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2, suppose that the vehi
cle is dropped from a height h = 6m. (a) What is the
downward velocity 1 s after it is released? (b) What is
its downward velocity just before it reaches the ground?
h
Solution: The equations that govern the motion are:
a = −g = −9.81 m/s
2
v = −gt
s = −
1
2
gt
2
+h
(a) v = −gt = −(9.81 m/s
2
)(1 s) = −9.81 m/s.
The downward velocity is 9.81 m/s.
(b) We need to ﬁrst determine the time at which the vehicle hits the
ground
s = 0 = −
1
2
gt
2
+h ⇒t =
_
2h
g
=
_
2(6 m)
9.81 m/s
2
= 1.106 s
Now we can solve for the velocity
v = −gt = −(9.81 m/s
2
)(1.106 s) = −10.8 m/s.
The downward velocity is 10.8 m/s.
Problem 13.2 The milling machine is programmed so
that during the interval of time from t = 0 to t = 2 s,
the position of its head (in inches) is given as a function
of time by s = 4t −2t
3
. What are the velocity (in in/s)
and acceleration (in in/s
2
) of the head at t = 1 s?
s
Solution: The motion is governed by the equations
s = (4 in/s)t −(2 in/s
2
)t
2
,
v = (4 in/s) −2(2 in/s
2
)t ,
a = −2(2 in/s
2
).
At t = 1 s, we have
v = 0, a = −4 in/s
2
.
9
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Problem 13.3 In an experiment to estimate the accel
eration due to gravity, a student drops a ball at a distance
of 1 m above the ﬂoor. His lab partner measures the time
it takes to fall and obtains an estimate of 0.46 s.
(a) What do they estimate the acceleration due to grav
ity to be?
(b) Let s be the ball’s position relative to the ﬂoor.
Using the value of the acceleration due to gravity
that they obtained, and assuming that the ball is
released at t = 0, determine s (in m) as a function
of time.
s
s ϭ 0
Solution: The governing equations are
a = −g
v = −gt
s = −
1
2
gt
2
+h
(a) When the ball hits the ﬂoor we have
0 = −
1
2
gt
2
+h ⇒g =
2h
t
2
=
2(1 m)
(0.46 s)
2
= 9.45 m/s
2
g = 9.45 m/s
2
(b) The distance s is then given by
s = −
1
2
(9.45 m/s
2
) +1 m.
s = −(4.73 m/s
2
)t
2
+1.0 m.
Problem 13.4 The boat’s position during the interval
of time from t = 2 s to t = 10 s is given by s = 4t +
1.6t
2
−0.08t
3
m.
(a) Determine the boat’s velocity and acceleration at
t = 4 s.
(b) What is the boat’s maximum velocity during this
interval of time, and when does it occur?
Solution:
s = 4t +1.6t
2
−0.08t
3
v =
ds
dt
= 4 +3.2t −0.24t
2
⇒
a) v(4s) = 12.96 m/s
2
a(4s) = 1.28 m/s
2
b) a = 3.2 −0.48t = 0 ⇒t = 6.67s
v(6.67s) = 14.67 m/s
a =
dv
dt
= 3.2 −0.48t
10
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Problem 13.5 The rocket starts from rest at t = 0 and
travels straight up. Its height above the ground as a
function of time can be approximated by s = bt
2
+ct
3
,
where b and c are constants. At t = 10 s, the rocket’s
velocity and acceleration are v = 229 m/s and a = 28.2
m/s
2
. Determine the time at which the rocket reaches
supersonic speed (325 m/s). What is its altitude when
that occurs?
s
Solution: The governing equations are
s = bt
2
+ct
3
,
v = 2bt +3ct
2
,
a = 2b +6ct .
Using the information that we have allows us to solve for the constants
b and c.
(229 m/s) = 2b(10 s) +3c(10 s)
2
,
(28.2 m/s
2
) = 2b +6c(10 s).
Solving these two equations, we ﬁnd b = 8.80 m/s
2
, c = 0.177 m/s
3
.
When the rocket hits supersonic speed we have
(325 m/s) = 2(8.80 m/s
2
)t +3(0.177 m/s
3
)t
2
⇒ t = 13.2 s.
The altitude at this time is
s = (8.80 m/s
2
)(13.2 s)
2
+(0.177 m/s
3
)(13.2 s)
3
s = 1940 m.
Problem 13.6 The position of a point during the inter
val of time from t = 0 to t = 6 s is given by s = −
1
2
t
3
+
6t
2
+4t m.
(a) What is the maximum velocity during this interval
of time, and at what time does it occur?
(b) What is the acceleration when the velocity is a
maximum?
Solution:
s = −
1
2
t
3
+6t
2
+4t m
v = −
3
2
t
2
+12t +4 m/s
a = −3t +12 m/s
2
Maximum velocity occurs where a =
dv
dt
= 0 (it could be a minimum)
This occurs at t = 4 s. At this point
da
dt
= −3 so we have a maximum.
(a) Max velocity is at t = 4 s. where v = 28 m/s and
(b) a = 0 m/s
2
11
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Problem 13.7 The position of a point during the inter
val of time from t = 0 to t = 3 seconds is s = 12 +
5t
2
−t
3
(a) What is the maximum velocity during this interval
of time, and at what time does it occur?
(b) What is the acceleration when the velocity is a
maximum?
Solution:
(a) The velocity is
ds
dt
= 10t −3t
2
. The maximum occurs when
dv
dt
= 10 −6t = 0, from which
t =
10
6
= 1.667 seconds.
This is indeed a maximum, since
d
2
v
dt
2
= −6 < 0. The maximum
velocity is
v =
_
10t −3t
2
_
t =1.667
= 8.33 /s
(b) The acceleration is
dv
dt
= 0 when the velocity is a maximum.
Problem 13.8 The rotating crank causes the position
of point P as a function of time to be s = 0.4 sin
(2πt ) m.
(a) Determine the velocity and acceleration of P at
t = 0.375 s.
(b) What is the maximum magnitude of the velocity
of P?
(c) When the magnitude of the velocity of P is a
maximum, what is the acceleration of P?
P
s
Solution:
s = 0.4 sin(2πt )
v =
ds
dt
= 0.8π cos(2πt ) ⇒
a) v(0.375s) = −1.777 m/s
a(0.375) = −11.2 m/s
2
b) v
max
= 0.8π = 2.513 m/s
2
c) v
max
⇒t = 0, nπ ⇒a = 0
a =
dv
dt
= −1.6π
2
sin(2πt )
Problem 13.9 For the mechanism in Problem 13.8,
draw graphs of the position s, velocity v, and acce
leration a of point P as functions of time for 0 ≤ t ≤ 2 s.
Using your graphs, conﬁrm that the slope of the graph
of s is zero at times for which v is zero, and the slope
of the graph of v is zero at times for which a is zero.
Solution:
12
m.
m
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Problem 13.10 A seismograph measures the horizon
tal motion of the ground during an earthquake. An engi
neer analyzing the data determines that for a 10s interval
of time beginning at t = 0, the position is approximated
by s = 100 cos(2πt ) mm. What are (a) the maximum
velocity and (b) maximum acceleration of the ground
during the 10s interval?
Solution:
(a) The velocity is
ds
dt
= −(2π)100 sin(2πt ) mm/s = −0.2π sin(2πt ) m/s.
The velocity maxima occur at
dv
dt
= −0.4π
2
cos(2πt ) = 0,
from which
2πt =
(2n −1)π
2
, or t =
(2n −1)
4
,
n = 1, 2, 3, . . . M, where
(2M −1)
4
≤ 10 seconds.
These velocity maxima have the absolute value
¸
¸
¸
¸
ds
dt
¸
¸
¸
¸
t =
(2n−1)
4
= [0.2π] = 0.628 m/s.
(b) The acceleration is
d
2
s
dt
2
= −0.4π
2
cos(2πt ).
The acceleration maxima occur at
d
3
s
dt
3
=
d
2
v
dt
2
= 0.8π
3
sin(2πt ) = 0,
from which 2πt = nπ, or t =
n
2
, n = 0, 1, 2, . . . K, where
K
2
≤ 10 seconds.
These acceleration maxima have the absolute value
¸
¸
¸
¸
dv
dt
¸
¸
¸
¸
t =
nπ
2
= 0.4π
2
= 3.95 m/s
2
.
Problem 13.11 In an assembly operation, the robot’s
arm moves along a straight horizontal line. During an
interval of time from t = 0 to t = 1 s, the position of the
arm is given by s = 30t
2
−20t
3
mm. (a) Determine the
maximum velocity during this interval of time. (b) What
are the position and acceleration when the velocity is a
maximum?
s
Solution:
s = 30t
2
−20t
3
mm
v = 60t −60t
2
mm/s
a = 60 −120t mm/s
2
da
dt
= −120 mm/s
3
(a) Maximum velocity occurs when
dv
dt
= a = 0. This occurs at
0 = 60 −120t or t = 1/2 second. (since da/dt < 0, we have
a maximum). The velocity at this time is
v = (60)
_
1
2
_
−60
_
1
4
_
mm/s
v = 15 mm/s
(b) The position and acceleration at this time are
s = 7.5 −2.5 mm
s = 5 mm
a = 0 mm/s
2
13
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Problem 13.12 In Active Example 13.1, the accelera
tion (in m/s
2
) of point P relative to point O is given as
a function of time by a = 3t
2
. Suppose that at t = 0 the
position and velocity of P are s = 5 m and v = 2 m/s.
Determine the position and velocity of P at t = 4 s.
O P
s
s
Solution: The governing equations are
a = (3 m/s
4
)t
2
v =
1
3
(3 m/s
4
)t
3
+(2 m/s)
s =
1
12
(3 m/s
4
)t
4
+(2 m/s)t +(5 m)
At t = 4 s, we have s = 77 m, v = 66 m/s.
Problem 13.13 The Porsche starts from rest at time
t = 0. During the ﬁrst 10 seconds of its motion, its
velocity in km/h is given as a function of time by v =
22.8t −0.88t
2
, where t is in seconds. (a) What is the
car’s maximum acceleration in m/s
2
, and when does it
occur? (b) What distance in km does the car travel dur
ing the 10 seconds?
Solution: First convert the numbers into meters and seconds
22.8
km
hr
_
1000 m
1 km
__
1hr
3600 s
_
= 6.33 m/s
0.88
km
hr
_
1000 m
1 km
__
1 hr
3600 s
_
= 0.244 m/s
The governing equations are then
s =
1
2
(6.33 m/s)(t
2
/s) −
1
3
(0.88 m/s)(t
3
/s
2
),
v = (6.33 m/s)(t /s) −(0.88 m/s)(t
2
/s
2
),
a = (6.33 m/s
2
) −2(0.88 m/s)(t /s
2
),
d
dt
a = −2(0.88 m/s)(1/s
2
) = −1.76 m/s
3
.
The maximum acceleration occurs at t = 0 (and decreases linearly
from its initial value).
a
max
= 6.33 m/s
2
@ t = 0
In the ﬁrst 10 seconds the car travels a distance
s =
_
1
2
_
22.8
km
hr
_
(10 s)
2
s
−
1
3
_
0.88
km
hr
_
(10 s)
3
s
2
_ _
1 hr
3600 s
_
s = 0.235 km.
14
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Problem 13.14 The acceleration of a point is a =
20t m/s
2
. When t = 0, s = 40 m and v = −10 m/s.
What are the position and velocity at t = 3 s?
Solution: The velocity is
v =
_
a dt +C
1
,
where C
1
is the constant of integration. Thus
v =
_
20t dt +C
1
= 10t
2
+C
1
.
At t = 0, v = −10 m/s, hence C
1
= −10 and the velocity is v =
10t
2
−10 m/s. The position is
s =
_
v dt +C
2
,
where C
2
is the constant of integration.
s =
_
(10t
2
−10) dt +C
2
=
_
10
3
_
t
3
−10t +C
2
.
At t = 0, s = 40 m, thus C
2
= 40. The position is
s =
_
10
3
_
t
3
−10t +40 m.
At t = 3 seconds,
s =
_
10
3
t
3
−10t +40
_
t =3
= 100 m.
The velocity at t = 3 seconds is
v =
_
10t
2
−10
_
t =3
= 80 m/s .
Problem 13.15 The acceleration of a point is a =
60t −36t
2 2
t = 0, s = 0 and v = 20 m/s.
What are position and velocity as a function of time?
Solution: The velocity is
v =
_
a dt +C
1
=
_
(60t −36t
2
) +C
1
= 30t
2
−12t
3
+C
1
.
At t = 0, v = 20 m/s, hence C
1
= 20, and the velocity as a function
of time is
v = 30t
2
−12t
3
+20 m/s
.
The position is
s =
_
v dt +C
2
=
_
(30t
2
−12t
3
+20) +C
2
= 10t
3
−3t
4
+20t +C
2
.
At t = 0, s = 0, hence C
2
= 0, and the position is
s = 10t
3
−3t
4
+20t
15
m/s . When
m
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Problem 13.16 As a ﬁrst approximation, a bioengineer
studying the mechanics of bird ﬂight assumes that the
snow petrel takes off with constant acceleration. Video
measurements indicate that a bird requires a distance of
4.3 m to take off and is moving at 6.1 m/s when it does.
What is its acceleration?
Solution: The governing equations are
a = constant, v = at, s =
1
2
at
2
.
Using the information given, we have
6.1 m/s = at, 4.3 m =
1
2
at
2
.
Solving these two equations, we ﬁnd t = 1.41 s and
a = 4.33 m/s
2
.
Problem 13.17 Progressively developing a more real
istic model, the bioengineer next models the acceleration
of the snow petrel by an equation of the form a =
C(1 +sin ωt ), where C and ω are constants. From video
measurements of a bird taking off, he estimates that
ω = 18/s and determines that the bird requires 1.42 s
to take off and is moving at 6.1 m/s when it does. What
is the constant C?
Solution: We ﬁnd an expression for the velocity by integrating the
acceleration
a = C(1 +sin ωt ),
v = Ct +
C
ω
(1 −cos ωt ) = C
_
t +
1
ω
−
1
ω
cos ωt
_
.
Using the information given, we have
6.1 m/s = C
_
1.42 s +
s
18
−
s
18
cos[18(1.42)]
_
Solving this equation, we ﬁnd
C = 4.28 m/s
2
.
16
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Problem 13.18 Missiles designed for defense against
ballistic missiles have attained accelerations in excess
of 100 g’s, or 100 times the acceleration due to gravity.
Suppose that the missile shown lifts off from the ground
and has a constant acceleration of 100 g’s. How long
does it take to reach an altitude of 3000 m? How fast is
it going when it ranches that altitude?
Solution: The governing equations are
a = constant, v = at, s =
1
2
at
2
Using the given information we have
3000 m =
1
2
100(9.81 m/s
2
)t
2
⇒ t = 2.47 s
The velocity at that time is
v = 100(9.81 m/s
2
)(2.47 s) = 243 m/s. v = 2430 m/s.
Problem 13.19 Suppose that the missile shown lifts
off from the ground and, because it becomes lighter as
its fuel is expended, its acceleration (in g’s) is given as
a function of time in seconds by
a =
100
1 −0.2t
.
What is the missile’s velocity in kilometres per hour 1s
after liftoff?
Solution: We ﬁnd an expression for the velocity by integrating the
acceleration (valid only for 0 < t < 5s).
v =
_
t
0
adt =
_
t
0
100g
1 −0.2(t /s)
dt =
100gs
0.2
ln
_
1
1 −0.2[t /s]
_
At time t = 1 s, we have
v =
100( .
2
)(1 s)
0.2
ln
_
1
1 −0.2
_
= .
v = 0 m h.
17
9 81 m/s
1095 m/s
394 k /
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Problem 13.20 The airplane releases its drag para
chute at time t = 0. Its velocity is given as a function
of time by
v =
80
1 +0.32t
m/s.
What is the airplane’s acceleration at t = 3 s?
Solution:
v =
80
1 +0.32t
; a =
dv
dt
=
−25.6
(1 +0.32t )
2
⇒
a(3 s) = −6.66 m/s
2
Problem 13.21 How far does the airplane in Problem
13.20 travel during the interval of time from t = 0 to
t = 10 s?
Solution:
v =
80
1 +0.32t
; s =
_
10 s
0
80
1 +0.32t
dt = 250 ln
_
1 +3.2
1
_
= 359 m
Problem 13.22 The velocity of a bobsled is v =
10t t = 2 s, the position is s = 25 m. What
is its position at t = 10 s?
Solution: The equation for straight line displacement under con
stant acceleration is
s =
a(t −t
0
)
2
2
+v(t
0
)(t −t
0
) +s(t
0
).
Choose t
0
= 0. At t = 2, the acceleration is
a =
_
dv(t )
dt
_
t =2
= 10 m/s
2
,
the velocity is v(t
0
) = 10(2) = 20 m/s, and the initial displacement is
s(t
0
) = 25 m. At t = 10 seconds, the displacement is
s =
10
2
(10 −2)
2
+20(10 −2) +25 = 505 m
18
m/s. When
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Problem 13.23 In September, 2003, Tony Schumacher
started from rest and drove 402 km in 4.498 seconds in
a National Hot Rod Association race. His speed as he
crossed the ﬁnish line wa 5 8 /h. Assume that the
car’s acceleration can be expressed by a linear function
of time a = b +ct .
(a) Determine the constants b and c.
(b) What was the car’s speed 2 s after the start of
the race?
Solution:
a = b +ct , v = bt +
ct
2
2
, s =
bt
2
2
+
ct
3
6
Both constants of integration are zero.
(a) 528 km/h = b(4.498 s) +
c
2
(4.498 s)
2
=
b
2
(4.498 s)
2
+
c
6
(4.498 s)
3
⇒
b =
2
c = −
3
(b) v = b(2 s) +
c
2
(2 s)
2
= 9 /s
Problem 13.24 The velocity of an object is v = 200 −
2t
2
m/s. When t = 3 seconds, its position is s = 600 m.
What are the position and acceleration of the object at
t = 6 s?
Solution: The acceleration is
dv(t )
dt
= −4t m/s
2
.
At t = 6 seconds, the acceleration is a = −24 m/s
2
. Choose the ini
tial conditions at t
0
= 3 seconds. The position is obtained from the
velocity:
s(t −t
0
) =
_
6
3
v(t ) dt +s(t
0
) =
_
200t −
2
3
t
3
_
6
3
+600 = 1070 m .
Problem 13.25 An inertial navigation system mea
sures the acceleration of a vehicle from t = 0 to t = 6 s
and determines it to be a = 2 +0.1t m/s
2
. At t = 0,
the vehicle’s position and velocity are s = 240 m, v =
42 m/s, respectively. What are the vehicle’s position and
velocity at t = 6 s?
Solution:
a = 2 +0.1t m/s
2
v
0
= 42 m/s s
0
= 240 m
Integrating
v = v
0
+2t +0.1t
2
/2
s = v
0
t +t
2
+0.1t
3
/6 +s
0
Substituting the known values at t = 6 s, we get
v = 55.8 m/s
s = 531.6 m
19
402
54 m/s
9.5 m/s
8 m
s 2 km
km
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Problem 13.26 In Example 13.3, suppose that the chee
tah’s acceleration is constant and it reaches its top speed
of 120 km/h in 5 s. What distance can it cover in 10 s?
Solution: The governing equations while accelerating are
a = constant, v = at, s =
1
2
at
2
.
Using the information supplied, we have
_ _
= a(5 s) ⇒a =
2
The distance that he travels in the ﬁrst 10 s (5 seconds accelerating
and then the last 5 seconds traveling at top speed) is
s =
1
2
(
2
) (5 s)
2
+
_ _
(10 s −5 s) = .
s = .
Problem 13.27 The graph shows the airplane’s accel
eration during its takeoff. What is the airplane’s velocity
when it rotates (lifts off) at t = 30 s?
a
t
9 m/ s
2
3 m/s
2
5 s 0
0
30 s
Solution: Velocity = Area under the curve
v =
1
2
(3 m/s
2
+9 m/s
2
)(5 s) +(9 m/s
2
)(25 s) =255 m/s
Problem 13.28 Determine the distance traveled during
its takeoff by the airplane in Problem 13.27.
Solution: for 0 ≤ t ≤ 5 s
a =
_
6 m/s
2
5 s
_
t +(3 m/s
2
), v =
_
6 m/s
2
5 s
_
t
2
2
+(3 m/s
2
)t
s =
_
6 m/s
2
5 s
_
t
3
6
+(3 m/s
2
)
t
2
2
v(5 s) = 30 m/s, s(5 s) = 62.5 m
for 5 s ≤ t ≤ 30 s
a = 9 m/s
2
, v = (9 m/s
2
)(t −5 s) +30 m/s,
s =(9 m/s
2
)
(t −5 s)
2
2
+(30 m/s)(t −5 s) +62.5 m
⇒ s(30 s) = 3625
20
120 1000 m
3600 s
×
6. 67 m/s
6.67 m/s
120 × 1000 m
3600 s
m 250
m 250
m
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Problem 13.29 The car is traveling at 48 km/h when
the trafﬁc light 90 m ahead turns yellow. The driver
takes one second to react before he applies the brakes.
(a) After he applies the brakes, what constant rate of
deceleration will cause the car to come to a stop
just as it reaches the light?
(b) How long does it take the car to travel the 90 m?
90 m
/h 48 km
Solution: for 0 ≤ t ≤ 1 s
a = 0, v = = , s = ( )t
s(1 s) =
for t > 1 s
a = −c (constant), v = −ct + , s = −c
t
2
2
+( )t +
At the stop we have
90 m = −c
t
2
2
+( )t +
⇒
a) c = . 7 /s
2
b) t = 11.41 s
0 = −ct +
Problem 13.30 The car is traveling at 48 km/h when
the trafﬁc light 90 m ahead turns yellow. The driver
takes 1 s to react before he applies the accelerator. If
the car has a constant acceleration of 2 m/s
2
and the
light remains yellow for 5 s, will the car reach the light
before it turns red? How fast is the car moving when it
reaches the light?
Solution: First, convert the initial speed into m/s.
= .
At the end of the 5 s, the car will have traveled a distance
d = ( )(1 s) +
1
2
(
2
)(5 s −1 s)
2
+( )(5 s −1 s)
= .
When the light turns red, the driver will still be 7.35 m from the light.
No.
To ﬁnd the time at which the car does reach the light, we solve
90 m=( )(1 s) +
1
2
(
2
)(t −1 s)
2
+ ( )(t −1 s)
⇒t = 5. .
The speed at this time is
v = +(
2
) (5. −1 s) =
v = . m h.
21
48 km/h 13.33 m/s 13.33 m/s
13. 33 m
13.33 m/s 13.33 m
13. 33 m/s
1 1 m
48 km/h 13.33 m/s
13. 33 m/s 2 m/s 13.33 m/s m 82.65
13.33 m/s 2 m/s 13.33 m/s
34 s
13.33 m/s 2 m/s 34 s 22.01 m/s.
79 2 k /
13.33 m/s 13.33 m/s
13.33 m
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Problem 13.31 A highspeed rail transportation sys
tem has a top speed of 100 m/s. For the comfort of the
passengers, the magnitude of the acceleration and decel
eration is limited to 2 m/s
2
. Determine the time required
for a trip of 100 km.
Strategy: A graphical approach can help you solve this
problem. Recall that the change in the position from an
initial time t
0
to a time t is equal to the area deﬁned
by the graph of the velocity as a function of time from
t
0
to t .
Solution: Divide the time of travel into three intervals: The time
required to reach a top speed of 100 m/s, the time traveling at top
speed, and the time required to decelerate from top speed to zero. From
symmetry, the ﬁrst and last time intervals are equal, and the distances
traveled during these intervals are equal. The initial time is obtained
from v(t
1
) = at
1
, from which t
1
= 100/2 = 50 s. The distance trav
eled during this time is s(t
1
) = at
2
1
/2 from which s(t
1
) = 2(50)
2
/2 =
2500 m. The third time interval is given by v(t
3
) = −at
3
+100 = 0,
from which t
3
= 100/2 = 50 s. Check. The distance traveled is s(t
3
) =
−
a
2
t
2
3
+100t
3
, from which s(t
3
) = 2500 m. Check. The distance trav
eled at top speed is s(t
2
) = 100000 −2500 −2500 = 95000 m
= 95 km. The time of travel is obtained from the distance traveled at
zero acceleration: s(t
2
) = 95000 = 100t
2
, from which t
2
= 950. The
total time of travel is t
total
= t
1
+t
2
+t
3
= 50 +950 +50 = 1050 s
= 17.5 minutes .
A plot of velocity versus time can be made and the area under the
curve will be the distance traveled. The length of the constant speed
section of the trip can be adjusted to force the length of the trip to be
the required 100 km.
Problem 13.32 The nearest star, Proxima Centauri, is
4.22 light years from the Earth. Ignoring relative motion
between the solar system and Proxima Centauri, sup
pose that a spacecraft accelerates from the vicinity of
the Earth at 0.01 g (0.01 times the acceleration due to
gravity at sea level) until it reaches onetenth the speed
of light, coasts until it is time to decelerate, then decel
erates at 0.01 g until it comes to rest in the vicinity of
Proxima Centauri. How long does the trip take? (Light
travels at 3 ×10
8
m/s.)
Solution: The distance to Proxima Centauri is
d = (4.22 light  year)(3 ×10
8
m/s)(365.2422 day)
_
86400 s
1 day
_
= 3.995 ×10
16
m.
Divide the time of ﬂight into the three intervals. The time required to
reach 0.1 times the speed of light is
t
1
=
v
a
=
3 ×10
7
m/s
0.0981 m/s
2
= 3.0581 ×10
8
seconds.
The distance traveled is
s(t
1
) =
a
2
t
2
1
+v(0)t +s(0),
where v(0) = 0 and s(0) = 0 (from the conditions in the problem),
from which s(t
1
) = 4.587 ×10
15
m. From symmetry, t
3
= t
1
, and
s(t
1
) = s(t
3
). The length of the middle interval is s(t
2
) = d −s(t
1
) −
s(t
3
) = 3.0777 ×10
16
m. The time of ﬂight at constant velocity is
t
2
=
3.0777 ×10
16
m
3 ×10
7
= 1.026 ×10
9
seconds.
The total time of ﬂight is t
total
= t
1
+t
2
+t
3
= 1.63751 ×10
9
sec
onds. In solar years:
t
total
=
_
1.63751 ×10
9
sec
_
_
1 solar years
365.2422 days
__
1 days
86400 sec
_
= 51.9 solar years
22
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Problem 13.33 A race car starts from rest and accel
erates at a = 5 +2t
2
for 10 seconds. The brakes
are then applied, and the car has a constant acceler
ation a = −30 m/s
2
until it comes to rest. Determine
(a) the maximum velocity, (b) the total distance trav
eled; (c) the total time of travel.
Solution:
(a) For the ﬁrst interval, the velocity is
v(t ) =
_
(5 +2t ) dt +v(0) = 5t +t
2
since v(0) = 0. The velocity is an increasing monotone function;
hence the maximum occurs at the end of the interval, t = 10 s,
from which
v
max
= 150 m/s .
(b) The distance traveled in the ﬁrst interval is
s(10) =
_
10
0
(5t +t
2
) dt =
_
5
2
t
2
+
1
3
t
3
_
10
0
= 583.33 .
The time of travel in the second interval is
v(t
2
−10) = 0 = a(t
2
−10) +v(10), t
2
≥ 10 s,
from which
(t
2
−10) = −
150
−30
= 5, and
(c) the total time of travel is t
2
= 15. The total distance traveled is
s(t
2
−10) =
a
2
(t
2
−10)
2
+v(10)(t
2
−10) +s(10),
from which (b)
s(5) =
−30
2
5
2
+150(5) +583.33 = 958.33 m
Problem 13.34 When t = 0, the position of a point is
s = 6 m and its velocity is v = 2 m/s. From t = 0 to t =
6 s, the acceleration of the point is a = 2 +2t
2
m/s
2
.
From t = 6 s until it comes to rest, its acceleration is
a = −4 m/s
2
.
(a) What is the total time of travel?
(b) What total distance does the point move?
Solution: For the ﬁrst interval the velocity is
v(t ) =
_
(2 +2t
2
) dt +v(0) =
_
2t +
2
3
t
3
_
+2 m/s.
The velocity at the end of the interval is v(6) = 158 m/s. The dis
placement in the ﬁrst interval is
s(t ) =
_ _
2t +
2
3
t
3
+2
_
dt +6 =
_
t
2
+
1
6
t
4
+2t
_
+6.
The displacement at the end of the interval is s(6) = 270 m. For the
second interval, the velocity is v(t −6) = a(t −6) +v(6) = 0, t ≥ 6,
from which
(t −6) = −
v(6)
a
= −
158
−4
= 39.5.
The total time of travel is
(a) t
total
= 39.5 +6 = 45.5 seconds.
(b) The distance traveled is
s(t −6) =
−4
2
(t −6)
2
+v(6)(t −6) +s(6)
= −2(39.5)
2
+158(39.5) +270,
from which the total distance is s
total
= 3390 m
23
m/s
m
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Problem 13.35 Zoologists studying the ecology of the
Serengeti Plain estimate that the average adult cheetah
can run 100 km/h and that the average springbuck can
run 65 km/h. If the animals run along the same straight
line, start at the same time, and are each assumed to
have constant acceleration and reach top speed in 4 s,
how close must the a cheetah be when the chase begins
to catch a springbuck in 15 s?
Solution: The top speeds are V
c
= 100 km/h = 27.78 m/s for the
cheetah, and V
s
= 65 km/h = 18.06 m/s. The acceleration is a
c
=
V
c
4
= 6.94 m/s
2
for the cheetah, and a
s
=
V
s
4
= 4.513 m/s
2
for the
springbuck. Divide the intervals into the acceleration phase and the
chase phase. For the cheetah, the distance traveled in the ﬁrst is
s
c
(t ) =
6.94
2
(4)
2
= 55.56 m. The total distance traveled at the end
of the second phase is s
total
= V
c
(11) +55.56 = 361.1 m. For the
springbuck, the distance traveled during the acceleration phase is
s
s
(t ) =
4.513
2
(4)
2
= 36.11 m. The distance traveled at the end of the
second phase is s
s
(t ) = 18.06(11) +36.1 = 234.7 m. The permissible
separation between the two at the beginning for a successful chase is
d = s
c
(15) −s
s
(15) = 361.1 −234.7 = 126.4 m
Problem 13.36 Suppose that a person unwisely drives
ﬁcers begin
constant acceleration at the instant they are passed and
increase their speed to 129 km/h in 4 s , how long does it
take them to be even with the pursued car?
Solution: The conversion from mi/h to m/s is
The acceleration of the police car is
a =
( − )( . )
4 s
=
2
.
The distance traveled during acceleration is
s(t
1
) =
.
2
(4)
2
+ ( . )(4) = .
The distance traveled by the pursued car during this acceleration is
s
c
(t
1
) = ( . ) t
1
= (4) =
The separation between the two cars at 4 seconds is
d = − = .
This distance is traversed in the time
t
2
=
( − )( . )
= .
The total time is t
total
= + 4 = seconds.
Problem 13.37 If θ = 1 rad and
dθ
dt
= 1 rad/s, what
is the velocity of P relative to O?
Strategy: You can write the position of P relative to
O as s = (2 m) cos θ +(2 m) cos θ and then take the
derivative of this expression with respect to time to
determine the velocity.
s
2 m
O
P
2
m
Solution: The distance s from point O is
s = (2 m) cos θ +(2 m) cos θ.
The derivative is
ds
dt
= −4 sin θ
dθ
dt
.
For θ = 1 radian and
dθ
dt
= 1 radian/second,
ds
dt
= v(t ) = −4(sin(1 rad)) = −4(0.841) = −3.37 m/s
24
120 km/h in a 88 km/h zone and passes a police car going
88 km/h in the same direction. If the police of
km
h
=
1000 m
3600 s
=
0.278 m/s
129 88 0 278 m/s
2.85 m/s
2 85
88 0 278 m 121
120 0 278 33. 36 . 133. 4 m
133.4 121 12.4 m
12.4
129 88 0 278
1. 09
1. 09 5. 09
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Problem 13.38 In Problem 13.37, if θ = 1 rad, dθ/dt
= −2 rad/s and d
2
θ/dt
2
= 0, what are the velocity and
acceleration of P relative to O?
Solution: The velocity is
ds
dt
= −4 sin θ
dθ
dt
= −4(sin(1 rad))(−2) = 6.73 m/s .
The acceleration is
d
2
s
dt
2
= −4 cos θ
_
dθ
dt
_
2
−4 sin θ
_
d
2
θ
dt
2
_
,
from which
d
2
s
dt
2
= a = −4 cos(1 rad)(4) = −8.64 m/s
2
Problem 13.39 If θ = 1 rad and
dθ
dt
= 1 rad/s, what
is the velocity of P relative to O?
s
O
P
200 mm
400 mm
Solution: The acute angle formed by the 400 mm arm with the
horizontal is given by the sine law:
200
sin α
=
400
sin θ
,
from which
sin α =
_
200
400
_
sin θ.
For θ = 1 radian, α = 0.4343 radians. The position relative to O is.
s = 200 cos θ +400 cos α.
The velocity is
ds
dt
= v(t ) = −200 sin θ
_
dθ
dt
_
−400 sin α
_
dα
dt
_
.
From the expression for the angle
α, cos α
_
dα
dt
_
= 0.5 cos θ
_
dθ
dt
_
,
from which the velocity is
v(t ) = (−200 sin θ −200 tan α cos θ)
_
dθ
dt
_
.
Substitute: v(t ) = −218.4 mm/s .
25
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Problem 13.40 In Active Example 13.4, determine the
time required for the plane’s velocity to decrease from
50 m/s to 10 m/s.
Solution: From Active Example 13.4 we know that the accelera
tion is given by
a = −(0.004/m)v
2
.
We can ﬁnd an expression for the velocity as a function of time by
integrating
a =
dv
dt
= −(0.004/m)v
2
⇒
dv
v
2
= −(0.004/m)t
_
10 m/s
50 m/s
dv
v
2
=
_
−
1
v
_
10 m/s
50 m/s
=
_
−
1 s
10 m
+
1 s
50 m
_
=
_
−
4 s
50 m
_
= −(0.004/m)t
t =
_
−
4 s
50 m
__
−1 m
0.004
_
= 20 s.
t = 20 s.
Problem 13.41 An engineer designing a system to con
trol a router for a machining process models the sys
tem so that the router’s acceleration (in cm/s ) during an
2
interval of time is given by a = −0.4v, where v is the
velocity of the router in cm/s. When t = 0, the position is
s =0 and the velocity is v =2 cm/s. What is the position
at t = 3 s?
s
Solution: We will ﬁrst ﬁnd the velocity at t = 3.
a =
dv
dt
= −
_
0.4
s
_
v,
_
v
2
2 cm/s
dv
v
=
_
3 s
0
_
−0.4
s
_
dt,
ln
_
v
2
2 cm/s
_
=
_
−0.4
s
_
(3 s) = −1.2
v
2
= (2 cm/s)e
−1 . 2
= 0.602 cm/s.
Now we can ﬁnd the position
a =
vdv
ds
=
_
−0.4
s
_
v,
_
0.602 cm/s
2 cm/s
vdv
v
=
_
−0.4
s
__
s
2
0
ds
(0.602 cm/s) −(2 cm/s)=
_
−0.4
s
_
s
2
s
2
=
−1.398 cm/s
−0.4/ s
= 3.49 cm
s
2
= 3.49 cm
26
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Problem 13.42 The boat is moving at 10 m/s when
its engine is shut down. Due to hydrodynamic drag, its
subsequent acceleration is a = −0.05v
2
m/s
2
, where v
is the velocity of the boat in m/s. What is the boat’s
velocity 4 s after the engine is shut down?
Solution:
a =
dv
dt
= −(0.05 m
−1
)v
2
_
v
10 m/s
dv
v
2
= −(0.05 m
−1
)
_
t
0
dt ⇒−
1
v
¸
¸
¸
¸
v
10 m/s
= −(0.05 m
−1
)t
v =
10 m/s
1 +(0.5 s
−1
)t
v(4 s) = 3.33 m/s
Problem 13.43 In Problem 13.42, what distance does
the boat move in the 4 s following the shutdown of
its engine?
Solution: From Problem 13.42 we know
v =
ds
dt
=
10 m/s
1 +(0.5 s
−1
)t
⇒ s(4 s) =
_
4 s
0
10 m/s
1 +(0.5 s
−1
)t
dt
s(4 s) = (20 m) ln
_
2 +(1 s
−1
)(4 s)
2
_
= 21.97 m
Problem 13.44 A steel ball is released from rest in a
container of oil. Its downward acceleration is a = 2. 4 −
0.6v
2
v is the ball’s velocity in cm/s. What is
the ball’s downward velocity 2 s after it is released?
Solution:
a =
dv
dt
= (2.4 cm/s) −(0.6 s
−1
)v
_
v
0
dv
(2.4 cm /s) −(0.6 s
−1
)v
=
_
t
0
dt
−
5
3
ln
_
v +4 cm/s
4 cm/s
_
= t ⇒ v = (4 cm/s)
_
1 −e
−(0.6 s
−1
)t
_
v(2 s) = 2.795 cm/s
Problem 13.45 In Problem 13.44, what distance does
the ball fall in the ﬁrst 2 s after its release?
Solution: From 13.44 we know
v =
ds
dt
= (4 cm/s)
_
1 −e
−(0.6 s
−1
)t
_
s(2 s) =
_
t
0
(4 cm/s)
_
1 −e
−(0.6 s
−1
)t
_
dt
=
20 cm
3
_
e
(−0.6 s
−1
)t
−1
_
+(4 cm/s )t
s(2 s) = 3.34 cm.
27
cm/s , where
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Problem 13.46 The greatest ocean depth yet discov
ered is the Marianas Trench in the western Paciﬁc Ocean.
A steel ball released at the surface requires 64 minutes
to reach the bottom. The ball’s downward acceleration
is a = 0.9g −cv, where g = 9.81 m/s
2
and the constant
c = 3.02 s
−1
. What is the depth of the Marianas Trench
in kilometers?
Solution:
a =
dv
dt
= 0.9g −cv.
Separating variables and integrating,
_
v
0
dv
0.9g −cv
=
_
t
0
dt = t .
Integrating and solving for v,
v =
ds
dt
=
0.9g
c
(1 −e
−ct
).
Integrating,
_
s
0
ds =
_
t
0
0.9g
c
(1 −e
−ct
) dt.
We obtain
s =
0.9g
c
_
t +
e
−ct
c
−
1
c
_
.
At t = (64)(60) = 3840 s, we obtain
s = 11,225 m.
Problem 13.47 The acceleration of a regional airliner
during its takeoff run is a = 14 −0.0003v
2 2
v is its velocity in /s. How long does it take the airliner
to reach its takeoff speed of 200 m/s?
Solution:
a =
dv
dt
= (14 /s
2
) −(0.0003 m
−1
)v
2
_
200 m/s
0
dv
(14 m/s
2
) −(0.0003 m
−1
)v
2
=
_
t
0
dt
t = 25.1 s
Problem 13.48 In Problem 13.47, what distance does
the airliner require to take off?
Solution:
a = v
dv
ds
= (14 m/s
2
) −(0.0003 m
−1
)v
2
_
200 m/s
0
vdv
(14 m/s
2
) −(0.0003 m
−1
)v
2
=
_
s
0
ds
s = 3243
28
m/s , where
m
m
m
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Problem 13.49 A sky diver jumps from a helicopter
and is falling straight down at 30 m/s when her parachute
opens. From then on, her downward acceleration is
approximately a = g −cv
2
, where g = 9.81 m/s
2
and
c is a constant. After an initial “transient” period she
descends at a nearly constant velocity of 5 m/s.
(a) What is the value of c, and what are its SI units?
(b) What maximum deceleration is the sky diver
subjected to?
(c) What is her downward velocity when she has fallen
2 meters from the point at which her parachute
opens?
Solution: Assume c > 0.
(a) After the initial transient, she falls at a constant velocity, so that
the acceleration is zero and cv
2
= g, from which
c =
g
v
2
=
9.81 m/s
2
(5)
2
m
2
/s
2
= 0.3924 m
−1
(b) The maximum acceleration (in absolute value) occurs when the
parachute ﬁrst opens, when the velocity is highest:
a
max
= g −cv
2
 = g −c(30)
2
 = 343.4 m/s
2
(c) Choose coordinates such that distance is measured positive down
ward. The velocity is related to position by the chain rule:
dv
dt
=
dv
ds
ds
dt
= v
dv
ds
= a,
from which
v dv
g −cv
2
= ds.
Integrate:
_
−
1
2c
_
ln g −cv
2
 = s +C.
When the parachute opens s = 0 and v = 30 m/s, from which
C = −
_
1
2c
_
ln g −900c = −7.4398.
The velocity as a function of distance is ln g −cv
2
 =
−2c(s +C). For s = 2 m,
v = 14.4 m/s
Problem 13.50 The rocket sled starts from rest and
accelerates at a = 30 +2t m/s
2
until its velocity is
400 m/s. It then hits a water brake and its acceleration
is a = −0.003v
2
m/s
2
until its velocity decreases to
100 m/s. What total distance does the sled travel?
Solution: Acceleration Phase
a = 30 +2t m/s
2
v = 30t +t
2
m/s
s = 15t
2
+t
3
/3 m
When v = 400 m/s, acceleration ends. At this point, t = 10 s and s =
1833 m. Deceleration Phase starts at s
1
= 1833 m, v
1
= 400 m/s. Let
us start a new clock for the deceleration phase. v
f
= 100 m/s
a = v
dv
ds
= −0.003v
2
_
s
f
s
1
ds = −
1
(0.003)
_
v
f
v
1
v dv
v
2
s
f
−1833 m = −
1
(0.003)
[ln(100) −ln(400)]
s
f
= 2300 m
29
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Problem 13.51 In Problem 13.50, what is the sled’s
total time of travel?
Solution: From the solution to Problem 13.50, the acceleration
takes 10 s. At t = 10 s, the velocity is 400 m/s. We need to ﬁnd out
how long it takes to decelerate from 400 m/s to 100 m/s and add this
to the 10 s required for acceleration. The deceleration is given as
a =
dv
dt
= −0.003v
2
m/s
2
−0.003
_
t
d
0
dt =
_
100
400
dv
v
2
−0.003t
d
= −
1
v
¸
¸
¸
¸
100
400
= −
_
1
100
−
1
400
_
0.003t
d
=
3
400
t
d
= 2.5 s
t = 10 +t
d
= 12.5 s
Problem 13.52 A car’s acceleration is related to its
position by a = 0.01s m/s
2
. When s = 100 m, the car
is moving at 12 m/s. How fast is the car moving when
s = 420 m?
Solution:
a = v
dv
ds
= 0.01s m/s
2
_
v
f
12
v dv = 0.01
_
420
100
s ds
_
v
2
2
_
v
f
12 m/s
= 0.01
_
s
2
2
_
420 m
100 m
v
2
f
2
=
12
2
2
+0.01
(420
2
−100
2
)
2
v
f
= 42.5 m/s
Problem 13.53 Engineers analyzing the motion of a
linkage determine that the velocity of an attachment
point is given by v = A +4s
2
A is a con
stant. When s = 2 m, its acceleration is measured and
determined to be a = 320 m/s . What is its velocity of
2
the point when s = 2 m?
Solution: The velocity as a function of the distance is
v
dv
ds
= a.
Solve for a and carry out the differentiation.
a = v
dv
ds
= (A+4s
2
)(8s).
When s = 2 m, a = 320 m/s , from which
2
A = 4.
The velocity at s = 2 m is
v = 4 +4(2
2
) = 20 /s
30
m/s, where
m
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Problem 13.54 The acceleration of an object is given
as a function of its position in feet by a = 2 s
2
(
2
).
When s = 0, its velocity is v = 1 m/s. What is the veloc
ity of the object when s = 2 m?
Solution: We are given
a =
vdv
ds
=
_
2
2
_
s
2
,
_
v
1 m/s
vdv =
_
2
2
__
2m
0
s
2
ds
v
2
2
−
(1 m/s)
2
2
=
_
2
2
_
(2 m)
3
3
v = 3.42 /s.
Problem 13.55 Gas guns are used to investigate
the properties of materials subjected to highvelocity
impacts. A projectile is accelerated through the barrel
of the gun by gas at high pressure. Assume that the
acceleration of the projectile is given by a = c/s, where
s is the position of the projectile in the barrel in meters
and c is a constant that depends on the initial gas pressure
behind the projectile. The projectile starts from rest at
s = 1.5 m and accelerates until it reaches the end of the
barrel at s = 3 m. Determine the value of the constant
c necessary for the projectile to leave the barrel with a
velocity of 200 m/s.
s
Solution:
a = v
dv
ds
=
c
s
, ⇒
_
200 m/s
0
vdv =
_
3 m
1.5 m
c
s
ds
⇒
(200 m/s)
2
2
= c ln
_
3 m
1.5 m
_
c = 28.85 ×10
3
m
2
/s
2
Problem 13.56 If the propelling gas in the gas gun
described in Problem 13.55 is air, a more accurate
modeling of the acceleration of the projectile is obtained
by assuming that the acceleration of the projectile is
given by a = c/s
γ
, where γ = 1.4 is the ratio of speciﬁc
heats for air. (This means that an isentropic expansion
process is assumed instead of the isothermal process
assumed in Problem 13.55.) Determine the value of the
constant c necessary for the projectile to leave the barrel
with a velocity of 200 m/s.
Solution:
a = v
dv
ds
=
c
s
1.4
, ⇒
_
200 m/s
0
vdv =
_
3 m
1.5 m
c
s
1.4
ds
(200 m/s)
2
2
= −2.5c
_
(3m)
−0.4
−(1.5m)
−0.4
_
c = 38.86 ×10
3
m
2.4
/s
2
31
m/s
ms
m s 
ms
m
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Problem 13.57 A springmass oscillator consists of a
mass and a spring connected as shown. The coordinate
s measures the displacement of the mass relative to its
position when the spring is unstretched. If the spring
is linear, the mass is subjected to a deceleration pro
portional to s. Suppose that a = −4s m/s
2
, and that you
give the mass a velocity v = 1 m/s in the position s = 0.
(a) How far will the mass move to the right before the
spring brings it to a stop?
