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Question 312
A particle of mass m is attached to a linear spring with spring constant K and
unstretched length r0 as shown in Fig. P3-12. The spring is attached at its other
end at point P to the free end of a rigid massless arm of length l. The arm
is hinged at its other end and rotates in a circular path at a constant angular
rate . Knowing that the angle is measured from the downward direction
and assuming no friction, determine a system of two differential equations of
motion for the particle in terms of r and .
O
l
P
Figure P 3-12
Origin at O
=
=
=
Along OP When t = 0
Out of Page
Ez Ex
Next, let A be a reference frame fixed to the arm. Then, choose the following
coordinate system fixed in reference frame A:
ex
ez
ey
Origin at O
=
=
=
Along OP
Out of Page (= Ez )
ez ex
Finally, let B be a reference frame fixed to the direction along which the spring
lies (i.e., the direction P m). Then, choose the following coordinate system fixed
106
in reference frame B:
ur
uz
u
Origin at O
=
=
=
Along P m
Out of Page (= Ez = ez )
uz ur
ey
t
uz , ez , Ez
Ey
Ex
ur
ex
Figure 3-10
Geometry of Bases {Ex , Ey , Ez }, {ex , ey , ez }, and {ur , u , uz } for
Question 312 .
{ex , ey , ez } and the basis {ur , u , uz }:
ex
ey
(3.322)
Next, observing that the basis {ex , ey , ez } rotates with angular rate relative
to the basis {Ex , Ey , Ez }, the angular velocity of reference frame A in reference
frame F is given as
F A
= Ez = ez
(3.323)
Next, using Eq. (3.322), we observe that the angle formed between the basis
vectors ur and ex (and similarly between u and ey ) is t. Consequently,
the angular velocity of reference frame B in reference frame A is given as
A
)ez = (
)uz
B = (
(3.324)
relative
Finally, observing that the basis {ur , u , uz } rotates with angular rate
to the basis {Ex , Ey , Ez }, we obtain the angular velocity of reference frame B in
107
reference frame F as
z
B = u
(3.325)
(3.326)
where rP is the position of point P and rm/P is the postion of the particle relative
to point P . In terms of the bases defined above, we have that
rP
rm/P
= Rex
= r ur
(3.327)
Substituting the expressions from Eq. (3.327) into Eq. (3.326), we obtain
r = Rex + r ur
(3.328)
Differentiating the expression for the position as given in Eq. (3.328) in reference
frame F , we have that
F
v=
F
d
dr Fd
rm/P = F vP + F vm/P
=
(rP ) +
dt
dt
dt
(3.329)
vP =
A
d
d
(rP ) =
(rP ) + F A rP
dt
dt
(3.330)
d
(rP )
dt
rP
(3.331)
= ez Rex = Rey
vP = Rey
(3.332)
Next, since rm/P is expressed in the basis {ur , u , uz } and {ur , u , uz } is fixed in
reference frame B, we can apply the rate of change transport theorem to rm/P
between reference frames B and F to give
F
vm/P =
Bd
d
rm/P =
rm/P + F B rm/P
dt
dt
(3.333)
108
d
rm/P
dt
rur
rm/P
(3.334)
z r ur = r u
= u
vm/P = rur + r u
(3.335)
Then, adding Eq. (3.332) and Eq. (3.335), we obtain the velocity of the particle in
reference frame F as
F
v = F vP + F vm/P = Rey + rur + r u
(3.336)
a=
d F F d F F d F
v =
vP +
vm/P = F aP + F am/P
dt
dt
dt
(3.337)
Observing that the expression for F vP as given in Eq. (3.332) is expressed in the
basis {ex , ey , ez } and {ex , ey , ez } is fixed in reference frame A, we can apply
the rate of change transport theorem to F vP between reference frames A and
F to give
F
d F Ad F A F F
F
(3.338)
vP =
vP + vP
aP =
dt
dt
Now since R and are constant, we have that
A
d F
vP
dt
vP
(3.339)
= ez Rex = R ey
Adding the two expressions in Eq. (3.339), we obtain the acceleration of point P
in reference frame F as
F
aP = R2 ex
(3.340)
Next, since F vm/P is expressed in the basis {ur , u , uz } and {ur , u , uz } is fixed
in reference frame B, the acceleration of the particle relative to point P in reference frame F can be obtained by applying the rate of change transport theorem
