · cm/s
*
HP = (−1.1 × 10−3 *
ı + 1.0 × 10−3 *
 + 8.6 × 10−3 ) kg· m2 /s
178
5.2.5
GOAL: * * * *
Find HG , HP , and show HO = HG + r*G/ ×mv*G
O
* * *
GIVEN: mA = 0.2 kg, mB = 0.4 kg, mC = 0.4 kg, r*A/ = (7 j + 7 k) cm, r*B/ = (7 i +
O O
* * * * * *
4 j ) cm, r*C/ = (6 i + 5 k) cm, v*A = (−3 i ) cm/s, v*B = (1 i ) cm/s, v*C = (5 j ) cm/s
O
DRAW:
n
* X
HO = r*i/ ×mi v*i (1)
O
i=1
n
* X
HG = r*i/ ×mi v*i/ (2)
G G
i=1
n
X
m r*G/ = mi r*i/ (3)
O O
i=1
SOLVE:
n
X n
X n
X n
X
(3)⇒ m r*G/ = mi r*i/ = mi r*i/ + mi r*G/ = mi r*i/ + m r*G/
O O G O G O
i=1 i=1 i=1 i=1
n
X
mi r*i/ = 0 (4)
G
i=1
n * * * * * *
1 X (0.2 kg)(7 j + 7k cm) + (0.4 kg)(7 i + 4 j cm) + (0.4 kg)(6 i + 5k cm)
r*G/ = mi r*i/ =
O m i=1 O 0.2 + 0.4 + 0.4 kg
* * *
r*G/ = 5.2 i + 3 j + 3.4k cm (5)
O
n
X
d mi v*i/ = 0 (6)
dt (4)⇒ G
i=1
n * * *
1 X (0.2 kg)(−3 i cm/s) + (0.4 kg)(1 i cm/s) + (0.4 kg)(5 j cm/s)
v*G = mi v*i =
m i=1 (0.2 + 0.4 + 0.4) kg
* *
v*G = (−0.2 i + 2 j ) cm/s (7)
179
n n
* X X
HO = r*i/ ×mi v*i = r*i/ + r*G/ ×mi v*i/ + v*G
O G O G
i=1 i=1
n n n n
! ! !
* X X X X
* * * * * * * *
HO = ri/ ×m v i i/ +r G/ × mi v G + mr i i/ × vG + r G/ × mv
i i/
G G O G O G
i=1 i=1 i=1 i=1
* *
HO = HG + r*G/ ×mv*G (8)
O
* * * * * * * *
r*A/ = r*A/ − r*G/ = (7 j + 7k) cm − (5.2 i + 3 j + 3.4k) cm = (−5.2 i + 4 j + 3.6k) cm
G O O
* * * * * * * *
r*B/ = r*B/ − r*G/ = (7 i + 4 j ) cm − (5.2 i + 3 j + 3.4k) cm = (1.8 i + 1 j − 3.4k) cm (9)
G O O
* * * * * * * * * * *
rC/ =r A/ −r G/ = (6 i + 5k) cm − (5.2 i + 3 j + 3.4k) cm = (0.8 i − 3 j + 1.6k) cm
G O O
(9)→(2)⇒
* * * * * * * * *
HG = (−5.2 i + 4 j + 3.6k) cm×(0.2 kg)(−3 i ) cm/s + (1.8 i + 1 j − 3.4k) cm×(0.4 kg)(1 i ) cm/s
* * * *
(0.8 i − 3 j + 1.6k) cm×(0.4 kg)(5 j ) cm/s
* * * *
HG = (−3.2 i − 3.52 j + 3.6 k) kg·cm2 /s (10)
*
Next we’ll find HO .
* * * * * * *
HO = (7 j + 7k) cm×(0.2 kg)(−3 i ) cm/s + (7 i + 4 j ) cm×(0.4 kg)(1 i ) cm/s
* * *
(6 i + 5k) cm×(0.4 kg)(5 j ) cm/s
* * * *
HO = (−10 i − 4.2 j + 14.6 k) kg·cm2 /s (11)
Finally, we can verify the results of (11):

*
HG + r*G/ ×mv*G =
O
* * * *
(−3.2 i − 3.52 j + 3.6 k) kg· cm2 /s + [(5.2 *
ı + 3*
 + 3.4k ) cm]×(1 kg)(−0.2 *
ı + 2*
 ) cm/s =
* * *
(−10 i − 4.2 j + 14.6 k) kg·cm2 /s
180
5.2.6
GIVEN: * * *
mA = 0.2 kg, mB = 0.4 kg, mC = 0.3 kg, r*A/ = (5 i ) cm, r*B/ = (10 i ) cm, r*C/ = (15 i ) cm, v*A =
O O O
* * *
(−3 j ) cm/s, v*B = (3k) cm/s, v*C = (−3 j ) cm/s
DRAW:
n
* X
HO = r*i/ × mi v*i (1)
O
i=1
SOLVE:
* * * * *
HO = (5 i cm) × (0.2 kg)(−3 j cm/s) + (10 i cm) × (0.4 kg)(3k cm/s)
* *
+ (15 i ) × (0.3 kg)(−3 j cm/s)
* * *
HO = (−12 j − 16.5 k) kg·cm2 /s
181
5.2.7 *
GOAL: Find HP for the system of particles.
*
GIVEN: mA = mB = mC = 0.2 kg, r*A/ = r*B/ = r*C/ = 0, r*P/ = 10k cm, v*A = 5 *
ı cm/s,
O O O O
*
v*B = 5 *
 cm/s, v*C = 5k cm/s.
DRAW
3 3
* X X
HP = ( r*i/ × mi v*i ) = m ( r*i/ × v*i )
P P
i=1 i=1
SOLVE:
* h * * * *
i
HP = (0.2 kg) (−10k cm) × (5 *
ı cm/s) + (−10k cm) × (5 *
 cm/s) + (−10k cm) × (5k cm/s)
*
HP = (10 *  ) kg· cm2 /s
ı − 10 *
182
5.2.8
GIVEN: mA = mB = 0.5 kg
DRAW:
n
* X
HO = r*i/ × mi v*i (1)
O
i=1
* *
r*A/ = 6 j cm r*B/ = 6k cm (2)
O O
* *
v*A = 5 j cm/s v*B = 5 j cm/s (3)
SOLVE:
* * * * *
HO = (6 j cm) × (0.5 kg)(5 j cm/s) + (6k cm) × (0.5 kg)(5 j cm/s)
(2),(3)⇒ * *
HO = −15 i kg · cm2 /s
183
5.2.9 *
GOAL: Find HO for four particles.
GIVEN: Particle’s mass, position, velocity.
DRAW:
4
* X
HO = r*i/ × mi v*i
O
i=1
SOLVE:
*
HO = (−6 *
ı cm) × (0.8 kg)(5 *
ı cm/s)
+(−4 *
ı cm) × (0.8 kg)(15 *
ı cm/s)
+(−4 *
 cm) × (1.6 kg)(25 *
 cm/s)
+(4 *
ı cm) × (1.6 kg)(5 *
ı cm/s)
*
HO = 0
184
5.2.10 *
GOAL: Find HP for two particles
GIVEN: Position of P , mass, position and velocity of particles.
DRAW:
2
* X
HP = r*i/ × mi v*i
P
i=1
SOLVE:
r*i/ = r*i/ + r*O/ = r*i/ − r*P/

P O P O O
* *
r*A/ = −8k cm − (4 *
ı + 4*
 + 4k ) cm =
P
*
(−4 *
ı − 4*
 − 12k )cm
* * *
r*B/ = −4k cm − (4 *
ı + 4*
 + 4k )cm = (−4 *
ı − 4*
 − 8k )cm
P
* * *
HP = (−4 *
ı − 4*
 − 12k )cm × (0.2 kg)(4 *
ı + 6*
 + 4k )cm/s
* *
+(−4 *
ı − 4*
 − 8k )cm × (0.3 kg)(5 *
ı + 5*
 + 5k )cm/s
* *
HP = (1.72 × 10−3 *
ı − 1.24 × 10−3 *
 − 1.6 × 10−4 k )kg·cm2 /s
185
5.2.11
*
GIVEN: mA = 0.05 kg, mB = 0.04 kg, mC = 0.01 kg, r*A/ = 4 *
ı cm, r*B/ = (4 *
ı + 4*
 + 6k ) cm,
O O
* * * *
r*C/ = (−1.5 *
ı − 3.2 *
 − 2k ) cm, v*A = 5k cm/s, v*B = (9 *
ı + 4*
 + 3k ) cm/s, v*C = −6k cm/s.
O
DRAW:
n
* X
HO = r*i/ ×mi v*i (1)
P
i=1
SOLVE:
* * * *
HP = (4 *
ı cm)×(0.05 kg)(5k cm/s) + (4 *
ı + 4*
 + 6k ) cm×(0.04 kg)(9 *
ı + 4*
 + 3k ) cm/s +
* *
(−1.5 *
ı − 3.2 *
 − 2k ) cm×(0.01 kg)(−6k cm/s)
* *
HO = (−0.288 *  − 0.8k ) kg· cm2 /s
ı + 0.59 *
186
5.2.12
GOAL: Calculate the angular momentum of system about P .
GIVEN: mA = 0.2 kg, mB = 0.3 kg and mC = 0.5 kg. r*A/ = (−3 *
ı + 2*
 ) cm, r*B/ = (3 *
ı + 4*
)
O O
cm, r*C/ = (2 *
ı − 3*
 ) cm, v*A = (2 *
ı + 2*
 ) cm/s, v*B = (5 *
ı + 5*
 ) cm/s, v*C = (5 *
 ) cm/s, and
O
r*P/ = (−4 *
ı − 4*
 ) cm.
O
DRAW:
n
* X
HP = r*i/ × mi v*i
P
i=1
SOLVE:
* * * * * *
r*A/ = r*A/ − r*P/ = (−3 i + 2 j ) − (−4 i − 4 j ) = 1 i + 6 j cm
P O O
* * * * * *
r*B/ = r*B/ − r*P/ = (3 i + 4 j ) − (−4 i − 4 j ) = 7 i + 8 j cm
P O O
* * * * * *
r*B/ = r*B/ − r*P/ = (2 i − 3 j ) − (−4 i − 4 j ) = 6 i + 1 j cm
P O O
* * * * * * * * *
HP = (1 i + 6 j cm) × (0.2 kg)(2 i + 2 j cm/s) + (7 i + 8 j cm) × (0.3 kg)(5 i + 5 j cm/s)
* * *
+(6 i + 1 j cm) × (0.5 kg)(5 j cm/s)
* *
HP = 11.5k kg· cm2 / s
187
5.2.13
GOAL:
Find the system’s angular momentum about O, the angular momentum of the system’s center of
mass about O and explain why the results differ.
GIVEN:
• m1 = 10 kg, m2 = 40 kg
 ft/s, v*m2 = −10 *
• v*m1 = −5 *  ft/s
• L = 0.5 m
DRAW:
SOLVE:
(a):
*

HO = r*1 ×m1 v*1 + r*2 ×m2 v*2

m1 ,m2
*

HO = (2 *
ı +2*
 ) m×(10 kg) (−5 *
 m/s) + (2.5 *
ı +2*
 ) m×(40 kg) (−10 *
 m/s)

m1 ,m2
*
* *
HO = −100 k kg·m2/s − 1000 k kg·m2/s

m1 ,m2
*
*
HO = −1100 k kg·m2/s

m1 ,m2
(b):
r*1 m1 + r*2 m2 (10 kg) (2 *
ı +2*
 ) m + (40 kg) (2.5 *
ı +2*
)m
r*G = =
m1 + m2 50 kg
r*G = (2.4 *
ı +2*
) m
*

HO = r*G ×(m1 + m2 ) v*G

cm
*
*

HO = (2.4 *
ı +2*
 ) m×(50 kg) −9 k m/s

cm
*
*
HO = −1080 k kg·m2/s

cm
(c):
188
The two results don’t agree because (a) has two components. One is found in (b) - motion of the
center of mass about O. The other is the angular momentum of m1 and m2 about the center of
mass. This is equal to
*

Hcm = r*1/cm ×m1 v*1 + r*2/cm ×m2 v*2

m1 &m2
*

Hcm = (−0.4 *
ı m)×(10 kg) (−5 *
 m/s) + (0.1 *
ı m)×(40 kg) (−10 *
 m/s)

m1 &m2
*
*
Hcm = −20 k kg·m2/s

m1 &m2
This is exactly the difference between the results of (a) and (b).
189
5.3 Work and Energy
5.3.1
GOAL: Determine where m1 will contact the ground and how fast will the mass be moving when
it hits.
GIVEN:
• m1 = 1 kg, m2 = 4 kg
• The system is frictionless
DRAW:
FORMULATE EQUATIONS: Both bodies are initially at rest. Since there are no external
horizontal forces to the system of m1 , m2 we know from conservation of momentum that the center
of mass of the system can’t change its horizontal position.
SOLVE:
(a):
4
(1 kg)(x) = (1 m − x)4 kg ⇒ 5x = 4 m ⇒ x = m
5
Since the overall center of mass lies above x = 0 we conclude that m1 contacts the ground at
x = − 45 m
(b):
Again from conservation of momentum, the speed of the center of mass in the horizontal direction
must equal zero. We also know that energy is conserved (no friction at any of the interfaces).
Since m1 is sliding down m2 we have a relative velocity relation:
√ !
* *
1* 3*
v m1 = v m2 + ṡ ı + 
2 2
Given v*m2 = ẋm2 *
ı since m2 ’s center of mass can only move horizontally we have:
√ !
1 3
v*m1 = ẋm2 *
ı + ṡ *
ı + *
 (1)
2 2
Conservation of momentum in *
ı direction: m1 vm1 | *
ı + m2 vm2| *
ı =0
1
m1 ẋm2 + ṡ + m2 ẋm2 = 0 (2)
2
190
Conservation of energy

PE + KE = PE + KE

1 1 2 2
√ !
3 1 2 1 2
m1 g 2 = 0 + m1 vm1 + m2 vm2 (3)
2 2 2
Using our parameter values
1

