Dynamics Solns Capitulo 2 Plasha GRay

Solutions Manual
Engineering Mechanics: Dynamics

1st Edition
Gary L. Gray
The Pennsylvania State University
Francesco Costanzo
The Pennsylvania State University
Michael E. Plesha
University of WisconsinMadison
With the assistance of:
Chris Punshon
Andrew J. Miller
Justin High
Chris OBrien
Chandan Kumar
Joseph Wyne
Version: August 10, 2009
The McGraw-Hill Companies, Inc.
Copyright 20022010
Gary L. Gray, Francesco Costanzo, and Michael E. Plesha
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It
may be used and/or possessed only by permission of McGraw-Hill, and must be surrendered upon
request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without
the permission of McGraw-Hill, is prohibited.
Dynamics 1e
Important Information about

this Solutions Manual
Even though this solutions manual is nearly complete, we encourage you to visit
http://www.mhhe.com/pgc
often to obtain the most up-to-date version. In particular, as of July 30, 2009, please note the following:
_ The solutions for Chapters 1 and 2 have been accuracy checked and have been edited by us. They are
in their final form.
_ The solutions for Chapters 4 and 7 have been accuracy checked and should be error free. We will be
adding some additional detail to these solutions in the coming weeks.
_ The solutions for Chapters 3, 6, 8, and 9 are being accuracy checked and the accuracy checked versions
should be available by the end of August 2009. We will be adding some additional detail to these
solutions in the coming weeks.
_ The solutions for Chapter 10 should be available in their entirety by the end of August 2009.
All of the figures in Chapters 610 are in color. Color will be added to the figures in Chapters 15 over the
coming weeks.
Contact the Authors

If you find any errors and/or have questions concerning a solution, please do not hesitate to contact the
authors and editors via email at:
dyn_solns@email.esm.psu.edu
We welcome your input.
August 10, 2009
Solutions Manual
Accuracy of Numbers in Calculations

Throughout this solutions manual, we will generally assume that the data given for problems is accurate to
3 significant digits. When calculations are performed, all intermediate numerical results are reported to 4
significant digits. Final answers are usually reported with 3 significant digits. If you verify the calculations in
this solutions manual using the rounded intermediate numerical results that are reported, you should obtain
the final answers that are reported to 3 significant digits.
August 10, 2009
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Solutions Manual
Chapter 2 Solutions
Problem 2.1
The position of a car traveling between two stop signs along a straight city block is
given by r D 9t
.45=2/ sin.2t =5/ m, where t denotes time and 0 s t 17:7 s. Compute the displacement of the car between 2:1 and 3:7 s as well as between 11:1 and 12:7 s. For each
of these time intervals compute the average velocity.
STOP
STOP
Solution
We start with observing that the two time intervals considered have the same length. More importantly,
we observe that the argument of the sine function in the definition of the function r.t / is understood to be
expressed in radians.
The displacement of the car along the street between 2:1 s to 3:7 s is calculated from the function r.t / as
r1 D r.3:7 s/
r.2:1 s/ D 8:75 m:
(1)
Similarly, the displacement between 11:1 s and 12:7 s is

r2 D r.12:7 s/
r.11:1 s/ D 13:7 m:
(2)
The average velocity at which the car traveled over the first interval is calculated to be
vavg

1
r.3:7 s/
3:7 s
r.2:1 s/
D 5:47 m=s;
2:1 s
(3)
while the average velocity of the car over the second interval is
vavg

2
r.12:7 s/
12:7 s
r.11:1 s/
D 8:58 m=s:
11:1 s
(4)
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Dynamics 1e
Problems 2.2 and 2.3

The position of the car relative to the coordinate system shown is
rE.t / D .5:98t 2 C 0:139t 3
0:0149t 4 / {O C .0:523t 2 C 0:0122t 3
0:00131t 4 / |O ft:
Problem 2.2
Determine the velocity and acceleration of the car at t D 15 s. In addition, again at t D 15 s,
determine the slope of the cars path relative to the coordinate system shown as well as the angle
between velocity and acceleration.
Find the difference between the average velocity over the time interval 0 s t 2 s and
the true velocity computed at the midpoint of the interval, i.e., at t D 1 s. Repeat the calculation for the
time interval 8 s t 10 s. What do the results suggest about the approximation of the true velocity by
the average velocity over different time intervals?
Problem 2.3
Solution to 2.2
The velocity is found by taking the derivative with respect to time of the position function:
vE.t/ D .11:96t C 0:4170t 2
0:05960t 3 / {O C .1:046t C 0:03660t 2
0:005240t 3 / |Oft=s:
(1)
Hence, evaluating the above expression for t D 15 s, we have

vE.15 s/ D .72:1 {O C 6:24 |O/ ft=s:
The acceleration is found by taking the derivative with respect to time of the velocity function:
aE .t / D .11:96 C 0:8340t
0:1788t 2 /O{ C .1:046 C 0:07320t
0:01572t 2 / |O ft=s2 :
(2)
Hence, evaluating the above expression for t D 15 s, we have

aE .15 s/ D . 15:8 {O
1:39 |O/ ft=s2 :
Because the velocity is always tangent to the path, we can compute the angle as the angle formed by the
velocity vector and the horizontal axis, i.e., D tan 1 .vy =vx /. Hence, using Eq. (1) for t D 15 s we have
.15 s/ D 4:95 :
The angle between the velocity and acceleration at t D 15 s is found using the dot product:

E.15 s/ aE .15 s/
1 v
vE.15 s/ aE .15 s/ D vE.15 s/ aE .15 s/ cos .15 s/ ) .15 s/ D cos

;
vE.15 s/aE .15 s/
which, using Eqs. (1) and (2) can be evaluated to give
.15 s/ D 180 :
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Solutions Manual
Solution to 2.3
The average velocity over the interval 0 t 2 is
vEavg .t1 ; t2 / D
rE.t2 /
t2
rE.t1 /
;
t1
(3)
which, for t1 D 0 s and t2 D 2 s, can be evaluated to obtain

vEavg .0 s; 2 s/ D .12:40 {O C 1:084 |O/ ft=s:
(4)
The exact velocity is found by taking the derivative with respect to time of the position function and evaluating
it at t D 1 s. The velocity is determined as the first time derivative of the position function. This gives
vE.t/ D .11:96t C 0:4170t 2
0:05960t 3 / {O C .1:046t C 0:03660t 2
0:005240t 3 / |O ft=s:
(5)
Evaluating the above expression for t D 1 s, we have

vE.1 s/ D .12:32 {O C 1:077/ ft=s:
(6)
therefore, using the results in Eqs. (4) and (6), we have

vEavg .0 s; 2 s/
vE.1 s/ D .0:0800 {O C 0:00700 |O/ ft=s
Similarly for 8 t 10, we have

vEavg .8 s; 10 s/ D .97:57 {O C 8:524 |O/ ft=s:
(7)
vE.9 s/ D .97:97 {O C 8:559 |O/ ft=s:
(8)
For t D 9 s we have
Therefore, using Eqs. (7) and (8), we have
vEavg .8 s; 10 s/
vE.9 s/ D . 0:400 {O
0:0350 |O/ ft=s:
The quality of the approximation is not uniform, i.e., it depends on the time interval considered.
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19
Problem 2.4
If vEavg is the average velocity of a point P over a given time interval, is jE
vavg j, the magnitude of the average
velocity, equal to the average speed of P over the time interval in question?
Solution
The two quantities described in the problem statement are not equal in general. The average velocity depends
only on the position
at the time instants considered as well as the size of the corresponding time interval.
Therefore vEavg will depend on the same quantities. By contrast the average of the speed depends on the
value of the speed at every time instant during the time interval considered. Hence the two quantities cannot
be expected to be equal. For example, consider the case of a car looping around a circle with constant speed
v0 . Suppose also that t is the amount of time that the car takes in completing one full circle, i.e., to occupy
the same position after one full loop. Then, the average velocity over the the amount of time t is equal to
zero (since the car occupies the same position at time t as it does at time t C t). Therefore, the magnitude
of the average velocity over t is also equal to zero. However, since the speed of the car is constant, then the
average speed is simply equal to v0 , thus showing that the magnitude of the average velocity is, in general,
not equal to the average speed.
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Solutions Manual
Problem 2.5
A car is seen parked in a given parking space at 8:00 A . M . on a Monday
morning and is then seen parked in the same spot the next morning at the same
time. What is the displacement of the car between the two observations? What
is the distance traveled by the car during the two observations?
Solution
The displacement is equal to zero, since it only depends on the difference in position at the times indicated.
However, there is not enough information to answer the question regarding distance traveled since we would
need to know the position as a function of time throughout the entire time interval considered, i.e., between
8 W 00 A . M . Monday and 8 W 00 A . M . the following Tuesday.
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Dynamics 1e
Problem 2.6
Let rE D t {O C .2 C 3t C 2t 2 / |O m describe the motion of the point P relative
to the Cartesian frame of reference shown. Determine an analytic expression of
the type y D y.x/ for the trajectory of P .
Solution
We are given
rE.t / D x.t / {O C y.t / |O;
(1)
where
x.t / D t m
and y.t / D .2 C 3t C 2t 2 / m:
(2)
Solving the first of Eqs. (2) with respect to time, we have

t m D x:
(3)
Substituting Eq. (3) into the second of Eqs. (2), and expressing all known coefficients to three significant
figures, we obtain:

y.x/ D 2:00 C 3:00x C 2:00x 2 m:
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Solutions Manual
Problem 2.7
Let rE D t {O C.2C3t C2t 2 / |O ft describe the motion of a point P relative to the
Cartesian frame of reference shown. Recalling that for any two vectors pE and qE
we have that pE qE D jpj
E jE
q j cos , where is the angle formed by pE and qE, and
recalling that the velocity vector is always tangent to the trajectory, determine
the function .x/ describing the angle between the acceleration vector and the
tangent to the path of P .
Solution
The velocity vector is the time derivative of the position vector:
vE D 1:000 {O C .3:000 C 4:000t / |O ft=s:
(1)
The acceleration vector is the time derivative of the velocity vector:

aE D .4:000 ft=s2 / |O:
(2)
As stated in the problem, is the angle between the acceleration vector and the tangent to the path of P , that
is,
aE vE D jE
ajjE
v j cos :
(3)
From Eqs. (1) and (2) we have that

q
p

2
2
aj D 4 ft=s2 :
jE
vj D
1:000 C .3:000 C 4:000t / ft=s D
10:00 C 24:00t C 16:00 t 2 ft=s and jE
(4)

Substituting the expressions for vE and aE from Eq. (4) in Eq. (3) and solving for we obtain
aE vE
cos D
jE
ajjE
vj
D cos

p
3:000 C 4:000t
10:00 C 24:00t C 16:00 t 2

:
(5)
Since we have that rx D x D .t / ft, we can replace t with x in the last of Eqs. (5) to obtain:
.x/ D cos

p
3:00 C 4:00x
10:0 C 24:0x C 16:0x 2

:
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Dynamics 1e
23
Problem 2.8
Is it possible for the vector vE shown to represent the velocity of the point P ?
Solution
The vector vE shown is not tangent to the path at point P . Hence vE cannot be considered the velocity of P .
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Solutions Manual
Problem 2.9
Is it possible for the vector aE shown to be the acceleration of the point P ?
Solution
No, because aE does not point toward the concave side of the trajectory of P .
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Dynamics 1e

The motion
to a Cartesian coordinate system is described
pof a point P with respect
2
by rE D 2 t {O C .4 ln.t C 1/ C 2t / |O ft, where t is time expressed in s.
Problem 2.10
Determine P s displacement between times t1 D 4 s and t2 D 6 s.
In addition, determine the average velocity between t1 and t2 .
Problem 2.11
Determine P s average acceleration between times t1 D 4 s and
t2 D 6 s.
Solution to 2.10
The positions of P at t1 D 4 s and t2 D 6 s are given by
p
rE.t1 / D f2 4 {O C 4 ln.4 C 1/ C 2.4/2 |Og ft D .4:000 {O C 38:44 |O/ ft;
p
rE.t2 / D f2 6 {O C 4 ln.6 C 1/ C 2.6/2 |Og ft D .4:899 {O C 79:78 |O/ ft:
(1)
(2)
The displacement is the change in position of P from t1 to t2 and is given by

Er .t1 ; t2 / D rE.t2 /
rE.t1 /
Er .t1 ; t2 / D .0:899 {O C 41:3 |O/ ft:
The average velocity of P is the displacement divided by change in time and, recalling that t1 D 4 s, t2 D 6 s,
and using the results in Eqs. (1) and (2), is given by
vEavg .t1 ; t2 / D
Er .t1 ; t2 /
t2 t1
vEavg .t1 ; t2 / D .0:450 {O C 20:7 |O/ ft=s:
(3)
August 10, 2009
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Solutions Manual
Solution to 2.11
To find average acceleration we must first find the velocity of P as a function of time by taking the derivative
of the position function:

4:000
1
vE.t / D p {O C
C 4:000t |O ft=s:
(4)
t C 1:000
t
The velocities of P at t1 D 4 s and t2 D 6 s are given by
vE.t1 / D .0:5000 {O C 16:80 |O/ ft=s;
(5)
vE.t2 / D .0:4082 {O C 24:57 |O/ ft=s:
(6)
The average acceleration of P is the change in velocity divided by the change in time and, using the results in
Eqs. (5) and (6), is given by
aEavg .t1 ; t2 / D
vE.t2 /
t2
vE.t1 /
t1
aEavg .t1 ; t2 / D . 0:0459 {O C 3:88 |O/ ft=s2 :
August 10, 2009
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Dynamics 1e
Problem 2.12
The motion of a stone thrown into a pond is described by

rE.t/ D 1:5 0:3e 13:6t {O C 0:094e 13:6t 0:094

0:72t |O m;
where t is time expressed in s, and t D 0 s is the time when the stone first hits
the water. Determine the stones velocity and acceleration. In addition, find
the initial angle of impact of the stone with the water, i.e., the angle formed
between the stones trajectory and the x axis at t D 0 s.
Solution
The velocity of the stone is found by differentiating the position vector with respect to time. This gives
vE.t / D rEP .t / D .4:080e
13:60t
/ {O C . 0:7200
1:278e
13:60t
/ |O m=s;
(1)
which, when expressing the equations coefficients to three significant figures, gives
vE.t / D rEP .t / D .4:08e
13:6t
/ {O C . 0:720
1:28e
13:6t
/ |O m=s:
The acceleration vector is found by differentiating the velocity vector in Eq. (1) with respect to time. Doing
so and expressing the coefficients of the resulting formula to three significant figures, we have
aE .t / D vEP .t / D . 55:5e
13:6t
/ {O C .17:4e
13:6t
/ |O m=s2 :
(2)
The impact angle is the slope of the stones trajectory at the time that the stone enters the water. Then,
recalling that the velocity is always tangent to the trajectory, we can compute using the components of vE at
time t D 0. Using Eq. (1) to evaluate the velocity components, we have

1:998 m=s
1 vy .0/
1
D tan
D tan
)
D 26:1 :
vx .0/
4:080 m=s
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Solutions Manual
Problem 2.13
Two points P and Q happen to go by the same location in space (though at different times).
(a) What must the paths of P and Q have in common if, at the location in question, P and Q have
identical speeds?
(b) What must the paths of P and Q have in common if, at the location in question, P and Q have
identical velocities?
Solution
Part (a) In the first case, the only thing we can expect the paths to share is that point in space which, at
different instants, is occupied by P and Q.
Part (b) In the second case, the paths in question will not only share a point, like in the previous case, but
will also have the same tangent line at that point, since the velocity vector is always tangent to the path.
August 10, 2009
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Dynamics 1e

The position of point P is given by

rE.t/ D 2:0 0:5 C sin.!t / {O C 9:5 C 10:5 sin.!t / C 4:0 sin2 .!t / |O;
with t 0, ! D 1:3 s 1 , and the position is measured in meters.
Find the trajectory of P in Cartesian components and then,
using the x component of rE.t /, find the maximum and minimum values of x
reached by P . The equation for the trajectory is valid for all values of x, yet
the maximum and minimum values of x as given by the x component of rE.t /
are finite. What is the origin of this discrepancy?
Problem 2.14
Problem 2.15
(a) Plot the trajectory of P for 0 t 0:6 s, 0 t 1:4 s, 0 t 2:3 s,

and 0 t 5 s.
(b) Plot the y.x/ trajectory for 10 x 10 s.
(c) You will notice that the trajectory found in (b) does not agree with any of
those found in (a). Explain this discrepancy by analytically determining
the minimum and maximum values of x reached by P . As you look at this
sequence of plots, why does the trajectory change between some times and
not others?
Solution to 2.14
First write the position of P in component form as
x.t / D 2:0.0:5 C sin !t / m
and y.t / D .9:5 C 10:5 sin !t C 4:0 sin2 !t / m:
(1)
Instead of solving the first of Eq. (1) for t, we solve it for sin !t as a function of x. This gives
sin !t D
1:000 m
;
2:000 m
(2)
which can then be substituted into the second of Eqs. (1) to obtain the trajectory y.x/ as

x
y.x/ D 9:500 C 10:50
1:000
2:000

C 4:000
1:000
2:000
)
Referring to Eq. (1), for xmax ; sin !t D C1 ) t D

maximum and minimum values are
xmax D 3:00 m

2!
2
m

y.x/ D 5:25 C 3:25x C 1:00x 2 m:
s and for xmin ; sin !t D
and xmin D
1)t D
3
2!
(3)
s: Thus, the
1:00 m:
The maximum and minimum values of the x coordinate occur due to the presence of a periodic function in
the equation for this component. Therefore, the trajectory, which is valid for all times t , is constrained to
oscillate between 1:000 m and 3:000 m on the x axis.
August 10, 2009
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Solutions Manual
Solution to 2.15
Part (a).
Since ! D 1:3 s 1 , we write the x and y coordinates of point P as
x.t/ D f2:00:5 C sin.1:3t /g m
and y.t / D 9:5 C 10:5 sin.1:3t / C 4:0 sin2 .1:3t / m:
(4)
One strategy to plot the trajectory of point P is to plot the line that connects the points of coordinates
x.t/; y.t/ as time t varies within a given time interval. This way of plotting the trajectory does not involve
finding y as a function of x. Rather, it consists of generating a list of .x; y/ values, each of which is computed
by first assigning a specific value of time. This procedure is called a parametric plot, where the parameter
used to generate the plotted points is time and does not appear directly on the plot (i.e., the plot uses x and y
axes, but it does not show the time values corresponding to the points on the plot). Parametric plots can be
generated using any appropriate numerical software such as MATLAB or Mathematica.
The parametric plots shown below of the trajectory of P were generated in Mathematica with the
following code:
Part (b). In this part of the problem we first need to write the trajectory in the form y D y.x/. To do so,
we start with solving the first of Eq. (4) for sin.1:3t / as a function of x. This gives
sin.1:3t / D
1:000 m
;
2:000 m
(5)
which can then be substituted into the second of Eqs. (4) to obtain

x
y.x/ D 9:500 C 10:50
1:000
2:000

C 4:000
1:000
2:000
)
2
m

y.x/ D 5:25 C 3:25x C 1:00x 2 m; (6)
where we have expressed all known coefficients to three significant figures.
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Dynamics 1e
Now that we have the trajectory in the form y.x/, we can plot it over the
given interval 10 m x 10 m as shown on right. This plot was generated
using Mathematica with the following code:
Plot!5.250 ! 3.250 x ! 1.00 x^2, "x, "10.0, 10.0#, Frame # True,
FrameTicks # ""Automatic, None#, "Automatic, None##, AspectRatio # 1,

GridLines # Automatic, ImageSize # 170, FrameLabel # $"x (m) ", "y (m) "%,
PlotLabel # "Trajectory y(x) "&
Part (c). Referring to Eq. (4), for xmax ; sin !t D C1 ) t D

Thus, the maximum and minimum values are
xmax D 3:00 m

2!
and xmin D
s and for xmin ; sin !t D
1)t D
3
2!
s:
1:00 m:
The maximum and minimum values of the x coordinate occur due to the presence of a periodic function in the
equation for this component. Therefore, the trajectory, which is valid for all times t , is constrained to oscillate
between 1:00 m and 3:00 m on the x axis. This fact explains why in the plot sequence in Part (a) the
trajectory seems not to change after a while: point P keeps tracing the same curve segment again and again.
The periodicity of the motion of P also explains the discrepancy between the trajectory obtained in Part (a)
and that obtained in Part (b). In fact, since the plot generated in Part (a) was based on a direct application
of Eqs. (4), we see that the plot in question correctly reflects the periodic time dependence the coordinates
of point P . By contrast, the trajectory computed in Part (b) no longer carries any direct relationship with
time. Now it is important to realize, that the trajectory plotted in Part (b) does contain the trajectory plotted in
Part (a) as a sub-curve. The problem with the trajectory in Part (b) is that we have no direct way of knowing
what part of the entire curve actually pertains to the motion of point P .
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Solutions Manual
Problems 2.16 through 2.18

A bicycle is moving to the right at a speed v0 D 20 mph on a horizontal and
straight road. The radius of the bicycles wheels is R D 1:15 ft. Let P be
a point on the periphery of the front wheel. One can show that the x and y
coordinates of P are described by the following functions of time:

x.t/ D v0 t C R sin.v0 t =R/ and y.t / D R 1 C cos.v0 t =R/ :
Determine the expressions for the velocity, speed, and acceleration of P as functions of time.
Problem 2.16
Determine the maximum and minimum speed achieved by P

as well as the y coordinate of P when the maximum and minimum speeds
are achieved. Finally, compute the acceleration of P when P achieves its
maximum and minimum speeds.
Problem 2.17
Problem 2.18
Plot the trajectory of P for 0 s < t < 1 s. For the same
time interval, plot the speed as a function of time as well as the components of
the velocity and acceleration of P .
Solution to 2.16
The velocity of P is the time derivative of P s position, which, using the coordinate system shown, is given
by

rE D x.t / {O C y.t / |O D v0 t C R sin.v0 t =R/ {O C R 1 C cos.v0 t =R/ |O:
(1)
Differentiating the above expression with respect to time, we have

v0 t
v0 t
{O v0 sin
|O:
vE D v0 1 C cos
R
R
(2)
Then, recalling that v0 D 20 mph D 29:33 ft=s and R D 1:15 ft, and expressing all known coefficients to
three significant figures, we have
vE D .29:3 ft=s/1 C cos.25:5 rad=s/t {O
.29:3 ft=s/1 C sin.25:5 rad=s/t |O:
The speed is now found by taking the magnitude of the velocity vector. Hence, we have
s

q
p
v0 t
2
2
v D vx .t / C vy .t / D v0 2 C 2 cos
)
v D .29:3 ft=s/ 2 C 2 cos.25:5 rad=s/t :
R
The acceleration of P is the time derivative of P s velocity. Hence, from Eq. (2), we have

v02
v02
v0 t
v0 t
aE D
sin
{O
cos
|O:
R
R
R
R
(3)
(4)
Then, again recalling that v0 D 20 mph D 29:33 ft=s and R D 1:15 ft, and expressing all known coefficients
to three significant figures, we have
aE D

748 ft=s2 sin.25:5 rad=s/t {O

748 ft=s2 cos.25:5 rad=s/t |O:
August 10, 2009
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Dynamics 1e
Solution to 2.17
The speed of P is the magnitude of the velocity of P . Hence, we first compute the velocity of P , which is
the time derivative of P s position. Using the coordinate system shown, the position vector of P is given by

(5)

v0 t
v0 t
vE D v0 1 C cos
{O v0 sin
|O:
R
R
(6)
Hence, the speed is given by

s
vD
vx2 .t / C vy2 .t / D v0
2 C 2 cos

v0 t
;
R
(7)
from which we see that v is maximum when cos.v0 t =R/ D 1 and minimum when cos.v0 t =R/ D
turn, this implies that
vmax D 2v0 D 58:7 ft=s
and
vmin D 0 ft=s;
1. In
(8)
where we have used the fact that v0 D 20 mph D 29:33 ft=s.

Next, recalling that for v D vmin we have cos.v0 t =R/ D 1 and for v D vmax we have cos.v0 t =R/ D 1,
using the expression for the y component of the position of P in Eq. (5), we have
yvmin D 0 ft
and yvmax D 2R D 2:30 ft;
where we have used the fact that R D 1:15 ft.

To determine the acceleration corresponding to vmin and vmax , we first need to determine the acceleration
of P by differentiating with respect to time the expression in Eq. (6). This gives

v02
v02
v0 t
v0 t
{O
|O:
(9)
aE D
sin
cos
R
R
R
R
Now, recall that for v D vmin we have cos.v0 t =R/ D 1 and for v D vmax we have cos.v0 t =R/ D 1. In
both cases, we have sin.v0 t =R/ D 0. Using this considerations along with Eq. (9), we have
aEvmin D
v02
|O D .748 ft=s2 / |O
R
and
aEvmax D
v02
|O D . 748 ft=s2 / |O;
R
where we have used the following numerical data: v0 D 20 mph D 29:33 ft=s and R D 1:15 ft.
August 10, 2009
34
Solutions Manual
Solution to 2.18
The velocity of P is the time derivative of P s position, which, using the coordinate system shown, is given
by

(10)

v0 t
v0 t
vE D v0 1 C cos
{O v0 sin
|O:
R
R
(11)
The speed is now found by taking the magnitude of the velocity vector. Hence, we have
s

q
v0 t
v D vx2 .t / C vy2 .t / D v0 2 C 2 cos
:
R
(12)
The acceleration of P is the time derivative of P s velocity. Hence, from Eq. (11), we have

v02
v02
v0 t
v0 t
{O
|O:
aE D
sin
cos
R
R
R
R
(13)
Trajectory of P . We can plot the trajectory of point P for 0 < t < 1 s by computing the values of the
coordinates of the point P at various time values, where the coordinates in question are the component
of rE in Eq. (10). This strategy for plotting the trajectory yields what is typically called a parametric plot
(since we generate a plot with x and y axis of points whose position is determined by assigning values to
the parameter t , as opposed to plotting y as a function of x). This can be done with a variety of pieces of
numerical software. Recalling that we have v0 D 20 mph D 29:33 ft=s and R D 1:15 ft, the plot presented
below has been obtained using Mathematica with the following code
Parameters ! !v0 " 29.33, R " 1.15";
x ! v0 t # R Sin#v0 t $ R%; y ! R &1 # Cos#v0 t $ R%';
ParametricPlot#!x, y" $. Parameters, !t, 0, 1", Frame " True, GridLines " Automatic,
FrameLabel " !"x &ft'", "y &ft'"", PlotLabel " "Trajectory of P", AspectRatio " 1%
Trajectory of P
y !ft"
2.0
1.5
1.0
0.5
0.0
0
5 10 15 20 25 30
x !ft"
Speed of P . The speed of P can be plotted for 0 < t < 1 s by providing the known parameters v0 D
20 mph D 29:33 ft=s and R D 1:15 ft as well as the last expression in Eq. (12) to some appropriate numerical
software. The plot shown below was generated using Mathematica with the following code:
Parameters ! !v0 " 29.33, R " 1.15";
v ! v0 2 # 2 Cos#v0 t $ R% ;
Plot#v $. Parameters, !t, 0, 1", Frame " True, GridLines " Automatic,
FrameLabel " !"t &s'", "v &ft$s'"", AspectRatio " 1, PlotLabel " "Speed of Point P"%
August 10, 2009
35
Dynamics 1e
Speed of Point P
v !ft#s"
50
40
30
20
10
0
0.0 0.2 0.4 0.6 0.8 1.0
t !s"
Velocity Components The components of the velocity of P can be plotted for 0 < t < 1 s by providing
the known parameters v0 D 20 mph D 29:33 ft=s and R D 1:15 ft as well as the expression in Eq. (11) to
some appropriate numerical software. The plot shown below was generated using Mathematica with the
following code:
Parameters ! !v0 " 29.33, R " 1.15";
vx ! v0 #1 # Cos$v0 t % R&'; vy ! $v0 Sin$v0 t % R&;
Plot$vx %. Parameters, !t, 0, 1", Frame " True, GridLines " Automatic,
FrameLabel " !"t #s'", "vx #ft%s'"", PlotLabel " "x Velocity Component", AspectRatio " 1&
Plot$vy %. Parameters, !t, 0, 1", Frame " True, GridLines " Automatic,
FrameLabel " !"t #s'", "vy #ft%s'"", PlotLabel " "y Velocity Component",
AspectRatio " 1&
x Velocity Component
y Velocity Component
50
20
40
10
vy !ft#s"
vx !ft#s"
30
30
20
10
0
!10
!20
0
0.0 0.2 0.4 0.6 0.8 1.0
t !s"
!30
0.0 0.2 0.4 0.6 0.8 1.0
t !s"
Acceleration Components The components of the acceleration of P can be plotted for 0 < t < 1 s by
providing the known parameters v0 D 20 mph D 29:33 ft=s and R D 1:15 ft as well as the expression in
Eq. (13) to some appropriate numerical software. The plot shown below was generated using Mathematica
with the following code:
Parameters ! !v0 " 29.33, R " 1.15";
ax ! ##v02 $ R% Sin&v0 t ' R(; ay ! ##v02 $ R% Cos&v0 t ' R(;
Plot)ax '. Parameters, !t, 0, 1", Frame " True, GridLines " Automatic,
FrameLabel " *"t +s,", "ax +ft's2 ,"-, PlotLabel " "x Acceleration Component",
AspectRatio " 1.
Plot)ay '. Parameters, !t, 0, 1", Frame " True, GridLines " Automatic,
FrameLabel " *"t +s,", "ay +ft's2 ,"-, PlotLabel " "y Acceleration Component",
AspectRatio " 1.
August 10, 2009
36
Solutions Manual
600
400
200
0
!200
!400
!600
y Acceleration Component
ay !ft#s2 "
ax !ft#s2 "
x Acceleration Component
0.0 0.2 0.4 0.6 0.8 1.0

t !s"
600
400
200
0
!200
!400
!600
0.0 0.2 0.4 0.6 0.8 1.0
t !s"
August 10, 2009
37
Dynamics 1e

Point C is a point on the connecting rod of a mechanism called a slidercrank. The x p
and y coordinates of C can be expressed as follows:
xC D R cos C 12 L2 R2 sin2 and yC D .R=2/ sin , where describes
the position of the crank. If the crank rotates at a constant rate, then we can
express as D !t , where t is time and ! is the cranks angular velocity. Let
R D 0:1 m, L D 0:25 m, and ! D 250 rad=s.
Problem 2.19
Find expressions for the velocity, speed, and acceleration of
C.
Problem 2.20
Determine the maximum and minimum speeds of C as
well as C s coordinates when the maximum and minimum speeds are achieved.
In addition, determine the acceleration of C when the speed is at a minimum.
Plot the trajectory of point C for 0 s < t < 0:025 s. For

the same interval of time, plot the speed as a function of time as well as the
components of the velocity and acceleration of C .
Problem 2.21
Solution to 2.19
The velocity of point C is is the time derivative of the position of C , which, using the coordinate system
shown and recalling that D !t, can be written as

p

rEC D xC {O C yC |O D R cos !t C 12 L2 R2 sin2 !t {O C 12 R sin !t |O:
(1)
Hence, differentiating the above expression with respect to time and simplifying, we have
vEC D

R sin !t cos !t
!R
!R
2 sin !t C p
{O C
cos !t |O:
2
2
L2 R2 sin2 !t
(2)
The speed is now found by taking the magnitude of the velocity vector:
!R
vD
2
4R sin2 !t cos !t
R2 sin2 !t cos2 !t
4 sin2 !t C p
C
C cos2 !t :
2
2 sin2 !t
2
2
2
L
R
L
R sin !t
(3)
The acceleration is found by taking the derivative of the velocity. Hence, differentiating Eq. (2) with respect
to time, we have
aE D

!2R
R.cos2 !t sin2 !t /
R3 cos2 sin2 !t
2 cos !t C p
C
{O
2
.L2 R2 sin2 !t /3=2
L2 R2 sin2 !t
!2R
sin !t |O:
2
(4)
August 10, 2009
38
Solutions Manual
Solution to 2.20

p

(5)

!R
!R
R sin !t cos !t
{O C
vEC D
2 sin !t C p
cos !t |O
2
2
2
L2 R2 sin !t
s
!R
4R sin2 !t cos !t
R2 sin2 !t cos2 !t
vD
C cos2 !t :
4 sin2 !t C p
C
2
L2 R2 sin2 !t
L2 R2 sin2 !t
(6)
(7)
to time, we have

R.cos2 !t sin2 !t /
R3 cos2 sin2 !t
!2R
!2R
2 cos !t C p
C
{
O
sin !t |O:
(8)
aE D
2
2
.L2 R2 sin2 !t /3=2
L2 R2 sin2 !t
To find the minimum and the maximum of the speed we begin by plotting the speed as a function of time
during a full cycle of the crank. Then we can obtain a visual estimate of the minimum and maximum values
in question. As indicated in the problem statement, the crank angle is related to time as follows: D !t,
where ! D 250 rad=s. A full cycle of the crank is such that 0 2 rad. Hence, the corresponding time
interval we consider is 0 t 0:02513 s. Recalling that R D 0:1 m, L D 0:25 m, and ! D 250 rad=s, the
plot of v in Eq. (7) can be obtained with any appropriate piece of numerical software. The plot given below
was obtained using Mathematica with the following code:
Parameters ! ! # 250., L $% 0.25, R # 0.1";
vC !
R
2
4 Sin# t$2 &
4 R Sin# t$2 Cos# t$

L2 $ R 2 Sin# t$2
&
R 2 Sin# t$2 Cos# t$2

L2
$ R2
Sin# t$2
& Cos# t$2 ;
Plot#vC %. Parameters, !t, 0, 0.02513", Frame # True, GridLines # Automatic,

FrameLabel # !"t &s'", "v &m%s'"", PlotLabel # "Plot of Speed vs. Time",
AspectRatio # 1$
Plot of Speed vs. Time

26
24
v !m#s"
22
20
18
16
14
0.000 0.005 0.010 0.015 0.020 0.025
t !s"
August 10, 2009
39
Dynamics 1e
By inspection, the plot indicates that the speed achieves its minimum value of approximately 12:50 m=s for
t D 0 and for t D 0:01256 (midpoint of the time interval considered). In addition, again by inspection, we see
that the speed achieves its maximum value of approximately 25:75 m=s for t D 0:0055 s and t D 0:01950 s.
To obtain a more precise estimate of these values, one can take advantage of numerical minimization and
maximization techniques that are often available in modern mathematical software packages. For example, in
Mathematica we can use the following code:
Parameters ! ! # 250., L $% 0.25, R # 0.1";
vC !
R
2
2
# 4 Sin$ t% &
Minimize$!vC
Minimize$!vC
Maximize$!vC
Maximize$!vC
&.
&.
&.
&.
4 R Sin$ t%2 Cos$ t%
&
R 2 Sin$ t%2 Cos$ t%2

L2 $ R 2 Sin$ t%2
L2 $ R 2 Sin$ t%2
& Cos$ t%2 ;
Parameters, 0 ' t ' 0.001", t%

Parameters, 0.012 ' t ' 0.013", t%
Parameters, 0 ' t ' 0.006", t%
Parameters, 0.019 ' t ' 0.021", t%
which gives
vmin D 12:50 m=s
vmax D 25:71 m=s
for t D 1:80010
for
14
t D 0:005286 s
and t D 0:01257 s;
(9)
and t D 0:01985 s:
(10)
Expressing the values of the minimum and maximum speed to three significant figures, we have
vmin D 12:5 m=s
and vmax D 25:7 m=s:
Substituting the values of time in Eqs. (9) and (10), into Eq. (5), and recalling that R D 0:1 m, L D 0:25 m,
and ! D 250 rad=s, we have that position of C corresponding to when the speed is at a minimum or at a
maximum is described by the following coordinates:
v D vmin
.x; y/ D .0:225; 0:000/ m
v D vmax
.x; y/ D .0:140; 0:0485/ m
and .0:0250; 4:54105 / m;
(11)
and .0:140; 0:0484/ m:
(12)
Finally, substituting the time values in Eq. (9) into Eq. (8), and again recalling that R D 0:1 m, L D 0:25 m,
and ! D 250 rad=s, we have that when v D vmin ,
aEC D . 7:50103 m=s2 / {O C .0 m=s2 / |O;
and
aEC D .5:00103 m=s2 / {O C .2:84 m=s2 / |O:
August 10, 2009
40
Solutions Manual
Solution to 2.21

p

(13)

!R
R sin !t cos !t
!R
vEC D
2 sin !t C p
{O C
cos !t |O
2
2
L2 R2 sin2 !t
(14)
s
!R
4R sin2 !t cos !t
R2 sin2 !t cos2 !t
C cos2 !t :
vD
4 sin2 !t C p
C
2
2 sin2 !t
2
2
2
2
L
R
L
R sin !t
(15)
to time, we have

!2R
!2R
R.cos2 !t sin2 !t /
R3 cos2 sin2 !t
{
O
aE D
2 cos !t C p
C
sin !t |O:
(16)
2
2
.L2 R2 sin2 !t /3=2
L2 R2 sin2 !t
Plot of the trajectory and speed of C . Plots of the trajectory and speed of C for 0 < t < 0:025 s can be
generated with any appropriate numerical piece of software. The plots presented below were generated using
Mathematica with the following code:
Parameters ! ! # 250., L $% 0.25, R # 0.1";
1
R
xC ! R Cos# t$ &
L2 $ R 2 Sin# t$2 ; yC !
Sin# t$;
2
2
vC !
R
2
4 Sin# t$2 &
4 R Sin# t$2 Cos# t$

L2
$ R2
&
R 2 Sin# t$2 Cos# t$2

L2 $ R 2 Sin# t$2
Sin# t$2
& Cos# t$2 ;
ParametricPlot%!xC, yC" &. Parameters, !t, 0, 0.025", Frame # True,
FrameTicks # !!Automatic, None", !!0, 0.1, 0.2", None"", GridLines # Automatic,

AspectRatio # 1, FrameLabel # '"x ", "y "(, PlotLabel # "Trajectory of C ")
Plot%vC &. Parameters, !t, 0, 0.025", Frame # True,
FrameTicks # !!Automatic, None", !!0, 0.01, 0.02, 0.04", None"", GridLines # Automatic,
AspectRatio # 1, FrameLabel # '"t *s+", "v *m&s+"(, PlotLabel # "Speed vC ")
Trajectory of C
Speed vC
0.04
0.00
v !m#s"
0.02
!0.02
!0.04
0
0.1
x
0.2
26
24
22
20
18
16
14
0
0.01
t !s"
0.02
August 10, 2009
41
Dynamics 1e
Plots of the components of vEC and aEC . The components of point C s velocity and acceleration are shown
below in the plots to the left and right, respectively.
Parameters ! ! # 250., L $% 0.25, R # 0.1";
vCx !
aCx !
$ R
2
$2 R
aCy ! $
2 Sin# t$ &
R Sin# t$ Cos# t$
L2
2 Cos# t$ &
$ R2
; vCy !
Sin# t$2
R %Cos# t$2 $ Sin# t$2 &

L2
$ R2
Sin# t$2
&
R
2
Cos# t$;
R 3 Cos# t$2 Sin# t$2

%L2 $ R 2 Sin# t$2 &
3'2
2 R
Sin# t$;
2
Plot(!vCx, vCy" '. Parameters, !t, 0, 0.025", Frame # True,
AspectRatio # 1, FrameLabel # )"x *m+", "v *m's+",, PlotLabel # "vC "-
Plot(!aCx, aCy" '. Parameters, !t, 0, 0.025", Frame # True,
AspectRatio # 1, FrameLabel # )"t *s+", "a *m's2 +",, PlotLabel # "aC "-
vC
vy
10
a !m#s2 "
v !m#s"
20
aC
0
!10
vx
!20
0
0.01
x !m"
0.02
4000
2000
0
!2000
!4000
!6000
ax
ay
0.01
t !s"
0.02
August 10, 2009
42
Solutions Manual
Problem 2.22
The motion of a point P with respect to Cartesian frames 1 and 2 is described
by

.ErP =O /1 D .t C sin t / {O1 C 2 C 4t t 2 |O1 m
and
.ErP =O /2 D
n

.t C sin t / cos C 2 C 4t t 2 sin {O2

o
C .t C sin t / sin C 2 C 4t t 2 cos |O2 m;
respectively, where t is time in seconds. Note that the two frames in this problem
share the same origin, and therefore we are writing .ErP =O /1 and .ErP =O /2 to
explicitly indicate that .ErP =O /1 is expressed relative to frame 1 and .ErP =O /2 is
expressed relative to frame 2. Determine P s velocity and acceleration with
respect to the two frames. In addition, determine the speed of P at time t D 2 s,
and verify that the speeds in the two frames are equal.
Solution
The velocity is found by differentiating the position vector:
.E
vP =O /1 D .1 C cos t / {O1 C .4 2t / |O1 m=s;
.E
vP =O /2 D .1 C cos t / cos 2.t 2/ sin {O2
(1)

2/ cos C .1 C cos t / sin |O2 m=s:
2.t
(2)
The acceleration is found by differentiating the velocity vector:

.E
aP =O /1 D . sin t {O1
2 |O1 / m=s2 ;
.E
aP =O /2 D . cos sin t
(3)
2 cos / |O2 m=s2 :
2 sin / {O2 C .sin sin t
(4)
The speed of P in frame 1 is obtained by computing the magnitude of the velocity given in Eq. (1). For
t D 2 s, Eq. (1) gives
E
vP =O ..t D 2 s//1 D 1 C cos.2 s/ {O1 m=s
jE
vP =O .t D 2 s/j1 D 0:584 m=s:
(5)
The speed of P in frame two is computed by determining the magnitude of the vector in Eq. (2). Now, for
t D 2 s, Eq. (2) reduces to
E
vP =O .t D 2 s/2 D 1 C cos.2 s/ cos {O2
1 C cos.2 s/ sin |O2 ;
(6)
so that we have
jE
vP =O .t D 2 s/k2 D
.1 C cos 2/ cos
2
C .1 C cos 2/ sin
2
m=s D
p
1 C 2 cos 2 C cos2 2 m=s;
where, in simplifying, we have used the trigonometric identity sin2 x C cos2 x D 1. Evaluating the above
expression to three significant figures, we have
jE
vP =O .t D 2 s/j2 D 0:584 m=s;
which, by comparison with the result in Eq. (5) shows that the speeds are equal for both frames.
August 10, 2009
43
Dynamics 1e
Problem 2.23
Let rEP =A , vEP =A , and aEP =A denote the position, velocity, and acceleration vectors of a point P with respect
to the frame with origin at A. Let rEP =B , vEP =B , and aEP =B be the position, velocity, and acceleration vectors
of the same point P with respect to the frame with origin at B. If frame B does not move relative to
frame A, and if the frames are distinct, state whether or not each of the following relations is true and why.
(a) rEP =A
rEP =B D 0E
(b) vEP =A
vEP =B D 0E
(c) vEP =A aEP =B D vEP =B aEP =B
Solution
Part (a). Since position vectors are frame dependent, in general we cannot expect them to be identical in
different frames. Hence, relation (a) is false.
Part (b). As far as relation (b) is concerned, it is always true. The velocity vector, as a vector, is frame
independent and therefore it is always the same whether or not we express it in frame 1 or 2.
Part (c). As far as relation (c) is concerned, again it is always true according to the same argument used in
case (b).
August 10, 2009
44
Solutions Manual
Problem 2.24
The velocity of point P relative to frame A is vEP =A
D
. 14:9 {OA C 19:4 |OA / ft=s, and the acceleration of P relative to frame B is
aEP =B D .3:97 {OB C 4:79 |OB / ft=s2 . Knowing that frames A and B do not
move relative to one another, determine the expressions for the velocity of P in
frame B and the acceleration of P in frame A. Verify that the speed of P and
the magnitude of P s acceleration are the same in the two frames.
Solution
The frame A unit vectors can be expressed in terms of frame B as
{OA D cos 23 {OB
sin 23 |OB ;
|OA D sin 23 {OB C cos 23 |OB ;
D 0:9205 {OB
0:3907 |OB :
D 0:3907 {OB C 0:9205 |OB :
With the frame A unit vectors known in terms of those of frame B, it is found that the velocity in frame B is

vEP =B D
14:9.cos 23 {OB sin 23 |OB / ft=s C 19:4.sin 23 {OB C cos 23 |OB / ft=s;
vEP =B D . 6:14 {OB C 23:7 |OB / ft=s:
(1)
The speed of the particle in frame A is found by taking the magnitude of the velocity vector vEP =A where
q
vP =A D .14:9/2 C .19:4/2 ft=s )
vP =A D 24:5 ft=s;
(2)
Similarly, for frame B,
vP =B D
. 6:135/2 C .23:68/2 ft=s
vP =B D 24:5 ft=s:
(3)
Therefore, the magnitude of the velocity vector is verified to be independent of the reference frame.
The frame B unit vectors can be expressed in terms of frame A as
{OB D cos 23 {OA C sin 23 |OA ;
|OB D
D 0:9205 {OA C 0:3907 |OA :
sin 23 {OA C cos 23 |OA ;

0:3907 {OA C 0:9205 |OA :
With the frame B unit vectors known in terms of those of frame A, we find that the acceleration in frame A is

aEP =A D 3:97.cos 23 {OA C sin 23 |OA / ft=s2 C 4:79. sin 23 {OA C cos 23 |OA / ft=s2 ;
(4)
aEP =A D .1:78 {OA C 5:96 |OA / ft=s2 :
(5)
The magnitue of the acceleration in frame A is the magnitude of the acceleration vector aEP =A :
q
aP =A D .1:783/2 C .5:960/2 ft=s2 )
aP =A D 6:22 ft=s2 ;
(6)

aP =B D
q
.3:97/2 C .4:79/2 ft=s2
aP =B D 6:22 ft=s2 :
(7)
Therefore, the magnitude of the acceleration vector is verified to be independent of the reference frame.
August 10, 2009
45
Dynamics 1e
Problem 2.25
At the instant shown, when expressed via the .uO t ; uO n / component system, the
airplanes velocity and acceleration are
vE D 135 uO t m=s
and aE D . 7:25 uO t C 182 uO n / m=s2 :
Treating the .uO t ; uO n / and .O{ ; |O/ component systems as stationary relative to one
another, express the airplanes velocity and acceleration in the .O{ ; |O/ component
system. Determine the angle between the velocity and acceleration vectors,
and verify that is the same in the .uO t ; uO n / and .O{ ; |O/ component systems.
Solution
The unit vectors uO n and uO t need to be expressed in terms of the unit vectors {O and |O:
uO t D cos 57 {O C sin 57 |O;
uO n D
D 0:5446 {O C 0:8387 |O:
sin 57 {O C cos 57 |O;

0:8387 {O C 0:5446 |O:
The velocity in the .O{ ; |O/ component system is

vE D .135 m=s/.0:5446 {O C 0:8387 |O/ D .73:52 {O C 113:2 |O/ m=s;
(1)
which, when expressed to three significant figures, gives

vE D .73:5 {O C 113 |O/ m=s:
Similarly, the acceleration vector in the .O{ ; |O/ component system is
aE D . 7:25 m=s2 /.0:5446 {O C0:8387 |O/C.182 m=s2 /. 0:8387 {O C0:5446 |O/ D . 156:6 {O C93:04 |O/ m=s2 ;
(2)
which, when expressed to three significant figures, gives
aE D . 157 {O C 93:0 |O/ m=s2 :
Using Eqs. (1) and (2), the magnitudes of vE and aE in the .O{ ; |O/ component system are
q
q
jE
v j D .73:52/2 C .113:2/2 m=s D 135:0 m=s and jE
aj D . 156:6/2 C .93:04/2 m=s2 D 182:2 m=s2 :
Using the problems given information, the magnitudes of vE and aE in the .uO n ; uO t / component system are
q
jE
v j D 135:0 m=s; and jE
aj D . 7:25/2 D .182/2 m=s2 D 182:1 m=s2 :
One can now determine the angle with the definition of the dot product. Specifically, in the .O{ ; |O/ component
system we have

1 .73:52 {O C 113:2 |O/ . 156:6 {O C 93:04 |O/
.O{ ;|O/ D cos
)
.O{ ;|O/ D 92:3 :
.135:0/.182:2/
In the .uO t ; uO n / component system we have

O t . 7:25 uO t C 182 uO n /
1 135 u
.uO t ;uO n / D cos
.135:0/.182:1/
.uO t ;uO n / D 92:3 :
The above two results allow us to say that indeed the two angles computed are identical in the two frames.
August 10, 2009
46
Solutions Manual
Problem 2.26
Two Coast Guard patrol boats P1 and P2 are stationary while monitoring the
motion of a surface vessel A. The velocity of A with respect to P1 is expressed
by
vEA D . 23 {O1 6 |O1 / ft=s;
whereas the acceleration of A, expressed relative to P2 , is given by
aEA D . 2 {O2
4|O2 / ft=s2 :
Determine the velocity and the acceleration of A expressed with respect to the
land-based component system .O{ ; |O/.
Solution
Define D 72 . The unit vectors of P1 can be expressed in terms of the .O{ ; |O/ component system as
{O1 D sin {O C cos |O;
D 0:9511 {O C 0:3090 |O:
|O1 D
D
cos {O C sin |O;

0:3090 {O C 0:9511 |O:
The velocity of the surface vessel A in the land-based frame is

vEA D
23.sin {O C cos |O/ 6. cos {O C sin |O/ ft=s;
vEA D . 20:0 {O
12:8 |O/ ft=s:
Define D 45 . The unit vectors of P2 can be expressed in terms of the .O{ ; |O/ component system as
{O2 D
D
D
cos {O sin |O;

1
1
p {O p |O;
2
2
0:7071 {O 0:7071 |O:
|O2 D sin {O cos |O;

1
1
D p {O p |O;
2
2
D 0:7071 {O 0:7071 |O:
As done for the velocity vector, the acceleration vector in the land-based frame is found to be

aEA D
2 . cos {O sin |O/ 4.sin {O cos |O/ ft=s2 ;
aEA D
p
p
2 {O C 3 2 |O ft=s2 D . 1:41 {O C 4:24 |O/ ft=s2 :
(1)
August 10, 2009
47
Dynamics 1e
Problem 2.27
For a particle moving along a straight line, the table reports the particles position x as a function of
time. Determine the average velocity between every pair of consecutive time values for this motion, using
Eq. (2.6). Provide a plot of the average velocity as a function of time.
t .s/
x .m/
t .s/
x .m/
t .s/
x .m/
0.00
0.20
0.40
0.60
0.80
0.000
0.331
0.645
0.928
1.165
1.00
1.20
1.40
1.60
1.80
1.344
1.458
1.500
1.468
1.364
2.00
2.20
2.40
2.60
2.80
1.193
0.963
0.686
0.375
0.046
Solution
The following Mathematica code will find and plot the average velocity:
data ! !!0.0, 0.0", !0.2, 0.331", !0.4, 0.645", !0.6, 0.928", !0.8, 1.165",
!1.0, 1.344", !1.2, 1.458", !1.4, 1.5", !1.6, 1.468", !1.8, 1.364", !2.0, 1.193",
!2.2, 0.963", !2.4, 0.686", !2.6, 0.375", !2.8, 0.046"";
data2 ! Drop#data, 1$;
data1 ! Drop#data, "1$;
!r " Transpose!data2 # data1"!!2""
!t " Transpose!data2 # data1"!!1""
tavg " Transpose!#data2 $ data1$ % 2"!!1""
vavg " !r % !t
averagev ! Table!0, "Length!vavg#$#;
Do!averagev!!C## ! %" tavg!!C##, vavg!!C## $&, "C, Length!vavg#$#
ListPlot!"averagev$, Joined " True, Frame " True,
FrameTicks " ""Automatic, None$, "Automatic, None$$, GridLines " Automatic,
AspectRatio " 1, FrameLabel " ""time %s&", "velocity %m's&"$,
PlotLabel " "average velocity"#
velocity !m#s"
average velocity
1.5
1.0
0.5
0.0
!0.5
!1.0
!1.5
0.0 0.5 1.0 1.5 2.0 2.5
time !s"
August 10, 2009
48
Solutions Manual
Problem 2.28
Continue Prob. 2.27 by treating the average velocities as if they the were the true velocities, and compute the
average accelerations corresponding to every pair of consecutive time values as was done in Example 2.6
on p. 43. Provide a plot of the average acceleration as a function of time.
Solution
The following Mathematica code must be added onto the notebook created for problem 2.27. The average
acceleration is found and plotted with:
averagev ! Table!0, "Length!vavg#$#;
Do!averagev!!C## ! %" tavg!!C##, vavg!!C## $&, "C, Length!vavg#$#
velocity2 ! Drop!averagev, 1#;
velocity1 ! Drop!averagev, "1#;
!v " Transpose!velocity2 # velocity1"!!2"";
!t " Transpose!velocity2 # velocity1"!!1"";
tavg2 " Transpose#$velocity2 $ velocity1% & 2'!!1""
acelavg " !v ( !t
ListPlot!"acelavg#, Joined ! True, Frame ! True,
FrameTicks ! ""Automatic, None#, "Automatic, None##, AspectRatio ! 1,
GridLines ! Automatic, FrameLabel ! $"time %s&", "acceleration %m's2 &"(,