(b) What will be the velocity of the mass when it has
returned to the position s = 0?
s
Solution: The velocity of the mass as a function of its posi
tion is given by v dv/ds = a. Substitute the given acceleration, sepa
rate variables, and integrate: v dv = −4s ds, from which v
2
/2 =
−2s
2
+C. The initial velocity v(0) = 1 m/s at s = 0, from which
C = 1/2. The velocity is v
2
/2 = −2s
2
+1/2.
(a) The velocity is zero at the position given by
0 = −2(s
1
)
2
+
1
2
,
from which s
1
= ±
_
1
4
= ±
1
2
m.
Since the displacement has the same sign as the velocity,
s
1
= +1/2 m
is the distance traveled before the spring brings it to a stop.
(b) At the return to s = 0, the velocity is v = ±
_
2
2
= ±1 m/s. From
the physical situation, the velocity on the ﬁrst return is negative
(opposite the sign of the initial displacement),
v = −1 m/s .
Problem 13.58 In Problem 13.57, suppose that at
t = 0 you release the mass from rest in the position
s = 1 m. Determine the velocity of the mass as a func
tion of s as it moves from the initial position to s = 0.
Solution: From the solution to Problem 13.57, the velocity as a
function of position is given by
v
2
2
= −2s
2
+C.
At t = 0, v = 0 and s = 1 m, from which C = 2(1)
2
= 2. The velocity
is given by
v(s) = ±(−4s
2
+4)
1
2
= ±2
√
1 −s
2
m/s.
From the physical situation, the velocity is negative (opposite the sign
of the initial displacement):
v = −2
√
1 −s
2
m/s
.
[Note: From the initial conditions, s
2
≤ 1 always.]
32
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Problem 13.59 A springmass oscillator consists of a
mass and a spring connected as shown. The coordinate
s measures the displacement of the mass relative to its
position when the spring is unstretched. Suppose that
the nonlinear spring subjects the mass to an acceleration
a = −4s−2s
3
m/s
2
and that you give the mass a velocity
v = 1 m/s in the position s = 0.
(a) How far will the mass move to the right before the
springs brings it to a stop?
(b) What will be the velocity of the mass when it has
returned to the position s = 0?
s
Solution:
(a) Find the distance when the velocity is zero.
a =
vdv
ds
=
_
−4
s
2
_
s +
_
−2
m
2
s
2
_
s
3
_
0
1 m/s
vdv =
_
d
0
__
−4
s
2
_
s +
_
−2
m
2
s
2
_
s
3
_
ds
−
(1 m/s)
2
2
= −
_
4
s
2
_
d
2
2
−
_
2
m
2
s
2
_
d
4
4
Solving for d we ﬁnd d = 0.486 m.
(b) When the cart returns to the position s = 0, we have
a =
vdv
ds
=
_
−4
s
2
_
s +
_
−2
m
2
s
2
_
s
3
_
v
1 m/s
vdv =
_
0
0
__
−4
s
2
_
s +
_
−2
m
2
s
2
_
s
3
_
ds = 0
v
2
2
−
(1 m/s)
2
2
= 0, ⇒v = ±1 m/s.
The cart will be moving to the left, so we choose v = −1 m/s.
Problem 13.60 The mass is released from rest with
the springs unstretched. Its downward acceleration is
a = 32.2 −50s
2
s is the position of the mass
measured from the position in which it is released.
(a) How far does the mass fall? (b) What is the
maximum velocity of the mass as it falls?
s
Solution: The acceleration is given by
a =
dv
dt
=
dv
ds
ds
dt
= v
dv
ds
= 32.2 −50s
2
.
Integrating, we get
_
v
0
v dv =
_
s
0
(32.2 −50s) ds or
v
2
2
= 32.2s −25s
2
.
(a) The mass falls until v = 0. Setting v = 0, we get 0 = (32.2 −
25s)s. We ﬁnd v = 0 at s = 0 and at s = 1.288 m. Thus, the
mass falls 1.288 m before coming to rest.
(b) From the integration of the equation of motion, we have v
2
=
2(32.2s −25s
2
). The maximum velocity occurs where
dv
ds
= 0.
From the original equation for acceleration, we have a = v
dv
ds
=
(32.2 −50s)
2
assume that v = 0 at this point. Thus, 0 = (32.2 −50s), or s =
(32.2/50) v =v
MAX
. Substituting this value for s into
the equation for v, we get
v
2
MAX
= 2
_
(32.2)
2
50
−
(25)(32.2)
2
50
2
_
,
or v
MAX
= 4.55 /s
33
m/s , where
m/s
m/s . Since we want maximum velocity, we can
m when
m
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Problem 13.61 Suppose that the mass in Problem
13.60 is in the position s = 0 and is given a downward
velocity of 10 m/s.
(a) How far does the mass fall?
(b) What is the maximum velocity of the mass as
it falls?
Solution:
a = v
dv
ds
= (32.2 m/s
2
) −(50 s
−2
)s
_
v
10 m/s
vdv =
_
s
0
[(32.2 m/s
2
) −(50 s
−2
)s]ds
v
2
2
−
(10 m/s)
2
2
= (32.2 m/s
2
) s −(50 s
−2
)
s
2
2
v
2
= (10 m/s)
2
+(64.4 m/s
2
)s − (50 s
−2
)s
2
(a) The mass falls until v = 0
0 = (10 m/s)
2
+(64.4 m/s
2
)s −(50 s
−2
)s
2
⇒s = 2.20 m
(b) The maximum velocity occurs when a = 0
0 = (32.2 m/s
2
) −(50 s
−2
)s ⇒s = 0.644 m
v
2
= (10 m/s)
2
+(64.4 m/s
2
)(0.644 m) −(50 s
−2
)(0.644 m)
2
v = 10.99 /s
Problem 13.62 If a spacecraft is 161 km above the sur
face of the earth, what initial velocity v
0
straight away
from the earth would be required for the vehicle to
reach the moon’s orbit , m from the center of
the earth? The radius of the earth is 6372 km. Neglect
the effect of the moon’s gravity. (See Example 13.5.)
0
161 km
382,942 km
Solution: For computational convenience, convert the acceleration
due to Earth’s gravity into the units given in the problem, namely miles
and hours:
g =
_
.
1 s
2
__
1 km
__
3600
2
s
2
1 h
2
_
= .
2
.
The velocity as a function of position is given by
v
dv
ds
= a = −
gR
2
E
s
2
.
Separate variables,
v dv = −gR
2
E
ds
s
2
.
Integrate:
v
2
= −2gR
2
E
_
−
1
2
_
+C.
Suppose that the velocity at the distance of the Moon’s orbit is zero.
Then
0 = 2( . )
_
2
_
+C,
from which C = −
2
/h . At the 161 km altitude, the
2
equation for the velocity is
v
2
0
= 2 g
_
R
2
E
R
E
+161
_
+C.
From which
v
0
=
√
=
Converting:
v
0
=
_
1 h
__
1 km
__
1 h
3600 s
_
= ,
Check: Use the result of Example 13.5
v
0
=
_
2gR
2
E
_
1
s
0
−
1
H
_
,
(where H > s
0
always), and H = , ,
from which v
0
= ,4 m/h. check.
34
m
382 942 k
9 81 m
1000 m
127137 6 km/h
127137 6
6372
382942
26960164 km
1553351991 39,413 km/h
39413 km 1000 m
10 948 m/s .
382 942
39 13 k
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Problem 13.63 The moon’s radius is 1738 km. The
magnitude of the acceleration due to gravity of the moon
at a distance s from the center of the moon is
4.89 ×10
12
s
2
m/s
2
.
Suppose that a spacecraft is launched straight up from
the moon’s surface with a velocity of 2000 m/s.
(a) What will the magnitude of its velocity be when it
is 1000 km above the surface of the moon?
(b) What maximum height above the moon’s surface
will it reach?
Solution: Set G = 4.89 ×10
12
m
3
/s
2
, r
0
= 1.738 ×10
6
m,
v
0
= 2000 m/s
a = v
dv
ds
= −
G
s
2
⇒
_
v
v
0
vdv = −
_
r
r
0
G
s
2
ds ⇒
v
2
2
−
v
0
2
2
= G
_
1
r
−
1
r
0
_
v
2
= v
0
2
+2G
_
r
0
−r
rr
0
_
(a) v(r
0
+1.0 ×10
6
m) = 1395 m/s
(b) The maximum velocity occurs when v = 0
r =
2G
2G−r
0
v
0
2
= 6010 km ⇒ h = r −r
0
= 4272 km
Problem 13.64* The velocity of an object subjected
only to the earth’s gravitational ﬁeld is
v =
_
v
2
0
+2gR
2
E
_
1
s
−
1
s
0
__
1/2
,
where s is the object’s position relative to the center of
the earth, v
0
is the velocity at position s
0
, and R
E
is the
earth’s radius. Using this equation, show that the object’s
acceleration is given as a function of s by a = −gR
2
E
/s
2
.
Solution:
v = v
2
0
+2gR
2
E
_
1
s
−
1
s
0
_
1/2
a =
dv
dt
= v
dv
ds
Rewrite the equation given as v
2
= v
2
0
+
2gR
2
E
s
−
2gR
2
E
s
0
Take the derivative with respect to s.
2v
dv
ds
= −
2gR
2
E
s
2
Thus
a = v
dv
ds
−
gR
2
E
s
2
Problem 13.65 Suppose that a tunnel could be drilled
straight through the earth from the North Pole to the
South Pole and the air was evacuated. An object dropped
from the surface would fall with the acceleration a =
−gs/R
E
, where g is the acceleration of gravity at sea
level, R
E
is radius of the earth, and s is the distance of the
object from the center of the earth. (The acceleration due
to gravitation is equal to zero at the center of the earth
and increases linearly with the distance from the center.)
What is the magnitude of the velocity of the dropped
object when it reaches the center of the earth?
S
N
Tunnel
R
E
s
Solution: The velocity as a function of position is given by
v
dv
ds
= −
gs
R
E
.
Separate variables and integrate:
v
2
= −
_
g
R
E
_
s
2
+C.
At s = R
E
, v = 0, from which C = gR
E
. Combine and reduce:
v
2
= gR
E
_
1 −
s
2
R
2
E
_
At the center of the earth s = 0, and the velocity is v =
√
gR
E
35
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Problem 13.66 Determine the time in seconds required
for the object in Problem 13.65 to fall from the surface
of the earth to the center. The earth’s radius is 6370 km.
Solution: From Problem 13.65, the acceleration is
a = v
dv
ds
= −
g
R
E
s
_
v
0
v du = −
_
s
R
E
_
g
R
E
_
s ds
v
2
=
_
g
R
E
_
(R
2
E
−s
2
)
Recall that v = ds/dt
v =
ds
dt
= ±
_
g
R
E
_
R
2
E
−s
2
_
0
R
E
ds
_
R
2
E
−s
2
= ±
_
g
R
E
_
t
f
0
dt
_
g
R
E
t
f
= ±sin
−1
_
s
R
E
_¸
¸
¸
¸
0
R
E
= ±sin
−1
(1)
t
f
= ±
_
R
E
g
π
2
= ±1266 s = ±21.1 min
Problem 13.67 In a second test, the coordinates of the
position (in m) of the helicopter in Active Example 13.6
are given as functions of time by
x = 4 +2t ,
y = 4 +4t +t
2
.
(a) What is the magnitude of the helicopter’s velocity
at t = 3 s?
(b) What is the magnitude of the helicopter’s acceler
ation at t = 3 s?
y
x
Solution: We have
x = (4 m) +(2 m/s)t , y = (4 m) +(4 m/s)t +(1 m/s
2
)t
2
,
v
x
= (2 m/s), v
y
= (4 m/s) +2(1 m/s
2
)t ,
a
x
= 0, a
y
= 2(1 m/s
2
).
At t = 3 s, we have
x = 10 m, v
x
= 2 m/s, a
x
= 0,
y = 25 m, v
y
= 10 m/s, a
y
= 2 m/s
2
.
Thus
v =
_
v
2
x
+v
2
y
= 10.2 m/s v = 10.2 m/s.
a =
_
0
2
+(2 m/s
2
)
2
= 2 m/s
2
a = 2 m/s
2
.
36
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Problem 13.68 In terms of a particular reference
frame, the position of the center of mass of the F14
at the time shown (t = 0) is r = 10i +6j +22k (m).
The velocity from t = 0 to t = 4 s is v = (52 +6t )i +
(12 +t
2
)j −(4 +2t
2
)k (m/s). What is the position of
the center of mass of the plane at t = 4 s?
Solution:
r
0
= 10i +6j +22k m
v = (52 +6t )i +(12 +t
2
)j −(4 +2t
2
)k m/s
x
4
=
_
4
0
v
x
dt = 52t +3t
2
+x
0
x
4
= (52)(4) +3(4)
2
+10 m = 266.0 m
y
4
=
_
4
0
v
y
dt = 12t +t
3
/3 +y
0
y
4
= 12(4) +(4)
3
/3 +6 m = 75.3 m
z
4
=
_
4
0
v
z
dt = −(4t +2t
3
/3) +z
0
z
4
= −4(4) −2(4)
3
/3 +22 = −36.7 m
r
t =4s
= 266i +75.3j −36.7k (m)
Problem 13.69 In Example 13.7, suppose that the angle
between the horizontal and the slope on which the skier
lands is 30
◦
instead of 45
◦
. Determine the distance d to
the point where he lands.
45Њ
3 m
d
20Њ
Solution: The skier leaves the 20
◦
surface at 10 m/s.
The equations are
a
x
= 0, a
y
= −9.81 m/s
2
,
v
x
= (10 m/s) cos 20
◦
, v
y
= −(9.81 m/s
2
)t −(10 m/s) sin 20
◦
s
x
= (10 m/s) cos 20
◦
t , s
y
= −
1
2
(9.81 m/s
2
)t
2
−(10 m/s) sin 20
◦
t
When he hits the slope, we have
s
x
= d cos 30
◦
= (10 m/s) cos 20
◦
t,
s
y
= (−3 m) −d sin 30
◦
= −
1
2
(9.81 m/s
2
)t
2
−(10 m/s) sin 20
◦
t
Solving these two equations together, we ﬁnd t = 1.01 s, d = 11.0 m.
37
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Problem 13.70 A projectile is launched from ground
level with initial velocity v
0
= 20 m/s. Determine its
range R if (a) θ
0
= 30
◦
; (b) θ
0
= 45
◦
(c) θ
0
= 60
◦
.
R
0
u
0
y
x
Solution: Set g = 9.81 m/s
2
, v
0
= 20 m/s
a
y
= −g, v
y
= −gt +v
0
sin θ
0
, s
y
= −
1
2
gt
2
+v
0
sin θ
0
t
a
x
= 0, v
x
= v
0
cos θ
0
, s
x
= v
0
cos θ
0
t
When it hits the ground, we have
0 = −
1
2
gt
2
+v
0
sin θ
0
t ⇒t =
2v
0
sin θ
0
g
R = v
0
cos θ
0
t ⇒R =
v
0
2
sin 2θ
0
g
⇒
a) θ
0
= 30
◦
⇒R = 35.3 m
b) θ
0
= 45
◦
⇒R = 40.8 m
c) θ
0
= 60
◦
⇒R = 35.3 m
Problem 13.71 Immediately after the bouncing golf
ball leaves the ﬂoor, its components of velocity are v
x
=
0.662 m/s and v
y
= 3.66 m/s.
(a) Determine the horizontal distance from the point
where the ball left the ﬂoor to the point where it
hits the ﬂoor again.
(b) The ball leaves the ﬂoor at x = 0, y = 0. Deter
mine the ball’s y coordinate as a function of x.
(The parabolic function you obtain is shown super
imposed on the photograph of the ball.)
x
y
Solution: The governing equations are
a
x
= 0, a
y
= −g,
v
x
= v
x0
, v
y
= −gt +v
y0
,
x = v
x0
t , y = −
1
2
gt
2
+v
y0
t
(a) When it hits the ground again
0 = −
1
2
gt
2
+v
y0
t ⇒t =
2v
y0
g
⇒x = v
x0
t = v
x0
_
2y
0
g
_
=
2v
x0
v
y0
g
x =
2(0.662 m/s)(3.66 m/s)
9.81 m/s
2
x = 0.494 m.
(b) At any point of the ﬂight we have
t =
x
v
x0
, y = −
1
2
g
_
x
v
x0
_
2
+v
y0
_
x
v
x0
_
y = −
1
2
_
9.81 m/s
2
[0.662 m/s]
2
_
x
2
+
3.66 m/s
0.662 m/s
x
y = −
_
11.2
m
_
x
2
+5.53x.
38
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Problem 13.72 Suppose that you are designing a
mortar to launch a rescue line from coast guard vessel
to ships in distress. The light line is attached to a weight
ﬁred by the mortar. Neglect aerodynamic drag and the
weight of the line for your preliminary analysis. If you
want the line to be able to reach a ship 91 m away
when the mortar is ﬁred at 45
◦
above the horizontal,
what muzzle velocity is required?
y
45Њ
x
Solution: From 13.70 we know that
R =
v
0
2
sin 2θ
0
g
⇒v
0
=
_
Rg
sin 2θ
0
v
0
=
_
( )(
2
)
sin(90
◦
)
=
Problem 13.73 In Problem 13.72, what maximum
height above the point where it was ﬁred is reached by
the weight?
Solution: From Problem 13.70 we have
v
y
= −gt +v
0
sin θ
0
, s
y
= −
1
2
gt
2
+v
0
sin θ
0
t
When we reach the maximum height,
0 = −gt +v
0
sin θ
0
⇒t =
v
0
sin θ
0
g
h = −
1
2
gt
2
+v
0
sin θ
0
t ⇒h = −
1
2
g
_
v
0
sin θ
0
g
_
2
+v
0
sin θ
0
_
v
0
sin θ
0
g
_
h =
v
0
2
sin
2
θ
0
2g
Putting in the numbers we have
h =
( )
2
sin
2
(45
◦
)
2(
2
)
=
39
91 9.81 m/s
29.9 m/s
29.9 m/s
9.81 m/s
22.78 m
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Problem 13.74 When the athlete releases the shot, it
is 1.82 m above the ground and its initial velocity is v
0
=
13.6 m/s. Determine the horizontal distance the shot trav
els from the point of release to the point where it hits
the ground.
30Њ
v
0
Solution: The governing equations are
a
x
= 0,
v
x
= v
0
cos 30
◦
,
s
x
= v
0
cos 30
◦
t ,
a
y
= −g
v
y
= −gt +v
0
sin 30
◦
s
y
= −
1
2
gt
2
+v
0
sin 30
◦
t +h
When it hits the ground, we have
s
x
= (13.6 m/s) cos 30
◦
t,
s
y
= 0 = −
1
2
(9.81 m/s
2
)t
2
+(13.6 m/s) sin 30
◦
t +1.82 m.
Solving these two equations, we ﬁnd t = 1.62 s, s
x
= 19.0 m.
Problem 13.75 A pilot wants to drop survey markers
at remote locations in the Australian outback. If he ﬂies
at a constant velocity v
0
= 40 m/s at altitude h = 30 m
and the marker is released with zero velocity relative to
the plane, at what horizontal d from the desired impact
point should the marker be released?
d
h
0
Solution: We want to ﬁnd the horizontal distance traveled by the
marker before it strikes the ground (y goes to zero for t > 0.)
a
x
= 0 a
y
= −g
v
x
= v
x
0
v
y
= v
y
0
−gt
x = x
0
+v
x
0
t y = y
0
+v
y
0
t −gt
2
/2
From the problem statement, x
0
= 0, v
y
0
= 0, v
x
0
= 40 m/s, and y
0
=
30 m The equation for y becomes
y = 30 −(9.81)t
2
/2
Solving with y = 0, we get t
f
= 2.47 s.
Substituting this into the equation for x, we get
x
f
= 40t
f
= 98.9 m
40
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Problem 13.76 If the pitching wedge the golfer is
using gives the ball an initial angle θ
0
= 50
◦
, what range
of velocities v
0
will cause the ball to land within 3 m of
the hole? (Assume the hole lies in the plane of the ball’s
trajectory).
30 m
3 m
v
0
θ
0
Solution: Set the coordinate origin at the point where the golfer
strikes the ball. The motion in the horizontal (x) direction is given by
a
x
= 0, V
x
= V
0
cos θ
0
, x = (V
0
cos θ
0
)t . The motion in the vertical
(y) direction is given by
a
y
= −g, V
y
= V
0
sin θ
0
−gt, y = (V
0
sin θ
0
)t −
gt
2
2
.
From the x equation, we can ﬁnd the time at which the ball reaches
the required value of x (27 or 33 metres). This time is
t
f
= x
f
/(V
0
cos θ
0
).
We can substitute this information the equation for Y with Y
f
= 3 m
and solve for V
0
. The results are: For hitting (27,3) , V
0
= 31.2 m/s.
For hitting (33,3) metre, V
0
= 34.2 /s.
Problem 13.77 A batter strikes a baseball 0.9 m above
home plate and pops it up. The second baseman catches
it 1.8 m above second base 3.68 s after it was hit.
What was the ball’s initial velocity, and what was
the angle between the ball’s initial velocity vector and
the horizontal?
Second
base
Home plate
2
7
m
2
7
m
Solution: The equations of motion g =
2
a
x
= 0 a
y
= −g
v
x
= v
0
cos θ
0
v
y
= −gt +v
0
sin θ
0
s
x
= v
0
cos θ
0
t s
y
= −
1
2
gt
2
+v
0
sin θ
0
t +
When the second baseman catches the ball we have
=v
0
cos θ
0
(3.68 s)
= −
1
2
(
2
) (3.68 s)
2
+ v
0
sin θ
0
(3.68 s)
Solving simultaneously we ﬁnd
v
0
= , θ
0
= 60.4
◦
41
m
9.81 m/s
0. 9 m
38.2 m
1.8 m 9.81 m/s
21 m/s
metre
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Problem 13.78 A baseball pitcher releases a fastball with
an initial velocity v
0
= θ be the initial
angle of the ball’s velocity vector above the horizontal.
When it is released, the ball is 1.83 m above the ground
and 17.7 m from the batter’s plate. The batter’s strike
zone extends from 0.56 m above the ground to 1.37 m
above the ground. Neglecting aerodynamic effects,
determine whether the ball will hit the strike zone (a) if
θ = 1
◦
; (b) if θ = 2
◦
.
Solution: The initial velocity is v
0
= =
velocity equations are
(1)
dv
x
dt
= 0, from which v
x
= v
0
cos θ.
(2)
dv
y
dt
= −g, from which v
y
= −gt +v
0
sin θ.
(3)
dx
dt
= v
0
cos θ, from which x(t ) = v
0
cos θt , since the initial
position is zero.
(4)
dy
dt
= −gt +v
0
sin θ, from which
y(t ) = −
g
2
t
2
+v
0
sin θt + ,
since the initial position is y(0) = d =
the height is h. The time of passage across the home plate is
x(t
p
) = d = v
0
cos θt
p
, from which
t
p
=
d
v
0
cos θ
.
Substitute:
y(t
p
) = h = −
g
2
_
d
v
0
cos θ
_
2
+d tan θ + .
For θ = 1
◦
, h = . , Yes, the pitcher hits the strike zone.
For θ = 2
◦
, h = . No, the pitcher misses the strike zone.
Problem 13.79 In Problem 13.78, assume that the
pitcher releases the ball at an angle θ = 1
◦
above the
horizontal, and determine the range of velocities v
0
(in
strike zone.
Solution: From the solution to Problem 13.78,
h = −
g
2
_
d
v
0
cos θ
_
2
+d tan θ + ,
where d = ≥ h ≥ Solve for the initial velocity:
v
0
=
_
gd
2
2 cos
2
θ(d tan θ + −h)
.
For h = . v
0
= h = . v
0
=
pitcher will hit the strike zone for velocities of release of
. ≤ v
0
≤ . ,
and a release angle of θ = 1
◦
. Check: The range of velocities in miles
per hour is 112. ≤v
0
≤161.1 km/h, which is within the range of
major league pitchers, although the 160.9 km upper value is achievable
only by a talented few (Nolan Ryan, while with the Houston Astros,
would occasionally in a game throw a 168.9 km fast ball, as measured
by hand held radar from behind the plate).
42
144.8 km/h. Let
144.8 km/h 40.3 m/s.
The
1.83
1.83 m. At a distance 17.7 m,
1.83
1 2 m
1 5 m
m/s) within which he must release the ball to hit the
1.83
17.7 m, and 1.37 0.56 m.
1.83
1 37, 44.74 m/s. For 0 56 m, 31.15 m/s. The
31 15 44 74 m/s
1km/ h
1.37 m
0.56
17.7m
m
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Problem 13.80 A zoology student is provided with a
bow and an arrow tipped with a syringe of sedative
and is assigned to measure the temperature of a black
rhinoceros (Diceros bicornis). The range of his bow
when it is fully drawn and aimed 45
◦
above the horizon
tal is 100 m. A truculent rhino charges straight toward
him at 30 km/h. If he fully draws his bow and aims 20
◦
above the horizontal, how far away should the rhino be
when the student releases the arrow?
20Њ
Solution: The strategy is (a) to determine the range and ﬂight time
of the arrow when aimed 20
◦
above the horizontal, (b) to determine the
distance traveled by the rhino during this ﬂight time, and then (c) to
add this distance to the range of the arrow. Neglect aerodynamic drag
on the arrow. The equations for the trajectory are: Denote the constants
of integration by V
x
, V
y
, C
x
, C
y
, and the velocity of the arrow by V
A
.
(1)
dv
x
dt
= 0, from which v
x
= V
x
. At t = 0, V
x
= V
A
cos θ.
(2)
dv
y
dt
= −g, from which v
y
= −gt +V
y
. At t = 0, V
y
=
V
A
sin θ.
(3)
dx
dt
= v
x
= V
A
cos θ, from which x(t ) = V
A
cos θt +C
x
. At
t = 0, x(0) = 0, from which C
x
= 0.
(4)
dy
dt
= v
y
= −gt +V
A
sin θ, from which
y = −
g
2
t
2
+V
A
sin θt +C
y
.
At t = 0, y = 0, from which C
y
= 0. The time of ﬂight is
given by
y(t
ﬂight
) = 0 =
_
−
g
2
t
ﬂight
+V
A
sin θ
_
t
ﬂight
,
from which
t
ﬂight
=
2V
A
sin θ
g
.
The range is given by
x(t
ﬂight
) = R = V
A
cos θt
ﬂight
=
2V
2
A
cos θ sin θ
g
.
The maximum range (100 meters) occurs when the arrow is
aimed 45
◦
above the horizon. Solve for the arrow velocity: V
A
=
√
gR
max
= 31.3 m/s. The time of ﬂight when the angle is 20
◦
is
t
ﬂight
=
2V
A
sin θ
g
= 2.18 s,
and the range is R = V
A
cos θt
ﬂight
= 64.3 m. The speed of
the rhino is 30 km/h = 8.33 m/s. The rhino travels a distance
d = 8.33(2.18) = 18.2 m. The required range when the arrow is
released is
d +R = 82.5 m .
43
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Problem 13.81 The crossbar of the goalposts in
American football is y
c
=
kick a ﬁeld goal, the ball must make the ball go between
the two uprights supporting the crossbar and be above
the crossbar when it does so. Suppose that the kicker
attempts a 36.58 m ﬁeld goal , and kicks the ball with
an initial velocity v
0
= θ
0
=40
◦
. By what
vertical distance does the ball clear the crossbar?
y
c
x
c
0
v
0
θ
Solution: Set the coordinate origin at the point where the ball
is kicked. The x (horizontal) motion of the ball is given by a
x
= 0,
V
x
= V
0
cos θ
0
, x = (V
0
cos θ
0
)t . The y motion is given by a
y
= −g,
V
y
=V
0
sin θ
0
−gt , y =(V
0
sin θ
0
)t −
gt
2
2
. Set x =x
c
=
ﬁnd the time t
c
at which the ball crossed the plane of the goal posts.
Substitute this time into the y equation to ﬁnd the y coordinate Y
B
of the ball as it passes over the crossbar. Substituting in the numbers
(g =
2
), we get t
c
=2.24 s and y
B
= .
clears the crossbar by .0 .
Problem 13.82 An American football quarterback
stands at A. At the instant the quarterback throws the
football, the receiver is at B running at 6.1m/s toward
C, where he catches the ball. The ball is thrown at an
angle of 45
◦
above the horizontal, and it is thrown and
caught at the same height above the ground. Determine
the magnitude of the ball’s initial velocity and the length
of time it is in the air.
90Њ
C
B
Receiver’s
path
Path of the ball
A
Solution: Set x as the horizontal motion of the football, y as the
vertical motion of the football and z as the horizontal motion of the
receiver. Set g =
2
, θ
0
= 45
◦
. We have
a
z
= 0, v
z
= , s
z
= ( )t
a
y
= −g, v
y
= −gt +v
0
sin θ
0
, s
y
= −
1
2
gt
2
+v
0
sin θ
0
t
a
x
= 0, v
x
= v
0
cos θ
0
, s
x
= v
0
cos θ
0
t
When the ball is caught we have
s
z
= ( )t
0 = −
1
2
gt
2
+v
0
sin θ
0
t
s
x
= v
0
cos θ
0
t
s
x
2
= s
z
2
+( )
2
We can solve these four equations for the four unknowns s
x
, s
z
, v
0
, t
We ﬁnd t = 1.67 s, v
0
=
44
3.05 m above the ground. To
21.3 m/s and
36.58 m and
9. 81 m/s 6 11 m. Thus, the ball
3 7 m
9.81 m/s
6.1 m/s 6.1 m/s
6.1 m/s
9.1 m
11.6 m/s
9.1 m
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Problem 13.83 The cliff divers of Acapulco, Mexico
must time their dives that they enter the water at the
crest (high point) of a wave. The crests of the waves
are 1 m above the mean water depth h = 4 m. The
horizontal velocity of the waves is equal to
√
gh. The
diver’s aiming point is 2 m out from the base of the cliff.
Assume that his velocity is horizontal when he begins
the dive.
(a) What is the magnitude of the driver’s velocity when
he enters the water?
(b) How far from his aiming point must a wave crest
be when he dives in order for him to enter the water
at the crest?
2 m 6.4 m
1 m
26 m
h
Solution:
t = 0, v
y
= 0, y = 27 m, x
0
= 0
a
y
= −g = −9.81 m/s
V
y
= V
0
y
0
−gt
y = y
0
−gt
2/2
y = 1 m at t
IMPACT
for an ideal dive to hit the crest of the wave
t
1
= t
IMPACT
= 2.30 s
V
y
(t
1
) = 22.59 m/s
a
x
= 0
V
x
= V
x
0
X
I
= V
x
0
t
1
+X
0
At impact X
I
= 8.4 m.
For impact to occur as planned, then
V
x
= 8.4/t
1
= 3.65 m/s = constant
The velocity at impact is
(a) V =
_
(V
x
)
2
+[V
y
(t
1
)]
2
= 22.9 m/s
The wave moves at
√
gh = 6.26 m/s.
The wave crest travels 2.30 seconds while the diver is in their s =
√
ght
1
= 14.4 m.
27 m
8.4 m
45
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Problem 13.84 A projectile is launched at 10 m/s from
a sloping surface. The angle α = 80
◦
. Determine the
range R.
a
10 m/s
R
30Њ
Solution: Set g = 9.81 m/s
2
, v
0
= 10 m/s.
The equations of motion are
a
x
= 0, v
x
= v
0
cos(80
◦
−30
◦
), s
x
= v
0
cos 50
◦
t
a
y
= −g, v
y
= −gt +v
0
sin(80
◦
−30
◦
)t , s
y
= −
1
2
gt
2
+v
0
sin 50
◦
t
When the projectile hits we have
Rcos 30
◦
= v
0
cos 50
◦
t
⇒ t = 2.32 s, R = 17.21 m
−Rsin 30
◦
= −
1
2
gt
2
+v
0
sin 50
◦
t
Problem 13.85 A projectile is launched at 100 m/s at
60
◦
above the horizontal. The surface on which it lands
is described by the equation shown. Determine the point
of impact.
y
y = –0.001x
2
60°
100 m/s
x
Solution: The motion in the x direction is a
x
= 0, v
x
= V
0
cos θ
0
,
x = (V
0
cos θ
0
)t , and the motion in the y direction is given by
a
y
= −g, v
y
= (V
0
sin θ
0
) −gt , y = (V
0
sin θ
0
)t −gt
2
/2. We know
that V
0
= 100 m/s and θ
0
= 60
◦
. The equation of the surface upon
which the projectile impacts is y = −0.001x
2
. Thus, the time of
impact, t
I
, can be determined by substituting the values of x and
y from the motion equations into the equation for the surface.
Hence, we get (V
0
sin θ
0
)t
I
−g
t
2
I
2
= −0.001(V
0
cos θ
0
)
2
t
2
I
. Evaluating
with the known values, we get t
I
= 6.37 s Substituting this value
into the motion equations reveals that impact occurs at (x, y) =
(318.4, −101.4) .
46
m
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Problem 13.86 At t = 0, a steel ball in a tank of oil
is given a horizontal velocity v = 2i (m/s). The compo
nents of the ball’s acceleration in m/s
2
are a
x
= −1.2v
x
,
a
y
= −8 −1.2v
y
, a
z
= −1.2v
z
. What is the velocity of
the ball at t = 1 s?
x
y
Solution: Assume that the effect of gravity is included in the given
accelerations. The equations for the path are obtained from:
(1)
dv
x
dt
= a
x
= −1.2v
x
. Separate variables and integrate:
dv
x
v
x
= −1.2 dt,
from which ln(v
x
) = −1.2t +V
x
. At t = 0, v
x
(0) = 2, from
which
ln
_
v
x
2
_
= −1.2t .
Inverting: v
x
(t ) = 2e
−1.2t
.
(2)
dv
y
dt
= a
y
= −8 −1.2v
y
. Separate variables and integrate:
dv
y
8
1.2
+v
y
= −1.2 dt,
from which
ln
_
8
1.2
+v
y
_
= −1.2t +V
y
.
At t = 0, v
y
(0) = 0, from
ln
_
1 +
1.2
8
v
y
_
= −1.2t .
Inverting: v
y
(t ) =
8
1.2
(e
−1.2t
−1).
(3)
dv
z
dt
= a
z
= −1.2v
z
, from which ln(v
z
) = −1.2t +V
z
. Invert to
obtain v
z
(t ) = V
z
e
−1.2t
. At t = 0, v
z
(0) = 0, hence V
z
= 0 and
v
z
(t ) = 0. At t = 1 second,
v
x
(1) = 2e
−1.2
= 0.6024 m/s , and
v
y
(1) = −
_
8
12
_
(1 −e
−1.2
) = −4.66 m/s , or
v = 0.602i −4.66j (m/s) .
47
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Problem 13.87 In Problem 13.86, what is the position
of the ball at t = 1 s relative to its position at t = 0?
Solution: Use the solution for the velocity components from Prob
lem 13.86. The equations for the coordinates:
(1)
dx
dt
= v
x
= 2e
−1.2t
, from which
x(t ) = −
_
2
1.2
_
e
−1.2t
+C
x
.
At t = 0, x(0) = 0, from which
x(t ) =
_
2
1.2
_
(1 −e
−1.2t
).
(2)
dy
dt
=
_
8
1.2
_
(e
−1.2t
−1), from which
y(t ) = −
_
8
1.2
__
e
−1.2t
1.2
+t
_
+C
y
.
At t = 0, y(0) = 0, from which
y(t ) = −
_
8
1.2
__
e
−1.2t
1.2
+t −
1
1.2
_
.
(3) Since v
z
(0) = 0 and z(0) = 0, then z(t ) = 0. At t = 1,
x(1) =
_
2
1.2
_
(1 −e
−1.2
) = 1.165 m .
y(1) = −
_
8
1.2
__
e
−1.2
1.2
+1 −
1
1.2
_
= −2.784 m , or
r = 1.165i −2.784j (m) .
Problem 13.88 The point P moves along a circular
path with radius R. Show that the magnitude of its veloc
ity is v = Rdθ/dt .
Strategy: Use Eqs. (13.23).
θ
P
y
x
Solution:
x = Rcos θ
y = Rsin θ
v
x
= −Rsin θ
_
dθ
dt
_
v
y
= Rcos θ
_
dθ
dt
_
V =
_
V
2
x
+V
2
y
V =
_
R
2
sin
2
θ
_
dθ
dt
_
2
+R
2
cos
2
θ
_
dθ
dt
_
2
V =
_
R
2
_
dθ
dt
_
2
(sin
2
θ +cos
2
θ)
V = R
¸
¸
¸
¸
dθ
dt
¸
¸
¸
¸
48
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Problem 13.89 If y = 150 mm,
dy
dt
= 300 mm/s, and
d
2
y
dt
2
= 0, what are the magnitudes of the velocity and
acceleration of point P?
300 mm
P
y
Solution: The equation for the location of the point P is R
2
=
x
2
+y
2
, from which x = (R
2
−y
2
)
1
2
= 0.2598 m, and
dx
dt
= −
_
y
x
_
_
dy
dt
_
= −0.1732 m/s,
d
2
x
dt
2
= −
1
x
_
dy
dt
_
2
+
y
x
2
_
dx
dt
__
dy
dt
_
−
_
y
x
_
_
d
2
y
dt
2
_
= −0.4619 m/s
2
.
The magnitudes are:
v
P
 =
_
_
dx
dt
_
2
+
_
dy
dt
_
2
= 0.3464 m/s
a
p
 =
_
_
d
2
x
dt
2
_
2
+
_
d
2
y
dt
2
_
2
= 0.4619 m/s
2
Problem 13.90 A car travels at a constant speed of
100 km/h on a straight road of increasing grade whose
vertical proﬁle can be approximated by the equation
shown. When the car’s horizontal coordinate is x =
400 m, what is the car’s acceleration?
y = 0.0003x
2
y
x
Solution: Denote C = 0.0003 and V = 100 km/h = 27.78 m/s. The
magnitude of the constant velocity is
V =
_
_
dy
dt
_
2
+
_
dx
dt
_
2
The equation for the road is y = Cx
2
from which
dy
dt
= 2Cx
_
dx
dt
_
.
Substitute and solve:
¸
¸
¸
¸
dx
dt
¸
¸
¸
¸
=
V
_
(2Cx)
2
+1
= 27.01 m/s.
dx
dt
is positive (car is moving to right in sketch). The acceleration is
d
2
x
dt
2
=
d
dt
_
V
_
(2Cx)
2
+1
_
=
−4C
2
Vx
((2Cx)
2
+1)
3
2
_
dx
dt
_
= −0.0993 m/s
2
.
d
2
y
dt
2
= 2C
_
dx
dt
_
2
+2Cx
_
d
2
x
dt
2
_
= 0.4139 m/s
2
, or
a = −0.099i +0.414j(m/s
2
)
49
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Problem 13.91 Suppose that a projectile has the initial
conditions shown in Fig. 13.12. Show that in terms of
the x
y
coordinate system with its origin at the high
est point of the trajectory, the equation describing the
trajectory is
y
= −
g
2v
2
0
cos
2
θ
0
(x
)
2
.
x
y
y′
x′
Solution: The initial conditions are t = 0, x(0) = 0, y(0) = 0,
v
x
(0) = v
0
cos θ
0
, and v
y
(0) = v
0
sin θ
0
. The accelerations are a
x
(t )
= 0, a
y
(t ) = −g. The path of the projectile in the x, y system is
obtained by solving the differential equations subject to the initial
conditions:
x(t ) = (v
0
cos θ
0
)t , y(t ) = −
g
2
t
2
+(v
0
sin θ
0
)t
Eliminate t from the equations by substituting
t =
x
v
0
cos θ
0
to obtain
y(x) = −
gx
2
2v
2
0
cos
2
θ
0
+x tan θ
0
.
At the peak,
¸
¸
¸
¸
dy
dx
¸
¸
¸
¸
peak
= 0,
from which
x
p
=
v
2
0
cos θ
0
sin θ
0
g
,
and y
p
=
v
2
0
sin
2
θ
0
2g
.
The primed coordinates: y
= y −y
p
x
= x −x
p
. Substitute and
reduce:
y
= −
g(x
+x
p
)
2
2v
2
0
cos
2
θ
0
+(x
+x
p
) tan θ
0
−y
p
.
y
= −
g
2v
2
0
cos
2
θ
0
((x
)
2
+x
2
p
+2x
x
p
) +(x
+x
p
) tan θ
0
−
v
2
0
sin
2
θ
0
2g
.
Substitute x
p
=
v
2
0
cos θ
0
sin θ
0
g
,
y
=
−g(x
)
2
2v
2
0
cos
2
θ
0
−
v
2
0
sin
2
θ
0
2g
−x
tan θ
0
+x
tan θ
0
+
v
2
0
sin
2
θ
0
g
−
v
2
0
sin
2
θ
0
2g
.
y
= −
g
2v
2
0
cos
2
θ
0
(x
)
2
50
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Problem 13.92 The acceleration components of a
point are a
x
= −4 cos 2t , a
y
= −4 sin 2t , a
z
= 0. At
t = 0, its position and velocity are r = i, v = 2j. Show
that (a) the magnitude of the velocity is constant; (b) the
velocity and acceleration vectors are perpendicular; (c)
the magnitude of the acceleration is constant and points
toward the origin; (d) the trajectory of a point is a circle
with its center at the origin.
Solution: The equations for the path are
(1)
dv
x
dt
= a
x
= −4 cos(2t ), from which v
x
(t ) = −2 sin(2t ) +V
x
.
At t = 0, v
x
(0) = 0, from which V
x
= 0.
dx
dt
= v
x
= −2 sin(2t ),
from which x(t ) = cos(2t ) +C
x
. At t = 0, x(0) = 1, from which
C
x
= 0.
(2)
dv
y
dt
= a
y
= −4 sin(2t ), from which v
y
(t ) = 2 cos(2t ) +V
y
. At
t = 0, v
y
(0) = 2, from which V
y
= 0.
dy
dt
= v
y
= 2 cos(2t ),
from which y(t ) = sin(2t ) +C
y
. At t = 0, y(0) = 0, from which
C
y
= 0.
(3) For a
z
= 0 and zero initial conditions, it follows that v
z
(t ) = 0
and z(t ) = 0.
(a) The magnitude of the velocity is
v =
_
(−2 sin(2t ))
2
+(2 cos(2t ))
2
= 2 = const.
(b) The velocity is v(t ) = −i2 sin(2t) +j2 cos(2t ). The accel
eration is a(t ) = −i4 cos(2t ) −j4 sin(2t ). If the two are
perpendicular, the dot product should vanish: a(t ) · v(t ) =
(−2 sin(2t ))(−4 cos(2t )) +(2 cos(2t ))(−4 sin(2t )) = 0,
and it does
(c) The magnitude of the acceleration:
a =
_
(−4 cos(2t ))
2
+(−4 sin(2t ))
2
= 4 = const
.
The unit vector parallel to the acceleration is
e =
a
a
= −i cos(2t ) −j sin(2t),
which always points to the origin.
(d) The trajectory path is x(t ) = cos(2t ) and y(t ) = sin(2t ).
These satisfy the condition for a circle of radius 1:
1 = x
2
+y
2
Problem 13.93 When an airplane touches down at
t = 0, a stationary wheel is subjected to a constant angu
lar acceleration α = 110 rad/s
2
until t = 1 s.
(a) What is the wheel’s angular velocity at t = 1 s?
(b) At t = 0, the angle θ = 0. Determine θ in radians
and in revolutions at t = 1 s.
θ
Solution:
α = 110 rad/s
2
ω = αt +ω
0
θ = (
1
2
αt
2
) +ω
0
t +θ
0
From the problem statement, ω
0
= θ
0
= 0
(a) At t = 1 s,
ω = (110)(1) +0 = 110 rad/s
(b) At t = 1 s,
θ = 110(1)
2
/2 = 55 radians (8.75 revolutions)
51
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Problem 13.94 Let L be a line from the center of the
earth to a ﬁxed point on the equator, and let L
0
be a
ﬁxed reference direction. The ﬁgure views the earth from
above the north pole.
(a) Is dθ/dt positive or negative? (Remember that the
sun rises in the east.)
(b) Determine the approximate value of dθ/dt in rad/s
and use it to calculate the angle through which the
earth rotates in one hour.
L
L
0
u
Solution:
(a)
dθ
dt
> 0.
(b)
dθ
dt
≈
2π rad
24(3600) s
= 7.27 ×10
−5
rad/s.
In one hour θ ≈ (7.27 ×10
−5
rad/s)(1 hr)
_
3600 s
1 hr
_
= 0.262 rad = 15
◦
dθ
dt
≈ 7.27 ×10
−5
rad/s, θ ≈ 15
◦
.
Problem 13.95 The angular acceleration of the line L
relative to the line L
0
is given as a function of time by
α = 2.5 −1.2t rad/s
2
. At t = 0, θ = 0 and the angular
velocity of L relative to L
0
is ω = 5 rad/s. Determine θ
and ω at t = 3 s.
L
L
0
u
Solution:
α = 2.5 −1.2t
ω = 2.5t −0.6t
2
+5
θ = 1.25t
2
−0.2t
3
+5t
⇒
θ(3) = 1.25(3)
2
−0.2(3)
3
+5(3) = 20.85 rad
ω(3) = 2.5(3) −0.6(3)
2
+5 = 7.1 rad/s
52
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Problem 13.96 In Active Example 13.8, suppose that
the angular acceleration of the rotor is α = −0.00002ω
2
,
where ω is the angular velocity of the rotor in rad/s. How
long does it take the rotor to slow from 10,000 rpm to
1000 rpm?
L
L
0
u
Solution: Let α = kω
2
, where k = −0.0002.
Then
a =
dω
dt
= kω
2
,
_
ω
2
ω
1
dω
ω
2
=
_
t
0
kdt ,
−
1
ω
2
+
1
ω
1
= kt ⇒t =
1
k
_
1
ω
1
−
1
ω
2
_
Convert the numbers to rad/s
ω
1
= 10000 rpm
_
2π rad
rev
__
1 min
60 sec
_
= 1047 rad/s
ω
2
= 1000 rpm
_
2πrad
rev
__
1 min
60 sec
_
= 104.7 rad/s
Using the numbers in the problem
t =
1
−0.0002
_
1
1047 rad/s
−
1
104.7 rad/s
_
t = 430 s.