(2) ⇒ (1 kg) ẋm2 + ṡ + (4 kg)ẋm2 = 0 ⇒ ṡ = −10ẋm2 (4)
2
√
!
1 ṡ 2 3 2 1

2
(3) ⇒ (1 kg)(9.81 m/s )( 3) = ẋm2 + + ṡ + (4 kg) (ẋm2 )2 (5)
2 2 4 2
(4) → (5) ⇒ ẋm2 = 0.5981 m/s (6)
ṡ = −5.981 m/s (7)
(6), (7) → (1) ⇒ v*m1 = (−2.392 *

ı − 5.180 *
 ) m/s
191
5.3.2
GOAL:
Determine the rotation rate of the overall system after the masses have reached the stop at the end
of arms and the the kinetic energy change.
GIVEN:
m = 0.5 kg, r0 = 0.2 m, r = 0.4, and ω0 = 10 rad/s.
DRAW:
SOLVE:
(a):
4
X *
Hi = constant
i=1
* *
Where H1 through H4 are the angular momenta of the masses.
Initial angular momentum:
I ω1
z }| {z }| {
4 (0.2 m) (0.5 kg) (10 rad/s) = 0.8 kg·m2/s
2
Final angular momentum:
4(0.4 m)2 (0.5 kg)ω2 = (0.32 kg· m2 )ω2

Equating the two moments:
(0.32 kg· m2 )ω2 = 0.8 kg·m2/s
ω2 = 2.5 rad/s
(b):
1

Initial : KE = 4 (0.5 kg)(0.2 m)2 (10 rad/s)2 = 4N·m
2
1

Final : KE = 4 (0.5 kg)(0.4 m)2 (2.5 rad/s)2 = 1N·m
2
75% reduction in rotational kinetic energy
192
5.4 Systems with Mass Inflow and Outflow
5.5 Non-constant Mass Systems
193
Systems with Mass Inflow and Outflow
194
5.5.1
GOAL: Find the force necessary to hold each of four deflection vanes stationary as they redirect
a jet of water.
GIVEN: Volume flow rate and nozzle velocity of water jet; deflection angle of each vane.
DRAW: For each case a box has been drawn that represents the “body” having an equal inflow
and outflow of mass.
ASSUME: All frictional effects are ignored. The density of the water jet is that of water itself,
ρ = 1000 kg/m3 .
FORMULATE EQUATIONS: The required equation is that governing the constant inflow
and outflow of mass. We will apply this equation in only the horizontal * ı -direction, due to the
symmetry of the deflected streams. With the positive *
ı -direction defined to the left, this equation
becomes:
−F = ṁ(v*j − v*i ) · *
ı
−F = ṁ(v*j · *
ı − v) (1)
where v = 35 m/s is the given speed of the fluid entering the box.
SOLVE: The mass flow rate of the jet is the volume flow rate multiplied by its density:
ṁ = ρQ = (1000 kg/m3 )(0.13 m3 /s) = 130 kg/s
Now applying equation (1) to each case:

(a) −F = ṁ (v cos 45◦ − v)
= (130 kg/s)[(35 m/s) cos 45◦ − 35 m/s]
F = 1.33×103 N
195
(b) −F = ṁ (0 − v)
= (130 kg/s)[0 − 35 m/s]
F = 4.55×103 N
(c) −F = ṁ (−v cos 60◦ − v)

= (130 kg/s)[−(35 m/s) cos 60◦ − 35 m/s]
F = 6.83×103 N
(d) −F = ṁ (−v − v)
= (130 kg/s)[−35 m/s − 35 m/s]
F = 9.10×103 N
196
5.5.2
GOAL: Find the force required to move each vane directly towards or away from the water jet at
given constant speeds.
GIVEN: Volume flow rate and velocity of water jet; the constant speed and direction of each vane;
deflection angle at which each vane redirects the water.
DRAW: In each diagram, a box has been drawn around our “body” through which fluid enters
and exits. This body is moving at the given constant speed of the vane, and the amount of fluid
entering this body is the same as that which exits.
ASSUME: All frictional effects may be ignored and the density of the water jet is assumed to be
that of water, ρ = 1000 kg/m3 .
FORMULATE EQUATIONS: We may solve this problem by applying our mass inflow and
outflow equation in the inertial frame attached to the moving vane. With the * ı -direction defined
to the left, and the velocity of the vane designated as u *
ı , this equation becomes:

−F = ṁ v*j − v*i · *
ı

−F = ṁ v*j · *
ı − (v − u) (1)
where v − u is the speed at which water enters our moving box, and v*j is the velocity of the exiting
stream relative to this box.
SOLVE: Since the vanes are no longer stationary, and instead move either toward or away from
the jet, the mass rate ṁ at which fluid is deflected will be greater or less than the rate ṁo at which
it issues from the jet. We know from the relation ṁ = ρAv that the mass flow rate through a
section is directly proportional to the velocity at which the fluid crosses the section. The ratio of
the mass rates ṁ and ṁo will thus be equal to the ratio of velocities v − u and v,
ṁ ρA(v − u) v−u v−u
= = ⇒ ṁ = ṁo ⇒
ṁo ρAv v v
(v − u)
ṁ = ρQo (2)
v
197
where Qo is the given volume flow rate of the jet. A notable alternative in this case would have
been to simply solve for the cross-sectional area A of the jet and then substitute into the relation
ṁ = ρA(v − u).
As there are no frictional effects to consider, water enters and exits our control box with the same
relative speed, (v − u). We are now ready to apply Equation (1) to each case:
(a) In this case, the vane moves away from the jet at u = 10 m/s. From (2), the mass flow rate is:
m3 35 m m
(v − u) kg s − 10 s kg

ṁ = ρQo = 1000 3 0.13 = 92.9
v m s 35 m
s s
Applying equation (1),

−F = ṁ (v − u) cos 45◦ − (v − u)

= (92.9 kg/s) (35 m/s − 10 m/s) cos 45◦ − (35 m/s − 10 m/s)
F = 680 N
(b) Here, the vane moves toward the jet with u = −15 m/s. The mass flow rate is:
m3 35 m m
(v − u) kg s + 15 s kg

ṁ = ρQo = 1000 3 0.13 m = 186
v m s 35 s s
Applying equation (1),

−F = ṁ 0 − (v − u)

= (186 kg/s) 0 − (35 m/s + 15 m/s)
F = 9.29×103 N
(c) The vane moves with the same speed as in part (b). The mass flow rate is the same and equation
(1) yields:

−F = ṁ −(v − u) cos 60◦ − (v − u)

= (186 kg/s) −(35 m/s + 15 m/s) cos 60◦ − (35 m/s + 15 m/s)
F = 13.9×103 N
(d) The vane moves with the same speed as in part (a). The mass flow rate is the same and equation
(1) yields:

−F = ṁ −(v − u) − (v − u)

= (92.9 kg/s) −(35 m/s − 10 m/s) − (35 m/s − 10 m/s)
F = 4.64×103 N
198
5.5.3
GOAL: Determine the force F required by our hero to hold the gun in place while firing.
GIVEN: Each bullet weighs 0.22 lb; the muzzle velocity is 3200 ft/s; and the rate of fire is 1500
shot per minute.
DRAW: The figure shows the gun, represented as a block, along with the force applied by our
hero and the entering and exiting flow of bullets. The dotted lines represent the control volume
used as the “body” that the bullets enter and exit.
ASSUME: The rate of fire is great enough that the bullet spray may be approximated as a steady
flow of mass. Indeed, it is doubtful our hero, as amazing as he is, could perfectly flex and relax his
muscles with each successive shot. It is also assumed that the velocity v*i at which the bullets enter
the gun (or the velocity of the ammunition belt) is insignificant compared to the muzzle velocity
at which the bullets exit, v*i ≈ 0. Gravity and the weight of the gun itself is also neglected; we
consider only the force required to balance the fired bullets.
FORMULATE EQUATIONS: An application of the equation
*
F = ṁ(v*j − v*i ) (1)
is all that is needed, along with a few unit conversions.
SOLVE: The mass of each bullet is
m = (0.22 lb)/(32.2 ft/s2 ) = 6.83×10−3 slg
The mass flow rate of bullets exiting the gun is

shots 1 min slg

ṁ = 1500 6.83×10−3 = 0.171 slg/s
min 60 s shot
*
(1) ⇒ F = ṁ(v*j − v*i )
F = (0.171 slugs/s)(3200 ft/s − 0)
F = 547 lb
Wow. That’s a lot.
199
5.5.4
GOAL:
• Find the acceleration of the boat when when v = 0.
• With the hydrodynamic drag force given by f = −cv, determine c if the boat’s top speed is 25
mph.
DRAW: As the boat accelerates, air is drawn into the fans and expelled at high velocity behind
the boat. We treat the boat, with its fans, as the body that the fluid (air) enters and exits. The
drag force is also depicted.
FORMULATE EQUATIONS: We apply the equation for systems with mass inflow and outflow,
*
combined with F = ma* for the boat.
*
F = ṁ(v*j − v*i ) (1)
SOLVE: The mass flow rate through each fan is:
0.0762 lb/ft3
!
ṁ = ρAu = π (1.5 ft)2 (55 ft/s) = 0.92 slg/s
32.2 lb/slg
The force acting on the boat due to the propulsion of the fans may be found using equation (1). The
air enters the slipstream with zero velocity and is expelled with an absolute velocity of (v − u) *
ı.
Note that the force acting on the airstream is equal and opposite the force that acts on the boat.
Since there are two fans, we multiply by 2 out front:
F = 2Ff an = −2ṁ(v*j − v*i ) = −2ṁ(v − u − 0) = 2ṁ(u − v) (2)
The mass of the boat is mb = (350 lb)/(32.2 lb/slg) = 10.9 slg. When v = 0, the drag force
f = −cv is zero, and the only force acting on the boat is that due to the fans. Invoking a force
balance for the acceleration yields:
F 2ṁ(u − v) 2(0.92 slg/s)(55 ft/s − 0)
a = = =
mb mb 10.9 slg
a = 9.3 ft/s2 ; when v = 0

The top speed of the boat is
5280 ft/mile

vmax = 25 mph = 36.7 ft/s
3600 s/hr
At top speed, the velocity is constant and the acceleration of the boat is zero. Thus the sum of all
forces acting on the boat must be zero.
F − cvmax = mb a = 0
F 2ṁ(u − vmax ) 2(0.92 slg/s)(55 ft/s − 36.7 ft/s)
⇒ c = = =
vmax vmax 36.7 ft/s
c = 0.92 slg/s or 0.92 lb · s/ft
200
5.5.5
GOAL: Determine the farmer’s yield, in bushels per acre.
DRAW: We may model the force plate as a region of constant mass inflow and outflow.
ASSUME: The grain rebounds elastically from the force plate.

FORMULATE EQUATIONS: The inflow and outflow of grain as it collides with the force plate
is governed by the equation:
*
F = ṁ(v*j − v*i ) (1)
We will apply this equation in the direction perpendicular to the force plate.
SOLVE: The speed of the grain as it leaves the belt is
(38 rev/min) (28 ft/rev)

v = = 17.73̄ ft/s
60 s/min
The grain strikes the plate at an angle 45◦ +20◦ = 65◦ . It will rebound with a perpendicular velocity
component that is equal and opposite the component before the collision. Taking the components
of equation (1) in this direction yields:
F = ṁ [v sin 65◦ − (−v sin 65◦ )] = 2ṁv sin 65◦
24.8 lbs
⇒ ṁ = = 0.772 slg/s
2 (17.73̄ ft/s) sin 65◦
We may convert this to units of bu/s using the relation ṁ = ρQ,
ṁ 0.772 slg/s
Q = = = 0.444 bu/s
1 slg

ρ
56 lbs/bu
32.2 lbs
The combine travels at 3 mph = 4.4 ft/s with a 20 ft wide cutting platform, thus combing the field
at a rate of 88 ft2 /s. The farmer’s yield in bushels per acre is then:
0.444 bu/s 2

Yield = 43560 ft /acre = 220 bu/acre
88 ft2 /s
201
5.5.6
GOAL: Compute the velocity and acceleration of a water-jet propelled car at various points of the
race. Determine the race distance as well.
GIVEN: Mass of car, deflection angle of vane at rear of car, winning time, and the flow rate and
nozzle velocity of water jet.
DRAW:
ASSUME: It is assumed that the propulsive force of the water does not lift the car from its track.
Also, gravitational effects on the water stream are negligible.
At Nozzle: Q = Au1 (1)
* * *
At Car: F = ṁ(u1 − u2 ) (2)
ṁ = ρAvrel (3)
SOLVE:
The cross-sectional area of the water jet is found from (1):
Q
A= (4)
u1
The force exerted on the car will depend on the mass flow rate of the water through a control
volume at the rear of the car. Since the car is moving away from the water gun at speed v this
rate is not the same as the rate of mass flow through the gun nozzle. Instead, it will depend on the
relative velocity of the jet with respect to the nozzle. From (3), we have:
Q
ṁ = ρAvrel = ρ (u1 − v) (5)
u1
Neglecting frictional and gravitational forces on the water jet, it will leave the vane with the same
*
speed that it enters, vrel = u1 − v. The velocity u2 at which the water exits the vane is thus:
* * * * * *
u2 = v car + v jet/car = v ı + (u1 − v)(sin θ ı − cos θ  ) (6)
From (2), we may now compute the force F exerted on the car by the water jet:
* * *
F = ṁ(u −u 2) (7)
1
u1 − v

= ρQ [u1 *
ı −v*
ı − (u1 − v)(sin θ *
ı − cos θ *
 )] (8)
u1
Taking the x-component of this force:
(u1 − v)2
Fx = ρQ (1 − sin θ) (9)
u1
202
And applying F~ = m~a:
Fx ρQ(1 − sin θ)
a= = (u1 − v)2 (10)
m mu1
Solving for parts (a) and (b),
a) At t = 0, v = 0 ⇒
(1000 kg/m3 )(6×10−5 m3 /s)(1 − sin 20◦ )

a(0) = (38 m/s − 0 m/s)2 = 0.47 m/s2
(3.2 kg)(38 m/s)
b) v = 1.0 m/s ⇒
(1000 kg/m3 )(6×10−5 m3 /s)(1 − sin 20◦ )

a= (38 m/s − 1.0 m/s)2 = 0.44 m/s2
(3.2 kg)(38 m/s)
To determine the velocity at the finish line, when t = 3.9 s, we need to integrate the above
expression for acceleration. From (10), using a = v̇ = dv/dt, then collecting terms and integrating
(with dummy variables t̄ and v̄) we have:
Z v 1 ρQ(1 − sin θ)
Z t
dv̄ = dt̄
0 (u1 − v̄)2 mu1 0
t
1 v ρQ(1 − sin θ)