PlotLabel ! "average acceleration")
acceleration !m#s2 "
average acceleration
!0.4
!0.6
!0.8
!1.0
!1.2
!1.4
!1.6
!1.8
0 2 4 6 8 10 12
time !s"
August 10, 2009
49
Dynamics 1e
Problem 2.29
The table gives the position vs. time data for a pendulum swinging in the xy
plane. Compute the displacement between t D 0:0 s and t D 0:539 s and
between t D 0:0 s and t D 2:023 s. Furthermore, compute the average velocity
over the given time intervals. Knowing that the data in the table below concerns
a swinging pendulum, interpret the result you obtain for the average velocity
between t D 0:0 s and t D 2:023 s.
Time (s)
0.000
0.135
0.270
0.405
0.539
0.674
0.809
0.944
x .ft/
y .ft/
Time (s)
1.693
1.641
1.164
0.627
-0.222
-0.962
-1.489
-1.768
0.530
0.439
0.218
0.052
0.005
0.124
0.343
0.514
1.079
1.214
1.348
1.483
1.618
1.753
1.888
2.023
x .ft/
y .ft/
-1.679
-1.485
-0.898
-0.219
0.586
1.148
1.542
1.809
0.491
0.361
0.129
0.013
0.038
0.240
0.435
0.528
Solution
The displacement for the two time intervals can be calculated as
Er .0 s; 0:539 s/ D rE.0:539 s/
)
x.0 s/ {O C y.0:539 s/
Er .0 s; 0:539 s/ D . 1:92 {O
Er .0 s; 2:023 s/ D rE.2:023 s/

)
rE.0 s/ D x.0:539 s/
rE.0 s/ D x.2:023 s/
y.0 s/ |O;
0:525 |O/ ft:

x.0 s/ {O C y.2:023 s/
Er .0 s; 2:023 s/ D .0:116 {O
0:002 |O/ ft:
(1)
y.0 s/ |O;
(2)
The average velocity can then be calculated as

vEavg .0 s; 0:539 s/ D Er .0 s; 0:539 s/=.0:539
)
vEavg .0 s; 0:539 s/ D . 3:55 {O
0/;
(3)
0:974 |O/ ft=s:
(4)
vEavg .0 s; 2:023 s/ D Er .0 s; 2:023 s/=.2:023

)
vEavg .0 s; 2:023 s/ D .0:0573 {O
0/;
9:89 10
(5)
4
|O/ ft=s:
(6)
August 10, 2009
50
Solutions Manual
Problem 2.30
The table in Prob. 2.29 gives the position vs. time data for a pendulum swinging
in the xy plane. Compute the components of the average velocity as well as the
magnitude of the average velocity over each time step and plot these quantities
vs. time. Furthermore, compute the components of the approximate acceleration
as was done in Example 2.6 on p. 43 by using the average velocity data generated
and plot the results vs. time. Finally compare the results to the plots of the
components of the exact velocity and acceleration vs. time shown below. In
these plots the vertical axes represent the quantity labeling each plot whereas the
horizontal axes represent time expressed in seconds.
6
1.5
15
10
-6
-1.5
0
-15
-10
0
Solution
The magnitude of the velocity vector is computed using the equation,
q
vave .ti / D vx2 .ti / C vy2 .ti /:
(1)
Using Mathematica we generate the plot for the magnitude with
data ! !!0.0, 1.693, 0.530", !0.135, 1.641, 0.439", !0.27, 1.164, 0.218",
!0.405, 0.627, 0.052", !0.539, "0.222, 0.005", !0.674, "0.962, 0.124",
!0.809, "1.489, 0.343", !0.944, "1.768, 0.514", !1.079, "1.679, 0.491",
!1.214, "1.485, 0.361", !1.348, "0.898, 0.129 ", !1.483, "0.219, 0.013",
!1.618, 0.586, 0.038", !1.753, 1.148, 0.240", !1.888, 1.542, 0.435 ",
!2.023, 1.809, 0.528"";
data2 ! Drop!data, 1";
data1 ! Drop!data, "1";
#t ! Transpose!data2 " data1"!!1"";
#x ! Transpose!data2 " data1"!!2"";
#y ! Transpose!data2 " data1"!!3"";
vx ! "x ! "t;
vy ! "y ! "t;
tavg ! Transpose"#data1 # data2$ ! 2%""1%%;
speed ! Sqrt&vx2 # vy2 ';
speedplot ! Table!0, "Length!tavg#$#;

Do!speedplot!!C## ! "tavg!!C##, speed!!C##$, "C, 1, Length!tavg#$#
ListPlot!"plotvelocityy$, Joined " True, Frame " True,
AspectRatio " 1, ImageSize " 130, FrameLabel " ""time %s&", "average speed %ft's&"$,
PlotLabel " "average speed"#
August 10, 2009
51
Dynamics 1e
average speed !ft#s"
average speed
6
5
4
3
2
1
0
0.0 0.5 1.0 1.5 2.0
time !s"
The average of each component of the velocity vector is calculated for each interval i , between time-steps
t D i and t D .i C 1/, through the equations
.vx /i D
x.ti C1 /
.ti C1
x.ti /
;
ti /
vy

i
y.ti C1 /
.ti C1
y.ti /
:
ti /
Using the same Mathematica notebook we generate the plots for the x and y components of velocity with
plotvelocityx ! Table!0, "Length!tavg#$#;

Do!plotvelocityx!!C## ! "tavg!!C##, vx!!C##$, "C, 1, Length!tavg#$#
ListPlot!"plotvelocityx$, Joined " True, Frame " True,
AspectRatio " 1, ImageSize " 130, FrameLabel " ""time %s&", "vx %ft's&"$,
PlotLabel " "average x velocity"#
plotvelocityy ! Table!0, "Length!tavg#$#;
Do!plotvelocityy!!C## ! "tavg!!C##, vy!!C##$, "C, 1, Length!tavg#$#
ListPlot%"plotvelocityy$, Joined " True, Frame " True,

AspectRatio " 1, ImageSize " 130, FrameLabel " &"time 's(", "vy 'ft)s("*,
PlotLabel " "average y velocity"+
time !s"
average y velocity
vy !ft#s"
vx !ft#s"
average x velocity
6
4
2
0
!2
!4
!6
0.0 0.5 1.0 1.5 2.0
1.5
1.0
0.5
0.0
!0.5
!1.0
!1.5
0.0 0.5 1.0 1.5 2.0
time !s"
The average acceleration components in each direction can be calculated, using the velocity components,
from the equations

vy .ti C1 / vy .ti /
vx .tiC1 / vx .ti /
.ax /i D
;
ay i D
;
(2)
tiC1 ti
ti C1 ti
Using the same Mathematica notebook we generate the plot for the x and y components of acceleration with
the following code
August 10, 2009
52
Solutions Manual
!t2 " Table!0, "Length!tavg# # 1$#;

Do!!t2!!C## " tavg!!C $ 1## # tavg!!C##, "C, 1, Length!tavg# # 1$#
t2avg " Table!0, "Length!tavg# # 1$#;
Do!t2avg!!C## " %tavg!!C $ 1## $ tavg!!C##& ' 2, "C, 1, Length!tavg# # 1$#
ax ! Table!0, "Length!tavg# " 1$#;
Do!ax!!C## ! "t2avg!!C##, %vx!!C # 1## " vx!!C##& ' $t2!!C##$, "C, 1, Length!tavg# " 1$#
ListPlot("ax$, Joined % True, Frame % True,
FrameTicks % ""Automatic, None$, "Automatic, None$$, GridLines % Automatic,
AspectRatio % 1, ImageSize % 130, FrameLabel % )"time %s&", "ax %ft's2 &"*,
PlotLabel % "average x acceleration"+

ay ! Table!0, "Length!tavg# " 1$#;
Do!ay!!C## ! "t2avg!!C##, %vy!!C # 1## " vy!!C##& ' $t2!!C##$, "C, 1, Length!tavg# " 1$#
ListPlot("ay$, Joined % True, Frame % True,
FrameTicks % ""Automatic, None$, "Automatic, None$$, GridLines % Automatic,
AspectRatio % 1, ImageSize % 130, FrameLabel % )"time %s&", "ay %ft's2 &"*,
PlotLabel % "average y acceleration"+
average y acceleration
10
10
ay !ft#s2 "
ax !ft#s2 "
average x acceleration
20
0
!10
!20
0.0
0.5
1.0
time !s"
1.5
0
!5
!10
0.0 0.5 1.0 1.5
time !s"
The plots generated via numerical differentiation are typically not smooth because numerical differentiation
is an intrinsically noise producing process. By contrast, integration is a smoothing process.
August 10, 2009
53
Dynamics 1e
Problem 2.31
Let f .t/ be a function of time, and suppose that a table of values of f .t / is provided for a sequence of
equally spaced time instants. Then, for any three consecutive values of f .t /, i.e., f .ti /, f .ti C1 /, and
f .ti C2 /, you can approximate the value of the derivative of f .t / with respect to time at t D ti by using
the formula
df
f .ti C2 / C 4f .ti C1 / 3f .ti /
.ti /
;
(1)
dt
2 t
where t D tiC1 ti D ti C2 ti C1 . Use this formula to compute derivatives, and rework Example 2.6
to obtain new plots for the velocity and the acceleration. Does the formula given above allow you to obtain
smoother plots for the velocity and acceleration with respect to those in Example 2.6?
Solution
Because of the formula given in Eq. (1), to calculate the velocity at
the current time ti we need data at the next two future time points
tiC1 and ti C2 . This means we can only calculate velocities for the
first 30 data points. As an example of the application of the given
formula, the vx component at t0 D 0:000 s can be calculated as:
vx .t0 /
D
x.t2 / C 4x.t1 / 3x.t0 /

t
0:069 C 4.0:029/ 3.0:000/
D 0:705 m=s:
2.1=30/
Finding the acceleration is similar to calculating velocities. Again as

an example of the application of the given formula, the ax component
at t0 D 0:000 s can be calculated as:
ax .t0 /
D
vx .t2 / C 4vx .t1 / 3vx .t0 /

2t
1:17 C 4.1:26/ 3.0:705/
D 26:3 m=s2 :
2.1=30/
4
2
0
-2
-4
0.0
0.2
0.4
0.6
0.8
60
40
20
0
-20
-40
-60
0.0
0.2
0.4
0.6
0.8
The results we generated produced plots similar to Figs. 3 and 4 given in Example 2.6 in the text. Our
acceleration plot appears to be worse than the one in the example because the peaks are higher. This is an
example of the difficulty of numerical differentiation.
August 10, 2009
54
Solutions Manual
Problem 2.32
Find the x and y components of the acceleration in Example 2.5 (except for the plots) by simply differentiating Eqs. (4) and (5) with respect to time. Verify that you get the results given in Example 2.5.
Solution
The x component of acceleration is found with:
d xP
v0 y
d xP dy
d xP
) xR D
xP D p
D
D yP
dt
dy dt
dy
y 2 C 4a2
v0 y 2 yP
v0 yP
xR D
;
3=2 C p 2
4a C y 2
4a2 C y 2
D
4a2 v0 yP
3=2
y 2 C 4a2
Substituting the equation for yP gives us

2v0 a
yP D p
y 2 C 4a2
xR D
8a3 v02
4a2 C y 2
2 :
The y component of acceleration is found with:

yP D p
yR D
2v0 a
y 2 C 4a2
2av0 y yP
3=2 ;
4a2 C y 2
yR D
d yP
d yP dy
d yP
D
D yP
dt
dy dt
dy
Substituting the equation for yP gives us

yP D p
2v0 a
y 2 C 4a2
yR D
4a2 v02 y
4a2 C y 2
2 :
August 10, 2009
55
Dynamics 1e
Problem 2.33
Find the x and y components of the acceleration in Example 2.5 (except for the plots) by differentiating
the first of Eqs. (3) and the last of Eqs. (1) with respect to time and then solving the resulting two equations
for xR and y.
R Verify that you get the results given in Example 2.5.
Solution
First of Eq. (3) from example W
Last of Eq. (1) from example W
v02 D xP 2 C yP 2
y yP D 2axP
Solve the first of Eqs. (1) and (2) to find xP and y:

P
2
y
y yP
2
yP 2 C yP 2
xP D
) v0 D
2a
4a2
yv0
y yP
) xP D p
:
xP D
2a
y 2 C 4a2
0 D 2xP xR C 2yP y;
R
2
2axR D yP C y y;
R
2av0
yP D p
:
y 2 C 4a2
(1)
(2)
(3)
(4)
Solving the second of Eqs. (1) and (2) simultaneously for the acceleration components yields
xR D
yP 3
;
y xP C 2ayP
yR D
xP yP 2
:
y xP C 2ayP
(5)
Substituting Eqs. (3) and (4) and simplifying yields the same results as Example 2.5.
xR D
8a3 v02
4a2 C y 2
2 ;
yR D
4a2 v02 y
4a2 C y 2
2 :
(6)
August 10, 2009
56
Solutions Manual
Problem 2.34
Pioneer 3 was a spin-stabilized spacecraft launched on 6 December 1958 by
the U . S . Army Ballistic Missile agency in conjunction with NASA. It was
a cone-shaped probe 58 cm high and 25 cm in diameter at its base. It was
designed with a despin mechanism consisting of two 7 g masses (m in the
figure) that could be spooled out to the end of two 150 cm wires when triggered
by a hydraulic timer 10 h after launch. As they are deployed, the masses slow
the spacecraft spin rate from its initial value to a desired one. The table below
reports discrete acceleration vs. time data of one of the masses as it is deployed
in a test run in which the spacecraft is kept with its axis vertical and the
masses deploy in the xy plane. Follow the steps described in Example 2.7,
and reconstruct the velocity as well as the position of the deployed mass as
a function of time. Finally plot the trajectory of the mass. Use the initial
conditions x.0/ D 0:125 m, y.0/ D 0 m, x.0/
P
D 0 m=s, and y.0/
P
D 1:25 m=s.
Time (s)
ax .m=s2 /
ay .m=s2 /
Time (s)
ax .m=s2 /
ay .m=s2 /
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.0
-3.9
-14.3
-27.8
-39.8
-45.2
-40.3
-23.5
0.0
9.2
13.9
10.8
-1.1
-20.6
-43.7
-65.0
0.16
0.18
0.20
0.22
0.24
0.26
0.28
0.30
4.1
38.3
73.1
101.0
116.0
112.0
88.5
46.1
-78.7
-79.6
-64.9
-34.7
7.5
55.5
101.0
135.0
Solution
Following the methodology of Example 2.7, the velocity of one of the masses is calculated by Mathematica
(we could have used other mathematical software) with the following code for the x component:
ProblemData ! !!0, 0, 0", !0.02, "3.9, 9.2", !0.04, "3.9, 9.2", !0.06, "27.8, 10.8",
!0.08, "39.8, "1.1", !0.10, "45.2, "20.6", !0.12, "40.3, "43.7", !0.14, "23.5, "65.0",
!0.16, 4.1, "78.7", !0.18, 38.3, "79.6", !0.20, 73.1, "64.9", !0.22, 101.0, "34.7",
!0.24, 116.0, 7.5", !0.26, 112.0, 55.5", !0.28, 88.5, 101.0", !0.30, 46.1, 135.0"";
SampleTime !
0.3
NumberofSamples " 1
v0x ! 0;
velx !
Table!
SampleTime
2
""ProblemData##1, 2$$ # ProblemData##n, 2$$% #
SampleTime"& ProblemData##k, 2$$, 'n, 2, Length#ProblemData$() # v0x;

n$1
k!2
August 10, 2009
57
Dynamics 1e
velxComplete ! Prepend!velx, v0x";
ListPlot!Transpose!#Transpose!ProblemData"$1%, velxComplete&", PlotRange " All,
GridLines " #Automatic, Automatic&,
FrameTicks " ##Automatic, None&, ##0, 0.15, 0.3&, None&&, Frame " True,
Joined " True, AspectRatio " 1"
2
vy !m, s"
vx !m, s"
6
2
0
!2
!4
0.1
0.2
Time !s"
0
!2
!4
!6
0.3
0.15
Time !s"
0.3
In order to determine the position of the spinning mass, the CTR is employed to integrate the velocity data.
The x component of position and the trajectory are calculated by Mathematica with the following code:
posxComplete ! Prepend!posx, x0";
posyComplete ! Prepend!posy, y0";
0.1
0.2
0.0
0.
y !m"
x !m"
ListPlot!Transpose!"Transpose!ProblemData#$1%, posxComplete&#, Joined ! True,

PlotRange ! All, GridLines ! "Automatic, Automatic&, ImageSize ! 130,
FrameTicks ! ""Automatic, None&, "Automatic, None&&, FrameLabel ! ""Time 's(", "x'm("&,
Frame ! True, AspectRatio ! 1#
!0.1
!0.2
!0.3
0.1
0.2
Time !s"
0.3
!0.2
!0.4
0.
0.1
0.2
Time !s"
0.3
An alternative way to view the position of the mass is by plotting its trajectory:
ListPlot!Transpose!"posxComplete, posyComplete#$, Joined ! True, PlotRange ! All,
GridLines ! "Automatic, Automatic#, ImageSize ! 130,
FrameTicks ! ""Automatic, None#, "Automatic, None##, FrameLabel ! ""x%t&", "y%t&"#,
Frame ! True, AspectRatio ! 1$
August 10, 2009
58
Solutions Manual
Problem 2.35
The Center for Gravitational Biology Research at NASAs Ames Research Center runs a large centrifuge
capable of 20g of acceleration (12.5g is the maximum for human subjects). The distance from
q the axis of
rotation to the cab at either A or B is R D 25 ft. The trajectory of A is described by yA D R2 xA2 for
q
yA 0 and by yA D
R2 xA2 for yA < 0. If A moves at the constant speed vA D 120 ft=s, determine
the velocity and acceleration of A when xA D 20 ft and yA > 0.
Solution
Starting with the equation of the trajectory for y > 0, and differentiating it with respect to time, we have
q
xA xPA
yA D R2 xA2 ) yPA D q
:
(1)
2
2
R
xA
q
Recalling that the speed can be computed as v D xPA2 C yPA2 , using Eq. (1), we can express the quantity v 2 as
q
vA
vA xA
xPA2 C yPA2 D vA2 ) xPA D
R2 xA2 ) yPA D
;
(2)
R
R
where we have substituted the second of Eqs. (2) into the last of Eqs. (1) to obtain the last of Eqs. (2). Then,
recalling that vA D 120 ft=s, R D 25 ft, and xA D 25 ft, evaluating the last two of Eqs. (2), we have
vEA D
.72:0 {O C 96:0 |O/ ft=s:
Next, differentiating the last of Eqs. (2) with respect to time, we have
vA2 q 2
xPA vA
yRA D
) yRA D 2 R
xA2 :
R
R
Because the speed is constant, differentiating the first of Eqs. (2) with respect to time, we have
2xPA xRA C 2yPA yRA D 0
xRA D
yPA yRA
:
xA
(3)
(4)
Substituting the last of Eqs. (2) and the last of Eqs. (3) into the last of Eqs. (4), we have
xA vA2
:
(5)
R2
Finally, recalling that vA D 120 ft=s, R D 25 ft, and xA D 25 ft, evaluating Eq. (5) and the last of Eqs. (3),
we have
xRA D
aEA D .461 {O
346 |O/ ft=s2 :

August 10, 2009
59
Dynamics 1e
Problem 2.36
The orbit of a satellite A around planet B is the ellipse shown and is described
by the equation .x=a/2 C .y=b/2 D 1, where a and b are the semimajor and
semiminor axes of the ellipse, repectively. When x D a=2 and y > 0, the
satellite is moving with a speed v0 as shown. Determine the expression for the
satellites velocity vE in terms of v0 , a, and b for x D a=2 and y > 0.
Solution
Take the derivative with respect to time of the given equation:
x 2
y 2
x xP
y yP
C 2 D 0:
(1)
2
a
b
a
b
p
Substitute x D a=2 into .x=a/2 C .y=b/2 D 1 to find y D .b 3/=2. Then,substituting the expressions for
x and y into the second of Eqs. (1), we have
p
a 3yP
xP C
D 0:
(2)
b
p
Now recall that the speed v0 is given by v0 D xP 2 C yP 2 . Therefore, solving Eq. (2) for xP and substituting
the result in the expression for the speed squared, i.e., xP 2 C yP 2 D v02 , we have
C
D1
3a2 yP 2
C yP 2 D v02
b2
yP D p
v0 b
3a2 C b 2
(3)
Substituting the last of Eqs. (3) into (2), we find

p
3av0
xP D p
:
2
3a C b 2
(4)
Then, recalling that the velocity is given by vE D xP {O C yP |O, using Eq. (4) and the last of Eqs. (3), we can
express the velocity as
p

v0
vE D p
3a {O C b |O :
3a2 C b 2
August 10, 2009
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Solutions Manual

The following four problems refer to the car traveling between two stop signs
presented at the beginning of this section on p. 55, in which the cars velocity is
assumed to be given by v D 9 9 cos.2t =5/ m=s for 0 t 5 s.
STOP
STOP
Determine vmax , the maximum velocity reached by the car.

Furthermore, determine the position svmax and the time tvmax at which vmax
occurs.
Problem 2.37
Determine the time at which the brakes are applied and the car
starts to slow down.
Problem 2.38
Problem 2.39
Determine the average velocity of the car between the two stop
signs.
Determine jajmax , the maximum of the magnitude of the acceleration reached by the car, and determine the position(s) at which jajmax
occurs.
Problem 2.40
Solution to 2.37
To find vmax , we first differentiate v with respect to time and set it equal to zero to find the extrema.

dv
18
2t
2t
5
2
aD
D0 )
sin
m=s D 0 ) sin
D 0 ) t D 0;
s; 5 s; : : :
dt
5
5
5
2
Find v at the only meaningful solution t D .5/=2 s:

5
2 5
v
s D 9 9 cos
m=s D 18:0 m=s:
2
5 2
tvmax D
5
s D 7:85 s
2
vmax D 18:0 m=s:
To find the position as a function of time, s.t /, we integrate

Z t
45
2t
sD
v.t / dt ) s D 9t
sin
C C m;
2
5
0
(1)
(2)
(3)
(4)
where C is a constant of integration. To determine C , we apply the initial condition according to which
s.0/ D 0 m=s. This implies that C D 0. We then find the position at the maximum velocity to be
svmax D
45
m D 70:7 m:
2
(5)
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Dynamics 1e
Solution to 2.38
The brakes are applied when the velocity is maximum (when the acceleration changes sign).

18
2t
dv
D0 )
sin
m=s2 D 0:
dt
5
5
(6)
The only meaningful solution is:

tbraking D
5
s D 7:85 s:
2
(7)
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Solutions Manual
Solution to 2.39
To find the average velocity, we need to determine the total change in position and the time it took for that
change in position to occur. We start by finding the time over which the car was in motion. Since we know
that the car started moving at time t D 0, we need to determine when the car first came to a stop. The car
stops when v D 9 9 cos.2t =5/ m=s D 0. This occurs when t D 5 s.
To compute the change in position, we first determine s.t /, the position as a function of time by integrating
the expression for the velocity, i.e.,

Z t
45
45
2t
2t
sD
v.t / dt ) s D 9t
sin
C C m D 9t
sin
m;
(8)
2
5
2
5
0
where the constant of integration C was found to be equal to zero by applying the initial condition according
to which s.0/ D 0 m=s. Next, using the above expression for s.t /, for t D 5 s, we have

5
2.5/
9 sin
m=s D 45 m D 141:4 m:
(9)
s.5 s/ D 9.5/
2
5
The average velocity is then given by
vavg D
sfinal
tfinal
sinitial
45 m 0 m
D
tinitial
5 s 0 s
vavg D 9:00 m=s.
(10)
August 10, 2009
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Dynamics 1e
Solution to 2.40
Since the acceleration is the time derivative of the velocity, we have

dv
18
2t
aD
D
sin
m=s2 :
dt
5
5
(11)
To find amax we differentiate the above expression with respect to time and set it equal to zero to find the
extrema.

da
36
2t
2t
5 15
3
aP D
D
cos
m=s D 0 ) cos
D0 ) t D
s;
s; : : :
(12)
dt
25
5
5
4
4
We then find a at these extremal points in our time range of interest and find the maximum magnitude. This
gives

5 18
18

a
(13)
s
sin
m=s2 ;
m=s D
D
4
5
2
5

15 18
18
3
a
m=s D
s D sin
m=s2 :
(14)
4
5
2
5
Therefore, expressing our answers to three significant figures, we have
tjajmax D 3:93 s
and tjajmax D 11:8 s
where
jajmax D 3:60 m=s2 :
To determine the position of the car corresponding to the occurrence of the maximum acceleration, we
first determine the position as a function of time by integrating the velocity.

Z t
45
2t
45
2t
sD
v.t / dt ) s D 9t
sin
C C m D 9t
sin
m;
(15)
2
5
2
5
0
where the constant of integration C was found to be equal to zero by applying the initial condition according
to which s.0/ D 0 m=s. Then evaluating s.t / for the t D .5=4/ s and t D .15=4/ s, we have

2 54
2 15

5
5
45
15
15
45
4
m and s
m: (16)
s
s D 9
sin
s D 9
sin
4
4
2
5
4
4
2
5
Therefore, evaluating our result numerically and expressing them to three significant figures, we have
samax D 12:8 m
and samax D 129 m:
(17)
August 10, 2009
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Solutions Manual
Problem 2.41
A ring is thrown straight upward from a height h D 2:5 m off the ground and
with an initial velocity v0 D 3:45 m=s. Gravity causes the ring to have a constant downward acceleration g D 9:81 m=s2 . Determine hmax , the maximum
height reached by the ring.
Solution
The release height of the rose is given by s0 D 2:5 m. Using the constant acceleration equation, we have
v 2 D v02
2g.s
s0 /;
(1)
where v0 is the value of the speed corresponding to the position value s0 . The maximum height is the value
of s corresponding to v D 0. Hence, setting s D hmax and v D 0 in the above equation, and solving for hmax ,
we have
v2
hmax D 0 C s0 )
hmax D 3:11 m;
(2)
2g
where we have used the following numerical data: v0 D 3:45 m=s and s0 D 2:5 m.
August 10, 2009
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Dynamics 1e
Problem 2.42
A ring is thrown straight upward from a height h D 2:5 m off the ground. Gravity causes the ring to have a constant downward acceleration g D 9:81 m=s2 .
Letting d D 5:2 m, if the person at the window is to receive the ring in the
gentlest possible manner, determine the initial velocity v0 the ring must be
given when first released.
Solution
Substitute s0 D h, s D .h C d /, and v D 0 m=s into the constant acceleration equation v 2 D v02
and solve for v0 :
p
v0 D 2gd )
v0 D 10:1 m=s;
2g.s
s0 /
(1)
where we have used the following numerical data: g D 9:81 m=s2 and d D 5:2 m.
August 10, 2009
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Solutions Manual
Problem 2.43
A car stops 4 s after the application of the brakes while covering a rectilinear
stretch 337 ft long. If the motion occurred with a constant acceleration ac ,
determine the initial speed v0 of the car and the acceleration ac . Express v0 in
mph and ac in terms of g, the acceleration of gravity.
Solution
Substituting v D 0 and t0 D 0 into the constant acceleration equation v D v0 C ac .t
0 D v0 C ac t
v0 D
t0 / , we have
ac t:
(1)
Then, we substitute the expression for v0 in Eq. (1), s0 D 0, and t0 D 0 into the constant acceleration
equation s D s0 C v0 .t t0 / C 21 ac .t t0 /2 to obtain
ac D
2s
D
t2
42:12 ft=s2 ;
(2)
where we have used the following numerical data: s D 337 ft and t D 4 s. Expressing the above result in
terms of g, the acceleration due to gravity, and to 3 significant figures, we have

g
ac D 42:12 ft=s2
)
ac D 1:31g,
32:2 ft=s2
Finally, substituting the value of ac in Eq. (2) into the last of Eqs. (1) and evaluating v0 , we have

3600 s
1 mi
2
)
v0 D 115 mph;
v0 D ac t D .42:12 ft=s /.4 s/
5280 ft
1h
(3)
where we have used the fact that t D 4 s.
August 10, 2009
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Dynamics 1e

The motion of a peg sliding within a rectilinear guide is controlled by an
actuator in such a way that the pegs acceleration takes on the form xR D
a0 .2 cos 2!t sin !t /, where t is time, a0 D 3:5 m=s2 , ! D 0:5 rad=s, and
D 1:5.
Determine the expressions for the velocity and the position of
the peg as functions of time if x.0/
P
D 0 m=s and x.0/ D 0 m.
Problem 2.44
Determine the total distance traveled by the peg during the

time interval 0 s t 5 s if x.0/
P
D a0 =!.
Problem 2.45
Solution to 2.44
Integrating the acceleration equation we have
Z
x.t/
P
D x.0/
P
C
x.t
R / dt
x.t
P /D
a0
.sin 2!t C cos !t /t0
!
)
x.t
P /D
a0
.sin 2!t C cos !t
!
/;
where we have accounted for the fact that x.0/

P
D 0. Hence, evaluating with above expression, we have,

v.t / D 7:00 sin t C 1:50 cos.0:500t /

1:50 m=s;
where we have expressed known coefficients to three significant figures, and where we have used the following
numerical data: a0 D 3:5 m=s2 , ! D 0:5 rad=s, and D 1:5.
To determine position as a function of time, we integrate the velocity function obtained above:
t
Z
s.t/ D x.t / D x.0/ C
x.t
P / dt
x.t / D
)
a0
!2
1
2
cos 2!t C sin !t
x.t / D
a0
.1
2! 2
!t
t
0
cos 2!t C 2 sin !t
2!t /;
which can be evaluated to obtain

x.t / D 7:001:00
1:50 cos t C 3:00 sin.0:500t / m;
where we have expressed known coefficients to three significant figures, and where we have used the following
numerical data: a0 D 3:5 m=s2 , ! D 0:5 rad=s, and D 1:5.
August 10, 2009
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Solutions Manual
Solution to 2.45
Integrating the acceleration equation and accounting for the condition that x.0/
P
D a0 =!, we have
Z t

a0
x.t
P / D x.0/
P
C
x.t
R / dt ) x.t
P /D
sin 2!t C cos !t :
!
0
(1)
To find the total distance traveled we must first find the sign of x.t
P /. To do so, we first rewrite Eq. (1) as
follows:

a0
x.t
P /D
cos !t 2 sin !t C ;
(2)
!
where we have used the trigonometric identity sin 2!t D 2 sin !t cos !t and then factored the cos !t term.
Then, referring to Eq. (2), and keeping in mind that we are only interested in the pegs motion for 0 t 5 s,
we see that

rad
cos !t > 0 for 0 < !t < rad ) 0 < t <
Ds
(3)
2
2!
where we have used the fact that ! D 0:5 rad=s. In addition, we have that
2 sin !t C > 0 for all 0 < t < 5 s:
(4)
Therefore, we see that xP changes sign for t D s. This implies that the distance traveled must be computed
by integrating the velocity on two separate time intervals as follows:
Z 5s

a0
a0
dD
cos !t .2 sin !t C / dt
cos !t .2 sin !t C / dt;
0s !
s !
i s
i5 s
a0 h
a0 h
cos
2!t
C
2
sin
!t
cos
2!t
C
2
sin
!t
;
D
0s
s
2! 2
2! 2

a0
D
3
C
4
C
cos
5
2
sin
2:5
m )
d D 52:4 m;
2! 2
Z
s
where we have used the following numerical data: a0 D 3:5 m=s2 , ! D 0:5 rad=s, and D 1:5
August 10, 2009
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Dynamics 1e
Problem 2.46
Referring to Example 2.9 on p. 63, and defining terminal velocity as the velocity at which
a falling object stops accelerating, determine the skydivers terminal velocity without
performing any integrations.
Solution
We use the equation a D g Cd v 2 =m, given in Example 2.9 on p. 63 and set a D 0 m=s2 . Then, we can
solve ofr the terminal velocity to obtain
r
vterm D
mg
D 5:00 m=s;
Cd
(1)
where we have used the following numerical data: Cd D 43:2 kg=m, m D 110 kg, and g D 9:81 m=s2 .
August 10, 2009
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Solutions Manual
Problem 2.47
Referring to Example 2.9 on p. 63, determine the distance d traveled by the skydiver from
the instant the parachute is deployed until the difference between the velocity and the
terminal velocity is 10% of the terminal velocity.
Solution
Recall that the acceleration can be related to the velocity and position as follows:
aD
dv
dv ds
dv
D
Dv :
dt
ds dt
ds
(1)
From Example 2.9 on p. 63 we have that a D g Cd v 2 =m. Hence, substituting this expression into
Eq. (1), rearranging terms, and integrating from v0 to vqt D 1:10 vterm (where the subscript qt stands for
quasi-terminal), we have
Z d
Z vqt
v
ds D
dv;
(2)
.Cd =m/v 2
0
v0 g
where v0 is the velocity of the skydiver at the time that the parachute is deployed. Carrying out the above
integrations, we have

2
g .Cd =m/vqt
m
dD
ln
:
(3)
2Cd
g .Cd =m/v02
Now, going back to Example 2.9 on p. 63, we have m D 110 kg, v0 D 44:5 m=s, Cd D 43:2
p kg=m. In
2
addition, recall that g D 9:81 m=s and that, again from Example 2.9 on p. 63, vterm D mg=Cd D
4:998 m=s, so that vqt D 5:498 m=s. Hence, using these data to evaluate the right-hand side of Eq. (3), we
have
d D 7:54 m:
August 10, 2009
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Dynamics 1e

The acceleration of an object in rectilinear free fall while immersed in a linear viscous fluid is
a D g Cd v=m, where g is the acceleration of gravity, Cd is a constant drag coefficient, v is
the objects velocity, and m is the objects mass.
Problem 2.48
Letting t0 D 0 and v0 D 0, determine the velocity as a function of time and
find the terminal velocity.
Problem 2.49
Letting s0 D 0 and v0 D 0, determine the position as a function of velocity.
Solution to 2.48
We observe that in this problem the acceleration is provided as a function of velocity. Hence, we first proceed
to find time as a function of velocity and then inverting the result to determine the velocity as a function of
time. Specifically, recalling that we have a D dv=dt ) dt D dv=a, letting t0 D 0, we have

Z v
v
m
Cd
dv
m
t .v/ D
D
ln g .Cd =m/v D
ln 1
v :
(1)
0
.Cd =m/v
Cd
Cd
mg
0 g
We then invert this to find v.t /

mg
v.t / D
1
Cd
To find the terminal velocity, we can set a D g
0Dg
Cd vterm
m
Cd t
m

:
.Cd =m/v equal to 0:

)
vterm D
mg
.
Cd
(2)
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Solutions Manual
Solution to 2.49
Recall that acceleration velocity and positions can be related as follows:
aDv
dv
ds
ds D
vdv
:
a
(3)
Hence, since the acceleration is given as a function of the velocity, we can determine the position as a function
of the velocity as follows:

Z v
Z v
Z v
.Cd =m/v C g g
mg=Cd
m
v
dv; (4)
s.v/ D
dv D
dv D
.Cd =m/v
.Cd =m/v
g .Cd =m/v Cd
0 g
0 .Cd =m/g
0

mg m
g
s.v/ D
ln
Cd Cd
.Cd =m/v
g
m
v
Cd
s.v/ D

m
mg
vC
ln 1
Cd
Cd
Cd v
mg

:
(5)
August 10, 2009
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Dynamics 1e
Problem 2.50
A 1:5 kg rock is released from rest at the surface of a calm lake. If the resistance
offered by the water as the rock falls is directly proportional to the rocks velocity,
the rocks acceleration is a D g Cd v=m, where g is the acceleration of gravity,
Cd is a constant drag coefficient, v is the rocks velocity, and m is the rocks mass.
Letting Cd D 4:1 kg=s, determine the rocks velocity after 1:8 s.
Solution
We begin by observing that
aDg
dv
Cd
vD
m
dt
tf
vf
dv
g
.C
0
0
d =m/v

g .Cd =m/vf
m
tf D
ln
Cd
g
Z
)
dt D

m
tf D
ln 1
Cd

Cd
vf ; (1)
mg
where the subscript f stands for final. Solving the above equation for vf , we have
vf D
mg
1
Cd
Cd tf =m
vf D 3:56 m=s
where we have used the following numerical data: m D 1:5 kg, g D 9:81 m=s2 , Cd D 4:1 kg=s, and
tf D 1:8 s.
August 10, 2009
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Solutions Manual

A 3:1 lb rock is released from rest at the surface of a calm lake, and its acceleration
is a D g Cd v=m, where g is the acceleration of gravity, Cd D 0:27 lbs=ft is a
constant drag coefficient, v is the rocks velocity, and m is the rocks mass.
Problem 2.51
Determine the depth to which the rock will have sunk when the rock
achieves 99% of its terminal velocity.
Determine the rocks velocity after it drops 5 ft.
Problem 2.52
Solution to 2.51
Recalling that we can relate the acceleration to velocity and position as a D vdv=ds, we can write
ds D
vdv
a
Z
)
Z
ds D
v
dv D
.Cd =m/v
.Cd =m/v C g g
dv
.Cd =m/v
0 .Cd =m/g
Z v
mg=Cd
) sD
g .Cd =m/v
0

m
dv; (1)
Cd

sD

m2 g
ln
1
Cd2
Cd
v
mg
m
v:
Cd
(2)
We now recall that the terminal velocity can be computed as the value of velocity corresponding to the
acceleration to become equal to zero, i.e., g .Cd =m/vterm D 0. Hence, we have
vterm D mg=Cd D 11:48 ft=s;
(3)
where we have used the following numerical data: mg D 3:1 lb and Cd D 0:27 lbs=ft.
Now, letting v D 0:99vterm D 11:37 ft=s, we can evaluate the right-hand side of Eq. (2) to obtain
s D 14:9 ft;
where we have used the following numerical data: m D .3:1 lb/=.32:2 ft=s2 / D 0:09627 slug, g D 32:2 ft=s2 ,
and Cd D 0:27 lbs=ft.
August 10, 2009
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Dynamics 1e
Solution to 2.52
Recalling that we can relate the acceleration to velocity and position as a D vdv=ds, we can write
ds D
vdv
a
Z
)
Z
ds D
v
dv D
.Cd =m/v
.Cd =m/v C g g
dv
.Cd =m/v
0 .Cd =m/g
Z v
mg=Cd
) sD
g .Cd =m/v
0

m
dv; (4)
Cd

sD

m2 g
ln
1
Cd2
Cd
v
mg
m
v:
Cd
(5)
We now need to solve the above equation for v after setting s D 5 ft. Since this cannot be done analytically,
we will need to do it numerically. As a first step, we recall that we are given the following numerical data:
m D .3:1 lb/=.32:2 ft=s2 / D 0:09627 slug, g D 32:2 ft=s2 , and Cd D 0:27 lbs=ft. Therefore, letting s D 5 ft
and using the data just listed, we evaluate Eq. (5) (expressing all known coefficients to 4 significant figures)
to obtain
5:000 ft D .0:3566 s/v .4:094 ft/ ln1:000 .0:08710 s=ft/v:
(6)
Next we need to use some numerical root finding program to determine the desired value of v. This can
de done using several pieces of mathematical software. The solution presented below was obtained using
Mathematica via the following code:
FindRoot!!0.3566 v ! 4.094 Log!1 ! 0.0871 v" " 5.000, #v, 1.$"
where we note that, as required by most root finding algorithms, one needs to specify some initial guess for
the solution (we have used v D 1 ft=s). The execution of the code above, gives the following result (once
expressed to 3 significant figures)
v D 10:1 ft=s:
August 10, 2009
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Solutions Manual
Problem 2.53
Suppose that the acceleration of an object of mass m along a straight line is a D g Cd v=m, where the
constants g and Cd are given and v is the objects velocity. If v.t / is unknown and v.0/ is given, can you
determine the objects velocity via the following integral?

Z t
Cd
v dt
v.t / D v.0/ C
g
m
0
Solution
No, because the integrand is not an explicit function of the variable of integration. Clearly, if v.t / is provided
as an explicit function of time then one could integrate. However in this case there would be no need
whatsoever to integrate since v.t / would be given to begin with.
August 10, 2009
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Dynamics 1e
Problem 2.54
A car travels on a rectilinear stretch of road at a constant speed v0 D 65 mph.
At s D 0 the driver applies the brakes hard enough to cause the car to skid.
Assume that the car keeps sliding until it stops, and assume that throughout this
process the cars acceleration is given by sR D k g, where k D 0:76 is the
kinetic friction coefficient and g is the acceleration of gravity. Compute the
cars stopping distance and time.
Solution
Using the constant acceleration equation v 2 D v02 C 2ac .s
and s0 D 0, we have
v 2 D v02 C 2Rs .s
s0 /
sD
v02
2k g
s0 / with v0 D 65 mph D 95:33 ft=s, v D 0,
s D 186 ft;
(1)
where in addition to the data already listed we have used the following numerical values: g D 32:2 ft=s2 and
k D 0:76.
To determine the cars stopping time, we can use the constant acceleration equation v D v0 C ac t to find
tD
v0
sR
v0
k g
t D 3:90 s;
(2)
where we have used the following numerical data: v D 0, v0 D 65 mph D 95:33 ft=s, k D 0:76, and
g D 32:2 ft=s2 .
August 10, 2009
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Solutions Manual
Problem 2.55
Heavy rains cause a particular stretch of road to have a coefficient of friction
that changes as a function of location. Specifically, measurements indicate that
the friction coefficient has a 3% decrease per meter. Under these conditions
the acceleration of a car skidding while trying to stop can be approximated by
sR D .k cs/g (the 3% decrease in friction was used in deriving this equation
for acceleration), where k is the friction coefficient under dry conditions, g
is the acceleration of gravity, and c, with units of m 1 , describes the rate of
friction decrement. Let k D 0:5, c D 0:015 m 1 , and v0 D 45 km=h, where
v0 is the initial velocity of the car. Determine the distance it will take the car
to stop and the percentage of increase in stopping distance with respect to dry
conditions, i.e., when c D 0.
Solution
Recalling that the acceleration can be related to the position and velocity as a D vdv=ds, we can write
Z 0
Z swet
dv
sR D v
)
v dv D
.k cs/g ds;
(1)
ds
v0
0
where the upper limits of integration for integral on the left-hand side (i.e., v D 0) corresponds to the car
stopping, and the upper limit of integration for the integral on the right-hand side denotes the stopping
distance over wet ground. Carrying out the integration, we have
is

gh
g 2
2 wet
2
1 2
1 2
)
v
D
.
cs/
v0 D
k 2k cswet C c 2 swet
2k ;
(2)
k
2 0
2
0
2c
2c
which can be simplified to yield
2
cswet
2k swet C v02 =g D 0
swet D
q
1h
k 2k
c
i
.cv02 /=g :
(3)
Recalling that c D 0:015 m 1 , k D 0:5, v0 D 45 km=h D 12=50 m=s, and g D 9:81 m=s2 , we can evaluate
the last of Eqs. (3) to obtain swet D 26:31 m or 40:35 m. Only the first solution is meaningful since the car
will not keep moving after it has come to a stop for the first time. Hence, expressing our result to 3 significant
figures, we have
swet D 26:3 m:
For dry conditions, c D 0 so that sR D k g, which implies that the acceleration is constant. Consequently,
we use the equation v 2 D v02 C 2ac .s s0 / to determine the stopping distance under dry conditions. Hence,
denoting by sdry the position s at which v D 0 under dry conditions, we have
0 D v02
2k g.sdry
s0 /
sdry D
v02
2k g
sdry D 15:93 m;
where we have set s0 D 0. Hence, the percentage increase in stopping distance, expressed to 3 significant
figures, is
.swet sdry /
100 D 65:2%:
sdry
August 10, 2009
79
Dynamics 1e

As you will learn in Chapter 3, the angular acceleration of a simple pendulum is given
by R D .g=L/ sin , where g is the acceleration of gravity and L is the length of
the pendulum cord.
Derive the expression of the angular velocity P as a function of the
angular coordinate . The initial conditions are .0/ D 0 and P .0/ D P0 .
Problem 2.56
Problem 2.57
when D
14 ,
Let the length of the pendulum cord be L D 1:5 m. If P D 3:7 rad=s

determine the maximum value of achieved by the pendulum.
The given angular acceleration remains valid even if the pendulum

cord is replaced by a massless rigid bar. For this case, let L D 5:3 ft and assume that
the pendulum is placed in motion at D 0 . What is the minimum angular velocity
at this position for the pendulum to swing through a full circle?
Problem 2.58
Let L D 3:5 ft and suppose that at t D 0 s the pendulums

position is .0/ D
with P .0/ D 0 rad=s. Determine the pendulums period of
oscillation, i.e., from its initial position back to this position.
Problem 2.59
32
Solution to 2.56
Recalling that we can write R D P d P =d, and that this implies d P D R d , we can then integrate each side
to obtain
Z
P
P0
P d P D
R . / d
0
P 2
P02 D
2g
L
sin d
0
2g
.cos
P 2 D P02 C
L
cos 0 /:
P we then have
Solving for ,
r
2g
P . / D P02 C
cos
L

cos 0 :
(1)
August 10, 2009
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Solutions Manual
Solution to 2.57
to obtain
Z
P
P0
P d P D
0
R . / d
P 2
P02 D
2g
L
sin d
0
P 2
2g
P02 D
.cos
L
cos 0 /:
Hence, observing that the maximum angle achieved by the pendulum corresponds to when the pendulum
inverts its swinging motion and therefore for P D 0, denoting by max the angle in question, we can rewrite
the last of the above equations as
2g
P02 D
.cos max cos 0 /;
L
which can be solved for max to obtain
"
#
LP02
1
max D cos
C cos 0
)
max D 94:4 ,
2g
where we have used the following numerical data: P0 D 3:7 rad=s, 0 D 14 , L D 1:5 m, and g D 9:81 m=s2 .
August 10, 2009
81
Dynamics 1e
Solution to 2.58
to obtain
Z
P
P0
P d P D
0
R . / d
P 2
P02 D
2g
L
sin d
0
P 2
2g
P02 D
.cos
L
cos 0 /:
Now observe that the minimum angular speed of the pendulum at D 0 is the speed that allows the pendulum
to reach the angle D rad with P D 0. Hence, letting P0 denote the the angular speed of the pendulum for
0 D 0, substituting these conditions in the above equation, we have
r

2g
g
4g
2
2
P
P
P
0 D
cos. rad/ cos 0
) 0 D
) 0 D 2
;
L
L
L

P0
min
D 4:93 rad=s;
where we have used the following numerical data: g D 32:2 ft=s2 and L D 5:3 ft.
August 10, 2009
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Solutions Manual
Solution to 2.59
We need to establish a relationship between the angle and time. To do so, we begin by establishing a
relation between the angular velocity P and and swing angle, and then we will proceed to establish the desired
relation. Recalling that we can write R D P d P =d, and that this implies d P D R d , we can then integrate
each side to obtain
P
P0
P d P D
R . / d
0
P 2
2g
L
P02 D
sin d
0
Hence, solving for P as a function of , we have

r
2g
P D P02 C
cos
L
2g
P 2 D P02 C
.cos
L

cos 0 :
cos 0 /:
(2)
One the pendulum is released from 0 D 32 , the angle will decrease until the angle 32 is achieved
and it will then swing back tot he original angle. The time taken to go from 32 to 32 is equal to the time
taken to swing back from 32 to 32 . Hence, the period of oscillation, which we will denote by p, is twice
the time that the pendulum takes to go from 32 to 32 . With this in mind, and referring to Eq. (2), the
relationship between P and for after release and until D 32 is achieved, is
r

2g
P D
cos cos 0 ;
(3)
P02 C
L
given that will initially decrease. Now, recalling that P D d=dt, we can write dt D d=P . Hence, using
Eq. (3), we can write
d
dt D q
(4)
;
P02 C 2g
cos

cos

0
L
Hence, we can integrating over one half of a full swing to obtain
Z
0
p=2
Z
dt D
32
32
d
q
P02 C
2g
L
Z
)
cos
cos 0
pD
32
2
32
d
q
2g
L
cos
; (5)
cos.32 /
where we have enforced

the fact that 0 D 32 and P0 D 0. Now recalling that L D 3:5 m and g D 9:81 m=s2 ,
p
we have that 2= 2g=L D 0:4663 s. Hence, we can rewrite the last of Eqs. (5) as
Z
pD
32
32
. 0:4663 s/
cos
cos 32
d:
The above integral can be evaluated with some appropriate mathematical software. We have used the
following code using Mathematica:
NIntegrate!
!0.4663
Cos"# ! Cos"32. Degree#
, $, 32. Degree, !32. Degree%&
which yields the following result:

p D 2:11 s:
August 10, 2009
83
Dynamics 1e

As we will see in Chapter 3, the acceleration of a particle of mass m suspended by
a linear spring with spring constant k and unstretched length L0 (when the spring
length is equal to L0 , the spring exerts no force on the particle) is given by xR D
g .k=m/.x L0 /.
Derive the expression for the particles velocity xP as a function of
position x. Assume that at t D 0, the particles velocity is v0 and its position is x0 .
Problem 2.60
Let k D 100 N=m, m D 0:7 kg, and L0 D 0:75 m. If the particle

is released from rest at x D 0 m, determine the maximum length achieved by the
spring.
Problem 2.61
Let k D 8 lb=ft, m D 0:048 slug, and L0 D 2:5 ft. If the particle is

released from rest at x D 0 ft, determine how long it takes for the spring to achieve its
maximum length. Hint: A good table of integrals will come in handy.
Problem 2.62
Solution to 2.60
The acceleration can be related to the position and the velocity as follows: xR D xd
P x=dx.
P
This implies that
we can write xd
P xP D xdx
R
and we can therefore proceed to integrate this expression as follows:
Z
xP
Z x
g
xP d xP D
v0
x0

k
.x
m

L0 / dx;
(1)
where as indicated in the problem statement, v0 is the value of xP for x D x0 . Evaluating the integral gives us
the velocity as a function of x.
1 2
P
2x
1 2
2 v0
D g.x
x0 /
k
x2
2m
kL0
x02 C
.x
m
x0 /:
(2)
Then multiplying the above equation through by 2 and solving for x,

P we have
s
xP D
v02

kL0
C2 gC
.x
m
x0 /
k 2
x
m

x02 :
(3)
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Solutions Manual
Solution to 2.61
P x=dx.
P
This implies that
we can write xd
P xP D xdx
R
Z
xP
v0
xP d xP D
Z x
g
x0

k
.x
m

L0 / dx;
(4)
where as indicated in the problem statement, v0 is the value of xP for x D x0 . Now, in this particular problem,
since the particle starts from rest at x D 0, we set v0 D 0 and x0 D 0. We now observe that the coordinate x
(when positive) measures the length of the spring. In addition, denoting the maximum length by xmax , we
observe that xmax is achieved when xP D 0, i.e., when the spring has stretched to the point that it will start
recoiling back. Using these considerations, we can rewrite Eq. (4) as

Z 0
Z xmax
k 2
k
kL0
.x L0 / dx ) 0 D gxmax
xP d xP D
g
xmax C
xmax :
(5)
m
2m
m
0
0
The last of the above equations can be solved for xmax to obtain
xmax D
2.mg C kL0 /
k
xmax D 1:64 m,
(6)
where we have used the following numerical data: m D 0:7 kg, g D 9:81 m=s2 , k D 100 N=m, and
L0 D 0:75 m.
August 10, 2009
85
Dynamics 1e
Solution to 2.62
P x=dx.
P
This implies that
we can write xd
P xP D xdx
R

Z xP
Z x
k
.x L0 / dx;
(7)
xP d xP D
g
m
v0
x0
where as indicated in the problem statement, v0 is the value of xP for x D x0 . Evaluating the integral gives us
the velocity as a function of x.
1 2
P
2x
1 2
2 v0
D g.x
x0 /
k
x2
2m
kL0
x02 C
.x
m
x0 /:
(8)
Then multiplying the above equation through by 2, keeping in mind that we are interested in the motion of
the spring for xP 0 (i.e., we are not interested in the recoiling motion of the spring after it has stretched to
its maximum length), and solving for x,
P we have
s

k 2
kL0
2
.x x0 /
x
x02 :
(9)
xP D v0 C 2 g C
m
m
Now, since the particle is released from rest at x D 0, we have v0 D 0. Consequently, the above equation can
be simplified to obtain
r
2.mg C kL0 /
k 2
x
x :
(10)
xP D
m
m
Next, we determine the maximum length of the spring, which is achieved when xP D 0. Hence, setting xP D 0
and x D xmax in Eq. (10) and solving for xmax , we have
2.mg C kL0 /
xmax
m
k 2
x
D0
m max
xmax D
Substituting Eq. (11) into Eq. (10), we have

r
k
k 2
xxmax
x
xP D
m
m
2.mg C kL0 /
k
r
)
xP D
k
m
x xmax
xmax k D 2.mg C kL0 /: (11)

x :
(12)
Now we recall that xP D dx=dt . Therefore, we can rearrange the terms in the last of Eqs. (10) to integrate as
follows:
r Z x
Z txmax
Z xmax
max
dx
dx
m
dx
xP D
)
dt D
) txmax D
:
(13)
p
dt
xP
k 0
x .xmax x/
0
0
The integral on the right-hand side of the last of Eqs. (13) can be carried out by substitution, or by consulting
a table of integrals, or by using some symbolic mathematical software. Regarless of the method, we have
r

Z
x
dx
1
D 2 sin
C C;
(14)
p
xmax
x .xmax x/
where C is a constant of integration. Then using the above result we have that the last of Eqs. (13) gives
r
r
m
m
1
1
txmax D
2sin .1/ sin .0/ D
)
txmax D 0:243 s;
(15)
k
k
where we have used the following numerical data: m D 0:048 slug and k D 8 lb=ft.
August 10, 2009
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Solutions Manual

Two masses mA and mB are placed at a distance r0 from one another. Because
of their mutual gravitational attraction, the acceleration of sphere B as seen
from sphere A is given by

mA C mB
;
rR D G
r2
where G is the universal gravitational constant.
Problem 2.63
If the spheres are released from rest, determine
(a) The velocity of B (as seen by A) as a function of the distance r.