Problem 13.97 The astronaut is not rotating. He has
an orientation control system that can subject him to
a constant angular acceleration of 0.1 rad/s
2
about the
vertical axis is either direction. If he wants to rotate
180
◦
about the vertical axis (that is, rotate so that he
is facing toward the left) and not be rotating in his new
orientation, what is the minimum time in which he could
achieve the new orientation?
Solution: He could achieve the rotation in minimum time by accel
erating until he has turned 90
◦
and then decelerating for the same time
while he rotates the ﬁnal 90
◦
.
Thus the time needed to turn 90
◦
(π/2 rad) is
α = 0.1 rad/s
2
,
ω = αt
θ =
1
2
αt
2
⇒t =
_
2θ
α
=
_
2(π/2)
0.1 rad/s
2
= 5.605 s.
The total maneuver time is 2t . 2t = 11.2 s.
53
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Problem 13.98 The astronaut is not rotating. He has
an orientation control system that can subject him to
a constant angular acceleration of 0.1 rad/s
2
about the
vertical axis in either direction. Refer to problem 13.97.
For safety, the control system will not allow his angular
velocity to exceed 15
◦
per second. If he wants to rotate
180
◦
about the vertical axis (that is, rotate so that he
is facing toward the left) and not be rotating in his new
orientation, what is the minimum time in which he could
achieve the new orientation?
Solution: He could achieve the rotation in minimum time by accel
erating until he has reached the angular velocity limit, then coasting
until he has turned 90
◦
. He would then continue to coast until he
needed to decelerate to a stop at the 180
◦
position. The maneuver is
symmetric in the spin up and the spin down phases.
We will ﬁrst ﬁnd the time needed to reach the angular velocity limit
and also ﬁnd the angle through which he has rotated in this time.
α = 0.1 rad/s
2
ω = αt
1
⇒t
1
=
ω
α
=
(15/180)π rad/s
0.1 rad/s
2
= 2.62 s.
θ
1
=
1
2
αt
2
=
1
2
(0.1 rad/s
2
)(2.62 s)
2
= 0.343 rad.
Now we need to ﬁnd the coast time (constant angular velocity)
π
2
rad −0.343 rad =
_
15
◦
180
◦
_
π rad/s t
2
⇒t
2
= 4.69 s
Thus the total time to complete a 90
◦
turn is t = t
1
+t
2
= 2.62 s +
4.69 s = 7.31 s.
The time for the full 180
◦
turn is 2t 2t = 14.6 s.
Problem 13.99 The rotor of an electric generator is
rotating at 200 rpm when the motor is turned off. Due
to frictional effects, the angular acceleration of the rotor
after the motor is turned off is α = −0.01ω rad/s
2
, where
ω is the angular velocity in rad/s.
(a) What is the rotor’s angular velocity one minute
after the motor is turned off?
(b) After the motor is turned off, how many revolutions
does the rotor turn before it comes to rest?
Strategy: To do part (b), use the chain rule to write
the angular acceleration as
α =
dω
dt
=
dω
dθ
dθ
dt
=
dω
dθ
ω.
Solution: Let α = kω, where k = −0.01 s
−1
. Note that 200 rpm =
20.9 rad/s.
(a) One minute after the motor is turned off
α =
dω
dt
= kω ⇒
_
ω
ω
0
dω
ω
=
_
t
0
kdt ⇒ln
_
ω
ω
0
_
= kt
ω = ω
0
e
kt
= (20.9 rad/s)e
(−0.01/s)(60 s)
= 11.5 rad/s.
ω = 11.5 rad/s (110 rpm).
(b) When the rotor comes to rest
α = ω
dω
dθ
= kω ⇒
_
0
ω
0
dω =
_
θ
0
kdθ ⇒−ω
0
= kθ
θ =
1
k
(−ω
0
) =
1
−0.01 s
−1
(−20.9 rad/s)
θ = 2094 rad
_
1 rev
2π rad
_
= 333 rev.
θ = 333 rev.
54
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Problem 13.100 The needle of a measuring instrument
is connected to a torsional spring that gives it an angu
lar acceleration α = −4θ rad/s
2
, where θ is the needle’s
angular position in radians relative to a reference direc
tion. The needle is given an angular velocity ω = 2 rad/s
in the position θ = 0.
(a) What is the magnitude of the needle’s angular
velocity when θ = 30
◦
?
(b) What maximum angle θ does the needle reach
before it rebounds?
θ
Solution:
α = ω
dω
dθ
= −4θ ⇒
_
ω
2
ωdω = −4
_
θ
0
θdθ ⇒
ω
2
2
−
2
2
2
= −2θ
2
ω = 2
_
1 −θ
2
(a)
ω = 2
_
1 −(π/6)
2
= 1.704 rad/s
(b) Maximum angle means ω = 0. θ = 1 rad = 57.3
◦
Problem 13.101 The angle θ measures the direction of
the unit vector e relative to the x axis. The angular veloc
ity of e is ω = dθ/dt = 2 rad/s, constant. Determine the
derivative de/dt when θ = 90
◦
in two ways:
(a) Use Eq. (13.33).
(b) Express the vector e in terms of its x and y com
ponents and take the time derivative of e.
x
y
e
θ
Solution:
(a)
de
dt
=
dθ
dt
n = ωn
when θ = 90
◦
, n = −i
de
dt
= −2i rad/s when θ = 90
◦
(b) e = (1) cos θi +(1) sin θj
de
dt
= −sin θ
_
dθ
dt
_
i +cos θ
_
dθ
dt
_
j
Evaluating at θ = 90
◦
de
dt
= −
dθ
dt
i = −2i rad/s
= =
θ d
dt
ω 2 rad/s
n
y
x
θ θ
y
x
= 90°
e
n
e
55
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Problem 13.102 The angle θ measures the direction
of the unit vector e relative to the x axis. The angle θ is
given as a function of time by θ = 2t
2
rad. What is the
vector de/dt at t = 4 s?
Solution: By deﬁnition:
de
dt
=
_
dθ
dt
_
n,
where
n = i cos
_
θ +
π
2
_
+j sin
_
θ +
π
2
_
is a unit vector in the direction of positive θ. The angular rate of
change is
_
dθ
dt
_
t =4
= [4t ]
t =4
= 16 rad/s.
The angle is θ = [mod(2t
2
, 2π)]
t =4
= mod(32, 2π) = 0.5841 rad,
where mod(x, y) (“modulus”) is a standard function that returns the
remainder of division of the ﬁrst argument by the second. From which,
_
de
dt
_
t =4
= 16
_
i cos
_
0.5841 +
π
2
_
+j sin
_
0.5841 +
π
2
__
= −8.823i +13.35j
Problem 13.103 The line OP is of constant length R.
The angle θ = ω
0
t , where ω
0
is a constant.
(a) Use the relations v
x
=
dx
dt
and v
y
=
dy
dt
to deter
mine the velocity of P relative to O.
(b) Use Eq. (13.33) to determine the velocity of P rel
ative to O, and conﬁrm that your result agrees with
the result of (a).
Strategy: In part (b), write the position vector of P
relative to O as r = Re where e is a unit vector that
points from O toward P.
x
y
O
P
R
θ
Solution:
(a) The point P is described by P = ix +jy. Take the derivative:
dP
dt
= i
_
dx
dt
_
+j
_
dy
dt
_
.
The coordinates are related to the angle θ by x = Rcos θ, y =
Rsin θ. Take the derivative and note that R is a constant and
θ = ω
0
t , so that
dθ
dt
= ω
0
:
dx
dt
= −Rsin θ
_
dθ
dt
_
,
dy
dt
= Rcos θ
_
dθ
dt
_
.
Substitute into the derivative of the vector P,
dP
dt
= R
_
dθ
dt
_
(−i sin θ +j cos θ)
= Rω
0
(−i sin(ω
0
t ) +j cos(ω
0
t ))
which is the velocity of the point P relative to the origin O.
(b) Note that P = Re, and
dP
dt
= R
de
dt
when R is constant. Use the
deﬁnition (Eq. (13.33)),
de
dt
=
_
dθ
dt
_
n,
where n is a unit vector in the direction of positive θ, (i.e., per
pendicular to e). Thus
n = i cos
_
θ +
π
2
_
+j sin
_
θ +
π
2
_
.
Use the trigonometric sumofangles identities to obtain: n =
−i sin θ +j cos θ. Substitute,
dP
dt
= Rω
0
(−i sin(ω
0
t ) +j cos(ω
0
t ))
The results are the same.
56
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Problem 13.104 In Active Example 13.9, determine the
motorcycle’s velocity and acceleration in terms of nor
mal and tangential components at t = 5s.
400 m
P
e
t
e
n
O
s
Solution: We are given the tangential acceleration
a
t
= (2 m/s
2
) +(0.2 m/s
3
)t
We can ﬁnd the velocity at t = 5 s.
v =
_
5 s
0
([2 m/s
2
] +[0.2 m/s
3
]t )dt
= [2 m/s
2
][5 s] +
1
2
[0.2 m/s
3
][5 s]
2
= 1.2 m/s.
The velocity is then v = (12.5 m/s) e
t
The accelerations are
a
t
= (2 m/s
2
) +(0.2 m/s
3
)(5 s) = 3 m/s
2
a
n
=
v
2
ρ
=
(12.5 m/s)
2
400 m
= 0.391 m/s
2
.
a = (3 m/s
2
)e
t
+(0.391 m/s
2
)e
n
Problem 13.105 The armature starts from rest at t = 0
and has constant angular acceleration α = 2 rad/s
2
. At
t = 4 s, what are the velocity and acceleration of point
P relative to point O in terms of normal and tangential
components?
80 mm
P
O
Solution: We can ﬁnd the angular velocity at t = 4s.
α = 2 rad/s
2
ω = (2 rad/s
2
)(4 s) = 8 rad/s.
Then
v = rω = (0.08 m) (8 rad/s) = 0.64 m/s,
a
t
= rα = (0.08 m) (2 rad/s
2
) = 0.16 m/s
2
,
a
n
=
v
2
r
=
(0.64 m/s)
2
0.08 m
= 5.12 m/s
2
v = (0.64 m/s)e
t
,
a = (0.16 m/s
2
)e
t
+(5.12 m/s
2
)e
n
.
57
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Problem 13.106 Suppose you want to design a medi
cal centrifuge to subject samples to normal accelerations
of 1000 g’s. (a) If the distance from the center of the
centrifuge to the sample is 300 mm, what speed of rota
tion in rpm is necessary? (b) If you want the centrifuge
to reach its design rpm in 1 min, what constant angular
acceleration is necessary?
300 mm
Solution:
(a) The normal acceleration at a constant rotation rate is a
n
= Rω
2
,
giving
ω =
_
a
n
R
=
_
(1000)9.81
0.3
= 180.83 rad/s.
The speed in rpm is
N = ω
_
rad
s
__
1 rev
2π rad
__
60 s
1 min
_
= 1730 rpm .
(b) The angular acceleration is
α =
ω
t
=
180.83
60
= 3.01 rad/s
2
Problem 13.107 The medical centrifuge shown in
Problem 13.106 starts from rest at t = 0 and is subjected
to a constant angular acceleration α = 3 rad/s
2
. What
is the magnitude of the total acceleration to which the
samples are subjected at t = 1 s?
Solution: α = 3, ω = 3t , θ = 1.5t
2
a
t
= (0.3 m)(3 rad/s
2
) = 0.9 m/s
2
a
n
= (0.3 m)(3 rad/s)
2
= 2.7 m/s
2
a =
_
(0.9)
2
+(2.7)
2
m/s
2
= 2.85 m/s
2
58
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Problem 13.108 A centrifuge used to subject engineer
ing components to high acceleration has a radius of 8 m.
It starts from rest at t = 0, and during its twominute
acceleration phase it is programmed so that its angular
acceleration is given as a function of time in seconds
by α = 0.192 −0.0016t rad/s
2
. At t = 120 s, what is
the magnitude of the acceleration a component is sub
jected to?
Solution: We will ﬁrst calculate the angular velocity
ω =
_
120 s
0
([0.192 rad/s
2
] −[0.0016 rad/s
3
]t ) dt
= [0.192 rad/s][120 s] −
1
2
[0.0016 rad/s
3
][120 s]
2
= 11.52 rad/s
The normal and tangential components of acceleration are
a
t
= rα = (8 m)([0.192 rad/s
2
] −[0.0016 rad/s
3
][120 s]) = 0
a
n
= rω
2
= (8 m)(11.52 rad/s)
2
= 1060 m/s
2
Since the tangential component is zero, then the total acceleration is
the same as the normal acceleration
a = 1060 m/s
2
(108g
s).
Problem 13.109 A powerboat being tested for maneu
verability is started from rest at t = 0 and driven in
a circular path 12 m in radius. The tangential compo
nent of the boat’s acceleration as a function of time is
a
t
= 0.4t m/s
2
.
(a) What are the boat’s velocity and acceleration in
terms of normal and tangential components at t =
4 s?
(b) What distance does the boat move along its circular
path from t = 0 to t = 4 s?
Solution:
(a) a
t
= 0.4t m/s
2
a
n
= +v
2
/r
v = 0.2t
2
m/s
At t = 4 s,
a = 0.4t e
t
+v
2
/re
n
a = 1.6e
t
+0.853e
n
v = 3.2e
t
m/s
(b) s = 0.2t
3
/3
s
4s
= 4.27 m
59
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Problem 13.110 The angle θ = 2t
2
rad.
(a) What are the velocity and acceleration of point P
in terms of normal and tangential components at
t = 1 s?
(b) What distance along the circular path does point P
move from t = 0 to t = 1 s? 4 m
P
O
θ
Solution:
θ = 2t
2
dθ
dt
= 4t = ω
d
2
θ
dt
2
= 4
rad
s
2
= α
s = rθ = 4θ = 8t
2
v
t
= 16t m/s
v = rω = 4(4t ) = 16t
a
t
=
dv
dt
= 16 m/s
2
(a) v = 16(1)e
t
m/s = 16 e
t
(m/s)
a = Rαe
t
+Rω
2
e
N
a = (4)(4)e
t
+(4)(4
2
)e
N
(m/s
2
)
a = 16e
t
+64e
N
(m/s
2
)
(b) s = Rθ = 8t
2
= 8(1)
2
= 8 m
P
O
4 m
θ
e
N
e
t
Problem 13.111 The angle θ = 2t
2
rad. What are the
velocity and acceleration of point P in terms of normal
and tangential components when P has gone one
revolution around the circular path starting at t = 0?
Solution: From the solution to Problem 13.110,
θ = 2t
2
rad
ω = 4t rad/s
α = 4 rad/s
2
s = 8t
2
m
v
t
= 16t m/s
a
t
= 16 m/s
2
We want to know v and a when θ = 2π. Substituting into the ﬁrst eqn,
we ﬁnd that θ = 2π when t = t
1
= 1.77 seconds. From the solution
to Problem 13.110,
v
t
= 16t e
t
and
a = Rαe
t
+Rω
2
e
N
Substituting in the time t
1
, we get
v
t
= 28.4e
t
(m/s)
a = 16e
t
+201.1e
N
(m/s
2
)
60
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Problem 13.112 At the instant shown, the crank AB
is rotating with a constant counterclockwise angular
velocity of 5000 rpm. Determine the velocity of point B
(a) in terms of normal and tangential components; (b) in
terms of cartesian components.
C C
y
x
B
A
45Њ
5
0
m
m
Solution:
ω = (5000 rpm)
_
2π rad
rev
__
min
60 sec
_
= 524 rad/s
(a) V
B
= (524 rad/s)e
t
= ( . e
t
)
(b) V
B
= ( )(−cos 45
◦
i −sin 45
◦
j) = (− . − . )
Problem 13.113 The crank AB in Problem 13.112
is rotating with a constant counterclockwise angular
velocity of 5000 rpm. Determine the acceleration
of point B (a) in terms of normal and tangential
components; (b) in terms of cartesian components.
Solution:
ω = (5000 rpm)
_
2π rad
rev
__
min
60 sec
_
= 524 rad/s
a
t
= 0, a
n
= (524 rad/s)
2
= ≈
(a)
a
P
= ( 729
n
)
2
(b)
a
p
= (
2
)(cos 45
◦
i −sin 45
◦
j)
= ( i − j)
2
Problem 13.114 Suppose that a circular tunnel of
radius R could be dug beneath the equator. In principle,
a satellite could be placed in orbit about the center of the
earth within the tunnel. The acceleration due to gravity in
the tunnel would be gR/R
E
, where g is the acceleration
due to gravity at sea level and R
E
is the earth’s radius.
Determine the velocity of the satellite and show that the
time required to complete one orbit is independent of
the radius R. (See Example 13.10.)
Equator
Tunnel
R
E R
Solution: To be in orbit we must have
a
n
=
v
2
R
=
g
R
R
E
⇒ v = R
_
g
R
E
The velocity of the satellite is given by the distance it travels in one
orbit divided by the time needed to complete that orbit.
v =
2πR
t
⇒t =
ν
2πR
=
R
_
g
R
E
R
=
_
g
R
E
.
Notice that the time does not depend on the radius R.
61
0. 05 m 26 2 m/s
26.2 m/s 18 i 18 j m/s
0. 05 m 13728.8 13729
13 e m/s
13729 m/s
9708 9708 m/s
53 53
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Problem 13.115 At the instant shown, the magnitude
of the airplane’s velocity is 130 m/s, its tangential
component of acceleration is a
t
= −4 m/s
2
, and the rate
of change of its path angle is dθ/dt = 5
◦
/s.
(a) What are the airplane’s velocity and acceleration
in terms of normal and tangential components?
(b) What is the instantaneous radius of curvature of the
airplane’s path?
θ
Solution:
ω = (5
◦
/s)
_
π rad
180
◦
_
=
_
π
36
_
rad/s
a
Pt
= −4 m/s
2
, a
n
= (130 m/s)ω = 11.34 m/s
2
(a)
v
p
= (130e
t
) m/s
a
p
= (−4e
t
+11.34e
n
) m/s
2
(b) ρ =
v
2
a
n
=
(130 m/s)
2
11.34 m/s
2
= 1490 m
Problem 13.116 In the preliminary design of a sun
powered car, a group of engineering students estimates
that the car’s acceleration will be 0.6 m/s
2
. Suppose that
the car starts from rest at A and the tangential compo
nent of its acceleration is a
t
= 0.6 m/s
2
. What are the
car’s velocity and acceleration in terms of normal and
tangential components when it reaches B?
B
A
200 m
50 m
Solution:
a
t
= v
dv
ds
= 0.6 m/s
2
⇒
_
v
0
vdv =
_
s
0
(0.6 m/s
2
)ds
v
2
= 2(0.6 m/s
2
)s
At point B
S
B
=
_
200 +
50π
2
_
m ⇒v
B
= 18.28 m/s, a
Bn
=
v
2
B
50 m
= 6.68 m/s
2
Thus
v
B
= (18.28e
t
) m/s
a
B
= (0.6e
t
+6.68e
n
) m/s
2
Problem 13.117 After subjecting the car design
described in Problem 13.116 to wind tunnel testing,
the students estimate that the tangential component of
the car’s acceleration will be a
t
= 0.6 −0.002v
2
m/s
2
,
where v is the car’s velocity in m/s. If the car starts
from rest at A, what are its velocity and acceleration
in terms of normal and tangential components when it
reaches B?
Solution: At point B S
B
=
_
200 +
50π
2
_
m
a
t
= v
dv
ds
= 0.6 −0.002v
2
⇒
_
v
B
0
vdv
0.6 −0.002v
2
=
_
s
B
0
ds
v
B
= 14.20 m/s, a
Bn
=
v
2
B
50 m
= 4.03 m/s
2
a
t
= 0.6 −0.002(14.20 m/s)
2
= 0.197 m/s
2
Thus
v
B
= (14.20e
t
) m/s
a
B
= (0.197e
t
+4.03e
n
) m/s
2
62
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Problem 13.118 Suppose that the tangential compo
nent of acceleration of the car described in Prob
lem 13.117 is given in terms of the car’s position by
a
t
= 0.4 −0.001s m/s
2
, where s is the distance the car
travels along the track from point A. What are the car’s
velocity and acceleration in terms of normal and tangen
tial components at point B?
Solution:
a
t
=
dv
dt
=
dv
ds
ds
dt
= 0.4 −0.001s m/s
2
v
dv
ds
= 0.4 −0.001s
_
v
0
v dv =
_
S
B
0
(0.4 −0.001s) ds
v
2
2
=
_
0.4s −
0.001s
2
2
_¸
¸
¸
¸
S
B
0
From Fig. P13.116, S
B
= 200 +2πρ/4 where ρ = 50 m, so S
B
=
278.5 m
Solving for v,
v = 12.05 m/s
v = 12.05e
t
(m/s)
a = (0.4 −0.001s
B
)e
t
+v
2
/ρe
N
(m/s
2
)
Solving, a = 0.121e
t
+2.905e
N
(m/s
2
)
Problem 13.119 A car increases its speed at a constant
rate from 64 km/h at A to 96 km/h at B. What is the
magnitude of its acceleration 2 s after the car passes
point A?
y
x
30°
30°
B
A
36 m
24 m
30 m
24 m
Solution: Use the chain rule to obtain
v
dv
ds
= a,
where a is constant. Separate variables and integrate: v
2
= 2as +
C. At
s = 0, v(0) =
_
3600
_
= . ,
from which C = 3 . . The acceleration is
a =
v
2
−C
2s
The distance traveled from A to B is
s = 2( ) +(30)
_
π
180
_
( + 0) = 2 ,
and the speed in
[v(s)]
s=
=
_
3600
_
= ,
from the constant acceleration is
a =
( )
2
−316.13
2( )
= .
2
.
The velocity is as a function of time is v(t ) = v(0) +at = +
. t A is
s(t ) = . t +
2
t
2
.
At a point 2 seconds past A, the distance is s(2) =
velocity is v(2) = ﬁrst part of the hill ends at 43,
so that at this point the car is still in the ﬁrst part of the hill. The
tangential acceleration is a
t
=
2
a
n
=
v
2
R
=
( )
2
=
2
.
The magnitude of the acceleration is
a =
√
2
+ .
2
= .
2
Note: This is a large acceleration–the driver (and passengers) would
no doubt be uncomfortable.
63
64
1000
17 78 m/s
16 13
24 36 3 8 . 6 m
82.6
96
1000
26.67 m/s
26.67
82.6
2 39 m/s
17.78
2 39 m/s. The distance from
17 78
2.39
40.34 m, and the
22.56 m/s . The
2.39 m/s . The normal acceleration is
22.56
36
14.1 m/s
2.39 14 1 14 3 m/s
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Problem 13.120 The car increases its speed at a con
stant rate from 64 km/h at A to 96 km/h at B. Determine
the magnitude of its acceleration when it has
traveled along the road a distance (a) 36 m from A and
(b) 48 m from A.
Solution: Use the solution in Problem 13.119.
(a) The velocity at a distance 36 m from A is
v( ) =
√
2as +C =
√
(2)( . )( ) +316.
= .
At 36 m the car is in the ﬁrst part of the hill. The tangential
acceleration is a
t
= .
2
from Problem 13.119. The normal
acceleration is
a
n
=
(v( ))
2
R
=
( . )
2
=
2
.
The magnitude of the acceleration is
a =
√
.
2
+
2
=
2
(b) The velocity at distance 48 m from A is
v( ) =
√
2( . )( ) +C = .
At 48 m the car is on the second part of the hill. The tangential
acceleration is unchanged: a
t
=
2
ation is
a
n
=
(v( ))
2
R
= =
2
.
The magnitude of the acceleration is
a =
√
2
+
2
=
2
[Note: The car will “lift off” from the road.]
Problem 13.121 Astronaut candidates are to be tested
in a centrifuge with 10m radius that rotates in the hor
izontal plane. Test engineers want to subject the can
didates to an acceleration of 5 g’s, or ﬁve times the
acceleration due to gravity. Earth’s gravity effectively
exerts an acceleration of 1 g in the vertical direction.
Determine the angular velocity of the centrifuge in rev
olutions per second so that the magnitude of the total
acceleration is 5 g’s.
10 m
Solution:
a
n
2
+g
2
= (5g)
2
⇒a
n
=
√
24g
a
n
= rω
2
⇒ω =
_
a
n
/r
ω =
_
√
24(9.81 m/s
2
)
10m
= 2.19 rad/s
Problem 13.122 In Example 13.11, what is the heli
copter’s velocity in turns of normal and tangential com
ponents at t = 4 s?
Solution: In Example 13.11 we ﬁnd the x and y components of
acceleration and velocity at t = 4 s.
a
x
= 2.4 m/s
2
, a
y
= 0.36 m/s
2
,
v
x
= 4.80 m/s, v
y
= 4.32 m/s
The total velocity of the helicopter is
v =
_
v
2
x
+v
2
y
=
_
(4.80 m/s)
2
+(4.32 m/s)
2
= 6.46 m/s.
By deﬁnition, the velocity is in the tangential direction, therefore
v = 6.46 m/s)e
t
.
64
36 2 39 36 13
22.1 m/s
2 39 m/s
36 22 1
36
13.6 m/s
2 39 13.6 13.81 m/s
48 2 39 48 23.4 m/s
2.39 m/s . The normal acceler
48 23.42
30
18.3 m/s
2.392 18.32 18.5 m/s
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Problem 13.123 The athlete releases the shot with
velocity v = 16 m/s at 20
◦
above the horizontal.
(a) What are the velocity and acceleration of the shot
in terms of normal and tangential components when
it is at the highest point of its trajectory?
(b) What is the instantaneous radius of curvature of
the shot’s path when it is at the highest point of its
trajectory?
20°
Solution:
a
x
= 0
v
x
= v
x
0
= 16 cos 20
◦
, v
y
0
= 16 sin 20
◦
a
y
= −9.81 m/s
2
v
y
= v
y
0
−9.81t = 5.47 −9.81t
At highest point, v
y
= 0
(a) v = 16 cos 20
◦
e
t
= 15.0e
t
(m/s)
(b) a = 9.81e
n
(m/s
2
)
(c) a
N
 = v
2
/ρ, ρ = v
2
/a
n

ρ = (15)
2
/9.81 = 23.0 m
e
N
e
t
y
x
Problem 13.124 At t = 0, the athlete releases the shot
with velocity v = 16 m/s.
(a) What are the velocity and acceleration of the shot
in terms of normal and tangential components at
t = 0.3 s?
(b) Use the relation a
n
= v
2
/ρ to determine the instan
taneous radius of curvature of the shot’s path at
t = 0.3 s.
Solution: From the solution to Problem 13.123,
v
x
= 15.0 m/s v
y
= 5.47 −9.81t m/s
v =
_
v
2
x
+v
2
y
At t = 0.3 s, v = 15.2 m/s
v = 15.2e
t
(m/s)
We have the following geometry
From the diagram
tan r = v
y
/v
x
r = 9.55
◦
a
n
 = 9.81 cos r = 9.67 m/s
2
a
t
 = 9.81 sin r = 1.63 m/s
2
a = −1,63e
t
+9.67e
n
(m/s
2
)
a
n
 = v
2
/ρ
ρ = v
2
/a
n
 = (15.2)
2
/9.67
ρ = 24.0 m
y
x
e
n
e
t
V
V
y
a
n
a
t
V
x
r
r
9.81
s
2
m
65
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Problem 13.125 At t = 0, the athlete releases the shot
with velocity v = 16 m/s. Use Eq. (13.42) to determine
the instantaneous radius of curvature of the shot’s path
at t = 0.3 s.
Solution:
ρ =
_
1 +
_
dy
dx
_
2
_
3/2
¸
¸
¸
¸
d
2
y
dx
2
¸
¸
¸
¸
From the solution to 13.123,
v
y
= v
y
0
−9.81t, hence
y = y
0
+v
y
0
t −9.8/(t
2
/2), y
0
≡ 0
Also, v
x
= v
x
0
x = x
0
+v
x
0
t x
0
≡ 0
Hence t = x/v
x
0
and
y = v
y
0
(
x
v
x
0
) −
9.81
2
_
x
v
x
0
_
2
We now have y(x)
dy
dx
=
v
y
0
v
x
0
−9.81
_
x
v
2
x
0
_
d
2
y
dx
2
= −9.81/v
2
x
0
We also know v
0
= 16 m/s and
v
y
0
= v
0
sin 20
◦
= 5.47 m/s
v
x
0
= v
0
cos 20
◦
= 15.04 m/s
At t = 0.3 s, x = 4.5 m,
dy
dx
= 0.168
d
2
y
dx
2
= −0.0434
and ρ = 24.0 m
Problem 13.126 The cartesian coordinates of a point
moving in the xyplane are x = 20 +4t
2
m, y = 10 −
t
3
m. What is the instantaneous radius of curvature of
the path of the point at t = 3 s?
Solution: The components of the velocity: v = 8t i −(3t
2
)j.
At t = 3 seconds, the magnitude of the velocity is v
t =3
=
_
(8t )
2
+(−3t
2
)
2
= 36.12 m/s. The components of the acceleration
are a = 8i −(6t )j. The instantaneous path angle is
tan β =
v
y
v
x
=
−3t
2
8t
.
At t = 3 seconds, β = −0.8442 rad. The unit vector parallel to the
path is e
t
= i cos β +j sin β. The unit vector normal to the path point
ing toward the instantaneous radial center is
e
n
= i cos
_
β −
π
2
_
+j sin
_
β −
π
2
_
= i sin β −j cos β.
The normal acceleration is the component of acceleration in the direc
tion of e
n
. Thus, a
n
= e
n
· a or a
n
= 8 sin β +(6t ) cos β. At t = 3
seconds, a
n
= 5.98 m/s
2
. The radius of curvature at t = 3 seconds is
ρ =
v
2
a
n
= 218 m
66
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Problem 13.127 The helicopter starts from rest at
t = 0. The cartesian components of its acceleration are
a
x
= 0.6t m/s
2
and a
y
= 1.8 −0.36t m/s
2
. Determine the
tangential and normal components of its acceleration at
t = 6 s.
y
x
Solution: The solution will follow that of Example 13.11, with
the time changed to t = 6 s. The helicopter starts from rest (v
x
, v
y
) =
(0, 0) at t = 0. Assume that motion starts at the origin (0, 0). The
equations for the motion in the x direction are a
x
= 0.6t m/s
2
, v
x
=
0.3t
2
m/s, x = 0.1t
3
m, and the equations for motion in the y direction
are a
y
= 1.8 −0.36t m/s
2
, v
y
= 1.8t −0.18t
2
m/s, and y = 0.9t
2
−
0.06t
3
m. At t = 6 s, the variables have the values a
x
= 3.6 m/s
2
,
a
y
= −0.36 m/s
2
, v
x
= 10.8 m/s, v
y
= 4.32 m/s, x = 21.6 m, and
y = 19.44 m. The magnitude of the velocity is given by
v =
_
v
2
x
+v
2
y
= 11.63 m/s.
The unit vector in the tangential direction is given by
e
T
=
v
v
=
v
x
i +v
y
j
v
= 0.928i +0.371j.
The tangential acceleration component is given by a
T
= a · e
T
= 0.928a
x
+0.371a
y
= 3.21 m/s
2
.
The magnitude of the acceleration is given by
a =
_
a
2
x
+a
2
y
= 3.62 m/s
2
.
The normal acceleration component is given by
a
N
=
_
a
2
−a
2
T
= 1.67 m/s
2
Problem 13.128 Suppose that when the centrifuge in
Example 13.12 is turned on, its motor and control sys
tem give it an angular acceleration (in rad/s
2
) α = 12 −
0.02ω, where ω is the centrifuge’s angular velocity.
Determine the tangential and normal components of the
acceleration of the sample at t = 0.2 s.
300 mm
Solution: We will ﬁrst integrate to ﬁnd the angular velocity at
t = 0.2 s.
α =
dω
dt
= ([12 rad/s
2
] −[0.02 s
−1
]ω)
_
ω
0
dω
[12 rad/s
2
] −[0.02 s
−1
]ω
=
_
0.2 s
0
dt
−1 s
0.02
ln
_
[12 rad/s
2
] −[0.02 s
−1
]ω
[12 rad/s
2
]
_
= 0.2 s
[12 rad/s
2
] −[0.02 s
−1
]ω = [12 rad/s
2
]e
−0.004
ω =
1 s
0.02
(12 rad/s
2
)(1 −e
−0.004
) = 2.40 rad/s
At this time, the angular acceleration is
α = (12 rad/s
2
) −(0.02 s
−1
)(2.40 rad/s) = 11.95 rad/s
2
.
The components of acceleration are
a
t
= rα = (0.3 m)(11.95 rad/s
2
) = 3.59 m/s
2
α
n
= rω
2
= (0.3 m)(2.40 rad/s)
2
= 1.72 m/s
2
.
a = (3.59e
t
+1.72e
n
) m/s
2
.
67
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Problem 13.129* For astronaut training, the airplane
shown is to achieve “weightlessness” for a short period
of time by ﬂying along a path such that its acceleration
is a
x
= 0 and a
y
= −g. If the velocity of the plane at
O at time t = 0 is v = v
0
i, show that the autopilot must
ﬂy the airplane so that its tangential component of the
acceleration as a function of time is
a
t
= g
_
gt
v
0
_
_
1 +
_
gt
v
0
_
2
.
x
y
O
Solution: The velocity of the path is v(t ) = v
0
i −gt j. The path
angle is
β : tan β =
v
y
v
x
=
−gt
v
0
,
sin β =
−gt
_
v
2
0
+(gt )
2
.
The unit vector parallel to the velocity vector is e = i cos β +j sin β.
The acceleration vector is a = −jg. The component of the acceleration
tangent to the ﬂight path is a
t
= −g sin β., from which
a
t
= g
gt
_
v
2
0
+(gt )
2
.
Divide by v
0
,
a
t
= g
_
1 +
_
gt
v
0
_
2
_
−
1
2
_
gt
v
0
_
Problem 13.130* In Problem 13.129, what is the air
plane’s normal component of acceleration as a function
of time?
Solution: From Problem 13.129, the velocity is v(t ) = v
0
i −gt j.
The ﬂight path angle is β, from which
cos β =
v
0
_
v
2
0
+(gt )
2
.
The unit vector parallel to the ﬂight path is e = i cos β +j sin β. The
unit vector normal to e is
e
n
= i cos
_
β −
π
2
_
+j sin
_
β −
π
2
_
= i sin β −j cos β,
pointing toward the instantaneous radial center of the path. The accel
eration is a = −jg. The component parallel to the normal component
is a
n
= g cos β, from which
a
n
= g
v
0
_
v
2
0
+(gt )
2
= g
_
1 +
_
gt
v
0
_
2
_
−
1
2
68
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Problem 13.131 If y = 100 mm,
dy
dt
= 200 mm/s,
and
d
2
y
dt
2
= 0, what are the velocity and acceleration of
P in terms of normal and tangential components?
300 mm
P
y
Solution: The equation for the circular guide is R
2
= x
2
+y
2
,
from which x =
_
R
2
−y
2
= 0.283 m, and
dx
dt
= −
_
y
x
_
dy
dt
= v
x
= −0.0707 m/s.
The velocity of point P is v
p
= iv
x
+jv
y
, from which the velocity is
v =
_
v
2
x
+v
2
y
= 0.212 m/s. The angular velocity
ω =
v
R
= 0.7071 rad/s.
The angle is
β = tan
−1
_
y
x
_
= 19.5
◦
a
x
=
dv
x
dt
=
d
dt
_
−
y
x
dy
dt
_
= −
1
x
_
dy
dt
_
2
+
y
x
2
_
dx
dt
__
dy
dt
_
−
_
y
x
_
_
d
2
y
dt
2
_
= −0.1591 m/s
2
The unit vector tangent to the path (normal to the radius vector for a
circle) is e
p
= −i sin β +j cos β, from which
a
t
= −a
x
sin β = 53.0 mm/s
2
since a
y
= 0
a
n
= −Rω
2
= −0.150 m/s
2
.
Check: a
n
= a
x
cos β = −0.15 m/s
2
check.
69
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Problem 13.132* Suppose that the point P in
Problem 13.131 moves upward in the slot with velocity
v = 300e
t
(mm/s). When y = 150 mm, what are
dy
dt
and
d
2
y
dt
2
?
Solution: The position in the guide slot is y = Rsin θ, from which
θ = sin
−1
_
y
R
_
= sin
−1
(0.5) = 30
◦
.
x = Rcos θ = 259.8 mm.
From the solution to Problem 13.131,
v
x
= −
_
y
x
_
dy
dt
= −
_
y
x
_
v
y
.
The velocity is v = 300 =
_
v
2
x
+v
2
y
= v
y
_
_
y
x
_
2
+1, from which
v
y
= 300
_
_
y
x
_
2
+1
_
−
1
2
= 259.8 mm/s
and v
x
= −150 mm/s (Since the point is moving upward in the slot, v
y
is positive.). The velocity along the path in the guide slot is assumed
constant, hence a
t
= 0. The normal acceleration is
a
n
=
v
2
R
= 300 mm/s
2
directed toward the radius center, from which
d
2
y
dt
2
= −a
n
sin θ = −150 mm/s
2
Problem 13.133* A car travels at 100 km/h on a
straight road of increasing grade whose vertical proﬁle
can be approximated by the equation shown. When x =
400 m, what are the tangential and normal components
of the car’s acceleration?
y = 0.0003x
2
y
x
Solution: The strategy is to use the acceleration in cartesian coor
dinates found in the solution to Problem 13.90, ﬁnd the angle with
respect to the xaxis,
θ = tan
−1
_
dy
dx
_
,
and use this angle to transform the accelerations to tangential and nor
mal components. From the solution to Problem 13.90 the accelerations
are a = −0.0993i +0.4139j (m/s
2
). The angle at
θ = tan
−1
_
d
dx
Cx
2
_
x=400
= tan
−1
(6x ×10
−4
)
x=400
= 13.5
◦
.
From trigonometry (see ﬁgure) the transformation is a
t
= a
x
cos θ +
a
y
sin θ, a
n
= −a
x
sin θ +a
y
cos θ, from which
a
t
= 0.000035 . . . = 0 ,
a
n
= 0.4256 m/s
2
Check: The velocity is constant along the path, so the tangential com
ponent of the acceleration is zero, a
t
=
dv
dt
= 0, check.
70
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Problem 13.134 A boy rides a skateboard on the
concrete surface of an empty drainage canal described
by the equation shown. He starts at y = 20 m, and
the magnitude of his velocity is approximated by v =
√
2( )(20 −y)
(a) Use Equation (13.42) to determine the instanta
neous radius of curvature of the boy’s path when
he reaches the bottom.
(b) What is the normal component of his acceleration
when he reaches the bottom?
y
x
y = 0.03x
2
Solution:
(a) y = 0.03x
2
, so
dy
dx
= 0.06x and
d
2
y
dx
2
= 0.06.
From Eq (13.42),
ρ =
[1 +(0.06x)
2
]
3/2
0.06
.
At x = 0, ρ = 16.7 m.
(b) The magnitude of the velocity is
_
_
dy
dt
_
2
+
_
dx
dt
_
2
= v = K(20 −y)
1
2
= K(20 −Cx
2
)
1
2
,
where K = 8.025, C = 0.03. From y = Cx
2
,
dy
dt
= 2Cx
_
dx
dt
_
,
d
2
y
dt
2
= 2C
_
dx
dt
_
2
+2Cx
_
d
2
x
dt
2
_
.
Substitute:
¸
¸
¸
¸
dx
dt
¸
¸
¸
¸
=
K(20 −Cx
2
)
1
2
(4C
2
x
2
+1)
1
2
.
Since the boy is moving the right,
dx
dt
> 0, and
¸
¸
¸
¸
dx
dt
¸
¸
¸
¸
=
dx
dt
.
The acceleration is
d
2
x
dt
2
=
−KCx
(20 −Cx
2
)
1
2
(4C
2
x
2
+1)
1
2
_
dx
dt
_
−
K(4C
2
x)(20 −Cx
2
)
1
2
(4C
2
x
2
+1)
3
2
_
dx
dt
_
.
At the bottom of the canal the values are
_
dx
dt
_
x=0
= K
√
20 = 35.89 m/s.
_
dy
dt
_
x=0
= 0,
_
d
2
x
dt
2
_
x=0
= 0,
_
d
2
y
dt
2
_
x=0
= 2C
_
dx
dt
_
2
¸
¸
¸
¸
¸
x=0
= 77.28 m/s
2
.
The angle with respect to the x axis at the bottom of the canal is
θ = tan
−1
_
dy
dx
_
x=0
= 0.
From the solution to Problem 2.133, the tangential and normal
accelerations are a
t
= a
x
cos θ +a
y
sin θ, a
n
= −a
x
sin θ +
a
y
cos θ, from which
a
t
= 0 , and
a
n
= 77.28 m/s
2
.
Check: The velocity is constant along the path, so the tangential
component of the acceleration is zero, a
t
=
dv
dt
= 0. check. By
inspection, the normal acceleration at the bottom of the canal is
identical to the y component of the acceleration. check.
71
9.81 m/s.
m
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Problem 13.135 In Problem 13.134, what is the nor
mal component of the boy’s acceleration when he has
passed the bottom and reached y = 10 m?
Solution: Use the results of the solutions to Problems 13.133 and
13.134. From the solution to Problem 13.134, at y = 10 m,
x =
__
y
C
_
= 18.257 m, from which
_
dx
dt
_
y=10
=
_
K(20 −Cx
2
)
1
2
(4C
2
x
2
+1)
−
1
2
_
y=10
= 17.11 m/s.
_
d
2
x
dt
2
_
y=10
= −K
_
dx
dt
_
y=10
_
_
Cx
(20 −Cx
2
)
1
2
(4C
2
x
2
+1)
1
2
+
(4C
2
x)(20 −Cx
2
)
1
2
(4C
2
x
2
+1)
3
2
_
_
y=10
= −24.78 m/s.
_
d
2
y
dt
2
_
y=10
=
_
2C
_
dx
dt
_
2
+2Cx
_
d
2
x
dt
2
_
_
y=10
= −9.58 m/s
2
.
The angle is θ = tan
−1
_
dy
dx
_
y=10
= 47.61
◦
.
From the solution to Problem 13.133,
a
t
= a
x
cos θ +a
y
sin θ, a
n
= −a
x
sin θ +a
y
cos θ,
from which
a
t
= −23.78 m/s
2
,
a
n
= 11.84 m/s
2
Problem 13.136* Using Eqs (13.41): (a) Show that
the relations between the cartesian unit vectors and the
unit vectors e
t
and e
n
are
i = cos θe
t
−sin θe
n
and j = sin θe
t
+cos θe
n
(b) Show that
de
t
/dt = dθ/dt e
n
and de
n
/dt = −dθ/dt e
t
.
Solution: Equations (13.41) are e
t
= cos θi +sin θj and e
n
=
−sin θi +cos θj.
(a) Multiplying the equation for e
t
by cos θ and the equation for e
n
by (−sin θ) and adding the two equations, we get i = cos θe
t
−
sin θe
n
. Similarly, by multiplying the equation for e
t
by sin θ and
the equation for e
n
by cos θ and adding, we get j = sin θe
t
+
cos θe
n
.
(b) Taking the derivative of e
t
= cos θi +sin θj, we get
de
t
dt
=
(−sin θi +cos θj)
dθ
dt
= e
n
dθ
dt
.
Similarly, taking the derivative of e
n
= −sin θi +cos θj, we get
de
n
/dt = −(dθ/dt )e
t
72
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Problem 13.137 The polar coordinates of the collar A
are given as functions of time in seconds by
r = 1 +0.2t
2
θ = 2t rad.
What are the magnitudes of the velocity and acceleration
of the collar at t = 2 s?
A
u
r
Solution: We have
r = (1 ft) +(0.2 m/s
2
)t
2
, θ = (2 rad/s)t ,
dr
dt
= (0.4 ft/s
2
)t ,
dθ
dt
= 2 rad/s,
d
2
r
dt
2
= 0.4 m/s
2
,
d
2
θ
dt
2
= 0
At time t = 2 s, we have
r = 1.8 ft,
dr
dt
= 0.8 m/s,
d
2
r
dt
2
= 0.4 m/s
2
,
θ = 8 rad,
dθ
dt
= 2 rad/s,
d
2
θ
dt
2
= 0
The components of the velocity and acceleration are
v
r
=
dr
dt
= 0.8 m/s, v
θ
= r
dθ
dt
= (1.8 m)(2 rad/s) = 3.6 m/s,
a
r
=
d
2
r
dt
2
−r
_
dθ
dt
_
2
= (0.4 m/s
2
) −(1.8 m)(2 rad/s )
2
= − 6.8 m/s
2
,
a
θ
= r
d
2
θ
dt
2
+2
dr
dt
dθ
dt
= 0 +2(0.8 m/s)(2 rad/s) = 3.2 m/s
2
.
The magnitudes are
v =
_
v
2
r
+v
2
θ
=
_
(0.8 m/s)
2
+(3.6 m/s)
2
= 3.69 m/s,
a =
_
a
2
r
+a
2
θ
=
_
(−6.8 m/s
2
)
2
+(3.2 m/s
2
)
2
= 7.52 m/s
2
.
v = 3.69 m/s, a = 7.52 m/s
2
.
73
m and
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Problem 13.138 In Active Example 13.13, suppose
that the robot arm is reprogrammed so that the point
P traverses the path described by
r = 1 −0.5 sin 2πt m,
θ = 0.5 −0.2 cos 2πt rad.
What is the velocity of P in terms of polar coordinates
at t = 0.8 s?
P
r
x
y
u
Solution: We have
r =
_
1 −0.5 sin
_
2π
t
s
__
m, θ =
_
0.5 −0.2 cos
_
2π
t
s
__
rad,
dr
dt
= −π cos
_
2π
t
s
_
m/s,
dθ
dt
= 0.4π sin
_
2π
t
s
_
rad/s.
At time t = 0.8 s,
r = 1.48 m,
dr
dt
= −0.971 m/s, θ = 0.438 rad,
dθ
dt
= −1.20 rad/s.
The velocity is
v
r
=
dr
dt
= −0.971 m/s, v
θ
= r
dθ
dt
= (1.48 m)(−1.20 rad/s) = −1.76 m/s.
v = (−0.971e
r
−1.76e
θ
) m/s.
Problem 13.139 At the instant shown, r = 3 m and
θ = 30
◦
. The cartesian components of the velocity of
point A are v
x
= 2 m/s and v
y
= 8 m/s.
(a) Determine the velocity of point A in terms of polar
coordinates.