to F vm/P between reference frames B and F as
F
am/P =
Bd
d F
F
vm/P =
vm/P + F B F vm/P
dt
dt
(3.341)
d F
vm/P
dt
F B
Fv
m/P
+ r )u
rur + (
r
z (
) = r
2 ur + ru
= u
r ur + r u
(3.342)
109
Adding the two expressions in Eq. (3.342), we obtain the acceleration of the
particle relative to point P in reference frame F as
F
2 )ur + (2
+ r )u
am/P = (
r r
r
(3.343)
Then, adding Eq. (3.340) and Eq. (3.343), we obtain the acceleration of the particle in reference frame F as
F
2 )ur + (2
+ r )u
a = R2 ex + (
r r
r
(3.344)
Finally, using the expression for ex in terms of {ur , u } from Eq. (3.322), the
acceleration of the particle in reference frame F can be written in terms of the
basis {ur , u , uz } as
F
2 )ur +(2
)u
(3.345)
a = R2 [cos(t)ur sin(t)u ]+(
r r
r +r
2 R2 cos( t)]ur + [2
+ r
+ R2 sin( t)]u (3.346)
a = [
r r
r
Figure 3-11
(3.347)
= kr rA k = kr rP k
(3.348)
Now we are given that the unstretched length of the spring is rO which implies
that 0 = r0 . Furthermore, the attachment point of the spring is rA = rP . Consequently, the stretched length of the spring is given as
Using the expression for r from Eq. (3.328) and the expression for rP from
Eq. (3.327), we obtain
= kr ur + Rex Rex k = kr ur k = r
(3.349)
110
r rP
r ur
r rA
=
=
= ur
kr rA k
kr rP k
r
(3.350)
(3.351)
(3.352)
Then, setting F in Eq. (3.352) equal to mF a where F a is obtained from Eq. (3.346),
we obtain
2
2 R2 cos(t)]ur +m[2
+R
K(r r0 )ur = m[
r r
r +r
sin(t)]u
(3.353)
Equating components in Eq. (3.353), we obtain the following two scalar equations:
(3.354)
(3.355)
It can be seen that neither Eq. (3.354) nor Eq. (3.355) contains any unknown reactions forces. Consequently, Eq. (3.354) and Eq. (3.355) are the two differential
equations of motion for the particle. We can re-write Eq. (3.354) and Eq. (3.355)
in a slightly different form to give
2 R2 cos( t)] + K(r r0 ) = 0
m[
r r
+ r
+ R2 sin( t)] = 0
m[2
r
(3.356)
(3.357)
111
Question 313
A particle of mass m slides without friction along a surface in form of a paraboloid
as shown in Fig. P3-13. The equation for the paraboloid is
z=
r2
2R
where z is the height of the particle above the horizontal plane, r is the distance
from O to Q where Q is the projection of P onto the horizontal plane, and R is
a constant. Knowing that is the angle formed by the direction OQ with the
x-axis and that gravity acts downward, determine a system of two differential
equations.
z
g
m P
z=
r2
2R
y
x
Figure P 3-13
Origin at O
=
=
=
Along Ox
Along Oy
Ex Ey
112
Next, let A be a reference frame fixed to the plane formed by the vectors Ez and
OQ. Then, choose the following coordinate system fixed in reference frame A:
er
Ez
e
Origin at O
=
=
=
Along OQ
Up
Ez e r
The velocity of the particle in reference frame F is then obtained from the rate
of change transport theorem as
F
v=
dr Adr F A
=
+ r
dt
dt
(3.360)
dr
dt
r r
rer +
Ez
R
!
2
F A r = E
z r er + r Ez = r e
2R
=
(3.361)
Adding the two expressions in Eq. (3.361), we obtain the velocity of the particle
in reference frame F as
F
+
v = rer + r e
r r
Ez
R
(3.362)
Next, applying the rate of change transport theorem to F v, we obtain the acceleration of the particle in reference frame F as
F
a=
d F Ad F F A F
v =
v + v
dt
dt
2
+ r )e
+ r + r r Ez
rer + (
r
R
r
r
F A F v = E
r
2 er
+
z rer + r e
Ez = re
R
(3.363)
(3.364)
Adding the expressions in Eq. (3.364), we obtain the acceleration of the particle
in reference frame F as
F
2
2 )er + (r
+ 2
+ r + r r Ez
a = (
r r
r )e
R
(3.365)
113
Kinetics
We need to apply Newtons 2nd Law, i.e. F = mF a. The free body diagram of
the particle is shown in Fig. 3-12. We note from Fig. 3-12 that N is the reaction
N
mg
Figure 3-12
force of the paraboloid on the particle and that mg is the force due to gravity.
We further note that N must lie normal to the surface at the point of contact.