(b) The velocity of B (as seen by A) at impact if r0 D 7 ft, the weight of A is
2:1 lb, the weight of B is 0:7 lb, and
(i) The diameters of A and B are dA D 1:5 ft and dB D 1:2 ft, respectively.
(ii) The diameters of A and B are infinitesimally small.
Problem 2.64
Assume that the particles are released from rest at r D r0 .
(a) Determine the expression relating their relative position r and time. Hint:
Z p
p p
x=.1 x/ dx D sin 1 x
x.1 x/:
(b) Determine the time it takes for the objects to come into contact if r0 D 3 m,
A and B have masses of 1.1 and 2:3 kg, respectively, and
(i) The diameters of A and B are dA D 22 cm and dB D 15 cm, respectively.
(ii) The diameters of A and B are infinitesimally small.
Solution to 2.63
Part (a). Recalling that we can relate the acceleration to the velocity and position as rR D rd
P r=dt,
P
we can
then write
Z rP
Z r
1
d rP
rR D rP
)
rP dr D G .mA C mB /
dr;
2
dr
0
r0 r
1 2
2 rP

1
D G mA C mB
r
1
r0

)
rP D
r0 r
2G .mA C mB /
rr0
1=2
;
(1)
where we have chosen the negative root because the masses are moving toward each other.
August 10, 2009
87
Dynamics 1e
Part (b). Now that we have the velocity as a function of position, we can proceed to answer the questions
posed in Part (b) of the problem. For question (i), when the masses touch r D rA C rB D .dA C dB /=2.
Using this fact and recalling that G D 3:439 10 8 ft3 =slugs2 , Eq. (1) yields
rP D
2
2G .mA C mB /
dA C dB
1
r0
1=2
D
5:98 10
ft=s:
(2)
For part (ii), we take the limit of Eq. (2) as r ! 0 to obtain

rP !
1:
August 10, 2009
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Solutions Manual
Solution to 2.64
We begin by finding the relation between position and velocity. To do so observe that we can relate the
acceleration to the velocity and position as rR D rd
P r=dt
P
. Hence, we can then write
rR D rP
d rP
dr
rP
Z
)
Z
rP dr D
G .mA C mB /
r0
1
dr;
r2

1 2
2 rP

1
D G mA C mB
r
1
r0

)
rP D
r
r0 r
2G .mA C mB /
;
rr0
(3)
where we have chosen the negative root because the masses are moving toward each other.
P Using this expression and the
Part (a) Next, we observe that rP D dr=dt and we write dt D dr=r.
expression for rP in the last of Eqs. (3), we can then write
Z rr
Z t
r
1
dr D
dt;
p
2G .mA C mB / r0 1 r=r0
0
where we have divided both the numerator and the denominator of the fraction under the square root by r0 .
Next, making the substitution x D r=r0 , we obtain
3=2
r0
p
r=r0
2G .mA C mB /
x
1
dx D t:
Making use of the information given in the problem statement about the integral, we get
3=2
r0
h
sin
p
2G .mA C mB /
x .1
ir=r0
x/
D t;
1
3=2
tDp
r0
2G .mA C mB /
"
sin
r
r0

r
1
r0
r
r0
#

:
2
(4)
Part (b)
(i) Substituting the values r0 D 3 m, mA D 1:1 kg, mB D 7:5 kg, G D 6:674 10 11 m3 =kgs2 , and
B
r D dA Cd
D 0:1850 m (where the dA D 22 cm D 0:2200 m and dB D 15 cm D 0:1500 m) in Eq. (4),
2
we obtain
t D 380;600 s )
t D 106 h.
(ii) If the diameters are infinitesimally small, r ! 0. Hence, from Eq. (4) we obtain
3=2
.=2/ r0
tDp
2G.mA C mB /
t D 383;100 s
t D 106 h,
where again we have used the following numerical data: r0 D 3 m, mA D 1:1 kg, mB D 7:5 kg,
G D 6:67410 11 m3 =kgs2 .
August 10, 2009
Dynamics 1e
89
Problem 2.65
Suppose that the acceleration rR of an object moving along a straight line takes on the form

mA C mB
rR D G
;
r2
where the constants G, mA , and mB are known. If r.0/
P
is given, under what conditions can you determine
r.t/
P via the following integral?
Z t
mA C mB
G
r.t
P / D r.0/
P
dt
r2
0
Solution
r.t/
P can be determined if the position r of the object is known as a function of time and r.t / 0 during the
time interval of interest.
August 10, 2009
90
Solutions Manual

If the truck brakes and the crate slides to the right relative to the truck, the
horizontal acceleration of the crate is given by sR D gk , where g is the
acceleration of gravity, k D 0:87 is the kinetic friction coefficient, and s is
the position of the crate relative to a coordinate system attached to the ground
(rather than the truck).
Assuming that the crate slides without hitting the right end of
the truck bed, determine the time it takes to stop if its velocity at the start of the
sliding motion is v0 D 55 mph.
Problem 2.66
Assuming that the crate slides without hitting the right end of
the truck bed, determine the distance it takes to stop if its velocity at the start of
the sliding motion is v0 D 75 km=h.
Problem 2.67
Solution to 2.66
Since the acceleration is constant, we can use the (constant acceleration) equation v D v0 C at to find the
stopping time. Specifically, letting tstop denote the stopping time and observing that at t D tstop we have
v D 0, we can then write
0 D v0
gk tstop
tstop D
v0
D 2:88 s,
gk
(1)
where v0 D 55 mph D 80:67 ft=s and g D 32:2 ft=s2 .
August 10, 2009
91
Dynamics 1e
Solution to 2.67
Since the acceleration is constant, we can use the (constant acceleration) equation v 2 D v02 C 2ac .s
with s0 D 0, s D sstop , and v D 0 to obtain
0 D v02
2.gk /sstop
sD
v02
D 25:4 m,
2gk
s0 /
(2)
where v0 D 75 km=h D 20:83 m=s and g D 9:81 m=s2 .
August 10, 2009
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Solutions Manual
Problem 2.68
If the truck brakes hard enough that the crate slides to the right relative to the
truck, the distance d between the crate and the front of the trailer changes
according to the relation
(
k g C aT for t < ts ;
dR D
k g
for t > ts ;
where ts is the time it takes the truck to stop, aT is the acceleration of the truck,
g is the acceleration of gravity, and k is the kinetic friction coefficient between
the truck and the crate. Suppose that the truck and the crate are initially traveling
to the right at v0 D 60 mph and the brakes are applied so that aT D 10:0 ft=s2 .
Determine the minimum value of k so that the crate does not hit the right end
of the truck bed if the initial distance d is 12 ft. Hint: The truck stops before
the crate stops.
Solution
Referring to figure on the right, the acceleration of the truck relative to the
crate is given by
(
.aT =C /1 D k g C aT for t < ts ;
aT =C D
(1)
.aT =C /2 D k g
for t > ts ;
where ts is the time at which the truck comes to a stop. Using the constant
acceleration equation of the type v D v0 C ac .t t0 /, the time at which the truck stops found as
0 D .vT /0 C aT ts
ts D
.vT /0
;
aT
(2)
where .vT /0 is the initial speed of the truck and crate. Now, the distance the crate moves relative to the truck
during the time the truck is coming to a stop, .xT =C /1 , is found using the constant acceleration equation of
the type v 2 D v02 C 2ac .s s0 /. Adapting this relation to the problem at hand, we have
.xT =C /1 D .xT =C /0 C .vT =C /0 ts C 21 .aT =C /1 ts2
D d C 21 .k g C aT /ts2 ;
(3)
where .xT =C /0 is the initial position of the truck relative to the crate and .vT =C /0 is the initial velocity of the
truck relative to the crate.
Now, after the truck comes to a stop, the crate continues to slide relative to the truck with an acceleration
given by .aT =C /2 in Eq. (1). Using this acceleration, the distance the crate moves relative to the truck after
the truck comes to a stop can be found using

.vT =C /2F D .vT =C /21 C 2.aT =C /2 .xT =C /F .xT =C /1 ;
(4)
where .vT =C /F D 0 is the final velocity of the truck relative to the crate, .vT =C /1 is the velocity of the truck
relative to the crate at time ts , .xT =C /F D 0 is final position of the truck relative to the crate, and .xT =C /1 is
the position of the truck relative to the crate at time ts and is given by Eq. (3). Before finishing, we need to
find .vT =C /1 , which can readily be done as
.vT =C /1 D .vT =C /0 C .aT =C /1 ts
.vT =C /1 D .aT =C /1 ts :
(5)
August 10, 2009
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Dynamics 1e
Substituting Eqs. (1), (3) and (5) into Eq. (4), we obtain
0 D .k g C aT /ts 2 C 2.k g/
1
2 .k g

C aT /ts2 :
Finally, substituting in ts from Eq. (2), we get the final equation for k
"

#

.vT /0 2
.vT /0 2
1
0 D .k g C aT /
C 2.k g/
d 2 .k g C aT /
:
aT
aT
Solving for k we get
k D
.vT /20 aT
D 0:301;

g .vT /20 2daT
where we have used the following numerical data: .vT /0 D v0 D 60 mph D 88:00 ft=s, aT D
g D 32:2 ft=s2 , and d D 12 ft.
10 ft=s2 ,
August 10, 2009
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Solutions Manual
Problem 2.69
Cars A and B are traveling at vA D 72 mph and vB D 67 mph, respectively,
when the driver of car B applies the brakes abruptly, causing the car to slide
to a stop. The driver of car A takes 1:5 s to react to the situation and applies
the brakes in turn, causing car A to slide as well. If A and B slide with equal
accelerations, i.e., sRA D sRB D k g, where k D 0:83 is the kinetic friction
coefficient and g is the acceleration of gravity, compute the minimum distance
d between A and B at the time B starts sliding to avoid a collision.
Solution
For both cars we can use the constant acceleration equation v 2 D v02 C 2ac .s
velocities of both cars, we have
dBs W
2
0 D vB
i
2k gdBs
dBs D
dAs W
0 D vA2 i
2k gdAs
dAs D
2
vB
i
2k g
vA2 i
2k g
s0 /. Setting to zero the final
(1)
C vAi tr ;
(2)
where the vAi tr term in Eq. (2) represents the distance traveled during the reaction time, tr . Realizing that
dAs D dBs C d gives the minimum distance d to avoid collision, we then have
d D dAs
dBs D
1 2
v
2k g Ai

2
C vAi tr
vB
i
d D 187 ft,
(3)
where we have used the following numerical data: k D 0:83, g D 32:2 ft=s2 , vAi D 72 mph D 105:6 ft=s,
vBi D 67 mph D 98:27 ft=s, and tr D 1:5 s.
Note: The the value of the quantity d given by the first of Eqs. (3) after substituting the available
numerical data and expressing it using 4 significant figures is d D 186:4 ft. We have rounded d from 186:4 ft
to 187 ft because 186 ft will not avoid collision.
August 10, 2009
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Dynamics 1e
Problem 2.70
A hot air balloon is climbing with a velocity of 7 m=s when a sandbag (used as ballast) is released at an altitude of 305 m. Assuming
that the sandbag is subject only to gravity and that therefore its acceleration is given by yR D g, g being the acceleration due to gravity,
determine how long the sandbag takes to hit the ground and its impact
velocity.
Solution
Since the acceleration of the sandbag is constant, we can relate position and time via the (constant acceleration)
equation y D y0 C yP0 t C 21 at 2 , where a D g. Solving this equation for t, we have

q
1
2
yP0 C yP C 2gy0 D 8:631 s;
(1)
tD
g
where we have used the following numerical data: g D 9:81 m=s2 , yP0 D 7 m=s, and y0 D 305 m. Expressing
the above result to three significant figures, we have
t D 8:63 s:
The impact velocity can be found by plugging the t value from Eq. (1) into the (constant acceleration)
equation yP D yP0 C at. Recalling that a D g, this gives
yP D yP0
gt
yP D
77:7 m=s:
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Solutions Manual
Problem 2.71
Approximately 1 h 15 min into the movie King Kong (the one directed
by Peter Jackson), there is a scene in which Kong is holding Ann Darrow
(played by the actress Naomi Watts) in his hand while swinging his arm in
anger. A quick analysis of the movie indicates that at a particular moment Kong
displaces Ann from rest by roughly 10 ft in a span of four frames. Knowing
that the DVD plays at 24 frames per second and assuming that Kong subjects
Ann to a constant acceleration, determine the acceleration Ann experiences in
the scene in question. Express your answer in terms of the acceleration due to
gravity g. Comment on what would happen to a person really subjected to this
acceleration.
Solution
4
The time it takes for King Kong to displace Ann is 24
s D 0:1667 s. Using the constant acceleration equation
2
s D s0 C sP0 t C 0:5ac t , we can the estimate an acceleration ac given by
ac D
2s
t2
ac D 719:7 ft=s2
g
D 22:35g
32:2 ft=s2
ac D 22:4g,
(1)
where the last result has been expressed to 3 significant figures, and where we have used the following
numerical data: s D 10 ft, t D 0:1667 s, g D 32:2 ft=s2 . The human body can withstand around 1015g of
acceleration. Hence, at such a high acceleration the person would most certainly die.
August 10, 2009
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Dynamics 1e
Problem 2.72
Derive the constant acceleration relation in Eq. (2.41), starting from Eq. (2.33). State what assumption you
need to make about the acceleration a to complete the derivation. Finally, use Eq. (2.36), along with the
result of your derivation, to derive Eq. (2.42). Be careful to do the integral in Eq. (2.36) before substituting
your result for v.t / (try it without doing so, to see what happens). After completing this problem, notice
that Eqs. (2.41) and (2.42) are not subject to the same assumption you needed to make to solve both parts
of this problem.
Solution
Assuming that the acceleration is not equal to 0 and integrating Eq. (2.33), we have
Z v
1
1
dv ) t .v/ D t0 C .v v0 / )
t.v/ D t0 C
v D v0 C ac .t
ac v0
ac
t0 /:
(1)
Integrating Eq. (2.36) we have

1
s D s0 C
ac
v dv
v0
s D s0 C
1 2
v
2ac

v02 :
(2)
Substituting for v from Eq. (1), we obtain

s D s0 C
1 h 2
a .t
2ac c
t0 /2 C 2v0 ac .t
i
t0 / ;
(3)
which can be simplified to obtain

s D s0 C v0 .t
t0 / C 12 ac .t
t0 /2 :
(4)
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Solutions Manual

The spool of paper used in a printing process is unrolled with velocity vp and
acceleration ap . The thickness of the paper is h, and the outer radius of the
spool at any instant is r.
If the velocity at which the paper is unrolled is constant,
determine the angular acceleration s of the spool as a function of r, h, and
vp . Evaluate your answer for h D 0:0048 in:, for vp D 1000 ft=min, and two
values of r, that is, r1 D 25 in: and r2 D 10 in:
Problem 2.73
Problem 2.74
If the velocity at which the paper is unrolled is not constant,
determine the angular acceleration s of the spool as a function of r, h, vp , and
ap . Evaluate your answer for h D 0:0048 in:, vp D 1000 ft=min, ap D 3 ft=s2 ,
and two values of r, that is, r1 D 25 in: and r2 D 10 in:
Problem 2.75
If the velocity at which the paper is unrolled is constant,
determine the angular acceleration s of the spool as a function of r, h, and vp .
Plot your answer for h D 0:0048 in: and vp D 1000 ft=min as a function of r
for 1 in: r 25 in. Over what range does s vary?
Solution to 2.73
The radius decreases by the paper thickness h for every one revolution. Hence, letting be the angle
measuring the angular position of a fixed radial line on the spool ( increases when the spool turns clockwise),
then we have
r
h
D
:
(1)

2
Assuming that the decrease in radius can be viewed as occurring continuously, we can turn the above relation
into a relation in terms of differentials. That is we can write
dr
h
D
:
d
2
(2)
Next, observing that the angular velocity of the spool is !s D d=dt , we can then use the above equation to
relate the time rate of change of r to !s by applying the chain rule as follows:
rP D
dr
dr d
D
dt
d dt
rP D
h
!s
2
!s D
2
r:
P
h
(3)
Recalling that the linear velocity of the paper is related to the angular velocity of the spool as vp D r!s , we
can use Eq. (3) to relate vp to rP as follows:
vp D r!s
vp D
2
r rP
h
rP D
hvp
:
2 r
(4)
Taking the time derivative of vp in the second of Eqs. (4), accounting for the fact that vp is constant (i.e.,
ap D 0), and using the last of Eqs. (4), we have
!

2 2
2 h2 vp2
ap D 0 D
rP C r rR
) 0D
C r rR :
(5)
h
h
4 2 r 2
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Dynamics 1e
Taking the time derivative of the last of Eqs. (3) and the last of Eqs. (4) to find expressions for s and r,
R we
can write
h2 vp2
2
s D
rR and rR D
;
(6)
h
4 2 r 3
which, when taken combined, imply that
s D
hvp2
2 r 3
Evaluating the expression above for h D 0:0048 in: D 0:0004000 ft, vp D 1000 ft=min D 16:67 ft=s,
r1 D 25 in: D 2:083 ft, and r2 D 10 in: D 0:8333 ft, we have
s rDr1 D 0:00196 rad=s2
and
s rDr2 D 0:0306 rad=s2 :
August 10, 2009
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Solutions Manual
Solution to 2.74
then we have
r
h
D
:
(7)

2
dr
h
D
:
d
2
(8)
rP D
dr
dr d
D
dt
d dt
rP D
h
!s
2
!s D
2
r:
P
h
(9)
vp D r!s
2
r rP
h
vp D
rP D
hvp
:
2 r
(10)
Taking the time derivative of the second of Eqs. (10) and then using the last of Eqs. (10) to substitute for the
term r,
P we have
!
2 h2 vp2
vPp D ap D
C r rR :
(11)
h
4 2 r 2
To find an expression for the term r,
R we take the time derivative of rP in Eq. (9) and obtain
rR D
h
s :
2
(12)
Substituting the result from Eq. (12) into Eq. (11), we have
ap D
2
h
h2 vp2
4 2 r 2
!
hr
s :
2
(13)
Then, solve for s and simplifying, we obtain
s D
hvp2
ap
C
:
r
2 r 3
Evaluating the expression above for h D 0:0048 in: D 0:0004000 ft, vp D 1000 ft=min D 16:67 ft=s,
ap D 3 ft=s2 , r1 D 25 in: D 2:083 ft, and r2 D 10 in: D 0:8333 ft, we have
s rDr1 D 1:44 rad=s2
and
s rDr2 D 3:63 rad=s2 :
August 10, 2009
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Dynamics 1e
Solution to 2.75
then we have
r
h
D
:
(14)

2
h
dr
D
:
d
2
(15)
rP D
dr
dr d
D
dt
d dt
rP D
h
!s
2
!s D
2
r:
P
h
(16)
vp D r!s
vp D
2
r rP
h
rP D
hvp
:
2 r
(17)
Taking the time derivative of vp in the second of Eqs. (17), accounting for the fact that vp is constant (i.e.,
ap D 0), and using the last of Eqs. (17), we have
!

2 2
2 h2 vp2
ap D 0 D
rP C r rR
) 0D
C r rR :
(18)
h
h
4 2 r 2
Taking the time derivative of the last of Eqs. (16) and the last of Eqs. (17) to find expressions for s and r,
R
we can write
h2 vp2
2
s D
;
(19)
rR and rR D
h
4 2 r 3
which, when taken combined, imply that
s D
hvp2
2 r 3
To plot the above function, we first substitute the values of the known coefficients, i.e., we recall that
h D 0:0048 in:, and vp D 1000 ft=min D 200:0 in:=s and rewrite s as
s D
30:56 in:3 =s2

:
r3
(20)
The above function can now be plotted with a variety of pieces of mathematical software. The plot presented
below was generated usingMathematica with the following code:
Plot!
30.56
r3
, "r, 1, 25#, PlotRange ! All, Frame ! True, GridLines ! Automatic,
AspectRatio ! 1, FrameLabel ! $"r %in.&", "s %rad's2 &"()

August 10, 2009
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Solutions Manual
30
s !rad#s2 "
25
20
15
10
5
0
5
10
15
r !in."
20
25
By inspection, s appears to vary from 30:5 rad=s2 to close to zero as r varies from 1 in: to 4 in:
August 10, 2009
103
Dynamics 1e
Problem 2.76
The discussion in Example 2.12 revealed that the angle had to be greater than min D 0:716 . Find an
analytical expressions for min in terms of h, w, and d .
Solution
With infinite speed, there is no effect of gravity. Hence
D tan
h
d

:
August 10, 2009
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Solutions Manual
Problem 2.77
A stomp rocket is a toy consisting of a hose connected to a blast pad (i.e., an air
bladder) at one end and to a short pipe mounted on a tripod at the other end. A rocket
with a hollow body is mounted onto the pipe and is propelled into the air by stomping
on the blast pad. Some manufactures claim that one can shoot a rocket over 200 ft in the
air. Neglecting air resistance, determine the rockets minimum initial speed such that it
reaches a maximum flight height of 200 ft.
Solution
The rocket must be fired vertically to reach 200 ft with minimum initial speed. Observing that yR D
constant, recalling that yP D 0, using constant acceleration equations, we have
yP 2
yP02 D
2g.hmax /
yP0 D
p
2ghmax
yP0 D 113 ft=s.
gD
(1)
August 10, 2009
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Dynamics 1e
Problem 2.78
Stuntmen A and B are shooting a movie scene in which A needs to pass a
gun to B. Stuntman B is supposed to start falling vertically precisely when A
throws the gun to B. Treating the gun and the stuntman B as particles, find the
velocity of the gun as it leaves As hand so that B will catch it after falling 30 ft.
Solution
Since the gun and B drop at the same time, from the same height, and
are assumed to be both subject to the same acceleration, i.e., gravity,
then in order for the gun and B to the same vertical position at the time
that B grasps the gun, it is necessary for the gun and B to fall with
equal vertical velocities. This can only be achieved if the initial vertical
velocity of the gun is equal to that of B, namely, zero. Hence, the rest
of the problem is devoted to finding the horizontal component of the
velocity of the gun at the time the gun is thrown. To do so, we start
by finding the time B takes to fall the distance h D 30 ft. Using the
coordinate system shown on the right, and using constant acceleration
equations, we have
yB D yB0 C yPB0 .t t0 / 12 g .t t0 /2 ;
(1)
where yB0 and yPB0 are the position and the vertical velocity of B at time t0 , respectively. Setting t0 D 0 and
recalling that B drops from rest a distance h above the origin of the y axis, we can rewrite the above equation
in the following form:
yB D h 21 gt 2 :
(2)
Due to our choice of origin, B will grasp the gun at yB D 0. Letting tf (the subscript f stands for final)
denote the time at which B grasps the gun, from Eq. (2) we then have
p
tf D 2h=g:
(3)
We now observe that the motion of the gun in the horizontal direction is also a constant acceleration
motion with acceleration equal to zero. Hence, using the subscript A to refer to the gun (as opposed to the
stuntman who initially threw it) we have
xA D xA0 C xPA0 .t
t0 /;
(4)
where xA0 and xPA0 are the guns position and velocity in the x direction at time t0 . Having already set t0 D 0
and observing that xA0 D 0, and that for t D tf we must have xA D d , from the above equation we have
s
r
2h
g
d D xPA0
) xPA0 D d
D 14:65 ft=s;
(5)
g
2h
where we have used the following numerical data: d D 20 ft, h D 30 ft, and g D 32:2 ft=s2 .
In summary, expressing our answer in vector form and to 3 significant figures, we have
vEgun D .14:7 ft=s/ {O
:
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Solutions Manual
Problem 2.79
The jaguar A leaps from O at speed v0 D 6 m=s and angle D 35 relative to
the incline to try to intercept the panther B at C . Determine the distance R that
the jaguar jumps from O to C (i.e., R is the distance between the two points
of the trajectory that intersect the incline), given that the angle of the incline is
D 25 .
Solution
The acceleration of A is completely in the vertical direction. Hence,
referring to the figure on the right, the components of the acceleration
of A in the x and y directions are xR D g sin and yR D g cos .
Again referring to the figure on the right, the components of the initial
velocity of A are vx0 D v0 cos and vy0 D v0 sin . Observing that
the x and y component of acceleration of A are both constants, we
can use constant acceleration equations to write

x D v0 .cos /t C 12 g.sin /t 2 D t v0 cos C 21 g.sin /t ; (1)

y D v0 .sin /t 12 g.cos /t 2 D t v0 sin 12 g.cos /t : (2)
For t D tC , y D 0. Therefore
0 D v0 sin
1
2 g.cos /tC
tC D
2v0 sin
:
g cos
(3)
Observing that, for t D tC , x.tC / D R, substituting this value of t into Eq. (1), we have

2v0 sin
2v0 sin
1
v0 cos C 2 g.sin /
;
RD
g cos
g cos
(4)
which can be simplified to
RD

2v02 sin
cos C tan sin D 5:05 m:
g cos
(5)
where we have used the following numerical data: v0 D 6 m=s, D 35 , g D 9:81 m=s2 , and D 25 .
August 10, 2009
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Dynamics 1e
Problem 2.80
If the projectile is released at A with initial speed v0 and angle , derive the
projectiles trajectory, using the coordinate system shown. Neglect air resistance.
Solution
Using the coordinate system indicated in the problem statement, we set up the following constant acceleration
equations for both the x and y coordinates of the projectile:
x D xA C .v0 cos /t;
(1)
1 2
2 gt ;
y D yA C .v0 sin /t
(2)
where xA and yA are the coordinates of the fixed point A at which the projectile is released. Eliminating t
between Eqs. (1) and (2), we obtain
y
yA D tan .x
xA /
.x
xA /2 :
.x
w/2 :
2v02 cos2
(3)
Observing that xA D w and yA D h, the above equation becomes

y D h C tan .x
w/
g
2v02 cos2
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Solutions Manual
Problem 2.81
A trebuchet releases a rock with mass m D 50 kg at point O. The initial velocity
of the projectile is vE0 D .45 {O C 30 |O/ m=s. Neglecting aerodynamic effects,
determine where the rock will land and its time of flight.
Solution
Referring to the coordinate system defined in the problem statement, we see that yland , the y coordinate of the
rock when it lands on the ground, is h. With this in mind, we can write the following constant acceleration
equation for the y displacement:
y D vy0 t 12 gt 2 ;
where it is understood that t D 0 is the time of release and y D 0 and vy0 are the vertical position and the
vertical component of velocity of the rock at time t D 0, respectively. Denoting by tflight the time at which
the rock impacts the ground, we must have
q
2
vy0 vy0
C 2gh
2
1 2
h D vy0 tflight 2 gtflight ) gtflight 2vy0 2h D 0 ) tflight D
: (1)
g
The only physically meaningful solution for tflight is that corresponding to the C sign in front of the square
root, that is,

q
1
2
vy0 C vy0 C 2gh D 6:263 s;
tflight D
(2)
g
where we have used the following numerical data: g D 9:81 m=s2 , vy0 D 30 m=s, and h D 4:5 m. Expressing
the time of flight to three significant figures, we have
tflight D 6:26 s:
Next observing that the motion is in the x direction is a constant acceleration motion with acceleration
equal to zero, we have that the x coordinate of the rock is described by the following (constant acceleration)
equation:
x D vx0 t;
where we have accounted for the fact that at t D 0 we must have x D 0 and where vx0 is the x component of
the velocity of the rock for t D 0. Hence, recalling that vx0 D 45 m=s, for t D tflight D 6:263 s (see Eq. (2)),
we have
xland D 45tflight D 281:8 m:
Hence, summarizing, the position vector where the rock will land, expressed to 3 significant figures is
rEland D .282 {O
where we have used the fact that yland D
4:50 |O/ m;
h D 4:5 m.
August 10, 2009
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Dynamics 1e
Problem 2.82
A golfer chips the ball into the hole on the fly from the rough at the edge of
the green. Letting D 4 and d D 2:4 m, verify that the golfer will place
the ball within 10 mm of the hole if the ball leaves the rough with a speed
v0 D 5:03 m=s and an angle D 41 .
Solution
Referring to the figure on the right, we can write the balls trajectory with
respect to the x1 y1 coordinate system with origin at the golfers feet, by
using Eq. (2.52) on p. 74 of the textbook. This gives

g sec2 . C / 2
y1 D tan. C /x1
x1 :
(1)
2v02
Recalling that the problem statement gives D 4 and D 41 , so that
C D 45 . This implies that tan. C / D 1 and sec2 . C / D 2,
which then implies that Eq. (1) can be given the following simpler form:
y1 D x1
g 2
x :
v02 1
(2)
The x1 and y1 coordinates of the point at which the ball lands must satisfy the condition x1 tan D y1 .
Combining this requirement with Eq. (2) we have
x1 tan D x1
g 2
x
v02 1
x1 D
v02
1
g

tan D 2:399 m;
(3)
where we have used the following numerical values: v0 D 5:03 m, g D 9:81 m=s2 , and D 4 . The value
of x1 in Eq. (3) is the x1 coordinate of the balls landing spot. With this information, letting dL denote
the distance between the balls landing spot and the the golfer, we can determine dL using trigonometry as
follows:
x1
D 2:405 m ) d dL D 0:005 m < 10 mm;
(4)
dL D
cos
where we have used the fact that D 4 and d D 2:4 m.
The golfers chip shot is successful.
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Solutions Manual

In a movie scene involving a car chase, a car goes over the top of a ramp at A
and lands at B below.
If D 20 and D 23 , determine the distance d covered by
the car if the cars speed at A is 45 km=h. Neglect aerodynamic effects.
Problem 2.83
Determine the speed of the car at A if the car is to cover

distance d D 150 ft for D 20 and D 27 . Neglect aerodynamic effects.
Problem 2.84
Solution to 2.83
Expressing the acceleration vector of the car in the xy coordinate system, we
have
aE D g sin {O
g cos |O
xR D g sin
and
yR D
g cos :
(1)
Now let t D 0 be the instant at which the car jumps off at A. Letting A be the
origin of the chosen xy coordinate system, the y coordinate of the car at t D 0 is
equal to zero. Next we observe that, again at time t D 0, the velocity components
of the cars are as follows:
vx .0/ D v0 cos. C /
and vy .0/ D v0 sin. C /:
(2)
Hence, using the above considerations along with constant acceleration equations, the y coordinate of the car
as a function of time is given by
y D v0 sin. C /t
2
1
2 g.cos /t :
(3)
Point B denotes the point at which the car lands. Observing that yB D 0, the time taken by the car to reach
B is obtained by setting Eq. (3) equal to zero. This gives
v0 sin. C /tB
2
1
2 .g cos /tB
D0
tB D
2v0 sin. C /
D 1:888 s;
g cos
(4)
where we have used the following numerical data: v0 D 45 km=h D 12:50 ft=s, D 20 , D 23 , and
g D 9:81 m=s2 .
Next observing that the x component of the acceleration in the second of Eqs. (1) is also constant, using
constant acceleration equations, the x coordinate of the car as a function of time is given by
x D v0 cos. C /t C 12 .g sin /t 2 :
(5)
xB D d D v0 cos. C /tB C 12 .g sin /tB2 D 24:09 m;
(6)
Hence, for t D tB we have
where we have used the following numerical values: v0 D 45 km=h D 12:50 ft=s, D 20 , D 23 ,
tB D 1:888 s (see Eq. (4)), and g D 9:81 m=s2 . Hence, expressing our answer to 3 significant digits, we have
d D 24:1 m:
(7)
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Dynamics 1e
Solution to 2.84
Expressing the acceleration vector of the car in the xy coordinate system, we
have
aE D g sin {O
g cos |O
xR D g sin
and
yR D
g cos :
(8)
Now let t D 0 be the instant at which the car jumps off at A. Letting A be the
origin of the chosen xy coordinate system, the y coordinate of the car at t D 0 is
equal to zero. Next we observe that, again at time t D 0, the velocity components
of the cars are as follows:
vx .0/ D v0 cos. C /
and vy .0/ D v0 sin. C /:
(9)
Hence, using the above considerations along with constant acceleration equations, the y coordinate of the car
as a function of time is given by
y D v0 sin. C /t
2
1
2 g.cos /t :
(10)
Point B denotes the point at which the car lands. Observing that yB D 0, the time taken by the car to reach
B is obtained by setting Eq. (10) equal to zero. This gives
v0 sin. C /tB
2
1
2 .g cos /tB
D0
tB D
2v0 sin. C /
:
g cos
(11)
Next observing that the x component of the acceleration in the second of Eqs. (8) is also constant, using
constant acceleration equations, the x coordinate of the car as a function of time is given by
x D v0 cos. C /t C 12 .g sin /t 2 :
(12)
Hence, for t D tB we have

2v0 sin. C / 1
2v0 sin. C / 2
xB D d D v0 cos. C /
C 2 .g sin /
g cos
g cos
2
2v0 sin. C /
cos. C / C tan sin. C / D d; (13)
)
g cos
which can be solved for v0 to obtain
s
v0 D
dg cos
:
2 sin. C /cos. C / C tan sin. C /
(14)
Recalling that d D 150 ft, D 20 , D 27 , and g D 32:2 ft=s2 , Eq. (14) can be evaluated to obtain
v0 D 52:8 ft=s:
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Solutions Manual
Problem 2.85
The M777 lightweight 155 mm howitzer is a piece of artillery whose rounds
are ejected from the gun with a speed of 829 m=s. Assuming that the gun is
fired over a flat battlefield and ignoring aerodynamic effects, determine (a)
the elevation angle needed to achieve the maximum range, (b) the maximum
possible range of the gun, and (c) the time it would take a projectile to cover the
maximum range. Express the result for the range as a percentage of the actual
maximum range of this weapon, which is 30 km for unassisted ammunition.
Solution
Let be the elevation angle and v0 D 829 m=s be the intial speed. Use the constant acceleration equation
s D v0 t C 0:5ac t 2 , the x and y displacements for constant acceleration are given by
x D .v0 cos /t;
y D .v0 sin /t
(1)
1 2
2 gt :
(2)
The time of flight can be obtained by equating Eq. (2) to zero. Hence, we have
tD
2v0 sin
:
g
(3)
Substituting Eq. (3) into Eq. (1), and using the trigonometric identity 2 sin cos D sin 2, we get
v02 sin 2
:
g
xDRD
(4)
(i) From Eq. (4), Rmax occurs when sin 2 D 1. The meaningful solution yields:
2 D

rad
2
max D

rad D 45 :
4
(5)
(ii) From Eq. (4), the maximum possible value of x or the range R is given by
Rmax D
v02
D 70:06 km
g
Rmax D 234% of the actual maximum range:
(iii) Substituting the value of max from Eq. (5) into Eq. (3), we get
p
tD
2v0
D 120 s:
g
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Dynamics 1e
Problem 2.86
You want to throw a rock from point O to hit the vertical advertising sign
AB, which is R D 30 ft away. You are able to throw a rock with the speed
v0 D 45 ft=s. The bottom of the sign is 8 ft off the ground and the sign is 14 ft
tall. Determine the range of angles at which the projectile can be thrown in
order to hit the target, and compare this with the angle subtended by the target
as seen from an observer at point O. Compare your results with those found in
Example 2.11.
Solution
This problem can be solved by following the same steps illustrated in Example 2.11 on p. 76 of the textbook.
Specifically, we recall Eq. (7) in Example 2.11 on p. 76 of the textbook:
q
v02 v04 g.gR2 C 2yv02 /
tan D
:
(1)
gR
Observe that we are given all of the data needed to use the above equation. Namely, we have v0 D 45 ft=s,
g D 32:2 ft=s2 , R D 30 ft, so that substituting in the above equation yA D 8 ft and yB D 22 ft we have
(
1 D 30:44 ;
y D yA D 8 ft
)
(2)
2 D 74:50 ;
(
1 D 56:84 ;
y D yB D 22 ft )
(3)
2 D 69:41 :
Following the same logic as in Example 2.11 we obtain the two ranges of firing angles as
(4)
Calculating the sizes of these ranges
1 D 56:84
2 D 74:50
30:44 D 26:40 ;
(5)
69:41 D 5:090 ;
(6)
which, when expressed to 3 significant figures gives

1 D 26:4
and
2 D 5:09 :
The angle subtended by the target as seen from an observer at point O is

22
8
D tan 1
tan 1
)
D 21:3 :
30
30
(7)
Unlike Example 2.11, the difference between the angle subtended by the target
and 1 or 2 is significant. In addition, we see that the value of 1 is much
closer to than 2 .
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Problem 2.87
Suppose that you can throw a projectile at a large enough v0 so that it can hit a
target a distance R downrange. Given that you know v0 and R, determine the
general expressions for the two distinct launch angles 1 and 2 that will allow
the projectile to hit D. For v0 D 30 m=s and R D 70 m, determine numerical
values for 1 and 2 .
Solution
Applying the constant acceleration equation (Eq. (2.42) on p. 59 of the textbook) for both x and y displacements, we get
x D x0 C .v0 cos /t;
1 2
2 gt ;
y D y0 C .v0 sin /t
where .x0 ; y0 / D .0; 0/, x D R and y D 0. Eliminating t, we get

gR
2v02 sin cos D 0:
By simplifying, we get
sin 2 D sin.180
2 / D
gR
:
v02
Therefore,
1 D
1
2
sin
gR
v02
!
and
2 D 90
1
2
sin
!
gR
:
v02
Plugging in the given values, we get

1 D 24:9
and 2 D 65:1 :
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Dynamics 1e
Problem 2.88
An alpine ski jumper can fly distances in excess of 100 m by using his or her
body and skis as a wing and therefore taking advantage of aerodynamic
effects. With this in mind and assuming that a ski jumper could survive the
jump, determine the distance the jumper could fly without aerodynamic
effects, i.e., if the jumper were in free fall after clearing the ramp. For the
purpose of your calculation, use the following typical data: D 11 (slope of
ramp at takeoff point A), D 36 (average slope of the hill), v0 D 86 km=h
(speed at A), h D 3 m (height of takeoff point with respect to the hill). Finally,
for simplicity, let the jump distance be the distance between the takeoff point A
and the landing point B.
Solution
Referring to the figure on the right, the velocity and acceleration vectors
relative to the xy coordinate system is given by
vE D v0 cos.
/ {O C v0 sin.
aE D g sin {O
g cos |O
/ |O
(1)
(2)
Letting t D 0 be the time at which the jumper takes off at A, we

can express the coordinates of the jumper as a function of time using
constant acceleration equations. Specifically, we have
x D v0 cos.
/t C 21 .g sin /t 2 ;
(3)
y D v0 sin.
2
1
2 .g cos /t :
(4)
/t
Therefore, letting tB denote the time at which the jumper lands at B, we have
xB D v0 cos.
/tB C 21 .g sin /tB2 ;
(5)
yB D v0 sin.
2
1
2 .g cos /tB :
(6)
Now, note that we must have yB D

h cos D v0 sin.
/tB
/tB
h cos . So, from Eq. (6) we have
2
1
2 .g cos /tB
tB D
.g cos /tB2
v0 sin.
2v0 sin.
q
/ v02 sin2 .
/tB
2h cos D 0
/ C 2hg cos2
g cos
: (7)
The only acceptable value for tB is the one obtained using the C sign in front of the square root. With this in
mind, and recalling that v0 D 86 km=h D 23:89 m=s, D 36 , D 11 , h D 3 m, and g D 9:81 m=s2 , we
then have
tB D 2:766 s:
(8)
Using the data listed right above Eq. (8) and substituting the value of tB from Eq. (8) into Eq. (5), we have
xB D 81:93 m. Then, recalling that yB D h cos D 2:427 m, we have
q that the distance between points
A and B can be calculated using the Pythagorean theorem, i.e., dAB D
dAB D 82:0 m:
xB2 C yB2 which gives
(9)
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Solutions Manual

A soccer player practices kicking a ball from A directly into the goal (i.e., the ball does not bounce first)
while clearing a 6 ft tall fixed barrier.
Determine the minimum speed that the player needs to give the ball to accomplish the
task. Hint: To find .v0 /min , consider the equation for the projectiles trajectory (see, e.g., Eq. (2.52)) for
the case in which the ball reaches the goal at its base. Then solve this equation for the initial speed v0 as a
function of the initial angle , and finally find .v0 /min as you learned in calculus. Dont forget to check
whether or not the ball clears the barrier.
Problem 2.89
Find the initial speed and angle that allow the ball to barely clear the barrier while barely
reaching the goal at its base. Hint: As shown in Eq. (2.52), a projectiles trajectory can be given the form
y D C1 x C2 x 2 where the coefficients C1 and C2 can be found by forcing the parabola to go through
two given points.
Problem 2.90
Solution to 2.89
The ball must clear a barrier and it must reach the goal post without bouncing. We will satisfying one
of the conditions and see if our solution meets the other required condition. Let v0 be the intial velocity,
be the elevation angle, and G denote the point at the base of the goal. For .v0 /min , y D yG D 0 ft at
x D xG D 80 ft. Using Eq. (2.52) on p. 74 of the textbook, we have that the trajectory of the ball is described
by the following equation:
!
g sec2 2
y D .tan /x
x :
(1)
2v02
Thus for the ball to land at the base of the goal, we have
g sec2 2
xG
2v02
0 D .tan /xG
r
)
v0 D
gxG
:
sin 2
(2)
Minimizing v0 with respect to requires making the denominator of the fraction under the square root of the
last of Eqs. (2) as large as possible. The maximum value of the sine function is 1, which is achieved when the
argument of the sine function is equal to =2. Hence, we have
sin 2 D 1

rad
4
and
.v0 /min D
gxG D 50:75 ft=s;
(3)
which, when expressed to 3 significant figures, gives

.v0 /min D 50:8 ft=s:
Substituting D .=4/ rad, .v0 /min from Eq. (3), and the value x D 58 ft into Eq. (1), we have
y.58 ft/ D 15:94 ft > 6 ft;
that is, the ball clears the obstacle in front of the goal.
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Dynamics 1e
Solution to 2.90
As explained in the hint, the trajectory can be given the form
C2 x 2 ;
y D C1 x
(4)
where it is understood that the origin of the coordinate system used is at point A where the ball is kicked. The
ball must barely clear the barrier, so we have
C2 .58 ft/2 :
6 ft D C1 .58 ft/
(5)
The ball must also barely reach the goal post, so we have
0 D C1 .80 ft/
C2 .80 ft/2 :
(6)
Solving Eqs. (5) and (6), we get C1 D 0:3762 and C2 D 4:70210 3 ft 1 . Using Eq. (2.52) on p. 74 of the
textbook, we have that the trajectory of the ball is described by the following equation:
!
g sec2 2
y D .tan /x
x :
(7)
2v02
Comparing Eq. (4) with the Eq. (7), we can conclude that
C1 D tan
and
C2 D
g sec2
2v02
!
:
(8)
Hence we have
s
D tan
.0:3762/ D 20:62
and v0 D
g sec2
D 62:52 ft=s;
2C2
(9)
which, expressed to 3 significant figures, give

v0 D 62:5 ft=s
and D 20:6 :
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Solutions Manual

In a circus act a tiger is required to jump from point A to point C so that it
goes through the ring of fire at B. Hint: As shown in Eq. (2.52), a projectiles
trajectory can be given the form y D C1 x C2 x 2 where the coefficients C1
and C2 can be found by forcing the parabola to go through two given points.
Determine the tigers initial velocity if the ring of fire is placed
at a distance d D 5:5 m from A. Furthermore, determine the slope of the tigers
trajectory as the tiger goes through the ring of fire.
Problem 2.91
Problem 2.92
Determine the tigers initial velocity as well as the distance d so that the slope of the tigers trajectory as the tiger goes through the
ring of fire is completely horizontal.
Solution to 2.91
Referring to the figure on the right, we will be using a Cartesian
coordinate system with origin at A. As indicated in the hint given in
the problem statement, and due to the choice of coordinate system,
i.e., due to the fact that the origin is the point from which the tiger
jumps, the trajectory of the tiger can be described by the following
equation (of a parabola):
y D C1 x
C2 x 2 ;
(1)
where C1 and C2 are constants to be determined by making sure

that the tiger passes through point B of coordinates .xB ; yB / D .5:5 m; 3 m/, and then lands on point C of
coordinates .xC ; yC / D .9 m; 0:5 m/. Using Eq. (1) to enforce these conditions, we have
3 m D C1 .5:5 m/
0:5 m D C1 .9 m/
C2 .5:5 m/2 D .5:5 m/C1

2
C2 .9 m/ D .9 m/C1
.30:25 m2 /C2 ;
2
.81:00 m /C2 ;
(2)
(3)
which is a system of two equations in the two unknowns C1 and C2 whose solution is
C1 D 1:315
and
C2 D 0:1400 m 1 :
(4)
Recall that the in the textbook we had expressed the trajectory of a projectile in Eq. (2.52) on p. 74, which
has the form
!
g sec2 2
y D .tan /x
x ;
(5)
2v02
where is the angle formed by the velocity vector with the horizontal at the origin, g is the acceleration due
to gravity, and where v0 is the initial speed of the projectile. Comparing Eq. (1) with Eq. (5), we conclude
that
s
g sec2
1
D tan C1 D 52:75 and v0 D

D 9:779 m=s;
(6)
2C2
where we have used the values of C1 and C2 in Eqs. (4) in addition to the fact that g D 9:81 m=s2 . Now that
we have the values of and v0 , the initial velocity of the tiger, expressed to 3 significant digits, is
vEinitial D v0 cos {O C v0 sin |O D .5:92 {O C 7:78 |O/ m=s
:
August 10, 2009
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Dynamics 1e
To find the slope of the trajectory at B, we take the derivative of the trajectory equation with respect to x and
then substitute x D xB D 5:5 m to get
dy
D C1
dx xDxB
2C2 xB D
0:225;
(7)
where we have used the values of C1 and C2 in Eqs. (4).
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Solutions Manual
Solution to 2.92
Referring to the figure on the right, we will be using a Cartesian
coordinate system with origin at A. As indicated in the hint given in
the problem statement, and due to the choice of coordinate system,
i.e., due to the fact that the origin is the point from which the tiger
jumps, the trajectory of the tiger can be described by the following
equation (of a parabola):
y D C1 x
C2 x 2 ;
(8)
where C1 and C2 are constants to be determined by making sure

that the tiger passes through point B of coordinates .xB ; yB / D .d; 3 m/ with zero slope, and then lands on
point C of coordinates .xC ; yC / D .9 m; 0:5 m/. Using Eq. (8) to enforce these conditions, we have
yB D C1 xB
dy
D0
dx xDd
C2 xB2
yC D C1 xC
2
C2 xC
C2 d 2 ;
3 m D C1 d
0 D C1
0:5 m D .9 m/C1
(9)
2dC2
(10)
.81:00 m2 /C2 :
(11)
The last of Eqs. (9)(11) form a system of three equations in the three unknowns d , C1 , and C2 , which can be
solved numerically using some appropriate mathematical software. For example we have used Mathematica
with the following code
NSolve!"3. ! C1 d " C2 d2 , 0. ! C1 " 2 C2 d, 0.5 ! C1 9. " C2 81.#, $C1, C2, d%&
which yields the following two solutions:

C1 D 0:05809
C2 D 0:0002812 m
C1 D 1:275
C2 D 0:1355 m
d D 103:3 m;
(12)
d D 4:705 m:
(13)
Because the first solution implies that d > xC , the solution in question is not acceptable and therefore we
have that the only acceptable solution is
C1 D 1:275;
C2 D 0:1355 m 1 ;
d D 4:705 m:
(14)
Expressing the result for d with 3 significant figures, we have

d D 4:70 m:
Now we turn to the determination of the initial velocity of the tiger. To do so, we recall that the in the
textbook we had expressed the trajectory of a projectile in Eq. (2.52) on p. 74, which has the form
!
g sec2 2
y D .tan /x
x ;
(15)
2v02
where is the angle formed by the velocity vector with the horizontal at the origin, g is the acceleration due
to gravity, and where v0 is the initial speed of the projectile. Comparing Eq. (8) with Eq. (15), we conclude
that
s
g sec2
D tan 1 C1 D 51:89 and v0 D
D 9:749 m=s;
(16)
2C2
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Dynamics 1e
where we have used the values of C1 and C2 in Eqs. (14) in addition to the fact that g D 9:81 m=s2 . Now
that we have the values of and v0 , the initial velocity of the tiger, expressed to 3 significant digits, is
vEinitial D v0 cos {O C v0 sin |O D .6:02 {O C 7:67 |O/ m=s
August 10, 2009
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Solutions Manual
Problem 2.93
A jaguar A leaps from O at speed v0 and angle
the incline to attack a panther B at C .
Determine
sion for the maximum perpendicular height hmax above
achieved by the leaping jaguar, given that the angle of
is .
relative to
an expresthe incline
the incline
Solution
Align a Cartesian coordinate system with the incline as shown on
the right. The acceleration vector is then given by
aE D g sin {O
g cos |O
ay D
g cos :
Applying the constant acceleration equation in the y direction, we

have
2
vy2 D v0y
C 2ay .y y0 /:
(1)
At the hmax position the y component of velocity must be equal to
zero. enforcing this condition, we have
0 D .v0 sin /2
2g cos .hmax
0/:
(2)
Solving Eq. (2) for hmax , we obtain

hmax D
v02 sin2
:
2g cos
(3)
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Dynamics 1e

The jaguar A leaps from O at speed v0 and angle relative to the incline to
intercept the panther B at C . The distance along the incline from O to C is R,
and the angle of the incline with respect to the horizontal is .
Determine an expression for v0 as a function of for A to be
able to get from O to C .
Problem 2.94
Derive v0 as a function of to leap a given distance R

along with the optimal value of launch angle , i.e., the value of necessary to
leap a given distance R with the minimum v0 . Then plot v0 as a function of
for g D 9:81 m=s2 , R D 7 m, and D 25 , and find a numerical value of the
optimal and the corresponding value of v0 for the given set of parameters.
Problem 2.95
Solution to 2.94
Using the xy coordinate system shown on the right, we write the
following two constant acceleration equations describing the x and
y coordinates of jaguar A as a function of time:
x D x0 C v0x t;
y D y0 C v0y t
(1)
1 2
2 gt ;
(2)
where it is understood that the jaguar leaps at time t D 0, and

where .x0 ; y0 / are the coordinates of the point from which of the
jaguar leaps. Since the jaguar leaps from the origin of the chosen
coordinate system, letting tC denote the time at which jaguar A arrives at C , we have
R cos D v0 cos.
/ tC ;
R sin D v0 sin.
/ tC
(3)
1 2
2 gtC ;
(4)
where R is distance from O to C . Eliminating tC from Eqs. (3) and (4) gives
sin D cos tan.
/
gR
cos2
:
2v02 cos2 . /
(5)
Solving Eq. (5) for v0 and simplifying with the help of the trigonometric identity: sin.ACB/ D sin A cos B C
cos A sin B, we have
r
gR
cos
v0 D
:
(6)
p
2
sin cos. /
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Solutions Manual
Solution to 2.95
Using the xy coordinate system shown on the right, we write the
following two constant acceleration equations describing the x and
y coordinates of jaguar A as a function of time:
x D x0 C v0x t;
(7)
1 2
2 gt ;
y D y0 C v0y t
(8)
where it is understood that the jaguar leaps at time t D 0, and

where .x0 ; y0 / are the coordinates of the point from which of the
jaguar leaps. Since the jaguar leaps from the origin of the chosen
coordinate system, letting tC denote the time at which jaguar A arrives at C , we have
R cos D v0 cos.
R sin D v0 sin.
/ tC ;
/ tC
(9)
1 2
2 gtC ;
(10)
where R is distance from O to C . Eliminating tC from Eqs. (9) and (10) gives
sin D cos tan.
/
cos2
gR
:
2v02 cos2 . /
(11)
Solving Eq. (11) for v0 and simplifying with the help of the trigonometric identity: sin.A C B/ D
sin A cos B C cos A sin B, we have
r
v0 D
gR
cos
p
2
sin cos.
/
(12)
Recalling that g D 9:81 m=s2 , R D 7 m, and D 25 , we can plot the above function with any appropriate
mathematical software. The plot shown below was obtained using Mathematica with the following code:
Parameters ! !g " 9.81, " 25. Degree, R " 7.";
Plot#
gR
2
&. Parameters, !, 0, 2", Frame " True,
Cos$%
Sin$% Cos$ % %
GridLines " Automatic, AspectRatio " 1, FrameLabel " !" 'rad(", "v0 'm&s("")
v0 !m#s"
20
15
10
0.0
0.5
1.0
!rad"
1.5
2.0
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Dynamics 1e
We can find the optimal value of to reach a distance of R D 7 m by differentiating v0 with respect to
and setting it equal to zero. Recalling that D 25 , this gives
dv0
D
d
1
2
gR
cos cos. / sin sin. /
cos
D0
2
sin cos. /3=2
) cos cos.
25 /
sin sin.
25 / D 0: (13)
The above equation is a transcendental equation that we will solve numerically. Again, this can be done with
any appropriate mathematical software. We have used Mathematica with the following code
FindRoot!Cos!" Cos! " 25. Degree" " Sin!" Sin! " 25. Degree" # 0, #, 25. Degree$"
Note that the use of root finding algorithms generally requires the user to provide a guess of the value of the
solution. As can be seen in the above code (see information provided at the end of the code line), we have
provided a guess of 25 . The outcome of this calculation gives
optimal D 57:52 :
(14)
Then, using the above value of along with g D 9:81 m=s2 , R D 7 m, and D 25 , from Eq. (12) we have
that the corresponding value of v0 is
.v0 /optimal D 6:297 m=s:
(15)
In summary, expressing our answer to 3 significant figures, we have

optimal D 57:5
and
.v0 /optimal D 6:30 m=s:
(16)
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Solutions Manual

A stomp rocket is a toy consisting of a hose connected to a blast pad (i.e., an air
bladder) at one end and to a short pipe mounted on a tripod at the other end. A
rocket with a hollow body is mounted onto the pipe and is propelled into the air
by stomping on the blast pad.
If the rocket can be imparted an initial speed v0 D 120 ft=s,
and if the rockets landing spot at B is at the same elevation as the launch point,
i.e., h D 0 ft, neglect air resistance and determine the rockets launch angle
such that the rocket achieves the maximum possible range. In addition, compute
R, the rockets maximum range, and tf , the corresponding flight time.
Problem 2.96
Assuming the rocket can be given an initial speed v0 D

120 ft=s, the rockets landing spot at B is 10 ft higher than the launch point, i.e.,
h D 10 ft, and neglecting air resistance, find the rockets launch angle such
that the rocket achieves the maximum possible range. In addition, as part of the
solution, compute the corresponding maximum range and flight time. To do
this:
Problem 2.97
(a) Determine the range R as a function of time.