(b) What is the angular velocity dθ/dt of the crane at
the instant shown?
r
u
y
x
A
Solution: To transform to polar coordinates we have
v
r
= v
x
cos θ +v
y
sin θ = (2 m/s) cos 30
◦
+(8 m/s) sin 30
◦
= 5.73 m/s.
v
θ
= −v
x
sin θ +v
y
cos θ = −(2 m/s) sin 30
◦
+(8 m/s) cos 30
◦
= 5.93 m/s.
v
A
= (5.73e
r
+5.93e
θ
)m/s.
The angular velocity is found
v
θ
= r
dθ
dt
⇒
dθ
dt
=
v
θ
r
=
5.93 m/s
3m
= 1.98 rad/s.
dθ
dt
= 1.98 rad/s.
74
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Problem 13.140 The polar coordinates of point A of
the crane are given as functions of time in seconds
by r = 3 +0.2t
2
m and θ = 0.02t
2
rad. Determine the
acceleration of point A in terms of polar coordinates at
t = 3s.
r
u
y
x
A
Solution: We have
r = (3 m) +(0.2 m/s
2
)t
2
,
dr
dt
= (0.4 m/s
2
)t ,
d
2
r
dt
2
= 0.4 m/s
2
,
θ = (0.02)t
2
rad/s
2
.
dθ
dt
= (0.04)t rad/s
2
,
d
2
θ
dt
2
= 0.04 rad/s
2
At t = 3 s,
r = 4.8 m,
dr
dt
= 1.2 m/s,
d
2
r
dt
2
= 0.4 m/s
2
,
θ = 0.18 rad,
dθ
dt
= 0.12 rad/s,
d
2
θ
dt
2
= 0.04 rad/s
2
.
The acceleration components are
a
r
=
d
2
r
dt
2
−r
_
dθ
dt
_
2
= (0.4 m/s
2
) −(4.8 m)(0.12 rad/s)
2
,
a
θ
= r
d
2
θ
dt
2
+2
dr
dt
dθ
dt
= (4.8 m)(0.04 rad/s
2
) +2(1.2 m/s)(0.12 rad/s)
a
A
= (0.331e
r
+0.480e
θ
) m/s
2
.
75
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Problem 13.141 The radial line rotates with a constant
angular velocity of 2 rad/s. Point P moves along the line
at a constant speed of 4 m/s. Determine the magnitude of
the velocity and acceleration of P when r = 2 m. (See
Example 13.14.)
x
y
4 m/s
2 rad/s
P
O
r
Solution: The angular velocity of the line is
dθ
dt
= ω = 2 rad/s,
from which
d
2
θ
dt
2
= 0.
The radial velocity of the point is
dr
dt
= 4 m/s,
from which
d
2
r
dt
2
= 0.
The vector velocity is
v =
_
dr
dt
_
e
r
+r
_
dθ
dt
_
e
θ
= 4e
r
+4e
θ
(m/s).
The magnitude is
v =
√
4
2
+4
2
= 5.66 m/s
.
The acceleration is
a = [−2(4)]e
r
+[2(4)(2)]e
θ
= −8e
r
+16e
θ
(m/s
2
).
The magnitude is
a =
√
8
2
+16
2
= 17.89 m/s
2
76
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Problem 13.142 At the instant shown, the coordinates
of the collar A are x =2.3 m, y =1.9 m. The collar is
sliding on the bar from B toward C at a constant speed
of 4 m/s.
(a) What is the velocity of the collar in terms of polar
coordinates?
(b) Use the answer to part (a) to determine the angular
velocity of the radial line from the origin to the
collar A at the instant shown.
y
x
A
B
C
60Њ
Solution: We will write the velocity in terms of cartesian coordi
nates.
v
x
= (4 m/s) cos 60
◦
= 2 m/s,
v
y
= (4 m/s) sin 60
◦
= 3.46 m/s.
The angle θ is
θ = tan
−1
_
y
x
_
= tan
−1
_
1.9 m
2.3 m
_
= 39.6
◦
.
Now we can convert to polar coordinates
v
r
= v
x
cos θ +v
y
sin θ = (2 m/s) cos 39.6
◦
+(3.46 m/s) sin 39.6
◦
,
v
θ
= −v
x
sin θ +v
y
cos θ = −(2 m/s) sin 39.6
◦
+(3.46 m/s) cos 39.6
◦
.
(a) v = (3.75e
r
+1.40e
θ
) .
(b)
dθ
dt
=
v
θ
r
=
1.40 m/s
_
(2.3 m)
2
+(1.9 m)
2
= 0.468 rad/s.
dθ
dt
= 0.468 rad/s.
77
m/s
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Problem 13.143 At the instant shown, the coordinates
of the collar A are x =2.3 m, y = 1.9 m. The collar is
sliding on the bar from B toward C at a constant speed
of 4 m/s.
(a) What is the acceleration of the collar in terms of
polar coordinates?
(b) Use the answer to part (a) to determine the angular
acceleration of the radial line from the origin to the
collar A at the instant shown.
y
x
A
B
C
60Њ
Solution: The velocity is constant, so the acceleration is zero.
(a) a
A
= 0.
Form Problem 13.141 we know that
r =
(2.3 m)
2
+(1.9 m)
2
= 2.98 m,
dr
dt
= v
r
= 3.75 m/s,
dθ
dt
= 0.468 rad/s.
Using the θ component of the acceleration we can solve for the angular
acceleration.
a
θ
= r
d
2
θ
dt
2
+2
dr
dt
dθ
dt
= 0
d
2
θ
dt
2
= −
2
r
dr
dt
dθ
dt
= −
2
2.98 m
(3.75 m/s)(0.486 rad/s)
d
2
θ
dt
2
= −1.18 rad/s
2
.
78
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Problem 13.144 A boat searching for underwater
archaeological sites in the Aegean Sea moves at 2.06 m/s
and follows the path r = 10θ m, where θ is in radians.
When θ = 2π rad, determine the boat’s velocity (a) in
terms of polar coordinates and (b) in terms of cartesian
coordinates.
y
x
Solution: The velocity along the path is
= 2.06 m/s.
(a) The path is r = 10θ. The velocity
v
r
=
dr
dt
=
d
dt
(10θ) = 10
dθ
dt
m/s.
The velocity along the path is related to the components by
v
2
= v
2
r
+v
2
θ
=
_
dr
dt
_
2
+r
2
_
dθ
dt
_
2
= 2.06
2
.
At θ = 2π, r = 10(2π) = 62.8 m. Substitute:
2.06
2
=
_
10
dθ
dt
_
2
+r
2
_
dθ
dt
_
2
= (100 +62.8
2
)
_
dθ
dt
_
2
,
from which
dθ
dt
= 0.0323 rad/s,
v
r
= 10
dθ
dt
= 0.323 m/s , v
θ
= r
dθ
dt
= 2.032 m/s
(b) From geometry, the cartesian components are v
x
= v
r
cos θ +
v
θ
sin θ, and v
y
= v
r
sin θ +v
θ
cos θ. At θ = 2π,
v
x
= v
r , and
v
y
= v
θ
Problem 13.145 The collar A slides on the circular
bar. The radial position of A (in meters) is given as
a function of θ by r = 2 cos θ. At the instant shown,
θ = 25
◦
and dθ/dt = 4 rad/s. Determine the velocity of
A in terms of polar coordinates.
r
y
x
A
u
Solution:
r = 2 cos θ, ˙ r = −2 sin θ
˙
θ, ¨ r = −2 sin θ
¨
θ −2 cos θ
˙
θ
2
Using the given data we have
θ = 25
◦
,
˙
θ = 4,
¨
θ = 0
r = 1.813, ˙ r = −3.381, ¨ r = −29.00
v = ˙ re
r
+r
˙
θe
θ
= (−3.381e
r
+7.25e
θ
) m/s
79
v
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Problem 13.146 In Problem 13.145, d
2
θ/dt
2
= 0 at
the instant shown. Determine the acceleration of A in
terms of polar coordinates.
Solution: See Problem 13.145
a = (¨ r −r
˙
θ
2
)e
r
+(r
¨
θ +2˙ r
˙
θ)e
θ
= (−58.0e
r
−27.0e
θ
) m/s
2
Problem 13.147 The radial coordinate of the earth
satellite is related to its angular position θ by
r =
1.91 ×10
7
1 +0.5 cos θ
m.
The product of the radial position and the transverse
component of the velocity is
rv
θ
= 8.72 ×10
10
m
2
/s.
What is the satellite’s velocity in terms of polar
coordinates when θ = 90
◦
?
Satellite
r
θ
Solution:
At θ = 90
◦
, r = 1.91 ×10
7
m = p
r =
p
1 +0.5 cos θ
,
˙ r =
(−p)(0.5)(−sin θ)
˙
θ
(1 +0.5 cos θ)
2
We also know that
rv
θ
= 8.72 ×10
10
m
2
/s
However v
θ
= r
˙
θ, hence
r
2
˙
θ = 8.72 ×10
10
m
2
/s
Solving for
˙
θ, we get
˙
θ = 0.000239 rad/s
and ˙ r = 2283 m/s and from above
v
θ
= 4565 m/s
v = 2283e
r
+4565e
θ
(m/s)
80
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Problem 13.148* In Problem 13.147, what is the satel
lite’s acceleration in terms of polar coordinates when
θ = 90
◦
?
Solution: Set A = 1.91 ×10
7
m, B = 8.72 ×10
10
m
2
/s
r =
A
1 +0.5 cos θ
, rv
θ
= r(r
˙
θ) = B
˙
θ =
B
r
2
=
_
B
A
2
_
(1 +0.5 cos θ)
2
¨
θ = −
_
B
A
2
_
(1 +0.5 cos θ) sin θ
˙
θ = −
_
B
2
A
4
_
(1 +0.5 cos θ)
3
sin θ
˙ r =
0.5Asin θ
(1 +0.5 cos θ)
2
˙
θ =
0.5B sin θ
A
¨ r =
0.5B cos θ
A
˙
θ = 0.5
_
B
2
A
3
_
cos θ(1 +0.5 cos θ)
2
When θ = 90
◦
we have
r = A, ˙ r =
B
2A
, ¨ r = 0,
˙
θ =
B
A
2
,
¨
θ = −
B
2
A
4
Thus
a = (¨ r −r
˙
θ
2
)e
r
+(r
¨
θ +2˙ r
˙
θ)e
θ
= (−1.091e
r
) m/s
2
81
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Problem 13.149 A bead slides along a wire that rotates
in the xyplane with constant angular velocity ω
0
. The
radial component of the bead’s acceleration is zero. The
radial component of its velocity is v
0
when r = r
0
. Deter
mine the polar components of the bead’s velocity as a
function of r.
Strategy: The radial component of the bead’s velocity
is v
r
=
dr
dt
, and the radial component of its acceleration
is
a
r
=
d
2
r
dt
2
−r
_
dθ
dt
_
2
=
_
dv
r
dt
_
−rω
2
0
.
By using the chain rule,
dv
r
dt
=
dv
r
dr
dr
dt
=
dv
r
dr
v
r
.
you can express the radial component of the acceleration
in the form a
r
=
dv
r
dr
v
r
−rω
2
0
.
x
y
r
ω
Solution: From the strategy:
a
r
= 0 = v
r
dv
r
dr
−ω
2
0
r.
Separate variables and integrate: v
r
dv
r
= ω
2
0
rdr, from which
v
2
r
2
= ω
2
0
r
2
2
+C.
At r = r
0
, v
r
= v
0
, from which
C =
v
2
0
−ω
2
0
r
2
0
2
, and
v
r
=
_
v
2
0
+ω
2
0
(r
2
−r
2
0
).
The transverse component is
v
θ
= r
_
dθ
dt
_
= rω
0
, from which
v =
_
v
2
0
+ω
2
0
(r
2
−r
2
0
)e
r
+rω
0
e
θ
Problem 13.150 If the motion of a point in the x–y
plane is such that its transverse component of accelera
tion a
θ
is zero, show that the product of its radial position
and its transverse velocity is constant: rv
θ
= constant.
Solution: We are given that a
θ
= rα +2v
r
ω = 0. Multiply the
entire relationship by r. We get
0 = (r
2
α +2rv
r
ω) =
_
r
2
_
dω
dt
_
+2r
_
dr
dt
_
r
ω
_
=
d
dt
(r
2
ω).
Note that if
d
dt
(r
2
ω) = 0, then r
2
ω = constant. Now note that v
θ
=
rω. We have r
2
ω = r(rω) = rv
θ
= constant. This was what we
needed to prove.
82
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Problem 13.151* From astronomical data, Kepler
deduced that the line from the sun to a planet traces out
equal areas in equal times (Fig. a). Show that this result
follows from the fact that the transverse component a
θ
of
the planet’s acceleration is zero. [When r changes by an
amount dr and θ changes by an amount dθ (Fig. b), the
resulting differential element of area is dA =
1
2
r(rdθ)].
x
y
(b)
r + dr
r
dA
(a)
t
2
+ ∆t
t
1
+ ∆t
t
1
t
2
A
A
θ
dθ
Solution: From the solution to Problem 13.150, a
θ
= 0 implies
that
r
2
ω = r
2
dθ
dt
= constant.
The element of area is
dA =
1
2
r(rdθ),
or
dA
dt
=
1
2
r
_
r
dθ
dt
_
=
1
2
r
2
ω = constant.
Thus, if
dA
dt
= constant, then equal areas are swept out in equal times.
Problem 13.152 The bar rotates in the x–y plane with
constant angular velocity ω
0
= 12 rad/s. The radial com
ponent of acceleration of the collar C (in m/s
2
) is given
as a function of the radial position in meters by a
r
=
−8r. When r = 1 m, the radial component of velocity
of C is v
r
= 2 m/s. Determine the velocity of C in terms
of polar coordinates when r = 1.5 m.
Strategy: Use the chain rule to write the ﬁrst term in
the radial component of the acceleration as
d
2
r
dt
2
=
dv
r
dt
=
dv
r
dr
dr
dt
=
dv
r
dr
v
r
x
y
r
C
v
0
Solution: We have
a
r
=
d
2
r
dt
2
−r
_
dθ
dt
_
2
= −(8 rad/s
2
)r,
d
2
r
dt
2
=
_
_
dθ
dt
_
2
−(8 rad/s
2
)
_
r = ([12 rad/s]
2
−[8 rad/s
2
])r = ([136 rad/s
2
)r
Using the supplied strategy we can solve for the radial velocity
d
2
r
dt
2
= v
r
dv
r
dr
= (136 rad/s
2
)r
_
v
r
2 m/s
v
r
dv
r
= (136 rad/s
2
)
_
1.5 m
1 m
rdr
ν
2
r
2
−
(2 m/s)
2
2
= (136 rad/s
2
)
_
[1.5 m]
2
2
−
[1 m]
2
2
_
Solving we ﬁnd v
r
= 13.2 m/s.
We also have v
θ
= r
dθ
dt
= (1.5 m)(12 rad/s) = 18 m/s.
Thus v = (13.2e
r
+18e
θ
) m/s.
83
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Problem 13.153 The hydraulic actuator moves the pin
P upward with constant velocity v = 2j (m/s). Deter
mine the velocity of the pin in terms of polar coordinates
and the angular velocity of the slotted bar when θ = 35
◦
.
y
x
P
2 m
θ
Solution:
v
P
= 2j (m/s)
r = re
r
v = ˙ re
r
+r
˙
θe
θ
Also, r = 2i +yj (m)
v = ˙ yj (m/s) = 2j (m/s)
˙ r = ˙ y sin θ tan θ =
y
x
r
˙
θ = ˙ y cos θ
r =
_
x
2
+y
2
θ = 35
◦
,
Solving, we get y = 1.40 m,
˙ r = 1.15 m/s,
r = 2.44 m,
˙
θ = 0.671
rad
s
Hence V = ˙ re
r
+r
˙
θe
θ
V = 1.15e
r
+1.64e
θ
(m/s)
θ
θ
θ
e
e
r
y
.
Problem 13.154 The hydraulic actuator moves the
pin P upward with constant velocity v = 2j (m/s).
Determine the acceleration of the pin in terms of polar
coordinates and the angular acceleration of the slotted
bar when θ = 35
◦
.
Solution: From Problem 13.153
V = 2j m/s, constant
a =
dv
dt
≡ 0
˙
θ = ω = 0.671 rad/s
θ = 35
◦
˙
θ = ω ˙ y = 2 m/s
¨
θ = α ¨ y = 0
tan θ =
y
x
=
y
2
y = 2 tan θ
˙ y = 2 sec
2
θ
˙
θ
¨ y = 2(2 sec θ)(sec θ tan θ)
˙
θ
2
+2 sec
2
θ
¨
θ
¨
θ =
[−2 sec θ tan θ](
˙
θ)
2
sec θ
˙
θ = 0.631 rad/s
2
θ
y
x = 2m
84
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Problem 13.155 In Example 13.15, determine the
velocity of the cam follower when θ = 135
◦
(a) in
terms of polar coordinates and (b) in terms of cartesian
coordinates.
r
Follower
Cam
y
x
u
Solution:
(a) θ = 135
◦
, ω = dθ/dt = 4rad/s, and α = 0.
r = 0.15(1 +0.5 cos θ)
−1
= 0.232 m.
dr
dt
= 0.075
dθ
dt
sin θ(1 +0.5 cos θ)
−2
= 0.508 m/s.
v =
dr
dt
e
r
+r
dθ
dt
e
θ
= 0.508e
r
+0.928e
θ
(m/s).
(b) v
x
= v
r
cos θ −v
θ
sin θ
= −1.015 m/s.
v
y
= v
r
sin θ +v
θ
cos θ
= −0.297 m/s.
Problem 13.156* In Example 13.15, determine the
acceleration of the cam follower when θ = 135
◦
(a) in
terms of polar coordinates and (b) in terms of cartesian
coordinates.
Solution: See the solution of Problem 13.155.
(a)
d
2
r
dt
2
= 0.075
_
dθ
dt
_
2
cos θ(1 +0.5 cos θ)
−2
+0.075
_
dθ
dt
_
2
sin
2
θ(1 +0.5 cos θ)
−3
= 0.1905 m/s
2
.
a =
_
d
2
r
dt
2
−r
_
dθ
dt
_
2
_
e
r
+
_
r
d
2
θ
dt
2
+2
dr
dt
dθ
dt
_
e
θ
= −3.52e
r
+4.06e
θ
(m/s
2
).
(b) a
x
= a
r
cos θ −a
θ
sin θ
= −0.381 m/s
2
a
y
= a
r
sin θ +a
θ
cos θ
= −5.362 m/s
2
.
85
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Problem 13.157 In the camfollower mechanism, the
slotted bar rotates with constant angular velocity ω =
10 rad/s and the radial position of the follower A is
determined by the proﬁle of the stationary cam. The
path of the follower is described by the polar equation
r = 1 +0.5 cos(2θ) .
Determine the velocity of the cam follower when θ =
30
◦
(a) in terms of polar coordinates and (b) in terms of
cartesian coordinates.
r
A
y
x
θ
Solution:
(a) θ = 30
◦
, ω = dθ/dt = 10 rad/s, and α = 0.
r = 1 +0.5 cos 2θ
= 1.25 m.
dr
dt
= −
dθ
dt
sin 2θ
= −8.66 m/s.
v =
dr
dt
e
r
+r
dθ
dt
e
θ
= −8.66e
r
+12.5e
θ
( /s).
(b) v
x
= v
r
cos θ −v
θ
sin θ
= −13.75 m/s,
v
y
= v
r
sin θ +v
θ
cos θ
= 6.50 /s.
Problem 13.158* In Problem 13.157, determine the
acceleration of the cam follower when θ = 30
◦
(a) in
terms of polar coordinates and (b) in terms of cartesian
coordinates.
Solution: See the solution of Problem 13.157.
(a)
d
2
r
dt
2
= −2θ
2
cos 2θ
= −100 m/s
2
.
a =
_
d
2
r
dt
2
−r
_
dθ
dt
_
2
_
e
r
+
_
r
d
2
θ
dt
2
+2
dr
dt
dθ
dt
_
e
θ
.
= −225e
r
−173e
θ
(
2
).
(b) a
x
= a
r
cos θ −a
θ
sin θ
= −108 m/s
2
,
a
y
= a
r
sin θ +a
θ
cos θ
= −263 m/s
2
.
86
m
m
m/s
m
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Problem 13.159 The cartesian coordinates of a point
P in the x−y plane are related to its polar coordinates of
the point by the equations x = r cos θ and y = r sin θ.
(a) Show that the unit vectors i, j are related to the
unit vectors e
r
, e
θ
by i = e
r
cos θ −e
θ
sin θ and j =
e
r
sin θ +e
θ
cos θ.
(b) Beginning with the expression for the position vec
tor of P in terms of cartesian coordinates, r =
xi +yj, derive Eq. (13.52) for the position vector
in terms of polar coordinates.
(c) By taking the time derivative of the position vector
of point P expressed in terms of cartesian coordi
nates, derive Eq. (13.47) for the velocity in terms
of polar coordinates.
x
y
e
r
r
P
e
θ
θ
Solution:
(a) From geometry (see Figure), the radial unit vector is e
r
=
i cos θ +j sin θ, and since the transverse unit vector is at right
angles:
e
θ
= i cos
_
θ +
π
2
_
+j sin
_
θ +
π
2
_
= −i sin θ +j cos θ.
Solve for i by multiplying e
r
by cos θ, e
θ
by sin θ, and subtracting
the resulting equations:
i = e
r
cos θ −e
θ
sin θ .
Solve for j by multiplying e
r
by sin θ, and e
θ
by cos θ, and the
results:
j = e
r
sin θ +e
θ
cos θ
(b) The position vector is r = xi +yj = (r cos θ)i +(r sin θ)j =
r(i cos θ +j sin θ). Use the results of Part (a) expressing i, j in
terms of e
r
, e
θ
:
r = r(e
r
cos
2
θ −e
θ
cos θ sin θ +e
r
sin
2
θ +e
θ
sin θ cos θ)
= re
r
(c) The time derivatives are:
dr
dt
= v = i
_
dr
dt
cos θ −r sin θ
dθ
dt
_
+j
_
dr
dt
sin θ +r cos θ
dθ
dt
_
,
from which
v =
dr
dt
(i cos θ +j sin θ) +r
dθ
dt
(−i sin θ +j cos θ).
Substitute the results of Part (a)
v =
dr
dt
e
r
+r
dθ
dt
e
θ
=
dr
dt
e
r
+rωe
θ
87
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Problem 13.160 The airplane ﬂies in a straight line at
peller turns at 2000 rpm in the counterclockwise direc
tion when seen from the front of the airplane. Determine
the velocity and acceleration of a point on the tip of the
propeller in terms of cylindrical coordinates. (Let the
zaxis be oriented as shown in the ﬁgure.)
z
Solution: The speed is
v = =
The angular velocity is
ω = 2000
_
2π rad
1 rev
__
1 min
60 s
_
= 209.4 rad/s.
The radial velocity at the propeller tip is zero. The transverse velocity
is v
θ
=ωr = .2 m/s. The velocity vector in cylindrical coordinates
is
v = .2e
θ
+
z
( ) .
The radial acceleration is
a
r
= −rω
2
= − (209.4)
2
= −
2
.
The transverse acceleration is
a
θ
= r
d
2
θ
dt
2
+2
_
dr
dt
__
dθ
dt
_
= 0,
since the propeller rotates at a constant angular velocity. The acceler
ation a
z
= 0, since the airplane travels at constant speed. Thus
a = − e
r
(
2
)
Problem 13.161 A charged particle P in a magnetic
ﬁeld moves along the spiral path described by r = 1 m,
θ = 2z rad, where z is in meters. The particle moves
along the path in the direction shown with constant speed
v = 1 km/s. What is the velocity of the particle in terms
of cylindrical coordinates?
y
z
x
1 km/s
P
Solution: The radial velocity is zero, since the path has a constant
radius. The magnitude of the velocity is
v =
_
r
2
_
dθ
dt
_
2
+
_
dz
dt
_
2
= 1000 m/s.
The angular velocity is
dθ
dt
= 2
dz
dt
.
Substitute: v =
_
r
2
_
dθ
dt
_
2
+
1
4
_
dθ
dt
_
2
=
_
dθ
dt
_
_
r
2
+
1
4
=
√
1.25,
from which
dθ
dt
=
1000
√
1.25
= 894.4 rad/s,
from which the transverse velocity is
v
θ
= r
_
dθ
dt
_
= 894.4 m/s.
The velocity along the cylindrical axis is
dz
dt
=
1
2
_
dθ
dt
_
= 447.2 m/s.
The velocity vector: v = 894.4e
θ
+447.2e
z
x
y
z
V
88
643.6 km/h. The radius of its propellor is 1..524 m, and the
pro
+
643.6 1000/3600 178.8 m/s
319
319 178.8e m/s
1.524 66825 m/s
66825 m/s
1.524 m
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Problem 13.162 At t = 0, two projectiles A and B are
simultaneously launched from O with the initial veloci
ties and elevation angles shown. Determine the velocity
of projectile A relative to projectile B (a) at t = 0.5 s
and (b) at t = 1 s.
30Њ
60Њ
10 m/s
10 m/s
A
B
O
x
y
Solution:
v
A
= −(9.81 m/s
2
j)t +(10 m/s)(cos 60
◦
i +sin 60
◦
j)
v
B
= −(9.81 m/s
2
j)t +(10 m/s)(cos 30
◦
i +sin 30
◦
j)
v
A/B
= v
A
−v
B
= (10 m/s)(−0.366i +0.366j)
v
A/B
= (−3.66i +3.66j) m/s
Since v
A/B
doesn’t depend on time, the answer is the same for both
times
v
A/B
= (−3.66i +3.66j) m/s
Problem 13.163 Relative to the earthﬁxed coordinate
system, the disk rotates about the ﬁxed point O at
10 rad/s. What is the velocity of point A relative to point
B at the instant shown?
B
A
x
y
2 m
O
10 rad/s
Solution:
v
A
= −(10 rad/s)(2 m)i = −(20 m/s)i
v
B
= (10 rad/s)(2 m)j = (20 m/s)j
v
A/B
= v
A
−v
B
= (−20i −20j)
Problem 13.164 Relative to the earthﬁxed coordinate
system, the disk rotates about the ﬁxed point O with
a constant angular velocity of 10 rad/s. What is the
acceleration of point A relative to point B at the
instant shown?
Solution:
a
A
= −(10 rad/s)
2
(2 m)j = −(200 m/s
2
)j
a
B
= −(10 rad/s)
2
(2 m)i = −(200 m/s
2
)i
a
A/B
= a
A
−a
B
= (200i −200j)
2
89
m/s
m/s
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Problem 13.165 The train on the circular track is trav
eling at 15m/s. The train on the straight track is traveling
at 6 m/s. In terms of the earthﬁxed coordinate system
shown, what is the velocity of passenger A relative to
passenger B?
A x
s
B
y
O
1
5
2
m
6 m
15
Solution:
v
A
= (− j) , v
B
= ( j)
v
A/B
= v
A
−v
B
= (− j)
Problem 13.166 The train on the circular track is trav
eling at a constant speed of 15 m/s . The train on the
straight track is traveling at 6 m/s and is increasing its
speed at 0.6 m/s . In terms of the earth
2
ﬁxed coordinate
system shown, what is the acceleration of passenger A
relative to passenger B?
Solution:
a
A
= (− j)
2
, a
B
= −
( )
2
i = (− )
2
a
A/B
= a
A
−a
B
= ( i − j)
2
90
6 m/s 15 m/s
21 m/s
0.6 m/s
15m/s
152 m
1.48 m/s
1.48 0.6 m/s
m/s
/
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Problem 13.167 In Active Example 13.16, suppose
that the velocity of the current increases to 3 m/s ﬂow
/
ing east. If the helmsman wants to travel northwest rela
tive to the earth, what direction must he point the ship?
What is the resulting magnitude of the ships’ velocity
relative to the earth?
x
y
W E
S
N
B
A
O
Solution: The ship is moving at 5 m/s relative to the water. Use
relative velocity concepts
m 2 /s
v
A
= v
B
+v
A/B
v
A
(−cos 45
◦
i +sin 45
◦
j) = (3 m/s)i +(5 m/s)(−cos θi +sin θj)
Breaking into components we have
−v
A
cos 45
◦
= (3 m/s) −(5 m/s) cos θ,
v
A
sin 45
◦
= (5 m/s) sin θ.
Solving these equations we ﬁnd
θ = 19.9
◦
, v
A
= 2.41 m/s.
70.1
◦
west of north, 2.41 .
Problem 13.168 A private pilot wishes to ﬂy from a
city P to a city Q that is 200 km directly north of city P.
The airplane will ﬂy with an airspeed of 290 km/h. At
the altitude at which the airplane will be ﬂying, there is
an east wind (that is, the wind’s direction is west) with a
speed of 50 km/h. What direction should the pilot point
the airplane to ﬂy directly from city P to city Q? How
long will the trip take?
W E
S
N
200 km 50 km/h
Q
P
Solution: Assume an angle θ, measured ccw from the east.
V
Plane/Ground
= V
Plane/Air
+V
Air/Ground
V
Plane/Air
= (290 km/h)(cos θi +sin θj)
V
Air/Ground
= −(50 km/h)i
V
Plane/Ground
= [(290 cos θ −50)i +(290 sin θ)j] km/h
We want the airplane to travel due north therefore
290 cos θ −50 = 0 ⇒θ = cos
−1
_
50
290
_
= 80.07
◦
Thus the heading is
90
◦
−80.07
◦
= 9.93
◦
east of north
The ground speed is now
v = (290 km/h) sin(80.1
◦
) = 285.6 km/h
The time is
t =
d
v
=
200 km
285.6 km/h
= 0.700 h = 42.0 min
91
m/s
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Problem 13.169 The river ﬂows north at 3 m/s.
(Assume that the current is uniform.) If you want to
travel in a straight line from point C to point D in a
boat that moves at a constant speed of 10 m/s relative to
the water, in what direction should you point the boat?
How long does it take to make the crossing?
W E
S
N
500 m
D
C
400 m
3 m/s
Solution: Assume an angle θ, measured ccw from the east.
V
Boat /Ground
= V
Boat /Water
+V
Water/Ground
V
Boat /Water
= (10 m/s)(cos θi +sin θj)
V
Water/Ground
= (3 m/s)j
V
Boat /Ground
= [(10 cos θ)i +(3 +10 sin θ)j] m/s
We want the boat to travel at an angle tan φ =
400
500
Therefore
3 +10 sin θ
10 cos θ
=
400
500
⇒θ = 25.11
◦
Thus the heading is
25.11
◦
north of east
The ground speed is now
v =
_
(10 cos θ)
2
+(3 +10 sin θ)
2
= 11.60 m/s
The time is
t =
d
v
=
√
500
2
+400
2
m
11.60 m/s
= 55.2 s
Problem 13.170 The river ﬂows north at 3 m/s (Assume
that the current is uniform.) What minimum speed must
a boat have relative to the water in order to travel in a
straight line form point C to point D? How long does it
take to make the crossing?
Strategy: Draw a vector diagram showing the relation
ships of the velocity of the river relative to the earth, the
velocity of the boat relative to the river, and the velocity
of the boat relative to the earth. See which direction of
the velocity of the boat relative to the river causes it
magnitude to be a minimum.
W E
S
N
500 m
D
C
400 m
3 m/s
Solution: The minimum velocity occurs when the velocity of the
boat relative to the water is 90
◦
from the velocity of the boat relative
to the earth.
v
B
= v
W
+v
B/W
.
The angle of travel is
θ = tan
−1
_
400 m
500 m
_
= 38.7
◦
.
Using the triangle that is drawn we have
v
B/W
= (3 m/s) cos 38.7
◦
= 2.34 m/s,
v
B
= (3 m/s) sin 38.7
◦
= 1.87 m/s.
The time is given by
t =
_
(400 m)
2
+(500 m)
2
v
B
= 342 s.
v
B/W
= 2.34 m/s. t = 342 s.
92
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Problem 13.171 Relative to the earth, the sailboat sails
north with speed v
0
= 6 m/s and then sails east at the
same speed. The telltale indicates the direction of the
wind relative to the boat. Determine the direction and
magnitude of the wind’s velocity (in m/s) relative to the
earth.
W E
S
N
60Њ
Telltale
0
0
Solution:
v
wind/ground
= v
wind/boat
+v
boat /ground
In position one we have
v
wind/ground
= v
wind/boat1
i +(6 m/s)j
In position two we have
v
wind/ground
= v
wind/boat2
(−cos 60
◦
i +sin 60
◦
j) +(6 m/s)i
Since the wind has not changed these two expressions must be the
same. Therefore
v
wind/boat1
= −v
wind/boat2
cos 60
◦
+6 m/s
6 m/s = v
wind/boat2
sin 60
◦
_
⇒
_
v
wind/boat1
= 2.536 m/s
v
wind/boat2
= 6.928 m/s
Using either position one or position two we have
v
wind/ground
= (2.536i +6j)
v
wind/ground
=
_
(2.536)
2
+(6)
2
= 6.51
direction = tan
−1
_
2.536
6
_
= 22.91
◦
east of north
Problem 13.172 Suppose you throw a ball straight
up at 10 m/s and release it at 2 m above the ground.
(a) What maximum height above the ground does the
ball reach? (b) How long after release it does the ball
hit the ground? (c) What is the magnitude of its velocity
just before it hits the ground?
Solution: The equations of motion for the ball are
a
y
= −g = −9.81 m/s
2
,
v
y
= v
y0
−gt = 10 −9.81t (m/s), and
y = y
0
+v
y0
t −gt
2
/2 = 2 +10t −9.81t
2
/2 (m).
(a) The maximum height occurs when the velocity is zero. Call this
time t = t
1
. It can be obtained by setting velocity to zero, i.e.,
v
y
= 0 = 10 −9.81t
1
(m/s). Solving, we get t
1
= 1.02 s. Substi
tuting this time into the y equation, we get a maximum height of
y
MAX
= 7.10 m.
(b) The ball hits the ground when y = 0 m. To ﬁnd out when this
occurs, we set y = 0 m into the y equation and solve for the
time(s) when this occurs. There will be two times, one posi
tive and one negative. Only the positive time has meaning for
us. Let this time be t = t
2
. The equation for t
2
is y = 0 = 2 +
10t
2
−9.81t
2
2
/2 (m). Solving, we get t
2
= 2.22 s.
(c) The velocity at impact is determined by substituting t
2
= 2.22 s
into the equation for v
y
. Doing this, we ﬁnd that at impact, v
y
=
−11.8 m/s
93
m/s
m/s m/s
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Problem 13.173 Suppose that you must determine the
duration of the yellow light at a highway intersection.
Assume that cars will be approaching the intersection
traveling as fast as 104.6. km/h, that the drivers’ reaction
times are as long as 0.5 s, and that cars can safely
achieve a deceleration of at least 0.4g.
(a) How long must the light remain yellow to allow
drivers to come to a stop safely before the light
turns red?
(b) What is the minimum distance cars must be from
the intersection when the light turns yellow to come
to a stop safely at the intersection?
Solution: The speedtime equation from initial speed to stop is
given by integrating the equation
d
2
s
dt
2
= −0.4g. From which
ds
dt
= −0.4gt +V
0
, and s(t ) = −0.2gt
2
+V
0
t ,
where V
0
is the initial speed and the distance is referenced from the
point where the brakes are applied. The initial speed is:
V
0
= . .
(a) The time required to come to a full stop
ds(t
0
)
dt
= 0 is t
0
=
V
0
0.4g
=
.
(0.4)( . )
= 7.40 s.
The driver’s reaction time increases this by 0.5 second, hence
the total time to stop after observing the yellow light is T =
t
0
+0.5 = 7.90 s
(b) The distance traveled after brake application is traveled from
brake application to full stop is given by
s(t )
0
= −0.2gt
2
0
+V
0
t
0
, from which s(t
0
) = .
The distance traveled during the reaction time is
d = V
0
(0.5) = 9. (0.5) = 4. ,
from which the total distance is
d
t
= . + . = 43.
Problem 13.174 The acceleration of a point moving
along a straight line is a = 4t +2 m/s
2
. When t = 2 s,
its position is s = 36 m, and when t = 4 seconds, its
position is s = 90 meters. What is its velocity when t =
4 s?
Solution: The positiontime equation is given by integrating
d
2
s
dt
2
= 4t +2, from which
ds
dt
= 2t
2
+2t +V
0
, and
s(t ) =
_
2
3
_
t
3
+t
2
+V
0
t +d
0
,
where V
0
, d
0
are the initial velocity and position. From the problem
conditions:
s(2) =
_
2
3
_
2
3
+(2
2
) +V
0
(2) +d
0
= 36,
from which
(1) 2V
0
+d
0
=
_
80
3
_
.s(4) =
_
2
3
_
4
3
+(4
2
) +V
0
(4) +d
0
= 90,
from which
(2) 4V
0
+d
0
=
_
94
3
_
.
Subtract (1) from (2) to obtain
V
0
=
_
94 −80
6
_
= 2.33 m/s.
The velocity at t = 4 seconds is
_
ds(t )
dt
_
t =4
= [2t
2
+2t +V
0
]
t =4
= 32 +8 +2.33 = 42.33 m/s
94
= 104.6
+
1000/3600 29 05 m/s
29 05
9 81
107.6 m
2 05 1 53 m
29 05 14 53 58 m
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Problem 13.175 A model rocket takes off straight up.
Its acceleration during the 2 s its motor burns is 25 m/s
2
.
Neglect aerodynamic drag, and determine
(a) the maximum velocity of the rocket during the
ﬂight and
(b) the maximum altitude the rocket reaches.
Solution: The strategy is to solve the equations of motion for the
two phases of the ﬂight: during burn 0 ≤ t ≤ 2 s seconds, and after
burnout: t > 2 s.
Phase 1: The acceleration is:
d
2
s
dt
2
= 25, from which
ds
dt
= 25t, and s(t ) = 12.5t
2
,
since the initial velocity and position are zero. The velocity at burnout
is V
burnout
= (25)(2) = 50 m/s. The altitude at burnout is h
burnout
=
(12.5)(4) = 50 m.
Phase 2. The acceleration is:
d
2
s
dt
2
= −g, from which
ds
dt
= −g(t −2) +V
burnout
(t ≥ 2), and
s(t ) = −g(t −2)
2
/2 +V
burnout
(t −2) +h
burnout
, (t ≥ 2).
The velocity during phase 1 is constantly increasing because of the
rocket’s positive acceleration. Maximum occurs at burnout because
after burnout, the rocket has negative acceleration and velocity con
stantly decreases until it reaches zero at maximum altitude. The velo
city from maximum altitude to impact must be constantly increasing
since the rocket is falling straight down under the action of grav
ity. Thus the maximum velocity during phase 2 occurs when the
rocket impacts the ground. The issue of maximum velocity becomes
this: is the velocity at burnout greater or less than the velocity at
ground impact? The time of ﬂight is given by 0 = −g(t
ﬂight
−2)
2
/2 +
V
burnout
(t
ﬂight
−2) +h
burnout
, from which, in canonical form:
(t
ﬂight
−2)
2
+2b(t
ﬂight
−2) +c = 0,
where b = −(V
burnout
/g) and c = −(2h
burnout
/g).
The solution (t
ﬂight
−2) = −b ±
√
b
2
−c = 11.11, = −0.92 s. Since
the negative time is not allowed, the time of ﬂight is t
ﬂight
= 13.11 s.
The velocity at impact is
V
impact
= −g(t
ﬂight
−2) +V
burnout
= −59 m/s
which is higher in magnitude than the velocity at burnout. The time
of maximum altitude is given by
ds
dt
= 0 = −g(t
max alt
−2) +V
burnout
, from which
t
max alt
−2 =
V
burnout
g
= 5.1 s, from which
t
max alt
= 7.1 s.
The maximum altitude is
h
max
= −
g
2
(t
max alt
−2)
2
+V
burnout
(t
max alt
−2) +h
burnout
= 177.42 m
95
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Problem 13.176 In Problem 13.175, if the rocket’s
parachute fails to open, what is the total time of ﬂight
from takeoff until the rocket hits the ground?
Solution: The solution to Problem 13.175 was (serendipitously)
posed in a manner to yield the time of ﬂight as a peripheral answer.
The time of ﬂight is given there as t
ﬂight
= 13.11 s
Problem 13.177 The acceleration of a point moving
along a straight line is a = −cv
3
, where c is a constant.
If the velocity of the point is v
0
, what distance does the
point move before its velocity decreases to
v
0
2
?
Solution: The acceleration is
dv
dt
= −cv
3
. Using the chain rule,
dv
dt
=
dv
ds
ds
dt
= v
dv
ds
= −cv
3
. Separating variables and integrating:
dv
v
2
= −cds, from which −
1
v
= −cs +C. At s = 0, v = v
0
, from
which −
1
v
= −cs −
1
v
0
, and v =
v
0
1 +v
0
cs
. Invert: v
0
cs =
v
0
v
−1.
When v =
v
0
2
, s =
_
1
cv
0
_
Problem 13.178 Water leaves the nozzle at 20
◦
above
the horizontal and strikes the wall at the point indicated.
What was the velocity of the water as it left the nozzle?
Strategy: Determine the motion of the water by treat
ing each particle of water as a projectile.
20°
3.66 m
10.67 m
6.1 m
Solution: Denote θ = 20
◦
. The path is obtained by integrating the
equations:
dv
y
dt
= −g and
dv
x
dt
= 0, from which
dy
dt
= −gt +V
n
sin θ,
dx
dt
= V
n
cos θ.
y = −
g
2
t
2
+(V
n
sin θ)t +y
0
.
x = (V
n
cos θ)t +x
0
.
Choose the origin at the nozzle so that y
0
= 0, and x
0
= 0. When the
stream is y(t
impact
) = − =
0 = −
g
2
(t
impact
)
2
+(V
n
sin θ)t
impact
− .
At this same time the horizontal distance is
x(t
impact
) = = (V
n
cos θ)t
impact
, from which t
impact
=
V
n
cos θ
.
Substitute:
0 = −
g
2
_
V
n
cos θ
_
2
+ θ − ,
from which V
n
=
_
cos θ
__
g
2( θ − )
=
96
6. 1 3.66 2. 44 m, the time is
2.44
10 .67
10.67
10.67
10.67 tan 2. 44
10.67
10.67 tan 2.44
20.9 m/s
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Problem 13.179 In practice, a quarterback throws the
football with a velocity v
0
at 45
◦
above the horizontal. At
the same instant, a receiver standing 6.1m in front of him
starts running straight down ﬁeld at 3.05 m/s and catches
the ball. Assume that the ball is thrown and caught at the
same height above the ground. What is the velocity v
0
?
45°
0
3.05 m/s
6.1 m
Solution: Denote θ = 45
◦
. The path is determined by integrating
the equations;
d
2
y
dt
2
= −g,
d
2
x
dt
2
= 0, from which
dy
dt
= −gt +v
0
sin θ,
dx
dt
= v
0
cos θ.
y = −
g
2
t
2
+(v
0
sin θ)t ,
x = (v
0
cos θ)t ,
where the origin is taken at the point where the ball leaves the quar
terback’s hand.
When the ball reaches the receiver’s hands,
y = 0, from which t
ﬂight
=
_
2v
0
sin θ
g
.
At this time the distance down ﬁeld is the distance to the receiver:
x = t
ﬂight
+ . But also
x = (v
0
cos θ)t
ﬂight
, from which
t
ﬂight
=
(v
0
cos θ − )
.
Substitute:
(v
0
cos θ − )
=
_
2v
0
sin θ
g
, from which
= 2v
0
sin θ(v
0
cos θ − )
2
.
The function
f (v
0
) = 2v
0
sin θ(v
0
cos θ − )
2
−
was graphed to ﬁnd the zero crossing, and the result reﬁned by iter
ation: v
0
= . . Check: The time of ﬂight is t = 1.27 s and
the distance down ﬁeld that the quarterback throws the ball is d =
+ = 10 , which seem reasonable for a short, “lob” pass.
check.
45°
10 ft/s
20 ft
v
0
97
3.05 6.1
6.1
3.05
6.1
3. 05
37.21 g 3. 05
3. 05 37. 21 g
11 12 m/s
3.87 6.1 m
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Problem 13.180 The constant velocity v = 2 m/s.
What are the magnitudes of the velocity and acceleration
of point P when x = 0.25 m?
y
1 m
P
x
y = 0.2 sin x π
Solution: Let x = 2t m/s. Then x = 0.25 m at t = 0.125 s. We
know that v
x
= 2 m/s and a
x
= 0.
From
y = 0.2 sin(2πt ), we obtain
dy
dt
= 0.4π cos(2πt ) and
d
2
y
dt
2
= −0.8π
2
sin(2πt ).
At t = 0.125 s,
y = 0.141 m and
dy
dt
= v
y
= 0.889 m/s and
d
2
y
dt
2
= a
y
= −5.58 m/s.
Therefore
v =
_
v
2
x
+v
2
y
= 2.19 m/s,
a =
_
a
2
x
+a
2
y
= 5.58 m/s
2
.
Problem 13.181 The constant velocity v = 2 m/s.
What is the acceleration of point P in terms of normal
and tangential components when x = 0.25 m?
Solution: See the solution of Problem 13.180. The angle θ
between the x axis and the path is
θ = arctan
_
v
y
v
x
_
= arctan
_
0.889
2
_
= 24.0
◦
. Then
a
t
= a
x
cos θ +a
y
sin θ = 0 +(−5.58) sin 24.0
◦
= −2.27 m/s
2
,
a
N
= a
x
sin θ −a
y
cos θ = 0 −(−5.58) cos 24.0
◦
= 5.10 m/s
2
.
The instantaneous radius is
ρ =
v
2
x
+v
2
y
a
N
=
(2)
2
+(0.889)
2
5.10
= 0.939 m.
a
y
a
t
θ
a
x
a
N
98
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Problem 13.182 The constant velocity v = 2 m/s.
What is the acceleration of point P in terms of polar
coordinates when x = 0.25 m?
Solution: See the solution of Problem 13.192. The polar angle θ is
θ = arctan
_
y
x
_
= arctan
_
0.141
0.25
_
= 29.5
◦
. Then
a
r
= a
x
cos θ +a
y
sin θ = 0 +(−5.58) sin 29.5
◦
= −2.75 m/s
2
,
a
θ
= −a
x
sin θ +a
y
cos θ = 0 +(−5.58) cos 29.5
◦
= −4.86 m/s
2
.
a
y
a
r
θ
a
x
θ
a
Problem 13.183 A point P moves along the spiral
path r = (0.1)θ θ is in radians. The angular
position θ = 2t rad, where t is in seconds, and r = 0
at t = 0. Determine the magnitudes of the velocity and
acceleration of P at t = 1 s.