⇒ = t̄
u1 − v̄ 0 mu1 0
1 1 ρQ(1 − sin θ)
⇒ − = t
u1 − v u1 mu1
Rearranging,
m

v = u1 1− (11)
ρQ(1 − sin θ)t + m
So our answer for part (c), with t = 3.9 s is:
!
3.2 kg
v = (38 m/s) 1 − = 1.74 m/s
(1000 kg/m3 )(6×10−5 m3 /s)(1 − sin 20◦ )(3.9 s) + 3.2 kg
To determine the distance of the race we substitute v = dx/dt in (11) and integrate:
Z xf Z t
m

dx = u1 1− dt̄
xo 0 ρQ(1 − sin θ)t̄ + m
t
m

⇒ xf − xo = u1 t̄ − ln [ρQ(1 − sin θ)t̄ + m]
ρQ(1 − sin θ) 0
m m

⇒ xf − xo = u1 t + ln
ρQ(1 − sin θ) ρQ(1 − sin θ)t + m
The distance of the race, part (d), is then:

"
3.2 kg
xf − xo = (38 m/s) 3.9 s + 3 ×
(1000 kg/m )(6×10−5 m3 /s)(1 − sin 20◦ )
!#
3.2 kg
×ln = 3.45 m
(1000 kg/m3 )(6×10−5 m /s)(1 − sin 20◦ )(3.9 s) + 3.2 kg
3
203
5.5.7
GOAL: Determine the steady height h between the tip of the hat and the sprinkler base.
GIVEN: The hat has mass mh = 0.18 kg. The diameter of the base nozzle is d = 0.90 cm. The
volume flow rate of water is Q = 0.52 L/s, and the stream deflects radially at an angle θ = 25◦
from vertical with speed v2 = 0.4v1 .
DRAW: The figure below shows the gravitational force acting on the hat, and a cross-section of
the hat containing the entering and exiting fluid streams.
ASSUME: We assume that the velocities of all particles within the stream remain vertical as
the stream rises. In actuality, as gravity decelerates the rising stream, its effective area must
increase to ensure that the mass flux through all cross-sections of the stream remains constant.
This “spreading” would require a slight horizontal velocity component, and a small amount of
energy, which is ignored.
FORMULATE EQUATIONS: At steady state, the hat acts as a stationary deflection vane.
The relevant equation of motion for this problem is
*
F = ṁ(v*2 − v*1 ) (1)
SOLVE: The water exits the base nozzle at a rate of 0.52 L/s, corresponding to a mass flow rate
of
ṁ = (0.52 L/s)(1 kg/L) = 0.52 kg/s
The mass flow rate ṁ must be the same through any control volume along the stream (otherwise
the control volume would be gaining or losing mass). Thus the mass flow rate entering and leaving
the hat is the same as that exiting the nozzle. Returning to equation (1), and considering only the
vertical *
 components we have:

−mh g = ṁ −v2 cos θ − v1

= ṁ −0.4v1 cos θ − v1
Solving the above for v1 ,
mh g (0.18 kg) (9.81 m/s2 )

v1 = = = 2.49 m/s
ṁ (0.4 cos θ + 1) (0.52 kg/s) (0.4 cos 25◦ + 1)
To determine h, we only need to find the height at which gravity has decelerated the stream to this
velocity. The exit velocity at the base may be found from the relation ṁ = ρAvo :
ṁ 0.52 kg/s
vo = 2 = = 8.17 m/s
ρπ (d/2) (1000 kg/m3 )π (0.0045 m)2
204
As the stream rises, gravity alone acts to decelerate it. A familiar equation yields the desired result:
Z v1 Z h
vdv = ads
v 0
o
⇒ v12 − vo2 = −2gh
Solving for h,
vo2 − v12 (8.17 m/s)2 − (2.49 m/s)2
h = =
2g 2(9.81 m/s2 )
h = 3.09 m
205
5.5.8
GOAL: Determine how far the snowboarder will travel before coming to rest.
DRAW: There are three forces to consider in direction tangential to the snowboarder’s path; the
gravitational component mg sin 8◦ , the mass flow component F = ṁ(v2 − v1 ), and that due to the
carving action f .
ASSUME: As stated, we assume that the carved snow attains a velocity component equal to that
of the board at the instant the snow is carved.
FORMULATE EQUATIONS: A force balance in the direction tangential to the slope yields
mg sin 8◦ − f − ṁ(v − 0) = ma
mg sin 8◦ − (130N/m)(1.2 m) − (140 kg/m3 )(0.075 m)(1.2 m)v 2 = ma
mg sin 8◦ − 156 N − (12.6 kg/m)v 2 = ma
SOLVE: Integrating vdv = adx,
mg sin 8◦ − 156 N − (12.6 kg/m)v 2

dx = vdv
m
x v
f f
v
Z Z
dx = m dv
mg sin 8◦ − 156 N − (12.6 kg/m)v 2
xo vo
   
65 kg 65 kg 9.81 m/s2 sin 8◦ − 156 N
∆x = −   ln 
   
2 
2 12.6 kg/m 65 kg 9.81 m/s2 sin 8◦ − 156 N − 12.6 kg/m 15 m/s
∆x = 9.71 m
206
5.5.9
GOAL: Find the force exerted on the section of pipe as water flows through the constriction.
GIVEN: Upstream and downstream pipe diameters; pressure drop across constriction area; volume
flow rate of water.
DRAW: A control volume of water is shown below with the net pressure forces and the net reaction
force R that exists between the walls of the pipe and the control volume.
ASSUME: Parameters are assumed to be uniform over a cross-sectional area of pipe.

FORMULATE EQUATIONS: Our equation for systems with a constant inflow and outflow of
mass is
*
F = ṁ(v*j − v*i )
F1 − F2 − R = ṁ(v2 − v1 ) (1)
SOLVE: The rate of mass flow is equal to the density of water multiplied by the volume flow rate:
ṁ = ρQ = (1 kg/L) (3 L/s) = 3 kg/s
To find the upstream and downstream flow velocities we use the relation
ṁ = ρi vi Ai = ρj vj Aj
which for the upstream and downstream velocities yields:

ṁ (3 kg/s)
v1 = 2 = = 2.39 m/s
ρπ 21 d1 1000 kg/m3 π 0.04 m 2

2
ṁ (3 kg/s)
v2 = 2 = = 9.55 m/s
ρπ 21 d2 1000 kg/m3 π 0.02 m 2

2
With a downstream pressure p2 = 100 kPa and a pressure drop ∆p = 50 kPa across the constriction,
the upstream pressure is p1 = p2 + ∆p = 150 kPa. The net force acting on the control volume due
to the pressure difference is
F1 − F2 = p 1 A1 − p 2 A2
2 2
0.04 m 0.02 m

= 150 kN/m2 π − 100 kN/m2 π
2 2
= 157 N
Equation (1) now becomes:

R = F1 − F2 − ṁ v2 − v1
R = 157 N − (3 kg/s) (9.55 m/s − 2.39 m/s)
R = 136 N
207
5.5.10
GOAL: (a) Draw a free-body diagram of the fluid volume between points A and B. (b) Determine
the flow velocity and mass flow rate at B. (c) Find the net force acting on the fluid volume between
points A and B.
GIVEN: Density of oil; diameter of pipe; and frictional coefficient expressing the force per unit
length that the pipe walls exert on the oil.
DRAW:
ASSUME: All variables have uniform values at pipe cross-sections. Negect gravity.
SOLVE:
(a) The free-body diagram should include the frictional force between the pipe and oil, and a force
due to the fluid pressure at cross-sections A and B. There will also be a pressure force between the
fluid and the pipe walls, though this force is perpendicular to the flow and has zero resultant since
it cancels itself out. Gravity is said to be neglected.
(b) Since we have a steady flow of mass through the pipeline, the amount of fluid entering at A
must equal the amount exiting at B. Thus,
ṁA = ρvA AA = ρvB AB = ṁB (1)
Since the density and areas at cross-sections A and B are the same, we see that
vB = vA = 2.8 m/s
The mass flow rate, as given by (1), is
ṁB = ρvB AB = (930 kg/m3 )(2.8 m/s)π(0.5 m)2
ṁB = 2.05×103 kg/s

(c) The governing equation, in the *
ı -direction, is
*
F = ṁ v*B − v*A
pA AA − pB AB − µL = ṁ(0) = 0
Since the flow conditions at A and B are identical, there is no change in linear momentum, and
thus the net force acting on the fluid volume must be zero.
Net Force = pA AA − pB AB − µL = 0
We could also determine the pressure drop between points A and B,
µL (45 N/m)(100 m)
∆p = pA − pB = = = 5.73×103 Pa
A π(0.5 m)2
208
5.5.11
GOAL: Determine the frictional force coefficient (expressed as Newtons per unit length of pipe)
between the pipe walls and the oil.
GIVEN: Density ρ of oil; diameter d and length L of pipe; velocity vA and pressure pA at point
A in the pipeline; pressure pB at point B.
DRAW:
ASSUME: All variables have uniform values at pipe cross-sections. Negect gravity.
FORMULATE EQUATIONS: Since the flow is steady, the amount of fluid entering at A is the
same as that exiting at B. The mass rate is thus determined by:
ṁ = ρvA AA = ρvB AB (1)
The force equation for steady flow is:

*
F = ṁ(v*B − v*A ) (2)
SOLVE: From (1), since AA = AB = A, we have
vB = vA = 3.5 m/s
Let µ be the frictional coefficient. The frictional force is then −µL *

ı , where L is the length of the
pipeline under consideration. There will be a pressure force pA at both ends of the pipe section;
with that at A in the positive * ı -direction and that at B in the negative *
ı -direction. Equation (2)
can now be written:
pA A − pB A − µL = ṁ(vB − vA )
= ṁ(0)
Thus,
(pA − pB )A (144.5×103 N/m2 − 138×103 N/m2 )π(0.5 m)2
µ = =
L 100 m
µ = 51.1 N/m
209
5.5.12
GOAL: Find the total load supported by the bolt securing each redirecting plate. Also determine
the location/s in which each bolt should have been placed to minimize this load.
GIVEN: The nozzle velocity is 50 m/s through an area of 4.0 cm2 .
DRAW:
* *
FORMULATE EQUATIONS: The total load will consist of a force F bolt and a torque Mbolt
210
that the bolt supports. The corresponding equations are:
* *

F = −F bolt = ṁ v*j − v*i (1)
*
˙ *
HO = −Mbolt = ṁ r*j/ × v*j − r*i/ × v*i (2)
O O
The forces and torques supported by the bolts are equal and opposite those exerted on the plates.
SOLVE: The mass flow rate is
ṁ = ρvA = (1000 kg/m3 )(50 m/s)(4×10−4 m2 ) = 20 kg/s
(a) Substitution into equations (1) and (2) gives

*
−F bolt = (20 kg/s) [(−50 m/s) *
 − (50 m/s) *
ı ] = (−1000 *
 − 1000 *
ı)N
*
F bolt = (1000 *
ı + 1000 *
)N
*
−Mbolt = 20 [(0.08 *
ı − 0.04 *
 )×(−50 *
 ) − (−0.08 *
ı + 0.04 *
 )×(50 *
ı )]
* *
Mbolt = 40k N·m
Changing the location of the bolt will not affect the force that the bolt must support, but it will
affect the required torque. We’ll use length designations of a, b, c, d to define the position of the
inlet and outlet with respect to the bolt, and then determine the relation between these variables
that minimizes the torque. Let r*j/ = a *ı + b*
 and r*i/ = c *
ı + d* . From (2),
O O
* *
−Mbolt = ṁ [(a *
ı + b*
 )×(−v *
 ) − (c *
ı + d*
 )×(v *
ı )] = ṁv(d − a)k
The torque is thus minimized when a = d, which corresponds to a bolt location anywhere on the
line bisecting the angle formed by the inlet and outlet paths. With the indicated origin, this line
may be represented by the equation:
y = x − 0.08 meters
To obtain this equation directly from (2), let the location of the bolt be (x, y):
* h i
−Mbolt = ṁ (0.21 − x) *
ı + (0.05 − y) *
 × −v *
 − (0.05 − x) *
ı + (0.13 − y) *
 ×v *
ı
*
= ṁv(x − y − 0.08)k = 0
y = x − 0.08 meters
(b) Substituting into (1) and (2),
*
−F bolt = (20 kg/s) [(−50 m/s) *
ı − (50 m/s) *
ı ] = (−2000 *
ı)N
*
F bolt = 2000 *
ı N
*
−Mbolt = 20 [(−0.30 *
ı − 0.20 *
 )×(−50 *
ı ) − (−0.30 *
ı − 0.02 *
 )×(50 *
ı )]
* *
Mbolt = 220k N·m
211
Now finding the location that minimizes this torque,
* *
−Mbolt = ṁ [(a *
ı + b*
 )×(−v *
ı ) − (c *
ı + d*
 )×(v *
ı )] = ṁv(b + d)k
So the torque on the bolt will be minimized when its location satisfies b = −d. This corresponds
to any position on the line:
y = 0.15 meters
(c) Substituting into (1) and (2),
*
−F bolt = (20 kg/s) [(50 m/s) (− cos 30◦ *
ı − sin 30◦ *
 ) − (50 m/s) *
ı]
*
F bolt = (1866 *
ı + 500 *
)N
*
−Mbolt = 20 [(−0.01 *  )×(−50 cos 30◦ *
ı − 0.07 * ı − 50 sin 30◦ *
 ) − (−0.10 *
ı + 0.10 *
 )×(50 *
ı )]
* *
Mbolt = −44.4k N·m
Now finding the location that minimizes this torque,
*
−Mbolt = ṁ [(a *  )×(−v cos 30◦ *
ı + b* ı − v sin 30◦ *
 ) − (c *
ı + d*
 )×(v *
ı )]
*
= ṁv(−a sin 30◦ + b cos 30◦ + d)k
Setting the above equation equal to zero, and using the relation d − b = 0.17 m, we can solve for
the locations that minimize the load. With a little geometry, we see that b cos 30◦ − a sin 30◦ is the
perpendicular distance from the bolt to the outlet path, while d is the distance from the bolt to
the inlet path. The locations minimizing the torque are thus those that are equidistant from both
paths, or once again, any location on the line that bisects the angle formed by the inlet and outlet
paths. With the given origin, the equation of this line is:
y = x tan 15◦ + 0.134 meters
To obtain this same equation directly from (2), let the location of the bolt be (x, y):
* h
−Mbolt = ṁ (0.14 − x) *  × −v cos 30◦ *
ı + (0.08 − y) * ı − v sin 30◦ *

i
− (0.05 − x) *  × v*
ı + (0.25 − y) * ı
*
= ṁv[(0.08 − y) cos 30◦ − (0.14 − x) sin 30◦ + (0.25 − y)]k
Setting this equal to zero yields:
0.08 cos 306◦ − 0.14 sin 30◦ + 0.25 sin 30◦ 2(sin 15◦ )(cos 15◦ )
y = + x = 0.134 + x
1 + cos 30◦ 1 + cos 30◦ 1 + cos2 15◦ − sin2 15◦
y = x tan 15◦ + 0.134 meters
212
5.5.13
GOAL: Find the optimal location of the bolts, such that the load each must support is minimized.
GIVEN: The diameter d1 is equal to four times the diameter d2 .
DRAW:
FORMULATE EQUATIONS: The force supported by the boly does not vary with the bolt’s
position, thus we only need to find the location that minimizes the torque on the bolt. The governing
equation is:
* *
˙
MB = HB = ṁ r*P/ × v*P − r*Q/ × v*Q (1)
B B
SOLVE: Denote the flow speed at the inlet as v and that at the outlet as v 0 . The flow rates at
points P and Q are the same, thus
2 2 2 2
d1 d2 4d2 d2

0 0
ρvQ AQ = ρvP AP ⇒ vπ = vπ ⇒ vπ = vπ
2 2 2 2
213
⇒ v 0 = 16v
(a) Initially, let’s set our origin at the point O and define the location of the bolt as r*B/ = x *
ı +y *
.
O
Substituting into equation (1) gives us
* h i
MB = ṁ (L − x) *
ı − y*
 × −16v *
 − −x *
ı + (H − y) *
 ×v *
ı
*
= ṁv −16(L − x) + (H − y) k
*
Setting MB equal to zero yields:
y = 16x + H − 16L with origin O
as the locus of points that minimize the load.