(b) Take the expression for R found in (a), square it, and then differentiate it
with respect to time to find the flight time corresponding to the maximum
range and then that maximum range.
(c) Use the time found in (b) to then find the angle required to achieve the
maximum range.
Solution to 2.96
Referring to the figure on the right, we will use an xy coordinate
system with origin at the launch point of the rocket. Let be the
elevation angle and v0 D 120 ft=s be the intial speed. The acceleration
of the rocket is equal to g in the y direction and zero in the x
direction. Hence, we can use the constant acceleration equation s D
v0 t C 12 ac t 2 , to express the x and y coordinates of the rocket as a
function of time. This gives
x D .v0 cos /t;
y D .v0 sin /t
(1)
1 2
2 gt :
(2)
Since in this problem point B lies on the line y D 0, the time taken by the rocket to arrive at B can be
obtained by equating Eq. (2) to zero. This gives
tB D
2v0 sin
:
g
(3)
Substituting Eq. (3) in place of t into Eq. (1), using the trigonometric identity 2 sin cos D sin 2 , and
observing that xB D R, we get
v 2 sin 2
RD 0
;
(4)
g
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Dynamics 1e
where R is the range of the rocket. The maximum value of R occurs when sin 2 D 1, i.e.,
2 D

rad
2
max D

rad D 45 :
4
(5)
Substituting max D 45 , into Eq. (4) and recalling that g D 32:2 ft=s2 , gives
RD
v02
D 447 ft:
g
Observing that the time of flight is the same as tB given in Eq. (3), for D max , we have
tf D
2v0 sin max

D 5:27 s:
g
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Solutions Manual
Solution to 2.97
Referring to the figure on the right, we will use an xy coordinate
system with origin at the launch point of the rocket. Let be the
elevation angle and v0 D 120 ft=s be the intial speed. The acceleration
of the rocket is equal to g in the y direction and zero in the x
direction. Hence, we can use the constant acceleration equation s D
v0 t C 12 ac t 2 , to express the x and y coordinates of the rocket as a
function of time. This gives
x D .v0 cos /t;
(6)
1
2 gt
y D .v0 sin /t
(7)
For t D tf the rocket is at B, so that we must have

h D v0 .sin /tf
1 2
2 gtf
sin D
2h C gtf2
2v0 tf
R
) cos D
:
v0 tf
R D v0 .cos /tf
(8)
(9)
Next, recalling that sin2 C cos2 D 1, using the last of Eqs. (8) and (9), we have
2h C gtf2
!2
2v0 tf

C
R
v0 tf
2
D 1;
(10)
which, for convenience, we view as an equation for R2 whose solution is

2
h C 12 gtf2 :
R2 D v02 tf2
(11)
Now we maximize R with respect to tf . Since the value of tf for which R is maximum coincides with the
value of tf for which R2 is maximum, we can find the value of tf in question by differentiating Eq. (11) with
respect to tf and then setting the results to 0. This gives
dR2
D 0 D 2v0 tf
dtf
s

2 h C 21 gtf2 gtf
tfmax D
2
v2
g2 0

hg D 5:211 s;
(12)
where we have used the following numerical values: g D 32:2 ft=s2 , v0 D 120 ft=s, h D 10 ft. Expressing
this result to 3 significant figures, we have
tfmax D 5:21 s:
To find Rmax , we substitute the value of tf from the last of Eqs. (12) into Eq. (11) and then we take a square
root. To find the corresponding value of we substitute the value of tf from the last of Eqs. (12) into the last
of Eqs. (8) and solve for . Recalling that we have g D 32:2 ft=s2 , v0 D 120 ft=s, h D 10 ft, these operations
yield the following results:
Rmax D 437 ft
and Rmax D 45:7 :

August 10, 2009
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Dynamics 1e
Problem 2.98
A trebuchet releases a rock with mass m D 50 kg at the point O. The initial
velocity of the projectile is vE0 D .45 {O C 30 |O/ m=s. If one were to model the
effects of air resistance via a drag force directly proportional to the projectiles
velocity, the resulting accelerations in the x and y directions would be xR D
.=m/xP and yR D g .=m/y,
P respectively, where g is the acceleration of
gravity and D 0:64 kg=s is a viscous drag coefficient. Find an expression for
the trajectory of the projectile.
Solution
We can integrate the x and the y components of acceleration to get the x and y displacement as a function of
time. Starting with the given acceleration components, using xR D ddtxP , we can integrate the expression for the
x component of acceleration to get x.
P
Z
xP
.v0 /x
d xP
D
xP
Z
0

dt
m
xP D .v0 /x e

mt
(1)
where .v0 /x is the x component of the velocity of the projectile at t D 0. Integrating Eq. (1) again with
respect to time, we obtain
Z x
Z t

m.v0 /x
1 e mt :
dx D .v0 /x
e m t dt ) x D
(2)

0
0
Using yR D
d yP
,
dt
we can integrate the expression for the y component of acceleration to get y.

P
Z
yP
.v0 /y
d yP
D
g C .=m/ yP
dt
0
yP D
mg
e

mt

1 C .v0 /y e

mt
(3)
where .v0 /y is the y component of the velocity of the projectile at t D 0. Integrating Eq. (3) again with
2
2

m g mgt
m
m g
m
yD
C .v0 /y
C .v0 /y e m t :
(4)
2
2

From Eq. (2) we find
e

mt

D 1
x
m.v0 /x

)
tD

m
ln 1

x
:
m.v0 /x
(5)
Substitute the last of Eqs. (5) into Eq. (4) and plugging in m D 50 kg, .v0 /x D 45 m=s, .v0 /y D 30 m=s and
D 0:64 kg=s, we obtain

y D 59:9103 ln 1
2:8410

x C 17:7x m:
(6)
August 10, 2009
130
Solutions Manual
Problem 2.99
Continue Prob. 2.98 and, for the case where D 0:64 kg=s, determine the
maximum height from the ground reached by the projectile and the time it takes
to achieve it. Compare the result with what you would obtain in the absence of
air resistance.
Solution
We begin by determining part of the solution to Problem 2.98, namely, the function y.t / describing the
vertical position of the projectile as a function of time. To do so, we can integrate the x and the y components
of acceleration to get the x and y displacement as a function of time. Starting with the given acceleration
P
components, using xR D ddtxP , we can integrate the expression for the x component of acceleration to get x.
Z
xP
.v0 /x
d xP
D
xP
Z
0

dt
m
xP D .v0 /x e

mt
(1)
where .v0 /x is the x component of the velocity of the projectile at t D 0. Integrating Eq. (1) again with
Z x
Z t

m.v0 /x
(2)
dx D .v0 /x
e m t dt ) x D
1 e mt :

0
0
Using yR D
d yP
,
dt

P
Z
yP
.v0 /y
d yP
D
g C .=m/ yP
dt
0
yP D
mg
e

mt

1 C .v0 /y e
Integrating Eq. (3) again with respect to time, we obtain

2
2

m g mgt
m
m g
m
C
.v
/
C
.v
/
yD
0 y
0 y e
2

2

mt

mt
(3)
(4)
where .v0 /y is the y component of the velocity of the projectile at t D 0.

Now that we have an expression for y.t /, we observe that when maximum height is reached vy D 0.
Hence, letting Hmax denote the maximum height achieved by the projectile and tHmax the time at which this
height is achieved, setting Eq. (3) to zero, we obtain

mg C .v0 /y
mg tHmax
m
tHmax
m
m
e
1 C .v0 /y e
D 0 ) tHmax D ln
D 3:000 s; (5)

mg
where we have used the following numerical data: m D 50 kg, g D 9:81 m=s2 , .v0 /y D 30 m=s and
D 0:64 kg=s. Expressing the result in Eq. (5) using 3 significant figures, we have
tHmax D 3:00 s:
August 10, 2009
131
Dynamics 1e
Then, the maximum height in the presence of air resistance can be calculated as Hmax D ymax Ch. In turn,
we can find ymax by substituting the value of time found in Eq. (5) into Eq. (4) along with the known values
m D 50 kg, g D 9:81 m=s2 , .v0 /y D 30 m=s and D 0:64 kg=s. Doing so, we obtain ymax D 44:71 m.
Hence, Hmax is given by
Hmax D ymax C h D 49:21 m;
(6)
Hmax D 49:2 m:
In the case of absence of air resistance, the maximum height is given by .Hmax /no air D .ymax /no air C h,
where .ymax /no air can be calculated by equating the y component of the velocity to zero. Using a constant
acceleration equation we have
vy2 D .v0 /y2 C 2a.ymax /no air D 0
where a D
.ymax /no air D
.v0 /y2
2a
D 45:87 m;
(7)
g. Hence, the maximum height .Hmax /no air in this case is given by
.Hmax /no air D .ymax /no air C h D 50:37 m:
(8)
The maximum height reached with no air resistance 2:38% greater than that with air resistance.
August 10, 2009
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Solutions Manual
Problem 2.100
Continue Prob. 2.98 and, for the case where D 0:64 kg=s, determine tI and
xI , the value of t, and the x position corresponding to the projectiles impact
with the ground.
Solution
We begin by working part of the solution to Prob. 2.98. Specifically, we can integrate the x and the y
components of acceleration to get the x and y displacement as a function of time. Starting with the given
acceleration components, using xR D ddtxP , we can integrate the expression for the x component of acceleration
to get x.
P
Z t
Z xP

d xP
(1)
D
dt ) xP D .v0 /x e m t
P
0 m
.v0 /x x
where .v0 /x is the velocity component of the projectile Integrating Eq. (1) again with respect to time, we
obtain
Z x
Z t

mvx0
(2)
dx D .v0 /x
e m t dt ) x D
1 e mt :

0
0
Using yR D
d yP
,
dt

P
Z t
Z yP

mg t
d yP
1 C .v0 /y e m t :
D
dt ) yP D
e m

0
.v0 /y g C .=m/ yP

2
2

m
m
m g mgt
m g
yD
C .v0 /y
C .v0 /y e
2

2

mt
(3)
(4)

x
:
m.v0 /x
(5)
Next, from Eq. (2) we find

e

mt

D 1
x
m.v0 /x

)
tD
Substituting the last of Eqs. (5) into Eq. (4), we have

2

m g
m2 g
x
m
C .v0 /y
yD
C 2 ln 1
2

m.v0 /x

m
ln 1

m2 g
m
C .v0 /y
2

1
x
m.v0 /x

:
(6)
To find the time of impact tI and the location xI of the impact we observe that the impact is characterized
by the condition y D h D 4:5 m. Hence we can use a numerical root finding method to find the the
value of t in Eq. (4) for which the condition h D h is satisfied. Similarly, we can use a numerical root
finding method to find the the value of x in Eq. (6) for which the condition h D h is satisfied. Because
the majority of root finding methods require us to provide a guess of the solution, before using any such
methods, we proceed to plot y.t / as given in Eq. (4) and of y.x/ as given in Eq. (6). These plots can be
done with any appropriate mathematical software. Recalling that we are given m D 50 kg, .v0 /x D 45 m=s,
.v0 /y D 30 m=s and D 0:64 kg=s, the plots shown below were obtained using Mathematica with the
following code:
August 10, 2009
133
Dynamics 1e
Parameters ! !m " 50., g " 9.81, h " 4.5, v0x " 45., v0y " 30., " 0.64";
yt !
yx !
m2 g
2
m2 g
m gt
m2 g
v0y $
Log#1 $
m2 g
x
m v0x
$%
v0y &
v0y $
t
m ;
m2 g
1$
v0y
x
m v0x
Plot%yt &. Parameters, !t, 0, 7", Frame " True, GridLines " Automatic,
FrameLabel " !"t 's(", "y 'm("", AspectRatio " 1)
Plot%yx &. Parameters, !x, 0, 300", Frame " True, GridLines " Automatic,
FrameLabel " !"x 'm(", "y 'm("", AspectRatio " 1)
which gives
40
y !m"
y !m"
20
0
!20
0
t !s"
40
30
20
10
0
!10
!20
!30
50 100 150 200 250 300

x !m"
From the above two plots, we see that tI is close to 6 s and xI is close to 250 m. Hence, we will use the
values just listed as guesses in an appropriate root finding numerical method to find more precise values to
the quantities tI and xI . For example, this can be don using Mathematica with the following code:
Parameters ! !m " 50., g " 9.81, h " 4.5, v0x " 45., v0y " 30., " 0.64";
yt !
yx !
m2 g
2
m2 g
2
m gt
m2 g
2
v0y $
Log#1 $
m2 g
x
m v0x
2
$%
v0y &
v0y $
FindRoot%yt ' $h &. Parameters, !t, 6"'

FindRoot%yx ' $h &. Parameters, !x, 250"'
t
m ;
m2 g
2
v0y
1$
x
m v0x
Evaluating the outcome of the above code to 3 significant figures, we have

tI D 6:19 s
and xI D 268 m:
August 10, 2009
134
Solutions Manual
Problem 2.101
With reference to Probs. 2.98 and 2.100, assume that an experiment is conducted
so that the measured value of xI is 10% smaller that what is predicted in the
absence of viscous drag. Find the value of that would be required for the
theory in Prob. 2.98 to match the experiment.
Solution
For the case of no air drag, the time of impact can be calculated by equating the constant acceleration equation
for the y coordinate of the projectile to h. Letting tI denote the time of impact, we would have
y D .v0 /y t
1 2
2 gt
1 2
2 gtI
.v0 /y tI
D
)
gtI2
2.v0 /y tI 2h D 0
q
2
C gh
.v0 /y v0y
tI D
) tI D 6:263 s; (1)
g
where we have discarded the solution with the negative square root because it yields a negative time value,
and where we have used the following numerical data: .v0 /y D 30 m=s, g D 9:81 m=s2 , and h D 4:5 m.
The impact distance xI for the case of no air drag can be calculated again by using constant acceleration
equations (with ax D 0). This gives
x D .v0 /x t
xI D .v0 /x tI D 281:8 m:
(2)
The problem statement indicates that the x position of the rock in the presence of air drag is: .xI /air D 0:9xI ,
i.e.,
.xI /air D 253:6 m:
(3)
To be able to use these results, we first determine the trajectory of the projectile in the presence of air
resistance. We begin by working part of the solution to Prob. 2.98. Specifically, we can integrate the x and the
y components of acceleration to get the x and y displacement as a function of time. Starting with the given
acceleration components, using xR D ddtxP , we can integrate the expression for the x component of acceleration
to get x.
P
Z xP
Z t

d xP

(4)
D
dt ) xP D .v0 /x e m t
P
.v0 /x x
0 m
where .v0 /x is the velocity component of the projectile Integrating Eq. (4) again with respect to time, we
obtain
Z x
Z t

mvx0
dx D .v0 /x
e m t dt ) x D
1 e mt :
(5)

0
0
Using yR D
d yP
,
dt

P
Z
yP
.v0 /y
d yP
D
g C .=m/ yP
dt
0
yP D
mg
e

mt

1 C .v0 /y e

mt
(6)
August 10, 2009
135
Dynamics 1e
2
2

m
m
m g mgt
m g
yD
C .v0 /y
C .v0 /y e
2

2

mt
(7)

x
:
m.v0 /x
(8)
Next, from Eq. (5) we find

e

mt

D 1
x
m.v0 /x

)
tD
Substituting the last of Eqs. (8) into Eq. (7), we have

2

m
m g
m2 g
x
yD
C .v0 /y
C 2 ln 1
2

m.v0 /x

m
ln 1

m
m2 g
C .v0 /y
2

1
x
m.v0 /x

:
(9)
We now observe that at impact the x and y coordinates of the rock are .xI /air and h. By enforcing this
condition in Eq. (9) we obtain an equation in that can be solved numerically by using some appropriate
root finding algorithm as can be found in common mathematical software. Because most root finding
algorithms require the user to supply a guess of the solution, we begin by plotting the value of y for
x D .xI /air D 253:6 m (see Eq. (3)) as a function of . This again can be done using appropriate numerical
software. The plot presented below was obtained in Mathematica using the following code:
Parameters ! !m " 50., g " 9.81, h " 4.5, v0x " 45., v0y " 30., xAir " 253.6";
yx !
m2 g
m2 g
2
Log#1 %
x
m v0x
$$
v0y %
m2 g
v0y
1%
x
m v0x
Plot%yx &. x " xAir &. Parameters, !, 0.1, 2", Frame " True, GridLines " Automatic,
FrameLabel " !" 'kg&s(", "y 'm("", AspectRatio " 1)
10
y !m#
5
0
!5
!10
!15
0.5
1.0
!kg"s#
1.5
2.0
From the plot above, we see that y D 0 for x D .xI /air when is a bit greater then 1 kg=s. Hence, we will
use the value D 1 kg=s as the guess for a root finding algorithm in order to find a more accurate value of
the value of . When using Mathematica, this can be done with the following code
Parameters ! !m " 50., g " 9.81, h " 4.5, v0x " 45., v0y " 30., xAir " 253.6";
yx !
m2 g
2
m2 g
2
Log#1 %
x
m v0x
$$
v0y %
m2 g
2
v0y
FindRoot%yx & %h &. x " xAir &. Parameters, !, 1"'
1%
x
m v0x
which yields the following solution

D 1:35 kg=s:
August 10, 2009
136
Solutions Manual
Problem 2.102
Express the trajectory of the golf ball using the axes shown and in terms of
initial speed v0 , initial angle , slope , and the acceleration of gravity g.
Solution
The components of gravity and initial velocities in the xy coordinate system
are:
xR D g sin ; and yR D g cos :
(1)
xP D v0 cos ;
and
yP D v0 sin :
(2)
Therefore, keeping in mind that the ball start at the origin to the chosen
coordinate system, the x and y of the ball are given by
x.t / D v0 cos t
y.t / D v0 sin t
2
1
2 g sin t ;
2
1
2 g cos t :
(3)
(4)
The trajectory is now found by eliminating t from the two equations above. One way to accomplish this is
to essentially start over and consider the motion of the ball in the x1 y1 coordinate system. Specifically, let
consider the expression for the horizontal component of velocity in the x1 y1 system. Observing that xR 1 D 0,
and that the ball starts at the origin of the x1 y1 coordinate system, using constant acceleration equations, we
have
x1
xR 1 D 0 ) x1 .t / D v0 cos. C /t ) t D
:
(5)
v0 cos. C /
To go back to the xy coordinate system, we now express x1 in terms of x and y as follows
x1 D x cos
y sin
tD
x cos y sin
:
v0 cos. C /
(6)
Substituting Eq. (6) into Eq. (4), we then obtain

x cos y sin
y D v0 sin
v0 cos. C /
1
2 g cos
x cos y sin
v0 cos. C /
2
:
August 10, 2009
137
Dynamics 1e
Problem 2.103
O Compute the following quantities.
Consider the vectors aE D 2 {O C 1 |O C 7 kO and bE D 1 |O C 2 |O C 3 k.
(a) aE bE
(b) bE aE
(c) aE bE C bE aE
(d) aE aE
(e) .E
a aE / bE
E
(f) aE .E
a b/
Parts (a)(d) of this problem are meant to be a reminder that the cross product is an anticommutative
operation while Parts (e) and (f) are meant to be a reminder that the cross product is an operation that is
not associative.
Solution
Using the vectors given in the problem statement, various properties of the cross-product are illustrated
through a few simple exercises.
Part (a) The commutative relationship for the cross-product is demonstrated by first evaluating
{O |O kO

aE bE D det 2 1 7 )
aE bE D
11 {O C 1 |O C 3 kO :
1 2 3
Part (b) The cross-product is again evaluated, but this time in the opposite order such that
{O |O kO

bE aE D 11 {O 1 |O 3 kO :
bE aE D det 1 2 3 )
2 1 7
(1)
(2)
Thus the cross-product is anti-commutative because the results are equal in magnitude, but opposite in
direction (sign).
Part (c) The fact that the cross-product relation between two vector is anti-commutative is also demonstrated
through the equation below, where
{O |O kO
{O |O kO

aE bE C bE aE D det 2 1 7 C det 1 2 3 D
11 {O C 1 |O C 3 kO C 11 {O 1 |O 3 kO ;
(3)
1 2 3
2 1 7
)
E
aE bE C bE aE D 0:
(4)
August 10, 2009
138
Solutions Manual
Part (d) The cross-product of a vector with itself, such as
{O |O kO
E
aE aE D det 2 1 7 D 0;
2 1 7
(5)
will always yield the zero vector.

Part (e) Demonstrating the non-associative nature of the cross-product, the example shows one possible
way to calculate the product of three vectors, where

E
aE aE bE D 0E bE D 0:
(6)
Part (f) The associative property does not hold for cross-products since the result of part (e) is not equal to
the result of
{O |O kO
{O
|O kO

aE aE bE D aE det 2 1 7 D det 2
1 7 ;
1 2 3
11 1 3

) aE aE bE D
4 {O 83 |O C 13 kO :
(7)
August 10, 2009
139
Dynamics 1e
Problem 2.104
Consider two vectors aE D 1 {O C 2 |O C 3 kO and bE D
6 {O C 3 |O.
(a) Verify that aE and bE are perpendicular to one another.

E
(b) Compute the vector triple product aE .E
a b/.
E with the vector jE
E
(c) Compare the result from calculating aE .E
a b/
aj2 b.
The purpose of this exercise is to show that as long as aE and bE are perpendicular to one another, you can
E D jE
E This identity turns out to be very useful in the study of the planar
always write aE .E
a b/
aj2 b.
motion of rigid bodies.
Solution
Part (a) Two vectors are perpendicular if their dot product is zero. Thus,
aE bE D 1 6 C 2 3 C 3 0 D 0:
(1)
Part (b) The triple product is evaluated by first calculating the cross-product of aE and bE and then taking the
E The calculation proceeds by
cross-product of aE with the cross-product of aE and b.
{O |O kO
{O
|O
kO

aE aE bE D aE det 1 2 3 D aE 9 {O 18 |O C 15 kO D det 1
(2)
2
3 ;
6 3 0
9
18 15

aE aE bE D 84 {O 42 |O C 0 kO :
(3)
)
Part (c) The vector expression is evaluated as
2

12 C 22 C 32
6 {O C 3 |O C 0 kO ;

D 84 {O 42 |O C 0 kO ;
jE
aj2 bE D
p
(4)
(5)

which is the same as aE aE bE .
August 10, 2009
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Solutions Manual
Problem 2.105
Let rE be the position vector of a point P with respect to a Cartesian coordinate system with axes x, y,
and . Let the motion of P be confined to the xy plane, so that rE D rx {O C ry |O (i.e., rE kO D 0). Also,
let !E r D !r kO be the angular velocity vector of the vector rE. Compute the outcome of the products
!E r .!E r rE/ and !E r .Er !E r /.
Solution
Use the property verified in part (c) of the solution to Problem 2.104 :

!E r !E r rE D
j!E r j2 rE D

!r2 rx {O C ry |O :
(1)
The cross-product is anti-commutative,

as verified in part (b) of the solution to Problem 2.103. Therefore the

triple cross-product !E r rE !E r is Eq. (1) multiplied by 1.

!E r rE !E r D !E r

!E r rE D !r2 rx {O C ry |O :
(2)
August 10, 2009
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Dynamics 1e
Problem 2.106
The three propellers shown are all rotating with the same angular speed of
1000 rpm about different coordinate axes.
(a) Provide the proper vector expressions for the angular velocity of each of
the three propellers.
(b) Suppose that an identical propeller rotates at 1000 rpm about the axis `
oriented by the unit vector uO ` . Let any point P on ` have coordinates such
that xP D yP D P . Find the vector representation of the angular velocity
of this fourth propeller.
Express the answers using units of radians per second.
Solution
p
Part (a) 1000 rpm D .100= 3/ rad=s D 104:7 rad=s. The angular velocity vectors can be written as

!E 1 D 105 kO rad=s;

!E 2 D 105 {O rad=s
and !E 3 D

105 |O rad=s:
(1)
Part (b) The unit vector in the ` direction is

1
uO ` D p {O C |O C kO :
3
(2)
Therefore, the angular velocity is expressed as

!E ` D

100
p {O C |O C kO rad=s
3 3

60:5 {O C |O C kO rad=s:
(3)
August 10, 2009
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Solutions Manual
Problem 2.107
The propeller shown has a diameter of 38 ft and is rotating with a constant
angular speed of 400 rpm. At a given instant, a point P on the propeller is at
rEP D .12:5 {O C 14:3 |O/ ft. Use Eqs. (2.62) and (2.64) to compute the velocity
and acceleration of P; respectively.
Solution
O and the magnitude of ! is constant.
400 rpm = .80=3/ rad=s D 41:89 rad=s. We note that rP = 0, !E = ! k,
Therefore Eq.(2.62) becomes

rEPP D !E rEP
rEPP D . 599 {O C 524 |O/ ft=s:
The acceleration of point P is calculated using Eq. (2.64). The only non-zero term in the acceleration
equation is evaluated to find the acceleration as

rERP D !E !E rEP
rERP D . 21;900 {O
25;100 |O/ ft=s2 :
August 10, 2009
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Dynamics 1e
Problem 2.108
Consider the four points whose positions are given by the vectors rEA D 2 {O C

0 kO m, rEB D 2 {O C 1 kO m, rEC D 2 {O C 2 kO m, and rED D 2 {O C 3 kO m.
Knowing that the magnitude of these vectors is constant and that the angular
velocity of these vectors at a given instant is !E D 5 kO rad=s, apply Eq. (2.62) to
find the velocities vEA , vEB , vEC , and vED . Explain why all the velocity vectors are
the same even though the position vectors are not.
Solution
The position vectors do not change magnitude, rEP D 0. The equation reduces to vE D !E rE.
vEA D 5 kO 2 {O D 10 |O m=s;

vEC D 5 kO 2 {O C 2 kO D 10 |O m=s;

vEB D 5 kO 2 {O C 1 kO D 10 |O m=s;

vED D 5 kO 2 {O C 3 kO D 10 |O m=s:
The velocities are the same because all the points have the same distance from the axis of rotation.
August 10, 2009
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Solutions Manual
Problem 2.109
A child on a merry-go-round is moving radially outward at a constant rate of 4 ft=s. If the merry-go-round
is spinning at 30 rpm, determine the velocity and acceleration of point P on the child when the child is 0.5
and 2:3 ft from the spin axis. Express the answers using the component system shown.
Solution
rP is 4 ft=s and the angular velocity expressed in rad=s is kO rad=s. The velocity is expressed as
rEP D rP uO r C !E r rE uO r
For r D 0:5 ft:
rEP D 4 uO r C r uO q :
vE D .4 uO r C 1:57 uO q / ft=s:
For r D 2:3 ft: vE D .4 uO r C 7:23 uO q / ft=s:

The acceleration is expressed as

aE D rER D rR uO r C 2!E r rP uO r C !EP r rE C !E r !E r rE :
Now because rP and ! are both constant we plug rR D 0 and !P D 0 into Eq. (1) to get

aE D 2!E r rP uO r C !E r !E r rE uO r
) aE D 2 r uO r C 8 uO q :
(1)
(2)
Substituting the given values for r into Eq. (2) we get

for r D 0:5 ft,
aE D . 4:93 uO r C 25:1 uO q / ft=s2 ;
for r D 2:3 ft, aE D . 22:7 uO r C 25:1 uO q / ft=s2 :
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Problem 2.110
When a wheel rolls without slipping on a stationary surface, the point on the wheel that is in contact with
the rolling surface has zero velocity. With this in mind, consider a nondeformable wheel rolling without
slip on a flat stationary surface. The center of the wheel P is traveling to the right with a constant speed of
23 m=s. Letting R D 0:35 m, determine the angular velocity of the wheel, using the stationary component
system shown.
Solution
We can express vEP in two ways:
vEP D v0 {O
and
vEP D rEPP D rPP {O C ! kO rP |O:
(1)
Combine Eqs. (1) and substitute v0 D 23 m=s, rP D R, rPP D 0, and solve for !.
v0 {O D
!R {O
!E D
v0 O
kD
R
O
.65:7 rad=s/ k:
(2)
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Solutions Manual
Problem 2.111
Starting with Eq. (2.62), show that the second derivative with respect to time of an arbitrary vector AE is
given by Eq. (2.64). Keep the answer in pure vector form, and do not resort to using components in any
component system.
Solution
Beginning with Eq. (2.62),
P
E
AE D AP uOA C !EA A:
(1)
and taking the derivative with respect to time, gives

R
EP
AE D AR uOA C AP uPOA C !EP AE C !E A;
(2)

R
AE D AR uOA C AP !E uOA C !EP AE C !E AP uOA C !E AE ;
(3)
but, uPOA D !E uOA so
distributing the terms of the products, yields

R
AE D AR uOA C AP !E uOA C !EP AE C !E AP uOA C !E !E AE :
(4)
The above equation is very similar to the form of Eq. 2.60 in the book. Utilizing a property of cross-products
where a is a scalar and cE, dE are vectors it can be stated that

a cE dE D a cE dE D cE a dE :
(5)
Therefore, applying the property of cross products to Eq. (4), it is concluded that

R
AE D AR uOA C !E AP uOA C !E AP uOA C !EP AE C !E !E AE ;

D AR uOA C 2!E AP uOA C !EP AE C !E !E AE :
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Dynamics 1e
Problem 2.112
The radar station at O is tracking the meteor P as it moves through the atmosphere.
At the instant shown, the station measures the following data for the motion of the
meteor: r D 21;000 ft, D 40 , rP D 22;440 ft=s, and P D 2:935 rad=s. Use
Eq. (2.62) to determine the magnitude and direction (relative to the xy coordinate
system shown) of the velocity vector at this instant.
Solution
We define a coordinate system as shown in the figure. Then Eq. (2.62) becomes
rEP D rP uO r C !E r rE;
D rP uO r C r!r uO :
(1)
The .uO r ; uO / coordinate system is expressed in the .x; y/ coordinate system as

uO r D cos {O C sin |O;
uO D
sin {O C cos |O:
(2)
P rEP with vE, and plug Eq. (2) into Eq. (1) to get
Now we replace !r with ,
vE D rP .cos {O C sin |O/ C r P . sin {O C cos |O/ ;

D rP cos r P sin {O C rP sin C r P cos |O:
(3)
Recalling that r D 21;000 ft, D 40 , rP D 22;440 ft=s, and P D 2:935 rad=s, we can evaluate the terms
in Eq. (3) to obtain
vE D .22;430 {O 61;640 |O/ ft=s
(4)
The magnitude of the velocity is given by
jE
vj D
vx2 C xy2 :
Hence, since from Eq. (4) we have that vx D 22;430 ft=s and vy D
(5)
61;640 ft=s, evaluating Eq. (5), we have
jE
v j D 65;600 ft=s:
Referring to the figure on the right, let denote the angle formed by the velocity vector and the x axis such that tan D vy =vx . Then the we can obtain as
tan 1 .vy =vx /. Hence, recalling again that from Eq. (4) we have vx D 22;430 ft=s and
vy D 61;640 ft=s, we obtain

1 vy
D tan
D 70:0 :
vx
(6)
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Problem 2.113
The radar station at O is tracking the meteor P as it moves through the atmosphere. At
the instant shown, the station measures the following data for the motion of the meteor:
r D 21;000 ft, D 40 , rP D 22;440 ft=s, P D 2:935 rad=s, rR D 187;500 ft=s2 ,
and R D 5:409 rad=s2 . Use Eq. (2.64) to determine the magnitude and direction
(relative to the xy coordinate system shown) of the acceleration vector at this instant.
Solution
Applying Eq. (2.64) on p. 92 of the textbook, we have

rERP =O D rRP =O uO P =O C 2!E r rPP =O uO P =O C !EP r rP =O C !E r !E r rEP =O :
(1)
Using the Cartesian coordinate system shown and its companion component system, we can describe rEP =O
and !E r as follows:
O
rEP =O D r .cos {O C sin |O/ and !E r D P k:
(2)
Rewriting each term in Eq. (1) using the expressions in Eqs. (2), we obtain
rRP =O uO P =O D rR .cos {O C sin |O/ ;
2!E r rPP =O uO P =O D 2rP !E r uO P =O ;
D 2rP P .cos |O sin {O/ ;
(3)
!EP r rEP =O D r R .cos |O sin {O/ ;

!E r !E r rEP =O D r P 2 . cos {O sin |O/ :
Now we substitute Eqs. (3) into Eq. (1) and separate components to obtain:

aEP =O D rR cos 2rP P sin r R sin r P 2 cos {O

C rR sin C 2rP P cos C r R cos r P 2 sin |O:
(4)
Recalling that we have r D 21;000 ft, D 40 , rP D 22;440 ft=s, P D 2:935 rad=s, rR D 187;500 ft=s2 ,
and R D 5:409 rad=s2 , we can evaluate the right-hand side of Eq. (4) to obtain
aEP =O D . 6599 {O C 18130 |O/ ft=s2 :
(5)
The magnitude of aEP =O is given by

jE
aP =O j D
Observing that from Eq. (5) we have .aP =O /x D

jE
aP =O j in Eq. (6) to obtain
.aP =O /2x C .aP =O /y2 :
(6)
6599 ft=s2 and .aP =O /y D 18;130 ft=s2 , we can evaluate
jE
aP =O j D 19;300 ft=s2 :
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Dynamics 1e
Referring to the figure on the right, let the angle denote the direction of the vector
aEP =O relative to the x axis such that tan D .aP =O /y =.aP =O /x . Then the we can
obtain as tan 1 .aP =O /y =.aP =O /x . Hence, recalling again that from Eq. (5) we have
.aP =O /x D 6599 ft=s2 and .aP =O /y D 18;130 ft=s2 and paying attention to the fact
that .aP =O /x < 0 and .aP =O /y > 0, we obtain
D tan
.aP =O /y
.aP =O /x
D 110
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Solutions Manual
Problem 2.114
A plane B is approaching a runway along the trajectory shown while the radar
antenna A is monitoring the distance r between A and B as well as the angle
. If the plane has a constant approach speed v0 as shown, use Eq. (2.62) to
determine the expressions for rP and P in terms of r, , v0 , and .
Solution
Express the velocity in the following two ways:
vE D v0 cos {O
v0 sin |O
vE D rP uO r C P kO uO r D rP uO r C r P uO :
and
(1)
Express .uO r ; uO / in terms of .O{ ; |O/.

uO r D cos {O C sin |OI
uO D
sin {O C cos |O:
(2)
Plug Eqs. (2) into the last of Eqs. (1) and collect the {O and |O terms.

vE D rP cos r P sin {O C rP sin C r P cos |O:
(3)
Equate the {O and |O components of velocity given by the first of Eqs. (1) and Eq. (3)
r P sin D v0 cos ;
rP sin C r P cos D v0 sin :
rP cos
Solve these equations simultaneously to obtain

rP D v0 cos. C /
and P D
v0
sin. C /:
r
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Dynamics 1e
Problem 2.115
A plane B is approaching a runway along the trajectory shown with D 15 ,
while the radar antenna A is monitoring the distance r between A and B as well
as the angle . The plane has a constant approach speed v0 . In addition, when
D 20 , it is known that rP D 216 ft=s and P D 0:022 rad=s. Use Eq. (2.62)
to determine the corresponding values of v0 and of the distance between the
plane and the radar antenna.
Solution
We begin by express the velocity in the following two ways:
vE D v0 cos {O
v0 sin |O
vE D rP uO r C P kO uO r D rP uO r C r P uO :
and
(1)
Expressing .uO r ; uO / in terms of .O{ ; |O/, we have

uO r D cos {O C sin |OI
uO D
sin {O C cos |O:
(2)
Substituting Eqs. (2) into the last of Eqs. (1) and collecting the {O and |O terms, we have

(3)
Equating the {O and |O components of velocity given by the first of Eqs. (1) and Eq. (3), we have
r P sin D v0 cos ;
rP sin C r P cos D v0 sin :
rP cos
Solving these equations simultaneously, we obtain

rP D v0 cos. C / and
P D
v0
sin. C /:
r
(4)
Now, solving the first of Eqs. (4) for v0 , we have

v0 D
rP
;
cos. C /
(5)
which, recalling that we have rP D 216 ft=s, D 20 and D 15 , can be evaluated to obtain
v0 D 264 ft=s:
Substituting Eq. (5) into the second of Eqs. (4) and solving for r, we obtain
rD
rP
sin. C /
D
cos. C /
P
which, recalling that rP D 216 ft=s, P D
rP
tan. C /;
P
(6)
0:022 rad=s, D 20 and D 15 , can be evaluated to obtain

r D 6870 ft:
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Solutions Manual
Problem 2.116
The end B of a robot arm is being extended with the constant rate rP D 4 ft=s.
Knowing that P D 0:4 rad=s and is constant, use Eqs. (2.62) and (2.64) to
determine the velocity and acceleration of B when r D 2 ft. Express your
answer using the component system shown.
Solution
The velocity is expressed using Eq. (2.62) on p. 92 of the textbook. This gives
vEB D rP uO r C P kO r uO r
vEB D rP uO r C P r uO ;
(1)
which, recalling that we have rP D 4 ft=s, P D 0:4 rad=s, and r D 2 ft, can be evaluated to obtain
vEB D .4:00 uO r C 0:800 uO / ft=s:
The acceleration is expressed using Eq. (2.64) on p. 92 of the textbook while keeping in mind that rR D 0
and R D 0. This gives

aEB D 2P kO rP uO r C P kO P kO r uO r
) aEB D P 2 r uO r C 2P rP uO
which, recalling that we have rP D 4 ft=s, P D 0:4 rad=s, and r D 2 ft, can be evaluated to obtain
aE D . 0:320 uO r C 3:20 uO / ft=s:
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Dynamics 1e
Problem 2.117
The end B of a robot arm is moving vertically down with a constant speed
v0 D 2 m=s. Letting d D 1:5 m, apply Eq. (2.62) to determine the rate at which
r and are changing when D 37 .
Solution
Referring to the figure on the right, the velocity is expressed both in terms of
the {O |O component system and using the component system uO r uO along with
Eq. (2.62) on p. 92 of the textbook. This gives
vE D
v0 |O
and
vE D rEP D rP uO r C P kO r uO r D rP uO r C P r uO :
(1)
Expressing the .uO r ; uO / coordinate system in terms of .O{ ; |O/, we have

uO r D cos {O C sin |O
uO D
sin {O C cos |O:
(2)
Substituting Eqs. (2) into the last of Eqs. (1) and collecting the {O and |O terms, we
have

vE D rP cos P r sin {O C rP sin C P r cos |O
(3)
Equating the {O and |O components of velocity given by the first of Eqs. (1) and Eq. (3), and keeping in mind
that r D d= cos , we have
rP cos
P r sin D 0
rP sin C P r cos D
)
)
v0
P d tan D 0
rP sin C P d D v0 :
rP cos
(4)
(5)
Solving these equations simultaneously for rP and P , gives

rP D
v0 sin
and
P D
v0
v0
D
cos2 ;
2
d.1 C tan /
d
(6)
which, recalling that we have v0 D 2 m=s, D 37 , and d D 1:5 m, can be evaluated to obtain
rP D 1:20 m=s
and P D
0:850 rad=s:
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Solutions Manual
Problem 2.118
The end B of a robot arm is moving vertically down with a constant speed
P r,
v0 D 6 ft=s. Letting d D 4 ft, use Eqs. (2.62) and (2.64) to determine r,
P ,
R
and R when D 0 .
Solution
Referring to the figure on the right, the velocity is expressed both in terms of
the {O |O component system and using the component system uO r uO along with
Eq. (2.62) on p. 92 of the textbook. This gives
vE D
v0 |O
and
vE D rP uO r C P kO r uO r D rP uO r C P r uO :
(1)
Expressing .uO r ; uO / in terms of .O{ ; |O/, we have

uO r D cos {O C sin |O
and uO D
sin {O C cos |O:
(2)
Substituting Eqs. (2) into the last of Eqs. (1) and collecting the {O and |O terms, we
have

(3)
Equating the {O and |O components of velocity given by the first of Eqs. (1) and Eq. (3), and keeping in mind
that r D d= cos , we have
r P sin D 0
rP sin C r P cos D v0
rP cos
) rP cos
(4)
P d tan D 0
rP sin C P d D v0 :
(5)
1:50 rad=s;
(6)
Substituting D 0 into Eqs. (4) and (5), we have

rP D 0
and
P D
v0
D
d
where we have used the following numerical data: v0 D 6 ft=s and d D 4 ft.
Using Eq. (2.64) on p. 92, the acceleration expressed in the .uO r ; uO / component system is:
aE D rR uO r C 2P kO rP uO r C R kO r uO r
P 2 r uO r :
On the other hand, the acceleration expressed in the .O{ ; |O/ component system is:
aE D rR .cos {O C sin |O/ C 2P rP . sin {O C cos |O/ C R r . sin {O C cos |O/
P 2 r .cos {O C sin |O/ :
Collecting {O and |O terms then substituting r D d , D 0, and the expressions in Eqs. (6), we have
!

2
v
0
aE D0 D rR
{O C R d |O:
d
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Dynamics 1e
Since vE is constant aE D 0
rR D
v02
D 9:00 ft=s2
d
and
R D 0 rad=s2 ;
where, again we have used the fact that v0 D 6 ft=s and d D 4 ft.
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Solutions Manual
Problem 2.119
A micro spiral pump consists of a spiral channel attached to a stationary plate. This plate has two ports,
one for fluid inlet and the other for outlet, the outlet being farther from the center of the plate than the
inlet. The system is capped by a rotating disk. The fluid trapped between the rotating disk and stationary
plate is put in motion by the rotation of the top disk, which pulls the fluid through the spiral channel. With
this in mind, consider a channel with geometry given by the equation r D C r0 , where D 12 m
is called the polar slope, r0 D 146 m is the radius at the inlet, r is the distance from the spin axis, and
is the angular position of a point in the spiral channel. If the top disk rotates with a constant angular speed
! D 30;000 rpm, and assuming that the fluid particles in contact with the rotating disk are essentially
stuck to it, determine the velocity and acceleration of one of such fluid particles when it is at r D 170 m.
Express the answer using the component system shown (which rotates with the top disk).
Solution
Using Eq. (2.62) on p. 92 of the textbook, we can express the velocity of a particle moving through the pump
as
vE D rP uO r C !E rE;
(1)
O P D 1000 rad=s, r D C r0 , r0 D 146 m, and D 12 m. Hence, the above
where !E D P k,
expression can be rewritten as
vE D P uO r C P . C r0 / uO :
(2)
Solving r D C r0 for and evaluating the result for r D 170 m, we find D 2:000 rad. Using this
result along with the known data r0 D 146 m, D 12 m, and P D 1000 rad=s, we can evaluate vE in
Eq. (1) to obtain
vE D .3:7710
uO r C 0:534 uO / m=s:
We now continue with the acceleration analysis. Using Eq. (2.64) on p. 92 of the textbook, and recalling
that rR and !P are equal to zero, we have
aE D rR uO r C 2!E rP uO r C !EP rE C !E .!E rE/
aE D
P 2 . C r0 / uO r C 2P 2 uO ;
(3)
O rE D r uO r D . C r0 / uO r , and
where, in obtaining the second of Eqs. (3), we have substituted for !E D P k,
P
P
rP D . Recalling again that we have r0 D 146 m, D 12 m, and D 1000 rad=s, we can evaluate the
last of Eqs. (3) to obtain

aE D
1680 uO r C 237 uO m=s2 :
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Dynamics 1e
Problem 2.120
A disk rotates about its center, which is the fixed point O. The disk has a
straight channel whose centerline passes by O and within which a collar A is
allowed to slide. If, when A passes by O, the speed of A relative to the channel
is v D 14 m=s and is increasing in the direction shown with a rate of 5 m=s2 ,
determine the acceleration of A given that ! D 4 rad=s and is constant. Express
the answer using the component system shown, which rotates with the disk.
Hint: Apply Eq. (2.64) to the vector describing the position of A relative to O
and then let r D 0.
Solution
Let rE be the position of A relative to O. Then rE D r uO r where uO r D
|O. For r D 0 the acceleration of rE is

aE D rR uO r C 2!E rP uO r C !EP rE C !E !E rE ;
aE D rR uO r C 2!E rP uO r ;
aE D . 5 m=s2 /. |O/ C 2.4 rad=s/. 14 m=s/ kO . |O/:
aE D . 112 {O C 5 |O/ m=s2
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Solutions Manual
Problem 2.121
At the instant shown, the angular velocity and acceleration of the merry-goround are as indicated in the figure. Assuming that the child is walking along a
radial line, should the child walk outward or inward to make sure that he does
not experience any sideways acceleration (i.e., in the direction of uO q )?
Solution

The acceleration of the child is aE D rR uO r C 2!E rP uO r C !EP rE C !E !E rE . The terms that contribute to
the acceleration in the direction of uO q are 2!E rP uO r and !EP rE. Since !E and !EP are in the same direction then
we must have rP < 0 if we hope that the terms will cancel. Hence, the child should move inward.
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Dynamics 1e
Problem 2.122
Assuming that the child shown is moving on the merry-go-round along a radial
line, use Eq. (2.64) to determine the relation that !, !,
P r, and rP must satisfy so
that the child will not experience any sideways acceleration.
Solution
The acceleration of the child takes on the form: aE D rR uO r C 2!E rP uO r C !EP rE
in the direction of uO q is
aq D .2! rP C !r/
P uO q :
! 2 r uO r . The acceleration
(1)
Hence we must have

2! rP C !r
P D 0:
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Solutions Manual
Problem 2.123
The mechanism shown is called a swinging block slider crank. First used in various steam locomotive
engines in the 1800s, this mechanism is often found in door-closing systems. If the disk is rotating with
a constant angular velocity P D 60 rpm, H D 4 ft, R D 1:5 ft, and r is the distance between B and O,
compute rP and P when D 90 . Hint: Apply Eq. (2.62) to the vector describing the position of B relative
to O.
Solution
We begin by observing that we can express the velocity of B in two ways. First as the time derivative of the
position vector rEB=A and second as the time derivative of the position vector rEB=O . Referring to the figure in
the problem statement, we can express these two position vectors as follows:
rEB=A D R uO B=A
and rEB=O D r uO S ;
(1)
where, as given the problem statement, r is the distance between B and O, and where we observe that the
angular velocities of the unit vector in the above equations are
!E uO B=A D P kO
O
P k:
!E uO S D
and
(2)
Hence, observing that RP D 0 since R is a constant, using Eq. (2.62) on p. 92 of the textbook, we have
vEB D rEPB=A D P kO R uO B=A
and
vEB D rEPB=O D rP uO S
P kO r uO S :
(3)
.R {O C H |O/:
(4)
Next, we observe that, for D 90 , we have

uO B=A D {O;
rD
H 2 C R2 ;
and uO S D p
1
R2
C H2
Substituting Eqs. (4) into Eqs. (3), for D 90 , we have
vEB D90 D RP |O
and
vEB D90 D p
rP
R2
C H2
.R {O C H |O/ C H P {O
RP |O:
(5)
Equating the two above expressions for vEB component by component, we have
{O W
|O W
rR
P
R2
C H2
rH
P
R2 C H 2
C H P D 0;
RP D RP :
(6)
(7)
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161
Equations (6) and (7) form a system of two equations in the two unknowns rP and P (at D 90 ) whose
solution is
RH P
R2 P
rP D90 D p
and P D90 D
:
(8)
R2 C H 2
R2 C H 2
Recalling that we have P D 60 rpm D 6:283 rad=s, H D 4 ft, R D 1:5 ft, we can evaluate the quantities in
Eqs. (8) to obtain
rP D90 D 8:82 ft=s and P D90 D 0:775 rad=s:
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Solutions Manual

A sprinkler essentially consists of a pipe AB mounted on a hollow shaft. The water comes in the pipe at O
and goes out the nozzles at A and B, causing the pipe to rotate. Assume that the particles of water move
through the pipe at a constant rate relative to the pipe of 5 ft=s and that the pipe AB is rotating at a constant
angular velocity of 250 rpm. In all cases, express the answers using the right-handed and orthonormal
component system shown.
Problem 2.124
Determine the acceleration of the water particles when they are at d=2 from O (still
within the horizontal portion of the pipe). Let d D 7 in:
Determine the acceleration of the water particles right before they are expelled at B. Let
d D 7 in:, D 15 , and L D 2 in: Hint: In this case the vector describing the position of a water particle
O
at B goes from O to B and is best written as rE D rB uO B C r k.
Problem 2.125
Solution to 2.124
Using Eq. (2.64) on p. 92, we can express the acceleration of water particle as
aE D rR uO r C 2!E rP uO r C !EP rE
! 2 r uO r :
(1)
O ! D 250 rpm D
next we observe that in our problem we have rP D 5 ft=s, rR D 0, uO r D uO B , !E D ! k,
P
E and rE D .d=2/ uO b , where d D 7 in: D 0:5833 ft. Thus we have
26:18 rad=s, !E D 0,
rER D 2! kO rP uO B
!2d
uO B
2
rER D
2! rP uO C
!2d
uO B ;
2
(2)

aE D . 262 uO C
200 uO B / ft=s:
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Dynamics 1e
Solution to 2.125
The expression for the position vector of a general point P after the horizontal
section is
rEP =O D .d
O
L cos C l cos / uO B C .l sin / k:
(3)
Now we take the derivative of Eq. (3), noting that d , , and L are constants, to get

O
rEPP =O D lP cos uO B C .d L cos C l cos / !E uO B C lP sin k;
O
rEPP =O D ! .d L cos C l cos / uO C C lP cos uO B C lP sin k:
(4)
(5)
Now we take the second derivative of rEP =O .

rERP =O D
rERP =O D
! lP cos uO C
P cos uO C
2l!
! .d
! 2 .d

L cos C l cos / !E uO C C lP cos !E uO B
L cos C l cos / uO B :
(6)
(7)
For P at B: l D L, D 15 , ! D 250 rpm D 26:18 rad=s, and lP D 5 ft=s so we have:

aEP =O D
P cos uO C
2l!
! 2 d uO B
aEP =O D . 253 uO C
400 uO B / ft=s2
August 10, 2009
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Solutions Manual
Problem 2.126
A particle P is moving along a path with the velocity shown. Is the sketch of the
normal-tangential component system at P correct?
Solution
No, the unit vector uO t must point in the direction of vE.
August 10, 2009
Dynamics 1e
165
Problem 2.127
A particle P is moving along a path with the velocity shown. Is the sketch of the
normal-tangential component system at P correct?
Solution
No, the unit vector uO n must point toward the concave side of the curve.
August 10, 2009
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Solutions Manual
Problem 2.128
A particle P is moving along a straight line with the velocity and acceleration
shown. What is wrong with the unit vectors shown in the figure?
Solution
The unit vector uO n is not defined for a straight line.
August 10, 2009
Dynamics 1e
167
Problem 2.129
A particle P is moving along some path with the velocity and acceleration
shown. Can the path of P be the straight line shown?
Solution
No, because the path is straight. It would be compatible if the path were curved with a tangent at P coincident
with uO t and concavity on the side of uO n .
August 10, 2009
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Solutions Manual
Problem 2.130
A particle P is moving along the curve C , whose equation is given by
y2

x 2 .x
1/.2x
3/ D 4 x 2 C y 2
2
2x ;
at a constant speed vc . For any position on the curve C for which the radius
of curvature is defined (i.e., not equal to infinity), what must be the angle
between the velocity vector vE and the acceleration vector aE ?
Solution
The speed is constant. This tells us that there is no component of acceleration in the direction of velocity.
Therefore the angle between vE and aE must be 90 .
August 10, 2009
Dynamics 1e
169
Problem 2.131
Making the same assumptions stated in Example 2.17, consider the map of the Formula 1 circuit at
Hockenheim in Germany and estimate the radius of curvature of the curves Sdkurve and Nordkurve (at
the locations indicated in red).
Solution
At Sdkurve the car is traveling at a speed of 150 km=hr D 41:67 m=s with an acceleration of 3:5g D
34:34 m=s2 . Therefore the curvature is
!
v2
41:672
aD
D 50:6 m:
) D
m )