P
r
θ
Solution: The path r = 0.2t θ = 2t rad. The velocity compo
nents are
v
r
=
dr
dt
= 0.2 m/s, v
θ
= r
dθ
dt
= (0.2t )2 = 0.4t .
At t = 1 seconds the magnitude of the velocity is
v =
_
v
2
r
+v
2
θ
=
√
0.2
2
+0.4
2
= 0.447 m/s
The acceleration components are:
a
r
=
d
2
r
dt
2
−r
_
dθ
dt
_
2
= −(0.2t )(2
2
)
2
,
a
θ
= r
_
d
2
θ
dt
2
_
+2
_
dr
dt
__
dθ
dt
_
= 2(0.2)(2) = 0.8 m/s
2
.
The magnitude of the acceleration is a =
_
a
2
r
+a
2
θ
= 1.13 m/s
2
99
m, where
m,
m/s
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Problem 13.184 In the camfollower mechanism, the
slotted bar rotates with a constant angular velocity ω =
12 rad/s, and the radial position of the follower A is
determined by the proﬁle of the stationary cam. The
slotted bar is pinned a distance h = 0.2 m to the left of
the center of the circular cam. The follower moves in a
circular path of 0.42 m radius. Determine the velocity
of the follower when θ = 40
◦
(a) in terms of polar
coordinates, and (b) in terms of cartesian coordinates.
r A
y
x
h
θ
Solution:
(a) The ﬁrst step is to get an equation for the path of the follower in
terms of the angle θ. This can be most easily done by referring
to the diagram at the right. Using the law of cosines, we can
write R
2
= h
2
+r
2
−2hr cos θ. This can be rewritten as r
2
−
2hr cos θ +(h
2
−R
2
) = 0. We need to ﬁnd the components of
the velocity. These are v
r
= ˙ r and v
θ
= r
˙
θ. We can differentiate
the relation derived from the law of cosines to get ˙ r. Carrying
out this differentiation, we get 2r ˙ r −2h˙ r cos θ +2hr
˙
θ sin θ = 0.
Solving for ˙ r, we get
˙ r =
hr
˙
θ sin θ
(hcos θ −r)
.
Recalling that ω =
˙
θ and substituting in the numerical values,
i.e., R = 0.42 m, h = 0.2 m, ω = 12 rad/s, and θ = 40
◦
, we get
r = 0.553 m, v
r
= −2.13 m/s, and v
θ
= 6.64 m/s
(b) The transformation to cartesian coordinates can be derived from
e
r
= cos θi +sin θj, and e
θ
= −sin θi +cos θj. Substituting
these into v = v
r
e
r
+v
θ
e
θ
, we get v = (v
r
cos θ −v
θ
sin θ)i +
(v
r
sin θ +v
θ
cos θ)j. Substituting in the numbers, v = −5.90i +
3.71j (m/s)
r
R
P
O c
h
θ
Problem 13.185* In Problem 13.184, determine the
acceleration of the follower when θ = 40
◦
(a) in terms
of polar coordinates and (b) in terms of cartesian
coordinates.
Solution:
(a) Information from the solution to Problem 13.184 will be used
in this solution. In order to determine the components of the
acceleration in polar coordinates, we need to be able to determine
all of the variables in the right hand sides of a
r
= ¨ r −r
˙
θ
2
and
that a
θ
= r
¨
θ +2˙ r
˙
θ. We already know everything except ¨ r and
¨
θ. Since ω is constant,
¨
θ = ˙ ω = 0. We need only to ﬁnd the
value for r and the value for ¨ r at θ = 40
◦
. Substituting into the
original equation for r, we ﬁnd that r = 0.553 m at this position
on the cam. To ﬁnd ¨ r, we start with ˙ r = v
r
. Taking a derivative,
we start with r ˙ r −h˙ r cos θ +hr
˙
θ sin θ = 0 from Problem 13.184
(we divided through by 2). Taking a derivative with respect to
time, we get
¨ r =
˙ r
2
+2hr
˙
θ sin θ +hr
˙
θ
2
cos θ +hr
¨
θ sin θ
(hcos θ −r)
.
Evaluating, we get ¨ r = −46.17 m/s
2
. Substituting this into the
equation for a
r
and evaluating a
n
, we get a
r
= −125.81 m/s
2
and a
θ
= −51.2 m/s
2
(b) The transformation of cartesian coordinates can be derived
from e
r
= cos θi +sin θj, and e
θ
= sin θi +cos θj. Substituting
these into a = a
r
e
r
+a
e
e
θ
, we get a = a
r
e
r
+a
θ
e
θ
, we get
a = (a
r
cos θ −a
θ
sin θ)i +(a
r
sin θ +a
θ
cos θ)j. Substituting in
the numbers, we get a = −63.46 i −120.1 j(m/s
2
).
100
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Problem 13.3 In an experiment to estimate the acceleration due to gravity, a student drops a ball at a distance of 1 m above the ﬂoor. His lab partner measures the time it takes to fall and obtains an estimate of 0.46 s. What do they estimate the acceleration due to gravity to be? (b) Let s be the ball’s position relative to the ﬂoor. Using the value of the acceleration due to gravity that they obtained, and assuming that the ball is released at t = 0, determine s (in m) as a function of time. Solution: The governing equations are
a = −g v = −gt s = − 1 gt 2 + h 2 (a) When the ball hits the ﬂoor we have 0 = − 1 gt 2 + h ⇒ g = 2 g = 9.45 m/s2 (b) The distance s is then given by s = − 1 (9.45 m/s2 ) + 1 m. 2 s = −(4.73 m/s2 )t 2 + 1.0 m. 2h 2(1 m) = = 9.45 m/s2 t2 (0.46 s)2
s
(a)
s
0
Problem 13.4 The boat’s position during the interval of time from t = 2 s to t = 10 s is given by s = 4t + 1.6t 2 − 0.08t 3 m. Determine the boat’s velocity and acceleration at t = 4 s. (b) What is the boat’s maximum velocity during this interval of time, and when does it occur? (a)
Solution:
s = 4t + 1.6t 2 − 0.08t 3 v= a= a) v(4s) = 12.96 m/s2
a(4s) = 1.28 m/s2 ds = 4 + 3.2t − 0.24t 2 ⇒ dt b) a = 3.2 − 0.48t = 0 ⇒ t = 6.67s dv = 3.2 − 0.48t dt v(6.67s) = 14.67 m/s
10
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Problem 13.5 The rocket starts from rest at t = 0 and travels straight up. Its height above the ground as a function of time can be approximated by s = bt 2 + ct 3 , where b and c are constants. At t = 10 s, the rocket’s velocity and acceleration are v = 229 m/s and a = 28.2 m/s2 . Determine the time at which the rocket reaches supersonic speed (325 m/s). What is its altitude when that occurs?
Solution: The governing equations are
s = bt 2 + ct 3 ,
s
v = 2bt + 3ct 2 , a = 2b + 6ct. Using the information that we have allows us to solve for the constants b and c. (229 m/s) = 2b(10 s) + 3c(10 s)2 , (28.2 m/s2 ) = 2b + 6c(10 s). Solving these two equations, we ﬁnd b = 8.80 m/s2 , c = 0.177 m/s3 . When the rocket hits supersonic speed we have (325 m/s) = 2(8.80 m/s2 )t + 3(0.177 m/s3 )t 2 ⇒ The altitude at this time is s = (8.80 m/s2 )(13.2 s)2 + (0.177 m/s3 )(13.2 s)3 s = 1940 m. t = 13.2 s.
Problem 13.6 The position of a point during the interval of time from t = 0 to t = 6 s is given by s = − 1 t 3 + 2 6t 2 + 4t m. What is the maximum velocity during this interval of time, and at what time does it occur? (b) What is the acceleration when the velocity is a maximum? Solution:
1 s = − 2 t 3 + 6t 2 + 4t m 3 v = − 2 t 2 + 12t + 4 m/s
(a)
dv = 0 (it could be a minimum) dt da = −3 so we have a maximum. This occurs at t = 4 s. At this point dt Maximum velocity occurs where a = (a) (b) Max velocity is at t = 4 s. where v = 28 m/s and a = 0 m/s2
a = −3t + 12 m/s2
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11
8π = 2.513 m/s2 c) vmax ⇒ t = 0. mechanical.7 The position of a point during the interval of time from t = 0 to t = 3 seconds is s = 12 + 5t 2 − t 3 m.375s) = −1.4 sin (2π t) m.8. from which dt t= 10 = 1. photocopying.8π cos(2π t) dt dv = −1.777 m/s ds v= = 0.667 = 8. . and at what time does it occur? What is the acceleration when the velocity is a maximum? d2v = −6 < 0. and acceleration a of point P as functions of time for 0 ≤ t ≤ 2 s. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. 6 This is indeed a maximum. draw graphs of the position s.9 For the mechanism in Problem 13. All rights reserved. (b) What is the maximum magnitude of the velocity of P ? (c) When the magnitude of the velocity of P is a maximum. and the slope of the graph of v is zero at times for which a is zero. Using your graphs. since velocity is v = 10t − 3t 2 t=1. nπ ⇒ a = 0 P (a) s Problem 13.375 s.33 m /s (b) The acceleration is dv = 0 when the velocity is a maximum. velocity v. Solution: 12 c 2008 Pearson Education South Asia Pte Ltd. The maximum dt 2 Solution: (a) ds = 10t − 3t 2 . The maximum occurs when The velocity is dt dv = 10 − 6t = 0.2 m/s2 b) vmax = 0.375) = −11. dt Problem 13.6π 2 sin(2π t) a= dt ⇒ a(0. or transmission in any form or by any means. what is the acceleration of P ? Solution: s = 0. conﬁrm that the slope of the graph of s is zero at times for which v is zero. Determine the velocity and acceleration of P at t = 0. recording or likewise.667 seconds.8 The rotating crank causes the position of point P as a function of time to be s = 0.4 sin(2π t) a) v(0. (a) (b) What is the maximum velocity during this interval of time.Problem 13. electronic. storage in a retrieval system.
All rights reserved. . the position of the arm is given by s = 30t 2 − 20t 3 mm. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. K. .4π 2 cos(2π t) = 0. 2. 2 These acceleration maxima have the absolute value dv dt 2 2 nπ = 0. storage in a retrieval system.8π 3 sin(2π t) = 0. the robot’s arm moves along a straight horizontal line. 2. An engineer analyzing the data determines that for a 10s interval of time beginning at t = 0.4π 2 cos(2π t). 3. These velocity maxima have the absolute value ds dt = [0. mechanical. . the position is approximated by s = 100 cos(2π t) mm. dt from which 2π t = (2n − 1) (2n − 1)π .4π = 3. 2 4 where (2M − 1) ≤ 10 seconds. 3 dt dt from which 2π t = nπ .95 m/s . (a) Determine the maximum velocity during this interval of time. dt 2 The acceleration maxima occur at d3s d2v = 2 = 0.10 A seismograph measures the horizontal motion of the ground during an earthquake. (since da/dt < 0. t= t= (2n−1) 4 Problem 13. The velocity at this time is (b) v = (60) 1 2 − 60 1 4 mm/s v = 15 mm/s The position and acceleration at this time are s = 7. electronic. (b) What are the position and acceleration when the velocity is a maximum? s Solution: s = 30t 2 − 20t 3 mm v = 60t − 60t 2 mm/s a = 60 − 120t mm/s2 da = −120 mm/s3 dt dv = a = 0. or t = K ≤ 10 seconds. 2 The acceleration is n .5 − 2. . or t = . or transmission in any form or by any means. n = 0. we have a maximum).5 mm s = 5 mm a = 0 mm/s2 c 2008 Pearson Education South Asia Pte Ltd. dt The velocity maxima occur at dv = −0. 1. .2π ] = 0. What are (a) the maximum velocity and (b) maximum acceleration of the ground during the 10s interval? Solution: (b) (a) The velocity is ds = −(2π )100 sin(2π t) mm/s = −0.628 m/s. During an interval of time from t = 0 to t = 1 s. M. where 2 n = 1.Problem 13. recording or likewise.2π sin(2π t) m/s.11 In an assembly operation. 4 d2s = −0. photocopying. 13 . . This occurs at (a) Maximum velocity occurs when dt 0 = 60 − 120t or t = 1/2 second.
8 2 hr 1 (10 s)2 km − 0.76 m/s3 . At t = 4 s.88 m/s)(t/s2 ).88 m/s)(t 2 /s2 ). dt The maximum acceleration occurs at t = 0 (and decreases linearly from its initial value).8t − 0.33 m/s2 @ t = 0 In the ﬁrst 10 seconds the car travels a distance s= 1 km 22.13 The Porsche starts from rest at time t = 0.12 In Active Example 13.244 m/s The governing equations are then s= 1 1 (6.1.88 km hr = 0. Suppose that at t = 0 the position and velocity of P are s = 5 m and v = 2 m/s.33 m/s2 ) − 2(0. 2 3 v = (6. its velocity in km/h is given as a function of time by v = 22. mechanical. (a) What is the car’s maximum acceleration in m/s2 .8 km hr 1000 m 1 km 1000 m 1 km 1hr 3600 s 1 hr 3600 s = 6. All rights reserved. recording or likewise. 14 c 2008 Pearson Education South Asia Pte Ltd. . where t is in seconds. photocopying. storage in a retrieval system. or transmission in any form or by any means.235 km.88 m/s)(t 3 /s2 ). the acceleration (in m/s2 ) of point P relative to point O is given as a function of time by a = 3t 2 . This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. electronic.33 m/s)(t/s) − (0. During the ﬁrst 10 seconds of its motion.88t 2 . v = 66 m/s. amax = 6.33 m/s)(t 2 /s) − (0. and when does it occur? (b) What distance in km does the car travel during the 10 seconds? Solution: First convert the numbers into meters and seconds 22. O s P s Solution: The governing equations are a = (3 m/s4 )t 2 v= s= 1 (3 m/s4 )t 3 + (2 m/s) 3 1 (3 m/s4 )t 4 + (2 m/s)t + (5 m) 12 s = 77 m. Determine the position and velocity of P at t = 4 s.88 m/s)(1/s2 ) = −1.Problem 13. d a = −2(0. we have Problem 13.33 m/s 0. a = (6.88 s 3 hr (10 s)3 s2 1 hr 3600 s s = 0.
hence C = 20. The position is s= v dt + C2 . and the velocity as a function 1 of time is v = 30t 2 − 12t 3 + 20 m/s . 15 . At t = 0. What are position and velocity as a function of time? Solution: The velocity is v= a dt + C1 = (60t − 36t 2 ) + C1 = 30t 2 − 12t 3 + C1 . t=3 At t = 0. What are the position and velocity at t = 3 s? Solution: The velocity is v= a dt + C1 . At t = 0. All rights reserved. When t = 0. s = 40 m and v = −10 m/s. electronic. s= 10 3 t − 10t + 40 3 = 100 m. s= (10t 2 − 10) dt + C2 = 10 3 t − 10t + C2 . or transmission in any form or by any means. = 10t 3 − 3t 4 + 20t + C2 . photocopying. The velocity at t = 3 seconds is v = 10t 2 − 10 = 80 m/s . At t = 3 seconds. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. recording or likewise. thus C2 = 40.14 The acceleration of a point is a = 20t m/s2 . mechanical. 3 Problem 13. The position is s= 10 3 t − 10t + 40 m. and the position is s = 10t 3 − 3t 4 + 20t m c 2008 Pearson Education South Asia Pte Ltd. hence C1 = −10 and the velocity is v = 10t 2 − 10 m/s. When t = 0. v = 20 m/s. s = 0 and v = 20 m/s.Problem 13.15 The acceleration of a point is a = 60t − 36t 2 m/s 2. Thus v= 20t dt + C1 = 10t 2 + C1 . v = −10 m/s. 3 where C1 is the constant of integration. hence C2 = 0. storage in a retrieval system. s = 0. The position is s= v dt + C2 = (30t 2 − 12t 3 + 20) + C2 At t = 0. s = 40 m. t=3 where C2 is the constant of integration.
3 m = 1 2 at .42)] 18 18 Using the information given. storage in a retrieval system. electronic. s= 1 2 at .1 m/s = at.42 s + Solving this equation. we ﬁnd t = 1. mechanical. . 4.1 m/s when it does. From video measurements of a bird taking off. What is its acceleration? Solution: The governing equations are a = constant. a bioengineer studying the mechanics of bird ﬂight assumes that the snow petrel takes off with constant acceleration. Video measurements indicate that a bird requires a distance of 4.42 s to take off and is moving at 6. or transmission in any form or by any means. recording or likewise.28 m/s2 . we ﬁnd C = 4.3 m to take off and is moving at 6.41 s and a = 4.1 m/s when it does.Problem 13. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. ω ω ω s s − cos[18(1. we have 6. where C and ω are constants.1 m/s = C 1.17 Progressively developing a more realistic model. What is the constant C? Solution: We ﬁnd an expression for the velocity by integrating the acceleration a = C(1 + sin ωt). v = at. 16 c 2008 Pearson Education South Asia Pte Ltd. photocopying.33 m/s2 . v = Ct + 1 1 C (1 − cos ωt) = C t + − cos ωt . 2 Using the information given. All rights reserved. 2 Solving these two equations. we have 6. the bioengineer next models the acceleration of the snow petrel by an equation of the form a = C(1 + sin ωt).16 As a ﬁrst approximation. Problem 13. he estimates that ω = 18/s and determines that the bird requires 1.
Problem 13. because it becomes lighter as its fuel is expended.47 s The velocity at that time is v = 100(9. mechanical. its acceleration (in g’s) is given as a function of time in seconds by 100 .81 m/s 2 )(1 s) ln 0. or 100 times the acceleration due to gravity.2t What is the missile’s velocity in kilometres per hour 1 s after liftoff? a= Solution: We ﬁnd an expression for the velocity by integrating the acceleration (valid only for 0 < t < 5s).2 = 1095 m/s. Suppose that the missile shown lifts off from the ground and has a constant acceleration of 100 g’s. recording or likewise.2 1 − 0. c 2008 Pearson Education South Asia Pte Ltd. v = at.81 m/s2 )t 2 ⇒ 2 t = 2. s= 1 2 at 2 Using the given information we have 3000 m = 1 100(9. 1 − 0.2(t/s) 0. v= 0 t adt = 0 t 100g 100gs 1 dt = ln 1 − 0. we have v= 1 100(9. All rights reserved.81 m/s2 )(2.19 Suppose that the missile shown lifts off from the ground and. 17 . How long does it take to reach an altitude of 3000 m? How fast is it going when it ranches that altitude? Solution: The governing equations are a = constant. v = 2430 m/s. photocopying.47 s) = 243 m/s. v = 394 0 k m/ h. electronic.18 Missiles designed for defense against ballistic missiles have attained accelerations in excess of 100 g’s. Problem 13. storage in a retrieval system.2[t/s] At time t = 1 s. or transmission in any form or by any means. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.2 1 − 0.
All rights reserved. mechanical.32t)2 Problem 13. and the initial displacement is s(t0 ) = 25 m.20 travel during the interval of time from t = 0 to t = 10 s? Solution: v= 80 . storage in a retrieval system. recording or likewise. photocopying. the acceleration is a= dv(t) dt = 10 m/s 2.22 The velocity of a bobsled is v = 10t m/s. 1 + 0.2 80 dt = 250 ln = 359 m 1 + 0. or transmission in any form or by any means. 2 Choose t0 = 0.32t 10 s 0 1 + 3.6 ⇒ a(3 s) = −6. the displacement is s= 10 (10 − 2)2 + 20(10 − 2) + 25 = 505 m 2 18 c 2008 Pearson Education South Asia Pte Ltd. Its velocity is given as a function of time by 80 v= m/s.32t What is the airplane’s acceleration at t = 3 s? Solution: v= 80 dv −25. the position is s = 25 m.Problem 13. a= = 1 + 0. When t = 2 s. At t = 10 seconds. electronic. s= 1 + 0. What is its position at t = 10 s? Solution: The equation for straight line displacement under constant acceleration is s= a(t − t0 )2 + v(t0 )(t − t0 ) + s(t0 ).20 The airplane releases its drag parachute at time t = 0. t=2 the velocity is v(t0 ) = 10(2) = 20 m/s. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. At t = 2.66 m/s2 .32t dt (1 + 0.32t 1 Problem 13. .21 How far does the airplane in Problem 13.
24 The velocity of an object is v = 200 − 2t 2 m/s. The position is obtained from the velocity: 6 3 s(t − t0 ) = v(t) dt + s(t0 ) = 200t − 2 3 t 3 6 + 600 = 1070 m . its position is s = 600 m. What are the vehicle’s position and velocity at t = 6 s? Solution: a = 2 + 0. recording or likewise. the vehicle’s position and velocity are s = 240 m.6 m s0 = 240 m c 2008 Pearson Education South Asia Pte Ltd. (a) 528 km/h = b(4.1t m/s2 v0 = 42 m/s Integrating v = v0 + 2t + 0. storage in a retrieval system. mechanical.498 s)2 2 402 km = b c (4. His speed as he crossed the ﬁnish line was 5 28 km/h. or transmission in any form or by any means.498 s)3 2 6 ⇒ b = 54 m/s 2 c = −9. photocopying. 2003. v = bt + ct 2 . the acceleration is a = −24 m/s2 .1t 2 /2 s = v0 t + t 2 + 0.498 seconds in a National Hot Rod Association race. All rights reserved. Tony Schumacher started from rest and drove 402 km in 4. At t = 0.5 m/s 3 c (2 s)2 = 8 9 m /s 2 (b) v = b(2 s) + Problem 13. 19 .8 m/s s = 531. dt At t = 6 seconds. Choose the initial conditions at t0 = 3 seconds. electronic. What was the car’s speed 2 s after the start of the race? Solution: a = b + ct. Assume that the car’s acceleration can be expressed by a linear function of time a = b + ct. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.23 In September. When t = 3 seconds. respectively.1t 3 /6 + s0 Substituting the known values at t = 6 s. we get v = 55.498 s) + c (4.1t m/s2 .Problem 13. What are the position and acceleration of the object at t = 6 s? Solution: The acceleration is dv(t) = −4t m/s2 .498 s)2 + (4. v = 42 m/s. 2 s= bt 2 ct 3 + 2 6 Both constants of integration are zero.25 An inertial navigation system measures the acceleration of a vehicle from t = 0 to t = 6 s and determines it to be a = 2 + 0. (a) (b) Determine the constants b and c. 3 Problem 13.
5 m v(5 s) = 30 m/s. s= 1 2 at . 5s 6 m/s2 5s v= 6 m/s2 5s t2 + (3 m/s 2 )t 2 s= t3 t2 + (3 m/s2 ) 6 2 s(5 s) = 62. we have 120 ×1000 m 3600 s = a(5 s) ⇒ a = 6 .27. Problem 13. suppose that the cheetah’s acceleration is constant and it reaches its top speed of 120 km/h in 5 s. or transmission in any form or by any means. 2 Using the information supplied.67 m/s 2 ) (5 s)2 + 2 120 × 1000 m 3600 s (10 s − 5 s) = 250 m. photocopying. for 5 s ≤ t ≤ 30 s a = 9 m/s 2. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. . mechanical. (t − 5 s)2 + (30 m/s)(t − 5 s) + 62. s = (9 m/s2 ) v = (9 m/s2 )(t − 5 s) + 30 m/s. v = at. Solution: for 0 ≤ t ≤ 5 s a= 6 m/s 2 t + (3 m/s2 ).3. electronic. s = 250 m . storage in a retrieval system. 6 7 m/s2 The distance that he travels in the ﬁrst 10 s (5 seconds accelerating and then the last 5 seconds traveling at top speed) is s= 1 (6.26 In Example 13. recording or likewise. All rights reserved.28 Determine the distance traveled during its takeoff by the airplane in Problem 13.Problem 13.27 The graph shows the airplane’s acceleration during its takeoff. What distance can it cover in 10 s? Solution: The governing equations while accelerating are a = constant. What is the airplane’s velocity when it rotates (lifts off) at t = 30 s? a 9 m/ s2 Solution: Velocity = Area under the curve 1 v = (3 m/s 2 + 9 m/s 2 )(5 s) + (9 m/s 2 )(25 s) = 255 m/s 2 3 m/s2 0 t 0 5s 30 s Problem 13.5 m 2 ⇒ s(30 s) = 3625 m 20 c 2008 Pearson Education South Asia Pte Ltd.
electronic.34 s − 1 s) = 22. photocopying.33 m/s )(1 s) + ⇒ t = 5. (a) (b) After he applies the brakes.33 m/s )(t − 1 s) 2 c 2008 Pearson Education South Asia Pte Ltd. The driver takes one second to react before he applies the brakes.33 m/s )t + 13. The driver takes 1 s to react before he applies the accelerator. recording or likewise. the car will have traveled a distance d = (13.33 m/s . v = 48 km/h = 13. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.1 7 m /s 2 t = 11.29 The car is traveling at 48 km/h when the trafﬁc light 90 m ahead turns yellow. we solve 90 m = (13. The speed at this time is v = 13.33 m/s )(1 s) + 1 (2 m/s 2 )(5 s − 1 s)2 + ( 13. 2 When the light turns red. 1 (2 m/s2 )(t − 1 s)2 + (13. No. 21 . s = −c At the stop we have 90 m = −c t2 + (13.34 s. 48 km/h = 13. will the car reach the light before it turns red? How fast is the car moving when it reaches the light? Solution: First. storage in a retrieval system. If the car has a constant acceleration of 2 m/s2 and the light remains yellow for 5 s.33 m/s)t + 13. v = −ct + 13. s = (13. convert the initial speed into m/s.35 m from the light. 3 3 m /s ⇒ a) b) Problem 13.33 m/s )(5 s − 1 s) = 82. All rights reserved. v = 79 . To ﬁnd the time at which the car does reach the light.41 s t2 + ( 13.33 m 2 0 = −ct + 1 3 .33 m 2 c = 1 .65 m.33 m/s.Problem 13.30 The car is traveling at 48 km/h when the trafﬁc light 90 m ahead turns yellow. the driver will still be 7.33 m/s. what constant rate of deceleration will cause the car to come to a stop just as it reaches the light? How long does it take the car to travel the 90 m? 48 km/h 90 m Solution: for 0 ≤ t ≤ 1 s a = 0. or transmission in any form or by any means.33 m/s + ( 2 m/s 2 ) (5.2 k m/ h.33 m/s)t s(1 s) = 13. mechanical.33 m for t > 1 s a = −c (constant).01 m/s. At the end of the 5 s.
The time required to reach 0. or transmission in any form or by any means. Ignoring relative motion between the solar system and Proxima Centauri. The distance trav2 eled at top speed is s(t2 ) = 100000 − 2500 − 2500 = 95000 m = 95 km. 3 × 107 The total time of ﬂight is ttotal = t1 + t2 + t3 = 1. Check.0581 × 108 seconds.995 × 1016 m.026 × 109 seconds. Solution: Divide the time of travel into three intervals: The time required to reach a top speed of 100 m/s.0981 m/s2 86400 s 1 day where v(0) = 0 and s(0) = 0 (from the conditions in the problem). the ﬁrst and last time intervals are equal. From symmetry. From symmetry. a 0.1 times the speed of light is t1 = 3 × 107 m/s v = = 3.9 solar years 1 solar years 365. How long does the trip take? (Light travels at 3 × 108 m/s. The distance trav2 eled during this time is s(t1 ) = at1 /2 from which s(t1 ) = 2(50)2 /2 = 2500 m. t3 = t1 . is 4. Strategy: A graphical approach can help you solve this problem.01 times the acceleration due to gravity at sea level) until it reaches onetenth the speed of light.) Solution: The distance to Proxima Centauri is d = (4. the time traveling at top speed. 2 1 22 c 2008 Pearson Education South Asia Pte Ltd. The total time of travel is ttotal = t1 + t2 + t3 = 50 + 950 + 50 = 1050 s = 17.2422 days 1 days 86400 sec The distance traveled is s(t1 ) = a 2 t + v(0)t + s(0). The time of ﬂight at constant velocity is t2 = 3. coasts until it is time to decelerate.0777 × 1016 m. and s(t1 ) = s(t3 ). Check.01 g (0.2422 day) = 3.32 The nearest star. photocopying. and the time required to decelerate from top speed to zero. The length of the middle interval is s(t2 ) = d − s(t1 ) − s(t3 ) = 3. A plot of velocity versus time can be made and the area under the curve will be the distance traveled. then decelerates at 0. the magnitude of the acceleration and deceleration is limited to 2 m/s2 . The length of the constant speed section of the trip can be adjusted to force the length of the trip to be the required 100 km. All rights reserved. Proxima Centauri. Determine the time required for a trip of 100 km. Divide the time of ﬂight into the three intervals. mechanical. recording or likewise. For the comfort of the passengers.63751 × 109 sec = 51. from which s(t3 ) = 2500 m. The distance traveled is s(t3 ) = a 2 − t3 + 100t3 . Problem 13.22 light . suppose that a spacecraft accelerates from the vicinity of the Earth at 0. from which t2 = 950. The initial time is obtained from v(t1 ) = at1 . . storage in a retrieval system.63751 × 109 seconds.5 minutes .587 × 1015 m. from which t3 = 100/2 = 50 s. The third time interval is given by v(t3 ) = −at3 + 100 = 0.31 A highspeed rail transportation system has a top speed of 100 m/s.Problem 13. The time of travel is obtained from the distance traveled at zero acceleration: s(t2 ) = 95000 = 100t2 . from which t1 = 100/2 = 50 s.0777 × 1016 m = 1. from which s(t1 ) = 4.year)(3 × 108 m/s)(365.22 light years from the Earth. Recall that the change in the position from an initial time t0 to a time t is equal to the area deﬁned by the graph of the velocity as a function of time from t0 to t. and the distances traveled during these intervals are equal.01 g until it comes to rest in the vicinity of Proxima Centauri. In solar years: ttotal = 1. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. electronic.
or transmission in any form or by any means. the velocity is v(t − 6) = a(t − 6) + v(6) = 0.5)2 + 158(39. hence the maximum occurs at the end of the interval. Determine (a) the maximum velocity. The displacement in the ﬁrst interval is s(t) = 2t + 2 3 t +2 3 dt + 6 = t 2 + 1 4 t + 2t + 6. 2 from which (b) s(5) = −30 2 5 + 150(5) + 583. Solution: (a) For the ﬁrst interval. (b) the total distance traveled. t2 ≥ 10 s. All rights reserved.Problem 13. t ≥ 6. recording or likewise. the acceleration of the point is a = 2 + 2t 2 m/s2 . mechanical. The velocity is an increasing monotone function. The brakes are then applied. photocopying.33 m . from which the total distance is stotal = 3390 m The displacement at the end of the interval is s(6) = 270 m. From t = 0 to t = 6 s. from which (t − 6) = − 158 v(6) =− = 39. t = 10 s.5 + 6 = 45. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. from which (t2 − 10) = − 150 = 5.5. the position of a point is s = 6 m and its velocity is v = 2 m/s.33 = 958. The total distance traveled is s(t2 − 10) = a (t2 − 10)2 + v(10)(t2 − 10) + s(10). its acceleration is a = −4 m/s2 . 6 = −2(39. From t = 6 s until it comes to rest. and the car has a constant acceleration a = −30 m/s2 until it comes to rest. (b) The distance traveled in the ﬁrst interval is s(10) = 10 0 (5t + t 2 ) dt = 5 2 1 3 t + t 2 3 10 = 583. electronic. 23 .33 A race car starts from rest and accelerates at a = 5 + 2t m /s2 for 10 seconds. storage in a retrieval system.34 When t = 0. (a) What is the total time of travel? (b) What total distance does the point move? Solution: For the ﬁrst interval the velocity is v(t) = (2 + 2t 2 ) dt + v(0) = 2t + 2 3 t + 2 m/s. (c) the total time of travel.33 m 2 since v(0) = 0. −30 and Problem 13. For the second interval.5 seconds.5) + 270. 0 The time of travel in the second interval is v(t2 − 10) = 0 = a(t2 − 10) + v(10). the velocity is v(t) = (5 + 2t) dt + v(0) = 5t + t 2 (c) the total time of travel is t2 = 15. from which vmax = 150 m/s . 3 The total time of travel is (a) (b) ttotal = 39. The distance traveled is s(t − 6) = −4 (t − 6)2 + v(6)(t − 6) + s(6) 2 The velocity at the end of the interval is v(6) = 158 m/s. a −4 c 2008 Pearson Education South Asia Pte Ltd.
the distance traveled during the acceleration phase is 4. mechanical.36 (4) = 133.4 = 1 .1 − 234. The total distance traveled at the end sc (t) = 2 of the second phase is stotal = Vc (11) + 55.4 m Solution: The top speeds are Vc = 100 km/h = 27. recording or likewise.85 m/s 2. This distance is traversed in the time t2 = 12.06(11) + 36.56 m.78 m/s for the Problem 13. The acceleration is ac = Vc Vs = 6. If the police ofﬁcers begin constant acceleration at the instant they are passed and increase their speed to 129 km/h in 4 s .1 m.513 m/s2 for the 4 4 springbuck.4 − 121 = 12.278 m/s = 3600 s h The acceleration of the police car is a= (129 − 88)(0. 4s d = 133.7 = 126. 2 The total time is ttotal = 1. how long does it take them to be even with the pursued car? Solution: The conversion from mi/h to m/s is 1000 m km = 0.4 m . electronic.37 If θ = 1 rad and is the velocity of P relative to O? dθ = 1 rad/s. storage in a retrieval system. Problem 13. or transmission in any form or by any means. (129 − 88)(0.7 m. and Vs = 65 km/h = 18. The distance traveled at the end of the ss (t) = 2 second phase is ss (t) = 18.06 m/s. start at the same time. 09 + 4 = 5. For the cheetah.278) m/s = 2.11 m. Solution: The distance s from point O is s = (2 m) cos θ + (2 m) cos θ. . the distance traveled in the ﬁrst is 6. The derivative is dθ ds = −4 sin θ .1 = 234.513 2 (4) = 36. Divide the intervals into the acceleration phase and the chase phase.85 (4)2 + 88 (0 .36 Suppose that a person unwisely drives 120 km/h in a 88 km/h zone and passes a police car going 88 km/h in the same direction.37 m/s dt 24 c 2008 Pearson Education South Asia Pte Ltd.4 m . how close must the a cheetah be when the chase begins to catch a springbuck in 15 s? cheetah. For the springbuck. photocopying. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. 0 9. what dt 2m 2m Strategy: You can write the position of P relative to O as s = (2 m) cos θ + (2 m) cos θ and then take the derivative of this expression with respect to time to determine the velocity.841) = −3.Problem 13.278 )(4) = 121 m. and are each assumed to have constant acceleration and reach top speed in 4 s. dt dt For θ = 1 radian and dθ = 1 radian/second.278) The distance traveled by the pursued car during this acceleration is sc (t1 ) = 1 2 0 (0 . and as = = 4.09 seconds. The separation between the two cars at 4 seconds is The distance traveled during acceleration is s(t1 ) = 2 .94 m/s2 for the cheetah. If the animals run along the same straight line. dt O P s ds = v(t) = −4(sin(1 rad)) = −4(0.35 Zoologists studying the ecology of the Serengeti Plain estimate that the average adult cheetah can run 100 km/h and that the average springbuck can run 65 km/h.94 2 (4) = 55.56 = 361. The permissible separation between the two at the beginning for a successful chase is d = sc (15) − ss (15) = 361.278 ) t1 = 33.
The velocity is ds = v(t) = −200 sin θ dt dθ dt − 400 sin α dα dt . dθ /dt = −2 rad/s and d 2 θ/dt 2 = 0.38 In Problem 13. mechanical.39 If θ = 1 rad and is the velocity of P relative to O? dθ = 1 rad/s. The position relative to O is. dt dt The acceleration is d2s = −4 cos θ dt 2 from which d2s = a = −4 cos(1 rad)(4) = −8. Problem 13.5 cos θ dθ dt .64 m/s 2 dt 2 dθ dt 2 − 4 sin θ d2θ dt 2 . dθ dt . photocopying. or transmission in any form or by any means. electronic. c 2008 Pearson Education South Asia Pte Ltd.4343 radians. 400 O P s For θ = 1 radian. if θ = 1 rad. what are the velocity and acceleration of P relative to O? Solution: The velocity is dθ ds = −4 sin θ = −4(sin(1 rad))(−2) = 6. 25 . storage in a retrieval system. α = 0. what dt 200 mm 400 mm Solution: The acute angle formed by the 400 mm arm with the horizontal is given by the sine law: 400 200 = . s = 200 cos θ + 400 cos α. All rights reserved.Problem 13. sin α sin θ from which sin α = 200 sin θ. From the expression for the angle α.73 m/s . recording or likewise.4 mm/s . This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. cos α dα dt = 0.37. from which the velocity is v(t) = (−200 sin θ − 200 tan α cos θ) Substitute: v(t) = −218.
Problem 13. When t = 0.40 In Active Example 13. .49 cm −0. mechanical.4 (3 s) = −1. Now we can ﬁnd the position a= vdv = ds −0. v2 = (2 cm/s)e−1 2 = 0. electronic.004 = 20 s. determine the time required for the plane’s velocity to decrease from 50 m/s to 10 m/s.004/m)t dt v dv 1 = − v2 v 10 m/s 10 m/s 50 m/s = − 50 m/s 1s 1s + 10 m 50 m = − 4s 50 m = −(0. s ln −0. All rights reserved.Problem 13.49 cm 26 c 2008 Pearson Education South Asia Pte Ltd.4 s2 s s2 = −1. Solution: From Active Example 13.602 cm/s.41 An engineer designing a system to control a router for a machining process models the system so that the router’s acceleration (in cm/s2) during an interval of time is given by a = −0.004/m)t t= − 4s 50 m −1 m 0. storage in a retrieval system. a= dt s v2 2 s dv = cm/s v v2 = 2 cm/s 3 s 0 −0.4/ s s2 = 3.602 cm/s 2 cm/s ds 0 (0. or transmission in any form or by any means. s vdv = v −0.4 s s2 0.4 dv =− v.602 cm/s) − (2 cm/s) = −0. recording or likewise.4 dt. t = 20 s. 0. the position is s = 0 and the velocity is v = 2 cm/s. where v is the velocity of the router in cm/s.2 s .4 v.004/m)v2 ⇒ 2 = −(0.4v.004/m)v2 . What is the position at t = 3 s? Solution: We will ﬁrst ﬁnd the velocity at t = 3. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.4 we know that the acceleration is given by a = −(0.398 cm/s = 3. We can ﬁnd an expression for the velocity as a function of time by integrating a= dv dv = −(0. photocopying.4.
44 we know v= ds = (4 cm/s) 1 − e−(0. or transmission in any form or by any means.05 m−1 ) v2 10 m/s 1 + (0. All rights reserved.05v 2 m/s2 .05 m−1 )t v= v(4 s) = 3.5 s−1 )t dt s(4 s) = (20 m) ln = 21.5 s−1 )t 2 + (1 s−1 )(4 s) 2 4 s 0 10 m/s 1 + (0. electronic. 27 . storage in a retrieval system.6 − 1 + (4 cm/s )t s(2 s) = 3.6 s−1 )t s−1 )t dt = 20 cm 3 e(−0.42.05 m−1 )v 2 dt dv = −(0.6v cm/s 2. where v is the velocity of the boat in m/s.42 we know v= 10 m/s ds = ⇒ s(4 s) = dt 1 + (0.34 cm.97 m Problem 13.6 s −1 )v = 0 t dt − v + 4 cm/s 5 ln 3 4 cm/s = t ⇒ v = (4 cm/s) 1 − e−(0.44 A steel ball is released from rest in a container of oil. 4 − 0.4 cm /s) − (0. where v is the ball’s velocity in cm/s.33 m/s Problem 13. what distance does the boat move in the 4 s following the shutdown of its engine? Solution: From Problem 13. recording or likewise.4 cm/s) − (0.795 cm/s Problem 13.6 s−1 )t v(2 s) = 2.45 In Problem 13.43 In Problem 13.6 s −1 )v dt dv (2. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. Due to hydrodynamic drag. mechanical. What is the boat’s velocity 4 s after the engine is shut down? Solution: a= v 10 m/s dv = −(0.42 The boat is moving at 10 m/s when its engine is shut down.Problem 13. what distance does the ball fall in the ﬁrst 2 s after its release? Solution: From 13. c 2008 Pearson Education South Asia Pte Ltd.5 s−1 )t t 0 dt ⇒ − 1 v v 10 m/s = −(0.44. its subsequent acceleration is a = −0.6 dt t 0 s−1 )t s(2 s) = (4 cm /s) 1 − e−(0. photocopying. Its downward acceleration is a = 2. What is the ball’s downward velocity 2 s after it is released? Solution: a= v 0 dv = (2.
mechanical.9g ds = (1 − e−ct ).47 The acceleration of a regional airliner during its takeoff run is a = 14 − 0. v= 0. recording or likewise. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.46 The greatest ocean depth yet discovered is the Marianas Trench in the western Paciﬁc Ocean.9g − cv.9g c t+ 1 e−ct − . dt c At t = (64)(60) = 3840 s.225 m.02 s−1 . where v is its velocity in m /s.9g − cv. The ball’s downward acceleration is a = 0. How long does it take the airliner to reach its takeoff speed of 200 m/s? Solution: a= dv = (14 m /s2 ) − (0. Integrating and solving for v. All rights reserved. photocopying.0003v 2 m/s 2 . A steel ball released at the surface requires 64 minutes to reach the bottom. storage in a retrieval system. v 0 We obtain s= 0.0003 m−1 )v 2 ds vdv (14 m/s ) − (0. .9g (1 − e−ct ) dt.47.1 s Problem 13.0003 m 2 −1 200 m/s 0 )v 2 = 0 t dt t = 25.9g − cv t 0 dt = t.0003 m 2 −1 200 m/s 0 )v 2 = 0 s ds s = 3243 m 28 c 2008 Pearson Education South Asia Pte Ltd. dt Integrating. What is the depth of the Marianas Trench in kilometers? Solution: a= dv = 0.Problem 13. s 0 ds = 0 t 0. Problem 13. or transmission in any form or by any means.48 In Problem 13. c Separating variables and integrating. where g = 9. what distance does the airliner require to take off? Solution: a=v dv = (14 m/s2 ) − (0. we obtain s = 11. electronic. c c dv = 0.0003 m−1 )v 2 dt dv (14 m/s ) − (0.81 m/s2 and the constant c = 3.
When the parachute opens s = 0 and v = 30 m/s. mechanical. acceleration ends. All rights reserved. she falls at a constant velocity.Problem 13. and what are its SI units? (b) What maximum deceleration is the sky diver subjected to? (c) What is her downward velocity when she has fallen 2 meters from the point at which her parachute opens? Solution: Assume c > 0. recording or likewise. What total distance does the sled travel? Solution: Acceleration Phase a = 30 + 2t m/s2 v = 30t + t 2 m/s s = 15t 2 + t 3 /3 m When v = 400 m/s.003) c 2008 Pearson Education South Asia Pte Ltd. when the velocity is highest: amax = g − cv 2  = g − c(30)2  = 343. (a) After the initial transient. (a) What is the value of c. her downward acceleration is approximately a = g − cv 2 .003v2 ds 1 (0.003v 2 m/s2 until its velocity decreases to 100 m/s. from which C=− 1 2c ln g − 900c = −7. Let us start a new clock for the deceleration phase. so that the acceleration is zero and cv2 = g.3924 m−1 v2 (5)2 m2 /s2 Integrate: − 1 2c ln g − cv 2  = s + C. At this point.81 m/s2 and c is a constant. 29 . from which c= (b) g 9. photocopying. After an initial “transient” period she descends at a nearly constant velocity of 5 m/s.49 A sky diver jumps from a helicopter and is falling straight down at 30 m/s when her parachute opens. dt ds dt ds from which v dv = ds. electronic. The maximum acceleration (in absolute value) occurs when the parachute ﬁrst opens.003) vf v1 ds = − v dv v2 sf − 1833 m = − sf = 2300 m 1 [ln(100) − ln(400)] (0.4398. or transmission in any form or by any means. v1 = 400 m/s. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. For s = 2 m. From then on.50 The rocket sled starts from rest and accelerates at a = 30 + 2t m/s2 until its velocity is 400 m/s.81 m/s2 = = 0. The velocity is related to position by the chain rule: dv ds dv dv = =v = a. where g = 9. v = 14. Deceleration Phase starts at s1 = 1833 m.4 m/s2 The velocity as a function of distance is ln g − cv2  = −2c(s + C).4 m/s (c) Choose coordinates such that distance is measured positive downward. It then hits a water brake and its acceleration is a = −0. storage in a retrieval system. g − cv 2 Problem 13. t = 10 s and s = 1833 m. vf = 100 m/s a=v sf s1 dv = −0.
53 Engineers analyzing the motion of a linkage determine that the velocity of an attachment point is given by v = A + 4s 2 m/s.01 12 m/s 2 vf s2 2 2 = 122 (4202 − 1002 ) + 0.5 m/s Problem 13. electronic. where A is a constant. When s = 2 m. recording or likewise. The deceleration is given as a= td 0 dv = −0. or transmission in any form or by any means. ds When s = 2 m. the velocity is 400 m/s. We need to ﬁnd out how long it takes to decelerate from 400 m/s to 100 m/s and add this to the 10 s required for acceleration.003td = td = 2.Problem 13.51 In Problem 13. The velocity at s = 2 m is v = 4 + 4(22 ) = 20 m /s Solve for a and carry out the differentiation.01s m/s2 ds 420 v dv = 0. a=v dv = (A + 4s 2 )(8s).01s m/s2 . All rights reserved.01 2 2 vf = 42. photocopying.003td = − 1 v =− 400 1 1 − 100 400 0. a = 320 m/s2.5 s Problem 13.003 v2 100 −0. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. the acceleration takes 10 s. When s = 100 m. What is its velocity of the point when s = 2 m? Solution: The velocity as a function of the distance is v dv = a. ds 30 c 2008 Pearson Education South Asia Pte Ltd. what is the sled’s total time of travel? Solution: From the solution to Problem 13. . mechanical.50. How fast is the car moving when s = 420 m? Solution: a=v vf 12 dv = 0. from which A = 4. the car is moving at 12 m/s.01 s ds 100 420 m 100 m v2 2 vf = 0.003v2 m/s2 dt dt = 100 dv 400 −0.50.52 A car’s acceleration is related to its position by a = 0.5 s 3 400 t = 10 + td = 12. At t = 10 s. its acceleration is measured and determined to be a = 320 m/s2 . storage in a retrieval system.
