‘TRANSPARENCY MASTERS Solutions to Typical Problems in MERIAM & KRAIGE + ENGINE! ERING MECHANICS, VOL. 2 DYNAMIC 4/E This transparency master section includes 63 problems and their solutions selected to illustrate typical applications in Dynamics. These problems are different from and in addition to those included in Volume 2 of the Fourth Edition of Engincering Mechanies by Meriam and Kraige. Allis of the problems by chapter and article reference for Volume 2 — Dynamics follows below. Instructors who have adopted either volume as a textbook are granted perm reproduced as transparencies for classroom use. Instructors who have adopted the text are also given permission to use selected text illustrations as transparency masters. For best results the text illustration should be enlarged on the sheet of copy film. Many electrostatic copiers have this capability. 2 KINEMATICS OF PARTICLES 212 Rectilinear Motion (2 examples) 2/4 Curvilinear Motion (x-y) 215 Curvilinear Motion (n-t) (2 examples) 216 Curvilinear Motion (r-8) 217 Space Curvilinear Motion 218 Relative Motion (Translating Axes) 219 Constrained Motion of Connected Particles 3 KINETICS OF PARTICLES BI Rectilinear Motion Curvilinear Motion (n-t) (2 examples) Curvilinear Motion (1-9) Work and Kinetic Energy Potential Energy (2 examples) Impulse and Momentum Impact Central-Force Motion Relative Motion 4 KINETICS OF SYSTEMS OF PARTICLES 4/2 Generalized Newton's Second Law 413 Work-Energy 414 Impulse-Momentum 416 Steady Mass Flow 417 Variable Mass 5. PLANE KINEMATICS OF RIGID BODIES 5I2 Rotation 5/3 Abrolute Motion (2 examples) 5/4 Relative Velocity (2 examples) 5/5 Instantaneous Center of Zero Velocity 516 Relative Aeceleration (2 examples) 5/7 Motion Relative to Rotating Axes Conservation of Momentum (2 examples) PLANE KINETICS OF RIGID BODIES 613 Translation (Rectilinear) 613. Translation (Curvilinear) GIL Fixed-Axis Rotation (2 examples) 615 General Plane Motion (2 examples) 6/6 Work-Energy Relations G17 Acceleration from Work-Energy 618 Impulse-Momentum Equations (2 examples) INTRODUCTION TO THREE-DIMENSIONAL DYNAMICS 7/5 Rotation about a ised Point 716 General Motion ZI7 Angular Momentum 718 Kinetic Energy 70 Parallel-Plane Motion ZILL_ Gyroscopic Motion (2 examples) VIBRATION AND TIME RESPONSE 8i2 ai2 4/3 Bit 815 APPENDIX B MAS BIL Biz RI Free Vibration of Particles (undamped) Free Vibration of Particles (damped) Forced Vibration of Particles Vibration of Rigid Bodies Energy Methods MOMENTS OF INERTIA ‘Mass Moments of In Axis (3 examples) Products of Inertia Principal Axes of Inertia tia about an sion to have these mastersART. 2/2 RECTILINEAR MOTION (CONST. ACCEL.) (A subway train travels between two station stops with the acceleration schedule shown. Find the time interval Mt quring which the acceleration 1s 2m/s* and the distance S$ between stations. a, m/s? ts -9|--------- = st interval; uy=at= 1(8)=8m/s 52 fat? SUB)? 