One solution to the above equation is x = L, y = H. This point lies at the intersection of the inlet
and outlet flow lines, a fact we might have anticipated. Had we conveniently chosen this point O0
as our origin, and defined the bolt location as r* = x̄ *  with respect to O0 , the solution would
ı + ȳ *
have been:
ȳ = 16x̄ with origin O0
(b) Again, set the origin at O and let r*B/ = x *
ı + y*
 . Equation (1) becomes
O
* h i
MB = ṁ (L − x) *  × 16v cos 60◦ *
ı − y* ı − 16v sin 60◦ *
 − −x *
ı + (H − y) *
 ×v *
ı
*
= ṁv −16(L − x) sin 60◦ + 16y cos 60◦ + (H − y) k
*
Setting MB to zero,
y − 16y cos 60◦ = 16x sin 60◦ − 16L sin 60◦ + H

√
8 3(L − x) − H
y =
7
One solution to the above is y = H, x = L − √H3 , which is the intersection of the inlet and outlet
flow lines. Setting an origin O0 at this point results in the solution,
√
8 3
ȳ = − x̄ with origin O0
7
214
5.5.14
GOAL: Find a) the torsional friction in the sprinkler shaft, and b) the new angular velocity of the
sprinkler resulting from a decrease in this friction. For each case, also determine the velocity of the
emitted spray with respect to the ground.
GIVEN: Volume flow rate of water, nozzle area of each sprinkler head, length and angular velocity
of sprinkler arms, and nozzle angle.
DRAW:
ASSUME: The length of the nozzle regions may be neglected compared to the length of the
sprinkler arms, and the ejected water has no radial velocity component.
GOVERNING EQUATIONS: We may solve this problem using the moment equation with
mass inflow and outflow:
*
˙
HO = ṁ( r*j/ × v*j − r*i/ × v*i ) (1)
O O
The nozzle veolcity and mass rate may be determined from Q = Av and ṁ = ρQ.
SOLVE:
Converting units, the volume flow rate of water is:
(9.0 gal/min)(0.1337 ft3 /gal)

Q= = 2.006×10−2 ft3 /s
(60 s/min)
The mass flow rate through the sprinkler is:
ṁ = ρQ = (1.940 slug/ft3 )(2.006×10−2 ft3 /s) = 3.891×10−2 slug/s
As there are four sprinkler heads, the water ejection speed through each head is:
Q (2.006×10−2 ft3 /s)

vnoz = = = 18.05 ft/s
4A 1 in 2
4(0.040 in2 )( 12 ft )
The absolute velocity v*j of the exiting water is the velocity of the sprinkler head itself plus the
215
nozzle velocity:
Q
v*j = ω e*z ×l e*r + (− cos θ e*t + sin θ e*z )
4A
Q Q

= ωl − cos θ e*t + sin θ e*z
4A 4A
= [(10 rad/s)(0.5 ft) − (18.05 ft/s) cos 40◦ ] e*t + (18.05 ft/s) sin 40◦ e*z
= (−8.83 e*t + 11.6 e*z ) ft/s
The torsional friction moment is −Tf e*z . Thus to solve for Tf we only need to consider the e*z -
components of the moment equation. (Note that, by symmetry, the other moment components at
the shaft should cancel anyway.) Since the inlet term r*i/ ×v*i in (1) is zero, substitution now yields:
O
X *
MO · e*z = ṁ( r*j/ × v*j − r*i/ × v*i ) · e*z
O O
−Tf = (3.891×10−2 slug/ft) [(0.5 ft) e*r ×(−8.83 e*t + 11.6 e*z ft/s) − 0]
⇒ Tf = 0.172 ft·lb
To solve for the new angular velocity once the friction has been reduced to Tf∗ = 0.2 Tf , we rewrite
the moment equation above:
X *
MO · e*z = ṁ( r*j/ × v*j − r*i/ × v*i ) · e*z
O O
Q Q

−Tf∗ *
= ρQ l e r × (ω l − ∗
cos θ) e*t + sin θ e*z − 0 · e*z
4A 4A
Q

∗
= ρQl ω l − cos θ
4A
Rearranging yields:
∗ Q Tf∗ vnoz Tf∗

ω = cos θ − = cos θ − (2)
4Al ρQl2 L ṁl2
Substituting:
18.05 ft/s 0.2(0.172 ft·lb)
ω∗ = cos 40◦ −
0.5 ft (3.891×10−2 slug/s)(0.5 ft)2
ω ∗ = 24.1 rad/s
The new absolute velocity of the spray is:
Q Q

v*∗ = cos θ e*t +
ωl − sin θ e*z
4A 4A
= [(24.1 rad/s)(0.5 ft) − (18.05 ft/s) cos 40◦ ] e*t + (18.05 ft/s) sin 40◦ e*z
= (−1.77 e*t + 11.6 e*z ) ft/s
Since the new absolute velocity of the spray leaving the nozzle head has a horizontal component
that is approximately 20% of its magnitude before tinkering, while the vertical component remains
the same, the coverage area should substantially decrease.
216
5.5.15
GOAL: Calculate the angle θ that the plate forms with the vertical once a steady position has
been established. Consider two cases: ṁ = 12 kg/s and ṁ = 24 kg/s.
GIVEN: Mass M and length L of plate; jet velocity v and mass flow rate ṁ; the vertical distance
d between the jet and hinge.
DRAW: The force between the plate and the jet can be viewed as consisting of two components,
a component perpendicular to the plate and a component parallel to the plate. The parallel
component will exert no moment about O.
FORMULATE EQUATIONS: This problem may be solved with the moment equation
* *
˙
MO = HO = ṁ r*j/ × v*j − r*i/ × v*i (1)
O O
SOLVE: Note that r*j/ × v*j will be zero since the exit path of the stream is parallel to the length
O
of the plate. Using the moment equation (1) we have
L
−M g sin θ = ṁ(0 − dv)
2
2ṁdv
⇒ sin θ =
M gL
−1 2ṁdv

⇒ θ = sin
M gL
" #
−1 2(12 kg/s)(0.08 m)(32 m/s)
θ = sin
(20 kg)(9.81 m/s2 )(0.40 m)
θ = 51.5◦ ; when ṁ = 12 kg/s
When ṁ = 24 kg/s, the above equation would yield

" #
−1 2(24 kg/s)(0.08 m)(32 m/s)
θ = sin = sin−1 (1.57)
(20 kg)(9.81 m/s2 )(0.40 m)
to which there is no real solution. So what went wrong? The problem is that our moment arm
d and the resulting moment due to the impact of the jet are fixed in our equations. By doubling
ṁ we have supposedly just increased the resulting moment to a value greater than the maximum
possible under gravity (= M gL/2, with θ = 90◦ ).
What our equations do not reflect is the fact that there is a limiting value of θ beyond which the
plate loses contact with the stream. In the actual system, the plate would reach an equilibrium
point where there is only a partial deflection of the jet by the lower corner of the plate (or perhaps
217
a continual oscillation into and out of the stream). We can find this limiting value of θ by a simple
consideration of the geometry:
L cos θ = d
d −1 0.08 m

θ = cos−1 = cos
L 0.40 m
θ = 78.5◦ ; when ṁ = 24 kg/s
218
5.5.16
GOAL: Determine the minimum safe distance d that the nozzle can be held from the surface to
avoid damage.
DRAW: The figure depicts a small volume of the spray just before hitting the surface. A differential
area dA is shown with the reaction force dF that results from the fluid/surface interaction.
ASSUME: We assume that the velocity of the spray after striking the surface is negligible com-
pared to the velocity before impact.
FORMULATE EQUATIONS: The governing equation is the mass inflow and outflow equation,
applied to a small volume of the spray just before and after the impact.
*
F = ṁ(v*j − v*i ) (1)
SOLVE: The mass flow rate through the nozzle is:
kg m kg

ṁ = ρAo v = 1000 6.7×10−6 m2 60 = 0.402
m3 s s
When the spray strikes a surface, the resulting pressure will depend on the distance d between the
spray nozzle and the surface. This is due to the radial dispersal pattern of the nozzle, which causes
an increase in the effective area of the spray as the distance from the nozzle to its target increases.
The point of maximum pressure on the surface will be the point that is closest to the nozzle. We’ll
show that this pressure may be computed by modeling it as an equivalent force acting over the full
cross-sectional area of the spray a distance d from the nozzle head.
Let’s assume that the point of maximum pressure lies within a differential area dA of the spray’s
cross-section. If the force imparted to this area of the surface is dF , then the pressure at this point
may be written as
dF
P = (2)
dA
The differential force dF may be computed using Equation (1). Let ṁdA be the rate of mass flow
through the element dA,
dA
ṁdA = ṁ (3)
A
where A is the full cross-sectional area of the spray at distance d.
219
By assumption, the velocity of the deflected water spray is negligible, and substitution into equation
(1) with an intial spray velocity v yields:
−dF = ṁdA (0 − v)
⇒ dF = ṁdA v (4)
From equation (2), we now have
dF ṁdA v dA v ṁv

P = = = ṁ =
dA dA A dA A
Notice that this is exactly the result we would get if the fluid spray had been emitted as a jet of
cross-sectional area A, with no radial dispersal, and we computed the force required to bring the
fluid to rest. For our radial dispersal pattern, the cross-section A depends on the distance d from
the nozzle head, according to ◦
75
A = 2πdh
360◦
where h is the 5 mm thickness of the spray. The maximum safe pressure is 23000 Pa, so the
minimum distance d that the nozzle should be held from the surface is:
ṁv 360◦ (0.402 kg/s)(60 m/s) 360◦

dmin = =
2πhP 75◦ 2π(0.005 m)(23000 N/m2 ) 75◦
dmin = 16.0 cm
220
5.5.17
GOAL: Determine the fuel-to-air mass ratio of the engine’s exhaust.
GIVEN: The properties given for the intake area are: the cross-sectional area Ai of the intake,
the pressure pi over this area, and the mass flow rate ṁi and density ρi of the air drawn into the
engine. For the exhaust area we are given: the pressure pe = 0 (gage) over its area, and the velocity
ve of the exhaust. We are also given the measured forward thrust T of the turbojet engine.
DRAW:
ASSUME: The assumptions implicit in the given quantities will suffice. All given properties are
considered to be uniform over their respective areas. We will neglect the intake of fuel through the
fuel line; assuming this effect is small and/or perpendicular to the direction of interest.
FORMULATE EQUATIONS: Since the engine has two mass inlets (the intake duct and the
fuel line) we must make a slight modification to our equation for steady mass flow:
F = ṁe v*e − ṁi v*i − ṁf v*f (1)
where the subscript e denotes the exit duct; and the subscripts i and f denote the intake duct and
fuel line, respectively. We will neglect v*f , assuming that it is either small or perpendicular to the
motion at the intake and exhaust. The exiting mass rate will be ṁe = ṁi + ṁf .
SOLVE: We will consider forces only in the horizontal * ı -direction. There are two externally
applied forces acting on the system in this direction. The first is the force T = 86.46 kN due to the
laboratory supports that hold the engine in place and are measuring its thrust; the second is that
due to the external pressures acting over the intake and exhaust areas. Since the pressure pe over
the exhaust duct is zero, the only pressure force will be that at the inlet, which we write as
2
1m

Fi = pAi = −5.2 kPa 6720 cm2 = −3.49 kN = −3.49×103 N
100 cm
The intake velocity of air is
ṁi 74.8 kg/s
vi = = = 94.3 m/s
ρA (1.18 kg/m3 )(0.672 m2 )
Equation (1) is now
Fi + T = (ṁi + ṁf )ve − ṁi vi (2)
The fuel-to-mass ratio of the exhaust will just be the ratio of the fuel and air intake rates, ṁf /ṁi .
Dividing equation (2) through by ṁi yields:
ṁf 1 Fi + T

= + vi − 1
ṁi ve ṁi
1 −3.49×103 N + 86.46×103 N

= + 94.3 m/s − 1
1180 m/s 74.8 kg/s
221
ṁf
= 0.0199 or a 1 : 50.2 ratio
ṁi
222
5.5.18
GOAL: Determine: (a) the uniform inlet velocity v1 at the pipe entrance and the mass rate m2
at the exit; (b) the pressure drop between the inlet and exit.
GIVEN: The velocity profile at the exit is v2 (r) = c(1 − r2 /R2 ), where c = 5.0 m/s. The pipe has
radius R = 10.0 cm. We are also told to assume that the net force acting on the volume of fluid
between inlet and exit is F = p1 A1 − p2 A2 .
DRAW:
ASSUME: No frictional resistance.