4 /s2 c 2008 Pearson Education South Asia Pte Ltd.5 m c = 28.5m)−0. ⇒ ds s 200 m/s 0 vdv = 3m 1.4 .5 m and accelerates until it reaches the end of the barrel at s = 3 m.42 m /s. mechanical.⇒ ds s 200 m/s 0 s vdv = 3m 1.4 (200 m/s)2 = −2.4 − (1. 2m 0 s 2 ds v2 (1 m/s)2 − = 2 2 v = 3.56 If the propelling gas in the gas gun described in Problem 13.55 Gas guns are used to investigate the properties of materials subjected to highvelocity impacts.54 The acceleration of an object is given as a function of its position in feet by a = 2 s2 (m/s2 ). All rights reserved.Problem 13. storage in a retrieval system.55.86 × 103 m2. The projectile starts from rest at s = 1. photocopying.5c (3m)−0. A projectile is accelerated through the barrel of the gun by gas at high pressure. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.55 is air.85 × 103 m2 /s2 Problem 13. What is the velocity of the object when s = 2 m? Solution: We are given a= v 1 m/s vdv = ds vdv = 2 ms2 2 ms 2 s2.5 m c ds s ⇒ 3m (200 m/s)2 = c ln 2 1. 31 .4 is the ratio of speciﬁc heats for air. its velocity is v = 1 m/s. a more accurate modeling of the acceleration of the projectile is obtained by assuming that the acceleration of the projectile is given by a = c/s γ. When s = 0. recording or likewise.) Determine the value of the constant c necessary for the projectile to leave the barrel with a velocity of 200 m/s. electronic. or transmission in any form or by any means.5 m c ds s 1. Solution: a=v dv c = . 2 ms 2 (2 m)3 3 Problem 13. where s is the position of the projectile in the barrel in meters and c is a constant that depends on the initial gas pressure behind the projectile. (This means that an isentropic expansion process is assumed instead of the isothermal process assumed in Problem 13. where γ = 1. Determine the value of the constant c necessary for the projectile to leave the barrel with a velocity of 200 m/s.4 2 c = 38. Solution: a=v c dv = 1. Assume that the acceleration of the projectile is given by a = c/s.
the mass is subjected to a deceleration proportional to s. All rights reserved. [Note: From the initial conditions. The velocity is v2 /2 = −2s 2 + 1/2. Substitute the given acceleration. the velocity is v = ± v = −1 m/s . Determine the velocity of the mass as a function of s as it moves from the initial position to s = 0. Solution: From the solution to Problem 13. (a) (b) How far will the mass move to the right before the spring brings it to a stop? What will be the velocity of the mass when it has returned to the position s = 0? s Solution: The velocity of the mass as a function of its position is given by v dv/ds = a. and that you give the mass a velocity v = 1 m/s in the position s = 0. s1 = +1/2 m is the distance traveled before the spring brings it to a stop. separate variables. If the spring is linear. From the physical situation. electronic. or transmission in any form or by any means. The coordinate s measures the displacement of the mass relative to its position when the spring is unstretched. . photocopying. Suppose that a = −4s m/s2 . Problem 13. 2 At t = 0.57.] 32 c 2008 Pearson Education South Asia Pte Ltd. storage in a retrieval system.57 A springmass oscillator consists of a mass and a spring connected as shown.58 In Problem 13. (a) The velocity is zero at the position given by 0 = −2(s1 )2 + 1 . recording or likewise. the velocity is negative (opposite the sign of the initial displacement): √ v = −2 1 − s 2 m/s . from which C = 1/2. mechanical. 4 2 Since the displacement has the same sign as the velocity.Problem 13. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. The velocity is given by 1 √ v(s) = ±(−4s 2 + 4) 2 = ±2 1 − s 2 m/s. The initial velocity v(0) = 1 m/s at s = 0. from which C = 2(1)2 = 2. the velocity as a function of position is given by v2 = −2s 2 + C. suppose that at t = 0 you release the mass from rest in the position s = 1 m. v = 0 and s = 1 m.57. From 2 the physical situation. s 2 ≤ 1 always. 2 from which s1 = ± 1 1 = ± m. the velocity on the ﬁrst return is negative (opposite the sign of the initial displacement). and integrate: v dv = −4s ds. At the return to s = 0. (b) 2 = ±1 m/s. from which v2 /2 = −2s 2 + C.
288 m before coming to rest. 2 (a) The mass falls until v = 0. we have a= v vdv = ds vdv = −4 s+ s2 d 0 −2 m2 s2 vdv = ds vdv = −4 s+ s2 0 0 −2 m2 s2 s3 −2 m2 s2 s3 −2 m2 s2 2 m2 s2 1 m/s −4 s+ s2 d2 − 2 −4 s+ s2 s 3 ds = 0 s 3 ds d4 4 v2 (1 m/s)2 − = 0.Problem 13. we get v 0 v dv = 0 s (32. so we choose v = −1 m/s.288 m.2)2 (32. or vMAX = 4. (a) How far does the mass fall? (b) What is the maximum velocity of the mass as it falls? s Solution: The acceleration is given by a= dv ds dv dv = =v = 32. mechanical. We ﬁnd v = 0 at s = 0 and at s = 1.2/50) m when v = vMAX . Thus. storage in a retrieval system. we can assume that v = 0 at this point. we get 2 vMAX = 2 (b) (25)(32.486 m. we get 0 = (32.2 − 50s) m/s . The maximum velocity occurs where = 0. or transmission in any form or by any means. we have v2 = dv 2(32.2 − 50s).59 A springmass oscillator consists of a mass and a spring connected as shown. Thus. (a) (b) How far will the mass move to the right before the springs brings it to a stop? What will be the velocity of the mass when it has returned to the position s = 0? s Solution: (a) Find the distance when the velocity is zero.2s − 25s 2 . or s = (32.2 − 50s m/s 2. 33 . Substituting this value for s into the equation for v. Setting v = 0.60 The mass is released from rest with the springs unstretched. 2 2 The cart will be moving to the left. photocopying.2 − 25s)s. electronic. a= 0 1 m/s (b) When the cart returns to the position s = 0. From the integration of the equation of motion.2 − 50s m/s 2. ⇒ v = ±1 m/s. the mass falls 1. Problem 13.2)2 − 50 502 . where s is the position of the mass measured from the position in which it is released. 0 = (32. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. − 4 (1 m/s)2 =− 2 2 s Solving for d we ﬁnd d = 0.2 − 50s) ds or v2 = 32. ds dv = From the original equation for acceleration.55 m /s c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. dt ds dt ds Integrating. we have a = v ds 2 (32. Since we want maximum velocity. The coordinate s measures the displacement of the mass relative to its position when the spring is unstretched. recording or likewise.2s − 25s 2 ). Suppose that the nonlinear spring subjects the mass to an acceleration a = −4s−2s3 m/s2 and that you give the mass a velocity v = 1 m/s in the position s = 0. Its downward acceleration is a = 32.
. 6 ) 6372 2 382942 + C. Then 0 = 2(127137. Neglect the effect of the moon’s gravity.2 m/s 2 ) s − (50 s− 2 ) 2 2 2 v 2 = (10 m/s)2 + (64.5.61 Suppose that the mass in Problem 13. v ds s Separate variables. photocopying. RE + 161 The velocity as a function of position is given by gR 2 dv = a = − 2E . (See Example 13. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.2 m/s2 ) − (50 s −2 )s]ds (b) The maximum velocity occurs when a = 0 0 = (32. the equation for the velocity is 2 v0 = 2 g 2 RE + C.948 m/s . or transmission in any form or by any means. 2 v dv = −gRE From which v0 = √ 1553351991 = 39.4 m/s2 )(0. electronic.) 161 km 0 382. (a) How far does the mass fall? (b) What is the maximum velocity of the mass as it falls? Solution: a=v v 10 m/s (a) The mass falls until v = 0 0 = (10 m/s)2 + (64. from which v0 = 39.4 m/s2 )s − (50 s− 2 )s 2 ⇒ s = 2.644 m) − (50 s−2 )(0. storage in a retrieval system. s2 Integrate: 2 v 2 = −2gRE − Check: Use the result of Example 13. what initial velocity v0 straight away from the earth would be required for the vehicle to reach the moon’s orbit 382. All rights reserved.Problem 13.2 m/s 2) − (50 s−2 )s ⇒ s = 0.413 km/h.62 If a spacecraft is 161 km above the surface of the earth. ds .942 .6 km/h .60 is in the position s = 0 and is given a downward velocity of 10 m/s. namely miles and hours: g= 9. 2 from which C = −26960164 km 2/h2 .644 m (10 m/s)2 s2 v2 − = (32. 34 c 2008 Pearson Education South Asia Pte Ltd. s0 H v0 = 2 2gRE Suppose that the velocity at the distance of the Moon’s orbit is zero.644 m)2 v = 10. 1 1 − . and H = 382 .2 m/s 2) − (50 s−2 )s ds vdv = 0 s [(32.4 m/s 2 )s − (50 s−2 )s2 v 2 = (10 m/s)2 + (64. recording or likewise. mechanical. convert the acceleration due to Earth’s gravity into the units given in the problem. check. At the 161 km altitude.20 m dv = (32.99 m /s Problem 13.81 m 1 s2 1 km 1000 m 36002 s2 1 h2 = 127137.942 km from the center of the earth? The radius of the earth is 6372 km.413 km/h Converting: v0 = 39413 km 1h 1000 m 1 km 1h 3600 s = 10. (where H > s0 always).942 km Solution: For computational convenience.5 1 2 + C.
and the velocity is v = v2 = − g RE s 2 + C. (The acceleration due to gravitation is equal to zero at the center of the earth and increases linearly with the distance from the center.64* The velocity of an object subjected only to the earth’s gravitational ﬁeld is 2 2 v = v0 + 2gRE Solution: 2 2 v = v0 + 2gRE 1 1 − s s0 1/2 . show that the object’s 2 acceleration is given as a function of s by a = −gRE /s 2 .Problem 13. a= dv dv =v dt ds 2 2 2gRE 2gRE − s s0 2 Rewrite the equation given as v2 = v0 + Take the derivative with respect to s.65 Suppose that a tunnel could be drilled straight through the earth from the North Pole to the South Pole and the air was evacuated. and RE is the earth’s radius. and s is the distance of the object from the center of the earth.89 × 1012 m3 /s2 . electronic. An object dropped from the surface would fall with the acceleration a = −gs/RE . ds RE N Tunnel s RE S At s = RE . photocopying.738 × 106 m. The magnitude of the acceleration due to gravity of the moon at a distance s from the center of the moon is 4. c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. storage in a retrieval system. recording or likewise. Using this equation.0 × 106 m) = 1395 m/s The maximum velocity occurs when v = 0 r= 2G = 6010 km 2G − r0 v0 2 ⇒ h = r − r0 = 4272 km Problem 13. v = 0. where g is the acceleration of gravity at sea level. mechanical. RE is radius of the earth. from which C = gRE . This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. or transmission in any form or by any means. r0 = 1. v0 = 2000 m/s a=v G dv =− 2 ⇒ ds s v v0 vdv = − r r0 v0 2 1 1 G v2 − =G − ds ⇒ s2 2 2 r r0 v 2 = v0 2 + 2G r0 − r rr0 (a) (b) v(r0 + 1.89 × 1012 m/s2 . 1 1 − s s0 1/2 where s is the object’s position relative to the center of the earth. v0 is the velocity at position s0 .63 The moon’s radius is 1738 km. 2gR 2 dv =− 2E ds s 2v Thus a=v gR 2 dv − 2E ds s Problem 13. s2 Suppose that a spacecraft is launched straight up from the moon’s surface with a velocity of 2000 m/s. Combine and reduce: v 2 = gRE 1 − s2 2 RE √ gRE Separate variables and integrate: At the center of the earth s = 0. (a) (b) What will the magnitude of its velocity be when it is 1000 km above the surface of the moon? What maximum height above the moon’s surface will it reach? Solution: Set G = 4. 35 .) What is the magnitude of the velocity of the dropped object when it reaches the center of the earth? Solution: The velocity as a function of position is given by v dv gs =− .
or transmission in any form or by any means.1 min g 2 Problem 13. y What is the magnitude of the helicopter’s velocity at t = 3 s? (b) What is the magnitude of the helicopter’s acceleration at t = 3 s? Solution: We have x = (4 m) + (2 m/s)t.66 Determine the time in seconds required for the object in Problem 13. ax = 0. (a) x vy = (4 m/s) + 2(1 m/s2 )t. vy = 10 m/s. ay = 2(1 m/s2 ). y = 4 + 4t + t 2 . ay = 2 m/s2 . mechanical.2 m/s.67 In a second test. storage in a retrieval system. Solution: From Problem 13. The earth’s radius is 6370 km. y = (4 m) + (4 m/s)t + (1 m/s2 )t 2 . 02 + (2 m/s2 )2 = 2 m/s2 36 c 2008 Pearson Education South Asia Pte Ltd. v = 10. electronic. Thus v= a= 2 2 vx + vy = 10.2 m/s vx = 2 m/s. At t = 3 s. the acceleration is a=v v 0 g dv =− s ds RE s RE v du = − g RE s ds v2 = g RE 2 (RE − s 2 ) Recall that v = ds/dt v= 0 RE g ds =± dt RE g RE tf 2 RE − s 2 ds 2 RE − s 2 =± dt 0 g tf = ± sin−1 RE tf = ± s RE 0 RE = ± sin−1 (1) RE π = ±1266 s = ±21. a = 2 m/s2 . y = 25 m.6 are given as functions of time by x = 4 + 2t. photocopying. vx = (2 m/s). This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. we have x = 10 m.65.65 to fall from the surface of the earth to the center. . recording or likewise.Problem 13. ax = 0. the coordinates of the position (in m) of the helicopter in Active Example 13. All rights reserved.
vy = −(9. vx = (10 m/s) cos 20 .7k (m) Problem 13.7 m rt=4s = 266i + 75. storage in a retrieval system. The velocity from t = 0 to t = 4 s is v = (52 + 6t)i + (12 + t 2 )j − (4 + 2t 2 )k (m/s).81 m/s2 )t − (10 m/s) sin 20 1 ◦ sy = − (9. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. sx = (10 m/s) cos 20 t.Problem 13.3j − 36.81 m/s2 )t 2 − (10 m/s) sin 20 t 2 Solving these two equations together. we have sx = d cos 30 = (10 m/s) cos 20 t.01 s. we ﬁnd t = 1.81 m/s2 )t 2 − (10 m/s) sin 20 t 2 ◦ ◦ When he hits the slope.3 m z4 = 0 4 vz dt = −(4t + 2t 3 /3) + z0 z4 = −4(4) − 2(4)3 /3 + 22 = −36. Determine the distance d to the point where he lands.69 In Example 13. d = 11. or transmission in any form or by any means.0 m. electronic. 37 . the position of the center of mass of the F14 at the time shown (t = 0) is r = 10i + 6j + 22k (m). All rights reserved. suppose that the angle between the horizontal and the slope on which the skier lands is 30◦ instead of 45◦ .7.68 In terms of a particular reference frame. photocopying. mechanical. What is the position of the center of mass of the plane at t = 4 s? Solution: r0 = 10i + 6j + 22k m v = (52 + 6t)i + (12 + t 2 )j − (4 + 2t 2 )k m/s x4 = 0 4 vx dt = 52t + 3t 2 + x0 x4 = (52)(4) + 3(4)2 + 10 m = 266. ◦ c 2008 Pearson Education South Asia Pte Ltd. recording or likewise. 1 ◦ ◦ sy = (−3 m) − d sin 30 = − (9.0 m y4 = 0 4 vy dt = 12t + t 3 /3 + y0 y4 = 12(4) + (4)3 /3 + 6 m = 75.81 m/s2 . The equations are ax = 0. ◦ ◦ ay = −9. 20 3m d 45 Solution: The skier leaves the 20◦ surface at 10 m/s.
recording or likewise. (a) ay = −g.66 m/s x 0. x = vx0 t. mechanical. we have 2v0 sin θ0 1 0 = − gt 2 + v0 sin θ0 t ⇒ t = 2 g R = v0 cos θ0 t ⇒ R = v0 2 sin 2θ0 g u0 x R a) ⇒ b) c) θ0 = 30◦ ⇒ R = 35.494 m. Determine its range R if (a) θ0 = 30◦ . sy = − gt 2 + v0 sin θ0 t 2 ax = 0. 1 y = − gt 2 + vy0 t 2 y (a) x When it hits the ground again 2vy0 1 0 = − gt 2 + vy0 t ⇒ t = ⇒ x = vx0 t = vx0 2 g x= 2(0.70 A projectile is launched from ground level with initial velocity v0 = 20 m/s. photocopying.3 m θ0 = 45◦ ⇒ R = 40. All rights reserved. vy = −gt + vy0 .3 m Problem 13.66 m/s) 9. 2y0 g = 2vx0 vy0 g (b) At any point of the ﬂight we have t= 1 x . or transmission in any form or by any means.662 m/s]2 x2 + 3.53x. (b) θ0 = 45◦ (c) θ0 = 60◦ . Determine the ball’s y coordinate as a function of x.662 m/s and vy = 3. electronic.y = − g vx0 2 1 2 x vx0 2 + vy0 x vx0 y=− 9. vx = vx0 . vy = −gt + v0 sin θ0 . v0 = 20 m/s 1 ay = −g.71 Immediately after the bouncing golf ball leaves the ﬂoor. storage in a retrieval system.662 m/s y=− 11.8 m θ0 = 60◦ ⇒ R = 35.81 m/s2 x = 0. y 0 Solution: Set g = 9. (b) The ball leaves the ﬂoor at x = 0.Problem 13.81 m/s2 . m 38 c 2008 Pearson Education South Asia Pte Ltd.81 m/s2 [0. Determine the horizontal distance from the point where the ball left the ﬂoor to the point where it hits the ﬂoor again.2 x 2 + 5. its components of velocity are vx = 0.) Solution: The governing equations are ax = 0. sx = v0 cos θ0 t When it hits the ground. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. (The parabolic function you obtain is shown superimposed on the photograph of the ball.662 m/s)(3.66 m/s. vx = v0 cos θ0 . y = 0. .
or transmission in any form or by any means.70 we know that R= v0 2 sin 2θ0 ⇒ v0 = g Rg sin 2θ0 y 45 x v0 = (91)(9.78 m c 2008 Pearson Education South Asia Pte Ltd. 1 sy = − gt 2 + v0 sin θ0 t 2 When we reach the maximum height. storage in a retrieval system. If you want the line to be able to reach a ship 91 m away when the mortar is ﬁred at 45◦ above the horizontal. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. 39 .72. The light line is attached to a weight ﬁred by the mortar.70 we have vy = −gt + v0 sin θ0 . Neglect aerodynamic drag and the weight of the line for your preliminary analysis.Problem 13.73 In Problem 13.81 m/s2) = 29.72 Suppose that you are designing a mortar to launch a rescue line from coast guard vessel to ships in distress.81 m/s 2) = 22.9 m/s sin(90◦ ) Problem 13. 0 = −gt + v0 sin θ0 ⇒ t = v0 sin θ0 g v0 sin θ0 g 2 1 1 h = − gt 2 + v0 sin θ0 t ⇒ h = − g 2 2 h= v0 2 sin2 θ0 2g + v0 sin θ0 v0 sin θ0 g Putting in the numbers we have h= (29. mechanical. electronic.9 m/s)2 sin2 (45◦ ) 2(9. recording or likewise. what muzzle velocity is required? Solution: From 13. what maximum height above the point where it was ﬁred is reached by the weight? Solution: From Problem 13. photocopying. All rights reserved.
47 s. This material is protected under all copyright laws as they currently exist. we get tf = 2. vx0 = 40 m/s.Problem 13. ◦ Problem 13.81 m/s2 )t 2 + (13. and y0 = 30 m The equation for y becomes y = 30 − (9. at what horizontal d from the desired impact point should the marker be released? h 0 Solution: We want to ﬁnd the horizontal distance traveled by the marker before it strikes the ground (y goes to zero for t > 0. in any form or by any means.6 m/s) sin 30 t + 1. v0 30 Solution: The governing equations are ax = 0.9 m 40 c 2008 Pearson Education. x0 = 0. Substituting this into the equation for x. we get xf = 40tf = 98. 2 Solving these two equations. without permission in writing from the publisher.82 m.6 m/s) cos 30 t. .. All rights reserved. 1 ◦ sy = 0 = − (9. ay = −g vy = −gt + v0 sin 30 ◦ ◦ ◦ 1 ◦ sy = − gt 2 + v0 sin 30 t + h 2 When it hits the ground. Inc.62 s. sx = 19. vy0 = 0. it is 1. NJ.) ax = 0 v x = v x0 x = x0 + vx0 t ay = −g vy = vy0 − gt y = y0 + vy0 t − gt 2 /2 d From the problem statement.6 m/s. sx = v0 cos 30 t. No portion of this material may be reproduced.82 m above the ground and its initial velocity is v0 = 13.81)t 2 /2 Solving with y = 0.75 A pilot wants to drop survey markers at remote locations in the Australian outback. If he ﬂies at a constant velocity v0 = 40 m/s at altitude h = 30 m and the marker is released with zero velocity relative to the plane. Determine the horizontal distance the shot travels from the point of release to the point where it hits the ground. we have sx = (13.0 m. we ﬁnd t = 1. Upper Saddle River.74 When the athlete releases the shot. vx = v0 cos 30 .
Problem 13.2 m /s. storage in a retrieval system.76 If the pitching wedge the golfer is using gives the ball an initial angle θ0 = 50◦ .68 s) 2 Solving simultaneously we ﬁnd v0 = 21 m/s. 2 From the x equation. recording or likewise. or transmission in any form or by any means. This time is tf = xf /(V0 cos θ0 ).81 m/s 2 ax = 0 vx = v0 cos θ0 sx = v0 cos θ0 t ay = −g vy = −gt + v0 sin θ0 1 sy = − gt 2 + v0 sin θ0 t + 0 .2 m = v 0 cos θ 0 (3. For hitting (33. we can ﬁnd the time at which the ball reaches the required value of x (27 or 33 metres).77 A batter strikes a baseball 0. y = (V0 sin θ0 )t − gt 2 . x = (V0 cos θ0 )t.9 m above home plate and pops it up. electronic. Vy = V0 sin θ0 − gt.8 m above second base 3. All rights reserved.3) metre. We can substitute this information the equation for Y with Yf = 3 m and solve for V0 .81 m/s2) (3. The motion in the horizontal (x) direction is given by ax = 0.68 s) 1 1.2 m/s. Vx = V0 cos θ0 . and what was the angle between the ball’s initial velocity vector and the horizontal? Solution: The equations of motion g = 9. V 0 = 31. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. The second baseman catches it 1. What was the ball’s initial velocity.8 m = − (9.68 s after it was hit. 9 m 2 Second base 27 27 m m When the second baseman catches the ball we have 38.4◦ Home plate c 2008 Pearson Education South Asia Pte Ltd. mechanical. photocopying.68 s)2 + v0 sin θ0 (3.3) metre . 41 . 0 v θ0 30 m 3m Solution: Set the coordinate origin at the point where the golfer strikes the ball. The results are: For hitting (27. The motion in the vertical (y) direction is given by ay = −g. V0 = 34. Problem 13. θ 0 = 60. what range of velocities v0 will cause the ball to land within 3 m of the hole? (Assume the hole lies in the plane of the ball’s trajectory).
(b) if θ = 2◦ . from which tp = d . 2 since the initial position is y(0) = 1.74 m/s .83. h = 1. When it is released. Let θ be the initial angle of the ball’s velocity vector above the horizontal. For θ = 1◦ . + d tan θ + 1. and determine the range of velocities v0 m/s) within which he must release the ball to hit strike zone.1 km/h ≤ v0 ≤ 161. dt Substitute: y(tp ) = h = − g 2 d v0 cos θ 2 + d tan θ + 1.37. the pitcher misses the strike zone. which is within the range of major league pitchers. electronic.83 . The time of passage across the home plate is x(tp ) = d = v0 cos θtp .15 ≤ v0 ≤ 44. h = 1. v0 = 31.78. . although the 160. At a distance d = 17. from which x(t) = v0 cos θt.83 . dt dvy = −g. from which vx = v0 cos θ.15 m/s. the ball is 1. the pitcher hits the strike zone. Yes. The batter’s strike zone extends from 0. storage in a retrieval system. v0 = 44. For h = 0 . 1. from which dt g y(t) = − t 2 + v0 sin θt + 1. assume that pitcher releases the ball at an angle θ = 1◦ above horizontal.56 m 17. and 1.78.2 m .7m Solution: The initial velocity is v0 = 144. while with the Houston Astros.74 m/s.8 km/h.56 m.37 ≥ h ≥ 0. For θ = 2◦ .83 m above the ground and 17. and a release angle of θ = 1◦ .83 − h) 42 c 2008 Pearson Education South Asia Pte Ltd. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. or transmission in any form or by any means.56 m above the ground to 1. Solve for the initial velocity: v0 = gd 2 .37 m above the ground. as measured by hand held radar from behind the plate).9 km upper value is achievable only by a talented few (Nolan Ryan. Neglecting aerodynamic effects. would occasionally in a game throw a 168.7 m.Problem 13.7 m from the batter’s plate . Check: The range of velocities in miles per hour is 112.78 A baseball pitcher releases a fastball with an initial velocity v0 = 144. (2) dx (3) = v0 cos θ. since the initial dt position is zero.9 km fast ball.5 m No. All rights reserved.83 m. The pitcher will hit the strike zone for velocities of release of 31.37 m 0. mechanical.8 km/h = 40. the height is h.79 In Problem 13. The velocity equations are (1) dvx = 0.7 m. h=− g 2 d v0 cos θ 2 the the (in the For h = 1 .1 km/h. from which vy = −gt + v0 sin θ. photocopying. where d = 17. recording or likewise. v0 cos θ Problem 13. (4) dy = −gt + v0 sin θ. determine whether the ball will hit the strike zone (a) if θ = 1◦ . 2 cos2 θ(d tan θ + 1.56 m.3 m/s. Solution: From the solution to Problem 13.
dx = vx = VA cos θ. from which vx = Vx . photocopying. Vy .33(2. y = 0. g The maximum range (100 meters) occurs when the arrow is aimed 45◦ above the horizon. The required range when the arrow is released is d + R = 82. or transmission in any form or by any means. from which Cy = 0. Solve for the arrow velocity: VA = √ gRmax = 31. 2 At t = 0. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. (1) dvx = 0. c 2008 Pearson Education South Asia Pte Ltd. The range of his bow when it is fully drawn and aimed 45◦ above the horizontal is 100 m. At dt t = 0. The rhino travels a distance d = 8. Cy . The speed of the rhino is 30 km/h = 8. g 20 (2) (3) (4) The range is given by x(tﬂight ) = R = VA cos θtﬂight = 2 2VA cos θ sin θ . from which Cx = 0.33 m/s.2 m.18 s. from which x(t) = VA cos θt + Cx .18) = 18.3 m.3 m/s. dy = vy = −gt + VA sin θ. The time of ﬂight when the angle is 20◦ is tﬂight = 2VA sin θ = 2. recording or likewise. The equations for the trajectory are: Denote the constants of integration by Vx . Neglect aerodynamic drag on the arrow. 43 . 2 from which tﬂight = 2VA sin θ . from which dt g y = − t 2 + VA sin θt + Cy . (b) to determine the distance traveled by the rhino during this ﬂight time. Vx = VA cos θ. g and the range is R = VA cos θtﬂight = 64. At t = 0. If he fully draws his bow and aims 20◦ above the horizontal. Vy = dt VA sin θ.Problem 13. from which vy = −gt + Vy . mechanical. electronic. and the velocity of the arrow by VA . x(0) = 0. and then (c) to add this distance to the range of the arrow. dt dvy = −g. storage in a retrieval system.80 A zoology student is provided with a bow and an arrow tipped with a syringe of sedative and is assigned to measure the temperature of a black rhinoceros (Diceros bicornis). Cx . The time of ﬂight is given by g y(tﬂight ) = 0 = − tﬂight + VA sin θ tﬂight . All rights reserved. A truculent rhino charges straight toward him at 30 km/h. At t = 0. how far away should the rhino be when the student releases the arrow? Solution: The strategy is (a) to determine the range and ﬂight time of the arrow when aimed 20◦ above the horizontal.5 m .
mechanical.1 m/s)t 1 0 = − gt 2 + v0 sin θ0 t 2 sx = v0 cos θ0 t sx 2 = sz 2 + (9.1 m ) 2 We can solve these four equations for the four unknowns sx .05 m above the ground.1 m 44 c 2008 Pearson Education South Asia Pte Ltd. Substituting in the numbers (g = 9. The y motion is given by ay = −g.82 An American football quarterback stands at A. We have az = 0.81 The crossbar of the goalposts in American football is yc = 3. sx = v0 cos θ0 t When the ball is caught we have sz = (6. and kicks the ball with an initial velocity v0 = 21. θ 0 = 45◦ . The x (horizontal) motion of the ball is given by ax = 0.24 s and yB = 6 . vy = −gt + v0 sin θ0 . Set g = 9. photocopying. y = (V0 sin θ0 )t − . sz . To kick a ﬁeld goal.67 s. vz = 6.Problem 13. electronic. All rights reserved. recording or likewise. the ball clears the crossbar by 3. storage in a retrieval system.6 m/s C Receiver’s path Path of the ball 90 A B 9. we get t c = 2. the ball must make the ball go between the two uprights supporting the crossbar and be above the crossbar when it does so. By what vertical distance does the ball clear the crossbar? Solution: Set the coordinate origin at the point where the ball is kicked.1 m/s toward C.1 m/s)t 1 ay = −g. sz = (6. x = (V0 cos θ0 )t. At the instant the quarterback throws the football. Suppose that the kicker attempts a 36. v0 = 11. Vx = V0 cos θ0 . Solution: Set x as the horizontal motion of the football.58 m and 2 ﬁnd the time tc at which the ball crossed the plane of the goal posts. the receiver is at B running at 6. or transmission in any form or by any means.81 m/s2). where he catches the ball. Substitute this time into the y equation to ﬁnd the y coordinate YB of the ball as it passes over the crossbar. v0 . vx = v0 cos θ0 .11 m. . t We ﬁnd t = 1.3 m/s and θ 0 = 40◦. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.58 m ﬁeld goal.07 m. sy = − gt 2 + v0 sin θ0 t 2 ax = 0. Set x = xc = 36. and it is thrown and caught at the same height above the ground. 0 θ0 v xc yc Problem 13.81 m/s2 . Determine the magnitude of the ball’s initial velocity and the length of time it is in the air.1 m/s . Thus. gt 2 Vy = V0 sin θ0 − gt. y as the vertical motion of the football and z as the horizontal motion of the receiver. The ball is thrown at an angle of 45◦ above the horizontal.
45 .81 m/s Vy = Vy00 − gt y = y0 − gt 2/2 y = 1 m at tIMPACT for an ideal dive to hit the crest of the wave 27 m 8.4/t1 = 3. (a) What is the magnitude of the driver’s velocity when he enters the water? (b) How far from his aiming point must a wave crest be when he dives in order for him to enter the water at the crest? 26 m 1m h 6. The wave moves at The wave crest travels 2. c 2008 Pearson Education South Asia Pte Ltd.30 s Vy (t1 ) = 22. electronic.9 m/s √ gh = 6.4 m t1 = tIMPACT = 2. storage in a retrieval system.Problem 13.4 m.65 m/s = constant The velocity at impact is (a) V  = (Vx )2 + [Vy (t1 )]2 = 22. Assume that his velocity is horizontal when he begins the dive. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. All rights reserved. Mexico must time their dives that they enter the water at the crest (high point) of a wave.4 m 2m Solution: t = 0. recording or likewise.30 seconds while the diver is in their s = √ ght1 = 14. then Vx = 8. y = 27 m. photocopying. x0 = 0 ay = −g = −9. The crests of the waves are 1 m above the mean water depth h = √ m. or transmission in any form or by any means.59 m/s ax = 0 Vx = Vx0 XI = Vx0 t1 + X0 At impact XI = 8. vy = 0. For impact to occur as planned.26 m/s. mechanical.4 m. The diver’s aiming point is 2 m out from the base of the cliff. The 4 horizontal velocity of the waves is equal to gh.83 The cliff divers of Acapulco.
Determine the range R. sy = − gt 2 + v0 sin 50 t 2 When the projectile hits we have R cos 30 = v0 cos 50 t 1 ◦ − R sin 30 = − gt 2 + v0 sin 50 t 2 ◦ ◦ ◦ ◦ ◦ ◦ ⇒ t = 2. R = 17. . mechanical.85 A projectile is launched at 100 m/s at 60◦ above the horizontal. Thus. we get tI = 6. or transmission in any form or by any means.4) m.32 s. v0 = 10 m/s. electronic. recording or likewise. x = (V0 cos θ0 )t. and the motion in the y direction is given by ay = −g. y) = (318. can be determined by substituting the values of x and y from the motion equations into the equation for the surface. y = (V0 sin θ0 )t − gt 2 /2. −101.4. vy = (V0 sin θ0 ) − gt. photocopying.21 m Problem 13. The equations of motion are ax = 0.001x 2 Solution: The motion in the x direction is ax = 0. vy = −gt + v0 sin(80 − 30 )t.001(V0 cos θ0 )2 tI . the time of impact. The equation of the surface upon which the projectile impacts is y = −0. t2 2 Hence. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. we get (V0 sin θ0 )tI − g I = −0.84 A projectile is launched at 10 m/s from a sloping surface.001x 2 . The surface on which it lands is described by the equation shown. tI . Determine the point of impact.Problem 13. We know that V0 = 100 m/s and θ0 = 60◦ . storage in a retrieval system. sx = v0 cos 50 t 1 ◦ ◦ ◦ ay = −g. 10 m/s 30 a R Solution: Set g = 9.81 m/s2 . The angle α = 80◦ . 46 c 2008 Pearson Education South Asia Pte Ltd.37 s Substituting this value into the motion equations reveals that impact occurs at (x. Evaluating 2 with the known values. vx = V0 cos θ0 . y 100 m/s 60° x y = –0. All rights reserved. vx = v0 cos(80 − 30 ).
66j (m/s) . All rights reserved.2t + Vz .6024 m/s .2 dt.2 dt.66 m/s . from ln 1 + 1. The components of the ball’s acceleration in m/s2 are ax = −1. At t = 0.2t . or transmission in any form or by any means.2t. mechanical. Invert to dt obtain vz (t) = Vz e−1.2t . At t = 0.2 from which ln 8 + vy 1.2 Inverting: vy (t) = (3) dvz = az = −1. Separate variables and integrate: dt dvy = −1.2 = 0. What is the velocity of the ball at t = 1 s? y x Solution: Assume that the effect of gravity is included in the given accelerations. 8 + vy 1.2vx . The equations for the path are obtained from: (1) dvx = ax = −1.2t + Vy .2vy . from which ln(vz ) = −1. and 8 (1 − e−1. Separate variables and integrate: dt dvx = −1. 1.86 At t = 0. recording or likewise.2 = −1. vx from which ln(vx ) = −1. hence Vz = 0 and vz (t) = 0.2vx . vx (1) = 2e−1.2vz .2vy . 47 . az = −1. At t = 0. 8 −1.2 ) = −4. photocopying. or 12 vy (1) = − v = 0. storage in a retrieval system. ay = −8 − 1. a steel ball in a tank of oil is given a horizontal velocity v = 2i (m/s). from which ln vx 2 = −1.2t.Problem 13. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. vx (0) = 2.602i − 4. (2) dvy = ay = −8 − 1. At t = 1 second. c 2008 Pearson Education South Asia Pte Ltd.2vz . vz (0) = 0. electronic.2t + Vx .2 vy 8 = −1. Inverting: vx (t) = 2e−1. vy (0) = 0.2t (e − 1).
2 = −2.165i − 2. storage in a retrieval system.2 e−1.2t + t + Cy . x(0) = 0.86.86.2 +1− 1.23). x(1) = 2 (1 − e−1. Show that the magnitude of its velocity is v = Rdθ/dt. or transmission in any form or by any means.2t + Cx . (13. 1. Strategy: Use Eqs.2t . from which dt (3) x(t) = − 2 e−1.2 8 (e−1. from which Since vz (0) = 0 and z(0) = 0. 1.88 The point P moves along a circular path with radius R.784j (m) . 1. electronic.165 m . This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. from which x(t) = dy = dt 2 (1 − e−1. mechanical. y(0) = 0.2t − 1). photocopying.2 8 1.784 m .2 y(t) = − 8 1.2 ) = 1.2 1. then z(t) = 0.2 At t = 0. from which 1.2 1.2t ). 1. y(t) = − Problem 13. or (2) r = 1.Problem 13. y P Solution: x = R cos θ y = R sin θ vx = −R sin θ dθ dt dθ dt θ x vy = R cos θ V = Vx2 + Vy2 dθ dt 2 2 V = R 2 sin2 θ + R 2 cos2 θ dθ dt 2 V = R2 dθ dt (sin2 θ + cos2 θ) V = R dθ dt 48 c 2008 Pearson Education South Asia Pte Ltd.2 1 e−1.2 At t = 0. The equations for the coordinates: (1) dx = vx = 2e−1. recording or likewise.87 In Problem 13. . At t = 1. 1.2t 1 +t − . All rights reserved. what is the position of the ball at t = 1 s relative to its position at t = 0? Solution: Use the solution for the velocity components from Problem 13.2 e−1.2 y(1) = − 8 1.
storage in a retrieval system. or Substitute and solve: dx = dt V (2Cx)2 + 1 a = −0. c 2008 Pearson Education South Asia Pte Ltd.0003 and V = 100 km/h = 27. All rights reserved. When the car’s horizontal coordinate is x = 400 m. The magnitudes are: 2 2 vP  = dx dt + dy dt = 0.1732 m/s. The acceleration is dt d d2x = dt 2 dt V (2Cx)2 + 1 2 Solution: Denote C = 0. and dt Solution: The equation for the location of the point P is R2 = x 2 + y 2 .89 If y = 150 mm.099i + 0.78 m/s. what are the magnitudes of the velocity and dt 2 acceleration of point P ? dy = 300 mm/s. y 300 mm + y x2 dx dt dy dt − y x d2y dt 2 = −0.0993 m/s d2y = 2C dt 2 dx dt 2 + 2Cx d2x dt 2 = 0.01 m/s. d 2y = 0.90 A car travels at a constant speed of 100 km/h on a straight road of increasing grade whose vertical proﬁle can be approximated by the equation shown. from which x = y dx =− dt x 1 d2x =− dt 2 x dy dt dy dt 2 1 (R2 − y 2 ) 2 P = 0. = −0. photocopying. 49 . mechanical.0003x 2 x dx is positive (car is moving to right in sketch). what is the car’s acceleration? y y = 0.4619 m/s2 Problem 13. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.Problem 13. The equation for the road is y = Cx2 from which dy = 2Cx dt dx dt .414j(m/s2 ) = 27.4139 m/s2 .2598 m. or transmission in any form or by any means. electronic. The magnitude of the constant velocity is dy dt 2 2 V = + dx dt = −4C 2 V x ((2Cx)2 3 + 1) 2 dx dt . and = −0.4619 m/s2 .3464 m/s ap  = d2x dt 2 2 + d2y dt 2 2 = 0. recording or likewise.
and vy (0) = v0 sin θ0 . This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. Substitute and g(x + xp )2 + (x + xp ) tan θ0 − yp . The accelerations are ax (t) = 0. storage in a retrieval system. photocopying. electronic. the equation describing the trajectory is y =− 2 2v0 y y′ x′ g (x )2 . y(0) = 0. . x(0) = 0. Show that in terms of the x y coordinate system with its origin at the highest point of the trajectory. 13. mechanical. The path of the projectile in the x. recording or likewise. 2g y =− g (x )2 2 2v0 cos2 θ0 2 2v0 At the peak. y system is obtained by solving the differential equations subject to the initial conditions: g x(t) = (v0 cos θ0 )t. g 2 v0 sin2 θ0 .Problem 13. All rights reserved.91 Suppose that a projectile has the initial conditions shown in Fig. peak from which xp = 2 v0 cos θ0 sin θ0 . or transmission in any form or by any means. 2g y =− − 50 c 2008 Pearson Education South Asia Pte Ltd. g y = v 2 sin2 θ0 v 2 sin2 θ0 −g(x )2 − x tan θ0 + x tan θ0 + 0 − 0 2 2g g 2v0 cos2 θ0 − 2 v0 sin2 θ0 . cos2 θ0 x vx (0) = v0 cos θ0 . cos2 θ0 Solution: The initial conditions are t = 0. 2g and yp = The primed coordinates: y = y − yp reduce: y =− x = x − xp .12. ay (t) = −g. dy dx = 0. y(t) = − t 2 + (v0 sin θ0 )t 2 Eliminate t from the equations by substituting x t= v0 cos θ0 to obtain y(x) = − gx 2 + x tan θ0 . 2 2v0 cos2 θ0 g 2 ((x )2 + xp + 2x xp ) + (x + xp ) tan θ0 2 2v0 cos2 θ0 2 v0 sin2 θ0 . Substitute xp = 2 v0 cos θ0 sin θ0 .
ay = −4 sin 2t. from which Cy = 0. dvy = ay = −4 sin(2t). recording or likewise. (b) The velocity is v(t) = −i2 sin(2t) + j2 cos(2t). storage in a retrieval system. it follows that vz (t) = 0 and z(t) = 0.93 When an airplane touches down at t = 0. photocopying. (c) the magnitude of the acceleration is constant and points toward the origin. or transmission in any form or by any means. t = 0. θ = 110(1)2 /2 = 55 radians (8.92 The acceleration components of a point are ax = −4 cos 2t. from which Vx = 0. from which Cx = 0. mechanical. x(0) = 1. θ Solution: α = 110 rad/s2 ω = αt + ω0 1 θ = ( 2 αt 2 ) + ω0 t + θ0 From the problem statement. and it does The magnitude of the acceleration: a = (−4 cos(2t))2 + (−4 sin(2t))2 = 4 = const . Solution: The equations for the path are (1) dvx = ax = −4 cos(2t). Determine θ in radians and in revolutions at t = 1 s. (a) What is the wheel’s angular velocity at t = 1 s? (b) At t = 0. (c) (2) The unit vector parallel to the acceleration is e= a = −i cos(2t) − j sin(2t). The acceleration is a(t) = −i4 cos(2t) − j4 sin(2t). from which vy (t) = 2 cos(2t) + Vy . At t = 0. At t = 0. vy (0) = 2. y(0) = 0.75 revolutions) c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. dt from which x(t) = cos(2t) + Cx . 51 . the angle θ = 0. These satisfy the condition for a circle of radius 1: 1 = x2 + y2 Problem 13. vx (0) = 0. At dt dy = vy = 2 cos(2t). If the two are perpendicular. a (3) which always points to the origin. its position and velocity are r = i. Show that (a) the magnitude of the velocity is constant. from which Vy = 0. (b) the velocity and acceleration vectors are perpendicular. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. dt dx = vx = −2 sin(2t). (d) the trajectory of a point is a circle with its center at the origin. a stationary wheel is subjected to a constant angular acceleration α = 110 rad/s2 until t = 1 s. the dot product should vanish: a(t) · v(t) = (−2 sin(2t))(−4 cos(2t)) + (2 cos(2t))(−4 sin(2t)) = 0. v = 2j. dt from which y(t) = sin(2t) + Cy . from which vx (t) = −2 sin(2t) + Vx .Problem 13. electronic. At t = 0. At t = 0. az = 0. (d) The trajectory path is x(t) = cos(2t) and y(t) = sin(2t). (a) The magnitude of the velocity is v = (−2 sin(2t))2 + (2 cos(2t))2 = 2 = const. For az = 0 and zero initial conditions. ω = (110)(1) + 0 = 110 rad/s (b) At t = 1 s. ω0 = θ0 = 0 (a) At t = 1 s.
dt 2π rad dθ ≈ = 7. photocopying. mechanical.5t − 0.5 − 1.85 rad ω(3) = 2.2t ω = 2.Problem 13. Solution: (a) dθ > 0. or transmission in any form or by any means.6(3)2 + 5 = 7.2t 3 + 5t θ(3) = 1.1 rad/s ⇒ 52 c 2008 Pearson Education South Asia Pte Ltd.2(3)3 + 5(3) = 20. dt θ ≈ 15◦ . L u L0 Solution: α = 2.27 × 10−5 rad/s.) (b) Determine the approximate value of dθ/dt in rad/s and use it to calculate the angle through which the earth rotates in one hour.5(3) − 0. dt 24(3600) s θ ≈ (7.25(3)2 − 0. Problem 13.27 × 10−5 rad/s)(1 hr) 3600 s 1 hr L u L0 (a) (b) In one hour = 0. . θ = 0 and the angular velocity of L relative to L0 is ω = 5 rad/s. At t = 0.25t 2 − 0. recording or likewise. All rights reserved. The ﬁgure views the earth from above the north pole. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.2t rad/s2 .95 The angular acceleration of the line L relative to the line L0 is given as a function of time by α = 2.6t 2 + 5 θ = 1. electronic. storage in a retrieval system. Is dθ/dt positive or negative? (Remember that the sun rises in the east.5 − 1.262 rad = 15◦ dθ ≈ 7. and let L0 be a ﬁxed reference direction.27 × 10−5 rad/s.94 Let L be a line from the center of the earth to a ﬁxed point on the equator. Determine θ and ω at t = 3 s.