Now we note that the vector that is normal to a surface is in the direction of
the gradient of the function that defines the surface. In order to compute the
gradient, we re-write the equation for the paraboloid in the following form:
f (r , , z) = z
r2
=0
2R
(3.366)
1 f
f
f
er +
e +
Ez
r
r
z
(3.367)
(3.368)
(3.369)
r
er + Ez
R
N = Nen = N
s
2
r
1+
R
(3.370)
mg = mgEz
(3.371)
114
r
er + Ez
R
mgEz
F = N + mg = N
s
2
r
1+
R
(3.372)
1
R
mg
Ns
F = N s
Ez
2 er +
r
r 2
1+
1+
R
R
(3.373)
1
r2 + r r
R
2
s
e
+
mg
N
E
=
m(
r
r
)e
+m(r
+2
r
)e
+m
N s
Ez
r
z
2 r
2
R
r
r
1+
1+
R
R
(3.374)
We then obtain the following three scalar equations:
r
N s R
r 2
1+
R
0
2 )
m(
r r
r )
= m(r + 2
1
N s
2 mg =
r
1+
R
(3.375)
r2 + r r
R
A system of two differential equations can then be obtained as follows. The first
differential equation is simply the second equation in Eq. (3.375), i.e.
+ 2
=0
m(r
r )
(3.376)
+ 2
=0
r
r
(3.377)
Dropping m, we obtain
Next, rearranging the third equation in Eq. (3.375) by adding mg to both sides,
we obtain
1
r2 + r r
Ns
(3.378)
2 = mg + m
R
r
1+
R
115
Then, dividing the first equation in Eq. (3.375) by this last result, we obtain
2
r r
r
= 2
R
r + r r
+g
R
(3.379)
Rearranging and simplifying this last equation, we obtain the second differential
equation as
"
2 #
r
r
2 + gr = 0
r + 2 r2 r
(3.380)
1+
R
R
R
The system of two differential equations is then given as
2
r
r
" +
#
r 2
r
2 + gr
1+
r + 2 r2 r
R
R
R
= 0
= 0
(3.381)
Conservation of Energy
Two forces act on the particle: N and mg. We know that the force of gravity
is conservative, but we do not know anything about N. However, we note the
following about N:
r
er + Ez
R
r r
F
s
Ez
(3.382)
rer + r e +
N v=N=N
2
R
r
1+
R
Simplifying Eq. (3.382), we obtain
r
r
R
R
F
s
s
N v=N
r
+
r
=0
2
2
r
r
1+
1+
R
R
(3.383)
116
Question 317
A particle of mass m is attached to an inextensible massless rope of length l as
shown in Fig. P3-17. The rope is attached at its other end to point A located at
the top of a fixed cylinder of radius R. As the particle moves, the rope wraps
itself around the cylinder and never becomes slack. Knowing that is the angle
measured from the vertical to the point of tangency of the exposed portion
of the rope with the cylinder and that gravity acts downward, determine the
differential equation of motion for the particle in terms of the angle . You may
assume in your solution that the angle is always positive.
A
B
R
O
m
Figure P 3-17
Origin at O
=
=
=
Along OA
Out of Page
Ez Ex
Next, let A be a reference frame fixed to the exposed portion of the rope. Then,
choose the following coordinate system fixed in reference frame A:
er
ez
e
Origin at O
=
=
=
Along OB
Out of Page
ez er
The geometry of the bases {Ex , Ey , Ez } and {er , e , ez } is shown in Fig. 3-13.
Using Fig. 3-13, we have that
Ex
Ey
= cos er sin e
= sin er + cos e
(3.385)
(3.386)
117
Ex
er
Ey
e z , Ez
Figure 3-13
Now we note that the rope has a fixed length l. Since the length of the portion
of the rope wrapped around the cylinder is R, the exposed portion of the rope
must have length l R. Furthermore, since the exposed portion of the rope
lies along the direction from B to m, the position of the particle is given as
r = Rer + (l R)e
(3.387)
z
A = e
(3.388)
The velocity of the particle is then computed using the rate of change transport
theorem as
F
dr Adr F A
F
=
+ r
(3.389)
v=
dt
dt
Now we have that
A
dr
= R e
dt
F A
z [Rer + (l R)e ] = R e
(l R)e
r
r = e
(3.390)
(3.391)
Adding Eq. (3.390) and Eq. (3.391), we obtain the velocity of the particle in reference frame F as
F
r
v = (l R)e
(3.392)
The acceleration of the particle in reference frame F is then obtained by applying the rate of change transport theorem to F v as
F
a=
d F A d F F A F
v =
v + v
dt
dt
(3.393)
118
h
i
d F
+ (l R)
er
v = (R )
dt h
i
F A
F
2 e
r = (l R)
v = ez (l R)e
(3.394)
(3.395)
(3.396)
h
i
2 (l R)
er (l R)
2 e
a = R
(3.397)
Kinetics
The free body diagram of the particle is shown in Fig. 3-14. From Fig. 3-14 it can
T
mg
Figure 3-14
mg = mgEx
(3.398)
(3.399)
Then, using the expresion for Ex from Eq. (3.385), the force of gravity can be
expressed in the basis {er , e , ez } as