SOLVE:
(a) The volume flow rate of water at cross sections A1 and A2 is the same, since the flow is steady
and the amount entering equals the amount exiting. If the inlet and exit velocity profiles were
both uniform across their cross-sections, we could write this as v1 A1 = v2 A2 . However, since the
velocity profile at 2 is a function of r, we must modify the above equation to include an integration
over area A2 . Letting dA2 = 2πrdr, this equation becomes:
ZR R
r2 R2 R4
Z Z
v1 A1 = v2 dA2 = 2πrv2 dr = 2πc 1 − 2 rdr = 2πc −
A2 R 2 4R2
0 0
1
⇒ v1 πR2 = πcR2
2
c
v1 = = 2.5 m/s
2
The mass flow rates at the inlet and exit are equal, thus
2
ṁ2 = ṁ1 = ρv1 A1 = 1000 kg/m3 2.5 m/s π 0.10 m
ṁ = ṁ1 = ṁ2 = 78.5 kg/s
(b) The net force acting on the control volume is equal to the time rate of change of its linear
momentum. We have seen that for flows with uniform cross-sectional velocities, this relation may
*
be expressed as F = ṁ(v*j − v*i ). In the present case, however, the velocity and mass flow at section
2 vary over the cross-section, and in order to compute the time rate of change in linear momentum
we will have to perform an integration over this area.
Consider a differential area dA located a distance r from the pipe center. The velocity through this
area is v2 (r) and the mass rate is ṁdA = ρv2 (r)dA. Integration of ṁdA v2 over the cross-section
223
yields:
R 2 R
r2 2r3 r5
Z Z Z
ρv22 dA = ρc2
1− 2 2πrdr = 2πρc 2
r − 2 + 4 dr
A
2
R R R
0 0
R2 2R4 R6 1

= 2πρc2 − + = πρc2 R2
2 4R2 6R4 3
Replacing the uniform flow term ṁvj in our force equation with the above integration result gives
1
F = πρc2 R2 − ṁ1 v1
3
1
⇒ p1 A − p2 A = ρAc2 − ρv12 A
3
2
1 2 c

2 2
⇒ ∆p = p1 − p2 = ρc − ρv1 = ρ − v1
3 3
∆p = 2.08×103 Pa
224
Non-constant Mass Systems
225
5.5.19
GOAL: Find the force F pulling a gravel cart forward at t = 2.2 s.
GIVEN: Mass of cart, initial mass of gravel, rate of gravel release, frictional resistance function,
and the constant velocity of the cart.
DRAW:
ASSUME: Since the chute is vertical, the relative velocity of the gravel with respect to the cart
is in the vertical downward direction. We will also neglect the motion of the gravel in the entry
region of the chute; all gravel that has not yet passed through the plane of the chute will contribute
its full weight mg to the downward force on the P cart.
GOVERNING EQUATIONS: We apply F = −mv̇ + ṁu in the horizontal x-direction.
SOLVE: The key here is to notice that both motion terms are going to drop out of our analysis.
Since the relative velocity of the gravel with respect to the cart is vertical, its x-component is
ux = 0. Since the velocity of the cart is a constant 4.8 m/s *ı , the acceleration ax = v̇x = 0. So our
force balance equation yields:
*
ı: f − F = −mv̇x + ṁux = 0 + 0 (1)
⇒ (110 + 0.035W ) − F = 0 (2)

The gravel falls from the cart under the influence of gravity (it is not propelled or pushed out by
any mechanism), and thus the expelled gravel does not exert any force on the cart. Neglecting
the entry region, the weight of the cart is then W = mg, which is balanced by the normal forces
exerted on the cart by its track.
Returning to (2):
F = 110 + 0.035mg (3)
At t = 2.2s, the mass of the cart and remaining gravel will be:
m = mo − ṁt
= mo − ρQt
= (6500 kg + 930 kg) − (2100 kg/m3 )(0.62 m3 /s)(2.2 s) = 4565.6 kg
We can now calculate the force F from (3):
F = 110 N + (0.035)(4565.6 kg)(9.81 m/s2 )
F = 1680 N
226
5.5.20
GOAL: Determine whether or not the rocket will ever leave the ground tower. If the design flaw
does not prevent liftoff, find the time t at which liftoff occurs and the maximum upward speed
attained by the rocket.
GIVEN: Mass of rocket and fuel; burn rate and relative velocity of fuel exhaust.
DRAW: There are two external forces acting on the rocket, the gravitational force and the reaction
force R against the tower supports. Liftoff may be defined as the moment the reaction force reaches
zero.
FORMULATE EQUATIONS: The equation governing the rocket’s motion is:
R − mg = mv̇ + ṁu (1)
SOLVE: For liftoff to occur, the thrust component of equation (1) must be greater than the force
of gravity. The reaction force will be zero at this moment, if indeed it occurs.
The force due to the thrust is:
ṁu = (66 kg/s)(450 m/s) = 29.7 kN
The gravitational force decreases as the rocket expels fuel. The minumum value, obtained just as
the last bit of fuel is expended, is:
mg = (3100 kg)(9.81 m/s2 ) = 30.4 kN
Since the thrust is never greater than the gravitational force,
The rocket does not achieve liftoff.
227
5.5.21
GOAL: Determine whether or not the rocket will ever leave the ground tower. If the design flaw
does not prevent liftoff, find the time t at which liftoff occurs and the maximum upward speed
attained by the rocket.
GIVEN: Mass of rocket and fuel; burn rate and relative velocity of fuel exhaust.
DRAW: There are two external forces acting on the rocket, the gravitational force and the reaction
force R against the tower supports. Liftoff may be defined as the moment the reaction force reaches
zero.
FORMULATE EQUATIONS: The equation governing the rocket’s motion is:
R − mg = mv̇ + ṁu (1)
SOLVE: For liftoff to occur, the thrust component of equation (1) must be greater than the force
of gravity. The reaction force will be zero at this moment, if indeed it occurs.
The force due to the thrust is:
ṁu = (55 kg/s)(710 m/s) = 39.1 kN
The gravitational force decreases as the rocket expels fuel. The minumum value, obtained just as
the last bit of fuel is expended, is:
mg = (3100 kg)(9.81 m/s2 ) = 30.4 kN
The rocket will therefore achieve liftoff. The moment when this occurs is when
39.1 kN
ṁu = mg ⇒ mL = = 3.98 Mg
9.81 m/s2
As the mass of the rocket is m = mo − ṁt, this corresponds to time
mo − m 9600 kg − 3981 kg
tL = =
ṁ 55 kg/s
tL = 102 s
After liftoff, the rocket’s acceleration is given by equation (1), with R = 0,
−ṁu − mg −ṁu
v̇ = = −g
m mo − ṁt
228
v t
−ṁu
Z Z
0
dv = − g dt0
mo − ṁt0
0 t
L
h it
u ln mo − ṁt0 − gt0

⇒ v =
tL
= u ln (mo − ṁt) − gt − [u ln (mo − ṁtL ) − gtL ]
mo − ṁt

= u ln − g (t − tL )
mo − ṁtL
The maximum velocity will occur when v̇ = 0 or at an endpoint of the interval. Since the only
point at which v̇ = 0 is the initial liftoff time, when v = 0, the maximum speed must occur at the
instant when all fuel has been expelled:
6500 kg
tf = = 118 s
55 kg/s
m
f
vf = u ln − g(tf − tL )
mL
3100 kg

vf = (−710 m/s) ln − (9.81 m/s2 )(118.18 s − 102.17 s)
3981 kg
vf = 20.5 m/s
229
5.5.22
GOAL: Determine the change in velocity of the rocket once all of its fuel has been expended.
GIVEN: The fuel is consumed at a constant rate ṁ and the exhaust velocity is 1600 m/s. The
initial mass of the rocket and fuel is 1200 kg, which includes 300 kg of fuel.
DRAW: The only force acting on the rocket is the thrust generated from the expelled fuel.
FORMULATE EQUATIONS: The equation of motion for a rocket expelling mass is

F = mv̇ + ṁu (1)
There are no external forces acting on the system so F = 0. Since the rocket consumes fuel at a
constant rate ṁ, the mass of the system will be:
m = mo − ṁ(t − to )
where mo is the initial mass of the rocket at time to .
SOLVE: Using equation (1), we have
F = mv̇ + ṁu
dv

⇒ 0 = mo − ṁ(t − to ) + ṁu
dt
ṁu
⇒ dv = − dt (2)
mo − ṁ(t − to )
Both ṁ and u are constant. We may integrate (2) as follows:
vf tf
ṁu
Z Z
dv = − dt
mo − ṁ(t − to )
vo to
tf
1 h i
vf − vo = −ṁu − ln mo − ṁ(t − to )

ṁ
to
h i
= u ln mo − ṁ(tf − to ) − ln mo
mo − ṁ(tf − to )
!
= u ln
mo
ṁ(tf − to )
!
= u ln 1 −
mo
Since we are told that the rocket consumes all 300 kg of fuel, the quantity ṁ(tf − to ) appearing
above is equal to 300 kg. As the exhaust is expelled behind the rocket, u is negative with a
magnitude equal to the exhaust velocity. The change in velocity is thus
300 kg

∆v = vf − vo = −1600 m/s ln 1 −
1200 kg
∆v = 460 m/s
230
5.5.23
GOAL: Returning to the rocket of Ex. 5.5.22, answer the following questions: (a) Is the fact that
fuel is consumed at a constant rate important in the analysis? Why or why not?; (b) What does
your conclusion imply as the fuel consumption time approaches zero? Compare to an instantaneous
explosion.
GIVEN: All of the variables given in Ex. 5.5.22 still apply, with the exception of the mass rate,
which is no longer assumed to be constant. The exhaust velocity of the fuel is still 1600 m/s. The
initial mass of the rocket and fuel is 1200 kg, which includes 300 kg of fuel.
DRAW: The only force acting on the rocket is the thrust generated from the expelled fuel.
FORMULATE EQUATIONS: For part (a), we examine the equation of motion for a body
expelling mass. For part (b), we will use the conservation of linear momentum to determine the
velocities after an explosion.
SOLVE:
(a) The fact that ṁ is constant was not important in the analysis. We are only concerned with
the final velocity of the rocket after all fuel has been expelled, and the rate at which the mass is
ejected will not affect the total linear impulse applied to the rocket. One way to see this is
dm
F dt = ṁudt = u dt = udm
dt
so the total change in linear momentum is
Z Z Z
∆L = F dt = udm = u dm = u∆m
which depends only on the total mass of the fuel expelled, and not time. You may try any funtion
ṁ = f (t) and you will find that the total change in velocity is the same.
Another way that we can rationalize this is to look at the final velocity of the fuel after it has been
expelled. The fluid is emitted as a continuous stream of particles with varying absolute velocities.
Each particle has a different velocity depending only on what the velocity of the rocket was at the
time the particle was expelled. The velocity of the rocket depends only on the mass of fuel that has
been expelled, not time, and thus the final absolute velocity of all fuel particles will be the same
regardless of any time dependence in the mass rate. Since the final linear momentum of the fuel
stream is unchanged, and linear momentum for the system is conserved, the final velocity of the
rocket will also remain unchanged.
(b) We concluded above that the fuel consumption rate has no effect on the final velocity of
the rocket, which should imply that the final state of the system will remain unchanged even as
the fuel consumption time approaches zero. However, the distinction between a finite time and
“instantaneous” is crucial in our analysis. When modelling an instantaneous explosion, our typical
assumption would be that the fuel and rocket separate with each behaving as a rigid body. The
entire mass of fuel would be assumed to have the same speed u relative to the rocket. This changes
the final velocity profile of the fuel stream, thus altering our results.
To compare our results to an instaneous explosion, we first need to decide what the “relative speed
u” means in this case. Should the speed u be considered relative to the rocket’s initial velocity,
or to its final velocity? For this idealized case, there is no answer, so let’s consider both. If we
consider u to be relative to the rocket’s initial velocity, this is equivalent to assuming that the full
force of the propellant acts only on the 900 kg mass of the rocket, and the computed speed of the
231
rocket will have a final speed greater than that computed in Ex. 5.5.22. Likewise, if we consider
u to be relative to the rocket’s final velocity, this is equivalent to assuming that propellant acts on
the initial 1200 kg mass of the rocket, and results in a final speed smaller than that in Ex. 5.5.22.
Using conservation of linear momentum, the velocities computed in each case are:
mf u (300 kg)(1600 m/s)

∆v = = = 533 m/s
mr 900 kg
mf u (300 kg)(1600 m/s)
∆v = = = 400 m/s
mf + mr 300 kg + 900 kg
The time-dependent case, ṁ = f (t), allows the propellant to act on varying quantities of mass
(between 900 kg and 1200 kg), resulting in a final velocity between these two extremes.
232
5.5.24
GOAL: Determine the fuel consumption rate, ṁ(t), required at each booster for the UFO to
maintain a constant rate of descent. Also decide whether or not the reported 5 minute duration of
this event was possible, considering the laws of the universe as we know them.
GIVEN: Estimated weight, fuel ejection speeds, and the initial amount of fuel.
DRAW:
ASSUME: A lot.
FORMULATE EQUATIONS: The saucer’s descent is governed by:
mg = mv̇ + ṁu = ṁu (1)
SOLVE: First, let’s get the unit conversions out of the way.
2big rigs 30000lbs
1 slug

mo = = 1863 slugs
1UFO 1 big rig
32.2 lbs
120 mph 5280 ft 1 hr

u = 10 big tornados = 1760 ft/s
1 big tornado 1 mile 3600 s
From (1), keeping in mind that we defined ṁ to be the absolute value of the rate of change in mass:
Zm t
dm mg 1 g g
Z
= − ⇒ 0
dm0 = − dt0 ⇒ ln m − ln mo = − t
dt u m u u
mo 0
g

⇒ m = mo exp − t (2)
u
Taking a derivative yields
mo g g

ṁ = − exp − t
u u
Each booster will be responsible for 1/8 of the thrust, thus:
mo g g