32m Entire i bn aie ot 7 Maiaiee At=6 5 224 ip po = % 4+ Ot=8 +266) = 20 m/s cad wat * gala)” = 32 46(6) + Z(2ey = 116m 3x interval, $= 5,+*Y, At +£a(at)* = 16 +20(10) + $(-2)I0)" = eS JLM a Copyright © 1997 Jan Wiley & Sons, nc, Meriam/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4EART. 2/2 RECTILINEAR MOTION (VARIABLE ACCEL.) (7 The acceleration record for the motion ofa vehicle which starts from rest at t=O Is shown. Use the dotted approximation and @raw the v-t curve ana tind the a/stance s traveled Quring the 4 seconds /n sts rectilinear motion. Acceleration av. 0-25; Q= Groot Lae vegt* =F (9.81)(2)= 98./ m/s 2-45; Ve Uradl = 9B.) + 5(REINt-2) = 52 OE 0-25; 4S jen for ot= £(9.91N2)"=65.4m 2-45; 45+ /vat = - [sot att = 2(9.81/f42.2')=2943 m \ vena a S= 65.4+2943 =[360Tm) _/ (Copyright © 1997 John Wiey& Sons, Inc. Meriam/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 2/4 CURVILINEAR MOTION (X-y) Find angle @ for the antl- aircrart gun with muzzle velocity of $40 m/s for @ | 1000 km/h --7p RSs direct hit on the aircrart Hying horizontally at the constant speed shown. beat a u = 540 m/s oun Is fired when a@ir- | A croft /s airectly over- tah head. Find the time t from firing to impact. Aircratt: X=0,x=ut 1000 ,_ 1000 X= 1000 3600 t= 36 (@) Snell: X=0, X=(u cos )t X=$540T Cos@ (0) Y=-9, y= (usine)t-£9t? Eliminate = between (2) db) & get 1000 _ Bn aelO00. = BE 7 540 OSO, O= 0S Sere ar* (590 £9. (C), 6000 = (540 sin 590')t -4.(9.81)t7 which becomes t*-944/l +/223=0 Jolve € get |f=/S50s| going up Ne or L=78.9s coming down oe a7 Copyright ©1997 John Wiley & Sons, ne. MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 2/5 CURVILINEAR MOTION (r-t) No. / (7 Apraectile is fired at an angle of 30 degrees \ above the hor/zontal with @ muzzle velocity of 460 m/s. Find the radius of curvature p of Its path 1/0 seconds after firing. Neglect air resistance so that /ts only acceleration 4% 9 Gown. Also find the rate of change of the magrituge of the velocity. oA u= 460 m/s For constant acceleration v=uyrat X-dlir, Uz.= 460 cos 30°+ 0 = 398.4 m/s Y- ait, Uz= 460 SIN 30° 2.81 (10) = 131.9 m/s a 2 ae So erSee ° V2=V(398.4)*+(131.9)"= 420 M/s, B=tan sogg (852 = G COSB = 7.8/ COS/8.32°= 9.3/ n/s? 2 ve 5. ¥*_ (420)"_ - n= es %, 7937 7/8 70M, [218.91 km = @ = -G SIN B = - 98) SIN 18.32" =[=3.08 M/s* wn __/) (Copyright ©1897 Jotn Wiley & Sons, In. ‘MerianvKraige ENGINEERING MECHANICS, VOL, 2 DYNAMICS, 4/EART. 2/5 CURVILINAP MOTION (a-t) eae of crank OA Is Controlled by the horizontal slotted link which has @ downward acceleration and veloc/ty of 3.5m/s* and 0.3 m/s, respectively, when @=30° For this instant determine the velocity ana acceleration of A. Also Hind the corresponding values of 8 and 6. Point A has circular motion so has tangential velocity and n- and t- components of acceleration. : 03 Uys (Ua)y [Sin 30"= 55 *0.6 mm/s U=re, O= 0.6/0./50 = |# rea/s Qn? Uat/P = 0.6'/0./50 22.4 m/s? Thus 2.4:5iN 60°F @, 512 30°= 3.5 Q,= 2.84 m/s*, 2,2 V2.4 2.84" = 3.72 m/s* Q:r6, @= 2.84/0,/50 = |/8.95 rad/s* % we a, ‘Copyright ©1997 John Wiley & Sons, ne. MerianVKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 2/6 CURVILINEAR MOTION (r-@) (an aircraft executes a vertical \ curve while being tracked by 7 radar directly below ato For ye 5 the instant when radar dota give 77 / r=/500m = 30° f° 6: 0.060 rad/s | 07 8s -0.0/7 raa/s*#__ a nis tind the velocity V and acce/- 08 eration @ of rhe aircraft and thelr asrections with the horfzontal. U: UL+ UZ where =f =/60 m/s = 6 = /500 (0.060) = 90 m/s Ss ,=16 #276 =/500(-0.0/7) + 2(/60}(0.060) = ~6.30 m/s? a= 4.60% 6.307 =[7. 