mg mg(cos er sin e ) = mg cos er + mg sin e
(3.400)
119
Determination of Differential Equation Using Newtons 2nd Law
Setting F from Eq. (3.401) equal to mF a using F a from Eq. (3.397), we have that
h
i
2 (l R)
er m(l R)
2 e
mg cos er + (T + mg sin )e = m R
(3.402)
Equating components in Eq. (3.402) results in the following two scalar equations:
h
i
2 (l R)
= mg cos
m R
(3.403)
2
m(l R)
= T + mg sin
(3.404)
Then, since Eq. (3.403) has no unknown reaction forces, it is the differential
equation, i.e., the differential equation of motion is given as
h
i
2 (l R)
= mg cos
m R
(3.405)
Simplifying Eq. (3.405) by dropping m and rearranging, we obtain the differential equation as
R
2 g cos = 0
(l R)
(3.406)
Determination of Differential Equation Using Alternate Form of Work-Energy
Theorem
Since the motion of the particle can be described using a single variable (namely,
), we can apply the work-energy theorem for a particle to obtain the differential
equation of motion. In particular, we will use the alternate form of the workenergy theorem for a particle in reference frame F as
d F
E = Fnc F v
dt
(3.407)
E = FT + FU
(3.408)
T =
1 F
m v Fv
2
(3.409)
T =
1
(l R)e
m(l R)e
2
(3.410)
1
2
m(l R)2
2
(3.411)
T =
120
Furthermore, since the only conservative force acting on the particle is due to
gravity and gravity is a constant force, the potential energy is given as
F
U = F Ug = mg r
(3.412)
(3.413)
The total energy of the system is then obtained by adding T from Eq. (3.411)
and U from Eq. (3.413) as
F
E = FT + FU =
1
2 + mgR cos mg(l R) sin
m(l R)2
2
(3.414)
Next, the only force other than gravity acting on the particle is that due to the
tension in the rope. Using the expression for the tension in the rope from
Eq. (3.398) and the velocity of the particle from Eq. (3.392), the power of the
tension force is given as
r =0
T F v = T e (l R)e
(3.415)
Differentiating F E from Eq. (3.414) and setting the result equal to zero, we obtain
d F
2 + m(l R)2
mgR
sin
E = m(l R)(R )
dt
sin mg(l R)
cos = 0
+ mgR
(3.417)
(3.418)
(3.419)
It can be seen that Eq. (3.419) is identical the result obtained using Newtons 2nd
law as shown in Eq. (3.406).
121
Question 319
A collar of mass m slides without friction along a circular track of radius R
as shown in Fig. P3-19. Attached to the collar is a linear spring with spring
constant K and unstretched length zero. The spring is attached at the fixed
point A located a distance 2R from the center of the circle. Assuming no gravity
= 0) =
0 , determine (a) the
and the initial conditions (t = 0) = 0 and (t
differential equation of motion for the collar in terms the angle and (b) the
reaction force exerted by the track on the collar as a function of the angle .
m
K
2R
Figure P 3-19
Origin at O
=
=
=
Along Om at t = 0
Out of Page
Ez Ex
Next, let A be a reference frame fixed to the direction of Om. Then, choose the
following coordinate system fixed in reference frame A:
er
ez
e
Origin at O
=
=
=
Along Om
Out of Page
Ez e r
122
The geometry of the bases {Ex , Ey , Ez } and {er , e , ez } is shown in Fig. 3-15 from
which we obtain
Ex
Ey
= cos er sin e
= sin er + cos e
(3.420)
(3.421)
Ey
e
er
Ez
Figure 3-15
Ex
Geometry of Question .
(3.422)
v=
dr Adr F
=
+ A r
dt
dt
(3.424)
dr
= 0
dt
F
z Rer = R e
A r = e
(3.425)
(3.426)
Adding the expressions in Eq. (3.425) and Eq. (3.426), we obtain the velocity of
the collar in reference frame F as
F
v = R e
(3.427)
a=
d F F
v + A F v
dt
(3.428)
123
Now we have that
F
d F
v
= R e
dt
F
z (R e
) = R
2 er
A F v = e
(3.429)
(3.430)
Adding the expressions in Eq. (3.429) and Eq. (3.430), we obtain the acceleration
of the collar in reference frame F as
F
2 er + R e
v = R
(3.431)
Kinetics
The differential equation of motion will be determined by applying Newtons
2nd law. First, the free body diagram of the collar is shown in Fig. 3-16. Using
N
Fs
Figure 3-16
Fig. 3-16, we see that the following two forces act on the collar:
N
Fs
Now we know that the reaction force N is orthogonal to the track. Furthermore,
since the collar is undergoing circular motion, the tangent vector to the track
is in the direction e . Consequently, the direction normal to the track is er .