ṁ(t) = − exp − t = 4.26 exp (0.0183t) [kg/s]
8u u
It is estimated that the fuel was 20% of the initial mass of the saucer. The mass of the saucer once
all of the fuel is exhausted would then be m = 0.8mo . Solving (2) for the time at which all fuel has
been exhausted yields:
u 1760 ft/s

t = − ln (0.8) = − ln (0.8) = 12.2 s
g 32.2 ft/s2
Since the 5 minutes reported by eyewitnesses is much greater than 12.2 s, there is something amiss
in either their claims or our assumptions.
233
5.5.25
GOAL: Find an expression for the acceleration a(t) of a rocket sled, and compute its burnout
velocity.
GIVEN: Mass of sled, initial mass of fuel, rate of fuel consumption and exhaust velocity.
DRAW:
ASSUME: Friction and air resistance may be neglected. The sled remains on the tracks.
FORMULATE EQUATIONS: We apply:
F = −mv̇ + ṁu (1)
SOLVE: Since there are no external forces acting on the rocket, F = 0 in (1):
(1)⇒ 0 = −mv̇ + ṁu
ṁu
⇒ v̇ = (2)
m
The mass m of the rocket is:
m = mo − ṁt
= 2500 kg − (22 kg/s)t
Substituting into Equation (2) we can solve for a(t):
ṁu (22 kg/s)(540 m/s)

a(t) = v̇(t) = = (3)
mo − ṁt 2500 kg − (22 kg/s)t
The burnout time is:

mf uel 850 kg
tf = = = 38.64 s
ṁ 22 kg/s
We can determine the burnout velocity by integrating Equation (3) with the substitution v̇ = dv/dt.
Collecting terms and integrating:
Z vf Z tf ṁu
dv =
vo to mo − ṁt
t
vf − vo = −u ln (mo − ṁt)|tfo
With to = 0 and vo = 0 this becomes:

!
mo
vf = u ln
mo − ṁtf
2500 kg

= (540 m/s) ln
2500 kg − (22 kg/s)(38.64 s)
vf = 224 m/s
234
5.5.26
GOAL: Determine the force F , the work W , and the kinetic energy KE of the unraveled length of
string. Account for any difference between W and KE.
GIVEN: The string unravels with constant velocity.
DRAW:
FORMULATE EQUATIONS: The unraveled length of string is gaining mass, thus our equation
of motion is:
F = mv̇ − ṁu (1)
SOLVE: Since the velocity is constant, and the rate at which mass is gained is ṁ = ρv, equation
(1) yields:
F = 0 − ρvu = −ρv(−v)
F = ρv 2 (2)
Note that u = −v since this is the relative velocity of the coiled string with respect to the moving
end. To get the work done by this force we integrate over distance (assume initially x = 0):
Z x Z x
0
W = F dx = ρv 2 dx0
0 0
W = ρv 2 x (3)
Only the unraveled length of string is moving, so the string’s kinetic energy may be written:
1 2 1 2
KE = 2 mv = 2 ρxv
We notice now that the kinetic energy of the string is only equal to half of the work that has
been performed. How do we account for this? Well, we can offer a couple of explanations for this
discrepancy, depending on our assumptions.
The first explanation is based on an impact/energy analysis. We assumed that the length of string
x moves with constant velocity v while that in the coil remains stationary. This means that as the
string elements are unraveled they are accelerated instantaneously to the velocity v, a situation
normally modeled as an impact. However, since the newly acquired elements δm have the same
velocity as the previously unraveled length that they impacted, this is a perfectly inelastic collision.
The energy lost in this inelastic collision will equal the observed discrepany between W and KE.
The only way to avoid the energy loss due to this inelastic collision would be to “smoothly”
accelerate the string elements to the velocity v (or to just pretend that mass is acquired without
any cost). Smoothly accelerating the string elements would require a mechanism that utilizes energy
from the system to distribute force to these elements. How much energy would this require? Well,
let the force delivered by
R this mechanism R to an individual element δm be δF . The work required
by this force would be (δF )dx = δm adx = δm vdv = 21 (δm)v 2 . Summing this work for all
R
unraveled elements accounts for our 12 mv 2 discrepancy.
235
5.5.27
GOAL: Find an expression for the velocity of the chain as a function of its displacement x, and
calculate this velocity at the moment when the last link just reaches the edge. Solve using two
methods.
GIVEN: The chain has length L = 4.0 m and initially has a length L/8 hanging over the edge.
The coefficient of friction between the chain and surface is µ = 0.12.
DRAW:
SOLVE: Let x represent the displacement of the chain from its initial position, as indicated. As
the chain falls, it will have a length L1 = 78 L − x sliding on the horizontal surface and a length
L2 = L8 + x hanging from the edge. The masses of each section will be m1 = ρL1 and m2 = ρL2 ,
where ρ is the linear density of the chain. The frictional force between the chain and the surface
will be given by f = µm1 g = µ( 78 L − x)ρg.
(i) Treating the chain as two sections of variable mass, we now write a force balance for each section.
Note that the first section loses mass while the second gains mass. The rate at which mass is gained
or lost is ṁ = ρv.
Section 1: T − µm1 g = m 1
v̇ + ṁu
7 7

T − µρg L−x = ρ L − x v̇ + ρv(−v)
8 8
Section 2: m2g − T = m2 v̇ − ṁu
1 1

ρg L+x −T = ρ L + x v̇ − ρv(−v)
8 8
Adding these two equations will cancel the interaction forces T and ṁu, giving us
1 − 7µ

ρg L + (1 + µ)x = ρLv̇
8
(1 − 7µ)g (1 + µ)g
⇒ v̇ = + x (1)
8 L
(ii) Using a constant mass approach, we treat the full length of chain as our single body of interest.
A force balance F = mv̇ yields:
m2 g − µm1 g = ρLv̇
1 7

ρ L + x g − µρ L − x g = ρLv̇
8 8
(1 − 7µ)g (1 + µ)g
⇒ v̇ = + x
8 L
236
To find the velocity of the last link as is passes over the corner we will integrate this expression
using vdv = adx and the dummy variables x0 , v 0 ;
v Z x
(1 − 7µ)g (1 + µ)g
Z
0 0
v dv = + x dx0
8 L
0 0
v2 (1 − 7µ)g (1 + µ)g 2
= x+ x
2 8 2L
s
(1 − 7µ)g (1 + µ)g 2
⇒ v = x+ x
4 L
When the last link reaches the corner, x = 87 L, so

s 2
(1 − 7µ)g 7 (1 + µ)g 7 1q

vf = L+ L = 7gL(9 − 7µ)
4 8 L 8 8
With L = 4.0 m, and µ = 0.12,

1
q
vf = 7(9.81 m/s2 )(4.0 m)(9 − 7(0.12))
8
vf = 5.92 m/s
237
5.5.28
GOAL: Find an expression for the acceleration of the chain as a function of its displacement x,
and determine the velocity of the last link as it passes over the corner.
GIVEN: The chain has linear density ρ and initially has exactly half its length dangling over the
corner.
DRAW:
SOLVE: Let x represent the displacement of the chain from its initial position, as indicated. As
the chain falls, it will have a length L1 = L/2 − x lying against the slope and a length L2 = L/2 + x
dangling from the corner. The masses of each section will be m1 = ρL1 and m2 = ρL2 , with a
total mass m = ρL.
(a) Using a constant mass approach, we treat the full length of chain as our single body of interest.
A force balance F = ma yields:
m2 g − m1 g sin 30◦ = ρLa

ρ L
2 +x g−ρ L
2 − x g sin 30◦ = ρLa
g x
⇒ a = (1 − sin 30◦ ) + g (1 + sin 30◦ )
2 L
(b) Treating the chain as two sections of variable mass, we now write a force balance for each
section. Note that the first section losess mass while the second gains mass. The rate at which
mass is gained or lost is ṁ = ρv.
Section 1: T − m1 g sin 30 ◦ = m v̇ + ṁu
1
T −ρ L
2 − x g sin 30◦ = ρ L
2 − x v̇ + ρv 2 (−1 − sin 30◦ )
Section 2: m2 g − T = m2 v̇ − ṁu

ρ L
2 +x g−T = ρ L
2 + x v̇ − ρv 2 (−1 − sin 30◦ )
Adding these two equations will cancel the interaction forces T and ṁu, giving us
ρ L2 g (1 − sin 30◦ ) + ρxg (1 + sin 30◦ ) = ρLv̇

g x
⇒ v̇ = (1 − sin 30◦ ) + g (1 + sin 30◦ ) (1)
2 L
To find the velocity of the last link as is passes over the corner we will integrate this expression
238
using vdv = adx and the dummy variables x0 , v 0 ;
v Z x
1 x0
Z
0 0
v dv = g (1 − sin 30◦ ) + g (1 + sin 30◦ ) dx0
2 L
0 0
v2 x x2
= g (1 − sin 30◦ ) + g (1 + sin 30◦ )
2 2
s 2L
x2
⇒ v = gx (1 − sin 30◦ ) + g (1 + sin 30◦ )
L
When the last link reaches the corner, x = L/2, so

s s
L L 3gL gL
vf = g (1 − sin 30◦ ) + g (1 + sin 30◦ ) = − sin 30◦
2 4 4 4
s
5mg
v =
8ρ
239
5.5.29
GOAL: Determine the velocity of the flatcar (a) 3 s after loading has begun, and (b) once it is
fully loaded and past the chute. Also determine how much coal the flatcar will be carrying as it
leaves the loading area.
GIVEN: Mass and length of flatcar; mass rate, angle, and speed of coal leaving chute; initial
velocity of flatcar.
DRAW:
ASSUME: Neglect friction.

FORMULATE EQUATIONS: Only the horizontal components of the motion equation are of
interest to us:
F = mv̇ − ṁ(u cos 35◦ − v) (1)
where u is the speed of the coal as it leaves the chute.
SOLVE: As the flatcar passes under the chute, it accumulates coal at the same rate ṁ that the
coal leaves the chute. At time t, the mass of the flatcar and the coal it carries will be m = M + ṁt,
where M is the mass of the empty flatcar. There are no external forces, F = 0, so equation (1) can
be rearranged to yield
ṁ(u cos 35◦ − v)
v̇ =
M + ṁt
From v̇ = dv/dt, we have
1 ṁ
◦
dv = dt
u cos 35 − v M + ṁt
Integration with dummy variables v 0 and t0 gives
v t
1 ṁ
Z Z
dv 0 = dt0
u cos 35◦ − v 0 M + ṁt0
vo 0
h iv h it
◦ 0 0
− ln u cos 35 − v = ln M + ṁt
vo 0
u cos 35◦ − vo M + ṁt

ln = ln
u cos 35◦ −v M
M (u cos 35◦ − vo )
⇒ v = u cos 35◦ − (2)
M + ṁt
(a) At t = 3 s, equation (2) yields:
(1500 kg)[(4.0 m/s) cos 35◦ − 1.0 m/s]

v = (4.0 m/s) cos 35◦ −
1500 kg + (100 kg/s)(3 s)
v = 1.38 m/s
240
(b) To find the velocity of the flatcar and the amount of coal it carries after leaving the loading
area, we’ll integrate the velocity expression above to find the time t when the flatcar has traveled
a distance equal to the length d of the flatcar. Integrating v = dx/dt,
x Z t
M (u cos 35◦ − vo )
Z
◦
dx = u cos 35 − dt0
M + ṁt0
xo 0
M (u cos 35◦ − vo ) M + ṁt

d = x − xo = (u cos 35◦ )t − ln
ṁ M
With d = 5 m, the solution to the above equation is
tf = 3.97702 s
which verifies for us that, in part (a), the flatcar remained beneath the chute.
Substitution of tf into equation (2) yields the final velocity of the flatcar:
(1500 kg)[(4.0 m/s) cos 35◦ − 1.0 m/s]

vf = (4.0 m/s) cos 35◦ −
1500 kg + (100 kg/s)(3.98 s)
vf = 1.48 m/s
The amount of coal the flatcar carries is:
ṁt = (100 kg/s)(3.98 s) = 398 kg
241
5.5.30
GOAL: Determine the velocity of the cart when it is at the position directly above the hole and
the speed at which it strikes the bumper. Then find the position of the cart when it next comes to
rest.
DRAW: Figures have been drawn for four legs of the carts journey, (i) motion towards the hole,
(ii) motion away from the hole, (iii) motion back towards the hole after striking bumper, and (iv)
motion away from hole once again. The mass and chain are represented by an equivalent mass
block, with the forces respective to each case acting on it. These forces are further explained below.
The direction of the cart’s motion is indicated by the arrow with label v.
ASSUME: The collision with the bumper is perfectly elastic.