80 m/s?| r= tan~(460/6.30) + 30° = 36./°+ 30° Zj = [66.79 ua _/ Copyright© 1997 Jon Wiley & Sons, nc. MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 2/7 SPACE CURVILINEAR MOTION (A Particle moves along the ms cylindrical helix shown. As it passes point A the mag- ae nitude of /ts total acceler- = ation /s 10 m/s? end its speed along the path Is increasing at the rate of 8m/s*? For this position compute the velocity v and tind 6, 6, and Q@. : 2 ee 2=/0 m/s ae aru Zz 1 — f iv ems" |a,|-a* uv? 1 ac 2 ne 6 =V/i0?- 8? ap % =6m/s* Avsr 0A=r=2m=const. @.=F-r6°=0-ré" so \ré*|=6, 6-VEAVF rad/s 2yva U=O=2¥3 m/s, V= % [eased 4 m/s G71 +276, 8c0s30% 26 +0, 6= 4V3/z =|2V3 raa/s* = SIN 30° = 8 (1/2) =|4 m/s? 4 . yen oy, Merian/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/E ‘Copyright © 1997 John Wiley & Sons, ne.ART. 2/8 RELATIVE MOTION (TRANSLATING AXES) (Car 8B rounds the curve with @ constant speed of 90 km/h. /f car A has @ speed of 60 Am/h Which Is increasing at the rate of 4aAm/h each second when the cars are in the pos/tions shown, determine the velocity and acceleration which cer B appears to have fo @ nonrotating observer In card. Y= UY, + Vaya Law of cosines Am/n Am/h : z z Fi | Yoya= W90)*+ (60)* 2(90)(60) Cos 30 = 1484 km/h f Law of sines gives [B= 683" BA. Ua x Ge-G,t Gay, : 1000 : @g=2.08 m/s De F Tegel ms Gel! =Y2 (90/3.6)*. 2 Saya Ma BSF BOO 7 208 M/S : Law of cosines GS 4 Qayg= Vi2.08)*# (.11)"-2(208)111) COs 120° =|[2.81 m/s \_ saw of sines gives 6,2 140.0 i) Merian/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/E Copyright © 1997 John Wiley & Sons, ne.ART. 2/9_ CONSTRAINED MOTION OF CONNECTED PARTICLES The load L 1s holsted hy the bulley-and-cable cornbination shown. /f the system starts from rest and the upper cable acquires Qavelocity V=4m/s with constant acceleration when the load /s 6in above its starting position, Cca/- culate the acceleration of the load and rind its velocity at this Instant. 5 U=y Solution I: Constant rope lengths z @ time aerivatives are y, . : A Lat 2y, +¥ 4 Const, O=2y,+y Oy 8 4° 2y,-y,t-const,, O=2y,-Y, % @) 4 16 = 2Y--Vg t Const, O=2Y,-VYa Solve 4 get y=-y/e. Also Y.2-V/8 Thus U;= -Y.= V/8 = 4/8 [0.5 m/s For const. accel, uz =2QX oh So @=UY7(ex)= oie. [e.0208 mis) 6 Solution I: 324 05,-4(405)-4(L) q ANG as/2 2) Ve WEY , UUs Ue ere. Copyright © 1997 John Wiley & Sons, ne. Meriam/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 3/4 RECTILINEAR MOTION (As the 3.6-Mg flat-bed truck starts from rest \ with constant acceleration, the 750-9 crate slides 3m to the edge of the bed inthe time that it takes the truck to acquire @ velocity of 40 Km/h in @ distance of /5m up the Incline. Find the coefficient of kinetic friction 14, Cetween the crate and the truck bed. oe 750 (9.81) SUNOS OOFIT S7geN 15-3712 crate COS O= 0.9988 ae truck ¥, 5m 1g e™ 1 dl 700 N for const. accel x=fat? ¢ v* 2ax ad 2 A For same t, l2=xQ.0? ¢ 15-4 @,0* 50 Q= 2 @, @,= x" o Q= Z “40(1000/3600)]?. 