7 rad/s Using the numbers in the problem t= 1 −0. If he wants to rotate 180◦ about the vertical axis (that is. where k = −0.2 s.000 rpm to 1000 rpm? L Solution: Let α = kω2 . what is the minimum time in which he could achieve the new orientation? Solution: He could achieve the rotation in minimum time by accelerating until he has turned 90◦ and then decelerating for the same time while he rotates the ﬁnal 90◦ .97 The astronaut is not rotating.0002.96 In Active Example 13.7 rad/s t = 430 s.00002ω2 . 53 .Problem 13.8. photocopying. 0 − 1 1 1 + = kt ⇒ t = ω2 ω1 k 1 1 − ω1 ω2 L0 Convert the numbers to rad/s ω1 = 10000 rpm 2π rad rev 2π rad rev 1 min 60 sec 1 min 60 sec = 1047 rad/s ω2 = 1000 rpm = 104. 2t = 11. or transmission in any form or by any means. storage in a retrieval system. c 2008 Pearson Education South Asia Pte Ltd.0002 1 1 − 1047 rad/s 104. Thus the time needed to turn 90◦ (π /2 rad) is α = 0. Then a= ω2 ω1 u dω = kω2 . electronic. dt t dω = ω2 kdt. suppose that the angular acceleration of the rotor is α = −0.1 rad/s2 about the vertical axis is either direction.1 rad/s2 . recording or likewise. Problem 13. where ω is the angular velocity of the rotor in rad/s. mechanical. ω = αt θ= 1 2 αt ⇒ t = 2 2θ = α 2(π/2) 0.605 s. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. He has an orientation control system that can subject him to a constant angular acceleration of 0. The total maneuver time is 2t. How long does it take the rotor to slow from 10. rotate so that he is facing toward the left) and not be rotating in his new orientation.1 rad/s2 = 5.
Problem 13.98 The astronaut is not rotating. He has an orientation control system that can subject him to a constant angular acceleration of 0.1 rad/s2 about the vertical axis in either direction. Refer to problem 13.97. For safety, the control system will not allow his angular velocity to exceed 15◦ per second. If he wants to rotate 180◦ about the vertical axis (that is, rotate so that he is facing toward the left) and not be rotating in his new orientation, what is the minimum time in which he could achieve the new orientation?
Solution: He could achieve the rotation in minimum time by accelerating until he has reached the angular velocity limit, then coasting until he has turned 90◦ . He would then continue to coast until he needed to decelerate to a stop at the 180◦ position. The maneuver is symmetric in the spin up and the spin down phases. We will ﬁrst ﬁnd the time needed to reach the angular velocity limit and also ﬁnd the angle through which he has rotated in this time. α = 0.1 rad/s2 ω = αt1 ⇒ t1 = (15/180)π rad/s ω = = 2.62 s. α 0.1 rad/s2
θ1 =
1 2 1 αt = (0.1 rad/s2 )(2.62 s)2 = 0.343 rad. 2 2 π rad − 0.343 rad = 2 15◦ 180◦
Now we need to ﬁnd the coast time (constant angular velocity) π rad/s t2 ⇒ t2 = 4.69 s
Thus the total time to complete a 90◦ turn is t = t1 + t2 = 2.62 s + 4.69 s = 7.31 s. The time for the full 180◦ turn is 2t 2t = 14.6 s.
Problem 13.99 The rotor of an electric generator is rotating at 200 rpm when the motor is turned off. Due to frictional effects, the angular acceleration of the rotor after the motor is turned off is α = −0.01ω rad/s2 , where ω is the angular velocity in rad/s. What is the rotor’s angular velocity one minute after the motor is turned off? (b) After the motor is turned off, how many revolutions does the rotor turn before it comes to rest? Strategy: To do part (b), use the chain rule to write the angular acceleration as dω dθ dω dω = = ω. α= dt dθ dt dθ (a)
Solution: Let α = kω, where k = −0.01 s−1 . Note that 200 rpm =
20.9 rad/s. (a) One minute after the motor is turned off α= dω = kω ⇒ dt
ω ω0
dω = ω
t 0
kdt ⇒ ln
ω ω0
= kt
ω = ω0 ekt = (20.9 rad/s)e(−0.01/s)(60 s) = 11.5 rad/s. ω = 11.5 rad/s (110 rpm). (b) When the rotor comes to rest α=ω dω = kω ⇒ dθ
0 ω0
dω =
0
θ
kdθ ⇒ −ω0 = kθ
θ=
1 1 (−ω0 ) = (−20.9 rad/s) k −0.01 s−1 1 rev 2π rad = 333 rev.
θ = 2094 rad θ = 333 rev.
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Problem 13.100 The needle of a measuring instrument is connected to a torsional spring that gives it an angular acceleration α = −4θ rad/s2 , where θ is the needle’s angular position in radians relative to a reference direction. The needle is given an angular velocity ω = 2 rad/s in the position θ = 0. (a) (b) What is the magnitude of the needle’s angular velocity when θ = 30◦ ? What maximum angle θ does the needle reach before it rebounds?
θ
Solution:
α=ω dω = −4θ ⇒ dθ
ω 2
ωdω = −4
0
θ
θdθ ⇒
22 ω2 − = −2θ 2 2 2
ω = 2 1 − θ2 (a) ω = 2 1 − (π/6)2 = 1.704 rad/s Maximum angle means ω = 0. θ = 1 rad = 57.3◦
(b)
Problem 13.101 The angle θ measures the direction of the unit vector e relative to the x axis. The angular velocity of e is ω = dθ/dt = 2 rad/s, constant. Determine the derivative de/dt when θ = 90◦ in two ways: (a) (b) Use Eq. (13.33). Express the vector e in terms of its x and y components and take the time derivative of e.
y
e
θ
x
Solution:
(a) dθ de = n = ωn dt dt when θ = 90◦ , n = −i de = −2i rad/s when θ = 90◦ dt (b) e = (1) cos θi + (1) sin θj de = − sin θ dt dθ dt i + cos θ dθ dt j
y
n
y n
e
θ
ω = dθ = 2 rad/s dt
x
e
θ = 90°
x
Evaluating at θ = 90◦ dθ de = − i = −2i rad/s dt dt
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
55
Problem 13.102 The angle θ measures the direction of the unit vector e relative to the x axis. The angle θ is given as a function of time by θ = 2t 2 rad. What is the vector de/dt at t = 4 s? Solution: By deﬁnition:
de = dt where π n = i cos θ + 2 π + j sin θ + 2 dθ dt n, The angle is θ = [mod(2t 2 , 2π )]t=4 = mod(32, 2π ) = 0.5841 rad, where mod(x, y) (“modulus”) is a standard function that returns the remainder of division of the ﬁrst argument by the second. From which, de dt = 16 i cos 0.5841 +
t=4
π 2
+ j sin 0.5841 +
π 2
= −8.823i + 13.35j
is a unit vector in the direction of positive θ. The angular rate of change is dθ dt = [4t]t=4 = 16 rad/s.
t=4
Problem 13.103 The line OP is of constant length R. The angle θ = ω0 t, where ω0 is a constant. (a) (b) dx dy and vy = to deterdt dt mine the velocity of P relative to O. Use Eq. (13.33) to determine the velocity of P relative to O, and conﬁrm that your result agrees with the result of (a). Use the relations vx =
y
P R
θ
O x
Strategy: In part (b), write the position vector of P relative to O as r = Re where e is a unit vector that points from O toward P . Solution:
(a) The point P is described by P = ix + jy. Take the derivative: dx dP =i dt dt +j dy dt . Note that P = Re, and deﬁnition (Eq. (13.33)), de = dt dθ dt n, de dP =R when R is constant. Use the dt dt
(b)
The coordinates are related to the angle θ by x = R cos θ, y = R sin θ. Take the derivative and note that R is a constant and θ = ω0 t, so that dx dθ = ω0 : = −R sin θ dt dt dy = R cos θ dt dθ dt . dθ dt ,
where n is a unit vector in the direction of positive θ, (i.e., perpendicular to e). Thus n = i cos θ + π 2 + j sin θ + π . 2
Use the trigonometric sumofangles identities to obtain: n = −i sin θ + j cos θ. Substitute, dP = Rω0 (−i sin(ω0 t) + j cos(ω0 t)) dt The results are the same.
Substitute into the derivative of the vector P, dP =R dt dθ dt (−i sin θ + j cos θ)
= Rω0 (−i sin(ω0 t) + j cos(ω0 t)) which is the velocity of the point P relative to the origin O.
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104 In Active Example 13. At t = 4 s. ρ 400 m et a = (3 m/s2 )et + (0.105 The armature starts from rest at t = 0 and has constant angular acceleration α = 2 rad/s2 .391 m/s2 )en Problem 13.9. or transmission in any form or by any means. recording or likewise.08 m) (2 rad/s2 ) = 0. storage in a retrieval system. Solution: We are given the tangential acceleration at = (2 m/s2 ) + (0.08 m 80 mm v = (0.2 m/s )(5 s) = 3 m/s 2 3 2 P en 400 m an = v2 (12. v= 0 5s ([2 m/s2 ] + [0.Problem 13.64 m/s)et .64 m/s. The velocity is then s O v = (12.2 m/s. what are the velocity and acceleration of point P relative to point O in terms of normal and tangential components? O P Solution: We can ﬁnd the angular velocity at t = 4s.2 m/s3 ][5 s]2 2 = [2 m/s2 ][5 s] + = 1. at = rα = (0. α = 2 rad/s2 ω = (2 rad/s2 )(4 s) = 8 rad/s.12 m/s2 )en . c 2008 Pearson Education South Asia Pte Ltd. determine the motorcycle’s velocity and acceleration in terms of normal and tangential components at t = 5s. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. an = (0.08 m) (8 rad/s) = 0. Then v = rω = (0.391 m/s2 . mechanical.5 m/s) et The accelerations are at = (2 m/s ) + (0.5 m/s)2 = = 0.16 m/s2 )et + (5.12 m/s2 r 0. All rights reserved. electronic.64 m/s)2 v2 = = 5.16 m/s2 . photocopying. 57 . a = (0.2 m/s3 )t We can ﬁnd the velocity at t = 5 s.2 m/s3 ]t)dt 1 [0.
Problem 13. giving ω= an = R (1000)9. (b) The angular acceleration is α= 180. storage in a retrieval system. What is the magnitude of the total acceleration to which the samples are subjected at t = 1 s? Solution: α = 3.106 Suppose you want to design a medical centrifuge to subject samples to normal accelerations of 1000 g’s.85 m/s2 58 c 2008 Pearson Education South Asia Pte Ltd. ω = 3t. θ = 1. mechanical. electronic.107 The medical centrifuge shown in Problem 13. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. photocopying.106 starts from rest at t = 0 and is subjected to a constant angular acceleration α = 3 rad/s2 .7 m/s2 a= (0. what constant angular acceleration is necessary? 300 mm Solution: (a) The normal acceleration at a constant rotation rate is an = Rω2 . . recording or likewise. 0.83 ω = = 3.9)2 + (2. (a) If the distance from the center of the centrifuge to the sample is 300 mm.5t 2 at = (0.3 The speed in rpm is N =ω rad s 1 rev 2π rad 60 s 1 min = 1730 rpm .3 m)(3 rad/s2 ) = 0.83 rad/s. or transmission in any form or by any means.3 m)(3 rad/s)2 = 2. what speed of rotation in rpm is necessary? (b) If you want the centrifuge to reach its design rpm in 1 min.81 = 180.01 rad/s2 t 60 Problem 13.9 m/s2 an = (0.7)2 m/s2 = 2. All rights reserved.
This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.108 A centrifuge used to subject engineering components to high acceleration has a radius of 8 m.4t m/s2 . The tangential component of the boat’s acceleration as a function of time is at = 0.109 A powerboat being tested for maneuverability is started from rest at t = 0 and driven in a circular path 12 m in radius. electronic.27 m an = +v 2 /r c 2008 Pearson Education South Asia Pte Ltd. mechanical.Problem 13. 59 .4t m/s2 v = 0.0016 rad/s3 ][120 s]2 2 = 11. and during its twominute acceleration phase it is programmed so that its angular acceleration is given as a function of time in seconds by α = 0. or transmission in any form or by any means.0016 rad/s3 ]t) dt 1 = [0.192 rad/s2 ] − [0. photocopying. Problem 13.2t 2 m/s At t = 4 s.0016 rad/s3 ][120 s]) = 0 an = rω2 = (8 m)(11. storage in a retrieval system. then the total acceleration is the same as the normal acceleration a = 1060 m/s2 (108g s). a = 0.52 rad/s The normal and tangential components of acceleration are at = rα = (8 m)([0.192 rad/s][120 s] − [0. (a) (b) What are the boat’s velocity and acceleration in terms of normal and tangential components at t = 4 s? What distance does the boat move along its circular path from t = 0 to t = 4 s? Solution: (a) at = 0. what is the magnitude of the acceleration a component is subjected to? Solution: We will ﬁrst calculate the angular velocity ω= 0 120 s ([0. It starts from rest at t = 0.6et + 0.2t 3 /3 s4s = 4. All rights reserved.52 rad/s)2 = 1060 m/s2 Since the tangential component is zero. At t = 120 s.2et m/s (b) s = 0. recording or likewise.192 − 0.192 rad/s2 ] − [0.853en v = 3.4tet + v 2 /ren a = 1.0016t rad/s2 .
4et (m/s) a = 16et + 201. What are the velocity and acceleration of point P in terms of normal and tangential components when P has gone one revolution around the circular path starting at t = 0? Solution: From the solution to Problem 13. or transmission in any form or by any means. storage in a retrieval system. vt = 16tet and a = Rαet + Rω2 eN Substituting in the time t1 . electronic. θ = 2t 2 rad ω = 4t rad/s α = 4 rad/s2 s = 8t 2 m vt = 16t m/s at = 16 m/s2 We want to know v and a when θ = 2π .1eN (m/s2 ) 60 c 2008 Pearson Education South Asia Pte Ltd.110. Substituting into the ﬁrst eqn.110. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. All rights reserved. From the solution to Problem 13. mechanical. recording or likewise.Problem 13. we ﬁnd that θ = 2π when t = t1 = 1. What are the velocity and acceleration of point P in terms of normal and tangential components at t = 1 s? (b) What distance along the circular path does point P move from t = 0 to t = 1 s? (a) P θ 4m O Solution: θ = 2t 2 dθ = 4t = ω dt d2θ rad =4 2 =α dt 2 s s = rθ = 4θ = 8t 2 vt = 16t m/s v = rω = 4(4t) = 16t at = (a) dv = 16 m/s2 dt (b) s = Rθ = 8t 2 = 8(1)2 = 8 m et P eN θ O 4m v = 16(1)et m/s = 16 et (m/s) a = Rαet + Rω2 eN a = (4)(4)et + (4)(42 )eN (m/s2 ) a = 16et + 64eN (m/s2 ) Problem 13. . photocopying.111 The angle θ = 2t 2 rad.110 The angle θ = 2t 2 rad.77 seconds. we get vt = 28.
53 i − 18 . a satellite could be placed in orbit about the center of the earth within the tunnel.112 is rotating with a constant counterclockwise angular velocity of 5000 rpm. c 2008 Pearson Education South Asia Pte Ltd.113 The crank AB in Problem 13. 2π R ν v= ⇒t= = t 2π R R g RE = R g . Determine the velocity of the satellite and show that the time required to complete one orbit is independent of the radius R. (b) in terms of cartesian components.53 j) m/s Problem 13.2 m/s)(− cos 45◦ i − sin 45 ◦ j) = (−18 . All rights reserved. (b) in terms of cartesian components. electronic. 0 5 m (524 rad/s)2 = 13728.8 ≈ 13729 (a) aP = (13 72 9 en) m /s 2 ap = (13729 m/s2 )(cos 45◦ i − sin 45◦ j) = (9708 i − 9708 j) m/s 2 (b) Problem 13. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. The acceleration due to gravity in the tunnel would be gR/RE . storage in a retrieval system. an = 0 . 0 5 m (524 rad/s)et = (26 . 61 . Determine the acceleration of point B (a) in terms of normal and tangential components. Solution: ω = (5000 rpm) 2π rad rev min 60 sec = 524 rad/s at = 0.112 At the instant shown. RE Notice that the time does not depend on the radius R. In principle. mechanical. Determine the velocity of point B (a) in terms of normal and tangential components. the crank AB is rotating with a constant counterclockwise angular velocity of 5000 rpm. recording or likewise. (See Example 13.10.Problem 13.) Solution: To be in orbit we must have an = v2 gR ⇒ = R RE v=R g RE 50 m Equator RE R Tunnel The velocity of the satellite is given by the distance it travels in one orbit divided by the time needed to complete that orbit.2 et ) m/s 45 B m A x (b) VB = (26. photocopying.114 Suppose that a circular tunnel of radius R could be dug beneath the equator. y C Solution: ω = (5000 rpm) 2π rad rev min 60 sec = 524 rad/s (a) VB = 0 . where g is the acceleration due to gravity at sea level and RE is the earth’s radius. or transmission in any form or by any means.
20et ) m/s aB = (0.002v2 ⇒ ds aBn = vB 0 50π 2 m sB vdv = 0.34 m/s2 (a) vp = (130et ) m/s ap = (−4et + 11.Problem 13.34 m/s2 θ (b) ρ= Problem 13. Suppose that the car starts from rest at A and the tangential component of its acceleration is at = 0. what are its velocity and acceleration in terms of normal and tangential components when it reaches B? Solution: At point B SB = 200 + at = v dv = 0. What are the airplane’s velocity and acceleration in terms of normal and tangential components? (b) What is the instantaneous radius of curvature of the airplane’s path? (a) Solution: ω = (5 /s) ◦ π rad 180◦ = π rad/s 36 aP t = −4 m/s2 . storage in a retrieval system. mechanical. All rights reserved. vB = (18. If the car starts from rest at A.68en ) m/s2 aBn = 2 vB = 6.117 After subjecting the car design described in Problem 13. 2 vB = 4. recording or likewise.6 m/s2 )s At point B SB = 200 + 50π 2 m ⇒ vB = 18. its tangential component of acceleration is at = −4 m/s2 .28et ) m/s aB = (0. photocopying.6 − 0. a group of engineering students estimates that the car’s acceleration will be 0. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.197 m/s2 Thus vB = (14.002(14.002v2 ds 0 vB = 14. and the rate of change of its path angle is dθ/dt = 5◦ /s. What are the car’s velocity and acceleration in terms of normal and tangential components when it reaches B? Solution: at = v dv = 0.116 to wind tunnel testing.6et + 6.6 m/s2 .6 − 0.34en ) m/s2 v2 (130 m/s)2 = = 1490 m an 11.6 m/s2 )ds v 2 = 2(0. .20 m/s)2 = 0. the magnitude of the airplane’s velocity is 130 m/s.28 m/s. where v is the car’s velocity in m/s.20 m/s. or transmission in any form or by any means. the students estimate that the tangential component of the car’s acceleration will be at = 0.6 − 0.6 m/s2 .03en ) m/s2 62 c 2008 Pearson Education South Asia Pte Ltd.002v 2 m/s2 .6 m/s2 ⇒ ds v 0 vdv = 0 s (0.6 − 0.68 m/s2 50 m 50 m B A 200 m Thus Problem 13.116 In the preliminary design of a sunpowered car.03 m/s2 50 m at = 0.197et + 4.115 At the instant shown. electronic. an = (130 m/s)ω = 11.
Problem 13. The normal acceleration is an = (22.118 Suppose that the tangential component of acceleration of the car described in Problem 13.39 2 t . where s is the distance the car travels along the track from point A. so SB = 278.05et (m/s) (0. and the velocity is v(2) = 22.39 m/s2.78 m/s.001s ds SB 0 v dv = a = (0.13 = 2.13.4 − 0. mechanical.5 m Solving for v.117 is given in terms of the car’s position by at = 0. or transmission in any form or by any means. R 36 from which C = 316.6 m .116.6 = 96 1000 3600 = 26.1 2 = 14.39 m/s 2. photocopying.56) 2 v2 = = 14.001s 2 v2 = 0. P13.39 2 + 14. 63 . so that at this point the car is still in the ﬁrst part of the hill.05 m/s v = 12.001s m/s2 dt ds dt From Fig. recording or likewise.001s m/s2 . 2(82.905eN (m/s2 ) 0.4 − 0.67)2 − 316.3 m/s 2 Note: This is a large acceleration–the driver (and passengers) would no doubt be uncomfortable.6) c 2008 Pearson Education South Asia Pte Ltd.67 m/s.121et + 2. At a point 2 seconds past A. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. 1000 v(0) = 64 3600 = 17.001sB )et + v 2 /ρeN (m/s2 ) Solving. π (36 + 3 0) = 8 2. electronic.4 − 0.34 m. Separate variables and integrate: v2 = 2as + C.4 − 0.78 t + 2. The distance from A is s(t) = 17 .1 m/s 2 . What is the magnitude of its acceleration 2 s after the car passes point A? y 36 m 30° A 30° 24 m 30 m 24 m x B Solution: Use the chain rule to obtain v dv = a. 2 where a is constant. a = 0. SB = 200 + 2πρ/4 where ρ = 50 m.119 A car increases its speed at a constant rate from 64 km/h at A to 96 km/h at B. the distance is s(2) = 40.78 + 2. The acceleration is v2 − C a= 2s The distance traveled from A to B is s = 2(24 ) + (30) and the speed in [v(s)]s=82. v = 12.4s − 2 2 Problem 13.39t m/s.56 m/s .001s) ds SB 0 v v 0 dv = 0. The tangential acceleration is at = 2. The ﬁrst part of the hill ends at 43. storage in a retrieval system. ds The velocity is as a function of time is v(t) = v(0) + at = 17. All rights reserved. What are the car’s velocity and acceleration in terms of normal and tangential components at point B? Solution: at = dv dv ds = = 0. from the constant acceleration is a= (26. 180 a = The magnitude of the acceleration is √ 2. At s = 0.4 − 0.
119. Solution: Use the solution in Problem 13. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. storage in a retrieval system. All rights reserved. therefore v = 6.120 The car increases its speed at a constant rate from 64 km/h at A to 96 km/h at B . the velocity is in the tangential direction.6 m/s2 .19 rad/s 10m Problem 13.11 we ﬁnd the x and y components of acceleration and velocity at t = 4 s. ax = 2.121 Astronaut candidates are to be tested in a centrifuge with 10m radius that rotates in the horizontal plane.39 2 + 13.32 2 = 18. or ﬁve times the acceleration due to gravity.4 m/s. The normal acceleration is (22.4 m/s2 . vy = 4.3 m/s 2.13 v(36 ) = = 22.] √ a = 2. The normal acceleration is an = (v(48)) R 2 = 23. Earth’s gravity effectively exerts an acceleration of 1 g in the vertical direction. 64 c 2008 Pearson Education South Asia Pte Ltd.39 m/s 2 from Problem 13.36 m/s2 . By deﬁnition. 30 The magnitude of the acceleration is a = √ 2. Test engineers want to subject the candidates to an acceleration of 5 g’s.39)(36) + 316. what is the helicopter’s velocity in turns of normal and tangential components at t = 4 s? Solution: In Example 13. Determine the angular velocity of the centrifuge in revolutions per second so that the magnitude of the total acceleration is 5 g’s. mechanical.80 m/s)2 + (4. The tangential acceleration is unchanged: at = 2.81 m/s 2 (b) The velocity at distance 48 m from A is v(48 ) = √ 2(2 .39 m/s 2.11.39 )(48 ) + C = 23.1 m/s. At 36 m the car is in the ﬁrst part of the hill. photocopying.46 m/s)et .80 m/s.42 = 18.3922 + 18.46 m/s. electronic.122 In Example 13. an = R 36 The magnitude of the acceleration is [Note: The car will “lift off” from the road. (a) The velocity at a distance 36 m from A is √ √ 2as + C = (2)(2.5 m/s 2 Problem 13. vx = 4. ay = 0.Problem 13. Determine the magnitude of its acceleration when it has traveled along the road a distance (a) 36 m from A and (b) 48 m from A.32 m/s The total velocity of the helicopter is v= 2 2 vx + vy = (4. At 48 m the car is on the second part of the hill. or transmission in any form or by any means.81 m/s2 ) = 2. . Solution: an 2 + g 2 = (5g)2 ⇒ an = an = rω2 ⇒ ω = an /r √ 24g 10 m ω= √ 24(9.6 2 = 13. recording or likewise. The tangential acceleration is at = 2 .119.1) 2 (v(36)) 2 = = 13.32 m/s)2 = 6.
ρ = v 2 /an  ρ = (15)2 /9.123 The athlete releases the shot with velocity v = 16 m/s at 20◦ above the horizontal. vx = 15.3 s? Use the relation an = v 2 /ρ to determine the instantaneous radius of curvature of the shot’s path at t = 0.124 At t = 0.2et (m/s) We have the following geometry From the diagram tan r = vy /vx r = 9. mechanical.3 s.81t At highest point.81t = 5.0 m y et eN x Problem 13.81t m/s At t = 0. (a) (b) What are the velocity and acceleration of the shot in terms of normal and tangential components when it is at the highest point of its trajectory? What is the instantaneous radius of curvature of the shot’s path when it is at the highest point of its trajectory? 20° Solution: ax = 0 vx = vx0 = 16 cos 20◦ .0 m/s v= 2 2 vx + vy vy = 5. recording or likewise. an  = v 2 /ρ ρ = v 2 /an  = (15. (a) (b) What are the velocity and acceleration of the shot in terms of normal and tangential components at t = 0.47 − 9.67en (m/s2 ) r at c 2008 Pearson Education South Asia Pte Ltd.123. v = 15. electronic.63 m/s2 a = −1.63et + 9.81 = 23.47 − 9. storage in a retrieval system. the athlete releases the shot with velocity v = 16 m/s. 65 .81 sin r = 1.81 2 Solution: From the solution to Problem 13. or transmission in any form or by any means.2)2 /9.3 s. vy = 0 (a) (b) v = 16 cos 20 et = 15. All rights reserved.Problem 13. photocopying.81 m/s2 vy = vy0 − 9. vy0 = 16 sin 20◦ (c) ay = −9.81 cos r = 9.67 ρ = 24.67 m/s at  = 9. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.0 m y V et en r Vy x 9.81en (m/s2 ) ◦ aN  = v 2 /ρ.2 m/s v = 15.0et (m/s) a = 9.55◦ m s2 Vx an an  = 9.
Solution: 1+ ρ= dy dx d2y dx 2 2 3/2 We now have y(x) vy dy = 0 − 9. The unit vector parallel to the path is et = i cos β + j sin β.8442 rad.98 m/s2 . an = 5. vx 8t At t = 3 seconds. recording or likewise.0 m x 2 v x0 From the solution to 13. vy = vy0 − 9.8/(t 2 /2).3 s. the athlete releases the shot with velocity v = 16 m/s. electronic. The unit vector normal to the path pointing toward the instantaneous radial center is en = i cos β − π 2 + j sin β − π 2 = i sin β − j cos β.0434 dx 2 and ρ = 24. mechanical. x = 4.47 m/s y0 ≡ 0 vx0 = v0 cos 20◦ = 15. At t = 3 seconds. Use Eq.81 )− v x0 2 x v x0 2 − 9. Problem 13.3 s. Thus. hence y = y0 + vy0 t Also. What is the instantaneous radius of curvature of the path of the point at t = 3 s? Solution: The components of the velocity: v = 8ti − (3t2 )j. photocopying. The instantaneous path angle is tan β = vy −3t 2 = . y = 10 − t 3 m. the magnitude of the velocity is vt=3 = (8t)2 + (−3t 2 )2 = 36.123. an = en · a or an = 8 sin β + (6t) cos β. The normal acceleration is the component of acceleration in the direction of en . The components of the acceleration are a = 8i − (6t)j.81/vx0 dx 2 We also know v0 = 16 m/s and vy0 = v0 sin 20◦ = 5. β = −0. The radius of curvature at t = 3 seconds is ρ= v2 = 218 m an 66 c 2008 Pearson Education South Asia Pte Ltd. tx0 ≡ 0 dy = 0.81 dx v x0 d2y 2 = −9.12 m/s.04 m/s At t = 0.125 At t = 0.168 dx d2y = −0.81t.Problem 13. . vx = vx0 x = x0 + vx0 Hence t = x/vx0 and y = v y0 ( x 9.126 The cartesian coordinates of a point moving in the xyplane are x = 20 + 4t 2 m. At t = 3 seconds. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. (13.5 m.42) to determine the instantaneous radius of curvature of the shot’s path at t = 0. storage in a retrieval system. or transmission in any form or by any means. All rights reserved.
02 c 2008 Pearson Education South Asia Pte Ltd. The magnitude of the acceleration is given by a = 2 2 ax + ay = 3.2 s. and y = 0.95 rad/s2 ) = 3.004 ω= 1s (12 rad/s2 )(1 − e−0.72 m/s2 .3t 2 m/s.6 m. Determine the tangential and normal components of the acceleration of the sample at t = 0. vy ) = (0.3 m)(11.2 s. The helicopter starts from rest (vx .62 m/s2 . The normal acceleration component is given by aN = 2 a2 − aT = 1.6t m/s2 and ay = 1. the angular acceleration is α = (12 rad/s2 ) − (0.1t 3 m. vx = 10. The equations for the motion in the x direction are ax = 0. where ω is the centrifuge’s angular velocity. The tangential acceleration component is given by aT = a · eT = 0.928ax + 0. 0) at t = 0.63 m/s.004 ) = 2. a = (3. Assume that motion starts at the origin (0.40 rad/s) = 11. the variables have the values ax = 3. vy = 4. electronic. All rights reserved.72en ) m/s2 .02 s−1 ]ω = 0 0.2 s dt αn = rω2 = (0.9t 2 − 0.59 m/s2 dω [12 rad/s2 ] − [0.02 s−1 ]ω = [12 rad/s2 ]e−0. x = 21. 0). dω = ([12 rad/s2 ] − [0. photocopying. −1 s ln 0.59et + 1. 300 mm Solution: We will ﬁrst integrate to ﬁnd the angular velocity at t = 0. y x Solution: The solution will follow that of Example 13. The components of acceleration are at = rα = (0. v v Problem 13. recording or likewise. The magnitude of the velocity is given by v = 2 2 vx + vy = 11. mechanical. or transmission in any form or by any means.40 rad/s)2 = 1.Problem 13. its motor and control system give it an angular acceleration (in rad/s2 ) α = 12 − 0.02ω.36t m/s2 .95 rad/s2 .371j.67 m/s2 The unit vector in the tangential direction is given by eT = vx i + v y j v = = 0.02 s−1 ]ω) α= dt ω 0 At this time. ay = −0.40 rad/s 0.3 m)(2.36 m/s2 .11.127 The helicopter starts from rest at t = 0. with the time changed to t = 6 s.6 m/s2 .8t − 0.18t 2 m/s. vy = 1.8 m/s.371ay = 3.06t 3 m.8 − 0.8 − 0. and y = 19.128 Suppose that when the centrifuge in Example 13.02 s−1 )(2.21 m/s2 .02 s−1 ]ω [12 rad/s2 ] = 0.44 m.32 m/s. vx = 0. The cartesian components of its acceleration are ax = 0. storage in a retrieval system. Determine the tangential and normal components of its acceleration at t = 6 s.36t m/s2 .02 [12 rad/s2 ] − [0. 67 . At t = 6 s.2 s [12 rad/s2 ] − [0.6t m/s2 . x = 0.928i + 0. and the equations for motion in the y direction are ay = 1. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.12 is turned on.
storage in a retrieval system. the velocity is v(t) = v0 i − gtj.129* For astronaut training. The component parallel to the normal component is an = g cos β. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.130* In Problem 13. The ﬂight path angle is β. + (gt)2 The unit vector parallel to the ﬂight path is e = i cos β + j sin β.. The component of the acceleration tangent to the ﬂight path is at = −g sin β. from which 1 2 −2 an = g v0 2 v0 + (gt)2 =g 1+ gt v0 68 c 2008 Pearson Education South Asia Pte Ltd. recording or likewise. Solution: The velocity of the path is v(t) = v0 i − gtj.129. or transmission in any form or by any means. electronic. The acceleration vector is a = −jg. The acceleration is a = −jg.129. from which cos β = v0 2 v0 . . from which at = g gt 2 v0 .Problem 13. + (gt)2 The unit vector parallel to the velocity vector is e = i cos β + j sin β. + (gt)2 Divide by v0 . the airplane shown is to achieve “weightlessness” for a short period of time by ﬂying along a path such that its acceleration is ax = 0 and ay = −g. pointing toward the instantaneous radial center of the path. The unit vector normal to e is en = i cos β − π 2 + j sin β − π 2 = i sin β − j cos β. 1 2 −2 at = g 1 + gt v0 gt v0 Problem 13. show that the autopilot must ﬂy the airplane so that its tangential component of the acceleration as a function of time is gt v0 1+ gt v0 2 y x O at = g . vx v0 −gt 2 v0 . All rights reserved. what is the airplane’s normal component of acceleration as a function of time? Solution: From Problem 13. The path angle is β : tan β = sin β = vy −gt = . photocopying. mechanical. If the velocity of the plane at O at time t = 0 is v = v0 i.
recording or likewise. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.5◦ y dy x dt y x2 dx dt dy dt − y x d2y dt 2 ax = d dvx = dt dt 1 x dy dt 2 − =− + = −0. The angular velocity v = 0. from which at = −ax sin β = 53. dt y 300 mm The velocity of point P is vp = ivx + jvy . c 2008 Pearson Education South Asia Pte Ltd.131 If y = 100 mm. from which the velocity is v = ω= 2 2 vx + vy = 0.0707 m/s. and y dx =− dt x dy = vx = −0. mechanical. R The angle is β = tan−1 y x = 19. electronic.15 m/s2 check.1591 m/s2 The unit vector tangent to the path (normal to the radius vector for a circle) is ep = −i sin β + j cos β.0 mm/s2 since ay = 0 an = −Rω2 = −0. from which x = R 2 − y 2 = 0.212 m/s. what are the velocity and acceleration of dt 2 P in terms of normal and tangential components? dy = 200 mm/s. or transmission in any form or by any means. storage in a retrieval system.283 m. photocopying. 69 . dt P Solution: The equation for the circular guide is R2 = x 2 + y 2 .7071 rad/s.Problem 13.150 m/s2 . and d 2y = 0. Check: an = ax cos β = −0. All rights reserved.
8 mm/s Problem 13. what are the tangential and normal components of the car’s acceleration? Solution: The strategy is to use the acceleration in cartesian coordinates found in the solution to Problem 13.90 the accelerations are a = −0. from which d2y = −an sin θ = −150 mm/s2 dt 2 y x 2 The velocity is v = 300 = 1 −2 + 1. All rights reserved.5) = 30◦ .000035 . from which at = 0. storage in a retrieval system. . and vx = −150 mm/s (Since the point is moving upward in the slot. recording or likewise.8 mm. . from which vy = 300 y x 2 +1 = 259. or transmission in any form or by any means.0993i + 0.0003x 2 x and use this angle to transform the accelerations to tangential and normal components.90. When y = 150 mm. what are and dt 2 d y ? dt 2 Solution: The position in the guide slot is y = R sin θ. dt 70 c 2008 Pearson Education South Asia Pte Ltd. vx = − y x y dy =− vy . This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.131 moves upward in the slot with velocity dy v = 300et (mm/s). vy is positive. The velocity along the path in the guide slot is assumed constant. photocopying.132* Suppose that the point P in Problem 13. an = −ax sin θ + ay cos θ. When x = 400 m.133* A car travels at 100 km/h on a straight road of increasing grade whose vertical proﬁle can be approximated by the equation shown. electronic. From the solution to Problem 13. check. mechanical. The angle at θ = tan−1 d Cx 2 dx = tan−1 (6x × 10−4 )x=400 = 13. The normal acceleration is an = v2 = 300 mm/s2 R x = R cos θ = 259. so the tangential comdv ponent of the acceleration is zero.131.Problem 13. x=400 From trigonometry (see ﬁgure) the transformation is at = ax cos θ + ay sin θ. an = 0. dt x 2 2 vx + vy = vy directed toward the radius center. ﬁnd the angle with respect to the xaxis. .5◦ .4139j (m/s2 ). = 0 .4256 m/s2 Check: The velocity is constant along the path. at = = 0.). from which θ = sin−1 y R = sin−1 (0. y y = 0. hence at = 0. From the solution to Problem 13. θ = tan−1 dy dx .
025.134 A boy rides a skateboard on the concrete surface of an empty drainage canal described by the equation shown. x=0 + dx dt 2 = v = K(20 − y) 2 = K(20 − Cx 2 ) 2 . x=0 d2x dt 2 dx dt = 0. Use Equation (13. and the magnitude of his velocity is approximated by v = √ 2(9.81)(20 − y) m/s.7 m. dy = 2Cx dt d2y = 2C dt 2 Substitute: K(20 − Cx 2 ) 2 dx = . 0. x=0 2 = 77. dx dx 2 From Eq (13. the tangential and normal accelerations are at = ax cos θ + ay sin θ. c 2008 Pearson Education South Asia Pte Ltd.28 m/s2 . C = 0.89 m/s. + 2Cx . recording or likewise. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. the normal acceleration at the bottom of the canal is identical to the y component of the acceleration.06.28 m/s2 . dt and dx dx = . d2x dt 2 Check: The velocity is constant along the path.06x and = 0.Problem 13. By dt inspection. so the tangential dv component of the acceleration is zero.06 At x = 0. From y = Cx2 . From the solution to Problem 2.42) to determine the instantaneous radius of curvature of the boy’s path when he reaches the bottom. (b) What is the normal component of his acceleration when he reaches the bottom? Solution: (a) y = 0. so d2y dy = 0. d2y dt 2 = 2C x=0 y y = 0. 71 . check. All rights reserved.42).03x 2 (a) x At the bottom of the canal the values are dx dt dy dt √ = K 20 = 35. check. He starts at y = 20 m.06x)2 ]3/2 ρ= m. dx > 0. x=0 = 0. 1 dt (4C 2 x 2 + 1) 2 Since the boy is moving the right. and an = 77.03. electronic.03x 2 . (b) ρ = 16. an = −ax sin θ + ay cos θ. from which at = 0 . photocopying. The acceleration is d2x = dt 2 −KCx (20 1 − Cx 2 ) 2 (4C 2 x 2 1 + 1) 2 1 dx dt − K(4C 2 x)(20 − Cx 2 ) 2 (4C 2 x 2 3 + 1) 2 dx dt . mechanical.133. [1 + (0. or transmission in any form or by any means. where K = 8. dt dt 1 dx dt dx dt 2 . at = = 0. storage in a retrieval system. x=0 The angle with respect to the x axis at the bottom of the canal is θ = tan−1 1 1 The magnitude of the velocity is dy dt 2 dy dx = 0.
From the solution to Problem 13.84 m/s2 = K(20 − Cx 2 ) 2 (4C 2 x 2 + 1)− 2 y=10 = −K y=10 dx dt y=10 Cx (20 1 − Cx 2 ) 2 (4C 2 x 2 1 + 1) 2 1 y=10 + (4C 2 x)(20 − Cx 2 ) 2 (4C 2 x 2 + 1) 2 3 = −24.257 m.78 m/s. Solution: Equations (13. by multiplying the equation for et by sin θ and the equation for en by cos θ and adding. (− sin θi + cos θj) dt dt Similarly.134. d2y dt 2 = 2C y=10 dx dt 2 + 2Cx d2x dt 2 = −9.78 m/s 2 .58 m/s2 . y=10 Problem 13. electronic. y=10 The angle is θ = tan−1 dy dx = 47.135 In Problem 13. at y = 10 m. we get dt dθ dθ = en . an = −ax sin θ + ay cos θ. from which 1 y=10 from which = 17. 1 From the solution to Problem 13. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.41) are et = cos θi + sin θj and en = − sin θi + cos θj. recording or likewise.134. taking the derivative of en = − sin θi + cos θj.Problem 13. storage in a retrieval system.136* Using Eqs (13. we get i = cos θet − sin θen .41): (a) Show that the relations between the cartesian unit vectors and the unit vectors et and en are i = cos θ et − sin θ en and j = sin θ et + cos θ en (b) Show that det /dt = dθ/dten and den /dt = −dθ/dtet . (a) Multiplying the equation for et by cos θ and the equation for en by (− sin θ) and adding the two equations. Similarly. or transmission in any form or by any means. an = 11. at = −23. photocopying. at = ax cos θ + ay sin θ. what is the normal component of the boy’s acceleration when he has passed the bottom and reached y = 10 m? Solution: Use the results of the solutions to Problems 13. we get j = sin θet + cos θen . x= dx dt d2x dt 2 y C = 18.133. det = Taking the derivative of et = cos θi + sin θj. All rights reserved. mechanical.61◦ .11 m/s. we get den /dt = −(dθ/dt)et (b) 72 c 2008 Pearson Education South Asia Pte Ltd.133 and 13.134. .
a = 7.8 m/s. 2 2 ar + aθ = v = 3. dt dθ = 2 rad/s.2 m/s 2 )t2.2 m/s2 )2 = 7. mechanical.137 The polar coordinates of the collar A are given as functions of time in seconds by r = 1 + 0.69 m/s. dr = (0.4 ft/s2 )t.8 ft. or transmission in any form or by any means. The components of the velocity and acceleration are vr = dr dθ = 0.8 m/s.52 m/s2 . c 2008 Pearson Education South Asia Pte Ltd.8 m/s)(2 rad/s) = 3. storage in a retrieval system. we have r = 1. aθ = r d2θ dr dθ +2 = 0 + 2(0.8 m/s)2 + (3. electronic.Problem 13. All rights reserved. dθ = 2 rad/s. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. dt d2θ =0 dt 2 d2r = 0.8 m)(2 rad/s) = 3. v θ = r = (1.8 m/s 2.4 m/s2 ) − (1.6 m/s.4 m/s2 .2 m/s 2.8 m)(2 rad/s2 ) = − 6. recording or likewise.2t 2 m and θ = 2t rad.8 m/s2 )2 + (3. What are the magnitudes of the velocity and acceleration of the collar at t = 2 s? r u A Solution: We have r = (1 ft) + (0.6 m/s)2 = 3. photocopying. dr = 0. (−6. dt dt d2r −r dt 2 dθ dt 2 ar = = (0. dt 2 θ = (2 rad/s)t. dt 2 dt dt The magnitudes are v= a= 2 2 vr + vθ = (0. dt d2r = 0.52 m/s 2 . 73 .4 m/s2 . dt θ = 8 rad. dt 2 d2θ =0 dt 2 At time t = 2 s.69 m/s.
5 sin 2π t m. recording or likewise.5 − 0. vθ = r = (1. The angular velocity is found vθ = r dθ vθ 5. Problem 13.2 cos 2π t rad. (b) What is the angular velocity dθ/dt of the crane at the instant shown? (a) y A r Solution: To transform to polar coordinates we have vr = vx cos θ + vy sin θ = (2 m/s) cos 30 + (8 m/s) sin 30 = 5. electronic. mechanical. y r P What is the velocity of P in terms of polar coordinates at t = 0. The cartesian components of the velocity of point A are vx = 2 m/s and vy = 8 m/s. or transmission in any form or by any means.5 sin 2π t dr = −π cos 2π dt s At time t = 0. dt dt v = (−0. vθ = −vx sin θ + vy cos θ = −(2 m/s) sin 30 + (8 m/s) cos 30 = 5. m.20 rad/s. r = 1.138 In Active Example 13. All rights reserved.971 m/s. θ = 0.73 m/s. θ = 0.8 s. dθ dr = −0. storage in a retrieval system.Problem 13.5 − 0.73er + 5. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.438 rad.93eθ )m/s.98 rad/s.48 m.4π sin 2π dt s t s rad.93 m/s. photocopying.98 rad/s. dt 74 c 2008 Pearson Education South Asia Pte Ltd.13. r = 3 m and θ = 30◦ .971 m/s. = −1.139 At the instant shown.76eθ ) m/s.93 m/s dθ ⇒ = = = 1. vA = (5. θ = 0. dt dt r 3m ◦ ◦ ◦ ◦ u x dθ = 1.20 rad/s) = −1.76 m/s.2 cos 2π t dθ = 0. suppose that the robot arm is reprogrammed so that the point P traverses the path described by r = 1 − 0.971er − 1.8 s? u x Solution: We have r = 1 − 0.48 m)(−1. dt dt t s m/s. . Determine the velocity of point A in terms of polar coordinates. rad/s. The velocity is vr = dr dθ = −0.
The acceleration components are ar = d2r −r dt 2 dθ dt = (0. All rights reserved.04)t rad/s2 .140 The polar coordinates of point A of the crane are given as functions of time in seconds by r = 3 + 0. electronic. dt 2 x d2r = 0.8 m. r = 4.12 rad/s) +2 dt 2 dt dt aA = (0. u dr = (0. photocopying.8 m)(0. dt 2 θ = (0. y A r Solution: We have r = (3 m) + (0. c 2008 Pearson Education South Asia Pte Ltd. recording or likewise.12 rad/s. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.4 m/s2 )t. dθ = (0. dr = 1. 75 . mechanical.2 m/s)(0.02)t 2 rad/s2 .4 m/s2 .04 rad/s2 dt 2 At t = 3 s.8 m)(0.02t 2 rad.2t 2 m and θ = 0.04 rad/s2 ) + 2(1.331er + 0.12 rad/s)2 . dt dθ = 0.4 m/s2 . dt d2θ = 0. dt 2 θ = 0. Determine the acceleration of point A in terms of polar coordinates at t = 3s. dt d2r = 0.4 m/s2 ) − (4.18 rad. storage in a retrieval system.480eθ ) m/s2 . or transmission in any form or by any means.2 m/s2 )t 2 .Problem 13. aθ = r d2θ dr dθ = (4.2 m/s.04 rad/s2 . dt 2 d2θ = 0.