FORMULATE EQUATIONS: Our “body” of interest will be the mass M plus the length of
chain L − x between the cart and the ground. We’ll view the motion of this body in two phases:
motion towards the hole, and motion away from the hole.
When the cart is moving towards the hole, the net force acting on it is just the weight ρdg of the
chain length between the table and the ground. The equation of motion for this phase will be:
ρdg = [M + ρ(L − x)]v̇ (1)
It might appear that we are forgetting the ṁu term in our motion equation, but it is actually the
ground reaction force that brings the chain to rest, not an interaction with the links above (a chain
can only supports tensile loads). Note that we could have included both this reaction force R and
ṁu = −ρv 2 in our equation, in which case it would appear as:
ρdg − R = [M + ρ(L − x)]v̇ − ρv 2
However, the force R required to redirect the chain (bring it to rest) will be exactly ρv 2 , and these
terms cancel out.
When the cart is moving away from the hole, our “body” collects links from the ground through
an internal reaction with the links above (the chain is now in tension). The ground itself does not
apply the force lifting the links from the surface. In this case, our equation of motion will be:
F = mv̇ − ṁu
−ρdg = [M + ρ(x − L + 2d)]v̇ + ρv 2 (2)
where the length of chain between the cart and ground is now x − (L − d) + d = x − L + 2d.
242
SOLVE: To find the velocity of the cart at the postion directly above the hole we integrate equation
(1) using the relation vdv = adx:
v x
1 1
ρdg
Z Z
vdv = dx
M + ρ(L − x)
0 0
v12 x
1
= −dg ln [M + ρ(L − x)]
2 0
When the cart is directly over the hole, x1 = L − d, and the above equation yields:
v " #
u
u M + ρL
⇒ v1 = t2dg ln
M + ρd
v1 = 2.96 m/s
To find the speed of the cart as it strikes the bumper we must integrate equation (2), from its
position directly over the hole to the bumper. From vdv = adx, we have
−ρv 2 − ρdg v 1
vdv = dx ⇒ dv = − dx
M + ρ(x − L + 2d) ρv 2 + ρdg M + ρ(x − L + 2d)
Let v1 and x1 denote the position and velocity of the cart when it is directly over the hole.
Integrating,
Z v2 Z x2
v 1
2
dv = − dx
ρv + ρdg M + ρ(x − L + 2d)
v1 x1
v 2 i x2
1 2
1 h
ln (ρv + ρdg) = − ln M + ρ(x − L + 2d)
2ρ v1 ρ x 1
v22
" # " #
1 + dg M + ρ(x1 − L + 2d)
ln = ln
2 v12 + dg M + ρ(x2 − L + 2d)
" #2
M + ρ(x1 − L + 2d)
⇒ v22 = v12 + dg − dg
M + ρ(x2 − L + 2d)
We know x1 = L − d and v1 is given above. When the cart strikes the bumper, we have x2 =
L − d + 21 (L − d) = 32 (L − d):
v
u !2
M + ρd
u
⇒ v12 + dg − dg
u
v2 = t
M + 12 ρ(L + d)
v2 = 1.67 m/s, speed at which cart strikes bumper
Now let’s consider the return path back to the hole. After the elastic collision with the bumper,
the velocity of the cart will be −v2 . Writing an equation of motion similar to (1):
−ρgd = [M + ρ(x − L + 2d)]v̇ (3)
243
Z v3 Z x3
1
vdv = −ρgd dx
M + ρ(x − L + 2d)
−v2 x2
" #
M + ρd
v32 = −2gd ln + v22
M + 21 ρ(L + d)
Since the cart is moving to the left, it’s velocity will be the negative square root,
v !
u
u M + ρd
v3 = −tv 2 − 2gd ln = −2.72 m/s
2 M + 21 ρ(L + d)
The final leg of our cart’s journey is from the hole to the position it next comes to rest. The
equation of motion for this leg is similar to (2):
ρdg = [M + ρ(L − x)]v̇ − ρv 2 (4)
0 Z x4
v 1
Z
dv = dx
ρdg + ρv 2 M + ρ(L − x)
v3 x3
" # " #
1 dg M + ρd
ln = ln
2 dg + v32 M + ρ(L − x4 )
" # " #2
dg M + ρd
=
dg + v32 M + ρ(L − x4 )
! 12 #
dg + v32
"
1

⇒ x4 = M + ρL − M + ρd
ρ dg
x4 = 0.911 m, measured from the original starting point
The loss of energy is due to the impact of the chain with the ground, which we have modeled as
an inelastic collision.
244
5.5.31
GOAL: (a) Determine the velocity of the mass-chain system as a function of the distance traveled
x. (b) Determine the stopping time and distance for the mass and create the specified plots. (c)
Discuss the effect of the release length L, and make a qualitative comparison to the scenario where
the length L is initially at rest when it latches onto the moving mass.
GIVEN: No friction in part (a). For part (b): M = 10 kg, L = 1.0 m, vo = 2 m/s, ρ = 5 kg/m,
µ = 0.15.
DRAW: The “body” of interest is the mass M plus the current length of chain that has been
drawn from the pile. The relative velocity of the acquired mass (chain links) is u = −v. For part
(b), the frictional force is equal to µ times the normal force between the chain and surface, or
µρ(L + x)g.
FORMULATE EQUATIONS: We apply our equation of motion for a body gaining mass:
F = mv̇ − ṁu (1)
The current mass of the system is m = M + ρ(L + x), the rate at which mass is acquired is ṁ = ρv,
and the relative velocity is u = −v, leading to
F = [M + ρ(L + x)]v̇ + ρv 2 (2)
SOLVE:
(a) With no friction, F = 0, and equation (2) can be solved for v̇:
ρv 2
v̇ = −
M + ρ(L + x)
From vdv = adx, we obtain;
ρv 2 1 ρ
vdv = − dx ⇒ dv = − dx
M + ρ(L + x) v M + ρ(L + x)
Integrating with dummy variables v 0 and x0 :
v x
1 0 1
Z Z
dv = −ρ dx0
v0 M + ρ(L + x0 )
vo 0
ln v − ln vo = ln (M + ρL) − ln [M + ρ(L + x)]
M + ρL
v = vo
M + ρ(L + x)
245
(b) With friction between the chain and surface, F = −µρ(L + x)g, and (2) becomes:
−µρ(L + x)g = [M + ρ(L + x)]v̇ + ρv 2
ρv 2 + µρ(L + x)g
⇒ v̇ = −
M + ρ(L + x)
This equation can be solved numerically with one of MATLAB’s ode solvers. Letting y1 = x and
y2 = ẋ, the above equation can be written as two first-order differential equations:
ẏ1 = y2
ρy22 + µρ(L + y1 )g
ẏ2 = −
M + ρ(L + y1 )
The above equations were solved using the ode45 solver. The distance the mass travels before
coming to rest and the elapsed time may be found by locating the point where y2 = v = 0. These
points have been labeled on the plots.
t = 1.90 s ; x = 1.68 m
(c) Increasing the release length L may or may not increase the stopping distance, depending on
the values of the other parameters.
As M approaches zero, the system consists solely of the chain, with a frictional force directly
proportional the the drawn length of chain. In this case, increasing L would always increase the
stopping distance because it increases the initial momentum of the system and reduces the effect
of the −ρv 2 term.
For a given length L, increasing M increases the stopping distance, since it also increases the
initial momentum of the system. The system thus travels farther than in the above case, when M
246
approached zero. However, if, for the same M , L is now increased to a value such that ρL M ,
then the mass M becomes insignificant and the solution once again approaches the chain-only
limit. The coefficient of friction µ and the ratio M/ρ play critical roles in determining what effect
(friction or the initial momentum) dominates the motion, and whether a change in L will increase
or decrease the stopping distance.
In the scenario where the length L is initially at rest and then suddenly latches onto the moving
mass, the stopping distance will be less than in the previously discussed cases. This is because the
initial momentum of the system is just that of the moving mass M v, instead of that of the mass
plus the chain length L. The impact with the chain will also result in an additional loss of energy
that was not present in the earlier cases.
247
248
5.5.32
GOAL: Find the required tension at the winch if the carriage is to be drawn up the incline with
a constant acceleration a.
GIVEN: We are given the mass M of the carriage, the angle θ of the incline, and the linear density
ρ and total length L of the cable. The carriage is initially drawn a length d from the top of the
incline, and it’s initial velocity is zero.
DRAW:
FORMULATE EQUATIONS: We will treat the carriage and winch as a single body gaining
mass. The equation of motion will be:
F = mv̇ − ṁu
T − mg sin θ = mv̇ − ṁu (1)
SOLVE: As the carriage climbs the incline, its total mass m will be
m = M + ρ(L − d + x) (2)
where x = 0 is the initial position of the mass. The carriage will gain mass at the rate ṁ = ρv,
and the cable approaches the carriage with a relative speed u = −v. Substitution into (1) gives:
T − [M + ρ(L − d + x)]g sin θ = [M + ρ(L − d + x)]a + ρv 2 (3)
Since the acceleration of the carriage is constant, v̇ = a, and its initial velocity is zero, the position
and speed of the carriage will be given by
t t
1 2
Z Z
v = adt = at x = vdt = at
2
0 0
Solving (3) for T :
1

T = M + ρ L − d + at2 a + g sin θ + ρa2 t2
2
T may also be expressed in terms of either x or v:

h i
T = M + ρ(L − d + x) a + g sin θ + 2ρax
1 2

T = M +ρ L−d+ v a + g sin θ + ρv 2
2a
249
5.5.33
GOAL: Determine how far up the incline the cart will reach before coming to rest. Will it remain
in this position or begin to slide back down?
GIVEN: Mass M = 20 kg of cart, length L = 3.5 m and linear density ρ = 2.8 kg/m of cable,
spring constant k = 100 N/m, static and dynamic coefficient of friction µ = 0.08, incline θ = 40◦ ,
and initial position of cart.
DRAW:
FORMULATE EQUATIONS: As the cart slides up the incline, its total mass may be expressed
as m = M + ρx. It will gain mass at the rate ṁ = ρv, and the velocity of the approaching cable
relative to the cart will be u = −v. The equation of motion, in the direction parallel to the incline,
is
F = mv̇ − ṁu
−mg sin 40◦
+ f − µmg cos 40◦ = mv̇ − ṁu
−(M + ρx)g sin 40◦ + k(L − x) − µ(M + ρx)g cos 40◦ = (M + ρx)v̇ + ρv 2
k(L − x) − ρv 2
⇒ v̇ = −g sin 40◦ − µg cos 40◦ + (1)
M + ρx
SOLVE: We need to integrate our expression for v̇ to obtain the position and speed of the cart.
This initial value problem may be solved with one of MATLAB’s ode solvers, after writing the
above equation in the form:
ẏ1 = y2 (2)
k(L − y1 ) − ρy22
ẏ2 = −g sin 40◦ − µg cos 40◦ + (3)
M + ρy1
where y1 = x and y2 = ẋ = v.
The above system of first-order differential equations, (2) and (3), were solved using the ode45
solver and the initial conditions y1 (0) = 0, y2 (0) = 0. To determine the position where the cart
comes to rest, we plot v vs. x and find the value of x at the point where v = 0.
x = 3.34 m
To determine if the cart now stays at rest, or whether it begins to slide back down, we need to
compare the sum of the gravitational and spring forces to that of friction. At x = 3.34 m,
−mg sin 40◦ + k(L − x) = −[20 kg + (2.8 kg/m)(3.34 m)](9.81 m/s2 ) sin 40◦
+(100 N/m)(3.5 m − 3.34 m)
= −169 N
and the maximum frictional force is
|µmg cos 40◦ | = (0.08)[20 kg + (2.8 kg/m)(3.34 m)](9.81 m/s2 ) cos 40◦ = 17.6 N
250
The cart will begin to slide down the incline.
251
5.5.34
GOAL: Find expressions for the angular velocity and angular acceleration of the rocket. Determine
the tension in the rod after all fuel has been consumed.
GIVEN: Mass of rocket, initial mass of fuel, length of rod, rate of fuel consumption, and exhaust
velocity.
DRAW:
FORMULATE EQUATIONS: The rocket’s exhaust accelerates the rockets in the tangential
direction, as though a tangential force is applied to a continually decreasing mass. Our force
equation for a rocket expelling mass is:
F = mv̇ + ṁu (1)
The tension in the rod acts in the radial direction, perpendicular to the rocket’s motion, and does
not enter the tangential equation of motion. We therefore set F = 0. The angular velocity and
acceleration may be related to their linear counterparts through the relations
ω = v/r α = a/r (2)
SOLVE: The rocket’s mass will be m = M + mo − ṁt, where M is the mass of the empty rocket
and mo is the initial mass of fuel. From (1) and (2), we have
ṁu v̇ ṁu
v̇ = − ⇒ α = = −
m R R(M + mo − ṁt)
(0.25 kg/s)(−20 m/s)
⇒ α = −
(0.5 m)[3.5 kg + 1.5 kg − (0.25 kg/s)t]
10 rad

α =
5 − 0.25t s2
To find the angular velocity, we’ll just integrate α:
t t
ṁu u 1
Z Z
ω = α dt = − dt = ln
R(M + mo − ṁt) R M + mo − ṁt
0 0
1 rad

ω = −40 ln
5 − 0.25t s
252
The fuel will burn out at time tf = mo /ṁ = 1.5/0.25 = 6 s. Once all of the fuel is gone, ṁ = 0,
and the rocket no longer accelerates tangentially. The burnout angular velocity is:
1 rad

ωf = −40 ln = 50.1 rad/s
5 − 0.25(6) s
A force balance in the radial direction (at burnout) yields:
T = M Rω 2 = (3.5 kg)(0.5 m)(50.1 rad/s)2
T = 4.39×103 N
253
5.5.35
GOAL: Find the maximum speed attained by the rocket.
GIVEN: We are given the initial mass of rocket and fuel, the fuel ejection speed, a function
representing the drag force, and the time span over which the fuel is evenly burned.
DRAW: The rocket is acted on by the generated thrust and the drag force f = 0.0051v 2 .
FORMULATE EQUATIONS: The equation of motion for the rocket expelling mass is:
F = mv̇ + ṁu
−0.0051v 2 = mv̇ + ṁu (1)
SOLVE: Since the fuel is burned evenly over the time span, ṁ is constant. The mass of the rocket
may thus be written as m = mo − ṁt. Rearranging (1) now gives
dv
−0.0051v 2 − ṁu = (mo − ṁt)
dt
t v
1 1
Z Z
⇒ dt0 = dv 0
mo − ṁt0 −0.0051(v 0 )2 − ṁu
0 0
t √ !v
1 1 v 0 −0.0051ṁu
⇒ − ln (mo − ṁt0 ) = √ tanh−1

−ṁu

ṁ −0.0051ṁu
0 0
√ !
1 mo − ṁt 1 v −0.0051ṁu

⇒ − ln = √ tanh−1
ṁ mo −0.0051ṁu −ṁu
s √ !
−ṁu −0.0051ṁu mo − ṁt

⇒ v = tanh − ln (2)
0.0051 ṁ mo
In the above, u = −45 m/s, mo = 2 kg, and ṁ = (1.5 kg)/(12 s) = 0.125 kg/s.
The maximum velocity will occur when v̇ = 0 or at the endpoint, t = 12 s, of the interval. Checking
v̇: s √ ! √ !
−ṁu −0.0051ṁu −0.0051ṁu mo − ṁt