2 2x 205) 3.29 M/S’ 2h = O; N-7358(0.99788)=0, N= 7348N ZR=MQ, | 7348 Md,,- 7358 (0.0499) = 750 (3.29), H,,= 0.386 SLM. (Copyright © 1997 John Wie & Sons, ne. Meriam/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 3/5 CURVILINEAR MOTION (n-t) No.1 ( A race car going 1/50 km/h at A geceleroles ot a con- \ slant rate to 50Am/A at B in @ astance de S=/60 1m 177 Order __ 5 to negotiate an sje seo unbenked turn. /f the effective coefficient of friction between tires and road /s 0.80, and /f the car begins to skid at B determine the radius of Curvature p of the path at B. The tota/ friction force /s F = LN = mg =0.60mg CEE F:VE2+E? where 1 5a, , 4=mMa, For constant acceleration @/ong path, UB?=Y*424G5, G:[(50*-150*)(222) *\/20160) =-462 2% 5600 Qy* u/p 2 (20 $282)4/p« Lee Thus V(-4.82)'+ (222)? m = 0.60mg = 0.80(7.6/)m \ See y Jena Copyright © 1997 John Wey & Sons, ic. \MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART B/S CURVILINEAR MOTION (n-t) NO.2 (an object of mass im has an initial velocity u \ up the incline at A. An instant after it Passes B, the normal force between /t and the supporting surface arops to one-half the value /t had before reaching B. The coefficient of kinetic friction /s 0.30. Find u. (Approaching 8) X 25,20, N-/g COS 30°= O : N= 0.866 0.3NNS v. Ii 2h =/NQ, | ~ 0.3 (0.866179) - 0.5109 = NOx Qe -0.7609 Wust post B) i UB’ ) Be t.. 9! ZE2G,; 0.866 mg ~ 275878. m ee o3NN oe Uy? = 0.8669 few Ula U7 420,X; UL? = 0.8669 -2(-0.7609)2VF eee U2 = 6.139 = 6.13 (9.8/) =60./ m/s)’, [u= 775 M/S SLM Copyright ©1997 John Wiley & Sons, ne. Meriam/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 3/5 CURVILINEAR MOTION (r-@) No. 3 a 45 Mg aircratt /s tracked by radar atA below /7s stra/ght line of t//ght. At the instant Shown, radar gives r=/6.0 km, r= 88.0 m/s, 6: 30° 6-6/4 (10") rad/s, and 6 =5:/8 (10°) raa/s*. If the jet- engine thrust /5 7=340 kN, determine the aerodynamic grag D and //#t L on the aircraft. Also tind Pr. Velocity Up= = 88.0M/5, Uz=10=16.0(10°N6./4YIO™ = 98.2 m/s U= /¢8.07 + 98.27= 7 B:tan’ £63 = 419° Acceleration Gye 6 #270 = 16.0110 N51 810") + 2(88.0N6./4)((0-*) = 0.829 +1.08/ = 1.909 n/s? @,=F-r6*: 1.909 tanU.9"= (oe 1.710 = F-06038 Aircraft 2R=INQ, = ING, /O5h $40 -D~ 4502.76) sin 119° aN \ = 45 (1.909)/c05 419°, [D= 13.44 KN] 25,20. L~ 45 (476) @5 1.9°=0 7: 540 KN ce 19 £= 43.0 kN mg \Wote 97% (Ben)? = 9.76 mls? where B+ 9.8065 /8* jay _) Copyright ©1967 John Wiley & Sons, ne. ‘MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/ENe Copyright © 1997 John Wiey & Sons, ne. Art. 3/6 WORK A/D KINETIC ENERGY The 8-kg cylinder /s latched in place with the 60kN/m spring com- pressed a distance Of 20mm, lf Le the two latches are Simultaneously ae 8 kg removed, derermine (a) fhe max- 20mm imum height y reached by the = cylinder and (6) the velocity y = The cylinder /s not attached 7% he spring. for entire system Ul, | 20 kg A During Impact /inear momentum /'s conserved GEG! 2(/00) ¢ 20/5) = 22U, , Ui= 13.64 m/s Wrth constant acce/eration a0 i= Ui2+2a,5 47 = /3,64°# 20, (/4) , 25 - 6.07 m/s* ZAG.) fh, (22)9.8/) = 22 (-6.07) Ky = O69 N a, Copyright ©1997 John Wiley & Sons, ne. Merian/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 3/7 CONSERVATION OF MOMENTUM NO.2 (Each of the 4-kg bal/s is mounted on the =X Frame of negligible mass and