Therefore, the reaction force can be written as
N = Ner
(3.432)
(3.433)
(3.434)
(3.435)
124
where A is the attachment point of the spring. It is seen from the geometry that
the spring is attached a distance 2a from the center of the circle. In terms of
the direction Ex , we have that
rA = 2REx
(3.436)
(3.437)
(3.438)
Then, substituting the result of Eq. (3.434) into Eq. (3.435), we obtain
us =
r rA
Rer + 2REx
=
kr rA k
kRer + 2REx k
(3.439)
Substituting the results of Eq. (3.438) and Eq. (3.439) into Eq. (3.433) and using
the fact that 0 = 0, we have that
Rer + 2REx
= K(Rer + 2REx ) = KR(er + 2Ex )
kRer + 2REx k
(3.440)
Then, substituting the expression for Ex from Eq. (3.420) into Eq. (3.440), we
obtain
Fs = KkRer + 2REx k
(3.442)
2 + mR e
[N KR(1 + 2 cos )] er + 2KR sin e = mR
(3.443)
(3.444)
(3.445)
2K sin = 0
(3.447)
125
(b) Reaction Force of Track on Particle As a Function of
Solving for the reaction force using Eq. (3.444), we obtain
2 + KR(1 + 2 cos )
N = mR
(3.448)
=
d = 2K sin
d
m
(3.449)
(3.450)
d =
2K
sin d
m
(3.451)
2K
0
=
(cos cos 0 )
2
m
(3.452)
0
m
2 from Eq. (3.453) into Eq. (3.448), we obtain
Substituting
4K
2
N = mR 0 +
(cos 0 cos ) + KR(1 + 2 cos )
m
(3.453)
(3.454)
(3.455)
(3.456)
(3.457)
126
Question 320
A particle of mass m slides without friction along a fixed horizontal table as
shown in Fig. P3-20. The particle is attached to an inextensible rope. The rope
itself is threaded through a tiny hole in the table at point O such that the portion
of the rope that hangs below the table remains vertical. Knowing that a constant
vertical force F is applied to the rope, that the rope remains taut, and that gravity
acts vertically downward, (a) determine a system of two differential equations in
terms of r and describing the motion of the particle, (b) show that the angular
momentum of the particle relative to point O is conserved, and (c) show that
the total energy of the system is conserved.
r
O
Figure P 3-20
Origin at O
=
=
=
Along Om When = 0
Orthogonal to Table
Ez Ex
Next, let A be a reference frame fixed to the portion of the rope that lies on the
table. Then, choose the following coordinate system fixed in reference frame A:
er
ez
e
Origin at O
=
=
=
Along Om
Orthogonal to Table
ez er
127
Then the position of the particle is given as
r = r er
(3.458)
v=
dr Adr F A
=
+ r
dt
dt
(3.460)
dr
= rer
dt
F A
z r er = r e
r = e
(3.461)
(3.462)
Adding Eq. (3.461) and Eq. (3.462), we obtain the velocity of the particle in reference frame F as
F
v = rer + r e
(3.463)
The acceleration of the particle in reference frame F is then obtained by applying the rate of change transport theorem to F v as
F
a=
d F A d F F A F
v =
v + v
dt
dt
(3.464)
d F
+ r )e
v = rer + (
r
dt
F A
z (
) = re
r
2 er
F v = e
r er + r e
(3.465)
(3.466)
2 )er + (2
+ r )e
a = (
r r
r
(3.467)
Kinetics
The free body diagram of the particle is shown in Fig. 3-17. From Fig. 3-17 it can
be seen that the three forces acting on the particle are given as
N
= Force of Table on Particle
mg = Force of Gravity
F
= Force Exerted by Rope on Particle
128
F
mg
Figure 3-17
mg = mgEz
F = F er
(3.468)
(3.469)
(3.470)
It is noted that, because the rope exerts a known force on the particle, it is
necessary that the force F in Eq. (3.470) be in the negative er -direction. Then,
the resultant force acting on the particle (which we denote as R in order to avoid
confusion with the given force F) is given as
R = N + mg + F = NEz mgEz + F er = F er + (N mg)Ez
Then, setting R in Eq. (3.471) equal to mF a using the expression for
Eq. (3.467), we obtain
2 )er + m(2
+ r )e
F er + (N mg)Ez = m(
r r
r
(3.471)
Fa
from
(3.472)
Equating components in Eq. (3.472), we obtain the following three scalar equations:
2 )
= m(
r r
+ r )
0 = m(2
r
0 = N mg
(3.473)
(3.474)
(3.475)
(3.476)
Furthermore, since neither Eq. (3.473) nor Eq. (3.474) has any unknown reaction
forces, these two equations are the differential equations of motion for the particle, i.e., a system of two differential equations of motion for the particle are
given as
2 )
= m(
r r
+ r )
0 = m(2
r
(3.477)
(3.478)
129
Conservation of Angular Momentum Relative to Point O
First, it is important to observe that O is fixed in the inertial reference frame F .