2
v̇ = sech − ln
0.0051 mo − ṁt ṁ mo
None of the terms in the above expression equal zero (for finite time) so the maximum velocity will
occur when v = 12 s. Using this substitution in equation (2) gives
vmax = 31.7 m/s
NUMERICAL SOLUTION: As an alternative to the analytical solution above, a numerical

solution may also be obtained using equation (1), which may be rearranged as
−0.0051v 2 − ṁu
v̇ =
mo − ṁt
This differential equation may be solved using the ode45 solver in MATLAB. The resulting plot is
shown with the maximum velocity (v = 31.7 m/s) indicated at t = 12 s.
254
255
5.5.36
GOAL: Find (a) the initial acceleration of the cart; (b) the acceleration when t = 3.6 s; (c) the
velocity of the cart when h = 0; and (d) the total distance the cart will travel before coming to
rest.
GIVEN: We are given the mass M = 9.4 kg of the empty cart; the initial height ho = 41 cm
of water; the nozzle diameter d = 8.0 cm; and the radius r = 0.19 m of the tank. The frictional
resistance of the cart to horizontal motion is f = 0.009W , where W ispthe current weight of the
cart. The nozzle velocity is approximated by the function: u(h) = 0.95 2g(h + d/2).
ASSUME: The weight W of the cart will be its mass plus the mass of water contained; any effect
on the normal force (weight) due to the rate of change of the height h is neglected.
DRAW:
FORMULATE EQUATIONS: The cart is propelled forward by the water expelled through the
nozzle. The equation of motion will be:
F = mv̇ + ṁu (1)
The total mass m will be the mass of the cart M plus the mass of water inside the tank. The
water’s mass will be its density times the remaining volume in the tank:
m = M + ρπr2 h (2)
The mass rate ṁ will equal ρuA, where A is the nozzle area:
1
ṁ = ρπd2 u (3)
4
The only external force acting on the cart is the frictional force, given by:
F = −f = −0.009W = −0.009mg = −0.009(M + ρπr2 h)g (4)
SOLVE:
(a) To find the initial acceleration, we solve (1) for v̇ with the given initial conditions. (Note that
in the term ṁu the relative velocity u will actually be negative since it is expelled in the direction
opposite the motion of the cart.)
F − ṁu −0.009(M + ρπr2 h)g + 14 ρπd2 u2

v̇ = =
m M + ρπr2 h
1
ρπd2 (0.95)2 g(h + d2 )
= −0.009g + 2 (5)
M + ρπr2 h
(1000 kg/m3 )π(0.08 m)2 (0.95)2 (9.81 m/s2 )[0.41 m + 21 (0.08 m)]
v̇ = −0.009(9.81 m/s2 ) +
2[9.4 kg + (1000 kg/m3 )π(0.19 m)2 (0.41 m)]
256
v̇ = 0.628 m/s2
(b) To find the acceleration at t = 3.6 s, we can again apply equation (5), but first we need an
expression for h(t). Since the volume in the tank decreases at the same rate that water is expelled,
we have:
q
1 dh 0.95d 2 2g(h + 12 d)
ρv1 A1 = ρv2 A2 ⇒ uπd2 = −ḣπr2 ⇒ = −
4 dt 4r2
Rearranging and integrating this expression for ḣ, with dummy variables h0 and t0 , yields an equa-
tion for h(t):
√ Zt Zh
0.95d2 2g 0 1
dt = − q dh0
4r2 1
h0 + 2 d
0 ho
√ s s
0.95d2 2g d d

t = −2 h + − ho +
4r2 2 2
"s √ #2
d 0.95d2 2g d
⇒ h(t) = ho + − 2
t − (6)
2 8r 2
At t = 3.6 s, the height of the water will be
q #2
0.95(0.08 m)2 2(9.81 m/s2 )
"r
0.08 m 0.08 m
h = 0.41 m + − 3.6 s − = 0.0723 m
2 8(0.19 m)2 2
Substitution of this height into equation (5) yields
v̇ = 0.480 m/s2
(c) The velocity and position of the cart when h = 0 may be found by integrating equation (5), with
the substitution of h(t) from equation (6). MATLAB’s ode45 solver was utilized for this purpose
with (5) expressed in the form:
y1 = y2
1 2 2
2 ρπd (0.95) g(h + d2 )
y2 = −0.009g +
M + ρπr2 h
where y1 = x and y2 = ẋ = v. Equation (6) for h(t) must also be included in the M-file. The
interval of interest is the period of time from t = 0 to tf , where tf is the time at which h = 0. This
time may be found through either a plot of h(t) or by the solution of equation (6), which yields:
s s !
8r2 d d
tf = √ ho + − = 5.05 s
0.95d2 2g 2 2
A plot of position and velocity vs. time over the interval t = [0, 5.05] is shown. Initial conditions
are x = 0, v = 0. The position and velocity of the cart at t = 5.05 s are:
x = 7.31 m
257
v = 2.64 m/s
(d) Once all of the water has been expelled, the only force acting on the cart is that of friction.
The acceleration of the cart will be:
f
a = − = −0.009g
M
Integration of vdv = adx with constant acceleration gives
v 2 − vo2 0 − (2.64 m/s)2

f
x = xo + = 7.31 m +
2a 2(−0.009)(9.81 m/s2 )
x = 47 m
258
5.5.37
GOAL: Determine the maximum height attained by the rock.
GIVEN: We are given the weight W of the rock, and its initial velocity vo and height xo . A rope
of given length L and weight WL has been tied to the rock, and the loop and knot holding them
together required an extra 14 inches from the end of the rope.
DRAW: Our system of interest will be the rock, knot, and the length of rope currently lifted from
the ground. This system is gaining mass as the rock rises, due to the increase in length of the rope.
FORMULATE EQUATIONS: We employ the equation of motion for a system that is gaining
mass.
F = mv̇ − ṁu (1)
SOLVE: The linear density of the rope is it mass divided by length:
1.2 lb 1

ρ = = 4.97×10−4 slug/ft
32.2 lb/slug 75 ft
Let M be the mass of the rock, loop and knot. M is constant and equal to:
6.5 oz 14 in

M = + ρ = 0.0132 slug
(16 oz/lb)(32.2 lb/slug) 12 in/ft
The current mass of the system will be sum of the masses of the rock, the loop and knot, and the
length of rope between the rock and ground. We may write this as
m = M + ρx (2)
where x is the current height of the rock.

The rate at which the system gains mass is the rate at which rope is lifted from the ground, which
is equal to the linear density of the rope multiplied by the velocity of the rock:
ṁ = ρv (3)
Gravity is the only external force acting on the system, so F = −mg. Since the rope is initially
motionless on the ground, and once lifted travels with the same speed as the rock, the relative
speed u is equal to −v and equation (1) becomes:
−mg = mv̇ − ṁu

−(M + ρx)g = (M + ρx)v̇ + ρv 2 (4)
259
Equation (4) is the equation of motion for our system, and could be solved numerically to yield the
final height of the rock. However, an analytical solution is also available, if we can remember what
we’ve learned in our math classes about ODEs. Recall the standard form for a first-order linear
ODE:
dy
+ P (x)y = Q(x) (5)
dx
We would like to rewrite our equation of motion in the form above. To do this we begin by solving
equation (4) for the acceleration of the rock,
ρv 2
a = v̇ = −g − (6)
M + ρx
Substitution into the relation vdv = adx and rearranging yields:
dv ρv g
+ = − (7)
dx M + ρx v
Equation (7) is one form of the Bernoulli equation. A transformation of variables, z = v 2 , will
allow us to write this equation as a linear ODE (multiply through by 2v):
dv 2ρv 2
2v + = −2g
dx M + ρx
dz 2ρ
⇒ + z = −2g (8)
dx M + ρx
Equation (8) is a first-order linear ODE with P (x) = 2ρ/(M + ρx) and Q(x) = −2g. One R method
for solving equations of the form found in equation (5) is to use the integrating factor e P (x)dx .
2ρ
R Z
P (x)dx
e = exp = exp 2 ln(M + ρx) = (M + ρx)2
M + ρx
Applying the integrating factor above to equation (8) yields an equivalent equation:
d

z(M + ρx)2 = −2g(M + ρx)2 (9)
dx
which may be integrated to yield the general solution

2g
z(M + ρx)2 = − (M + ρx)3 + C
3ρ
2g C
⇒ v2 = z = − (M + ρx) + (10)
3ρ (M + ρx)2
where C is a constant. Substitution of the initial conditions v = vo and x = xo into the above
equations allows us to solve for C,
2g

C = vo2 + (M + ρxo ) (M + ρxo )2 (11)
3ρ
Substitution of (11) into (10) gives us the solution for v

2
2g 2g M + ρxo

v2 = − (M + ρx) + vo2 + (M + ρxo ) (12)
3ρ 3ρ M + ρx
260
To find the maximum height xm attained by the rock we solve equation (12) for x at the moment
when v = 0:
3ρ 2 2g

3
⇒ (M + ρxm ) = v + (M + ρxo ) (M + ρxo )2
2g o 3ρ
" 1/3 2/3 #
1 3ρ 2
⇒ xm = v + M + ρxo M + ρxo −M (13)
ρ 2g o
Solving for xm , (vo = 42 mph = 61.6 ft/s; xo = 6.25 ft)
1 3(4.97×10−4 slug/ft) 2

xm = 61.6 ft/s + 0.0132 slug+
4.97×10−4 slug/ft 2(32.2 ft/s2 )
13 23
+(4.97×10−4 slug/ft)(6.25 ft) 0.0132 slug + (4.97×10−4 slug/ft)(6.25 ft)

−0.0132 slug
xm = 34.3 ft
261

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Chapter 5

5.1 Force Balance and Linear Momentum

mD ẍD = −FD (1)

FT OT AL = FA + FB + FC + FD = 20.50 lb + 27.95 lb = 48.45 lb

• v*A = 40 m/s, mA = 1900 kg

All motion is in the *

(2000 kg + 1400 kg + 1200 kg + 1900 kg)v̄

(4 kg)x0 + (2 kg) x0 + 3√m

v*m1 = v*m2 + Lθ̇ *

−m1 Lθ̇ −(2 kg)(3 m)θ̇

(3) → (2) ⇒ vm1 = (2 m)θ̇ (4)

vm2 = −(1 m)θ̇ = 1.695 m/s

vm1 = (2 m)θ̇ = −3.390 m/s

(2m) sin(3◦ ) = 0.105 m

(30 kg)(1.81 m/s) + 0 = (60 kg)v1

(mA + mB )v2 + mC vC = (mA + mB + mC )v3

(1 kg)(3 m/s) + 0 + 0 = (7 kg)v

mv*G = mA v*A + mB v*B (1)

m r*G/ = (mA r*A/ + mB r*B/ ) (2)

We’re given that m = 600 kg and v*G = 20 *

r*G/ = v*G t = (20 *

100 r*A/ = [10, 000 *

ASSUME: No external forces, so linear momentum of system is conserved during explosion.

mA v*A + mB v*B + mC v*C = constant (1)

r*i (t) − r*i (t0 ) = v*i (t − t0 ) (2)

mA v*A + mBC v*BC = mA v*A + mB v*B + mC v*C

Now let’s continue going back in time, letting t2 = t1 − ∆2 .

FORMULATE EQUATIONS: Apply a force balance.

S1 = 40 N, N1 = 196.2 N, S2 = 40 N, N2 = 1177.2 N (7)

On the other hand, S1max and S2max are given by

S1max = µ1 N1 = (0.5)(196.2 N) = 98.1 N, S2max = µ2 N2 = (0.05)(1177.2 N) = 58.86 N (8)

S1 − mB aB = S2 = µ2 N2 = 58.86 N ⇒ S1 = 58.86 N + mB aB (10)

Substitute for S1 in (9) and solve for

F − µ2 g(mA + mB ) 30 N − 0.05(9.81 m/s2 )(20 kg)

S1max = µ1 N1 = (µ1 )(mA g) = (0.15)(10 kg)(9.81 m/s2 ) = 14.72 N

Given: v*s/ = 1000 *

relative velocity: v*s = v*b + v*s/ (4)

(5)⇒ ms · 0 + LI = (10 kg)(990 m/s) ⇒ LI = 9900 kg· m/s

To find the velocities of m1 and m2 , we’ll use conservation of energy:

v*1 (t2 ) = (−5 *

r*G = (x + 0.6y + 1.2 m) * ı (5)

a*G = 0 because there exist no external forces. Thus, we get

ẍ = −0.6ÿ = −0.6(−3 m/s2 ) = 1.8 m/s2 (8)

Substitute in (3) to obtain am1 = −1.2 m/s2 . Thus, a*m2 = −1.2 *

v = (1.8 m/s2 )(2 s) *

a*platf orm + a*rope/platf orm = a*rope

mP = 2m = 2(60 kg) = 120 kg

(1) ⇒ m1 (x¨2 + x¨1 ) = m1 x¨1 = 40 N − F1 ⇒ 4x¨1 = 40 N − 19.6 N ⇒ ẍ1 = 5.1 m/s2

mboat vboat + mball vball = mboat v 0 + mball v 0 (1)

(7), (8) → (6) ⇒ ∆t(154 m/s) = 1.5 m ⇒ ∆t = 9.74×10−3 s

10 kg(0.103 m/s2 ) + 20 kg(0.124 m/s2 )

Body B force balance: mB ẍB = −T1 + T2 (2)

Body C force balance: mC ẍC = −T2 + T3 (3)

Body D force balance: mD ẍD = −T3 + F (4)

(6)→(2)⇒ T2 = (mA + mB )ẍ (7)

(7)→(3)⇒ T3 = (mA + mB + mC )ẍ (8)

* 0 = 0.5(−200 m + 20yA ) + 0.3(333.3 − 666.6) m

r*i/ = r*i/ + r*O/ = r*i/ − r*P/

Finally, we can verify the results of (11):

r*i/ = r*i/ + r*O/ = r*i/ − r*P/

(4) → (5) ⇒ ẋm2 = 0.5981 m/s (6)

ṡ = −5.981 m/s (7)

(6), (7) → (1) ⇒ v*m1 = (−2.392 *

vm1 = vm2 + Lθ̇ *

mvG = mA vA + mB v*B (1)

m rG/ = (mA rA/ + mB r*B/ ) (2)

We’re given that m = 600 kg and vG = 20

rG/ = vG t = (20 *

100 rA/ = [10, 000

mA vA + mB vB + mC v*C = constant (1)

ri (t) − ri (t0 ) = v*i (t − t0 ) (2)

mA vA + mBC vBC = mA vA + mB vB + mC v*C

Given: vs/ = 1000

relative velocity: vs = vb + v*s/ (4)

v1 (t2 ) = (−5

rG = (x + 0.6y + 1.2 m) ı (5)

Substitute in (3) to obtain am1 = −1.2 m/s2 . Thus, am2 = −1.2

aplatf orm + arope/platf orm = a*rope

ri/ = ri/ + rO/ = ri/ − r*P/

ri/ = ri/ + rO/ = ri/ − r*P/

(6), (7) → (1) ⇒ vm1 = (−2.392