This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.14.Problem 13. . dt from which d2r = 0. The acceleration is a = [−2(4)]er + [2(4)(2)]eθ = −8er + 16eθ (m/s2 ). dt from which d2θ = 0. dt 2 The magnitude is v = √ 42 + 42 = 5.141 The radial line rotates with a constant angular velocity of 2 rad/s. storage in a retrieval system. photocopying. recording or likewise. electronic. mechanical. dt 2 √ a = 82 + 162 = 17.) y 2 rad/s P 4 m/s r O x Solution: The angular velocity of the line is dθ = ω = 2 rad/s.66 m/s . Determine the magnitude of the velocity and acceleration of P when r = 2 m. (See Example 13. The magnitude is The radial velocity of the point is dr = 4 m/s. or transmission in any form or by any means. 76 c 2008 Pearson Education South Asia Pte Ltd. Point P moves along the line at a constant speed of 4 m/s. All rights reserved.89 m/s2 The vector velocity is v= dr dt er + r dθ dt eθ = 4er + 4eθ (m/s).
the coordinates of the collar A are x = 2. (a) (b) v = (3.9 m ◦ = 39. y C A 60 B x Solution: We will write the velocity in terms of cartesian coordinates.46 m/s) cos 39. electronic.9 m)2 = 0.6 + (3.6 .6 .6 + (3.40 m/s (2. 2. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.46 m/s.3 m. vy = (4 m/s) sin 60 = 3. or transmission in any form or by any means. photocopying.9 m. The collar is sliding on the bar from B toward C at a constant speed of 4 m/s.142 At the instant shown. All rights reserved. storage in a retrieval system. vx = (4 m/s) cos 60 = 2 m/s.46 m/s) sin 39. y = 1. vθ = −vx sin θ + vy cos θ = −(2 m/s) sin 39. The angle θ is θ = tan−1 y x = tan−1 1.3 m ◦ ◦ ◦ Now we can convert to polar coordinates vr = vx cos θ + vy sin θ = (2 m/s) cos 39. mechanical.40eθ ) m/s.468 rad/s. vθ dθ = = dt r 1.75er + 1.Problem 13. 77 . (a) (b) What is the velocity of the collar in terms of polar coordinates? Use the answer to part (a) to determine the angular velocity of the radial line from the origin to the collar A at the instant shown.3 m)2 + (1. dθ = 0. dt ◦ ◦ c 2008 Pearson Education South Asia Pte Ltd.6 ◦. recording or likewise.468 rad/s.
dt dθ = 0. (a) aA = 0. so the acceleration is zero. Form Problem 13. dr = vr = 3.75 m/s.Problem 13. dt 2 78 c 2008 Pearson Education South Asia Pte Ltd. y = 1.3 m)2 + (1. the coordinates of the collar A are x = 2.98 m d2θ = −1.18 rad/s2 . mechanical.98 m. photocopying. All rights reserved. What is the acceleration of the collar in terms of polar coordinates? (b) Use the answer to part (a) to determine the angular acceleration of the radial line from the origin to the collar A at the instant shown.3 m. storage in a retrieval system.9 m. electronic. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. dt Using the θ component of the acceleration we can solve for the angular acceleration.141 we know that r= (2.9 m)2 = 2. recording or likewise. The collar is sliding on the bar from B toward C at a constant speed of 4 m/s.486 rad/s) dt 2 r dt dt 2. .468 rad/s. (a) y C A 60 B x Solution: The velocity is constant.75 m/s)(0.143 At the instant shown. or transmission in any form or by any means. aθ = r d2θ dr dθ =0 +2 dt 2 dt dt d2θ 2 dr dθ 2 =− =− (3.
Problem 13.144 A boat searching for underwater archaeological sites in the Aegean Sea moves at 2.06 m/s and follows the path r = 10θ m, where θ is in radians. When θ = 2π rad, determine the boat’s velocity (a) in terms of polar coordinates and (b) in terms of cartesian coordinates. Solution: The velocity along the path is
v = 2.06 m/s. The path is r = 10θ. The velocity vr = d dθ dr = (10θ) = 10 m/s. dt dt dt
y
x
(a)
The velocity along the path is related to the components by
2 2 v 2 = vr + v θ =
dr dt
2
+ r2
dθ dt
2
= 2.062 .
At θ = 2π , r = 10(2π ) = 62.8 m. Substitute: 2.062 = 10 dθ dt
2
+ r2
dθ dt
2
= (100 + 62.82 )
dθ dt
2
,
from which
dθ = 0.0323 rad/s, dt vθ = r dθ = 2.032 m/s dt
vr = 10
dθ = 0.323 m/s , dt
(b)
From geometry, the cartesian components are vx = vr cos θ + vθ sin θ, and vy = vr sin θ + vθ cos θ. At θ = 2π , vx = vr , and vy = vθ
Problem 13.145 The collar A slides on the circular bar. The radial position of A (in meters) is given as a function of θ by r = 2 cos θ . At the instant shown, θ = 25◦ and dθ/dt = 4 rad/s. Determine the velocity of A in terms of polar coordinates.
y
A
r
Solution:
˙ ¨ ¨ r = 2 cos θ, r = −2 sin θ θ , r = −2 sin θ θ − 2 cos θ θ ˙ Using the given data we have
◦ ˙ ¨ θ = 25 , θ = 4, θ = 0
u
˙2
x
r = 1.813, r = −3.381, r = −29.00 ˙ ¨ ˙ v = r er + r θeθ = (−3.381er + 7.25eθ ) m/s ˙
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
79
Problem 13.146 In Problem 13.145, d 2 θ/dt 2 = 0 at the instant shown. Determine the acceleration of A in terms of polar coordinates.
Solution: See Problem 13.145
˙ ¨ a = (¨ − r θ 2 )er + (r θ + 2˙ θ )eθ = (−58.0er − 27.0eθ ) m/s2 r r˙
Problem 13.147 The radial coordinate of the earth satellite is related to its angular position θ by r= 1.91 × 107 m. 1 + 0.5 cos θ
Satellite
r
θ
The product of the radial position and the transverse component of the velocity is rvθ = 8.72 × 1010 m2 /s. What is the satellite’s velocity in terms of polar coordinates when θ = 90◦ ? Solution:
At θ = 90◦ , r = 1.91 × 107 m = p r= p , 1 + 0.5 cos θ ˙ (−p)(0.5)(− sin θ)θ (1 + 0.5 cos θ)2
r= ˙ We also know that
rvθ = 8.72 × 1010 m2 /s ˙ However vθ = r θ, hence ˙ r 2 θ = 8.72 × 1010 m2 /s ˙ Solving for θ , we get ˙ θ = 0.000239 rad/s and r = 2283 m/s and from above ˙ vθ = 4565 m/s v = 2283er + 4565eθ (m/s)
80
c 2008 Pearson Education South Asia Pte Ltd. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
Problem 13.148* In Problem 13.147, what is the satellite’s acceleration in terms of polar coordinates when θ = 90◦ ? Solution: Set A = 1.91 × 107 m, B = 8.72 × 1010 m2 /s
r= A ˙ , rvθ = r(r θ) = B 1 + 0.5 cos θ B A2 (1 + 0.5 cos θ)2 B2 A4
B ˙ θ= 2 = r ¨ θ =− B A2
˙ (1 + 0.5 cos θ) sin θ θ = −
(1 + 0.5 cos θ)3 sin θ
r= ˙
0.5B sin θ 0.5A sin θ ˙ θ= (1 + 0.5 cos θ)2 A B2 0.5B cos θ ˙ θ = 0.5 A A3 cos θ(1 + 0.5 cos θ)2
r= ¨
When θ = 90◦ we have r = A, r = ˙ Thus ˙ ¨ a = (¨ − r θ 2 )er + (r θ + 2˙ θ )eθ = (−1.091er ) m/s2 r r˙ B ¨ B B2 ˙ , r = 0, θ = 2 , θ = − 4 ¨ 2A A A
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81
Multiply the entire relationship by r. from which C= vr = 2 2 2 v0 − ω0 r0 . in the form ar = dr Solution: From the strategy: ar = 0 = vr dvr 2 − ω0 r. and the radial component of its acceleration dt is ar = d 2r −r dt 2 dθ dt 2 y ω r x = dvr dt 2 − rω0 . The radial component of the bead’s acceleration is zero. storage in a retrieval system. Solution: We are given that aθ = rα + 2vr ω = 0.Problem 13. from which 2 Separate variables and integrate: vr dvr = ω0 rdr. mechanical. 2 and 2 2 2 v0 + ω0 (r 2 − r0 ).150 If the motion of a point in the x –yplane is such that its transverse component of acceleration aθ is zero. Note that if 82 c 2008 Pearson Education South Asia Pte Ltd. We get 0 = (r 2 α + 2rvr ω) = r 2 dω dt + 2r dr dt ω = r d 2 (r ω). then r 2 ω = constant. dr The transverse component is vθ = r dθ dt = rω0 . or transmission in any form or by any means. show that the product of its radial position and its transverse velocity is constant: rvθ = constant. We have r 2 ω = r(rω) = rvθ = constant. vr = v0 . electronic. The radial component of its velocity is v0 when r = r0 . photocopying. At r = r0 . recording or likewise.149 A bead slides along a wire that rotates in the xyplane with constant angular velocity ω0 . dt dr dt dr you can express the radial component of the acceleration dvr 2 vr − rω0 . Now note that vθ = dt rω. Problem 13. All rights reserved. from which 2 vr v= 2 2 2 v0 + ω0 (r 2 − r0 )er + rω0 eθ 2 2 = ω0 r2 2 + C. This was what we needed to prove. dvr dr dvr dvr = = vr . . dt d 2 (r ω) = 0. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. Determine the polar components of the bead’s velocity as a function of r. By using the chain rule. Strategy: The radial component of the bead’s velocity dr is vr = .
dt Thus v = (13.150. d2r = dt 2 − (8 rad/s2 ) r = ([12 rad/s]2 − [8 rad/s2 ])r = ([136 rad/s2 )r Using the supplied strategy we can solve for the radial velocity dvr d2r = (136 rad/s2 )r = vr dt 2 dr vr 2 m/s vr dvr = (136 rad/s2 ) 1. 2 t2 t2 + ∆ t A t1 + ∆ t A t1 Solution: From the solution to Problem 13. Show that this result follows from the fact that the transverse component aθ of the planet’s acceleration is zero. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.5 m rdr 1 m 2 νr (2 m/s)2 − = (136 rad/s2 ) 2 2 [1. Strategy: Use the chain rule to write the ﬁrst term in the radial component of the acceleration as dvr dr dvr dvr d 2r = = vr = dt 2 dt dr dt dr y v0 C r x Solution: We have ar = d2r −r dt 2 dθ dt 2 dθ dt 2 = −(8 rad/s2 )r. if dt Problem 13. mechanical. dt (a) y The element of area is dA = 1 r(rdθ).2 m/s. [When r changes by an amount dr and θ changes by an amount dθ (Fig. c 2008 Pearson Education South Asia Pte Ltd. recording or likewise. We also have vθ = r dθ = (1.Problem 13. photocopying.2er + 18eθ ) m/s. 83 . Thus.151* From astronomical data. b). 2 r + dr dθ dA r or 1 dθ dA = r r dt 2 dt θ (b) x dA = constant. When r = 1 m. Determine the velocity of C in terms of polar coordinates when r = 1. aθ = 0 implies that r 2ω = r 2 dθ = constant. the resulting differential element of area is dA = 1 r(rdθ )]. a). The radial component of acceleration of the collar C (in m/s2 ) is given as a function of the radial position in meters by ar = −8r. electronic.5 m)(12 rad/s) = 18 m/s. Kepler deduced that the line from the sun to a planet traces out equal areas in equal times (Fig. or transmission in any form or by any means. 2 = 1 2 r ω = constant.152 The bar rotates in the x –y plane with constant angular velocity ω0 = 12 rad/s.5 m. the radial component of velocity of C is vr = 2 m/s. storage in a retrieval system. then equal areas are swept out in equal times. All rights reserved.5 m]2 [1 m]2 − 2 2 Solving we ﬁnd vr = 13.
Solution: From Problem 13. Solving.44 m. storage in a retrieval system.Problem 13. electronic. recording or likewise. ˙ r = 2. Solution: vP = 2j (m/s) r = rer ˙ v = r er + r θeθ ˙ Also. y θ = 35◦ . Determine the acceleration of the pin in terms of polar coordinates and the angular acceleration of the slotted bar when θ = 35◦ . photocopying. constant a= dv ≡0 dt ˙ θ = ω = 0.153 The hydraulic actuator moves the pin P upward with constant velocity v = 2j (m/s). r = 1. mechanical.15 m/s. r = 2i + yj (m) v = yj (m/s) = 2j (m/s) ˙ r = y sin θ ˙ ˙ ˙ r θ = y cos θ ˙ r= x2 + y2 tan θ = y x Hence y P θ x 2m ˙ V = r er + r θeθ ˙ V = 1. or transmission in any form or by any means.671 rad/s θ = 35◦ ˙ ¨ y = 2(2 sec θ)(sec θ tan θ)θ 2 + 2 sec2 θ θ ¨ ˙ [−2 sec θ tan θ](θ )2 ¨ θ= sec θ ˙ θ = 0. Determine the velocity of the pin in terms of polar coordinates and the angular velocity of the slotted bar when θ = 35◦ . we get y = 1.15er + 1. . rad ˙ θ = 0.631 rad/s2 ˙ θ =ω ¨ θ =α tan θ = y = 2 m/s ˙ y=0 ¨ y y = x 2 y y = 2 tan θ y= ˙ 2 sec2 ˙ θθ θ x = 2m 84 c 2008 Pearson Education South Asia Pte Ltd. All rights reserved.671 s eθ θ er Problem 13.154 The hydraulic actuator moves the pin P upward with constant velocity v = 2j (m/s). This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.153 V = 2j m/s.40 m.64eθ (m/s) θ .
381 m/s2 ay = ar sin θ + aθ cos θ = −5.232 m. mechanical. determine the velocity of the cam follower when θ = 135◦ (a) in terms of polar coordinates and (b) in terms of cartesian coordinates. and α = 0.5 cos θ)−2 2 sin2 θ(1 + 0.075 dθ dt 2 cos θ(1 + 0.15(1 + 0. storage in a retrieval system. determine the acceleration of the cam follower when θ = 135◦ (a) in terms of polar coordinates and (b) in terms of cartesian coordinates. ω = dθ/dt = 4rad/s.155. photocopying. (a) dθ d2r = 0. y Solution: (a) θ = 135 .52er + 4. vy = vr sin θ + vθ cos θ = −0.155 In Example 13. 85 . recording or likewise. Solution: See the solution of Problem 13.075 dt 2 dt + 0. or transmission in any form or by any means.297 m/s. (b) vx = vr cos θ − vθ sin θ = −1. v= dθ dr er + r eθ dt dt = 0.928eθ (m/s).508 m/s.15.075 sin θ(1 + 0. Problem 13. c 2008 Pearson Education South Asia Pte Ltd.5 cos θ)−3 = 0.Problem 13.362 m/s2 .156* In Example 13. r = 0. dθ dr = 0. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.06eθ (m/s2 ).15. All rights reserved.5 cos θ)−2 dt dt = 0. a= d2r −r dt 2 dθ dt 2 er + r d2θ dr dθ +2 eθ dt 2 dt dt = −3. (b) ax = ar cos θ − aθ sin θ = −0.5 cos θ)−1 ◦ r u Follower x Cam = 0.508er + 0. electronic.015 m/s.1905 m/s2 .
ω = dθ/dt = 10 rad/s. ay = ar sin θ + aθ cos θ = −263 m/s2 . +2 dt 2 dt dt = −225er − 173eθ (m/s 2).5 cos 2θ = 1. Problem 13. . dθ dr =− sin 2θ dt dt = −8.158* In Problem 13. recording or likewise. electronic. v= dθ dr er + r eθ dt dt = −8.157.66 m/s. mechanical. 86 c 2008 Pearson Education South Asia Pte Ltd. vy = vr sin θ + vθ cos θ = 6. The path of the follower is described by the polar equation r = 1 + 0.5eθ (m/s). determine the acceleration of the cam follower when θ = 30◦ (a) in terms of polar coordinates and (b) in terms of cartesian coordinates. a= d2r −r dt 2 dθ dt 2 er + r d2θ dr dθ eθ . (a) d2r = −2θ 2 cos 2θ dt 2 = −100 m/s2 .5 cos(2θ ) m .50 m /s. Solution: See the solution of Problem 13. y r A θ x Solution: (a) θ = 30◦ .157. Determine the velocity of the cam follower when θ = 30◦ (a) in terms of polar coordinates and (b) in terms of cartesian coordinates. (b) ax = ar cos θ − aθ sin θ = −108 m/s 2. and α = 0.66er + 12. storage in a retrieval system. photocopying.157 In the camfollower mechanism. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. (b) vx = vr cos θ − vθ sin θ = −13.Problem 13. or transmission in any form or by any means.25 m. the slotted bar rotates with constant angular velocity ω = 10 rad/s and the radial position of the follower A is determined by the proﬁle of the stationary cam.75 m/s. r = 1 + 0. All rights reserved.
the radial unit vector is er = i cos θ + j sin θ. mechanical. j are related to the unit vectors er . y (a) eθ er r P θ x Solve for i by multiplying er by cos θ. Solution: (a) From geometry (see Figure). and eθ by cos θ. (b) Beginning with the expression for the position vector of P in terms of cartesian coordinates. eθ by i = er cos θ − eθ sin θ and j = er sin θ + eθ cos θ . eθ : r = r(er cos2 θ − eθ cos θ sin θ + er sin2 θ + eθ sin θ cos θ) = rer (c) The time derivatives are: dr dr dθ =v=i cos θ − r sin θ dt dt dt +j from which v= dθ dr (i cos θ + j sin θ) + r (−i sin θ + j cos θ). All rights reserved. photocopying. (c) By taking the time derivative of the position vector of point P expressed in terms of cartesian coordinates. derive Eq. recording or likewise.47) for the velocity in terms of polar coordinates. Substitute the results of Part (a) v= dr dθ dr er + r eθ = er + rωeθ dt dt dt c 2008 Pearson Education South Asia Pte Ltd.52) for the position vector in terms of polar coordinates. storage in a retrieval system. and the results: j = er sin θ + eθ cos θ (b) The position vector is r = xi + yj = (r cos θ)i + (r sin θ)j = r(i cos θ + j sin θ). This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. j in terms of er . Show that the unit vectors i. electronic. 87 . Solve for j by multiplying er by sin θ.Problem 13. (13. and subtracting the resulting equations: i = er cos θ − eθ sin θ . r = xi + yj. Use the results of Part (a) expressing i. and since the transverse unit vector is at right angles: eθ = i cos θ + π 2 + j sin θ + π 2 = −i sin θ + j cos θ. derive Eq.159 The cartesian coordinates of a point P in the x−y plane are related to its polar coordinates of the point by the equations x = r cos θ and y = r sin θ . or transmission in any form or by any means. (13. eθ by sin θ. dt dt dθ dr sin θ + r cos θ dt dt .
This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. 4 V z from which 1000 dθ = √ = 894. 88 c 2008 Pearson Education South Asia Pte Ltd. storage in a retrieval system.6 + 1000/3600 = 178. and the 5 propeller turns at 2000 rpm in the counterclockwise direction when seen from the front of the airplane. The magnitude of the velocity is dθ dt 2 2 The velocity along the cylindrical axis is 1 dz = dt 2 dθ dt = 447.524 (209. The transverse velocity is vθ = ωr = 319.2 m/s. or transmission in any form or by any means.8ez (m/s) .6 km/h.2 m/s. since the path has a constant radius. dt 1. recording or likewise. Thus a = −66825 e r (m/s 2) Problem 13. The velocity vector in cylindrical coordinates is v = 319 . The transverse acceleration is 1. The acceleration az = 0. where z is in meters. .8 m/s The angular velocity is 2π rad ω = 2000 1 rev 1 min 60 s aθ = r = 209.The radius of its propellor is 1.) Solution: The speed is v = 643.4 rad/s.4eθ + 447.161 A charged particle P in a magnetic ﬁeld moves along the spiral path described by r = 1 m. photocopying. The particle moves along the path in the direction shown with constant speed v = 1 km/s.4 m/s. Determine the velocity and acceleration of a point on the tip of the propeller in terms of cylindrical coordinates. since the airplane travels at constant speed. electronic. The radial acceleration is ar = −rω2 = −1.4)2 = −66825 m/s 2 .2e θ + 178. All rights reserved. dz dθ =2 .25 from which the transverse velocity is vθ = r dθ dt = 894. d2θ dr +2 dt 2 dt dθ dt = 0. 24 m.25. (Let the zaxis be oriented as shown in the ﬁgure.Problem 13.2ez v= r2 + dz dt = 1000 m/s.4 rad/s. since the propeller rotates at a constant angular velocity.160 The airplane ﬂies in a straight line at 643. θ = 2z rad. mechanical.524 m z The radial velocity at the propeller tip is zero. What is the velocity of the particle in terms of cylindrical coordinates? y x P z 1 km/s Solution: The radial velocity is zero.. v = 894. dt dt The velocity vector: The angular velocity is y 2 Substitute: v= r2 dθ dt 2 + 1 4 dθ dt x = dθ dt r2 + 1 √ = 1.
y 10 m/s A B 60 O 30 x 10 m/s Solution: vA = −(9. 89 . the answer is the same for both times vA/B = (−3. or transmission in any form or by any means.81 m/s2 j)t + (10 m/s)(cos 60 i + sin 60 j ) vB = −(9.66j) m/s Since vA/B doesn’t depend on time.162 At t = 0.81 m/s2 j)t + (10 m/s)(cos 30 i + sin 30 j ) vA/B = vA − vB = (10 m/s)(−0. What is the velocity of point A relative to point B at the instant shown? y A 10 rad/s B 2m O x Solution: vA = −(10 rad/s)(2 m)i = −(20 m/s)i vB = (10 rad/s)(2 m)j = (20 m/s)j vA/B = vA − vB = (−20i − 20j) m/s Problem 13.66i + 3. mechanical.5 s and (b) at t = 1 s.66i + 3. photocopying. the disk rotates about the ﬁxed point O with a constant angular velocity of 10 rad/s.366j) vA/B = (−3. electronic. What is the acceleration of point A relative to point B at the instant shown? Solution: aA = −(10 rad/s)2 (2 m)j = −(200 m/s2 )j aB = −(10 rad/s)2 (2 m)i = −(200 m/s2 )i aA/B = aA − aB = (200i − 200j) m/s 2 c 2008 Pearson Education South Asia Pte Ltd.163 Relative to the earthﬁxed coordinate system.366i + 0. the disk rotates about the ﬁxed point O at 10 rad/s.66j) m/s ◦ ◦ ◦ ◦ Problem 13. All rights reserved. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. two projectiles A and B are simultaneously launched from O with the initial velocities and elevation angles shown.164 Relative to the earthﬁxed coordinate system. Determine the velocity of projectile A relative to projectile B (a) at t = 0. storage in a retrieval system. recording or likewise.Problem 13.
165 The train on the circular track is traveling at 15 m/s. All rights reserved.6 j) m/s 2 90 c 2008 Pearson Education South Asia Pte Ltd. storage in a retrieval system. photocopying. vB = (15j) m/s vA/B = vA − vB = (−21j) m/s Problem 13. or transmission in any form or by any means. In terms of the earthﬁxed coordinate system shown. The train on the straight track is traveling at 6 m/s. recording or likewise. . what is the velocity of passenger A relative to passenger B? y 15 2m O B A x 15 m/ s 6 m/ s Solution: vA = (−6j) m/s.166 The train on the circular track is traveling at a constant speed of 15 m/s . This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. The train on the straight track is traveling at 6 m/s and is increasing its speed at 0.6 m/s2. what is the acceleration of passenger A relative to passenger B? Solution: aA = (−0. In terms of the earthﬁxed coordinate system shown. mechanical.Problem 13. electronic.48 ) m/s 2 152 m aA/B = aA − aB = (1.6 j) m/s 2 . aB = − (15 m/s) 2 i = (−1.48i − 0.
This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.1 ) = 285. Solving these equations we ﬁnd θ = 19. 70.16.168 A private pilot wishes to ﬂy from a city P to a city Q that is 200 km directly north of city P . All rights reserved. recording or likewise. 2. What direction should the pilot point the airplane to ﬂy directly from city P to city Q? How long will the trip take? Solution: Assume an angle θ. If the helmsman wants to travel northwest relative to the earth. measured ccw from the east.41 m/s.1◦ west of north.41 m/s. or transmission in any form or by any means. the wind’s direction is west) with a speed of 50 km/h. mechanical. electronic. photocopying. Problem 13.700 h = 42.6 km/h ◦ Q N W S E 200 km 50 km/h P 50 290 = 80.6 km/h The time is t= d 200 km = = 0. Use relative velocity concepts vA = vB + vA/B vA (− cos 45 i + sin 45 j) = (3 m/s)i + (5 m/s)(− cos θi + sin θj) Breaking into components we have − vA cos 45 = (3 m/s) − (5 m/s) cos θ.07◦ = 9.93◦ east of north The ground speed is now v = (290 km/h) sin(80.9 .0 min v 285. 91 . there is an east wind (that is. storage in a retrieval system. The airplane will ﬂy with an airspeed of 290 km/h.Problem 13. At the altitude at which the airplane will be ﬂying.167 In Active Example 13. VPlane/Ground = VPlane/Air + VAir/Ground VPlane/Air = (290 km/h)(cos θi + sin θj) VAir/Ground = −(50 km/h)i VPlane/Ground = [(290 cos θ − 50)i + (290 sin θ)j] km/h We want the airplane to travel due north therefore 290 cos θ − 50 = 0 ⇒ θ = cos−1 Thus the heading is 90◦ − 80.07 ◦ c 2008 Pearson Education South Asia Pte Ltd. ◦ ◦ ◦ ◦ ◦ O x vA = 2. what direction must he point the ship? What is the resulting magnitude of the ships’ velocity relative to the earth? y N 2 m /s / B A W S E Solution: The ship is moving at 5 m/s relative to the water. vA sin 45 = (5 m/s) sin θ. suppose that the velocity of the current increases to 3 m/s ﬂowing east.
170 The river ﬂows north at 3 m/s (Assume that the current is uniform. The time is given by t= (400 m)2 + (500 m)2 = 342 s.34 m/s. t = 342 s. vB ◦ ◦ vB/W = 2.11 10 cos θ 500 25.7 = 1. C boat relative to the water is 90◦ from the velocity of the boat relative to the earth. VBoat/Ground = VBoat/Water + VWater/Ground VBoat/Water = (10 m/s)(cos θi + sin θj) VWater/Ground = (3 m/s)j VBoat/Ground = [(10 cos θ)i + (3 + 10 sin θ)j] m/s We want the boat to travel at an angle tan φ = Therefore 400 500 400 3 + 10 sin θ ◦ = ⇒ θ = 25. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.60 m/s C 500 m The time is t= d = v Problem 13. . in what direction should you point the boat? How long does it take to make the crossing? 3 m/s D Solution: Assume an angle θ. the velocity of the boat relative to the river. vB = (3 m/s) sin 38. The angle of travel is θ = tan−1 400 m 500 m = 38. measured ccw from the east. and the velocity of the boat relative to the earth.Problem 13.7 = 2. (Assume that the current is uniform.11◦ north of east 400 m W N E S Thus the heading is The ground speed is now v= (10 cos θ)2 + (3 + 10 sin θ)2 = 11. All rights reserved.169 The river ﬂows north at 3 m/s. electronic. or transmission in any form or by any means. vB = vW + vB/W .7 . ◦ 3 m/s D 400 m W N E S Solution: The minimum velocity occurs when the velocity of the 500 m Using the triangle that is drawn we have vB/W = (3 m/s) cos 38. recording or likewise.) What minimum speed must a boat have relative to the water in order to travel in a straight line form point C to point D? How long does it take to make the crossing? Strategy: Draw a vector diagram showing the relationships of the velocity of the river relative to the earth. See which direction of the velocity of the boat relative to the river causes it magnitude to be a minimum. mechanical.87 m/s.) If you want to travel in a straight line from point C to point D in a boat that moves at a constant speed of 10 m/s relative to the water.2 s 11.60 m/s √ 5002 + 4002 m = 55. 92 c 2008 Pearson Education South Asia Pte Ltd.34 m/s. photocopying. storage in a retrieval system.
electronic.8 m/s c 2008 Pearson Education South Asia Pte Ltd. mechanical. Let this time be t = t2 .171 Relative to the earth.536 m/s vwind /boat2 = 6. Solving. storage in a retrieval system. vy = 0 = 10 − 9. Doing this. To ﬁnd out when this occurs. The velocity at impact is determined by substituting t2 = 2. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. Determine the direction and magnitude of the wind’s velocity (in m/s) relative to the earth.81t1 (m/s).51 m/s 2. (a) The maximum height occurs when the velocity is zero.22 s into the equation for vy .e.536 6 = 22. All rights reserved. Substituting this time into the y equation.81 m/s2 . Solving.172 Suppose you throw a ball straight up at 10 m/s and release it at 2 m above the ground. and y = y0 + vy0 t − gt 2 /2 = 2 + 10t − 9.91◦ east of north direction = tan−1 Problem 13. (c) (b) The ball hits the ground when y = 0 m. There will be two times.22 s.536i + 6j) m/s vwind/ground = (2. recording or likewise. The telltale indicates the direction of the wind relative to the boat. vy = −11. vy = vy0 − gt = 10 − 9. or transmission in any form or by any means. one positive and one negative. we set y = 0 m into the y equation and solve for the time(s) when this occurs.81t (m/s). photocopying.536)2 + (6)2 m/s = 6.02 s. (a) What maximum height above the ground does the ball reach? (b) How long after release it does the ball hit the ground? (c) What is the magnitude of its velocity just before it hits the ground? Solution: The equations of motion for the ball are ay = −g = −9.81t 2 2 /2 (m). The equation for t2 is y = 0 = 2 + 10t2 − 9. we get a maximum height of yMAX = 7. Therefore vwind/boat1 = −vwind/boat2 cos 60◦ + 6 m/s 6 m/s = v wind/boat2 sin 60◦ vwind /boat1 = 2. Call this time t = t1 . we get t1 = 1. It can be obtained by setting velocity to zero. 0 0 60 Telltale Solution: vwind/ground = vwind/boat + vboat/ground In position one we have vwind/ground = vwind/boat1 i + (6 m/s)j In position two we have vwind/ground = vwind/boat2 (− cos 60 i + sin 60 j) + (6 m/s)i Since the wind has not changed these two expressions must be the same..928 m/s ◦ ◦ N W S E ⇒ Using either position one or position two we have vwind/ground = (2. Only the positive time has meaning for us.Problem 13. the sailboat sails north with speed v0 = 6 m/s and then sails east at the same speed.81t 2 /2 (m). we get t2 = 2. we ﬁnd that at impact.10 m. 93 . i.
that the drivers’ reaction .173 Suppose that you must determine the duration of the yellow light at a highway intersection.174 The acceleration of a point moving along a straight line is a = 4t + 2 m/s2 .6 m.4)(9.5 = 7. times are as long as 0. What is its velocity when t = 4 s? Solution: The positiontime equation is given by integrating ds d2s = 2t 2 + 2t + V0 .5) = 2 9. from which s(t0 ) = 107.05 V0 ds(t0 ) = 0 is t0 = = = 7. and = 4t + 2. and that cars can safely achieve a deceleration of at least 0. photocopying. All rights reserved.53 m .05 (0.58 m 29.2gt0 + V0 t0 . 3 Subtract (1) from (2) to obtain V0 = 94 − 80 6 = 2.4gt + V0 . its position is s = 90 meters. or transmission in any form or by any means. From the problem conditions: s(2) = 2 3 2 + (22 ) + V0 (2) + d0 = 36. When t = 2 s. its position is s = 36 m.81) The driver’s reaction time increases this by 0.6 + 1000/3600 = 29. storage in a retrieval system. Assume that cars will be approaching the intersection traveling as fast as 104. hence the total time to stop after observing the yellow light is T = t0 + 0.33 = 42.4g.5 s. recording or likewise.33 m/s t=4 from which (1) 2V0 + d0 = 80 .4g. dt where V0 is the initial speed and the distance is referenced from the point where the brakes are applied. from which dt 2 dt s(t) = 2 3 t + t 2 + V0 t + d0 .53 = 43.05 m/s. d0 are the initial velocity and position. where V0 .90 s Problem 13. . mechanical.5) = 1 4. 3 94 c 2008 Pearson Education South Asia Pte Ltd.Problem 13. The distance traveled during the reaction time is d = V0 (0. (a) The time required to come to a full stop (b) The distance traveled after brake application is traveled from brake application to full stop is given by 2 s(t)0 = −0.05 + 14.5 second.2gt 2 + V0 t.6 km/h . 3 The velocity at t = 4 seconds is ds(t) dt = [2t 2 + 2t + V0 ]t=4 = 32 + 8 + 2.33 m/s. and s(t) = −0.40 s.4g (0. and when t = 4 seconds. The initial speed is: V0 = 104. dt 0. 3 from which (2) 4V0 + d0 = 94 . (a) (b) How long must the light remain yellow to allow drivers to come to a stop safely before the light turns red? What is the minimum distance cars must be from the intersection when the light turns yellow to come to a stop safely at the intersection? Solution: The speedtime equation from initial speed to stop is d2s given by integrating the equation 2 = −0. From which dt ds = −0.s(4) = 3 2 3 4 + (42 ) + V0 (4) + d0 = 90. electronic. from which the total distance is dt = 29 . This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.
electronic. and after burnout: t > 2 s. Thus the maximum velocity during phase 2 occurs when the rocket impacts the ground. mechanical. Phase 2. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. in canonical form: (tﬂight − 2)2 + 2b(tﬂight − 2) + c = 0.Problem 13. √ The solution (tﬂight − 2) = −b ± b2 − c = 11. Phase 1: The acceleration is: ds d2s = 25t. (t ≥ 2). from which dt 2 dt s(t) = −g(t − 2)2 /2 + Vburnout (t − 2) + hburnout . All rights reserved. The velocity from maximum altitude to impact must be constantly increasing since the rocket is falling straight down under the action of gravity. storage in a retrieval system. 95 . The altitude at burnout is hburnout = (12. Since the negative time is not allowed. where b = −(Vburnout /g) and c = −(2hburnout /g). The velocity during phase 1 is constantly increasing because of the rocket’s positive acceleration.1 s. and determine (a) the maximum velocity of the rocket during the ﬂight and (b) the maximum altitude the rocket reaches. and s(t) = 12. The time of maximum altitude is given by ds = 0 = −g(tmax alt − 2) + Vburnout . the rocket has negative acceleration and velocity constantly decreases until it reaches zero at maximum altitude. the time of ﬂight is tﬂight = 13. Maximum occurs at burnout because after burnout. recording or likewise.11. The velocity at impact is Vimpact = −g(tﬂight − 2) + Vburnout = −59 m/s which is higher in magnitude than the velocity at burnout. from which dt 2 dt since the initial velocity and position are zero. g from which from which tmax alt = 7. or transmission in any form or by any means. The acceleration is: ds d2s = −g(t − 2) + Vburnout (t ≥ 2). = 25.1 s. Its acceleration during the 2 s its motor burns is 25 m/s2 .11 s.175 A model rocket takes off straight up. Neglect aerodynamic drag.92 s. and = −g. The velocity at burnout is Vburnout = (25)(2) = 50 m/s. The maximum altitude is g hmax = − (tmax alt − 2)2 + Vburnout (tmax alt − 2) + hburnout = 177. = −0.5)(4) = 50 m.42 m 2 c 2008 Pearson Education South Asia Pte Ltd. from which. dt tmax alt − 2 = Vburnout = 5. Solution: The strategy is to solve the equations of motion for the two phases of the ﬂight: during burn 0 ≤ t ≤ 2 s seconds. photocopying.5t 2 . The issue of maximum velocity becomes this: is the velocity at burnout greater or less than the velocity at ground impact? The time of ﬂight is given by 0 = −g(tﬂight − 2)2 /2 + Vburnout (tﬂight − 2) + hburnout .
= Vn cos θ.66 = 2. what distance does the v0 point move before its velocity decreases to ? 2 Solution: The acceleration is dv ds dv dv = =v = −cv 3 .67 cos θ g = 20.175 was (serendipitously) posed in a manner to yield the time of ﬂight as a peripheral answer. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. recording or likewise. Using the chain rule. 2 x = (Vn cos θ)t + x0 . where c is a constant.67 tan θ − 2 . electronic.177 The acceleration of a point moving along a straight line is a = −cv 3 . from which dy dx = −gt + Vn sin θ. Separating variables and integrating: dt ds dt ds dv 1 = −cds. When the stream is y(timpact ) = 6 . If the velocity of the point is v0 .11 s Problem 13.67 = (Vn cos θ)timpact . What was the velocity of the water as it left the nozzle? Strategy: Determine the motion of the water by treating each particle of water as a projectile.Problem 13. or transmission in any form or by any means. dt Problem 13. Vn cos θ from which Vn = 10. dt dt Substitute: 0=− g 2 10.67 Vn cos θ 2 + 10 .66 m 10. if the rocket’s parachute fails to open. dt dt g y = − t 2 + (Vn sin θ)t + y0 . mechanical. 1 − 3. and v = v v0 1 + v0 cs v v0 1 When v = . from which − = −cs + C. the time is g 0 = − (timpact )2 + (Vn sin θ)timpact − 2 . storage in a retrieval system. The time of ﬂight is given there as tﬂight = 13.67 .178 Water leaves the nozzle at 20◦ above the horizontal and strikes the wall at the point indicated. The path is obtained by integrating the equations: dvy dvx = −g and = 0. . 20° 6.44 ) 96 c 2008 Pearson Education South Asia Pte Ltd. what is the total time of ﬂight from takeoff until the rocket hits the ground? Solution: The solution to Problem 13.67 m Solution: Denote θ = 20◦ . s = 2 cv0 dv = −cv 3 .44 . 44 m. At s = 0.67 tan θ − 2. v = v0 . All rights reserved. and x0 = 0. Invert: v0 cs = − 1.175. from v2 v 1 v0 v0 1 . from which timpact = 10.176 In Problem 13. photocopying. Choose the origin at the nozzle so that y0 = 0. 2 At this same time the horizontal distance is x(timpact ) = 10 . 4 4 .9 m/s 2(10. which − = −cs − .1 m 3.
y = 0.21 g = 2v0 sin θ(v0 cos θ − 3. c 2008 Pearson Education South Asia Pte Ltd.05 )2 . tﬂight = from which 6. What is the velocity v0 ? 0 45° 3. (v0 cos θ − 3.05 tﬂight + 6.1 = 10 m. 97 . photocopying. g from which 37. At the same instant. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. or transmission in any form or by any means. 21 g was graphed to ﬁnd the zero crossing. 0 5) 2v0 sin θ . “lob” pass. and the result reﬁned by iteration: v0 = 11 .1 = (v0 cos θ − 3. But also x = (v0 cos θ)tﬂight .Problem 13. 05)2 − 37. a receiver standing 6 . storage in a retrieval system.1 .05 m/s and catches the ball. from which 45° 10 ft/s dx dy = −gt + v0 sin θ.1 m in front of him starts running straight down ﬁeld at 3. recording or likewise.1 . a quarterback throws the football with a velocity v0 at 45◦ above the horizontal. dt dt g y = − t 2 + (v0 sin θ)t.12 m/s .87 + 6. When the ball reaches the receiver’s hands. check. Assume that the ball is thrown and caught at the same height above the ground.1 m Solution: Denote θ = 45◦ .179 In practice.05 m/s 6. d2x dt 2 = 0. electronic. All rights reserved. 2 x = (v0 cos θ)t.0 5) Substitute: 6. g 20 ft At this time the distance down ﬁeld is the distance to the receiver: x = 3. mechanical. which seem reasonable for a short. from which tﬂight = 2v0 sin θ . where the origin is taken at the point where the ball leaves the quarterback’s hand. v0 d2y dt 2 = −g. The function f (v0 ) = 2v0 sin θ(v0 cos θ − 3. = v0 cos θ.27 s and the distance down ﬁeld that the quarterback throws the ball is d = 3. The path is determined by integrating the equations. Check : The time of ﬂight is t = 1.
We know that vx = 2 m/s and ax = 0.58 m/s.8π 2 sin(2π t).0◦ = 5.181 The constant velocity v = 2 m/s. dt 2 At t = 0.141 m and dy = vy = 0. electronic.27 m/s . What are the magnitudes of the velocity and acceleration of point P when x = 0.889)2 = 0. Problem 13.10 m/s2 .180 The constant velocity v = 2 m/s.58 m/s2 .2 sin(2π t). Then x = 0. storage in a retrieval system. or transmission in any form or by any means. aN = ax sin θ − ay cos θ = 0 − (−5.58) sin 24.19 m/s. recording or likewise. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction. The instantaneous radius is ρ= 2 2 vx + vy aN aN = (2)2 + (0. y = 0.125 s.Problem 13.889 2 = 24.25 m? Solution: See the solution of Problem 13. mechanical. .0 = −2. Then ◦ 2 ay at θ ax at = ax cos θ + ay sin θ = 0 + (−5.2 sin π x P x 1m Solution: Let x = 2t m/s.939 m. photocopying. 2 2 ax + ay = 5. dt 2 Therefore v = a = 2 2 vx + vy = 2.10 98 c 2008 Pearson Education South Asia Pte Ltd.25 m at t = 0.125 s.58) cos 24.889 m/s and dt d2y = ay = −5. The angle θ between the x axis and the path is θ = arctan vy vx = arctan 0.25 m? y y = 0.180. 5.0◦ .4π cos(2π t) dt we obtain and d2y = −0. All rights reserved. What is the acceleration of point P in terms of normal and tangential components when x = 0. dy = 0. From y = 0.
2)(2) = 0. aθ = −ax sin θ + ay cos θ = 0 + (−5. The angular position θ = 2t rad.182 The constant velocity v = 2 m/s. What is the acceleration of point P in terms of polar coordinates when x = 0. Then ay aθ ar θ ar = ax cos θ + ay sin θ = 0 + (−5.75 m/s2 . The polar angle θ is θ = arctan y x = arctan 0.58) cos 29. electronic.5◦ = −2.42 = 0. θ = 2t rad.8 m/s 2.2t)(22 ) m/s 2. Determine the magnitudes of the velocity and acceleration of P at t = 1 s.447 m/s The acceleration components are: ar = d2r −r dt 2 d2θ dt 2 dθ dt +2 2 = −(0. All rights reserved. dt dt At t = 1 seconds the magnitude of the velocity is v = 2 2 vr + vθ = √ 0.192. ax Problem 13.1)θ m. The magnitude of the acceleration is a = 2 2 ar + aθ = 1.141 0.25 m? Solution: See the solution of Problem 13. where θ is in radians. This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.58) sin 29.5◦ = −4. P r θ Solution: The path r = 0. mechanical.2t)2 = 0. 99 .4t.22 + 0.Problem 13. v θ = r = (0.13 m/s2 c 2008 Pearson Education South Asia Pte Ltd. storage in a retrieval system.86 m/s2 .25 = 29. and r = 0 at t = 0.2 m/s. or transmission in any form or by any means. dr dt dθ dt aθ = r = 2(0.183 A point P moves along the spiral path r = (0.5◦ .2t m. The velocity components are vr = dr dθ = 0. where t is in seconds. recording or likewise. photocopying.
we get r = −46. 100 c 2008 Pearson Education South Asia Pte Ltd. Using the law of cosines. Since ω is constant. we get r= ¨ ˙ ˙ ¨ r 2 + 2hr θ sin θ + hr θ 2 cos θ + hr θ sin θ ˙ . and (b) in terms of cartesian coordinates. we get r = 0.184 will be used in this solution. (h cos θ − r) P r θ R c O h ˙ Recalling that ω = θ and substituting in the numerical values.2 m to the left of the center of the circular cam. ¨ ˙ ˙ we start with r r − h˙ cos θ + hr θ sin θ = 0 from Problem 13. and θ = 40◦ .184 ˙ r (we divided through by 2).46 i − 120.553 m. and vθ = 6. or transmission in any form or by any means. v = −5. Determine the velocity of the follower when θ = 40◦ (a) in terms of polar coordinates.1 j(m/s2 ). This publication is protected by Copyright and permission should be obtained from the publisher prior to any prohibited reproduction.71j (m/s) Problem 13. Taking a derivative. All rights reserved. Substituting these into a = ar er + ae eθ .185* In Problem 13. We need to ﬁnd the components of ˙ ˙ the velocity. Substituting into the ¨ original equation for r. We need only to ﬁnd the ˙ value for r and the value for r at θ = 40◦ . Substituting this into the ¨ equation for ar and evaluating an . R = 0. we start with r = vr .553 m at this position on the cam. To ﬁnd r .42 m.13 m/s. we can write R 2 = h2 + r 2 − 2hr cos θ. Substituting these into v = vr er + vθ eθ .90i + 3. storage in a retrieval system.2 m/s2 (b) The transformation of cartesian coordinates can be derived from er = cos θi + sin θj. the slotted bar rotates with a constant angular velocity ω = 12 rad/s.81 m/s2 and aθ = −51. .184 In the camfollower mechanism. mechanical. In order to determine the components of the acceleration in polar coordinates.42 m radius.64 m/s (b) The transformation to cartesian coordinates can be derived from er = cos θi + sin θj. we get ar = −125. This can be most easily done by referring to the diagram at the right. and the radial position of the follower A is determined by the proﬁle of the stationary cam. we get 2r r − 2h˙ cos θ + 2hr θ sin θ = 0. Substituting in the numbers. i. ˙ r Solving for r . we get a = −63.17 m/s2 . The follower moves in a circular path of 0. and eθ = − sin θi + cos θj. We already know everything except r and ¨ ¨ θ . θ = ω = 0. (h cos θ − r) Evaluating. we get ˙ r= ˙ ˙ hr θ sin θ .Problem 13. we get a = (ar cos θ − aθ sin θ)i + (ar sin θ + aθ cos θ)j. we need to be able to determine ˙ ¨ all of the variables in the right hand sides of ar = r − r θ 2 and ¨ r˙ ¨ that aθ = r θ + 2˙ θ. determine the acceleration of the follower when θ = 40◦ (a) in terms of polar coordinates and (b) in terms of cartesian coordinates. Carrying ˙ ˙ out this differentiation. we get v = (vr cos θ − vθ sin θ)i + (vr sin θ + vθ cos θ)j. electronic. Taking a derivative with respect to time. The slotted bar is pinned a distance h = 0. recording or likewise.184.. we get a = ar er + aθ eθ .e.2 m. photocopying. We can differentiate the relation derived from the law of cosines to get r . ω = 12 rad/s. These are vr = r and vθ = r θ. This can be rewritten as r 2 − 2hr cos θ + (h2 − R 2 ) = 0. h = 0. we ﬁnd that r = 0. Solution: (a) Information from the solution to Problem 13. y r A θ h x Solution: (a) The ﬁrst step is to get an equation for the path of the follower in terms of the angle θ. and eθ = sin θi + cos θj. Substituting in the numbers. vr = −2.
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