Then, using the definition of the angular momentum of a particle relative to an
inertially fixed point O, we have that
F
HO = (r r0 ) mF v
= mr 2 E
z
HO = r er mr e
(3.479)
Fv
from
(3.480)
Now, in order to show that the angular momentum of the particle relative to
point O will be conserved, we need to show that
F
d F
(3.481)
HO = 0
dt
Applying the alternate form of the work-energy theorem for a particle in reference frame F , we have that
d F
E = Fnc F v
(3.484)
dt
Now, examining the free body diagram of the particle as given in Fig. 3-17, we
see that the forces mg and F are conservative (since both of these forces are constant). Therefore, the only possible non-conservative force is N. Consequently,
we have that
Fnc F v = N F v
(3.485)
Substituting the expression for N from Eq. (3.468) and Eq. (3.463), we have that
) = 0
Fnc F v = NEz (
r er + r e
Substituting the result of Eq. (3.486) into Eq. (3.484), we have that
d F
E =0
dt
which implies that energy is conserved.
(3.486)
(3.487)
130
Question 322
A particle of mass m is attached to a linear spring with spring constant K and
unstretched length r0 as shown in Fig. P3-22. The spring is attached at its other
end to a massless collar where the collar slides along a frictionless horizontal
track with a known displacement x(t). Knowing that gravity acts downward,
determine a system of two differential equations in terms of the variables r and
that describe the motion of the particle.
x(t)
K
g
r
m
Figure P 3-22
Ex
Ez
Ey
Origin at Q
When x = 0
=
To The Right
=
Out of Page
=
Ez Ex
Origin at O
=
=
=
Along QP
Out of Page
Ez e r
131
The geometry of the bases {Ex , Ey , Ez } and {er , e , ez } is shown in Fig. 3-18.
Using Fig. 3-18, we have that
Ex
Ey
= sin er + cos e
= cos er + sin e
(3.488)
(3.489)
Ey
e
ez , Ez
Ex
er
Figure 3-18
(3.490)
= xEx
(3.491)
= r er
(3.492)
r = xEx + r er
(3.493)
rP /Q
Consequently, we obtain
z
A = e
(3.494)
Fd
dr Fd
rQ +
rP /Q = F vQ + F vP /Q
=
v=
dt
dt
dt
F
(3.495)
x
vQ = xE
(3.496)
132
vP /Q =
Ad
d
rP /Q =
rP /Q + F A rP /Q
dt
dt
d
= rer
rP /Q
dt
F A
z r er = r e
rP /Q = e
(3.497)
(3.498)
(3.499)
vP /Q = rer + r e
(3.500)
Then, adding Eq. (3.496) and Eq. (3.500), the velocity of the particle in reference
frame F is obtained as
F
x + rer + r e
v = xE
(3.501)
The acceleration of the particle in reference frame F is then obtained as
F
a=
d F F d F Fd F
v =
vQ +
vP /Q = F aQ + F aP /Q
dt
dt
dt
(3.502)
x
aQ = xE
(3.503)
aP /Q =
Ad
d F
F
vP /Q =
vP /Q + F A F vP /Q
dt
dt
(3.504)
d F
+ r )e
= rer + (
r
vP /Q
dt
F A
z (
) = r
2 er + re
F vP /Q = e
r er + r e
(3.505)
(3.506)
2 )er + (2
+ r )e
aP /Q = (
r r
r
(3.507)
Then, adding Eq. (3.503) and Eq. (3.507), we obtain the acceleration of the particle in reference frame F as
F
2 )er + (2
+ r )e
x + (
a = xE
r r
r
(3.508)
133
Fs
mg
Figure 3-19
Kinetics
The free body diagram of the particle is shown in Fig. 3-19.
Using Fig. 3-19. we see that the following forces act on the particle:
Fs
= Force of Spring
mg = Force of Gravity
First, we know that the model for a linear spring is
Fs = K( 0 )us
(3.509)
r er
= er
r
(3.511)
(3.512)
(3.513)
(3.514)
Using the expression for Ey in terms of the basis {er , e , ez } from Eq. (3.489),
we obtain the force of gravity as
mg = mg( cos er + sin e ) = mg cos er mg sin e
(3.515)
134
Then, adding Eq. (3.513) and Eq. (3.515), the resultant force acting on the particle
is given as
F = Fs + mg = K(r r0 )er + mg cos er mg sin e
(3.516)
(3.517)
Then, setting F in Eq. (3.517) equal to mF a using the expression for F a from
Eq. (3.508), we obtain
i
h
2 )er + (2
+ r )e
x + (
r r
r
mg sin K(r r0 ) er mg sin e = m xE
(3.518)
Then, substituting the expression for Ex from Eq. (3.488) into Eq. (3.518), we
obtain
2 )er
sin + r r
mg sin K(r r0 ) er mg sin e = m(x
+ r )e
cos + 2
+ m(x
r
(3.520)
(3.521)
(3.522)
Simplifying and rearranging Eq. (3.521) and Eq. (3.522), we obtain a system of
two differential equations describing the motion of the particle as
K
sin
(r r0 ) = x
m
+ 2
+ g sin = x
cos
r
r
2 g sin +
r r
(3.523)
(3.524)
135
Question 323
A collar of mass m slides with friction along a rod that is welded rigidly at a
constant angle with the vertical to a shaft as shown in Fig. P3-23. The shaft
rotates about the vertical with constant angular velocity (where = kk).