ts rotating treely at 9orev/inin about the vertical with @=60° /f the force Fon the vertical contro/ rod /s increased to change @ to 30° determine the new rotational speed N and tind the work U gone by F. Point O remains fixed Avert, = Const. so mir*w, = mre, , ry = 5?N, Thus (300 2 )*(90) = (300-4 )'n,, Wen, =[270 rev/min U=47+ AY, = 2()4[(9,3 (270}22)* (0.38 foo} 22)?) + 244N(261)(033 - 0.34] U = 48.0 + 662 =(566V] < vue Copyright© 1987 John Wiley & Sons, Inc. Merian/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 3/11 IMPACT Two spheres of egua/ mass m are suspended by wires of equal length r. The left-hand sphere /s released from rest in the gotted position. Determine the expression for the angle B through which the wire of the right-hand sphere swings after /mpact. The coeff/- clent of restitution /s e. Before u~O@®) After Oo] UE Eliminate u,' é get But v=V2gh 50 Y=V2gr(/- COs 4), ye Vvegr(/- COS 3) V2gr-CosA) _1#e | gs cos" 1 (EE\'-cosel] V2gr (/-COs 8) 2 Jud. Copyright © 1997 John Wiley & Sons, nc, ‘MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 3/12 _CENTRAL-FORCE MOTION iG An earth sate/lite which executes @ polar orb/t comes within 150km of the north ole at /ts point Of Closest approach to the earth. /f the sate/lite passes over the pole once every 9ormin, calculate /ts velocity vY over the pole and Its Q/t/tude h when it passes over the equator Given: R=637/ AM G9 = F825 M/s? heriog T= 7omINn ave £9. 3/40, T= éi7 RVG 90 (60) = 217 per Q=6654 KM 637/ 9,825 (109) ’ £G. 3/43, U?=2gR?(f- x) where = fyiqe +150 Km 12s 2(@ 825 )(/0°N3600)(637/)" | zero - seas! = 808.4 (10°) (4km/h)*, [7= 28430 AMIR a £95. 3139, lining? QU1-€), @= 1- BA = j- 827LI? «9 o1993 14#CCOSE £95.3/39, f= eS: For 0=90° r= Q(/-e?) Weg = 637/ tN =6654(/ -[0.0/993}*), h=280 kM JLo Copyright ©1967 John Wiley & Sons, ne. Meriankraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 3/13, RELATIVE MOTION ae boint of support B for the simple penau/um of mass in and length 1 has a constant horizontal acceleration a@ as shown. /f its released trom rest re/ative to the moving system oe with 6:0, determine = 9 the expression for 4 ’ the tension Tin the . cord in terms of @. x From £Gq. 3/46 2F=m/(@ 2a% Gre)) where (Qej)p7 = 16% (Qpe1),716 [t-dir] mg cos@=m(asin 6 + 16) t/ mg [n-dir] mg sine=m(a cos 6 + 16”) From 18teg. 16 = 9 COSO-QaSINO But [6 db=/6 de so [546- ftgcose- asine)de which gives 6%: 4 2 (9. SIN® - ~ @f1-cose)) Substitute into = eg. & get T= mg [sine + $cos0+$2(9sine-al/-cos6))] < wa) Copyright © 1997 John Wiley & Sons, ne. MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/E or |\T=mg [asin @ + (a/g)3 Cos 6 -2)]ART. 4/2 GENERALIZED NEWTON'S SECOND LAW \ The two 3-kg spheres slide on @ smooth horizontal surface in the x-y plane and are connected by the two faentical springs of negligible mass. Calculate the x-compo- nent of the acceleration of each sphere due to the action of the 60-N force @p- bled to the junction of the springs. 