34:34
At Nordkurve the car is traveling at a speed of 200 km=hr D 55:56 m=s with an acceleration of 3:4g D
33:35 m=s2 . Therefore the curvature is
!
v2
55:562
aD
) D
m )
D 92:5 m:

33:35
August 10, 2009
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Solutions Manual
Problem 2.132
The motion of the piston C as a function of the crank angle and the lengths
ofpthe crank AB and connecting rod BC is given by yC D R cos C
L 1 .R sin =L/2 and xC D 0. Using the component system shown, express uO t , the unit vector tangent to the trajectory of C , as a function of the crank
angle for 0 2 rad.
Solution
uO t D |O for 0 < < rad. uO t D |O for < < 2 rad. uO t is undefined at D 0 and D 2 rad
because the path of C folds back on itself at these two positions.
August 10, 2009
171
Dynamics 1e
Problem 2.133
An aerobatics plane initiates the basic loop maneuver such that, at the bottom of the
loop, the plane is going 140 mph, while subjecting the plane to approximately 4g of
acceleration. Estimate the corresponding radius of the loop.
Solution
4g D 128:8 ft=s2 . 140 mi=hr D 205:3 ft=s. Thus, the radius of the loop is found with
v2
an D

)
D

205:32
ft;
128:8
(1)
which gives
D 327 ft:
August 10, 2009
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Solutions Manual
Problem 2.134
Suppose that a highway exit ramp is designed to be a circular segment of radius
D 130 ft. A car begins to exit the highway at A while traveling at a speed of
65 mph and goes by point B with a speed of 25 mph. Compute the acceleration
vector of the car as a function of the arc length s, assuming that the tangential
component of the acceleration is constant between points A and B.
Solution
The change in speed is completely due to the tangential acceleration. Hence, since this component of
acceleration is assumed to be constant, the speeds at A and B are related via the following constant
acceleration equation:
v 2 vA2
2
:
(1)
vB
vA2 D 2a t .sB sA / ) a t D B
2.sB sA /
Next, recalling that we have sA D 0, vA D 65 mph D 95:33 ft=s, vB D 25 mph D 36:67 ft=s, and
sB D 2 D .65/ ft D 204:2 ft, the above equation can be evaluated to obtain
at D
18:96 ft=s2 :
(2)
The expression for the speed in terms of arc length, s, can be found again using constant acceleration
equations, i.e.,
v 2 .s/ D vA2 C 2a t .s
sA /
v 2 .s/ D 9088
.37:92/s ft2 =s2 ;
where we have used the fact that vA D 65 mph D 95:33 ft=s and that a t D
Recalling that an D v 2 =, we have that the acceleration vector is
aE .s/ D a t uO t C
v 2 .s/
uO n

aE .s/ D f 19:0 uO t C 69:9
(3)
18:96 ft=s2 (see Eq. (2)).
.0:292/s uO n g ft=s2 :
(4)
August 10, 2009
173
Dynamics 1e
Problem 2.135
Suppose that a highway exit ramp is designed to be a circular segment of radius
D 130 ft. A car begins to exit the highway at A while traveling at a speed of
65 mph and goes by point B with a speed of 25 mph. Compute the acceleration
vector of the car along the cars path as a function of the arc length s, assuming
that between A and B the speed was controlled so as to maintain constant the
rate dv=ds.
Solution
Let K be the constant value of the quantity dv=ds. Then, the appropriate expression for the speed can be
found by integrating the equation dv
D K as follows:
ds
Z
dv D Kds
vB
vA
Z
dv D
sB
K ds
sA
vB D vA C Ks:
(1)
Applying the conditions that at sA D 0, vA D 65 mph D 95:33 ft=s, and at sB D 2 D .65/ ft D 204:2 ft,
vB D 25 mph D 36:67 ft=s, it is found that
KD
vB
vA
sB
0:2873 s 1 :
(2)
Hence the speed as a function of the arc length s is

v.s/ D vA C Ks:
(3)
Next we recall that the quantity vP can be written as

dv
dv ds
D
dt
ds dt
vP D v.s/
dv
D .vA C Ks/ K:
ds
Finally, recalling that the acceleration vector is given by aE D vP uO t C

.vA C Ks/2
aE D vA K C K 2 s uO t C
uO n

D
27:4 C .82510 4 /s uO t C 69:9
v2

(4)
uO n , we can write
.0:421/s C .63510

/s 2 uO n ft=s2 ;
where we have used the value of K in Eq. (2) and the following numerical data: vA D 65 mph D 95:33 ft=s
and D 130 ft.
August 10, 2009
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Solutions Manual
Problem 2.136
Particles A and B are moving in the plane with the same constant speed v, and their
paths are tangent at P . Do these particles have zero acceleration at P ? If not, do
these particles have the same acceleration at P ?
Solution
Without knowledge of the radii of curvature for the two curves it is not possible to answer the question. If the
curvature of the two curves is equal to zero at P , then the acceleration of the particles at P would be equal to
zero since the particles are moving with constant speed. If the radii of curvature for the two curves at P are
finite and equal but not equal to zero, then the acceleration of the two particles at P would be equal. If the
radii of curvature are different, then the accelerations of the two particles would be different.
August 10, 2009
175
Dynamics 1e
Problem 2.137
Uranium is used in light water reactors to produce a controlled nuclear reaction
for the generation of power. When first mined, uranium comes out as the oxide
U3 O8 , which is 0.7% of the isotope U-235 and 99.3% of the isotope U-238. To
be used in a nuclear reactor, the concentration of U-235 must be in the 35%
range. The process of increasing the percentage of U-235 is called enrichment,
and it is done in a number of ways. One method uses centrifuges, which spin
at very high rates to create artificial gravity. In these centrifuges, the heavy
U-238 atoms concentrate on the outside of the cylinder (where the acceleration
is largest), and the lighter U-235 atoms concentrate near the spin axis. Before
centrifuging, the uranium is processed into gaseous uranium hexafluoride or
UF6 , which is then injected into the centrifuge. Assuming that the radius of the
centrifuge is 20 cm and that it spins at 70;000 rpm, determine
(a) The velocity of the outer surface of the centrifuge.
(b) The acceleration in g experienced by an atom of uranium that is on the
inside of the outer wall of the centrifuge.
Solution
We denote by ! the angular speed of the centrifuge. Hence, we have that ! D 70;000 rpm D 7330 rad=s.
Part (a). Using the fact that the speed v and the angular speed ! are related as v D !, we have that the
speed of points on the outer surface of the centrifuge is
v D ! D 1466 m=s;
(1)
where we have used the fact that ! D 7330 rad=s and D 20 cm D 0:2000 m. Expressing the above result
to 3 significant figures, we have
v D ! D 1470 m=s:
Part (b). Under the assumption that the centrifuge is spinning with a constant angular speed, the only
component of acceleration of a point on the wall of the centrifuge will be the normal component. Hence, the
acceleration experienced by an atom at the inside surface of the centrifuge is

g 10:75106 m=s2
v2
.1466 m=s/2
an D
D
D
)
aE D 1:10106 g uO n ,

0:2 m
9:81 m=s2
where the unit vector v always points from a point on the periphery of the centrifuge toward the center of the
centrifuge,and where we have used the the value of v in Eq. (1) along with the fact that D 20 cm D 0:2000 m
and g D 9:81 m=s2 .
August 10, 2009
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Solutions Manual
Problem 2.138
Treating the center of the Earth as a fixed point, determine the magnitude of the acceleration of points on
the surface of the earth as a function of the angle shown. Use R D 6371 km as the radius of the Earth.
Solution
Let ! denote the angular speed of the Earth. Since the Earth undergoes one full revolution per day, we have
2
rad=s.
24.3600/
2 rad
1 rev
D
D 72:7210 6 rad=s:
(1)
!D
1 day
.24 h/.3600 s=h/
Next, let denote the distance between the point indicated on the figure and the axis of rotation of the Earth,
i.e., a point on the surface of the Earth characterized by the angle off the equator and the axis of rotation of
the Earth. Then, we have we
D R cos :
(2)
Next we observe that under the assumption that the angular speed of the Earth is constant, the only component
of the acceleration of the point in question is the normal component. Hence, we must have
2

aE D an D v D ! 2 D R! 2 cos ;

which, recalling that R D 6371 km D 6;371;000 m, using the value of ! in Eq. (1), and expressing all known
coefficients to 3 significant figures, can be evaluated to obtain

aE D .33:710
cos / m=s2 :
August 10, 2009
177
Dynamics 1e
Problem 2.139
A water jet is ejected from the nozzle of a fountain with a speed v0 D 12 m=s.
Letting D 33 , determine the rate of change of the speed of the water particles
as soon as these are ejected as well as the corresponding radius of curvature of
the water path.
Solution
The normal and tangential components of acceleration are:
an D g cos D
v02
I

and a t D
g sin D v:
P
Hence, recalling that g D 9:81 m=s2 , v0 D 12 m=s, and D 33 , we have

D
v02
D 17:5 m
g cos
and vP D
5:34 m=s:
August 10, 2009
178
Solutions Manual
Problem 2.140
A water jet is ejected from the nozzle of a fountain with a speed v0 . Letting D 21 , determine v0 so that
the radius of curvature at the highest point on the water arch is 10 ft.
Solution
We model the water particles in the jet as projectiles subject to the constant acceleration due to gravity. Hence,
at the highest point on the water arch the vertical component of the velocity of the water particles is equal to
zero and the only nonzero component of velocity is equal to the initial component of velocity in the horizontal
direction. This component of velocity is equal to v0 cos . Therefore, at the highest point on the water arch
we have
vE D v0 cos uO t ) v D v0 cos :
(1)
Recalling that speed and radius of curvature are related through the relation an D v 2 = and observing that at
the highest point on the water arch the acceleration due to gravity is completely in the normal direction, i.e.,
an D g, then we must have
v2
an D g D

v 2 cos2
gD 0

r
)
v0 D
g
:
cos2
(2)
Recalling that D 21 , g D 32:2 ft=s2 , and D 10 ft, we can evaluate the above expression to obtain
v0 D 19:2 ft=s:
August 10, 2009
179
Dynamics 1e
Problem 2.141
A jet is flying at a constant speed v0 D 750 mph while performing a constant

speed circular turn. If the magnitude of the acceleration needs to remain constant
and equal to 9g, where g is the acceleration due to gravity, determine the radius
of curvature of the turn.
Solution
Using the given data, we have v0 D 750 mph D 1100 ft=s. Since the speed is constant, the only component
of the acceleration is the normal component, namely, an . Relating this component of acceleration to the
speed and the radius of curvature, we have
an D
v2
D 9g

D
v2
D 4180 ft:
9g
(1)
August 10, 2009
180
Solutions Manual
Problem 2.142
A car traveling with a speed v0 D 65 mph almost loses contact with the ground
when it reaches the top of the hill. Determine the radius of curvature of the hill
at its top.
Solution
For the car to almost loose contact with the ground we have
an D
v02
Dg

D
v02
D 282 ft;
g
(1)
where we have used the following numerical data: v0 D 65 mph D 95:33 ft=s and g D 32:2 ft=s2 .
August 10, 2009
181
Dynamics 1e
Problem 2.143
A car is traveling over a hill. If, using a Cartesian coordinate system with
origin O at the top of the hill, the hills profile is described by the function
y D .0:003 m 1 /x 2 , where x and y are in meters, determine the minimum
speed at which the car would lose contact with the ground at the top of the hill.
Express the answer in km=h.
Solution
We need to calculate the curvature at the top of the hill (x D 0). TO do so, we will apply the formula
giving the radius of curvature in terms of derivatives of the curve y D .0:003 m 1 /x 2 with respect to x.
Specifically, we have

3=2
1 C .dy=dx/2
.x/ D
:
(1)
d 2 y=dx 2
With this in mind, we have
dy
D
dx
.0:006000 m 1 /x
d 2y
D
dx 2
and
0:006000 m 1 :
(2)
Substituting the values from Eqs. (2) into Eq. (1) for x D 0, we have
.0/ D
1
0:006000 m
D 166:7 m:
(3)
Now we observe that for the car to almost loose contact with the ground we have
an D
2
vmin
D g;

(4)
where vmin is the value of the speed that we are trying to determine. Since g is known, i.e., g D 9:81 m=s2
and we have just determined that D 166:7 m, we can solve the above equation to obtain
vmin D
g.0/
vmin D 40:44 m=s
vmin D 146 km=h:
(5)
August 10, 2009
182
Solutions Manual
Problem 2.144
A race boat is traveling at a constant speed v0 D 130 mph when it performs a turn
with constant radius to change its course by 90 as shown. The turn is performed
while losing speed uniformly in time so that the boats speed at the end of the turn is
vf D 125 mph. If the maximum allowed normal acceleration is equal to 2g, where g
is the acceleration due to gravity, determine the tightest radius of curvature possible
and the time needed to complete the turn.
Solution
Since the normal acceleration is given by an D v 2 =, under the assumption that D constant, the maximum
normal acceleration occurs where the speed is maximum. In turn, this occurs at the beginning of the turn
given that the speed is monotonically decreasing. Specifically, we have
vmax D v0 D 130 mph D 190:7 ft=s:
(1)
then, going back to the formula an D v 2 =, we have

an D 2g D
2
vmax
min
min D
v02
D 565 ft;
2g
(2)
where we have used the value of v0 in Eq. (1) and the fact that g D 32:2 ft=s2 .
Next, recalling that the speed is decreasing uniformly in time, i.e., that vP is constant, using the constant
acceleration equation vf2 v02 D 2a t .s s0 / to find a t , we have

sD
2
and
s0 D 0
at D
vf2
v02
min
(3)
Now use the constant acceleration equation vf D v0 C a t tf to find the time to complete the turn, where
vf D 125 mph D 183:3 ft=s.
tf D
min
vf C v0
tf D
v02
D 4:74 s,
2g vf C v0
(4)
where we have used the following numerical values: v0 D 190:7 ft=s (see Eq. (1)), vf D 125 mph D
183:3 ft=s, and g D 32:2 ft=s2 .
August 10, 2009
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Dynamics 1e
Problem 2.145
A race boat is traveling at a constant speed v0 D 130 mph when it performs a turn
with constant radius to change its course by 90 as shown. The turn is performed
while losing speed uniformly in time so that the boats speed at the end of the turn is
vf D 116 mph. If the magnitude of the acceleration is not allowed to exceed 2g, where
g is the acceleration due to gravity, determine the tightest radius of curvature possible
and the time needed to complete the turn.
Solution
The given values of speed at the beginning and end of the turn are
v0 D 130 mph D 190:7 ft=s
and vf D 116 mph D 170:1 ft=s:
(1)
Treating the value of as known and equal to the minimum value that we need to determine, then the normal
component of acceleration is given by
v2
;
(2)
an D
min
where v is the speed of the boat. Next, recalling that the tangential acceleration is constant, applying constant
acceleration equations, we have
vf2
v02 D 2a t .sf
s0 / D 2a t

min ;
2
(3)
where .=2/min is the distance covered by the boat along its path while performing the turn. Hence, we can
solve the above equation for a t to obtain
vf2 v02
at D
:
(4)
min
Now, using Eqs. (2) and (4) we can compute the magnitude of the acceleration of the boat. In addition,
recalling that we want the maximum value of the acceleration not to exceed 2g, we can solve for min by
writing
v

2

2
u
u 4
2
2
2
2
4
v
v
v
v
t
0
0
v
v0
f
f
jE
aj2 D an2 C a2t D 20 C
D 4g 2 ) min D
C
D 565:9 ft; (5)
2
2
2
2
4g
4 g 2
min
min
where we have the speed values in Eqs. (1) and the fact that g D 32:2 ft=s2 .
Now we solve for tf the time needed to perform the turn by observing that we must have vf D v0 C a t tf .
Hence, using the expression for a t in Eq. (4), we can write
tf D
vf
v0
at
vf
v0
vf2
v02
min
tf D
min
D 4:927 s;
vf C v0
where we have used the speed values in Eq. (1) and the value of min in Eq. (5). Summarizing and expressing
our final answers to 3 significant figures, we have
min D 566 ft
and tf D 4:93 s:
August 10, 2009
184
Solutions Manual
Problem 2.146
A truck takes an exit ramp with a speed v0 D 55 mph. The ramp is a circular
arc with radius D 150 ft. Determine the constant rate of change of the truck
speed that will allow the truck to stop at B.
Solution
Since the tangential component of the acceleration of the truck is assumed to be constant, we can solve the
problem by using the constant acceleration equation v 2 v02 D 2v.s
P
s0 /. Doing so and recalling that we
have letting s0 D 0, s D ./=2 D 235:6 ft, vf D 0, and v0 D 55 mph D 80:67 ft=s, we can write
vP D
v02
2s
vP D
13:8 ft=s2 .
(1)
August 10, 2009
185
Dynamics 1e
Problem 2.147
A jet is flying straight and level at a speed v0 D 1100 km=h when it turns to
change its course by 90 as shown. In an attempt to progressively tighten the
turn, the speed of the plane is uniformly decreased in time while keeping the
normal acceleration constant and equal to 8g, where g is the acceleration due
to gravity. At the end of the turn, the speed of the plane is vf D 800 km=h.
Determine the radius of curvature f at the end of the turn and the time tf that
the plane takes to complete its change in course.
Solution
Keeping in mind that we have vf D 800 km=h D 222:2 m=s and that g D 9:81 m=s2 , the radius of curvature
at the end of the turn is
an D 8g D
vf2
f
f D
vf2
8g
D 629 m
(1)
Now, we need to relate the speed to the fact that the plane undergoes a change of course of 90 . To do so, let
! denote the anguar speed of the plane. Therefore ! is also the angular speed of the radial line connecting
the plane to center of curvature on an instant by instant basis. With this in mind, we have v D ! where
! D d
, where is any angle that one can conveniently define to characterize the orientation of the radial
dt
line connecting the plane to center of curvature on an instant by instant basis. So we have
!D
d
v
8g
D D
;
dt

v
(2)
where, to obtain the last expression we have used the fact that the normal acceleration must remain constant
and equal to 8g, i.e., an D v 2 =rho D 8g so that v= D 8g=v. Now, we enforce the condition that the speed
is decrased uniformily in time. This means that we can used constant acceleration equations and write
v D v0 C a t t;
(3)
where a t is the (constant) tangential acceleration. Therefore, substituting Eq. (3) into Eq. (2) we have
Z tf
Z =2
d
8g
8g
8g
D
) d D
dt )
dt D
d;
(4)
dt
v0 C a t t
v0 C a t t
v0 C ac t
0
0
where in the above integral we have finally managed to relate the speed of the airplane to the fact that the
airplane undergoes a change of course of 90 . Carrying out the above integration, and recalling that we must
have a t D .vf v0 /=tf , we have

a t tf
8gtf
vf v0
8g

ln 1 C
D
)
D :
ln 1 C
at
v0
2
vf v0
v0
2
Hence, recalling that we have vf D 800 km=h D 222:2 m=s, v0 D 1100 km=h D 305:6 ft=s, and g D
9:81 m=s2 , we can solve the above equation for tf to obtain
tf D
.vf v0 /
D 5:24 s:
16g ln.vf =v0 /
August 10, 2009
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Solutions Manual
Problem 2.148
A car is traveling over a hill with a constant speed v0 D 70 mph. Using
the Cartesian coordinate system shown, the hills profile is described by the
function y D .0:0005 ft 1 /x 2 , where x and y are measured in feet. At
x D 300 ft, the driver applies the brakes, causing a constant time rate of
change of speed vP D 3 ft=s2 until the car arrives at O. Determine the distance
traveled while applying the brakes along with the time to cover this distance.
Hint: To compute
the distance
p
p traveled by the car along the cars path, observe
that ds D dx 2 C dy 2 D 1 C .dy=dx/2 dx, and that
Z p

p
xp
1
ln C x C 1 C C 2 x 2 :
1 C C 2 x 2 dx D
1 C C 2x2 C
2
2C
Solution
Taking the derivative of y.x/ with respect to x, we have
yD
.0:0005 ft 1 /x 2
dy
D
dx
.0:001000 ft1 /x:
Making use of the equation for ds given in the problem statement. For convenience, let C D
Then we can write
q
p
ds D 1 C .dy=dx/2 dx ) ds D 1 C C 2 x 2 dx:
Integrating Eq. (2) from x D
Z
sD
0
300 ft
1C
C 2 x 2 dx
(1)
0:001000 ft 1 .
(2)
300 ft to x D 0, we have
)
p
0
p
1
x
2
2
2
2
:
sD
1CC x C
ln C x C 1 C C x
2
2C
300 ft
(3)
Evaluating the last of Eqs. (3) and expressing the final result to 3 significant figures, we find
s D 304 ft:
August 10, 2009
187
Dynamics 1e
Problem 2.149
Recalling that a circle of radius R and center at the origin O of a Cartesian
coordinate system with axes x and y can be expressed via the formula x 2 Cy 2 D
R2 , use Eq. (2.72) to verify that the radius of curvature of this circle is equal to
R.
Solution
Taking the differential of x 2 C y 2 D R2 with respect to x to find
2x C 2y
dy
D0
dx
dy
,
dx
we have
dy
x
D
:
dx
y
(1)
Takinf the derivative of Eq. (1) with respect to x and substituting Eq. (1) back into the results for
1
x dy
d 2y
D
C 2
2
dx
y
y dx
d 2y
D
dx 2
.x 2 C y 2 /
:
y3
dy
,
dx
we have
(2)
Then

3=2

3=2

1 C .dy=dx/2
1 C x 2 =y 2
y 3
D
)

D
d 2 y=dx 2
x 2 C y 2

3=2
x2 C y2
R3
D
)
D R:
D
x 2 C y 2
R2
(3)
(4)
August 10, 2009
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Solutions Manual
Problem 2.150
A particle P is moving along a path with the velocity shown. Discuss in detail
whether or not there are incorrect elements in the sketch of the polar component
system at P .
Solution
The unit vector uO r must be oriented along the radial line r and point away from the origin. The unit vector
uO is oriented perpendicular to uO r and pointing in the direction of increasing .
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Problem 2.151
system at P .
Solution
The unit vector uO is oriented correctly but uO r must point in the direction opposite to the direction shown.
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Problem 2.152
system at P .
Solution
The unit vector uO r is oriented correctly. uO must be oriented opposite to the direction shown.
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Problem 2.153
A particle P is moving along a circle with center C and radius R in the direction
shown. Letting O be the origin of a polar coordinate system with the coordinates
r and shown, discuss in detail whether or not there are incorrect elements in
the sketch of the polar component system at P .
Solution
Both uO r and uO are oriented as they should be.
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Problem 2.154
A radar station is tracking a plane flying at a constant altitude with a speed
v0 D 550 mph. If at a given instant r D 7 mi and D 32 , determine the
P r,
R
corresponding values of r,
P ,
R and .
Solution
The velocity is vE D v0 {O, where {O D cos uO r sin uO . The velocity in polar coordinates is vE D rP uO r Cr P uO .
Therefore
v0 cos uO r v0 sin uO D rP uO r C r P uO :
This vector equation gives us two scalar equations we use to solve for the desired quantites.
v0 cos D rP
v0 sin D r P
rP D 466 mph
P D
41:6 rad=h.
The problem statement implies that the velocity of the airplane is constant and that therefore the acceleration
of the airplane is equal to zero. Use the following equation to solve for the desired quantities. This implies
that we must have
0E D .rR r P 2 / uO r C .r R C 2rP P / uO ;
This vector equation gives us two scalar equations we use to solve for the desired quantites.
rR D r P 2
and
R D
2rP P
r
rR D 12;100 mi=h2 ,
R D 5550 rad=h2 .
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Problem 2.155
During a given time interval, a radar station tracking an airplane records the
readings
r.t
P / D 449:8 cos .t / C 11:78 sin .t / mph;
r.t /P .t / D 11:78 cos .t / 449:8 sin .t / mph;
where t denotes time. Determine the speed of the plane. Furthermore, determine whether the plane being tracked is ascending or descending and the
corresponding climbing rate (i.e., the rate of change of the planes altitude)
expressed in ft=s.
Solution
Using the expressions for r.t
P / and r.t /P .t/ provided by the problem statement, and realizing that r.t
P / D vr
P
and r.t/.t/ D v , we have
v 2 D vr2 C v2
D rP 2 C .r P /2

D .449:8/2 cos2 C .11:78/2 sin2 C 2 sin cos .449:8/.11:78/ mph

C .11:78/2 cos2 C .449:8/2 sin2 2 sin cos .449:8/.11:78/ mph:
(1)
Using the trigonometric identity sin2 ! C cos2 ! D 1, we can simplify the above expression to

v 2 D .449:8/2 C .11:78/2 mph
v D 450 mph.
(2)
Letting y denote the elevation of the airplane, we have that y D r sin . Taking the derivative of y with
respect to time we have
yP D rP sin C r P cos
D .449:8/ sin cos C .11:78/ sin2 C .11:78/ cos2
.449:8/ sin cos mph
D 11:78 mph:
Converting the above result and expressing to 3 significant figures, we have
The airplane is ascending at a rate of 17:3 ft=s.
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Problem 2.156
At a given instant, an airplane flying at an altitude h0 D 10;000 ft begins its
descent in preparation for landing when it is r.0/ D 20 mi from the radar station
at the destinations airport. At that instant, the aiplanes speed is v0 D 300 mph,
the climb rate is 5 ft=s, and the horizontal component of velocity is decreasing
P r,
steadily at a rate of 15 ft=s2 . Determine the r,
P ,
R and R that would be observed
by the radar station.
Solution
Referring to the figure on the right,
q at time t D 0, we have D
1
sin .h=r/ D 5:434 , x.0/

P 2 D 440:0 ft=s, and
P
D
v02 y.0/
y.0/
P
D 5 ft=s. In addition, we can relate the polar coordinates
.r; / to the Cartesian coordinates .x; y/ as follows:
y D r sin
x D r cos
yP D rP sin C r P cos ;
xP D rP cos r P sin :
(1)
(2)
Viewing the above equations as a system of two equations in the two unknowns rP and P , solving the system
in question and evaluating the solution for t D 0, we have
r.0/
P
D
438 ft=s
and P .0/ D 34710
rad=s;
where we have used the data listed earlier.

Differentiating the last of Eqs. (1) and (2) yields the following system of two equations in the two
R
unknowns rR and :
yR D rR sin C 2rP P cos C r R cos r P 2 sin
xR D rR cos 2rP P sin r R sin r P 2 cos :
Recalling that we have x.0/
R
D 15 ft=s2 and y.0/
R
D 0, solving the above system and evaluating the solution
at t D 0, we have
r.0/
R
D 14:9 ft=s2
and R .0/ D
10:610
rad=s2 :
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Problem 2.157
At a given instant, the merry-go-round is rotating with an angular velocity ! D 20 rpm while the child is
moving radially outward at a constant rate of 0:7 m=s. Assuming that the angular velocity of the merry-goround remains constant, i.e., D 0, determine the magnitudes of the speed and of the acceleration of the
child when he is 0:8 m away from the spin axis.
Solution
The childs velocity is vE D rP uO r C r P uO , where rP D 0:7 m=s and P D ! D 20 rpm D 2:094 rad=s. Hence,
for r D 8 m, we have
q

v D vE D rP 2 C r 2 P 2 )
v D 1:82 m=s.
(1)
The childs acceleration is aE D .rR
r P 2 / uO r C .r R C 2rP P / uO , where R D D 0 and rR D 0.
q
aE D . r P 2 /2 C .2rP P /2

aE D 4:57 m=s2 .
(2)
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Problem 2.158
At a given instant, the merry-go-round is rotating with an angular velocity
! D 18 rpm, and it is slowing down at a rate of 0:4 rad=s2 . When the child
is 2:5 ft away from the spin axis, determine the time rate of change of the
childs distance from the spin axis so that the child experiences no transverse
acceleration while moving along a radial line.
Solution
P where P D ! D 18 rpm D 1:885 rad=s and
The transverse component of acceleration is a D r R C 2rP ,
2
R
D D 0:4 rad=s . Hence, for r D 2:5 ft, we have
rP D
r R
2P
rP D 0:265 ft=s.
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Problem 2.159
At a given instant, the merry-go-round is rotating with an angular velocity
! D 18 rpm. When the child is 0:45 m away from the spin axis, determine the
second derivative with respect to time of the childs distance from the spin axis
so that the child experiences no radial acceleration.
Solution
The radial component of acceleration is ar D rR
r D 0:45 m, we have
rR D r! 2
r P 2 , where P D ! D 18 rpm D 1:885 rad=s. Hence, for

rR D 1:60 m=s2 .
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Problem 2.160
The cutaway of the gun barrel shows a projectile that, upon exit, moves with a speed vs D 5490 ft=s
relative to the gun barrel. The length of the gun barrel is L D 15 ft. Assuming that the angle is increasing
at a constant rate of 0:15 rad=s, determine the speed of the projectile right when it leaves the barrel. In
addition, assuming that the projectile acceleration along the barrel is constant and that the projectile starts
from rest, determine the magnitude of the acceleration upon exit.
Solution
We will use a coordinate system with origin at the base of the gun, the coordinate r define as the distance of
a point along the gun from its base, and the coordinate as shown in the figure. In this coordinate system,
we have that the rate of change of the radial position of the projectile along the gun is r.
P In addition, we are
told that P D 0:15 rad=s. Recall that in polar coordinates the velocity of the projectile is vE D rP uO r C r P uO .
Therefore, upon exit, i.e., for r D L and rP D vs D 5490 ft=s, the speed of the projectile is
q
vE D rP 2 C .LP /2 D 5490 ft=s:
The assumption that the acceleration of the projectile along the gun is constant implies that the quantity rR is
assumed constant. Hence, we can compute rR using constant acceleration equations, i.e., rP 2 D rP02 C 2r.r
R
r0 /.
letting r0 D 0, since rP0 D 0 (the projectile start from rest), and since we know that for r D L we have
rP D vs , we can write
v2
rR D s :
2L
Next, recalling that in polar coordinate the acceleration of the projectile is aE D .rR r P 2 / uO r C .r R C 2rP P / uO ,
and that we have R D 0, upon exit, we can write

aE D
s

vs2
2L
LP 2
2

2
C 2vs P D 1:00106 ft=s2 ;
where we have used the fact that vs D 5490 ft=s, L D 15 ft, and P D 0:15 rad=s.
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Problem 2.161
A space station is rotating in the direction shown at a constant rate of 0:22 rad=s.
A crew member travels from the periphery to the center of the station through
one of the radial shafts at a constant rate of 1:3 m=s (relative to the shaft) while
holding onto a handrail in the shaft. Taking t D 0 to be the instant at which
travel through the shaft begins and knowing that the radius of the station is
200 m, determine the velocity and acceleration of the crew member as a function
of time. Express your answer using a polar coordinate system with origin at the
center of the station.
Solution
We will use a polar coordinate system with origin at the center of the station and radial coordinate going from
the center to the person moving along the shaft. The velocity of the astronaut is vE D rP uO r C r P uO , where
rP D 1:3 m=s and P D 0:22 rad=s. Let r0 represent the radius of the station. The position is r D r0 1:3 t.
So we have
vE D 1:30 uO r C .44:0
The acceleration is aE D .rR
0:286 t / uO m=s:
r P 2 / uO r C .r R C 2rP P / uO , where rR D 0 and R D 0.

aE D . 9:68 C 0:0629 t / uO r
0:572 uO m=s2 :
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Problem 2.162
Solve Prob. 2.161 and express your answers as a function of position along the
shaft traveled by the astronaut.
Solution
The velocity of the astronaut is vE D rP uO r C r P uO . Therefore
vE D . 1:3 uO r C 0:22 r uO / m=s:
The acceleration is aE D .rR
r P 2 / uO r C .r R C 2rP P / uO , where rR and R D 0.

. 0:0484 r uO r
0:572 uO / m=s2 :
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Problem 2.163
A person driving along a rectilinear stretch of road is fined for speeding, having
been clocked at 75 mph when the radar gun was pointing as shown. The driver
claims that, because the radar gun is off to the side of the road instead of directly
in front of his car, the radar gun overestimates his speed. Is he right or wrong
and why?
Solution
The driver is wrong. The speed recorded is the component of the actual speed along the radial direction. As
such, i.e. being a component, it can only be smaller than the true speed.
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Problem 2.164
A motion tracking camera is placed along a rectilinear stretch of a racetrack
(the figure is not to scale). A car C enters the stretch at A with a speed
vA D 110 mph and accelerates uniformly in time so that at B it has a speed
vB D 175 mph, where d D 1 mi. Letting the distance L D 50 ft, if the camera
is to track the motion of C , determine the cameras angular velocity as well as
the time rate of change of the angular velocity when the car is at A and at H .
Solution
At A the velocity of the car is vE D vA {O. Expressing the unit vector
{O via the .uO r ; uO / component system, we have
{O D
sin uO r
cos uO :
P we consider the transverse component of velocity v , i.e.,

To find ,
v cos
:
v D r P D v cos ) P D
r
p
For the point A we have r D .d=2/2 C L2 , cos D L
r , and v D vA . Eq. (1) becomes
PA D
vA L
2
.d=2/ C
L2
1:1610
(1)
rad=s:
(2)
where we have used the following numerical data: vA D 110 mph D 161:3 ft=s, L D 50 ft, and d D 1 mi D
5280 ft.
Next, using the constant acceleration equation v 2 D v02 C 2ac .s s0 / the acceleration
q of the car is
2 2
2
2
vB vA
vA
CvB
aE D
{O. Using the same constant acceleration equation the velocity at H is vEH D
{O. For
2
2d
the point H we have r D L D 50 ft and cos D 1 so that Eq. (1) gives
PH
1
D
L
2
vA2 C vB
D
2
4:29 rad=s;
(3)
where we have used the following numerical data: vA D 110 mph D 161:3 ft=s, vB D 175 mph D 256:7 ft=s,
L D 50 ft, and d D 1 mi D 5280 ft.
To find R we need to find rP at A and H by using the radial component of velocity vr D rP D v sin . At
d
A, we have that sin D 2r
D p d 2 2 . At H , we have that sin D 0. Therefore, we can write
2
.d=2/ CL
vr D rP D
v sin
)
)
vA d
rPA D p
;
2 .d=2/2 C L2
rPH D 0:
(4)
(5)
R Keeping in mind that aE D

Now we use the uO component of acceleration to find .
a D r R C 2rP P D
2
vB
vA2
2d

cos
1
R D
r
"
vA2
2
vB
2d
2
2
vB
vA
2d
{O, we have

cos
2rP P :
(6)
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Dynamics 1e
To find R at A we start with Eq. (6) and replace rP with Eq. (4), P with Eq. (2), and cos with
1
RA D 2
r
"
vA2

2
L
vB
2d
vA2 dL
r2
L
r,
i.e.,
#
D
1:6810
rad=s2 ;
p
where r D .d=2/2 C L2 , and where we have used the following numerical data: vA D 110 mph D
161:3 ft=s, vB D 175 mph D 256:7 ft=s, L D 50 ft, and d D 1 mi D 5280 ft.
To find R at H we start with Eq. (6) and replace rP with Eq. (5), r with L, and cos with 1.

2
vA2 vB
R D
D
2dL
0:0755 rad=s2 ;
where we have used the following numerical data: vA D 110 mph D 161:3 ft=s, vB D 175 mph D 256:7 ft=s,
L D 50 ft, and d D 1 mi D 5280 ft.
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Problem 2.165
The radar station at O is tracking a meteor P as it moves through the atmosphere.
At the instant shown, the station measures the following data for the motion
of the meteor: r D 21;000 ft, D 40 , rP D 22;440 ft=s, P D 2:935 rad=s,
rR D 187;500 ft=s2 , and R D 5:409 rad=s2 .
(a) Determine the magnitude and direction (relative to the xy coordinate system
shown) of the velocity vector at this instant.
(b) Determine the magnitude and direction (relative to the xy coordinate system
shown) of the acceleration vector at this instant.
Solution
Part (a). Using the polar coordinate system defined in the figure of the problem statement, we have that the
velocity of the meteor is
vE D vr uO r C v uO D rP uO r C r P uO D
.22;440 ft=s/ uO r
.6:164104 ft=s/ uO ;
where we have used the following numerical data: rP D 22;440 ft=s, r D 21;000 ft, and P D
Then the magnitude of vE is
q
jE
v j D vr2 C v2 D 6:56104 ft=s;
(1)
2:935 rad=s.
where, from Eq. (1), we have used the fact that vr D 22;440 ft=s and v D 6:164104 ft=s. Let denote
the angle by which the unit vector uO r must be rotated counterclockwise to point in the same direction as the
vector vE. Then, because both vr and v are negative, the angle is given by

1 v
D 180 C tan
D 250:0 :
(2)
vr
Since the radial direction is oriented at 40 counterclockwise with respect to the x axis, then the angle
formed by the velocity vector and the x axis is C 40 , where it is understood that this angle is measured
counterclockwise from the x axis. Hence, we have
Orientation of vE from x axis D 290 (ccw):
Part (b). Using the polar coordinate system defined in the figure of the problem statement, we have that the
acceleration of the meteor is
vE D ar uO r C a uO D .rR
r P 2/ uO r C .r R C 2rP P / uO D .6:601103 ft=s2 / uO r C .18:13103 ft=s2 / uO ; (3)
where we have used the following numerical data: rR D 187;500 ft=s2 , rP D

r D 21;000 ft, and R D 5:409 rad=s2 . Then the magnitude of aE is
22;440 ft=s, P D
2:935 rad=s,
q
jE
aj D ar2 C a2 D 19:3103 ft=s2 ;
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Dynamics 1e
where, from Eq. (3), we have used the fact that ar D 6:601103 ft=s2 and a D 18:13103 ft=s2 . Let
denote the angle by which the unit vector uO r must be rotated counterclockwise to point in the same direction
as the vector aE . Then, because both ar and a are positive, the angle is given by

1 a
D 69:99 :
(4)
D tan
ar
Since the radial direction is oriented at 40 counterclockwise with respect to the x axis, then the angle formed
by the acceleration vector and the x axis is C 40 , where it is understood that this angle is measured
counterclockwise from the x axis. Hence, we have
Orientation of aE from x axis D 110 (ccw):
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Solutions Manual

As a part of an assembly process, the end effector at A on the robotic arm needs
to move the gear at B along the vertical line shown with some known velocity
v0 and acceleration a0 . Arm OA can vary its length by telescoping via internal
actuators, and a motor at O allows it to pivot in the vertical plane.
When D 50 , it is required that v0 D 8 ft=s (down) and
that it be slowing down at a0 D 2 ft=s2 . Using h D 4 ft, determine, at this
instant, the values for rR (the extensional acceleration) and R (the angular acceleration).
Problem 2.166
Letting v0 and a0 be positive if the gear moves and accelerates

P and R that are valid for any value
upward, determine expressions for r, r,
P r,
R ,
of .
Problem 2.167
Solution to 2.166
Referring to the figure on the right, The .O{ ; |O/ component system is converted to
the .uO r ; uO / component system as
{O D cos uO r
The velocity vE D
sin uO
and
|O D sin uO r C cos uO :
(1)
v0 |O is expressed in the .uO r ; uO / coordinate system as

vE D
v0 .sin uO r C cos uO / :
(2)
The general expression for velocity in polar coordinates is vE D rP uO r C r P uO .

Thus rP and P are
rP D
v0 sin
and
v0 cos
:
r
P D
(3)
The acceleration aE D a0 |O is converted to the .uO r ; uO / coordinate system as

aE D a0 .sin uO r C cos uO / :
The general expression for acceleration in polar coordinates is aE D rR
the results of Eq. (3) and noting that r D h= cos we obtain
rR
rR D a0 sin C
r P 2 D a0 sin ;
v02 cos3
;
h
(4)

r P 2 uO r C r R C 2rP P uO . Using
r R C 2rP P D a0 cos ;
cos
R D
h
a0 cos
2v02 cos2 sin

h
(5)
!
:
(6)
Recalling that we have D 50 , v0 D 8 ft=s, a0 D 2 ft=s2 , and h D 4 ft, we can evaluated the expressions
for rR and R to obtain
rR D 5:78 ft=s2 and R D 1:42 rad=s2 :
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Dynamics 1e
Solution to 2.167
Referring to the figure on the right, the length of the arm is
rD
h
;
cos
(7)
The .O{ ; |O/ component system is converted to the .uO r ; uO / componenet system as
{O D cos uO r
The velocity vE D
sin uO
and
|O D sin uO r C cos uO :
(8)
v0 |O is expressed in the .uO r ; uO / coordinate system as

vE D
v0 .sin uO r C cos uO / :
(9)
The general expression for velocity in polar coordinates is vE D rP uO r C r P uO .

Thus rP and P are
rP D v0 sin
v0 cos2
:
and P D
h
(10)
The acceleration aE D a0 |O is converted to the .uO r ; uO / coordinate system as

aE D a0 .sin uO r C cos uO / :
The general expression for acceleration in polar coordinates is aE D rR
the results of Eq. (10) and noting that r D h= cos we obtain
rR
r P 2 D a0 sin
(11)

r P 2 uO r C r R C 2rP P uO . Using
and r R C 2rP P D a0 cos ;
(12)
which can be solved for rR and R to obtain

rR D a0 sin C
v02 cos3
h
and
a0 cos2
R D
h
2v02 cos3 sin

:
h2
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Problem 2.168
The time derivative of the acceleration, i.e., aEP , is usually referred to as the jerk because jerky motion is
generally associated with quickly changing acceleration. Starting from Eq. (2.89), compute the jerk in
polar coordinates.
Solution
Equation (2.89) on p. 119 of the textbook states

aE D rR r P 2 uO r C r R C 2rP P uO D ar uO r C a uO :
Therefore, we have
aEP D aP r uO r C ar uPO r C aP uO C a uPO :
(1)
(2)
Recall that
uPO r D P kO uO r D P uO
and
uPO D P kO uO D
P uO r :
(3)
Substituting Eq. (3) into Eq. (2) and rearranging terms, we have Differentiate aE D ar uO r C a uO . Remember
that uPO r D P kO uO r and uPO D P kO uO .
aEP D aP r

P a uO r C aP C P ar uO :
Then, time differentiating the expressions ar D rR

aP r D
r
rP P 2
2r P R
and
(4)
P gives
r P 2 and a D r R C 2rP ,
aP D rP R C r C 2rR P C 2rP R :
(5)
Substituting Eqs. (5) into Eq. (4) and simplifying, we have

aEP D
r
3r P R

h
3rP P 2 uO r C r

i
P 3 C 3rR P C 3rP R uO :
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Dynamics 1e

In the cutting of sheet metal, the robotic arm OA needs to move the cutting tool
at C counterclockwise at a constant speed v0 along a circular path of radius .
The center of the circle is located in the position shown relative to the base of
the robotic arm at O.
P r,
When the cutting tool is at D ( D 0), determine r, r,
P ,
R
R
and as functions of the given quantities (i.e., d , h, , v0 ).
Problem 2.169
For all positions along the circular cut (i.e., for any value of
P r,
), determine r, r,
P ,
R and R as functions of the given quantities (i.e., d , h, ,
v0 ). These quantities can be found by hand, but it is tedious, so you might
consider using symbolic algebra software such as Mathematica or Maple.
Problem 2.170
Solution to 2.169
Referring to the figure on the right, the unit vectors {O and |O are
related to the unit vectors of the polar coordinate system as follows:
{O D cos uO r
sin uO
and |O D sin uO r C cos uO :
(1)
The kinematic quantities describing the motion of the arm, in polar

coordinates, are now found for the case where D 0. The velocity
vector of the cutting tool at C (moving with constant speed along a
circular path) is expressed in terms of our xy coordinate system as
vE D v0 |O:
(2)
By substituting the second of Eqs. (1) into Eq. (2), we have

vE D .v0 sin / uO r C .v0 cos / uO :
(3)
Since in polar coordinates we have vE D rP uO r C r P uO , then from

Eq. (3) we deduce that
v0 cos
rP D v0 sin and P D
:
r
Now, using geometry we see that, for D 0,
rD
(4)
h2 C .d C /2 :
(5)
In addition, again for D 0, the sines and cosines of angle are

sin D
h
;
r
cos D
d C
:
r
(6)
Substituting Eqs. (5) and (6) into Eqs. (4) . we have

rP D q
v0 h
h2 C .d C /2
and
P D
v0 .d C /
h2
C . C d /2
(7)
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Since the speed of point C is constant, the acceleration of point C is only the direction normal to the path
of C , i.e., is directed toward the center of the cutting path. Therefore, for D 0, the acceleration of C can be
written as
!
v02
aE D
{O;
(8)

Substituting the first of Eqs. (1) into Eq. (8), we have
aE D
v02 cos
v 2 sin
uO r C 0
uO :

Now recall that in polar coordinates, we have aE D .rR

above expression to conclude that
rR D
r P 2
v02 cos
;

(9)
r P 2 / uO r C .r R C 2rP P / uO . Hence, we can use the

v 2 sin 2rP P
R D 0
:
r
(10)
Employing the expressions for r, sin , and cos of Eq. (5) and Eq. (6) respectively, and simplifying, we
have
q
1 P2
rR D
h2 C .d C /2

v 2 .d C /
p 0
h2 C .d C /2
!
and
R D
hv02
h2 C.d C/2
2rP P
:
p
h2 C .d C /2
(11)
Finally, using the expressions in Eqs. (7) and simplifying, we have
rR D

v02 .d C / h2 C d.d C /
3=2

h2 C .d C /2
and
R D

hv02 d 2 C h2 2

2 :
h2 C .d C /2
(12)
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Dynamics 1e
Solution to 2.170
Referring to the figure on the right, the unit vectors {O and |O are
related to the unit vectors of the polar coordinate system as follows:
{O D cos uO r
sin uO
and |O D sin uO r C cos uO :
(13)
For a generic value of , the velocity vector of point C can be

expressed as
vE D . v0 sin / {O C .v0 cos / |O:
(14)
Substituting Eqs. (13) in Eq. (14) and rearranging terms, we have

vE D .v0 cos sin
v0 cos sin / uO r
C .v0 cos cos C v0 sin sin / uO : (15)
Since in polar coordinates we have vE D rP uO r C r P uO , then from

Eq. (15) we deduce that
rP D v0 sin
v0 cos sin
and
v0 cos cos C v0 sin sin

P D
:
r
(16)
Referring to the figure and using geometry, we have

rD
q
.h C sin /2 C .d C cos /2 :
(17)
In addition, the sines and cosines of angle are given by

sin D
h C sin
r
and
cos D
d C cos
:
r
(18)
Substituting Eqs. (17) and (18) into Eqs. (16) and simplifying, we have
rP D q
v0 .h cos
d sin /
and
.d C cos /2 C .h C sin /2
P D
v0 . C d cos C h sin /
:
d 2 C h2 C 2 C 2d cos C 2h sin
(19)
Since the speed of point C is constant, the acceleration of point C is only the direction normal to the path
of C , i.e., is directed toward the center of the cutting path. Therefore, the acceleration of C can be written as
aE D
which, along with Eq. (13), imply
2
v0 cos cos
aE D

v02
v2
cos {O C 0 sin |O;

v02 sin sin

uO r C
v02 cos sin

(20)
v02 cos sin

uO :
(21)
Now recall that in polar coordinates, we have aE D .rR r P 2 / uO r C.r R C2rP P / uO , and therefore, by comparison
with the above expression, we can conclude that
rR D
r P 2
v02 cos cos

v02 sin sin
and R D
2rP P C v02 cos sin

r
v02 cos sin
: (22)
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Solutions Manual
Employing the expressions for r and of Eq. (17) and, after simplification, it is found that

v02 2P 2 2 .d cos C h sin /
P 2 d 2 C h2 C 2
v02
rR D
;
p
.d C cos /2 C .h C sin.//2
p
2
2
P .d C cos /2 C .h C sin /2
h
cos./v0
d
sin
v
2
r
P

0

R D
:
(23)
(24)
Substituting Eqs. (19) into the above expression and simplifying, we have
rR D
R D

v02 . C d cos C h sin / d 2 C d cos C h2 C h sin
;
3=2
d 2 C 2d cos C h2 C 2 C 2h sin

v02 d 2 C h2 2 .d sin h cos /
2 :
d 2 C 2d cos C h2 C 2 C 2h sin
(25)
(26)
August 10, 2009
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Dynamics 1e
Problem 2.171
Considering the system analyzed in Example 2.23, let h D 15 ft, v0 D 55 mph, and D 25 . Plot the
trajectory of the projectile in two different ways: (1) by solving the projectile motion problem using
Cartesian coordinates and plotting y versus x and (2) by using a computer to solve Eqs. (3), (4), (9), and
(10) in Example 2.23. You should, of course, get the same trajectory regardless of the coordinate system
used.
Solution
To describe the trajectory of a projectile subject only to gravity and under the conditions stated in Example (2.23) on p. 126 of the textbook, we can use Eq. (2.52) on p. 74 of the textbook. Using this equation and
observing that the projectile is released from a height h above the origin of the chosen coordinate system, we
have

g sec2 2
y D .tan /x
x C h;
(1)
2v02
For the purpose of providing a meaningful comparison between the plot of the above function and that
obtained from the equations in Example (2.23) on p. 126 of the textbook, we will compute the value of x for,
say t D 3 s and then produce plots that have the same range for the x coordinate. To do so, recall that the
acceleration equation in the x direction is equal to zero. hence, with reference to Example (2.23) on p. 126,
we have that the x coordinate of the projectile as a function of time is given by
x D v0 cos t:
Hence, recalling that v0 D 55 mph D 80:67 ft=s and D 25 , for t D s 3 we have
x tD3 s D 219:3 ft:
(2)
(3)
Again, the above value of x will simply we used to make sure that the plots we generate in this solution have
a range of x value going from 0 to 219:3 ft, which corresponds to a time range going from 0 to 3 s.
With the bove in mind, recalling that we have h D 15 ft, v0 D 55 mph D 80:67 ft=s, D 25 , and
g D 32:2 ft=s2 , we can plot the above formula using any appropriate mathematical software. The plots shown
below was obtained using Mathematica with the following code:.
Parameters ! !h " 15., v0 " 80.67, " 25. Degree, g " 32.2";
y ! Tan#$ x $
g Sec#$2
2 v02
x2 % h;
Plot#y %. Parameters, !x, 0, 219.3", Frame " True, GridLines " Automatic,
FrameLabel " !"x &ft'", "y &ft'"", PlotLabel " "With Cartesian Coords",
AspectRatio " 1$
Solution continued on next page . . .
August 10, 2009
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Solutions Manual
With Cartesian Coords

30
y !ft"
20
10
0
!10
!20
0
50
100 150 200

x !ft"
We now will determine the trajectory of the projectile starting from Eqs. (3) and (4) derived in Example 2.23 on p. 126 of the textbook, and subject to the initial conditions in Eqs. (9) and (10) of the example in
question. For convenience, we repeat the equations we need here below:
rR r P 2 D
r R C 2rP P D
g sin ;
(4)
g cos ;
(5)
with the initial conditions

rad:
(6)
2
v0
r.0/
P
D v0 sin ;
P .0/ D
cos :
(7)
h
The above system of differential equations and initial conditions can be integrated with any appropriate
mathematical software. However, before proceeding to the solution of the equations in question, we must
keep in mind that the mathematical software will yield r and as a function of time. Then to get the plot of
the trajectory, we must resort to parametric plot, i.e., a plot of the coordinates of the projectile corresponding
to a certain range of the time parameter. Furthermore, to produce a plot that can be compared to the one
shown above, we must plots values of x and y corresponding to the values of r and given by the numerical
solution. This is done by simply noticing that the .x; y/ coordinates of a point are expressed via the .r; /
components using the following relations:
r.0/ D h;
x D r cos
.0/ D
and
y D r sin :
(8)
With the above considerations in mind, we have used Mathematica with the following code to obtain a
solution with time t going from 0 to 3 s (see discussion above concerning the choice of the range of x for the
plots shown earlier):
Parameters ! !h " 15., v0 " 80.67, " 25. Degree, g " 32.2";
Equations ! #r''$t% $ r$t% &'$t%'2 !! $g Sin$$t%%,
r$t% ''$t% & 2 r'$t% '$t% !! $g Cos$$t%%, r$0% ' h, $0% '
, r'$0% ' v0 Sin$%,
(;
h
Motion ! NDSolve$Equations ). Parameters, !r, ", !t, 0, 3"%
ParametricPlot$!r$t% Cos$$t%%, r$t% Sin$$t%%" ). Motion$$1%%, !t, 0, 3",
Frame " True, GridLines " Automatic, FrameLabel " !"x &ft'", "y &ft'"",
PlotLabel " "With Polar Coords", AspectRatio " 1%
'$0% ' $
v0 Cos$%
August 10, 2009
215
Dynamics 1e
The code above yields the following trajectory, which can be seen to be identical to the one obtained earlier
(as expected).
With Polar Coords