Knowing that r is the radial distance from point of the weld to the collar, that
the friction is viscous with viscous friction coefficient c, and that gravity acts
vertically downward, determine the differential equation of motion for the collar
in terms of r .
Viscous Friction, c
P
g
Figure P 3-23
Origin at O
=
=
=
Next, let A be a reference frame fixed to the shaft and tube. Then, choose the
following coordinate system fixed in reference frame A:
er
ez
Origin at O
=
=
along OP
Orthogonal to Plane of
Shaft and Arm and Into Page
ez er
136
The geometry of the bases {Ex , Ey , Ez } and {er , e , ez } is shown in Fig. 3-20.
Using Fig. 3-20, the relationship between the basis {Ex , Ey , Ez } and {er , e , ez }
er
ez , Ez
Ey
Figure 3-20
Ex
is
Ex
Ey
= sin er + cos e
= cos er + sin e
(3.525)
(3.526)
The position of the particle is then given in terms of the basis {er , e , ez } as
r = r er
(3.527)
(3.529)
The velocity of the particle in reference frame F is then obtained from the
transport theorem as
F
dr Adr F A
F
=
+ r
(3.530)
v=
dt
dt
Now we have that
A
dr
= rer
dt
F A
r = ( cos er sin e ) r er = r sin ez
(3.531)
(3.532)
137
Adding the expressions in Eq. (3.531) and Eq. (3.532), we obtain the velocity of
the collar in reference frame F as
F
v = rer + r sin ez
(3.533)
a=
d F A d F F A F
v =
v + v
dt
dt
(3.534)
d F
v
= rer + r sin ez
dt
F A
F v = ( cos er sin e ) (
r er + r sin ez )
2
(3.535)
(3.536)
Adding the expressions in Eq. (3.535) and Eq. (3.536), we obtain the acceleration
of the collar in reference frame F as
F
(3.537)
a = (
r r 2 sin2 )er r 2 cos sin e + 2
r sin ez
(3.538)
Kinetics
The free body diagram of the particle is shown in Fig. 3-21 Using Fig. 3-21, we
Nz
Ff
N
mg
Figure 3-21
have that
N
Nz
mg
Ff
=
=
=
=
138
= N e
(3.539)
= Nz ez
(3.540)
mg = mgEy
Ff
(3.541)
(3.542)
= cvrel
vrel = F v F vA
P
(3.543)
where vA
P is the velocity of the point P on the rod that is instantaneously in
contact with the collar. Now we have that
F A
vP
However, since
have that
F A
vP
F A
= AvA
P + r
(3.544)
=0
(3.545)
Therefore,
F A
vP
Then, substituting the result of Eq. (3.546) and the expression for
Eq. (3.533) into Eq. (3.543), we obtain
vrel = rer + r sin ez r sin ez = rer
(3.546)
Fv
from
(3.547)
(3.548)
(3.549)
Then, substituting the expression for Ey from Eq. (3.526) into Eq. (3.549), we
obtain
F = N e + Nz ez + mg( cos er + sin e ) c rer
(3.550)
Then, applying Newtons 2nd Law F from Eq. (3.550) and F a from Eq. (3.538), we
obtain
(mg cos + c r)er + (N + mg sin )e + Nz ez = m(
r r 2 sin2 )er
mr 2 cos sin e
+ 2m
r sin ez
(3.551)
139
Equating components in Eq. (3.551), we obtain the following three scalar equations:
m(
r r 2 sin2 ) = (mg cos + c r)
(3.552)
(3.553)
2m
r sin = Nz
(3.554)
It can be seen that Eq. (3.552) has no reaction forces. Furthermore, in this problem only one variable is required to describe the motion. Consequently, the
differential equation of motion is given as
m(
r r 2 sin2 ) = (mg cos + c r)
(3.555)
140
Question 325
A particle of mass m slides without friction along a track in the form of a
parabola as shown in Fig. P3-25. The equation for the parabola is
y=
r2
2a
g
m
Figure P 3-25
141
choose the following coordinate system:
Origin at Point O
=
=
=
Ex
Ey
Ez
Along OP When t = 0
Along Oy When t = 0
Ex Ey
(3.557)
Furthermore, since the parabola spins about the ey-direction, the angular velocity of reference frame A in reference frame F is given as