3kg QO, 7 , HY 1 wy res 60 N—---—x aw ws 3kg center of mass G of the 60N eX system /s always miaway between spheres, so x-com- ponent of accel of each sphere egua/s Z:@ for system Zk =m, , 60 2(3)G, oe + ca Q, = @, = |lorm/s ae > Copyright © 1987 John Wiley & Sons, ne. Meriam/Kraige ENGINEERING MECHANICS, VOL, 2 DYNAMICS, 4/EART. 4/3 WORK-ENERGY (The system of five identica/ spheres 1s released from rest in the position shown and moves in the vertical plane under the influence of gravity. The two rigid arms are freely hinged to the upper sphere. Neglect friction and find the velocity UV with which the upper sphere strikes the horizontal surface. For system U=O0= AT+ Ay Upon impact miadle spheres have velocity ¥ £nd spheres have no velocity. ars 2fgen(¥f] + gut gmv4 y= 2179 B -mg (22) =-2VEmgb Thus o-2mvy?-2lemgb yrs 220, YLM (Copyright ©1997 Jotn Wiley & Sons, re. Merian/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 4/4 IMPULSE- MOMENTUM The three smal! spheres are welded to the Nght rigid frame, which /s rotating ina horizontal plane about a vertical axis through point O with an anguler velocity 6=20 rad/s. /f @ couple M,=30 Nm 1s applied to the frame for 5s, compute the new angular velocity 6! 3kg For entire assembly 2M,= 4 ) J2M, a= AH, JM, at=M,t = AE; F; (4,8)] = 2m, 7748 30 (5) = [3(0.5)* + 4(0.4)* + 3(0.6)*|(6- 20) 150 = 2.47(0-20), |= 80.7 rea/s J Ne SLM Copyright ©1957 John Wiley & Sons, Ine. Meriam/Kraige ENGINEERING MECHANICS, VOL, 2 DYNAMICS, 4/EART. 4/6 STEADY MASS FLOW (a 16-kg ball /s supported by a vertica/ Jet of fresh water whith issues from the 30-nin-diometer nozzle with @ velocity of /om/s. Determine the herght h at which the ball /§ Sup- ported. Neglect any energy /035 due fo arr resistance or furbulence ang assume rhe jel remains (ntact until diverted horizontally by the bal/. Force F to Oivert stream Fam’ av m'= pAv = /000 707 kgo/s For stream A+ AW =0 $m(u*-107) -mgh=0 (Z 9.050%) ie => U=/0 us Vi0*-279.8/)h m/s m/s t | for ball ZF =0 50 F=M,9 = 1.6(9.8/) = 15.70N Thus /5.70 = 707(u-0) = 707 Vio? -2(7.8/)h" 10* -2(9.8)h = (15.70/7.07)* hz 485m < See Copyright © 1897 John Wiley & Sons, Ine. Merian/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 4/7 VARIABLE MASS The tank of water Is at rest on @ horizontal surface When @ 250-N force /s applied as shown. /f water issues from the rear ad/scharge dipe at the rate of 20 kg/s with @ velocity of 24m/s relative to the opening in the @i- rection shown, ca/culate the initial acce/- eration @ of the tank /f its mass at the start /s 300 kg. Neglect the rotational mertia of the wheels. zamst in, tag In X-airection 2&2 mu+mu 250 = 300 VU + (-20)(2.4 Cos 60°) w= (250 # 24)/300 = 0.9/3 n/s* 913 tn/s*® \ Copyright ©1887 John Wily & Son, Ie. LM. Meriam/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART, 5/2 ROTATION (The two pulleys are operated by the tape whieP\ Passes over them without slipping. During start- up the speed U ox the tape increases from L2m/s to 24m/s with constant acceleration while 600 mm Of tape have passed over the bulleys. When the speed approaches 2.4 7/5, determine the angular acceleration &, of pulley A and the magnitude @, of the total acceleration of point P tixed to pulley B. 120 —— mm Tape with constant acceleration U7: “u*+2a5 2.4% = /2%+4 24(0.600) , @=Q=3.6 m/s* Pulley A: Q=r&, &,=3.6/0.060 = |\60 rad/s?