30
y !ft"
20
10
0
!10
!20
0
50
100 150 200

x !ft"
August 10, 2009
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Solutions Manual
Problem 2.172
The reciprocating rectilinear motion mechanism shown consists of a disk pinned
at its center at A that rotates with a constant angular velocity !AB , a slotted arm
CD that is pinned at C , and a bar that can oscillate within the guides at E and
F . As the disk rotates, the peg at B moves within the slotted arm, causing it to
rock back and forth. As the arm rocks, it provides a slow advance and a quick
return to the reciprocating bar due to the change in distance between C and
B. Letting D 30 , !AB D 50 rpm D constant, R D 0:3 ft, and h D 0:6 ft,
R i.e., the angular velocity and angular acceleration of the
determine P and ,
slotted arm CD, respectively.
Solution
Let R D AB and r D BC . The velocity of B in the .uO R ; uO / and .uO r ; uO / component
systems are
vEB D R!AB uO and vEB D rP uO r C r P uO :
(1)
To find P take advantage of the fact that for D 30 and R D 0:5h we have a right
triangle ABC . Then uO r D uO and uO R D uO . Converting the uO component of vEB to
uO R and equating components we find
r P uO R D 0
P D 0:
(2)
The acceleration of B in the .uO R ; uO / and .uO r ; uO / component systems are

aEB D R! 2 uO R and aEB D rR r P 2 uO r C r R C 2rP P uO :
AB
(3)
Convert
p the uO component of aEB to uO R , equate components of Eq. (3), plug in Eq. (2), and substitute
r D h2 R2 to find
r R D
2
R!AB
R D p
2
R!AB
h2
R2
15:8 rad=s2 ,
where we have used the following numerical data: R D 0:3 ft, !AB D 50 rpm D 5:236 rad=s, and h D 0:6 ft.
August 10, 2009
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Dynamics 1e

A micro spiral pump consists of a spiral channel attached to a stationary plate.
This plate has two ports, one for fluid inlet and another for outlet, the outlet
being farther from the center of the plate than the inlet. The system is capped by
a rotating disk. The fluid trapped between the rotating disk and the stationary
plate is put in motion by the rotation of the top disk, which pulls the fluid
through the spiral channel.
Consider a spiral channel with the geometry given by the
equation r D C r0 , where r0 D 146 m is the starting radius, r is
the distance from the spin axis, and is the angular position of a point in
the spiral channel. Assume that the radius at the outlet is rout D 190 m,
that the top disk rotates with a constant angular speed !, and that the
fluid particles in contact with the rotating disk are essentially stuck to
it. Determine the constant and the value of ! (in rpm) such that after
1.25 rev of the top disk, the speed of the particles in contact with this disk
is v D 0:5 m=s at the outlet.
Problem 2.173
Consider a spiral channel with the geometry given by the

equation r D Cr0 , where D 12 m is called the polar slope, r0 D 146 m
is the starting radius, r is the distance from the spin axis, and is the angular
position of a point in the spiral channel. If the top disk rotates with a constant
angular speed ! D 30;000 rpm, and assuming that the fluid particles in contact
with the rotating disk are essentially stuck to it, use the polar coordinate system
shown and determine the velocity and acceleration of one fluid particle when it
is at r D 170 m.
Problem 2.174
Solution to 2.173
To find we start with r D C r0 and substitute D 1:25 rav.2 rad=rev/ D 7:854 rad and r D rout .
r D C r0
D
rout r0
D 5:602 m
7:854 rad
D 5:60 m,
(1)
where we have used the fact that rout D 190 m and r0 D 146 m. Taking the derivative with respect to time
of r D C r0 , we have
r D C r0 ) rP D P :
(2)
Next, recalling that the speed in polar coordinates is given by v 2 D rP 2 C .r P /2 and that P D !, we have
q
v
v D .!/2 C .r!/2 ) ! D p
)
! D 2630 rad=s D 25;100 rpm,
(3)
2 C r 2
where we have used the fact that v D 0:5 m=s, D 5:602 m (see Eq. (1)), and r D rout D 190 m.
August 10, 2009
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Solutions Manual
Solution to 2.174
The velocity of a particle is vE D rP uO r C r P uO where rP D P and P D !. Hence, we can write
vE D ! uO r C r! uO
vE D .37:710
uO r C 0:534 uO / m=s,
(4)
where we have used the fact that D 12 m, ! D 30;000 rpm D 3142 rad=s, and r D 170 m. The general
expression for the acceleration of a particle is aE D rR r P 2 uO r C r R C 2rP P uO . Note that rR D 0 and
R D 0. Hence, recalling again that rP D P and P D !, we have
aE D
r! 2 uO r C 2! 2 uO
aE D . 1680 uO r C 237 uO / m=s2 ,
(5)
where, again, we have used the fact that D 12 m, ! D 30;000 rpm D 3142 rad=s, and r D 170 m.
August 10, 2009
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Dynamics 1e
Problem 2.175
The mechanism shown is called a swinging block slider crank. First used in
various steam locomotive engines in the 1800s, this mechanism is often found
in door-closing systems. If the disk is rotating with a constant angular velocity
P D 60 rpm, H D 4 ft, R D 1:5 ft, and r denotes the distance between B and
P r,
O, compute r,
P ,
R and R when D 90 .
Solution
The motion of B is uniform circular motion. The velocity of B at D 90
in the .uO n ; uO t / and .uO r ; uO / component systems is
vE D RP uO t
and vE D rP uO r C r P uO :
(1)
The .uO n ; uO t / unit vectors are express in the .uO r ; uO / component system as
uO t D cos uO r
sin uO
uO n D
sin uO r
cos uO :
(2)
Convert vE D RP uO t to the .uO r ; uO / component

system and equate components of Eqs. (1). Note that
p
sin D p 2R 2 , cos D p 2H 2 , r D R2 C H 2 , and P D 2 rad=s.
R CH
R CH
vE D RP cos uO r
rP D RP cos
rP D p
RP sin D r P
P D

sin uO :
HRP
R2 C H 2
(3)
D 8:82 ft=s.
R2 P
D
R2 C H 2
0:775 rad=s.
The acceleration of B at D 90 in the .uO n ; uO t / and .uO r ; uO / component systems is

aE D RP 2 uO n and aE D rR r P 2 uO r C r R C 2rP P uO
(4)
(5)
(6)
Convert aE D RP 2 uO n to the .uO r ; uO / component system and equate components of Eqs. (6). Plug in Eqs. (4)
and (5) and simplify.

aE D RP 2
sin uO r cos uO :
Recalling that P D 60 rpm D 6:283 rad=s, H D 4 ft, R D 1:5 ft, we have
rR
r P 2 D
RP 2 sin
rR D
P 2 H 2 R2
3=2 D
R2 C H 2
18:2 ft=s2 ,
and
r R C 2rP P D
RP 2 cos
R D
P 2 HR R2
R2
H2

H2
D
2
9:78 rad=s2 :
August 10, 2009
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Solutions Manual
Problem 2.176
The cam is mounted on a shaft that rotates about O with constant angular
velocity !cam . The profile of the cam is described by the function `./ D
R0 .1 C 0:25 cos3 /, where the angle is measured relative to the segment
OA, which rotates with the cam. Letting !cam D 3000 rpm and R0 D 3 cm,
determine the velocity and acceleration of the follower when D 33 . Express
the acceleration of the follower in terms of g, the acceleration due to gravity.
Solution
Let r denote the distance between the point on the follower in contact with the cam and point O. Then, the
velocity of the follower is the time rate of change of the radius of the cam, i.e., vEfollower D rP |O. Then, using
the chain rule, we have
d ` df d
dr
D
;
dt
df d dt
where f is the value of the angle identifying the radial line going from O to the follower (the subscript f
stands for follower). The radial line in question lies always along the y axis. and therefore we have that f is
such that f D 90 . Consequently, we have
d`
D
df
0:75R0 cos2 f sin f ;
df
D
d
1;
and
d
D !cam :
dt
Hence, recalling that R0 D 3 cm D 0:03000 m, !cam D 3000 rpm D 314:2 rad=s, and D 33 , we have
vEfollower D rP |O D 0:75R0 !cam cos2 .90
/ sin.90
/ |O
vEfollower D .1:76 m=s/ |O.
(1)
The acceleration of the follower is given by aEfollower D rR |O. Hence, referring to Eq. (1), we can write
d rP
d rP df d
D
;
dt
df d dt
where
d rP
D 0:75R0 !cam cos f cos2 f
df

2 sin2 f ;
df
D
d
1;
and
d
D !cam :
dt
Hence, recalling again that recalling that R0 D 3 cm D 0:03000 m, !cam D 3000 rpm D 314:2 rad=s, and
D 33 , we can write

2
aEfollower D rR |O D 0:75R0 !cam
cos 90 cos2 90
2 sin2 90 |O D .1343 m=s2 / |O;
which, when expressed to three siginificant figures and in terms of the acceleration due to gravity g D
9:81 m=s2 , gives
aEfollower D .137g/ |O:
August 10, 2009
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Dynamics 1e
Problem 2.177
The collar is mounted on the horizontal arm shown, which is originally rotating
with the angular velocity !0 . Assume that after the cord is cut, the collar slides
along the arm in such a way that the collars total acceleration is equal to zero.
Determine an expression of the radial component of the collars velocity as a
function of r, the distance from the spin axis. Hint: Using polar coordinates,
observe that d.r 2 P /=dt D ra .
Solution
The radial component of acceleration is
ar D 0
r P 2 D 0:
rR
(1)
The transverse component of acceleration is

a D 0
r R C 2rP P D 0
ra D 0:
(2)
Because d.r 2 P /=dt D ra D 0, r 2 P D K where K is a constant. Initially r D r0 and P D !0 . So

r 2 P D r02 !0
r 2 !0
P D 0 2 :
r
(3)
r04 !02
:
r3
(4)
r 4!2
d rP
D 0 30 :
dr
r
(5)
Take the results of Eq. (1) and substitute Eq. (3) for P .
rR D r P 2
rR D
rP
Rewrite rR using the chain rule. Eq. (4) becomes

rR D
d rP dr
dr dt
Integrate Eq. (5):

Z
0
rP
Z
rP d rP D
r0
r04 !02
dr
r3
1 2
2 rP
r04 !02 r
2r 2 r0
rP D r02 !0
1
r02
1
r2
!1=2
;
(6)
where, in taking the square root of the second of Eqs. (6) we have paid attention to make sure that rP is positive,
given that the collar is sliding outward and therefore causing r to increase. Simplifying the last of Eqs. (6),
we have
q
r 0 !0
rP D
r 2 r02 :
r
August 10, 2009
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Solutions Manual
Problem 2.178
Particle A slides over the semicylinder while pushed by the arm pinned at C .
The motion of the arm is controlled such that it starts from rest at D 0, !
increases uniformly as a function of , and ! D 0:5 rad=s for D 45 . Letting
R D 4 in:, determine the speed and the magnitude of the acceleration of A
when D 32 .
Solution
We need to find !. / such that d!
D K D constant. Therefore, we must
d
have !./ D K C C where K and C are constants. To evaluate K and C ,
we recall that we must have
0 D K.0/ C C D 0 ) C D 0;

2
0:5 rad=s D K rad ) K D s 1 :
4

(1)
(2)
Therefore !. / D K. It is demonstrated in the top figure that D 2.

Therefore P D 2! and R D 2. Now we can determine !./.
!. / D K
!./ D
K
:
2
(3)
To determine the velocity and acceleration of A we now adopt a polar coordinate system with O as the origin.
Observing that RP D 0, the velocity of A is
vEA D RP uO R C RP uO
vEA D RP uO :
(4)
Starting with (4), replacing P with 2!, and using Eqs. (2) and (3), we have that the speed of A at D 32 is

v D RP
v D 2R!
v D KR
v D 0:119 ft=s,
(5)
where we have used the fact that R D 4 in: D 0:3333 ft and K D .2=/ s 1 . Next, observing that RR D 0
and RP D 0, the acceleration of A is

aE D RR RP 2 uO R C RR C 2RP P uO ) aE D RP 2 uO R C RR uO :
(6)
Converting to , the magnitude of acceleration can be obtained as follows:
q
2
R
aE D 4R! uO R C 2R uO ) jE
aj D 2R 4! 4 C R 2 :
(7)
Using the chain rule we rewrite R as

d! d
D K 2
R D
d dt
4
2
R D 2 2 D 2 2 ;
s
s
(8)
where, from Eqs. (2), we have used the fact that K D .2=/ s 1 . Therefore, recalling that R D 4 in: D
0:3333 ft and D 32 , the magnitude of the acceleration of A becomes
q
q
4R
4
2
R
jE
aj D 2R 4! C
) jE
aj D 2 2 2 C 1 )
jE
aj D 0:0864 ft=s2 .
(9)
s
August 10, 2009
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Dynamics 1e
Problem 2.179
A satellite is moving along the elliptical orbit shown. Using the polar coordinate
system in the figure, the satellites orbit is described by the equation
p
a C a2 b 2 cos
2
r. / D 2b 2
;
a C b 2 .a2 b 2 / cos.2 /
which implies the following identity
rr 00
2.r 0 /2
r3
r2
a
;
b2
where the prime indicates differentiation with respect to . Using this identity
and knowing that the satellite moves so that K D r 2 P with K constant (i.e.,
according to Keplers laws), show that the radial component of acceleration is
proportional to 1=r 2 , which is in agreement with Newtons universal law of
gravitation.
Solution
We need to show that ar D .constant/
1
r2
. First we will rewrite Keplers law as
K D r 2 P
K
P D 2 :
r
(1)
We are given r D r. / so we use the chain rule to write its derivative with respect to time as
rP D r 0 P
rP D
Kr 0
;
r2
(2)
where we have substituted Eq. (1) for P . Next we take the second derivative of r with respect to time to get

K 2 r 00 2.r 0 /2
2K 0 P 0 K 00 P
)
rR D 3 r r C 2 r
;
(3)
r
r
r2 r2
r3
P Now recall that
where we have factored K P out of the first of Eq. (3) and substituted Eq. (1) for .
2
P
P
ar D rR r and we have expressions for r, r,
R and so we can write
"
#

K 2 r 00 2.r 0 /2
K2
K 2 rr 00 2 .r 0 /2 r 2
ar D 2
r 4
)
:
(4)
r
r2
r3
r
r2
r3
We see that the expression in brackets is our identity so we will replace it with a=b 2 . Recalling that K, a,
and b are constants, we prove the radial component of acceleration is proportional to 1=r 2 .
K 2a
ar D 2
b

1
:
r2
(5)
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Solutions Manual
Problem 2.180
Reference frame A is translating relative to reference frame B. Both frames track the motion of a particle
C . If at one instant the velocity of particle C is the same in the two frames, what can you infer about the
motion of frames A and B at that instant?
Solution
Frame A has zero velocity relative to frame B at the instant considered. Explanation:
vEC =B D vEA=B C vEC =A : If
vEC =B D vEC =A
vEA=B D 0:
(1)
August 10, 2009
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Dynamics 1e
Problem 2.181
Reference frame A is translating relative to reference frame B with velocity vEA=B and acceleration aEA=B .
A particle C appears to be stationary relative to frame A. What can you say about the velocity and
acceleration of particle C relative to frame B?
Solution
The velocity and acceleration of particle C relative to frame B are vEA=B and aEA=B . Explanation:
vEC =B D vEA=B C vEC =A : If
vEC =A D 0E
vEC =B D vEA=B :
(1)
aEC =B D aEA=B C aEC =A : If
aEC =A D 0E
aEC =B D aEA=B :
(2)
Similarly,
August 10, 2009
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Solutions Manual
Problem 2.182
Reference frame A is translating relative to reference frame B with constant velocity vEA=B . A particle C
appears to be in uniform rectilinear motion relative to frame A. What can you say about the motion of
particle C relative to frame B?
Solution
Particle C will appear to be in uniform rectilinear motion relative to frame B. Explanation:
vEC =B D vEA=B C vEC =A :
If vEC =A is constant uniform rectilinear motion relative to A and vEA=B is constant then vEC =B is uniform
rectilinear motion.
August 10, 2009
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Dynamics 1e
Problem 2.183
A skier is going down an undulating slope with moguls. Let the skis be
short enough for us to assume that the skiers feet are tracking the moguls
profile. Then if the skier is skilled enough to maintain her hips on a straight
line trajectory and vertically aligned over her feet, determine the velocity
and acceleration of her hips relative to her feet when her speed is equal to
15 km=h. For the profile of the moguls, use the formula y.x/ D hI 0:15x C
0:125 sin.x=2/ m, where hI is the elevation at which the skier starts the
descent.
Solution
The position equations for the skiers hips and feet are denoted by yH and yF respectively.
yH D .hI

yF D hI
x tan 8:53 / m;
(1)

x
0:15x C 0:125 sin
m:
2
(2)
Now, calculating the relative position of her hips with respect to her feet,

x
yH=F D yH yF D .0:15 tan 8:53 /x 0:125 sin
m;
2
(3)
and taking the derivative of Eq. (3) with respect to time yields

0:125
x
vH=F D xP 0:15 tan 8:53

cos
m=s:
2
2
(4)
However, xP D v0 cos 8:53 and v0 D 15 km=hr D 4:167 m=s. With this substitution Eq. (4) becomes
h
vH=F D 5:6310
0:809 cos
x i
2
(5)
m=s:
The relative acceleration of the skiers hips with respect to her feet can now be determined by differentiating
Eq. (5) and substituting xP D v0 cos 8:53 . This yields
aH=F D 1:271xP sin
x
2
m=s
aH=F
x
D 5:24 sin
2
m=s2 :
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Problem 2.184
Two particles A and B are moving in a plane with arbitrary velocity vectors
vEA and vEB , respectively. Letting the rate of separation (ROS) be defined as the
component of the relative velocity vector along the line connecting particles A
and B, determine a general expression for ROS. Express your result in terms
of rEB=A D rEB rEA , where rEA and rEB are the position vectors of A and B,
respectively, relative to some chosen fixed point in the plane of motion.
Solution
We begin by writing uO B=A in terms of rEB=A
uO B=A D
rEB=A
:
jErB=A j
(1)
The velocity of B relative to A is:

vEB=A D vEB
vEA :
(2)
The component of Eq. (2) in the direction of Eq. (1) is the ROS.
ROS D vEB=A uO B=A
ROS D vEB
rEB=A
vEA
:
jErB=A j
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Dynamics 1e
Problem 2.185
Three vehicles A, B, and C are in the positions shown and are moving with the
indicated directions. We define the rate of separation (ROS) of two particles
P1 and P2 as the component of the relative velocity of, say, P2 with respect
to P1 in the direction of the relative position vector of P2 with respect to
P1 , which is along the line that connects the two particles. At the given
instant, determine the rates of separation ROSAB and ROSCB , that is, the rate
of separation between A and B and between C and B. Let vA D 60 mph,
vB D 55 mph, and vC D 35 mph. Furthermore, treat the vehicles as particles
and use the dimensions shown in the figure.
Solution
We need to derive a convenient expression for the rate of separation.
We begin by writing uO B=A in terms of rEB=A
uO B=A D
rEB=A
:
jErB=A j
(1)
The velocity of B relative to A is:

vEB=A D vEB
vEA :
(2)
The component of Eq. (2) in the direction of Eq. (1) is the ROS, i.e.,
ROS D vEB=A uO B=A
ROS D .E
vB
vEA /
rEB=A
:
jErB=A j
(3)
Now that we have a formula for the ROS, consider the .O{ ; |O/ component
system shown in the figure on the right.

23 {O 94 |O ft
rEB=A
Dp
D .0:2377 {O 0:9713 |O/ ; (4)
rB=A
.23/2 C . 94/2 ft

42 {O C 65 |O ft
rEC =B
Dp
D .0:5427 {O C 0:8399 |O/ :
(5)
rC =B
.42/2 C .65/2 ft
Recalling that vA D 60 mph D 88:00 ft=s, vB D 55 mph D 80:67 ft=s,
and 35 mph D 51:33 ft=s. In vector form, we have
vEA D . 88:00 |O/ ft=s;
vEB D .80:67 |O/ ft=s;
vEC D .30:17 {O C 41:53 |O/ ft=s:
(6)
The rate of separation between vehicles A and B is found as

ROSAB D vEB
rEB=A
vEA
rB=A
ROSAB D
164 ft=s:
Similarly, the rate of separation between vehicles C and B is found as

ROSCB D vEB
rEC =B
vEC
rC =B
ROSCB D
16:5 ft=s:
(7)
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Problem 2.186
Car A is moving at a constant speed vA D 75 km=h, while car C is moving at a
constant speed vC D 42 km=h on a circular exit ramp with radius D 80 m.
Determine the velocity and acceleration of C relative to A.
Solution
Orient an .O{ ; |O/ frame with |O in the direction of vEB . The velocities of A and C are
vEA D . 75 |O/ km=hr D . 20:83 |O/ m=s; and

vEC D 42 cos 54 {O C 42 sin 54 |O km=hr D .6:857 {O C 9:469 |O/ m=s:
(1)
(2)
The relative velocity of C with respect to A is

vEC =A D vEC
vEA
vEC =A D .6:86 {O C 30:3 |O/ m=s.
(3)
The accelerations of A and C are

aEA D 0E and
aEC D
2
vC
v2
uO n D C sin 54 {O

cos 54 |O :
(4)
aEC =A D .1:38 {O C 1:00 |O/ m=s2 .
(5)
The relative acceleration of C with respect to A is

aEC =A D aEC
aEA
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Dynamics 1e
Problem 2.187
A remote control boat, capable of a maximum speed of 10 ft=s in still water,
is made to cross a stream with a width w D 35 ft that is flowing with a speed
vW D 7 ft=s. If the boat starts from point O and keeps its orientation parallel to
the cross-stream direction, find the location of point A at which the boat reaches
the other bank while moving at its maximum speed. Furthermore, determine
how long the crossing requires.
Solution
We will use a Cartesian coordinate system with its origin centered at O. The velocity of the
boat with reference to the stream bank is
vEB D vEW C vEB=W ;
vEB D .7 {O C 10 |O/ ft=s:
(1)
The y component of velocity is constant so the time of crossing is

w D vy t
t D 3:50 s.
(2)
The x component of velocity is constant. Use the time given in Eq. (2) to calculate the position of A as
x D vx t
x D 24:5 ft.
(3)
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Solutions Manual
Problem 2.188
A remote control boat, capable of a maximum speed of 10 ft=s in still water,
is made to cross a stream of width w D 35 ft that is flowing with a speed
vW D 7 ft=s. The boat is placed in the water at O, and it is intended to arrive
at A by using a homing device that makes the boat always point toward A.
Determine the time the boat takes to get to A and the path it follows. Also,
consider a case in which the maximum speed of the boat is equal to the speed
of the current. In such a case, does the boat ever make it to point A? Hint:
To solve the problem, write vEB=W D vB=W uOA=B , where the unit vector uOA=B
always points from the boat to point A and is therefore a function of time.
Solution
Referring to the figure on the right, we will use a Cartesian coordinate
system as shown. As it is central to the description of the motion of
the boat, which we denote by B, we begin with finding an expression
for the unit vector that points from the boat to points A. Denoting the
coordinates of the boat as by .x; y/, the position of points A and B are
rEA D w |O
and
rEB D x {O C y |O:
(1)
Therefore the position of A relative to B is the vector

rEA=B D rEA
rEB D
x {O C .w
y/ |O:
(2)
Dividing rEA=B by its magnitude we then find the unit vector mentioned earlier, i.e.,
uOA=B D p
x
x2
y/2
C .w
{O C p
w
x2
C .w
y/2
|O:
(3)
Next, we write in vector form what we know about the velocity of the water, which we denote by vEW and the
velocity of the boat relative to the water, which we denote by vEB=W . Specifically, we have
vEW D vw {O
and
vEB=W D vB=W uO B=W ;
(4)
where vW D 7 ft=s, vB=W D 10 ft=s when the boat is moving at its maximum speed (relative to the water),
and where uO B=W is given in Eq. (3).
Now, to determine the time and path of the boat, we need to write the expression of the velocity of the
boat vEB . Using relative kinematics, we have vEB D vEW C vEB=W D vEW C vB=W uO B=A , which gives

vB=W x
vB=W .w y/
vEB D vW p
{O C p
|O:
(5)
x 2 C .w y/2
x 2 C .w y/2
Now recall that the velocity of the boat can be written as
vEB D xP {O C yP |O:
(6)
Hence, equating Eqs. (5) and (6) component by component we find that the motion of the boat is govered by
the following differential equations:
xP D vW
vB=W x
p
x 2 C .w
y/2
vB=W .w
and yP D p
x 2 C .w
y/
y/2
(7)
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Dynamics 1e
which, given that the boat starts at O at time t D 0, are subject to the following initial conditions:
x.0/ D 0
and y.0/ D 0:
(8)
These equations can be integrated using some appropriate mathematical software. We have used Mathematica.
Before presenting the code used to solve the problem we must observe something about Eqs. (7) which is
important to properly understand the response of the mathematical software used to solve them. Lets suppose
that the boat does make it to point A. In this case, the coordinates of the boat would be .x D 0; y D w/.
When this happens, notice that the argument of the square root in Eqs. (7) becomes equal to zero. In turn,
because the square roots appear at the denominator of fractions, when the boat makes it to A, the equations
suffer a division by zero and will cause the numerical software to fail. Now, when using a numerical method
to solve Eqs. (7) we must specify the time interval we want the solution to cover. As just discussed, as soon
as the boat makes it to A the numerical integration fails. Therefore, we need to use trial and error to find
the maximum amount of time for which the equations can be integrated. However, this maximum amount
of time will correspond to the time taken by the boat to reach A, which is one of the quantities we need to
determine in this problem. With this all the above in mind, we have integrated the equations in question for
the boat traveling at the maximum speed relative to water, i.e., wB=W D 10 ft=s, using Mathematica with the
following code:
Parameters ! !vW " 7., vBrelW " 10., w " 35.";
Equations ! #x'$t% # vW $
vBrelW x$t%
x$t%2 % &w $ y$t%'2
vBrelW &w $ y$t%'
, y'$t% #
x$t%2 % &w $ y$t%'2
x$0% # 0, y$0% # 0(;
Motion ! NDSolve$Equations ). Parameters, !x, y", !t, 0, 6.8627"%
Notice that, using trial and error, we were able to integrate our equation only up to t D 6:8627 s. Hence,
expressing this result to three significant figures, we will say that
For vB=W D 10 s, the boat reaches A in 6:86 s.
The solution obtained using Mathematica with the above code, can be plotted to depict the path followed by
the boat. This path was plotted with the following code:
ParametricPlot!"x!t#, y!t#$ %. Motion!!1##, "t, 0, 6.8627$, Frame ! True,
GridLines ! Automatic, AspectRatio ! 1, FrameLabel ! ""x &ft'", "y &ft'"$,
PlotLabel ! "Path of Boat with vB%W "10 ft%s"#
Path of Boat with vB#W !10 ft#s

35
30
y !ft"
25
20
15
10
5
0
0
x !ft"
10
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Solutions Manual
Now we consider the case for which the speed of the current is equal to the speed of the boat. We repeat
the same calculations given above but with vB=W D 7 ft=s. This time we find that the mathematical software
does not fail for any amount of time, indicating that
When vB=W D 7 s, the boat does not reach A:
We present
p our solution for t going from zero to 20 s and we plot both the path of the boat and the distance
dAB D x 2 C .w y/2 of the boat from A as a function of time. As can be seen from the plot of the path
of the boat, the boat does reach the other side of the stream but when it does it points toward A while moving
relative to the water with speed equal to the (absolute) speed of the water. As a result, an observer stationary
with the banks of the stream sees the boat become stationary. The fact that the boat no longer moves relative
to the banks can be seen from the plot of the distance dAB , which, after about 9 s becomes constant (and
remains different from zero).
Parameters ! !vW " 7., vBrelW " 7., w " 35.";
Equations ! #x'$t% # vW $
vBrelW x$t%
x$t%2
% &w
vBrelW &w $ y$t%'
, y'$t% #
$ y$t%'2
x$t%2
% &w
$ y$t%'2
x$0% # 0, y$0% # 0(;
Motion ! NDSolve$Equations ). Parameters, !x, y", !t, 0, 20"%;

ParametricPlot$!x$t%, y$t%" ). Motion$$1%%, !t, 0, 20", PlotRange " All, Frame " True,
GridLines " Automatic, AspectRatio " 1, FrameLabel " !"x &ft'", "y &ft'"",
PlotLabel " "Path of Boat with vB)W ! 7 ft)s"%
Plot*
x$t%2 % &w $ y$t%'2 ). Parameters ). Motion$$1%%, !t, 0, 20",
PlotRange " !!0, 20", !0, 35"", Frame " True, GridLines " Automatic, AspectRatio " 1,
FrameLabel " !"t &s'", "distance &ft'"", PlotLabel " "Distance from A with vB)W ! 7 ft)s"+
Distance from A with vB#W ! 7 ft#s
35
35
30
30
25
25
distance !ft"
y !ft"
Path of Boat with vB#W ! 7 ft#s
20
15
10
20
15
10
0
0
10
x !ft"
15
t !s"
10
15
20
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Dynamics 1e
Problem 2.189
A plane is initially flying north with a speed v0 D 430 mph relative to the
ground while the wind has a constant speed vW D 12 mph forming an angle
D 23 with the north-south direction. The plane performs a course change
of D 75 eastward while maintaining a constant reading of the airspeed
indicator. Letting vEP =A be the velocity of the airplane relative to the air and
assuming that the airspeed indicator measures the magnitude of the component
of vEP =A in the direction of motion of the airplane, determine the speed of the
plane relative to the ground after the course correction.
Solution
We will express the velocity of the airplane using a normal tangential component system.
In this manner, the tangent direction will always be the direction of motion of the airplane.
In addition, we will use subscripts 1 and 2 to denote quantities before and after the change
in course, respectively. Before turning, the velocity of the airplane and wind relative to the
ground are
vEP1 D v0 uO t1 and vEA1 D vW . cos uO t1 C sin uO n1 /:
The airspeed of the plane before the turn is
v1 D vEP1

vEW1 uO t1
v1 D v0 C vW cos :
After turning, the velocity of the wind is

vEA2 D vW cos . C / uO t2 C sin. C / uO n2 :
The airspeed of the plane after the turn is

v2 D vEP2 vEW2 uO t2
v2 D vP2
vw cos. C /:
Enforcing the condition that v2 D v1 , we have

v0 C vW cos D vP2
vw cos. C /
vP2 D v0 C vW cos C cos. C /:
Recalling that v0 D 430 mph, vW D 12 mph, D 23 , and D 75 , we can evaluate vP2 to obtain
vP2 D 439 mph:
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Solutions Manual
Problem 2.190
An interesting application of the relative motion equations is the experimental
determination of the speed at which rain falls. Say you perform an experiment
in your car in which you park your car in the rain and measure the angle the
falling rain makes on your side window. Let this angle be rest D 20 . Next
you drive forward at 25 mph and measure the new angle motion D 70 that the
rain makes with the vertical. Determine the speed of the falling rain.
Solution
We will use a Cartesian Coordinate system where x and y represent the
horizontal and vertical directions, respectively. The orientation of the
angle allows us to write the velocity of the rain with respect to the
stationary car as
vER D
vR .sin rest {O C cos rest |O/ :
(1)
The second piece of information allows us to write the velocity of the rain with respect to the moving car as
vER=C D
vR=C .sin motion {O C cos motion |O/:
(2)
Relative kinematics tells us that we must have

vER D vER=C C vEC :
(3)
Substituting Eq. (1) and Eq. (2) into Eq. (3),

vR sin rest {O
vR cos rest |O D vC {O
vR=C sin motion {O
vR=C cos motion |O:
(4)
This vector equation is a system of two equations in two unknowns vR and vR=C
vR sin rest D vC
vR cos rest D
vR=C sin motion ;
vR=C cos motion ;
(5)
(6)
The solution to the system of equations yields

vR D
vC
cos rest tan motion
sin rest
Recalling that we have rest D 20 , motion D 70 , vC D 25 mph D 36:67 ft=s, we can evaluate the above
expression to obatin
vrain D 16:4 ft=s:
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Dynamics 1e
Problem 2.191
A woman is sliding down an incline with a constant acceleration of a0 D
2:3 m=s2 relative to the incline. At the same time the incline is accelerating to
the right at 1:2 m=s2 relative to the ground. Letting D 34 and L D 4 m and
assuming that both the woman and the incline start from rest, determine the
horizontal distance traveled by the woman with respect to the ground when she
reaches the bottom of the slide.
Solution
The time it takes the person to slide down the incline is found using the constant acceleration equation
s
2L
s D s0 C v02 C 12 ac t 2 ) L D 21 a0 t 2 ) t D
:
(1)
a0
Adopting a Cartesian coordinate system with {O in the direction of as and |O opposite to the direction of gravity,
we can describe the acceleration of the incline and the acceleration of the person relative to the incline as
follows:
aEs D as {O and aEp=s D a0 .cos {O C sin |O/:
(2)
Therefore, using relative kinematics, we have
aEp D aEs C aEp=s D .as
a0 cos /O{
a0 sin |O:
(3)
The horizontal distance covered by the person is found with the same constant acceleration equation used
earlier but with the acceleration set to the horizontal component of aEp . This yields
xp D
1
2
.as
a0 cos / t 2
xp D
L
.as
a0
a0 cos / D
1:23 m:
where t was replaced by its expression given in the last of Eqs. (1) and where we have used the following
numerical data: L D 4 m, a0 D 2:3 m=s2 , as D 1:2 m=s2 , and D 34 . In summary, we can say
The person travels 1:23 m to the left of where she started.
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Solutions Manual
Problem 2.192
The pendulum bob A swings about O, which is a fixed point, while bob B swings
about A. Express the components of the acceleration of B relative to the component
system shown with origin at the fixed point O in terms of L1 , L2 , , , and the
necessary time derivatives of and .
Solution
The acceleration of A is
aEA D aAr uO r C aA uO ; where aAr D LR 1 L1 P2 and
P 1 and L
R 1 D 0:
aEA D L1 P 2 uO r C L1 R uO ; because L
P 1 P :
aA D L1 R C 2L
The .uO r ; uO / component system is expressed in the .O{ ; |O/ component system as
uO r D sin {O
cos |O
uO D cos {O C sin |O:
and
Therefore the acceleration of A in the .O{ ; |O/ component system is

aEA D L1 R cos L1 P 2 sin {O C L1 P 2 cos C L1 R sin |O:
Similarly the acceleration of B with respect to A is
aEB=A D
L2 P 2 uO q C L2 R uO :
The .uO q ; uO / component system is expressed in the .O{ ; |O/ component system as
uO q D sin {O
cos |O
and
uO D cos {O C sin |O:
Therefore aEB=A in the .O{ ; |O/ component system is

aEB=A D L2 R cos

L2 P 2 sin {O C L2 P 2 cos C L2 R sin |O:
aEB D aEA C aEB=A . Therefore

aEB D L1 R cos L1 P 2 sin C L2 R cos L2 P 2 sin {O

C L1 P 2 cos C L1 R sin C L2 P 2 cos C L2 R sin |O:
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Dynamics 1e
Problem 2.193
Revisit Example 2.26 in which the movies hero is traveling on train car A with
constant speed vA D 18 m=s while the target B is moving at a constant speed
vB D 40 m=s (so that aB D 0). Recall that 4 s before an otherwise inevitable
collision between A and B, a projectile P traveling at a speed of 300 m=s
relative to A is shot toward B. Take advantage of the solution in Example 2.26,
and determine the time it takes the projectile P to reach B and the projectiles
distance traveled.
Solution
Referring to Example 2.26 on p. 141 of the textbook and to the figure on
the right, which is Fig. 3 in Example 2.26, we denote by the angle ACO B,
so that D 48:2 . In addition, we denote by tf and th the time at which
the projectile is fired and at which the projectile hits the target, respectively.
Finally, again as was done in Example 2.26, we denote by d the distance
between A and C at t D tf , so that d D vA .4 s/ D 72:00 m. The time
taken by the projectile to hit its target is
t D th
tf :
(1)
To find this time, we observe that the distance traveled by the projectile in
the x direction, is given by
dx D d sin :
(2)
In Example 2.26 on p. 141 we had determined that the (absolute) velocity of the projectile was
vEP D .vA sin C vP =A cos / {O C .vA cos
vP =A sin / |O:
(3)
Observing that vP is constant, then we have that t in Eq. (1) is simply equal to the distance in Eq. (2)
divided by the x component of vEP , i.e.,
t D
d sin
;
vA sin C vP =A cos
(4)
which, recalling that we have d D 72:00 m, D 48:2 , vP =A D 300 m=s, and D 64:4 (see final result in
Example 2.26), can be evaluated to obtain
t D 0:375 s:
To find the distance traveled, we observe again that vEP is constant, which implies that the absolute path
of the projectile is a straight line segment. Letting rEP .t / denote the position vector of the projectile as a
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Solutions Manual
function of time, the two endpoints of the segment in question are identified by rE.tf / and rE.th /. Hence, again
because the velocity of P is constant, the distance traveled by the projectile is given by
q
.vA sin C vP =A cos /2 C .vA cos vP =A sin /2 .d sin /
jErP .th / rEP .tf /j D jE
vP tj D
; (5)
vA sin C vP =A cos
where we have used the expressions for vP in Eq. (3) and t in Eq. (4). Recalling that we have d D 72:00 m,
D 48:2 , vP =A D 300 m=s, and D 64:4 (see final result in Example 2.26), we can evaluate the
right-hand side of Eq. (5) to obtain
Distance traveled by P D 111 m:
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Dynamics 1e
Problem 2.194
Consider the following variation of the problem in Example 2.26 in which a
movie hero needs to destroy a mobile robot B, except this time they are not
going to collide at C . Assume that the hero is traveling on the train car A
with constant speed vA D 18 m=s while the robot B travels at a constant speed
vB D 50 m=s. In addition, assume that at time t D 0 s the train car A and
the robot B are 72 and 160 m away from C , respectively. To prevent B from
reaching its intended target, at t D 0 s the hero fires a projectile P at B. If
P can travel at a constant speed of 300 m=s relative to the gun, determine the
orientation that must be given to the gun to hit B. Hint: An equation of
the type sin A cos D C has the solution D C sin 1 .C cos /, if
jC cos j 1, where D tan 1 A.
Solution
We base the solution of this problem on the solution of Example 2.26 on p. 141 of the textbook. This
means that the definition of all the quantities used in this solution are understood as having been defined
in Example 2.26. In addition, we report here Eq. (14) from Example 2.26, which remains valid under the
conditions stated in this problem and which determines the value of the angle that we want to determine.
The equation in question reads
.`
d sin sin D
d cos / cos
sin
.vB d
vP =A
vA `/ :
(1)
We then proceed to divide this equation through by the term d sin , so that we have
sin
d cos
vA ` vB d
cos D
:
d sin
vP =A d
(2)
The above equation is a transcendental equation in whose solution can be obtained using the following
technique. We consider the term multiplying the cos on the left-hand side of the equation and we define an
angle such that

` d cos
d cos
1 `
) D tan
D 64:40 ;
(3)
tan D
d sin
d sin
where, from Example 2.26, we have used the following numerical data: ` D 160 m, d D 72 m, and
D 48:2 . Then, using the definition in the first of Eqs. (3) and recalling that tan D sin = cos , we can
rewrite Eq. (2) as
sin
sin
vA ` vB d
cos D
cos
vP =A d
sin cos
sin cos D
)
sin.
.vA `
vB d / cos
vP =A d
.vA ` vB d / cos
/ D
; (4)
vP =A d
where we have used the trigonometric identity sin cos sin cos D sin. /. Then, again recalling
that (from Example 2.26) we have ` D 160 m, d D 72 m, and D 48:2 , using the result in the last of
Eqs. (3), the last of Eq. (4) can now be solved for to obtain
D C sin
.vA `

vB d / cos
D 63:6 :
vP =A d
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Problem 2.195
Consider the following variation of the problem in Example 2.26 in which a
movie hero needs to destroy a mobile robot B. As was done in that problem,
assume that the movie hero is traveling on the train car A with constant speed
vA D 18 m=s and that, 4 s before an otherwise inevitable collision at C , the
hero fires a projectile P traveling at 300 m=s relative to A. Differently from
the problem in Example 2.26, assume that the robot B travels with a constant
acceleration aB D 10 m=s2 and that vB .0/ D 20 m=s, where t D 0 is the time
of firing. Determine the orientation of the gun fired by the hero so that B can
be destroyed before the collision at C .
Solution
The general strategy for the solution of any moving target problem has been discussed in the Road Map of
Example 2.26 on p. 141. The main idea underlying the strategy in question is that, letting t D 0 be the time
at which the projectile is fired, there exists a time tI > 0 such that
rEP =B .tI / D rEP .tI /
E
rEB .tI / D 0;
(1)
that is, there must exist a time at which the projectile and the target meet. To solve this problem we need find
the position of the projectile and of the target as functions of time and then set them equal to each other as
required by the above equation.
Because A is moves at a constant speed along a straight line, then vEA is
constant. Once P is fired, its velocity is also a constant given by
vEP D vEA C vP =A uO P =A .0/;
(2)
where vP =A D 300 m=s. Hence,

rEP .t / D rEP .0/ C vEA .0/ C vP =A uO P =A .0/ t:
(3)
Because B is has a constant acceleration, constant acceleration equations

can be used to express rEB .t /. Specifically, we have
rEB .t / D rEB .0/ C vEB .0/t C 21 aEB t 2 :
(4)
Using Eqs. (3), and (4) to enforce Eq. (1), we have

rEP .0/ C vEA .0/ C vP =A uO P =A .0/ tI
rEB .0/
vEB .0/tI
1
EB tI2
2a
E
D 0;
(5)
Referring to the figure on the right (which is essentially identical to Fig. 3 in Example 2.26 and represents the
geometry system at the time of firing) we have that rEA .0/ D rEP .0/, so that Eq. (5) can be rewritten as
rEA=B .0/ C vEA=B .0/tI C vP =A uO P =A .0/tI
1
EB tI2
2a
E
D 0:
(6)
The problem is solved when we are able to express all of the terms in Eq. (6) in terms of known quantities
and the only two unknowns of the problem, which are tI and the firing angle . We therefore proceed to
determine convenient expressions for each of the vectors in Eq. (6).
August 10, 2009
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Dynamics 1e
Since the position at t D 0 in this problem is the same as that in the figure shown, we have
rEA=B .0/ D
d sin {O C .`
d cos / |O D . 72:0 sin 48:2 / {O C .160
72:0 cos 48:2 / |O m;
(7)
where, using the results in Example 2.26, we have d D 72:0 m and ` D 160 m. Equation (7) can be evaluated
to obtain
rEA=B .0/ D . 53:67 {O C 112:0 |O/ m:
(8)
Also, again referring to the geometry at t D 0, we have
vEA .0/ D .18 m=s/ uO C =A D .18 m=s/.sin 48:2 / {O C .cos 48:2 / |O D .13:41 {O C 12:00 |O/ m=s
(9)
vEB .0/ D .20 |O/ m=s;
(10)
and
so that
vEA=B .0/ D .13:42 {O
8 |O/ m=s:
(11)
sin |O:
(12)
Since t D 0 is the time of firing, we must have

uO P =A .0/ D cos {O
Finally, the problem statement along with the geometry of the problem tells that
aEB D aB |O D .10 m=s2 / |O:
(13)
Substituting the expressions in Eqs. (8), (11)(13) into Eq. (6) and expressing the result on a component by
component basis, we have
. 53:67 C 13:42tI C 300tI cos / m D 0
and .112
8tI
300tI sin
5tI2 / m D 0:
(14)
The equations above form a system of two equations in the two unknowns and tI that can be solved
numerically with some appropriate mathematical software. We have used Mathematica with the following
code:
FindRoot!"!53.67 " 13.42 tI " 300. tI Cos#$ $ 0, 112. ! 8. tI ! 300. tI Sin#$ ! 5. tI2 $ 0%,
&&, 64.4 Degree', &tI, 0.375''(
Notice that we have provided the root finding algorithm an initial guess for the solution consisting of the
values D 64:4 and tI D 0:1 s, which coincide with the solution to the case discussed in Example 2.26.
The above code yields the following solution (expressed to 3 significant figures):
D 65:9
and
tI D 0:39 s:
August 10, 2009
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Solutions Manual
Problem 2.196
A park ranger R is aiming a rifle armed with a tranquilizer dart at a bear (the
figure is not to scale). The bear is moving in the direction shown at a constant
speed vB D 25 mph. The ranger fires the rifle when the bear is at C at a
distance of 150 ft. Knowing that D 10 , D 108 , the dart travels with a
constant speed of 425 ft=s, and the dart and the bear are moving in a horizontal
plane, determine the orientation of the rifle so that the ranger can hit the
bear. Hint: An equation of the type sin A cos D C has the solution
D C sin 1 .C cos /, if jC cos j 1, where D tan 1 A.
Solution
Place a Cartesian coordinate system with origin at R. Let P be the projectile. Thus, we
have the situation depicted by the figure at the right. The velocity vector of the bear and
the dart are then written in the xy plane as
vEB D
vB .cos {O C sin |O/;
vEP D
vP .cos {O C sin |O/;
(1)
where vB D 25 mph D 36:66 ft=s, and vP D 425 ft=s. Let t D 0 be the time of firing,
and tI be the time at which P hits B. Then it must be the case that
E
rEP =B .tI / D 0;
(2)
where
rEP D vEP t D
vP t .cos {O C sin |O/;
(3)
and
rEB D rEB .0/ C vEB t; with rEB .0/ D
d.cos {O C sin |O/:
(4)
Enforcing Eq. (2) requires that

E
. vP cos tI C d cos C vB cos tI / {O C . vP sin tI C d sin C vB sin tI / |O D 0;
whereupon, considering the vector components individually, it is determined that

vB
|O W
d sin D vP tI sin
sin ;
vP

vB
{O W
d cos D vP tI cos
cos :
vP
Dividing Eq. (6) by Eq. (7) (since cos
vB
vP
(5)
(6)
(7)
cos 0), we have
tan D
sin
cos
vB
vP sin

:
vB
vP cos
(8)
Rearranging and multiplying by cos yields

sin cos
cos sin D
vB
.sin cos
vP
cos sin / ;
(9)
August 10, 2009
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Dynamics 1e
sin.
/ D
vB
sin.
vP
D C sin
/;

vB
sin.
vP
Hence, satisfying the values for , , vB , and vP it is determined that

1 36:66
D 10 C sin
sin.108
10 / ;
425
(10)

/ :
(11)
(12)

D 14:9 :
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Solutions Manual
Problem 2.197
An airplane flying horizontally with a speed vp D 110 km=h relative to the
water, drops a crate onto a carrier when vertically over the back end of the ship,
which is traveling at a speed vs D 26 km=h relative to the water. If the plane
drops the crate from a height h D 20 m, at what distance from the back of the
ship will the crate first land on the deck of the ship?
Solution
Let C represent the crate which undergoes projectile motion after being dropped. The
acceleration of C is aEc D g |O. The velocity of the crate is
vEc D vp {O
gt |O:
(1)
Note that the .O{ ; |O/ component system is fixed relative to the water and the origin is at the point where C is
released. The position of the crate is
rEc .t / D vp t {O 21 gt 2 |O:
(2)
The position of the back of the ship is
rEs .t / D vs t {O:
(3)
Let td be the time at which the crate hits the deck.

s
rcy .td / D rcy .0/
rEc=s D rEc
1 2
2 gtd
td D
2h
g
(4)
rEs , where for t D td rcy D rsy .

s
rEc=s

x
D ` D vp
vs
2h
D 47:1 m:
g
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Dynamics 1e
Problem 2.198
An airplane flying horizontally with a speed vp relative to the water drops a crate
onto a carrier when vertically over the back end of the ship, which is traveling
at a speed vs D 32 mph relative to the water. The length of the carriers deck is
` D 1000 ft, and the drop height is h D 50 ft. Determine the maximum value
of vp so that the crate will first impact within the rear half of the deck.
Solution
Let C be the crate. Use a component system fixed relative to the water and with its
origin at the point where C is released. C undergoes projectile motion. The acceleration
of C is aE D g |O. Therefore the velocity of the crate is
vEc D vp {O
gt |O:
(1)
The position of the crate is

rEc .t / D vp t {O
1 2
2 gt |O:
(2)
h |O:
(3)
The position of the back of the ship is

rEs .t / D vs t {O
Let td be the time when the crate will hit the deck. Considering the vertical component of rEc , we have
s
2h
h D 21 gtd2 ) td D
:
(4)
g
Now we want to solve the equation
rEc=s .td / {O D 12 `
(5)
for vpmax , where

rEc=s .td / {O D Erc .td /
rEs .td / {O:
(6)
Using Eqs. (2) and (3) along with the result in Eq. (4) we have
vpmax td
`
vs td D
2
vpmax
`
D vs C
2
g
D 331 ft=s D 225 mph:
2h
(7)
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Solutions Manual
Problem 2.199
The object in the figure is called a gun tackle, and it used to be very common on
sailboats to help in the operation of front-loaded guns. If the end at A is pulled
down at a speed of 1:5 m=s, determine the velocity of B. Neglect the fact that
some portions of the rope are not vertically aligned.
Solution
By neglecting the fact that some portions of the rope are not vertically
aligned we are able to write the length of the cord as
L D yA C 2yB :
The length of the cord is not changing so we calculate its derivative
with respect to time as
0 D yPA C 2yPB :
Solving for yPB , substituting the given data yPA D 1:5m=s, expressing
our answer in vector for and to 3 significant digits, we have
vEB D . 0:75 m=s/ |O
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Dynamics 1e
Problem 2.200
The gun tackle shown in the figure is operated with the help of a horse. If the horse moves to the right at a
speed of 7 ft=s, determine the velocity and acceleration of B when the horizontal distance from B to A
is 15 ft. Except for the part of the rope attached to the horse, neglect the fact that some portions are not
vertically aligned.
Solution
We can write the rope length L as
L D 2yB C
xA2 C h2 :
(1)
The length of the cord is not changing so we calculate its derivative with
respect to time as
xA xPA
0 D 2yPB C q
:
(2)
xA2 C h2
Solving the above equation for yPB = vB , substituting the given data h D 8 ft,
xPA D 7 ft=s, and xA D 15 ft, we have
xA xPA
yPB D q
D
2 xA2 C h2
3:088 ft=s:
(3)
Expressing the above answer in vector form and using 3 significant digits, we have
vEB D
3:09 ft=s
(4)
To obtain the acceleration of B we differentiate with respect to time the expression for yPB in Eq. (3) and,
observing that xR D 0, we obtain
h2 xPA2
yRB D
:
(5)
2.xA2 C h2 /3=2
Again recalling that we have h D 8 ft, xPA D 7 ft=s, and xA D 15 ft, expressing our answer in vector form and
to 3 significant figures, we have
aEB D
0:319 ft=s2
:
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Solutions Manual
Problem 2.201
The figure shows an inverted gun tackle with snatch block, which used to be
common on sailboats. If the end at A is pulled at a speed of 1:5 m=s, determine
the velocity of B. Neglect the fact that some portions of the rope are not
vertically aligned.
Solution
By neglecting the fact that some portions of the rope are not vertically aligned we are
able to write the length of the cord as
L D yA C 3yB :
The length of the cord is not changing so its derivative with respect to time is
0 D yPA C 3yPB :
Solving for yPB , substituting the given data yPA D 1:5 m=s, expressing our answer in vector
form and to 3 significant figures, we have
vEB D . 0:5 m=s/ |O
(1)
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Dynamics 1e
Problem 2.202
In maritime speak, the system in the figure is often called a whip-upon-whip purchase and
is used for controlling certain types of sails on small cutters (by attaching point B to the
sail to be unfurled). If the end of the rope at A is pulled with a speed of 4 m=s, determine
the velocity of B. Neglect the fact that some portions of the rope are not vertically aligned.
Solution
We will refer to the length of the rope attached to A as L2 and the length of
the other rope is referred to as L1 . We write the lengths of the rope as
L1 D 2yB
yD ;
L2 D yD C sA :
The length of the ropes are not changing so we calculate their derivatives with
respect to time as
0 D 2yPB
yPD ;
(1)
0 D yPD C sPA :
(2)
Substituting sPA D vA into Eq. (2) and eliminating yPD from Eq. (1) and Eq. (2)
we get
vA
2yPB D
:
2
Substituting the given data vA D 4 m=s and expressing our answer in vector form, we obtain
vEB D . 2:00 m=s/ |O
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Solutions Manual
Problem 2.203
The pulley system shown is used to store a bicycle in a garage. If the bicycle
is hoisted via a winch that winds the rope at a rate v0 D 5 in:=s, determine the
vertical speed of the bicycle.
Solution
Assume that pulleys B and C are always at the same height. Let A represent
an arbitrary point on the rope segment approaching the motor. The length of
the rope is
L D 4yB C sA :
The length of the rope does not change as it is winched in. Note that sPA D v0 .
0 D 4yPB C sPA
yPB D
sPA
v0
D
:
4
4
Recalling that we have v0 D 5 in: D 0:4167 ft=s, and observing that the speed of the bicycle is equal to jyPB j,
we have
vbicycle D 0:104 ft=s:
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Dynamics 1e
Problem 2.204
Block A is released from rest and starts sliding down the incline with an acceleration a0 D 3:7 m=s2 .
Determine the acceleration of block B relative to the incline. Also, determine the time needed for B to
move a distance d D 0:2 m relative to A.
Solution
Expressing the length of the rope L in terms of the coordinates of A and B
and then differentiating L with respect to time, we have
L D 3xA C xB
0 D 3xPA C xPB
0 D 3xRA C xRB :
(1)
Therefore
xRB D
3xRA D
3a0 :
(2)
Hence, recalling that a0 D 3:7 m=s2 and expressing our answer in vector form
and to 3 significant figures, we have
aEB D . 11:1 m=s2 / {O
@:
Now we use the constant acceleration equation s D s0 C sP0 t C 12 ac t 2 where s D

ac D xRB=A D xRB xRA D 4a0 .
s
dD
2a0 t 2
tD
d
D 0:164 s:
2a0
d , s0 D 0, sP0 D 0, and
(3)
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Solutions Manual
Problem 2.205
Assuming that all ropes are vertically aligned, determine the velocity and acceleration of the load G if v0 D 3 ft=s and a0 D 1 ft=s2 .
Solution
Referring to the figure on the right, the length of ropes 1, 2, and 3 are
L1 D yG C 3yB ;
L2 D yG C yD
2yB ;
L3 D yG C yA
2yD :
The derivatives with respect to time of the rope lengths are

0 D yPG C 3yPB ;
(1)
0 D yPG C yPD
2yPB ;
(2)
0 D yPG C yPA
2yPD :
(3)
Eliminating yPB from Eqs. (1) and (2), we obtain

5yPG C 3yPD D 0
yPD D
5
3 yPG :
(4)
Recalling that yPA D v0 , substituting Eq. (4) into Eq. (3) and solving for yPG , we have
3yPA
3v0
) yPG D
:
(5)
13
13
Recalling that v0 D 3 ft=s, expressing our answer in vector form and to three significant digits, we have
yPG D
vEG D . 0:692 ft=s/ |O
Taking the derivative with respect to time of the first of Eqs. (5) and recalling that yRA D a0 , we have
yRG D
3yRA
13
yRG D
3a0
:
13
(6)
Recalling that a0 D 1 ft=s2 , expressing our answer in vector form and to three significant digits, we have
aEG D . 0:231 ft=s2 / |O
:
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Dynamics 1e
Problem 2.206
The load G is initially at rest when the end A of the rope is pulled with the
constant acceleration a0 . Determine a0 so that G is lifted 2 ft in 4:3 s.
Solution
Referring to the figure on the right, the length of ropes 1, 2, and 3 are
L1 D yG C 3yB ;
L2 D yG C yD
2yB ;
L3 D yG C yA
2yD :
The derivatives with respect to time of the rope lengths are

0 D yPG C 3yPB ;
(1)
0 D yPG C yPD
2yPB ;
(2)
0 D yPG C yPA
2yPD :
(3)
Eliminating yPB from Eqs. (1) and (2), we obtain

5yPG C 3yPD D 0
yPD D
5
3 yPG :
(4)
Recalling that yPA D v0 , substituting Eq. (4) into Eq. (3) and solving for yPG , we have
yPG D
3yPA
13
yRG D
3yRA
13
yRG D
3a0
;
13
(5)
where we have used the fact that yRA D a0 . Observe that the last of Eqs. (5) implies that the acceleration of G
is constant. Hence, using the constant acceleration equation s D s0 C sP0 t C 21 ac t 2 with s s0 D d D 2 ft,
sP0 D 0, and ac D yRG , we have
dD
3a0 2
t
26
a0 D
26d
D 0:937 ft=s2 ,
3t 2
where we have set t D 4:3 s.