F
A = = ey
(3.558)
The velocity in reference frame F is then found using the rate of change transport theorem as
F
dr Adr F A
F
=
+ r
(3.559)
v=
dt
dt
Using r from Eq. (3.557) and F A from Eq. (3.558), we have that
A
dr
x + (2x x/a)e
= xe
y
dt
F A
r = ey (xex + (x 2 /a)ey ) = xez
(3.560)
(3.561)
x + (2x x/a)e
v = xe
y xez
(3.562)
a=
d F Ad F F A F
v =
v + v
dt
dt
F A
(3.563)
h
i
d F
x + 2(x
2 + x x)/a
z
v
= xe
ey xe
(3.564)
dt
F A
x + (2x x/a)e
z 2 xe(3.565)
F v = ey (xe
y xez ) = xe
x
Adding the expressions in Eq. (3.564) and Eq. (3.565) and, we obtain F a as
h
i
F
2 x)ex + 2(x
2 + x x)/a
z
a = (x
ey 2xe
(3.566)
142
Kinetics
The free body diagram of the particle is shown in Fig. 3-22. Using Fig. 3-22, it is
Nn
Fs
Nb
mg
Figure 3-22
= Nn en
= Nb eb
(3.567)
(3.568)
where en and eb are the principle unit normal and principle unit bi-normal vector to the parabola. Now since reference frame A is the reference frame of the
parabola, the tangent vector to the parabola is given as
et =
Now we have
Av
Av
kAvk
(3.569)
x + (2x x/a)e
v = xe
y
(3.570)
Consequently,
et =
x + (2x x/a)e
ex + (2x/a)ey
xe
y
s
s
2 =
2x
2x 2
1+
1+
x
a
a
(3.571)
Next, we know that eb must lie orthogonal to the plane of the parabola. Consequently, we have that
eb = ez
(3.572)
143
Therefore,
(2x/a)ex + ey
ex + (2x/a)ey
s
en = eb et = ez s
2 =
2x
2x 2
1+
1+
a
a
(3.573)
1+
2x
a
2
(2x/a)ex + ey
(3.574)
(3.575)
The reaction force exerted by the parabola on the particle is then given as
N = Nn + Nb = Nn
(2x/a)ex + ey
+ Nb ez
(3.576)
(3.577)
Now for this problem we know that the unstretched length of the spring is
0 = x0 . Furthermore, the stretched length of the spring is given as
= kr rQ k
(3.578)
where P is the attachment point of the spring. Now since the attachment point
lies on the ey -axis at the same value of y as the particle, we have that
rQ = yey =
x2
ey
a
(3.579)
Therefore,
x2
x2
ey
ey = xex
a
a
The stretched length of the spring is then given as
r rQ = xex +
= kxex k = x
(3.580)
(3.581)
r rQ
xex
=
= ex
kr rQ k
x
(3.582)
(3.583)
144
(3.584)
Then, adding Eq. (3.576), Eq. (3.583), and Eq. (3.584), the resultant force acting
on the particle is then obtained as
(2x/a)ex + ey
+ Nb ez K(x x0 )ex mgey
(3.585)
Then, combining terms with common components in Eq. (3.585), we have that
"
#
"
#
2x/a
Nn
F = Nn
+ K(x x0 ) ex +
mg ey + Nb ez
(3.586)
F = Nn + Nb + Fs + mg = Nn
Then, setting F from Eq. (3.586) equal to mF a using the expression for F a from
Eq. (3.566), we obtain
"
#
"
#
2x/a
Nn
2 x)ex
Nn
+ K(x x0 ) ex +
mg ey + Nb ez = m(x
h
i
2 + x x)/a
+ m 2(x
ey
z
2mxe
(3.587)
Equating components in Eq. (3.587), we obtain the following three scalar equations:
2 x) = Nn
m(x
2x/a
K(x x0 )
Nn
mg
= Nb
h
i
2 + x x)/a
m 2(x
=
2mx
(3.588)
(3.589)
(3.590)
Now the differential equation of motion for the particle is obtained as follows. Rearranging Eq. (3.588) and Eq. (3.589), we have that
Nn
2x/a
Nn
2 x) K(x x0 )
= m(x
(3.591)
h
i
2 + x x)/a
= m 2(x
+ mg
(3.592)
2x/a
2 x) K(x x0 )
m(x
=
Nn
2 + x x)/a
m 2(x
+ mg
(3.593)
145
Simplifying Eq. (3.593) gives
2 x) K(x x0 )
m(x
2x
h
i
=
a
2 + x x)/a
m 2(x
+ mg
(3.594)
2 + x x)/a
h
i
2x
2 + x x)/a
2 x) K(x x0 )
m 2(x
+ mg
= m(x
a
(3.595)
=0
m(x
+ mg
a
Simplifying further, we obtain the differential equation of motion as
"
#
2
2g
2x 2
x
2
1+
=0
+m
x + K(x x0 ) + 4mx
mx
a
a
a
(3.596)
(3.597)