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Solutions Manual
Problem 2.207
At the instant shown, block A is moving at a constant speed v0 D 3 m=s to the
left and w D 2:3 m. Using h D 2:7 m, determine how much time is needed to
lower B 0:75 m from this position.
Solution
Referring to the figure on the right, the length of the rope can be described as
q
L D xA C yB C xA2 C h2 :
We will denote quantities evaluated at the initial and final positions of the system
by the subscripts 1 and 2, respectively. Because the length of the rope is constant,
we set the expressions of the length of the rope corresponding to the initial
and final positions of the system equal to each other. Initially we havexA1 D w. In addition, we have
yB2 yB1 D d D 0:75 m. Hence, we have
q
p
2
2
2
w C yB1 C w C h D xA2 C yB2 C xA2
C h2
q
p

2
w 2 C h2 D
xA2
C h2
) xA2 C d w
p
p
2

2
2
) xA2
C d w
w 2 C h2 C 2xA2 d w
w 2 C h2 D xA2
C h2 :
The last of the above equations can be solved for xA2 to obtain
xA2 D
h2
d
2 d
w
w
w 2 C h2
p

w 2 C h2
2
:
(1)
The expression above gives the position of A corresponding to the final position achieved by B as given by
the problem statement. Because A and B are connected by in inextensible rope that is assumed not to go
slack, the time taken by B to achieve its final position will be equal to the time taken by A to achieve its final
position. With this in mind, letting t denote the time to be determined, and recalling that the velocity of A is
constant, we then have
2
xA2 D xA1
v0 t
tD
1 6
4w
v0
h2

d

2 w
2 3
w 2 C h2
7
5 D 0:156 s,
p
2
2
d C w Ch
w
where we have used the fact that xA1 D w and where we have used the following numerical data: v0 D 3 m=s,
h D 2:7 m, d D 0:75 m, and w D 2:3 m.
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Dynamics 1e
Problem 2.208
At the instant shown, h D 10 ft, w D 8 ft, and block B is moving with a speed
v0 D 5 ft=s and an acceleration a0 D 1 ft=s2 , both downward. Determine the
velocity and acceleration of block A.
Solution
Referring to the figure on the right, the length of the rope can be described as
q
L D xA C yB C xA2 C h2 :
Since the length of the rope is constant, differentiating the above equation with
respect to time, we have
q
yPB xA2 C h2
xA xPA
xPA C q
D yPB ) xPA D
:
(1)
q
2
2
2
2
xA C h
xA C xA C h
Recalling that yPB D v0 D 5 ft=s and h D 10 ft, for x D w D 8 ft, expressing our answer in vector form, we
have
p
v0 w 2 C h 2
vEA D
:
{O D . 3:08 ft=s/ {O
p
w C w 2 C h2
Taking the derivative with respect to time of the last of Eqs. (1), we have
yRB
xA2 C h2
xRA D
xA C
yPB xA xPA
q
2
h2 CxA
h2 C xA2
yPB
!
h2 C

xA2
xPA C
qxPA xPA
2
h2 CxA
2
q
2
2
xA C h C xA
Replace xPA with its expression in the last of Eqs. (1), we obtain
xRA D
2
xA yPB
q
2
xA C h2 CxA
xA C
q
q
h2 C xA2 yRB
h2 C xA2
yPB
h2 C
xA2
xq
PB
Ay
2
xA C h2 CxA
2
h2 CxA
yPB
q
2
xA C h2 CxA

2
q
2
2
xA C h C xA
!
:
Recalling that yPB D v0 D 5 ft=s, yRB D a0 D 1 ft=s2 , h D 10 ft, for xA D w D 8 ft, after simplification, the
above expression, written in vector form, becomes
aEA D

v02 w

h

i
p
h2 C w 2
a0 h2 C w w C h2 C w 2
{O D . 0:893 ft=s2 / {O

2
p
w C h2 C w 2
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Solutions Manual
Problem 2.209
As a part of a robotics competition, a robotic arm is to be designed so as to
catch an egg without breaking it. The egg is released from rest at t D 0 from
point A while the arm C is initially also at rest in the position shown. The
arm starts moving when the egg is released, and it is to catch the egg at some
point in such a way as to avoid any impact between the egg and the robot hand.
The arm catches the egg without any impact by specifying that the arm and the
egg have to be at the same position at the same time with identical velocities.
A student proposes that this can be done by specifying a constant value of R
for which (after a fair bit of work) it is found that the arm catches the egg at
t D 0:4391 s for R D 13:27 rad=s2 . Using these values of t and R , determine
the acceleration of both the arm and the egg at the time of catch. Once you
R as has been
have done this, explain whether or not using a constant value of ,
proposed, is an acceptable strategy.
Solution
Referring to the figure on the right, we will use a Cartesian coordinate system
with its origin at O. Since RC is constant, we can use the constant acceleration
relations to obtain
C D C 0 C PC 0 t C 21 RC t 2 D C 0 C 12 RC t 2 ;
(1)
where C is related to yC as follows:

yC D d tan C :
(2)
Since the egg is initially falling under the action of gravity, using constant acceleration equations, at the time
of catch, i.e, for t D 0:4391 s, the y coordinate of the egg is given by
(3)
ye t D0:4391 s D 0:6000 m 21 .9:81 m=s2 /.0:4391 s/2 D 0:3457 m:
At the time of catch we mush have ye D yC . Therefore, recalling that d D 0:5 m, from Eq. (2),
C t D0:4391 s D 34:66 :
(4)
Combining this result with the general expression for C in Eq. (1) we then deduce that
C 0 D 38:66 :
(5)
Now, we turn to the computation of the acceleration of the egg and of point C at the time of catch. As already
stated, up to the time of catch the acceleration of the egg is
yRe D
9:81 m=s2 :
For the arm, we differentiate Eq. (2) twice with respect to t to obtain
yRC D d RC sec2 C C 2d PC2 sec2 C tan C :
(6)
August 10, 2009
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Dynamics 1e
To evaluate the expression above we need the value of PC at the time of catch. To obtain this value, we
differentiate Eq. (1) and evaluate it for t D 0:4391 s. Recalling that RC D 13:27 rad=s2 , this gives
PC t D0:4391 s D RC .0:4391 s/ D 5:827 rad=s:

(7)
Using this result along with the fact that d D 0:5 m and that C j t D0:4391 s D
yRC D
34:66 (see eq. (4)), we have
44:5 m=s2 :
Since the acceleration jyRC j > jyRe j, the arm and egg will only be in contact for an instant and will then
separate again. Consequently, the proposed strategy is not acceptable for catching the egg.
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Problem 2.210
Referring to the problem of a robot arm catching an egg (Prob. 2.209), the
strategy is that the arm and the egg must have the same velocity and the same
position at the same time for the arm to gently catch the egg. In addition, what
should be true about the accelerations of the arm and the egg for the catch to be
successful after they rendezvous with the same velocity at the same position
and time? Describe what happens if the accelerations of the arm and egg do not
match.
Solution
The relative acceleration of the arm with respect to the egg must be zero. If yRe < yRC then the arm and egg
will separate right after the catch. If yRe > yRC the egg will experience a jerk.
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Dynamics 1e
Problem 2.211
The piston head at C is constrained to move along the y axis. Let the crank AB be
rotating counterclockwise at a constant angular speed P D 2000 rpm, R D 3:5 in:,
and L D 5:3 in: Determine the velocity of C when D 35 .
Solution
Since the piston is constrained to move along the y axis, the law of cosines gives the relation between the
distances,
2
L2 D R 2 C y C
2RyC cos ;
(1)
from which yC is found to be
yC D R cos
L2
R2 C R2 cos2 D R cos
L2
R2 sin2 :
(2)
To determine the appropriate solution, observe that for D 0 we expect yC D R C L. For this reason we
select the solution with the C sign in front of the square root and we therefore state that
p
yC D R cos C L2 R2 C R2 cos2 :
(3)
Next taking the derivative of Eq. (3) with respect to time and simplifying yields
yPC D
RP sin
R2 P sin cos
:
p
L2 R2 sin2
(4)
Recalling that we need to find the velocity of C for D 35 , and recalling that R D 3:5 in: D 0:2917 ft,
L D 5:3 in: D 0:4417 ft, and P D 2000 rpm D 209:4 rad=s, using Eq. (4) and expressing our result in vector
form, we have
vEC D yPC |O D . 55:5 ft=s/ |O:
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Solutions Manual
Problem 2.212
The piston head at C is constrained to move along the y axis. Let the crank AB be
rotating counterclockwise at a constant angular speed P D 2000 rpm, R D 3:5 in:,
and L D 5:3 in: Determine expressions for the velocity and acceleration of C as a
function of and the given parameters.
Solution
Since the piston is constrained to move along the y axis, the law of cosines gives the relation between the
distances,
2
L2 D R 2 C y C
2RyC cos ;
(1)
from which yC is found to be
yC D R cos
L2
R2 C R2 cos2 D R cos
L2
R2 sin2 :
(2)
To determine the appropriate solution, observe that for D 0 we expect yC D R C L. For this reason we
select the solution with the C sign in front of the square root and we therefore state that
p
(3)
yC D R cos C L2 R2 C R2 cos2 :
Next taking the derivative of Eq. (3) with respect to time and simplifying yields

R2 P sin cos
R cos
P
P
yPC D R sin p
D R sin 1 C p
:
(4)
L2 R2 sin2
L2 R2 sin2
Recalling that R D 3:5 in: D 0:2917 ft, L D 5:3 in: D 0:4417 ft, and P D 2000 rpm D 209:4 rad=s, Eq. (4)
can be expressed numerically and in vector form, as follows:

0:292 cos
|O;
vEC D . 6:61 ft=s/ sin 1 C p
0:195 0:0851 sin2
where we have expressed all known coefficients to 3 significant figures.
Next, recalling that R D constant, differentiating with respect to time yPC in Eq. (4), we have

R cos
R sin
R3 cos2 sin
2
P
yRC D R cos 1 C p
C sin
: (5)
p
.L2 R2 sin2 /3=2
L2 R2 sin2
L2 R2 sin2
Then, again recalling that R D 3:5 in: D 0:2917 ft, L D 5:3 in: D 0:4417 ft, and P D 2000 rpm D
209:4 rad=s, Eq. (5) can be expressed numerically and in vector form, as follows:

0:292 cos
aEC D 1:28104 ft=s2 cos 1 C p
0:195 0:0851 sin2

0:0248 cos2 sin
0:292 sin
C sin
|O:
p
.0:195 0:0851 sin2 /3=2
0:195 0:0851 sin2
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Dynamics 1e
Problem 2.213
Let !EBC denote the angular velocity of the relative position vector rEC =B . As such,
!EBC is also the angular velocity of the connecting rod BC . Using the concept of
time derivative of a vector given in Section 2.4 on p. 88, determine the component
of the relative velocity of C with respect to B along the direction of the connecting
rod BC .
Solution
We being by observing that vEC =B D rEPC =B , where rEC =B D L uO C =B . Since L is
constant, we must have rEPC =B D L uPO C =B . Recalling that uPO C =B D !E uO C =B
vEC =B D L!E uO C =B :
We now observe that !E uO C =B is orthogonal to uO C =B . Therefore the component of
vEC =B along the direction uO C =B is

Component of vEC =B along BC D L!E uO C =B uO C =B D 0:
August 10, 2009
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Solutions Manual

In the cutting of sheet metal, the robotic arm OA needs to move
the cutting tool at C counterclockwise at a constant speed v0 along
a circular path of radius .
The center of the circle is located in the position shown relative to the base of the robotic arm
at O.
), determine r, r,
P and P as functions of the given quantities (i.e., d , h, , v0 ).
Use one or more geometric constraints and their derivatives to do this. These
quantities can be found by hand, but it is tedious, so you might consider using
symbolic algebra software such as Mathematica or Maple.
Problem 2.214
), determine rR and R as functions of the given quantities (i.e., d , h, , v0 ).
These quantities can be found by hand, but it is very tedious, so you might
consider using symbolic algebra software such as Mathematica or Maple.
Problem 2.215
Solution to 2.214
Referring to the figure on the right, we define a Cartesian coordinate
system with origin at O. Then the coordinates of point C are such
that
2
2
r 2 D xC
C yC
;
(1)
where
xC D d C cos D r cos ;
(2)
yC D h C sin D r sin ;
(3)
so that r can be expressed as

rD
.d C cos /2 C .h C sin /2 :
(4)
Differentiating Eqs. (2) and (3) with respect to time, we have

P sin D rP cos r P sin ;
P cos D rP sin C r P cos :
(5)
(6)
Next, observe that we have

sin D
h C sin
;
r
cos D
d C cos
;
r
and P D v0 =:
(7)
Hence, substituting Eqs. (4) and (7) into Eqs.(5) and (6), we obtain a system of two equation in the two
unknowns rP and P whose solution is
P D
and
rP D p
v0 .h cos
d sin /
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Dynamics 1e
Solution to 2.215
Referring to the figure on the right, we define a Cartesian coordinate
system with origin at O. Then the coordinates of point C are such
that
2
2
r 2 D xC
C yC
;
(8)
where
xC D d C cos D r cos ;
(9)
yC D h C sin D r sin ;
(10)
so that r can be expressed as

q
r D .d C cos /2 C .h C sin /2 :
(11)
Differentiating Eqs. (9) and (10) with respect to time, we have

P sin D rP cos r P sin ;
P cos D rP sin C r P cos :
(12)
(13)
Next, observe that we have

sin D
h C sin
;
r
cos D
d C cos
;
r
and P D v0 =:
(14)
Hence, substituting Eqs. (11) and (14) into Eqs.(12) and (13), we obtain a system of two equation in the two
unknowns rP and P whose solution is
P D
and
rP D p
v0 .h cos
.d C
cos /2
d sin /
C .h C sin /2
(15)
To find expressions for rR and R we must take the second derivatives of Eqs. (15) and then replace P with
its expression in terms of v0 and , i.e. P D v0 =. Doing so, after simplification, yields the following
expressions:
rR D
R D
v02 . C d cos C h sin /.d 2 C h2 C d cos C h sin /

;

3=2

v02 d 2 C h2 2 .d sin h cos /

2 :
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Solutions Manual
Problem 2.216
Although point P is moving on a sphere, its motion is being studied with the
cylindrical coordinate system shown. Discuss in detail whether or not there are
incorrect elements in the sketch of the cylindrical component system at P .
Solution
The unit vector uO R points in the direction of rE. This is incorrect. For a cylindrical coordinate system, the unit
vector uO R must be parallel to the -R plane and point in the R direction.
August 10, 2009
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267
Problem 2.217
Although point P is moving on a sphere, its motion is being studied with the
cylindrical coordinate system shown. Discuss in detail whether or not there are
incorrect elements in the sketch of the cylindrical component system at P .
Solution
The unit vector uO points in the direction of decreasing . This is incorrect, as uO must point in the direction
of increasing .
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Solutions Manual
Problem 2.218
Discuss in detail whether or not (a) there are incorrect elements in the sketch of
the cylindrical component system at P and (b) the formulas for the velocity and
acceleration components derived in the section can be used with the coordinate
system shown.
Solution
(i) The unit vector uO is pointing in the direction of decreasing . This is incorrect. It must point in the
direction of increasing .
(ii) No, the formulas derived in the section cannot be used since the angle in this figure is defined from
the xy plane to the line OP . The formulas of this section require that be defined from the axis to
the line OP .
August 10, 2009
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Dynamics 1e
Problem 2.219
Discuss in detail whether or not (a) there are incorrect elements in the sketch of
the cylindrical component system at P and (b) the formulas for the velocity and
acceleration components derived in the section can be used with the coordinate
system shown.
Solution
(i) The orientations of the unit vectors in relation to the positive directions of r, , and are correct.
(ii) No, the formulas derived in the section cannot be used since the angle in this figure is defined from
the xy plane to the line OP . The formulas of this section require that be defined from the axis to
the line OP . Also the .uO r ; uO ; uO /, triad is NOT right-handed.
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Solutions Manual
Problem 2.220
A top-slewing crane is lifting an object C at a constant rate of 5:3 ft=s while
rotating at a constant rate of 0:12 rad=s about the vertical axis. If the distance
between the object and the axis of rotation of the cranes boom is currently
46 ft and it is being reduced at a constant rate of 6:5 ft=s, find the velocity and
acceleration of C , assuming that the swinging motion of C can be neglected.
Solution
Referring to the figure on the right, we define a cylindrical coordinate system with
the R direction parallel to the cranes boom going from the vertical axis of the crane
toward point C ; with the axis coinciding with the vertical axis of the crane and
pointing in the direction opposite to gravity; with the direction defined in such
a way the the triad .uO R ; uO ; uO is right-handed. Interpreting the data given in the
problem statement, in addition to having R D 46 ft, we can write:
RP D 6:5 ft=s;
RR D 0;
P D 0:12 rad=s;
R D 0;
P D 5:3 ft=s;
(1)
R D 0:
(2)
Substituting the values into the equation for the velocity, namely, vE D RP uO R C RP uO C P uO , we have
vEC D . 6:5 uO r C 5:52 uO C 5:3 uO / ft=s:
For the acceleration, substituting the given values into the equation aE D RR
R uO , gives
aEC D . 0:662 uO r

RP 2 uO R C RR C 2RP P uO C
1:56 uO / ft=s2 :
August 10, 2009
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Dynamics 1e
Problem 2.221
An airplane is flying horizontally at a speed v0 D 320 mph while its propellers
rotate at an angular speed ! D 1500 rpm. If the propellers have a diameter
d D 14 ft, determine the magnitude of the acceleration of a point on the
periphery of the propeller blades.
Solution
Referring to the figure on the right, we define a cylindrical coordinate system
with the axis coinciding with the shaft on which the propeller is mounted but
remaining fixed (i.e, not moving with the plane), R direction perpendicular to
the shaft and going from the axis to the point whose acceleration we want to
measure, an such that the triad .uO R ; uO ; uO is right-handed. Next, we recall that in
cylindrical coordinates the acceleration is given by the following formula:

aE D RR RP 2 uO R C RR C 2RP P uO C R uO
(1)
Using the problems given information we that we have

R D 12 d D 7:000 ft;
RP D 0;
RR D 0;
P D ! D 1500 rpm D 157:1 rad=s;
R D 0:
(2)
Substituting the above information in the formula for the acceleration we have
aE D
RP 2 uO R D . 1:728105 ft=s2 / uO R :
(3)
The magnitude of the above vector, expressed to 3 significant figures, is

aE D 17;300 ft=s2 :
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Solutions Manual
Problem 2.222
A particle is moving over the surface of a right cone with angle and under
the constraint that R2 P D K, where K is a constant. The equation describing
the cone is R D tan . Determine the expressions for the velocity and the
acceleration of the particle in terms of K, , , and the time derivatives of .
Solution
We use the the cylindrical coordinate system implied by the problems figure. Next we recall that the general
expressions for the velocity and acceleration in cylindrical coordinates are as follows:

vE D RP uO R C RP uO C P uO and aE D RR RP 2 uO R C RR C 2RP P uO C R uO :
(1)
The problem is solved by determining all of the terms in the expressions for vE and aE and then substituting the
terms in question into the above equations.
We begin with computing the terms related to the coordinate R. We are told that R D tan . Hence,
recalling that is constant, we have
R D tan
RP D P tan
RR D R tan :
(2)
Next we consider the terms related to . Specifically, we start with the constraint equation R2 P D K, and
obtain
K
2K P
K
) R D
:
(3)
K D R2 P ) P D 2 D 2 2
R
tan
3 tan2
Substituting the first two of Eqs. (2) and the second of Eqs. (3) into the first of Eqs. (1), we have
vE D P tan uO R C
K
uO C P uO :
tan
Substituting Eqs. (2) and the last two of Eqs. (3) into the second of Eqs. (1), we have

aE D R tan

K2
uO R C R uO :
3 tan3
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Dynamics 1e
Problem 2.223
Solve Prob. 2.222 for general surfaces of revolution; that is, R is no longer
equal to tan , but is now an arbitrary function of , that is, R D f ./. The
expressions you are required to find will contain K, f ./, derivatives of f ./
with respect to , as well as derivatives of with respect to time.
Solution
We use the the cylindrical coordinate system implied by the problems figure. Next we recall that the general
expressions for the velocity and acceleration in cylindrical coordinates are as follows:

vE D RP uO R C RP uO C P uO and aE D RR RP 2 uO R C RR C 2RP P uO C R uO :
(1)
The problem is solved by determining all of the terms in the expressions for vE and aE and then substituting the
terms in question into the above equations.
We begin with computing the terms related to the coordinate R. Since we are told that R D f ./, and
keeping in mind that D .t /, using the chain rule, we have

d 2f
dR d
df
d
df
df
RP D
) RP D P
and RR D
P
) RR D R
C P 2 2 :
(2)
d dt
d
dt
d
d
d
Next we consider the terms concerning the coordinate . Recalling that we have the constraint equation
P Hence, we can write
K D R2 .
K D R2 P
P D
K
f
2 ./
d P d
2K df
R D
D 3
:
P
d dt
f ./ d
(3)
Recalling that R D f ./, substituting the expression for RP from Eqs.(2) along with the expression for P
from Eqs. (3) into the first of Eqs. (1) we have
vE D
K
df
P uO r C
uO C P uO :
d
f ./
Again recalling that R D f ./, substituting the expressions for RP and RR from Eqs.(2) along with the
expressions for P and R from Eqs. (3) into the second of Eqs. (1) we have

d 2f
aE D R C P 2 2
d

K2
uO R C R uO :
f 3 ./
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Solutions Manual
Problem 2.224
Revisit Example 2.31, and assuming that the plane is accelerating, determine the relation that the radar readings obtained by
the station at A need to satisfy for you to conclude that the
jet is flying along a straight line whether at constant altitude or
not.
Solution
For the plane to fly along a straight line, the airplanes velocity and acceleration vectors must be parallel.
This condition is expressed by the following vector equation:
E
vE aE D 0:
(1)
Recalling that we can write

vE D vr uO r C v uO C v uO
and aE D ar uO r C a uO C a uO ;
(2)
the condition in Eq. (1) takes on the form

vE aE D .v a
v a / uO r C .v ar
vr a / uO C .vr a
E
v ar / uO D 0:
(3)
v ar D 0:
(4)
The above equation is satisfies if and only if

v a
v a D 0;
v ar
vr a D 0;
and
vr a
Next, using Eq. (2.138) on p. 157 of the textbook and Eq. (2.140) on p. 157 of the textbook, we can rewrite
Eqs. (4) as follows:
P R sin C 2rP P sin C 2r P P cos /
r .r
r P sin .rR r P 2 r P 2 sin2 /
r.r
P R C 2rP P
r P sin .r R C 2rP P r P 2 sin cos / D 0;

r.r
P R sin C 2rP P sin C 2r P P cos / D 0;
r P 2 sin cos /
P rR
r .
r P 2
r P 2 sin2 / D 0:
The above equations are those that need to be satisfied by the radar reading to conclude that the plane is flying
along a straight line.
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Dynamics 1e
Problem 2.225
The system depicted in the figure is called a spherical pendulum. The fixed
end of the pendulum is at O. Point O behaves as a spherical joint; i.e., the
location of O is fixed while the pendulums cord can swing in any direction in
the three-dimensional space. Assume that the pendulums cord has a constant
length L, and use the coordinate system depicted in the figure to derive the
expression for the acceleration of the pendulum.
Solution
Keeping in mind that the length of the pendulum is constant, we have that the position vector of the pendulum
bob is described as rE D L uO r , where the radial coordinate r is such that
r D L D constant:
(1)
Therefore the time derivatives of the radial coordinate must be equal to zero, i.e.,
rP D 0 and
rR D 0:
(2)
Now recall that the acceleration in spherical coordinates is given by

aE D rR r P 2 r P 2 sin2 uO r C r R C 2rP P r P 2 sin cos uO C r R sin C 2rP P sin C 2r P P cos uO :
Therefore, using Eqs. (1) and (2) the acceleration becomes
aE D

L P 2 C P 2 sin2 uO r C L R

P 2 sin cos uO C L R sin C 2P P cos uO :
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Solutions Manual
Problem 2.226
An airplane is traveling at a constant altitude of 10;000 ft, with a constant speed
of 450 mph, within the plane whose equation is given by x C y D 10 mi and in
P ,
R and R that
P r,
the direction of increasing x. Find the expressions for r,
P ,
R ,
would be measured when the airplane is closest to the radar station.
Solution
The figure on the right shows the trace of the path of the airplane on the xy
plane. Using the coordinate system shown, then velocity and acceleration
of the plane are
v0
vE D p .O{ |O/ and aE D 0E
2
where v0 D 450 mph D 660:0 ft. Point P 0 in the figure is the projection
on the xy plane of the point on the airplanes path that is closest to the
origin O. Based on the geometry of the path, we have that xP 0 D yP 0 D
5 mi D 2:640104 ft. Therefore, referring to the bottom figure on the right, the coordinates of the point P
(the point on the path closest to the origin) are
P W .xP 0 ; yP 0 ; h/ D .26;400; 2:6400; 10;000/ ft;
(1)
where h D 10;000 ft is the altitude at which the airplane is flying.

Referring to the figure on the right (bottom), the distance between P
and O is
s
x2
y2
r D h2 C P C P D 38;650 ft:
4
4
The angles and when the plane is closest to the radar are
p !
1 h 2
D 45 and D 90
tan
D 75:01 :
x0
(2)
Then, the unit vectors uO r ; uO , and uO of a spherical coordinate system with origin at O are expressed as
O
uO r D sin cos {O C sin sin |O C cos k;
O
uO D cos cos {O C cos sin |O sin k;
uO D
sin {O C cos |O:
The components of the velocity in the uO r ; uO , and uO directions for D 45 are

v0
vr D rP D vE uO r D p .sin cos sin sin /
2
v0
v D r P D vE uO D p .cos cos cos sin /
2
v0
v D r P sin D vE uO D p . sin
2
cos /
rP D 0.
P D 0.
P D
v0
D
r sin
0:0177 rad=s,
August 10, 2009
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Dynamics 1e
where we have used the fact that v0 D 450 mph D 660:0 ft, D 45 , and D 75:01 (see Eqs. (2)).
The components of the acceleration in the uO r ; uO , and uO directions for D 45 are
ar D rR
r P 2
a D r R C 2rP P
r P 2 sin2 D 0
r P 2 sin cos D 0
a D r R sin C 2rP P sin C 2r P P cos D 0
rR D
v02
D 11:3 ft=s2 :
r
R D
v02 cos
D 78:110
r 2 sin
R D 0,
rad=s2 .
where, again, we have used the fact that v0 D 450 mph D 660:0 ft, D 45 , and D 75:01 (see Eqs. (2)).
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Solutions Manual
Problem 2.227
An airplane is being tracked by a radar station at A. At the instant t D 0, the
following data is recorded: r D 15 km, D 80 , D 15 , rP D 350 km=h,
P D 0:002 rad=s, P D 0:003 rad=s. If the airplane were flying so as to keep
each of the velocity components constant for a few minutes, determine the
components of the airplanes acceleration when t D 30 s.
Solution
Referring to Eq. (2.140) on p. 157 of the textbook, recall that, in spherical coordinates, the components of
acceleration are given by
ar D rR r P 2 r P 2 sin2 ;
(1)
a D r R C 2rP P r P 2 sin cos ;
a D r R sin C 2rP P sin C 2r P P cos :
P and R for t D 30 s.
P ,
R ,
Therefore, to solve this problem, we must provide the values of r, r,
P r,
R , ,
We will now use the assumption that the velocity components are constant to determine the value of the
quantities just listed. With this in mind, it is useful to recall that the expression of the velocity in spherical
coordinates is (see Eq. (2.137) on p. 157 of the textbook)
vE D rP uO r C r P uO C r P sin uO D vr uO r C v uO C v uO :
(2)
Then, under the assumption that vr is constant, for the radial coordinate r we have
vr .0/ D r.0/
P
D constant
r.t
R /D0
r.t / D r.0/ C r.0/t:

P
and
(3)
Recalling that r.0/ D 15 km D 15;000 m and that r.0/

P
D 350 km=h D 97:22 m=s, then, using Eqs. (3), at
t D 30 s we have
r.30 s/ D 17920;
r.30
P
s/ D 97:22 m=s;
and
r.30
R
s/ D 0:
(4)
P and R at t D 30 s. To do so, referring to Eq. (2), we

Next we proceed to determine the values of , ,
P Hence, using the expression for r in the last of Eqs. (3) we have
start from the consideration that v D r .
P
v D r P D constant D r.0/.0/;
P D
P
r.0/.0/
r.0/ C r.0/t
P
R D
P
r.0/r.0/
P .0/
:
r.0/ C r.0/t
P
2
(5)
The last two of Eqs. (5) will allow us to compute P and R at t D 30 s. However, we also need the value of
at t D 30 s. To compute such a value we now proceed to integrate the second of Eqs. (5) with respect to time.
This gives
P
r.0/.0/
d
P D
D
dt
r.t /
Z
)
.t /
.0/ D
P
r.0/.0/
dt
r.0/ C r.0/t
P
)

P
r.0/.0/
r.0/
P
.t / D .0/ C
ln 1 C
t : (6)
r.0/
P
r.0/
Using the last of Eqs. (6) and the last two of Eqs. (5) we then have
.30 s/ D 76:86 ;
P
.30
s/ D
0:001674 rad=s;
R
and .30
s/ D 9:08610
rad=s2 ;
(7)
August 10, 2009
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Dynamics 1e
where we have used the following numerical data: r.0/ D 15 km D 15;000 m, r.0/
P
D 350 km=h D
P
97:22 m=s, .0/ D 80 , and .0/
D 0:002 rad=s.
P and R at t D 30 s. We start from the fact that v D r P sin
Next we proceed to determine the values of ,
is assumed to be constant. Hence, we have
P sin .t / D r.0/P .0/ sin .0/
r.t/.t/
)
)
R D
r.0/P .0/ sin .0/

P .t / D
r.t / sin .t /
P
P /g
r.0/ .0/ sin .0/fr.t
P / sin .t / C r.t /cos .t /.t
r 2 .t / sin2 .t /
: (8)
Hence, recalling that r.0/ D 15 km D 15;000 m, r.0/

P
D 350 km=h D 97:22 m=s, .0/ D 80 , P .0/ D
0:003 rad=s, and using Eqs. (4) and (7), for t D 30 s, we have
P .30 s/ D 0:002540 rad=s
and R .30 s/ D
0:00001278 rad=s2 :
(9)
In conclusion, substituting Eqs. (4), (7), and (9) into Eqs. (1), for t D 30 s we have
ar D
0:160 m=s2 ;
a D
0:188 m=s2 ;
and
a D 0:223 m=s2 :
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Problem 2.228
An airplane is being tracked by a radar station at A. At the instant t D 0, the
following data is recorded: r D 15 km, D 80 , D 15 , rP D 350 km=h,
P D 0:002 rad=s, P D 0:003 rad=s. If the airplane were flying so as to keep
each of the velocity components constant, plot the trajectory of the airplane for
0 < t < 150 s.
Solution
To plot the trajectory of the airplane we need to find expressions for the coordinates of the airplane as a
function of time. Clearly, this must be done while enforcing the condition that the velocity components
remain constant during the time interval of interest. For this purpose, we consider the general expression for
the velocity in spherical coordinates, namely (see Eq. (2.137) on p. 157 of the textbook),
vE D rP uO r C r P uO C r P sin uO D vr uO r C v uO C v uO :
(1)
Then, under the assumption that vr is constant, for the radial coordinate r we have
vr .0/ D r.0/
P
D constant
r.t / D r.0/ C r.0/t;

P
(2)
where r.0/ D 15 km D 15;000 m and that r.0/

P
D 350 km=h D 97:22 m=s.
Next we proceed to determine an expression for .t /. To do so, referring to Eq. (1), we start from the
P Hence, using the expression for r in the last of Eqs. (2) we have
consideration that v D r .
P
v D r P D constant D r.0/.0/;
P D
P
r.0/.0/
:
r.0/ C r.0/t
P
(3)
Then, to determine .t / we now proceed to integrate the last of Eqs. (3) with respect to time. This gives
P
r.0/.0/
d
D
P D
dt
r.t /
Z
)
.t /
.0/ D
P
r.0/.0/
dt
r.0/ C r.0/t
P
)

P
r.0/.0/
r.0/
P
.t / D .0/ C
ln 1 C
t ; (4)
r.0/
P
r.0/
P
where r.0/ D 15 km D 15;000 m, r.0/
P
D 350 km=h D 97:22 m=s, .0/ D 80 , and .0/
D 0:002 rad=s.
Next we try and provide an expression for .t /. We start from the fact that v D r P sin is assumed to
be constant. Hence, we have
r.t /P .t / sin .t / D r.0/P .0/ sin .0/
r.0/P .0/ sin .0/

P .t / D
:
r.t / sin .t /
(5)
Although the expressions for r.t / and .t / are currently known, even if one were to substitute these
expressions into the above equation, we would obtain an expression for P that cannot be integrated with
respect to time in closed-form. Hence, we must proceed to integrate with respect to time numerically. This
can be done with a variety of pieces of mathematical software. We have used Mathematica as described
below.
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Dynamics 1e
Referring to the above trajectory, the airplane is moving from the upper right to the lower left.
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Problem 2.229
A carnival ride called the octopus consists of eight arms that rotate about the
axis at the constant angular velocity P D 6 rpm. The arms have a length
L D 22 ft and form an angle with the axis. Assuming that varies with
time as .t/ D 0 C 1 sin !t with 0 D 70:5 , 1 D 25:5 , and ! D 1 rad=s,
determine the magnitude of the acceleration of the outer end of an arm when
achieves its maximum value.
Solution
Since both 0 and 1 are positive, the function .t / D 0 C 1 sin !t is maximum when sin !t D 1.
Therefore, we have
D max D 0 C 1 D 96:00 for !t D .=2/ rad:
(1)
Now that we have determined the maximum value of the angle , we observe that to compute the
magnitude of the acceleration we need to compute the component of the acceleration. In turn, given that we
are using a spherical coordinate system, we recall that, referring to Eq. (2.140) on p. 157 of the textbook, the
components in question are
ar D rR r P 2 r P 2 sin2 ;
(2)
a D r R C 2rP P r P 2 sin cos ;
a D r R sin C 2rP P sin C 2r P P cos :
P and R corresponding to
P ,
R ,
Therefore, to solve this problem, we must provide the values of r, r,
P r,
R , ,
D max D 96:00 . Clearly, the value of is already known, since D max D 96:00 . In addition, we
have
r D L D 22 ft D costant ) rP D 0 and rR D 0:
(3)
Also, from Eq. (1), we have that for D max D 96:00
P D 0 and R D 1 ! 2 sin !t
!t D.=2/ rad
D 0:4451 rad=s2 ;
(4)
where we have used the fact that 1 D 25:5 and ! D 1 rad=s. Finally, for P and R we have
P D 6 rpm D 0:6283 rad=s D constant ) R D 0:
(5)
Using the results in Eqs. (3)(4), the ar component of acceleration for DD max D 96:00 is
ar D rR r P 2 r P 2 sin2 ) ar D LP 2 sin2 D 8:590 ft=s2 :
Similarly, the a component of acceleration for D max D 96:00 is
a D r R C 2rP P r P 2 sin cos ) a D L1 ! 2 LP 2 sin cos D
(6)
8:888 ft=s2 :
(7)
Similarly, the a component of acceleration for D max D 96:00 is

a D r R sin C 2rP P sin C 2r P P cos ) a D 0 ft=s2 :
(8)
96:00
Now we recall that the magnitude of the acceleration for D max D

is
r

2
P 2 sin2 C L1 ! 2
aE D a2 C a2 C a2 ) aE D
L

max
max
r

LP 2 sin cos
2
which, using the results in Eqs. (6)(8), can be evaluated to obtain
aE D 12:4 ft=s2 :

max
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Problem 2.230
A golfer chips the ball as shown. Letting D 23 , D 41 , and the initial
speed be v0 D 6 m=s, determine the x and y coordinates of the place where the
ball will land.
Solution
For projectile motion ax D 0, ay D 0, and a D
x D x0 C xP 0 t;
g. Hence
y D y0 C yP0 t;
and
D 0 C P 0 t
1 2
2 gt :
At time t D 0 the ball is at the origin of our coordinate system so x0 D y0 D 0 D 0. The initial components
of the velocity are
xP 0 D v0 cos cos ;
yP0 D v0 cos sin ;
and
P 0 D v0 sin :
Using the equations written so far, we have that the motion of the ball is described by the following equations:
x D .v0 cos cos /t;
y D .v0 cos sin /t;
and
D .v0 sin /t
1 2
2 gt :
To determine the location of landing, we observe that the coordinate of the landing spot must be D 0.
Next we find the time corresponding to D 0, i.e.,
D .v0 sin /t
1 2
2 gt
D0
tD
2v0 sin
:
g
The x and y components of the position corresponding to this time are

v 2 sin 2 cos
2v0 sin
) xland D 0
D 3:35 m;
xland D .v0 cos cos /
g
g

v 2 sin 2 sin
2v0 sin
yland D .v0 cos sin /
) yland D 0
D 1:42 m;
g
g
where we have used the following numerical data: v0 D 6 m=s, D 23 , D 41 , and g D 9:81 m=s2 . In
summary, the location of the balls landing spot is identified by the following coordinates
xland D 3:35 m;
yland D 1:42 m;
and land D 0:
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Problem 2.231
In a racquetball court, at point P with coordinates xP D 35 ft, yP D 16 ft, and
P D 1 ft, a ball is imparted a speed v0 D 90 mph and a direction defined by
the angles D 63 and D 8 ( is the angle formed by the initial velocity
vector and the xy plane). The ball bounces off the left vertical wall to then then
hit the front wall of the court. Assume that the rebound off the left vertical wall
occurs such that (1) the component of the balls velocity tangent to the wall
before and after rebound is the same and (2) the component of velocity normal
to the wall right after impact is equal in magnitude and opposite in direction to
the same component of velocity right before impact. Accounting for the effect
of gravity, determine the coordinates of the point on the front wall that will be
hit by the ball after rebounding off the left wall.
Solution
From P to the left wall the racquetball undergoes projectile motion and therefore the components of the
balls acceleration in the given coordinate system are ax D 0, ay D 0, and a D g. In turn, the coordinates
of the ball as a function of time are
x D xP C xP 0 t;
y D yP C yP0 t;
and
D P C P 0 t
1 2
2 gt ;
where xP D 35 ft, yP D 16 ft, and P D 1 ft. Next, the initial components of velocity are
xP 0 D
yP0 D
v0 cos sin ;
v0 cos cos ;
and
P 0 D v0 sin :
Hence, first part of the motion of the ball is described by

x D xP
.v0 cos sin /t;
y D yP
.v0 cos cos /t;
and
D P C .v0 sin /t
1 2
2 gt :
The racquetball will impact the left wall when y.t / D 0. Recalling that that v0 D 90 mph D 132:0 ft=s,
D 63 , and D 8 , and letting tlw denote the time at which the ball hits the left wall, we have
y left wall D yP
.v0 cos cos / tlw D 0
tlw D
yP
D 0:2696 s:
v0 cos cos
The corresponding x and coordinates at t D tlw are

xlw D xP
.v0 cos sin / tlw

1 2
2 gtlw
lw D P C .v0 sin / tlw
xlw D 3:598 ft;

)
lw D 4:783 ft:
After impact the x and y components of velocity are

xP lw D
v0 cos sin
and yPlw D v0 cos cos :
The z component of velocity after impact is calculated with the constant acceleration equation v D v0 C at.
P lw D v0 sin
gtlw :
After the impact with the left wall, the ball is projectile motion. Hence, the equations describing the motion
of the ball after the impact are
x D xlw
.v0 cos sin /t;
y D .v0 cos cos /t;
and
D lw C .v0 sin
gtlw /t
1 2
2 gt ;
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Dynamics 1e
where we have reset the time variable so that t D 0 now corresponds to the when the ball bounces off the
the left wall. We are now ready to consider the impact of the ball with the front wall, which is described by
the condition x.t / D 0. Letting tfw denote the time at which the ball impacts the front wall, we have
x front wall D xlw
.v0 cos sin /tfw D 0
tfw D
xlw
D 0:03089 s:
v0 cos sin
The corresponding values of the y and coordinates at t D tfw are

yfw D .v0 cos cos / tfw
fw D lw C .v0 sin
gtlw / tfw
yfw D 1:833 ft;

1 2
2 gtfw
fw D 5:067 ft:
In summary, the coordinates of the point on the front wall that is impacted by the ball, we have
xfw D 0;
yfw D 1:83 ft;
and
fw D 5:07 ft:
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Solutions Manual
Problem 2.232
The figure shows the displacement vector of a point P between two time instants
t1 and t2 . Is it possible for the vector vEavg shown to be the average velocity of
P over the time interval t1 ; t2 ?
Solution
No. vEavg needs to have the same direction as Er .t1 ; t2 /.
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Dynamics 1e
Problem 2.233
The motionpof a point P with respect to a Cartesian coordinate system is described
by rE D f2 t {O C 4 ln.t C 1/ C 2t 2 |Og ft, where t is time expressed in seconds.
Determine the average velocity between t1 D 4 s and t2 D 6 s. Then find the time
tN for which the x component of P s velocity is exactly equal to the x component
of P s average velocity between times t1 and t2 . Is it possible to find a time at
which P s velocity and P s average velocity are exactly equal? Explain why. Hint:
Velocity is a vector.
Solution
Recall that the average velocity over the time interval t1 ; t2 is
vEavg .t1 ; t2 / D
rE.t2 /
t2
rE.t1 /
:
t1
(1)
Using the given function for rE and letting t1 D 4 s and t2 D 6 s, we have

vEavg .t1 ; t2 / D .0:4495 {O C 20:67 |O/ ft=s;
(2)
which, expressed to 3 significant figures, gives

vEavg .t1 ; t2 / D .0:449 {O C 20:7 |O/ ft=s:
Next, we compute the velocity of P by differentiating the position vector rE.t / with respect to time. This
gives

1
4
|O ft=s:
(3)
vE D p {O C 4t C
1Ct
t
To determine tN we then need to solve the equation

1
N
vx .t / D p ft=s D 0:4495 ft=s
tN
tN D 4:949 s;
(4)
which, expressed to 3 significant figures is

tN D 4:95 s:
Next, we use the result in the last of Eqs. (4) to compute the y component of the velocity vector in Eq. (3).
This gives
vy .tN/ D 20:47 ft=s .vavg /y :
(5)
This result implies that
In general, it is not possible to find a time instant in an interval t1 ; t2
for which the velocity and the average velocity are equal.
While it is always possible for a scalar function to find a value of time tN at which the function is equal to its
average over a time interval containing tN, when it comes to a vector function, finding a common time that
works for every scalar component is, in general, not possible.
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Solutions Manual
Problem 2.234
The velocity and acceleration of point P expressed relative to frame A at some
time t are
vEP =A D .12:5 {OA C 7:34 |OA / m=s
and aEP =A D .7:23 {OA
3:24 |OA / m=s2 :
Knowing that frame B does not move relative to frame A, determine the
expressions for the velocity and acceleration of P with respect to frame B.
Verify that the speed of P and the magnitude of P s acceleration are the same
in the two frames.
Solution
In order to express the velocity and acceleration vectors in terms of reference frame B, the unit vectors of
frame A need to be expressed in terms of the unit vectors of frame B. Letting D 15 the unit vectors of
frame A can be expressed as
{OA D cos {OB C sin |OB ;
D 0:9659 {OB C 0:2588 |OB :
|O1 D
D
sin {OB C cos |OB ;

0:2588 {OB C 0:9659 |OB :
With the frame A unit vectors known in terms of those of frame B, it is found that the velocity in frame B is
h
i
h
i
vEP =B D 12:5.0:9659 {O2 C 0:2588 |O2 / ; m=s C 7:34. 0:2588 {O2 C 0:9659 |O2 / m=s;
vEP =B .10:2 {O2 C 10:3 |O2 / m=s:
Similarly, the acceleration vector in frame 2 is found to be
h
i
h
i
aEP =B D 7:23.0:9659 {O2 C 0:2588 |O2 / m=s2
3:24. 0:2588 {O2 C 0:9659 |O2 / m=s2 ;
aEP =B D .7:82 {O2
1:26 |O2 / m=s2 :
The speed of the particle in frame A is found by taking the magnitude of the velocity vector vEP =A where
vP =A D
.12:5/2 C .7:34/2 m/s D 14:5 m=s;

vP =B D
.10:2/2 C .10:3/2 m/s D 14:5 m=s:
The magnitue of the acceleration in frame A is found by taking the magnitude of the acceleration vector aEP =A
where
q
aP =A D .7:23/2 C . 3:24/2 m=s2 D 7:92 m=s2 ;
aP =B D
.7:82/2 C . 1:26/2 m=s2 D 7:92 m=s2 :
Therefore, the magnitude of the acceleration and velocity vectors are verified to be independent of the
reference frame.
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Dynamics 1e

A dynamic fracture model proposed to explain the behavior of cracks propagating at high velocity views the crack path as a wavy path. In this model, a
crack tip appearing to travel along a straight path actually travels at roughly
the speed of sound along a wavy path. Let the wavy path of the crack tip be
described by the function y D h sin.2x=/, where h is the amplitude of the
crack tip fluctuations in the direction perpendicular to the crack plane and is
the corresponding period. Assume that the crack tip travels along the wavy path
at a constant speed vs (e.g., the speed of sound).
Problem 2.235
Find the expression for the x component of the crack tip
velocity as a function of vs , , h, and x.
Denote the apparent crack tip velocity by va , and

define it as the average value of the x component of the crack velocity, that is,
Problem 2.236
1
va D

vx dx:
0
In dynamic fracture experiments on polymeric materials, va D 2vs =3, vs is

found to be close to 800 m=s, and is of the order of 100 m. What value of
h would you expect to find in the experiments if the wavy crack theory were
confirmed to be accurate?
Solution to 2.235
Using the coordinate system shown, the velocity of the crack tip has the form vE D xP {O C yP |O. Hence, letting
vs be the speed of the crack, we must have
q
(1)
vs D xP 2 C yP 2 :
Now recalling that y D h sin.2x=/, we have
dy dx
yP D
dx dt

2h xP
2x
yP D
cos
:

Substituting Eq. (2) into Eq. (1) we have

s
s

2

2h
x
P
2x
2h
2x 2
2
vs D xP C
cos
D xP 1 C
cos
;

(2)
(3)
which can be solved to find that the x component of the velocity is

xP D q
vs
2 C 4h2 2 cos2
2x

;
(4)
where we have chosen the positive solution will be used since the crack is assumed to propagate in the
positive x direction.
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Solutions Manual
Solution to 2.236
To solve this problem we need to first determine the x component of the velocity of the crack tip. Once, we
determine an expression for vx , then we will solve the equation stated in the problem numerically for h.
We begin by observing that, using the coordinate system shown, the velocity of the crack tip has the form
vE D xP {O C yP |O. Hence, letting vs be the speed of the crack, we must have
q
vs D xP 2 C yP 2 :
(5)
Now recalling that y D h sin.2x=/, we have
yP D
dy dx
dx dt
yP D

2h xP
2x
cos
:

(6)
Substituting Eq. (6) into Eq. (5) we have

s
s

2

2h
x
P
2x
2h
2x 2
cos
cos
vs D xP 2 C
D xP 1 C
;

(7)
which can be solved to find that the x component of the velocity is

vx D xP D q
vs
2 C 4h2 2 cos2
2x

;
(8)
where we have chosen the positive solution will be used since the crack is assumed to propagate in the
positive x direction.
1
va D

Z
0
vs
q
2 C 4h2 2 cos2
2x

dx D
vs
q
2 C 4h2 2 cos2
2x

dx:
(9)
Recall that we have vs D 800 m=s, va D 32 vs D 533:3 m=s, and D 100 m. Hence, since the variable x
in Eq. (9) has the role of dummy variable of integration, Eq. (9) is an equation in the single unknown h. The
equation in question is an integral equation and can be solved numerically using appropriate mathematical
software. We have used Mathematica with the code given below. As is often the case with the numerical
solution of equations, we had to supply Mathematica with an initial guess for the solution. Since the quantity
h is expected to be of the same order of magnitude as , our guess for h was set to the same value as the
given value for .
EqIntegral!h_" :! NIntegrate#
800.
$100. " 10#6 % $ 4 h2 2 Cos#
2
2x
&100. " 10#6 '
)x, 0, $100. " 10#6 %*(
FindRoot+533.3 & EqIntegral!h", )h, 10.#4 *,
The execution of the code above yields the following result (expressed to 3 significant figures):
h D 29:410
m:
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Dynamics 1e
Problem 2.237
The motion of a peg sliding within a rectilinear guide is controlled by an
actuator in such a way that the pegs acceleration takes on the form xR D
a0 .2 cos 2!t sin !t /, where t is time, a0 D 3:5 m=s2 , ! D 0:5 rad=s, and
D 1:5. Determine the total distance traveled by the peg during the time
interval 0 s t 5 s if x.0/
P
D a0 =! C 0:3 m=s. When compared with
Prob. 2.45, why does the addition of 0:3 m=s in the initial velocity turn this into
a problem that requires a computer for the solution?
Solution
We have acceleration as a function of time so we can integrate it as

Z t
x.t
P / D x.0/
P
C
x.t
R / dt D a0 C 0:3 m=s C a0
sin 2!t C cos !t
!
2!
!
0
a0 :
!
We can use the double angle formula, sin 2x D 2 sin x cos x, to obtain
v.t/ D
a0
sin 2!t C cos !t C 0:3 m=s
!
v.t / D
a0
cos !t .2 sin !t C / C 0:3 m=s:
!
To find the distance traveled, we need to established if and when the peg switches direction during the time
interval considered. This can be easily done by using any appropriate mathematical software that can plot the
function v.t/ over the time interval considered. Recalling that a0 D 3:5 m=s2 , ! D 0:5 rad=s, and D 1:5,
we have used Mathematica with the following code:
Parameters ! !a0 " 3.5, " 0.5, " 1.5";
a0
Plot#
Cos$ t% &2 Sin$ t% % ' % 0.3 (. Parameters, !t, 0, 5", Frame " True,
FrameLabel " !"t &s'", "v &m(s'"", GridLines " Automatic, AspectRatio " 1)
The above code yields the following plot:

15
v !m#s"
10
5
0
!5
!10
!15
0
t !s"
As can be seen from the above plot, the velocity changes sign near t 3 s. Hence, we need to solve the
equation v.t / D 0 to determine where exactly the sign switch occurs. Because the expression we have
for v.t/ includes the constant term 0:3 m, the equation v.t / D 0 cannot be solved analytically. Hence, we
must use a computer to find the times when velocity goes to zero. This can be done with any appropriate
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Solutions Manual
mathematical software. As it is common with root finding algorithms, we need to provide a guess for the
solution. Based on the graph presented above, we set our guess to t D 3 s and then use the following
Mathematica code:
Parameters ! !a0 " 3.5, " 0.5, " 1.5";
a0
FindRoot#
Cos$ t% &2 Sin$ t% % ' % 0.3 & 0 (. Parameters, !t, 3")
which yields the following solution (expressed to 4 significant figures):

t D 3:166 s:
(1)
to find the root numerically at 3:166 s. Using this result, and letting d denote the distance traveled, we have

Z 5s
Z 3:166 s
a0
a0
cos !t .2 sin !t C/C0:3 m=s dt
cos !t .2 sin !t C/C0:3 m=s dt: (2)
dD
!
3:166 s !
0
The above integrals can be computed either numerically or analytically. Since this is a computer problem,
we have chosen to carry out the integration numerically. As usual, this can be done with any appropriate
numerical software. we have used Mathematica with the following code:
Parameters ! !a0 " 3.5, " 0.5, " 1.5";
a0
d ! NIntegrate#
Cos$ t% &2 Sin$ t% % ' % 0.3 (. Parameters, !t, 0, 3.166") &
a0
NIntegrate#
Cos$ t% &2 Sin$ t% % ' % 0.3 (. Parameters, !t, 3.166, 5")
The execution of the above code, yields the following result (expressed to 3 significant figures):
d D 52:8 m:
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Dynamics 1e
Problem 2.238
The acceleration of an object in rectilinear free fall while immersed in a linear viscous
fluid is a D g Cd v=m, where g is the acceleration of gravity, Cd is a constant
drag coefficient, v is the objects velocity, and m is the objects mass. Letting v D 0
and s D 0 for t D 0, where s is position and t is time, determine the position as a
function of time.
Solution
We must integrate the acceleration which is a function of velocity. If we let t0 D 0 and s0 D 0, it follows that

Z v
dv
Cd
m
dv
aD
ln 1
D g Cd v=m ) t D
) tD
v :
dt
Cd v=m
Cd
mg
0 g
We invert t.v/ to find velocity as a function of time.
1
Cd
vDe
mg
Cd
m

mg
v.t / D
1
Cd
Cd
m

:
Now that we have velocity as a function of time we can integrate it to obtain position as a function of time.
Z
Cd
ds
mg t
vD
) sD
1 e m t dt )
dt
Cd 0

mg
s.t / D 2 Cd t C m e
Cd
Cd
m

1
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Solutions Manual
Problem 2.239
Heavy rains cause a particular stretch of road to have a coefficient of friction
that changes as a function of location. Under these conditions the acceleration
of a car skidding while trying to stop can be approximated by sR D .k cs/g,
where k is the friction coefficient under dry conditions, g is the acceleration of
gravity, and c, with units of m 1 , describes the rate of friction decrement. Let
k D 0:5, c D 0:015 m 1 , and v0 D 45 km=h, where v0 is the initial velocity
of the car. Determine the time it will take the car to stop and the percentage of
increase in stopping time with respect to dry conditions, i.e., when c D 0.
Solution
Since we are given an acceleration as a function of position, we will first relate the acceleration to the velocity
using the chain rule, and then relate the velocity to time. We therefore proceed as follows:
Z v
Z s
d sP ds
d sP
a.s/ D
) a.s/ D
sP )
sP d sP D
a ds:
ds dt
ds
v0
0
r r
s
g
g c 2
2
1 2
1 2
) vD
(1)
k /
v0 C .cs k /2 2k :
2v
2 v0 D 2c .cs
0
c g
We need this expression later. For now set v D 0 and solve for s.
s
cv02
k
1
sf D
2k
) sf D 26:31 m
c
c
g
or 40:35 m:
sf D 26:31 m is the meaningful solution because it occurs first, where the subscript f stands for final.
We now go back to the velocity, given by Eq. (1), as we relate it to time as follows:
r Z s
Z t
Z s
c
ds
ds
ds
:
(2)
v.s/ D
)
dt D
) tD
q
2
dt
g 0
c 2
2
0
0 v
.cs
/
v
C

k
g 0
k
We now perform the following change of variables of integration:
AD
c 2
v
g 0
For s D 0 we have x D
Eqs. (2) becomes
2k ;
x D cs
k
dx D c ds
k and for s D sf we have x D csf

1
tf D p
cg
csf
k
1
ds D dx:
c
(3)
k . Hence, the integral in the last of
dx
:
A C x2
Using a table of integrals or some appropriate mathematical software we obtain

p
2
x
C
A
C
x

csf k
p
1
1
xDcs
f
) tf D p ln
tf D p ln x C A C x 2
p
k
cg
cg
x C A C x2
k
(4)
k
xD k
which, recalling the definition of A in the first of Eqs. (3), after after simplification yields
csf k
1
tf D p ln p
D 5:840 s:
cg v0 c=g k
(5)
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where we have used the following numerical data: c D 0:015 m 1 , g D 9:81 m=s2 , k D 0:5, and
v0 D 45 km=s D 12:50 m=s. Expressing tf to 3 significant figures, we have
tf D 5:84 s:
With dry conditions, i.e., for c D 0, the acceleration of the car would be sR D
constant acceleration equation sP D sP0 C ac t to find the time. This gives
0 D v0
k gtf
k g. Hence, we can use the
tf D 2:548 s:
Comparing this result to that in Eq. (5), we find the percent increase to be
tfwet
tfdry
tfdry
100
129%
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Problem 2.240
The acceleration of a particle of mass m suspended by a linear spring with spring constant
k and unstretched length L0 , (when the spring length is equal to L0 , the spring exerts
no force on the particle) is given by xR D g .k=m/.x L0 /. Assuming that at t D 0
the particle is at rest and its position is x D 0 m, derive the expression of the particles
position x as a function of time. Hint: A good table of integrals will come in handy.
Solution
We have acceleration as a function of position and we integrate it as follows:
d xP dx
aD
dx dt
Z
)
xP
Z
xP d xP D

g
k
x
m
L0

dx:
r
k 2 kL0
k 2 2kL0
D gx
x C
x ) xP D 2gx
x C
x:
2m
m
m
m
Now we have xP as a function of x and we therefore relate it to time as follows:
Z t
Z x
Z x
dx
dx
dx
)
dt D
) tD
:
xP D
r

dt
xP
0
0
0
2kL0
k 2
x m C 2g
mx
1 2
P
2x
Now we let A D
m
k
2kL0
m
r
tD

C 2g D 2 L0 C
m
k
Z
0
gm
k
dx
Ax
and we rewrite the expression for t as follows:
x2
t D2
m
tan
k
p
p
A
Making use of the trigonometric identity 1 C tan2 D sec2 , we have that

"
r !
r !#
k
x
k
2 t
2 t
tan
D
) x sec
D A tan2
2 m
A x
2 m
x
:
x
0
t
2
!
k
:
m
Now making use of the trigonometric identity sin2 .=2/ D 12 .1 cos /, we can express x as
"
!#
r !
r
k
k
t
A
x D A sin2
) xD
1 cos
t
:
2 m
2
m
Finally, recalling that A is the quantity 2 L0 C
gm
,
k
the expression for x can be written as

gm
x D L0 C
1
k
r
cos
k
t
m

:
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Problem 2.241
In a movie scene involving a car chase, a car goes over the top of a ramp at A
and lands at B below. Letting D 18 and D 25 , determine the speed of
the car at A if the car is to be airborne for a full 3 s. Furthermore, determine the
distance d covered by the car during the stunt as well as the impact speed and
angle at B. Neglect aerodynamic effects. Express your answer using the U . S .
Customary system of units.
Solution
This problem is a projectile problem and we begin by relating the jump
speed v0 to the velocity of the car and then to the cars trajectory. Referring tot he figure on the right, the initial velocity and acceleration in
the .x; y/ coordinate system are
xP 0 D v0 cos. C /;
xR D g sin ;
yP0 D v0 sin. C /;
yR D
g cos :
Using the constant acceleration equation s D sP t C 12 ac t 2 , we have that the coordinates of the (airborne) car
as a function of time are
x D v0 cos. C /t C 21 g sin t 2 ;
(1)
2
1
2 g cos t :
(2)
y D v0 sin. C /t
We want to satisfy the condition that y D 0 at t D tf D 3 s, where the subscript f stands for flight.
0 D v0 sin. C /tf
2
1
2 g cos tf
v0 D
gtf cos
D 64:19 ft=s;
2 sin. C /
(3)
where we have used the following numerical data: g D 32:2 ft=s2 , tf D 3 s, D 25 , and D 18 .
Expressing the result for v0 to 3 significant figures, we have
v0 D 64:2 ft=s:
We now observe that the distance d is equal to the value of x at time t D tf . Hence, using Eq. (1) and the
value of v0 we computed in the last of Eqs. (3), we have that the distance d is given by
dD
gtf cos
cos. C /tf C 12 g sin tf2 D 202 ft:
2 sin. C /
To find the impact speed and the impact angle, we need to determine the velocity at impact. To do so, we
use the constant acceleration equation v D v0 C ac t and we obtain
vEi D v0 cos. C / C g sin tf {O C v0 sin. C /
g cos tf |O D .87:77 {O
43:77 |O/ ft=s;
(4)
where we have used the value of v0 in the last of Eqs. (3) along with the following numerical data: g D
32:2 ft=s2 , tf D 3 s, D 25 , and D 18 . Therefore the speed at impact is given by
vi D
2
2
vxi
C vyi
D 98:1 ft=s:
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We now let be the impact angle of the car with the ground at B, i.e., with respect to the slope. Hence,
this angle is given by
D tan
vy
D 26:5 measured clockwise from the slope:
vx
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Problem 2.242
Consider the problem of launching a projectile a distance R from O to D with
a known launch speed v0 . It is probably clear to you that you also need to know
the launch angle if you want the projectile to land exactly at R. But it turns
out that the condition determining whether or not v0 is large enough to get to
R does not depend on . Determine this condition on v0 . Hint: Find v0 as a
function of R and , and then remember that the sine function is bounded by 1.
Solution
For projectile motion we have the initial velocity and acceleration in the .x; y/ coordinate system, i.e.,
xP 0 D v0 cos ;
yP0 D v0 sin ;
xR D 0;
yR D
g:
Using the constant acceleration equation s D sP t C 0:5ac t 2 we obtain

x D v0 cos t;
y D v0 sin t
(1)
1 2
2 gt :
(2)
For t D tD we have y.tD / D 0. Using this fact in Eq. (2), yields the following expression for tD :
tD D
2v0 sin
:
g
The substituting the above expression for tD into Eq. (1), setting x D R and using the trigonometric identity
2 sin cos D sin 2 , we obtain
RD
v02 sin 2
g
v02 D
gR
:
sin 2
The smallest value of v0 corresponds to sin 2 D 1. Therefore the condition on v0 is

v0
gR:
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Solutions Manual
Problem 2.243
A skater is spinning with her arms completely stretched out and with an angular
velocity ! D 60 rpm. Letting rb D 0:55 ft, and ` D 2:2 ft and neglecting
the change in ! as the skater lowers her arms, determine the velocity and
acceleration of the hand A right when D 0 if the skater lowers her arms
at the constant rate P D 0:2 rad=s. Express the answers using the component
system shown, which rotates with the skater and for which the unit vector |O
(not shown) is such that |O D kO {O.
Solution
We begin by providing a convenient description of the position of point A.
Referring to the figure on the right, let Q be the fixed point on the spin axis
that is at the same height as the shoulders. Then the position of A relative
to Q is given by
rEA=Q D .rb C ` cos / {O
O
` sin k:
Since Q is a fixed point, the time derivative of rEA=Q coincides with the
velocity of point A. Hence, we have
vEA D
`P sin {O C .rb C ` cos / {PO
`P cos kO
PO
` sin k:
(1)
Now we observe that since the unit vector {O always points towards A, then is changes its orientation with
O In addition, since kO does not change its orientation, then kO is a constant unit
the angular velocity !E D ! k.
vector. Hence, using the concept of time derivative of a unit vector, we have
{PO D ! kO {O D ! |O
and
P E
kO D 0:
(2)
Substituting Eqs. (2) into Eq. (1), we the have that the velocity of A can be expressed as follows:
vEA D
`P sin {O C .rb C ` cos /! |O
O
`P cos k:
(3)
For D 0, we then have
vEA D0 D .rb C `/! |O
`P kO D 17:3 |O

0:44 kO ft=s:
TO obtain the acceleration, we now differentiate vEA in Eq. (3) with respect to time and, recalling that P
and kO are constant, we obtain
aEA D
`P 2 cos {O
`P sin {PO
P sin |O C .rb C ` cos /! |PO C `P 2 sin k:

O
`!
(4)
Using the first of Eqs. (2) and observing that the same idea that allowed us to derive the first of Eqs. (2) tells
us that |PO D ! kO |O D ! {O, Eq. (4) can be simplified to

O
aEA D `P 2 cos C ! 2 .rb C ` cos / {O 2!`P sin |O C `P 2 sin k:
(5)
Hence, for D 0 the acceleration of A is

aEA D0 D `P 2

! 2 .rb C `/ {O D . 109 {O/ft=s2 :
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Problem 2.244
A roller coaster travels over the top A of the track section shown with a speed
v D 60 mph. Compute the largest radius of curvature at A such that the
passengers on the roller coaster will experience weightlessness at A.
Solution
For this condition the centripetal acceleration must be entirely from gravity.
v2
Dg

D
v2
g
D 240 ft
where we have used the fact that v D 60 mph D 88:00 ft=s and g D 32:2 ft=s2 .
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Solutions Manual
Problem 2.245
Determine, as a function of the latitude , the normal acceleration of the point
P on the surface of the Earth due to the spin !E of Earth about its axis. In
addition, determine the normal acceleration of the Earth due to its rotation
about the Sun. Using these results, determine the latitude above which the
acceleration due to the orbital motion of the Earth is more significant than the
acceleration due to the spin of the Earth about its axis. Use RE D 6371 km
for the mean radius of the Earth, and assume the Earths orbit about the Sun is
circular with radius RO D 1:497108 km.
Solution
The tangential velocity of P due to the rotation of Earth is vP D RE !E cos . The radius of curvature as a
function of is P D RE cos . The normal acceleration of P due to rotation is
aP D
vP2
! 2 R2 cos2
D E E
P
RE cos
2
!E
RE cos ,
(1)
where RE D 6371 km D 6371103 m and

!E D .1 rev=day/.2 rad=rev/.24 h=day/
.3600 s=h/
D 72:7210
rad=s:
(2)
The tangential velocity of P due to the motion of the Earth arounf the Sun is vE D RO !O , where
!O D
.1 rev=year/.2 rad=rev/
D 1:99210
.365 day=year/.24 h=day/.3600 s=h/
rad=s:
(3)
Hence, the normal acceleration of P due to to the motion of the Earth around the Sun is
aO D
2
! 2 R2
vE
D O O
O
RO
2
aO D !O
RO D 5:9410
m=s2 ,
where we have used the fact that RO D 1:497108 km D 1497108 m. Consequently, the latitude above
which the acceleration due to the motion of the Earth around the Sun is greater than the acceleration of due to
the Earths spin about its own axis is
D cos
2
!O
RO
2
!E
RE
!
D 79:8 ;
where we have used the fact that RO D 1:497108 km D 1497108 m, RE D 6371 km D 6;371;000 m,
and the values of !E and !O in Eqs. (2) and (3), respectively.
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Problem 2.246
A jet is flying straight and level at a speed v0 D 1100 km=h when it turns to
change its course by 90 as shown. The turn is performed by decreasing the
paths radius of curvature uniformly as a function of the position s along the
path while keeping the normal acceleration constant and equal to 8g, where g is
the acceleration due to gravity. At the end of the turn, the speed of the plane is
vf D 800 km=h. Determine the radius of curvature f at the end of the turn and
the time tf that the plane takes to complete its change in course.
3
Solution
Recalling that we are given an D 8g D 78:48 m=s2 (since g D 9:81 m=s2 ), v0 D 1100 km=h D 305:6 m=s,
and vf D 800 km=s D 222:2 m=s, the radii of curvature at the beginning and end of the turn are
v2
0 D 0 D 1190 m
an
and f D
vf2
an
D 629:1 m:
(1)
Expressing the value of f to 3 significant figures, we have
.s/ D 0 C s;
Next, recalling that we are told that decreases uniformly with the position s
along the airplanes path, i.e., that d=ds D constant, denoting the constant in
question by , we have that the radius of curvature, expressed as a function of
s must have the following form
f D 629 m:
(2)
3
!.s/ D
v.s/
;
.s/
where, referring to the figure on the right, we have set s D 0 to correspond to the
location of the airplane along the path at the beginning of the turn, and where
the nondimensional constant will be determined later. Now, we recall that that,
at every point along the airplanes trajectory, we can define an osculating circle.
Let C.s/ denote the center of the osculating circle corresponding to the position s along the path. Then,
consider the radial segment of length .s/ going from C.s/ to the airplane. In addition, let the orientation of
the segment in question be described by the angle .s/ that the segment forms with the line connecting C.0/
and the airplane when s D 0. Based on how we have defined .s/ we have .0/ D 0, .sf / D .=2/ rad,
and we have that changes with time with an angular velocity we will denote by !, i.e., P D !. Because of
the properties of the osculating circle and because of how we have defined , we must have
(3)
where v is the speed of the plane. Then manipulating the above equation, we have
!D
v
d
d ds
d
D
D
Dv

dt
ds dt
ds
d
1
D :
ds

(4)
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Separating variables in the last of Eqs. (4) and integrating, we have
Z
0
.=2/ rad
Z
d D
sf
ds
0 C s

0 C sf

1
rad D ln
2

0

f

1
rad D ln
;
2

0
(5)
which can be solved for to obtain

f
2
D
D ln

0
0:4058:
(6)
Knowing that represents the rate of change of curvature with respect to position ( D
derivative with respect to s of the equation an D
v 2 D 8g
2v
v2
d
ds
) we can take the
D 8g to obtain
dv
d
D 8g
ds
ds
dv
D 4g :
ds
tf D
(7)
However, v dv
represents the quantity v.
P Therefore, we have
ds
dv
D 4g
dt
Z
)
tf
Z
dt D
vf
v0
dv
4g
1
.vf
4g
v0 /:
(8)
Using the value of computed in Eq. (6), and recalling that we have g D 9:81 m=s2 , v0 D 1100 km=h D
305:6 m=s, and vf D 800 km=s D 222:2 m=s, we can evaluate the last of Eqs. (8) to obtain
tf D 5:24 s:
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Dynamics 1e
Problem 2.247
A car is traveling over a hill with a speed v0 D 160 km=h. Using the Cartesian
coordinate system shown, the hills profile is described by the function y D
.0:003 m 1 /x 2 , where x and y are measured in meters. At x D 100 m, the
driver realizes that her speed will cause her to lose contact with the ground
once she reaches the top of the hill at O. Verify that the drivers intuition
is correct, and determine the minimum constant time rate of change of the
speed such that the car will not lose contact with the ground at O. Hint: To
compute
by the car along the cars path, observe that
p the distance traveled
p
2
2
ds D dx C dy D 1 C .dy=dx/2 dx and that
Z p

p
xp
1
ln C x C 1 C C 2 x 2 :
1 C C 2 x 2 dx D
1 C C 2x2 C
2
2C
Solution
The minimum speed to loose contact with the ground is such that
2
vmin
Dg

2
vmin
D g.0/:
(1)
To calculate the radius of curvature at the origin of the coordinate system indicated in the problems figure we
use the following equation:

3=2

3=2
1 C .0:006x/2
1 C .dy=dx/2
) .0/ D
.x/ D
D 166:7 m:
(2)
d 2 y=dx 2
0:006
Therefore
vmin D
g D 40:44 m=s:
(3)
Since v0 D 160 km=h D 44:44 m=s, we conclude that

the car will loose contact with the ground.
Now we have to find the minimum constant value of vP D ac such that the car does not loose contact. Since
we need to relate a change in speed to a change in position, we can use the constant acceleration equation
v 2 v02 D 2ac .s s0 / with s0 D 0 and vf D vmin , where s is the path coordinate along the profile of the
hill. This gives
v2
v02
2
vmin
v02 D 2ac s ) ac D min
;
(4)
2sf
where the subscript f stands for final. To evaluate this equation we need to express the path coordinate s in
terms of the Cartesian coordinates x and y. Taking advantage of the hint given in the problem, we can write
p
Z 0 q
0
p
x
1
2
2
2
2
2
sf D
1 C . 0:006x/ dx D
1CC x C
ln C x C 1 C C x
D 105:7 m:
2
2C
100
100
(5)
Using this result in Eq. (4), along with the fact that v0 D 160 km=h D 44:44 m=s and vmin D 40:44 m=s (see
Eq. (3)), we have
ac D
1:61 m=s2 :
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Problem 2.248
The mechanism shown is called a swinging block slider crank. First used in various steam locomotive
engines in the 1800s, this mechanism is often found in door-closing systems. Let H D 1:25 m, R D 0:45 m,
and r denote the distance between B and O. Assuming that the speed of B is constant and equal to 5 m=s,
P r,
determine r,
P ,
R and R when D 180 .
Solution
We start by defining a polar coordinate system with origin at O and radial direction along the segment OB
so that the coordinate r measures the distance from O to B. We take as transverse coordinate, the angle .
Observe that for 0 < < 180 , r is growing. For D 180 r achieves its maximum value rmax D R C H ,
and for 180 < < 360 , r decreases. Therefore, the rate of change of r for D 180 must be equal to
zero, i.e.,
rP
(1)
D 0:
D180
In polar coordinates, the velocity of B is expressed as

vEB D rP uO r C r P uO :
(2)
Therefore, in view of Eq. (1), for D 180 , recalling that B is moving counterclockwise with the constant
speed v0 D 5 m=s, we have

v0
vEB D180 D rmax P D180 uO D v0 uO ) P D180 D
D 2:941 rad=s; (3)
RCH
where we have used the fact that R D 0:45 m and H D 1:25 m. Expressing the above result to 3 significant
figures, we have
P D180 D 2:94 rad=s:

Next we recall that the general expression of the acceleration in polar coordinates is
aEB D .rR
P uO :
r P 2 / uO r C .r R C 2rP /
(4)
Recalling that for D 180 , r D R C H , rP D 0 and P takes on the expression in the second of Eqs. (3), we
have that, for D 180 , Eq. (4) reduces to

v02
aEB D180 D rR D180

uO r C .R C H /R D180 uO :
(5)
RCH
We now observe that, due to the fact that B is in uniform circular motion along a circle with center at A, the
acceleration of B is always directed toward A and, for D 180 , we must have
aEB D180 D
v02
uO r :
R
(6)
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Dynamics 1e
Setting Eqs. (5) and (6) equal to each other component by component, we have

v02
v02
1
2
rR D180
D
) rR D180 D v0
RCH
R
RCH

1
;
R
and
.R C H /R D180 D 0:
(7)
Recalling that v0 D 5 m=s, R D 0:45 m, and H D 1:25 m, we can then express our results in numerical form
as follows:
40:8 m=s2 and R

rR
D 0:
D
D180
D180
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Solutions Manual
Problem 2.249
The cam is mounted on a shaft that rotates about O with constant angular
velocity !cam . The profile of the cam is described by the function `./ D
R0 .1 C 0:25 cos3 /, where the angle is measured relative to the segment
OA, which rotates with the cam. Letting R0 D 3 cm, determine the maximum
value of angular velocity !max such that the maximum speed of the follower
is limited to 2 m=s. In addition, compute the smallest angle min for which the
follower achieves it maximum speed.
Solution
Let y denote the position of the follower when in contact with the cam. In addition, let f (where the
subscript f stands for follower) denote the value of that identifies the radial line on the cam that goes from
point O to the follower. Hence, we have that the relation between f and is f D 90 . Keeping in
mind that yP describes the velocity of the follower, we have
y D `.f / D R0 .1 C 0:25 cos3 f /
Since Pf D
yP D
!cam
d`
:
df
d ` df
:
df dt
(1)
P and P D !cam , we have

yP D
d`
P
df
yP D
(2)
d`
Since !cam is constant, yP is maximum when d
is maximum. Hence, taking the derivative of `.f / with
f
respect to f , we have
d`
D 0:75R0 cos2 f sin f :
(3)
df
To maximize
This gives
d`
df
, we differential the above quantity again with respect to f and set the result equal to 0.
d 2`
D 1:5R0 cos f sin2 f 0:75R0 cos3 f D 0 ) cos2 f 2 sin2 f D 0
2
df
p
) sin f yPmax D 1=3 and cos2 f yPmax D 2=3:

Thus, the maximum magnitude of Eq. (3) and the maximum magnitude of Eq. (2) are, respectively,
d`
R0
!cam R0
D p
and yPmax D
p :
d
2 3
2 3
f max
(4)
(5)
(6)
Setting jyPmax j D vmax and solving for !cam , we have

!max
p
vmax 2 3
D
D 231 rad=s:
R0
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The minimum angle for which the follower achieves its maximum speed is obtained by recalling that
f D 90 and that, by the first of Eqs. (5), we have
sin f D
p
1=3
D sin
1=3yPmax D 90
min D 90
p
where the value of sin 1 1=3 is understood to be limited to the range 0 < sin
the numerical value of min is
sin
p
1=3;
(7)
1=3 < 90 . Therefore,
min D 54:7 :
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Solutions Manual
Problem 2.250
A car is traveling at a constant speed v0 D 210 km=h along a circular turn with
radius R D 137 m (the figure is not to scale). The camera at O is tracking the
motion of the car. Letting L D 15 m, determine the cameras rotation rate as
well as the corresponding time rate of change of the rotation rate when D 30 .
Solution
Let r represent the distance from O to the car. From the geometry of the
figure we have
r cos C R cos D R C L;
r sin D R sin ;
(1)
and
tan D
R sin
:
R C L R cos
(2)
Recalling that R D 137 m, L D 15 m, when D 30 from the above

equations we have
D 64:04
and
r D 76:19 m:
(3)
Next. referring to the figure on the right, we see that we have defined both
a polar component system with unit vectors uO r and uO , as well as a normaltangential component system with unit vectors uO t and uO n . For later use we
now write the equations relating these two component systems. To facilitate
this task, we define to be the angle between uO t and uO r , using the first of
Eqs. (3), for D 30 , we have
90 D
C
D 4:037 :
(4)
Hence, going back to writing the relationships between the unit vectors of the polar and normal-tangential
component systems defined, we have
uO t D
cos uO r C sin uO
uO n D
sin uO r
cos uO :
Now we observe that the velocity of the car in the .uO t ; uO n / component system is converted to the .uO r ; uO /
component system as
vE D v0 uO t ) vE D v0 . cos uO r C sin uO / :
(5)
Then, matching Eq. (5) with the expression of the velocity in polar components, namely, vE D rP uO r C r P uO ,
and recalling that v0 D 210 km=h D 58:33 m=s and using the value of in Eq. (4), for D 30 , we have
rP D30 D
v0 cos D
58:19 m=s
and
r P D v0 sin
v0 sin
P D30 D
D 0:05390 rad=s:
r
(6)
August 10, 2009
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Dynamics 1e
Expressing P at D 30 to 3 significant figures, we have
P D30 D 0:0539 rad=s:
Next, the acceleration of the car in the .uO t ; uO n / component system is converted to the .uO r ; uO / component
system as
v2
v2
aE D 0 uO n ) aE D 0 . sin uO r cos uO / :
(7)
R
R
Matching the expression in the radial component of acceleration in the second of Eqs. (7) with the general
P we have
expression for the radial component of acceleration in polar coordinates, namely, a D r R C 2rP ,
2

2
v
v
1
0
0
r R C 2rP P D
cos ) R D
cos C 2rP P :
R
r R
Hence, recalling that v0 D 210 km=h D 58:33 m=s and R D 137 m, and that for D 30 we have r is given
by the second of Eqs. (3), is given by the second of Eqs. (4), and using Eqs. (6), for D 30 , we have
R D30 D
0:243 rad=s2 :
August 10, 2009
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Solutions Manual

A fountain has a spout that can rotate about O and whose angle is controlled so as to vary with time
according to D 0 1 C sin2 .!t /, with 0 D 15 and ! D 0:4 rad=s. The length of the spout is
L D 1:5 ft, the water flow through the spout is constant, and the water is ejected at a speed v0 D 6 ft=s,
measured relative to the spout.
Problem 2.251
Determine the largest speed with which the water particles are released from the spout.
Problem 2.252
Determine the magnitude of the acceleration immediately before release when D
15 .
Problem 2.253
Determine the highest position reached by the resulting water arc.
Solution to 2.251
We define a polar coordinate system with origin at O and transverse coordinate coinciding with . The
expression of the velocity of the water particles as they leave the spout is given by
q
P 2:
P
vE D rP uO r C L uO ) v D rP 2 C .L/
(1)
where, based on the problem statement
rP D v0 D 6 ft=s
and P D 20 ! sin !t cos !t D 0 ! sin.2!t /;
(2)
where we have used the trigonometric identity 2 sin x cos x D sin.2x/. Substituting Eqs. (2) into the last of
Eqs. (1) we obtain the following expression for the speed:
q
v D v02 C L0 ! sin.2!t /2 :
(3)
From the above expression, recalling that v0 , 0 , and ! are constant, we se that v is maximum when sin.2!t /
is maximum. Since the sine function has maximum value equal to 1, we have
vmax D
q
v02 C L2 02 ! 2 D 6:02 ft=s;
where we have used the following numerical data: v0 D 6 ft=s, L D 1:5 ft, 0 D 15 , and ! D 0:4 rad=s.
August 10, 2009
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Dynamics 1e
Solution to 2.252
We define a polar coordinate system with origin at O and transverse coordinate coinciding with . The
expression of the acceleration of in polar coordinates is
aE D .rR
P uO :
r P 2 / uO r C .r R C 2rP /
(4)
Now, recalling that v0 is constant, when the water particles leave the spout we have
r D L; rP D v0 ; rR D 0; P D 20 ! sin !t cos !t D 0 ! sin.2!t /; and R D 2! 2 0 cos.2!t /;
(5)
where we have used the trigonometric identity 2 sin x cos x D sin.2x/. Now, we observe that 0 D 15 and
therefore for D 15 , we must have D 0 and sin.!t / D 0, which implies t D 0. Hence, for D 15 ,
we have
r D L; rP D v0 ; rR D 0; P D 0; and R D 2! 2 0 ;
(6)
so that, for D 15 , the acceleration takes on the form
aE D 2L! 2 0 uO :
(7)
Consequently, for D 15 , we have

jE
aj D 2L! 2 0 D 1:24 ft=s2 ;
where we have used the following numerical data: L D 1:5 ft, 0 D 15 , and ! D 0:4 rad=s.
August 10, 2009
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Solutions Manual
Solution to 2.253
Referring to the figure on the right, in the solution of this
problem we will use two coordinate systems. The first is
a polar coordinate system with origin at O and transverse
coordinate . Let N be the value of corresponding to
the trajectory of water jet achieving the maximum height.
Then the second is a fixed Cartesian coordinate system with
origin coinciding with the position of the mouth of the spout
N Letting v denote the speed of the water
corresponding to .
particles at the spouts mouth, then the velocity of the water
particles at the spouts mouth is
vE D v.cos {O C sin |O/:
(8)
Once the water particles leave the spout their motion is a projectile motion and the trajectory with the
maximum height is determined both by the vertical component of the speed, i.e,
vy D v sin ;
(9)
and the vertical position of mouth of the water spout.

To derive an expression for the speed v of the water particles as they leave the spout, we use the chosen
polar coordinate system, for which the velocity at the mouth of the spout is expressed as
q
P 2:
vE D rP uO r C LP uO ) v D rP 2 C .L/
(10)
where, based on the problem statement
rP D v0 D 6 ft=s
and P D 20 ! sin !t cos !t D 0 ! sin.2!t /;
(11)
where we have used the trigonometric identity 2 sin x cos x D sin.2x/. Substituting Eqs. (2) into the last of
Eqs. (10) we obtain the following expression for the speed:
q
v D v02 C L0 ! sin.2!t /2 :
(12)
Consequently, the vertical component of velocity at the spout is
q

vy D v02 C L0 ! sin.2!t /2 sin 0 .1 C sin2 !t / :
(13)
Now let h D h1 C h2 where h1 is height of the mouth of the spout with respect to the base of the spout, and
where h2 is the maximum elevation of the water jet measured from the horizontal line going through the
mouth of the spout. Hence, for h1 we have

h1 D L sin D L sin 0 .1 C sin2 !t / :
(14)
By contrast, h2 is found using the constant acceleration equation v 2 D v02 C 2a.s
direction. Recalling that for y D h2 vy D 0, we have
q

2
2
2
0D
v0 C L0 ! sin.2!t /2 sin 0 .1 C sin !t /
2gh2 ;
which can be solved for h2 to obtain
o

1 n 2
v0 C L0 ! sin.2!t /2 sin2 0 .1 C sin2 !t / :
h2 D
2g
s0 / in the vertical
(15)
August 10, 2009
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Dynamics 1e
Consequently, the expression for the height of the water jet as a function of time is
o

1 n 2
h D L sin 0 .1 C sin2 !t / C
v0 C L0 ! sin.2!t /2 sin2 0 .1 C sin2 !t / :
2g
(16)
This function needs to be maximized. This can be done by differentiating h with respect to time and setting
the result equal to zero. Doing so, after simplification, yields the following equation:
n

0 !
sin.2!t / 2Lg cos 0 .1 C sin2 !t / C 2L0 cos.2!t / sin2 0 .1 C sin2 !t /
2g

o
C v02 C L2 02 C ! 2 sin2 .2!t / sin 20 .1 C sin2 !t / D 0 (17)
Recalling that we have L D 1:5 ft, 0 D 15 , ! D 0:4 rad=s, and g D 32:2 ft=s2 , and although this may
require plotting the terms within braces as a function of time, it turns out that the term within braces can
never be equal to zero. Hence, the solution of the above equation reduces to the solution of the equation
sin.2!t / D 0
t D0
n
!
and
tD

n
;
2!
!
with n D 0; 1; 2; : : :
(18)

Since the function D 0 .1 C sin2 !t / is at a maximum for t D 2!
n
! the function h will also achieve

n
its maxima for t D 2! ! . In addition, since the function h is a periodic function with period !
, the values

n
of h for t D 2! ! are all identical to one another and we can therefore evaluate hmax by simply letting

t D 2!
, i.e., for n D 0. Hence, recalling that L D 1:5 ft, 0 D 15 , ! D 0:4 rad=s, and g D 32:2 ft=s2 ,

for t D 2!
D 1:250 s, we can evaluate h in Eq. (16) to obtain
hmax D 0:890 ft:
August 10, 2009
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Solutions Manual
Problem 2.254
A plane is initially flying north with a speed v0 D 430 mph relative to the ground
while the wind has a constant speed vW D 12 mph in the north-south direction.
The plane performs a circular turn with radius of D 0:45 mi. Assume that the
airspeed indicator on the plane measures the absolute value of the component
of the relative velocity of the plane with respect to the air in the direction of
motion. Then determine the value of the tangential component of the airplanes
acceleration when the airplane is halfway through the turn, assuming that the
airplane maintains constant the reading of the airspeed indicator.
Solution
Let the subscripts P and W denote quantities pertaining to the airplane and wind,
respectively. Then, referring to the figure on the the right and using a normal
tangential component system, the velocity of the airplane and wind are
vEP D vP uO t
and
vEW D vW . cos uO t C sin uO n /:
(1)
Therefore the velocity of the airplane relative to the wind is

vEP =W D .vP C vW cos / uO t
vW sin uO n :
(2)
Now we recall that that the quantity measured by the airspeed indicator is the component of vEP =W that is in
the direction of motion, i.e.,
vai D jE
vP =A uO t j D vP C vW cos ;
where the subscript ai stands for airspeed indicator. Now, recalling that the measure of in radians is given
by D s=, we can rewrite vai as follows:
s
vai D vP C vW cos :
(3)

Observing that for D 0 we have vr D v0 C vW and recalling that vai is maintained constant along the turn,
we can solve Eq. (3) for vP as a function of s to obtain

s
vP .s/ D v0 C vW 1 cos
:
(4)

The tangential component of acceleration is the time derivative of Eq. (4). Hence, we can write

dvP ds
dvP
s
vW
s
at D
D vP
) a t D v0 C vW 1 cos
sin :
(5)
ds dt
ds

p
For s= D .=4/ rad, we have sin.s=/ D cos.s=/ D 2=2. Therefore, midway through the turn, we have
"
p
p !#
2
vW 2
a t D v0 C vW 1
:
(6)
2
2
Recalling that v0 D 430 mph D 630:7 ft=s, vW D 12 mph D 17:60 ft=s, and D 0:45 mi D 2376 ft, we can
evaluate the above expression to obtain
a t D 3:33 ft=s2 :
August 10, 2009
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Dynamics 1e
Problem 2.255
The piston head at C is constrained to move along the y axis. Let the crank
AB be rotating counterclockwise at a constant angular speed P D 2000 rpm,
R D 3:5 in:, and L D 5:3 in: Obtain the angular velocity of the connecting rod BC
by differentiating the relative position vector of C with respect to B when D 35 .
Hint: You will also need to determine the velocity of B and enforce the constraint
that demands that C move only along the y axis.
Solution
Referring to the figure on the right, the can describe the position of C relative to B
as follows:
rEC =B D L uO C =B :
(1)
Then, using the concept of time derivative of a vector, we have that
vEC =B D L uPO C =B D L!EBC uO C =B ;
(2)
where the angular velocity !EBC , which is the angular velocity of the vector rEC =B , is
the angular velocity of the connecting rod. Next, again referring to the figure on the
right, we must have
!EBC D P kO and uO C =B D sin {O C cos |O:
(3)
Substituting Eqs. (3) into Eq. (2) and carrying out the cross-product, we have
P
vEC =B D L uOP C =B D L.cos
{O sin |O/:
(4)
To enforce the condition that C can only move only in the y direction, we must compute the velocity of B
and then apply the relative kinematics equation vEC D vEB C vEC =B . Since B is in uniform circular motion
along a circle of radius R and center A, we have
vEB D P R.cos {O C sin |O/:
(5)
Therefore, combining Eqs. (5) and Eq. (3), we have
vEC D vEB C vEC =B D .LP cos
P R cos / {O
.LP sin C P R sin / |O:
(6)
Since vC x D 0, we have
R cos P
R cos P O
P D
) !EBC D
k;
(7)
L cos
L cos
where we have used the definition in the first of Eqs. (3). In order to complete our calculation, we need to
determine the angle . Using trigonometry, we see that
L sin D R sin ) D sin 1 .R=L/ sin )

(8)
D 22:26 ;
LP cos
P R cos D 0
D35
where we have used the fact that R D 3:5 in: and L D 5:3 in:. Hence, evaluating the last of Eqs. (7) using the
value of in Eq. (8) and recalling that P D 2000 rpm, for D 35 we have
O
!EBC D . 1170 rpm/ k:
August 10, 2009
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Solutions Manual
Problem 2.256
A child A is swinging from a swing that is attached to a trolley that is free to
move along a fixed rail. Letting L D 3:2 m, if at a given instant aB D 3:4 m=s2 ,
D 23 , P D 0:45 rad=s, and R D 0:2 rad=s2 , determine the magnitude of the
acceleration of the child relative to the rail at that instant.
Solution
The acceleration of A relative to B is most easily described by setting up a polar coordinate system with
origin at B, radial coordinate r going from B to A, and transverse coordinate . Recalling that the expression
of the angular acceleration in polar coordinates is aE D .rR r P 2 / uO r D .r R C 2rP P / uO and observing that the
length of the rope is constant so that r D L, we have
aEA=B D
LP 2 uO r C LR uO ;
(1)
The acceleration of the trolley can be described using the chosen component system as follows:
aEB D aB .sin uO r C cos uO /:
(2)
Hence, using relative kinematics, the acceleration of A relative to the fixed rail is

aEA D aB sin LP 2 uO r C aB cos C LR uO :
(3)
Consequently, we have
jE
aA j D
aB sin
LP 2
2
2
C aB cos C LR :
Recalling that L D 3:2 m, aB D 3:4 m=s2 , D 23 , P D 0:45 rad=s, and R D

the above expression to obtain
(4)
0:2 rad=s2 , we can evaluate
jE
aA j D 2:58 m=s2 :
August 10, 2009
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Dynamics 1e
Problem 2.257
Block B is released from rest at the position shown, and it has a constant
acceleration downward a0 D 5:7 ft=s2 . Determine the velocity and acceleration
of block A at the instant that B touches the floor.
Solution
Note: The units of the given quantity a0 are incorrect. The given value of a0 should be a0 D 5:7 m=s2 .
The length of the rope is
LD
d 2 C yA2 C yB :
(1)
For t D 0, we have that yA .0/ D l w. Letting tf represent the time at the

final position, the length of the rope at the initial and final positions is
q
q
2
2
L D d C yA .0/ C yB .0/ and L D d 2 C yA2 .tf / C yB .tf /: (2)
Subtracting these two equations and rearranging terms, we have
q
q
2
2
d C yA .tf / D d 2 C yA2 .0/ yB .tf / yB .0/ D 0:
Since yB .tf /
obtain
(3)
yB .0/ D h, squaring both sides of the above equation we

q
d 2 C yA2 .tf / D d 2 C yA2 .0/ 2h d 2 C yA2 .0/ C h2 :
Solving the above equation for yA , we have

r
yA .tf / D
yA2 .0/ C h2
q
2h d 2 C yA2 .0/ D 0:1864 m;
(4)
(5)
where we have used the following numerical data: yA .0/ D l w D 0:25 m, h D 2 m, and d D 2:5 m.
Next, differentiating Eq. (1) with respect to time and solving for yPA , we have
q
yPB
yA yPA
0D q
d 2 C yA2 :
C yPB ) yPA D
(6)
y
2
A
2
d C yA
Now, we wse the constant acceleration equation sP 2 D sP02 C 2ac .s s0 / to find yPB after B has traveled a
distance h. This gives
p
yPB2 D 2aB h ) yPB D 2aB h D 4:775 m=s;
(7)
where we have used the fact that aB D a0 D 5:7 m=s2 and h D 2 m. Then, evaluating the last of Eqs. (6), the
velocity of A when B hits the ground is
yPA .tf / D
64:22 m=s;
(8)
August 10, 2009
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Solutions Manual

yPA .tf / D
64:2 m=s:
Now we differentiate Eq. (6) with respect to time to obtain

q
q
yRB
yPB yPA
2
2
yRA D
d C yA C
d 2 C yA2
yA
yA2
yPB yPA
q
d 2 C yA2
Recalling that d D 2:5 m and yRB D a0 D 5:7 m=s2 , and since we determined that yPA .tf / D 4:775 m=s and
yPB .tf / D 64:22 m=s, we can evaluate the above expression for when B hits the ground to obtain
yRA .tf / D
22;100 m=s2 :
August 10, 2009
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Dynamics 1e
Problem 2.258
At a given instant, an airplane is flying horizontally with speed v0 D 290 mph
and acceleration a0 D 12 ft=s2 . At the same time, the airplanes propellers rotate at an angular speed ! D 1500 rpm while accelerating at a rate
D 0:3 rad=s2 . Knowing that propeller diameter is d D 14 ft, determine the
magnitude of the acceleration of a point on the periphery of the propellers at
the given instant.
Solution
Using a cylindrical coordinate system with origin at the propellers axis of rotation and axis in the direction
of motion, the general expression for acceleration is

aE D RR RP 2 uO R C RR C 2RP P uO C R uO :
For the propeller tip we have R D d=2, RP D RR D 0, R D a0 , P D !, and R D . Thus the acceleration is
aE D
d! 2
d
uO R C
uO C a0 uO ;
2
2
and the magnitude of the acceleration is

aE D
s

d! 2
2
2

C
d
2
2
C a02 D 173;000 ft=s2 :
August 10, 2009
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Solutions Manual
Problem 2.259
A golfer chips the ball as shown. Treating , , and the initial speed v0 as
given, find an expression for the radius of curvature of the balls trajectory as a
function of time and the given parameters. Hint: Use the Cartesian coordinate
system shown to determine the acceleration and the velocity of the ball. Then
reexpress these quantities, using normal-tangential components.
Solution
This is 3-D projectile motion. we will follow the hint and develop equations both in Cartersian components
as well as in normal-tangetial components. In Cartesian coordinates the components of acceleration are
xR D 0;
yR D 0;
and
R D
g:
O and .uO t ; uO n ; uO b / compoUsing constant acceleration equations, the velocity vector expressed in the .O{ ; |O; k/
nent systems are
vE D v0 cos cos {O C v0 cos sin |O C .v0 sin
O
gt / k;
vE D v uO t ;
where, v is the speed, which can be given the form
q
q
v D vx2 C vy2 C v2 ) v D v02 C g 2 t 2
2v0 gt sin ;
(1)
and where the tangent unit vector uO t can be related to the base vectors of the Cartesian component system as
follows:
v0 cos sin
v0 sin gt O
v0 cos cos
uO t D
{O C
|O C
k:
(2)
v
v
v
To express the acceleration in normal-tangetial component, we will need an expression for the time derivative
of the speed. Hence, we proceed to provide differentiate v with respect to time, to obtain
g 2 t v0 g sin
g
vP D q
D gt
v
v02 C g 2 t 2 2v0 gt sin

v0 sin :
(3)
O and .uO t ; uO n ; uO b / component systems are

The acceleration vector expressed in the .O{ ; |O; k/
aE D vP uO t C
v2
uO n

and
aE D
O
g k:
Equating the above expressions for the acceleration, we obtain an expression for the normal unit vector
uO n D

v2
Using Eq. (3) we can rewrite Eq. (4) as follows:

g 1
.gt
uO n D 2
v
v

vP uO t C g kO :
(4)

O
v0 sin / uO t C k :
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Dynamics 1e
Now, recalling that we must have uO n uO n D 1, we obtain the following equation:

1
2 g 2
2
2
O
1 D 4 1 C 2 .gt v0 sin / C .gt v0 sin / k uO t :
v
v
v
(5)
Observe that the last term on the right-hand side of Eq. (5) requires the computation of the product kO uO t .
This computation can be done by using Eq. (2), which shows that kO uO t D v0 sinv gt . Consequently, Eq. (5)
becomes

1
2 g 2
2
2 g 2 2
2
2
1 D 4 1 C 2 .gt v0 sin /
.gt
v
sin
/
D
v
.gt v0 sin /2 :
(6)
0
2
6
v
v
v
v
Keeping in mind that, in the end, the above expression is to be solved for , the term v 2 .gt
can be simplified using Eq. (1) and the trigonometric identity cos2 D 1 sin2 as follows:
v2
.gt
v0 sin /2 D v 2
g 2 t 2 C 2gt v0 sin
v02 sin2 D v02
v0 sin /2
v02 sin2
D v02 .1
sin2 / D v02 cos2 : (7)
This result, allows to rewrite Eq. (6) as follows:

1D
2 g 2 2
v cos2 :
v6 0
(8)
v3
:
gv0 cos
(9)
Solving Eq. (6) for , we have

D
Finally, substituting the expression for v in Eq. (1), we have
D
.v02 C g 2 t 2 2v0 gt sin /3=2

:
gv0 cos
August 10, 2009
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Solutions Manual
Problem 2.260
A carnival ride called the octopus consists of eight arms that rotate about the
axis with a constant angular velocity P D 6 rpm. The arms have a length
L D 8 m and form an angle with the axis. Assuming that varies with
time as .t/ D 0 C 1 sin !t with 0 D 70:5 , 1 D 25:5 , and ! D 1 rad=s,
determine the magnitude of the acceleration of the outer end of an arm when
achieves its minimum value.
Solution
Using a spherical coordinate system the components of acceleration of a point C at the end
of an arm with constant length L are
ar D
a D
L12 ! 2 cos2 !t
2
LP 2 sin2 .0 C 1 sin !t /;

LP 2 sin.0 C 1 sin !t / cos.0 C 1 sin !t /;
L! 1 sin !t
a D 2L1 ! P cos !t cos.0 C 1 sin !t /:
(1)
(2)
(3)
To determine the minimum value of phi re call that D 0 C !1 sin !t. Because the iminum of the sine
function is equal to 1, then the minimum value of is
min D 0
1 D 45 D 41 rad:
(4)
In addition, we observe that such a minimum value occurs when
!t min D 270 D 23 rad:

Evaluating the acceleration components for D min D 0
ar D
1 P2
2 L ;
a D L ! 2 1
(5)
1 and !t D 32 rad, we have

1 P2
2
and a D 0:
(6)
Consequently, the magnitude of the acceleration is for D min , we have jE

ajmin D
gives
q

1 P4
4 2
aE
D
L
! 2 P 2 1 D 2:53 m=s2 ;
2 C ! 1
min
q
ar2 C a2 C a2 , which
where we have used the following numerical data: L D 8 m, P D 6 rpm D 0:6283 rad=s, ! D 1 rad=s, and
1 D 25:5 D 0:4451 rad.
August 10, 2009

Dynamics Solns Capitulo 2 Plasha GRay

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Solutions Manual

Engineering Mechanics: Dynamics

Version: August 10, 2009

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August 10, 2009

Accuracy of Numbers in Calculations

August 10, 2009

Similarly, the displacement between 11:1 s and 12:7 s is

August 10, 2009

Problems 2.2 and 2.3

0:0149t 4 / {O C .0:523t 2 C 0:0122t 3

0:05960t 3 / {O C .1:046t C 0:03660t 2

Hence, evaluating the above expression for t D 15 s, we have

0:1788t 2 /O{ C .1:046 C 0:07320t

Hence, evaluating the above expression for t D 15 s, we have

1:39 |O/ ft=s2 :

vE.15 s/ aE .15 s/ D vE.15 s/ aE .15 s/ cos .15 s/ ) .15 s/ D cos

which, for t1 D 0 s and t2 D 2 s, can be evaluated to obtain

0:05960t 3 / {O C .1:046t C 0:03660t 2

Evaluating the above expression for t D 1 s, we have

therefore, using the results in Eqs. (4) and (6), we have

vE.1 s/ D .0:0800 {O C 0:00700 |O/ ft=s

Similarly for 8  t  10, we have

vE.9 s/ D .97:97 {O C 8:559 |O/ ft=s:

0:0350 |O/ ft=s:

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Solving the first of Eqs. (2) with respect to time, we have

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The acceleration vector is the time derivative of the velocity vector:

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Problems 2.10 and 2.11

Determine P s average acceleration between times t1 D 4 s and

The displacement is the change in position of P from t1 to t2 and is given by

Er .t1 ; t2 / D .0:899 {O C 41:3 |O/ ft:

vEavg .t1 ; t2 / D .0:450 {O C 20:7 |O/ ft=s:

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vE.t2 / D .0:4082 {O C 24:57 |O/ ft=s:

aEavg .t1 ; t2 / D . 0:0459 {O C 3:88 |O/ ft=s2 :

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Problems 2.14 and 2.15

(a) Plot the trajectory of P for 0  t  0:6 s, 0  t  1:4 s, 0  t  2:3 s,

and y.t / D .9:5 C 10:5 sin !t C 4:0 sin2 !t / m:

Referring to Eq. (1), for xmax ; sin !t D C1 ) t D

s and for xmin ; sin !t D

Since ! D 1:3 s 1 , we write the x and y coordinates of point P as

x.t/ D f2:00:5 C sin.1:3t /g m

and y.t / D 9:5 C 10:5 sin.1:3t / C 4:0 sin2 .1:3t / m:

where we have expressed all known coefficients to three significant figures.

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FrameTicks # ""Automatic, None#, "Automatic, None##, AspectRatio # 1,

Part (c). Referring to Eq. (4), for xmax ; sin !t D C1 ) t D

s and for xmin ; sin !t D

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Problems 2.16 through 2.18

Determine the maximum and minimum speed achieved by P

.29:3 ft=s/1 C sin.25:5 rad=s/t |O:

vE.15 s/ aE .15 s/ D vE.15 s/ aE .15 s/ cos .15 s/ ) .15 s/ D cos

Similarly for 8 t 10, we have

(a) Plot the trajectory of P for 0 t 0:6 s, 0 t 1:4 s, 0 t 2:3 s,

2 sin / {O2 C .sin sin t

1 C cos.2 s/ sin |O2 ;

.uO t ;uO n / D 92:3 :

cos {O C sin |O;