| Pulley 8: U=rw, w= 2.4/0.120 = 20 rad/s (Qo),°% w* = 0,090(20)*? = 36 m/s? 2 ss : z 8 Qe, HF 6/0.120 = 30 rad/s . = = 2 (Ay) 1% = 0.090 (30)= 2.7 m/s ‘i a Vere G,*V(G,)? + (G,)°+ 36% 277 =[36./ m/s? ple ~—Kig/ Copyright ©1997 John Wiley & Sons, Ine Meriam/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 5/3 ABSOLUTE MOTION No. / (The Spoo/ ro//s on Its hub up the inner cable ”» @s the egua/izer plate B/s pulled down. For the instant shown B has moved down 800mm from rest with @ constant acceleration of 100 mm/s? Determine the velocity of point C and the acceleration of the center O for this instant. pi a for const. accel, Displacements UrINg time at 2 2 nos Uy = V2a,5, =V2(00)800 gs, 7 - = 400 mm/s ¢ ° ~~ IS, OS | BS _ We mn inl mn 700 200 300 = W5¢_ 700 WSp_ 7 7 Ue a oe 7 3 %e* 400=|933 mm/s up yh aS, 200 GSg ae z £0) - *F = [66,7 77 ee & az “& 506 ae! 2a Tee Copyright © 1097 John Wily & Sons, ne. MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 5/3 ABSOLUTE MOTION NO.2 The horizontal contro/ rod hes @ constant velocity V=0.2 m/s. Calculate the angular velocity w of rod AB when x=300mmM. From geometry r=x sine P20 =XOCOSO+XSING ae Cea eo x one x yer For x=0.3m w=6:22 7212 ___ Jo395 cw 23 Véo,3)%(0,/50)" ae 7 Copyright ©1997 John Wey & Sons In. “MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 5/4 RELATIVE VELOCITY At the instant shown for the 4-bar linkage, tan 2 and 6+4 rad/s. Determine the corresponaing angular velocities of AB and CB. A From geometry ON 6 ) se 2 a , Dimensions in ¢ 3 millimeters Ye= Yt Uy, Sca/ar-geometric so/ution Ua = 0.2(4) = 0.8 m/s Yajq= AB dy, 1 to AB Ug srw = 0.28 Wg iM X-air, From vector triangle, 4 iS 0.725 _ Ly 500.8) * 77 Vay , gy 0.725 MIS, Uh g= 53g *|2/3 5 Zoo. Bre Ze. 725) U, = 0.82/ m/s, = 2821.) 2.93 29 ew Me* 0.28 © vector solution WagX ha = Yon Okgk X 0.28) = ~ 44x 0.2(-2/ + 3j)* he 4x 0,34(15¢ + £/) loa + WapXlan Expand, equate ¢ ¢/ components, solve ¢ get yg = - 2.13 rad/s (cw) , (Waa? 2.93 10a/5 cw) a Copyright © 1997 John Wiley & Sons, Inc. Meriam/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART, 5/4 RELATIVE VELOCITY NO.2 (Crank OA osci/lates about the 8-0 position \ causing CB to oscil/ate in turn. /f OA has @ counterclockwise angular velocity of 6 rad/s when @=30% determine the corre- sponding angular velocity of CB. where D/s @ point on CB coincident WIth A -1 0.1 Sin 30° O./ COS 30° = /3/9° 60°r F + 90"- 13./9°= 180°, x= 43,/9° U= YU; COST = 0.6 COS 43./9°= 0.437 M/S CD= OA Sin 30°/5/72 B = 0./(0.5)/0.228 = 0.2/9 Ne Weg = U3 /CD = 0.437/0.2/9 =|2.00 rad/s c oy Copyright © 1997 John Wiley & Sons, oe. MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4EART. 5/5 INSTANTANEOUS CENTER OF ZERO VELOCITY (she 4-bar linkage of Art. yA s 5/4 No./ /s repeated We here with AB extended & 0. For the instant rep- resented, @= tan" and @= 4 rad/s. By the meth - od of this article, tind the velocities of &,D, and £. /rdicate the : Dimensions in angular velocity of ABD. millimeters A scale arawing of the center /ines of a@// members /s made. The instantaneous Center for ABD /s the intersection C Of the perpend/iculars to the Known rections of the velocities Of A 4B. ABD /s momentarily rotating about C. c By measurement | Uy=W= 0.2(4) =0.8 m/s CA= 375mm | Wey? Us /A = 0.8/0.375 = 2.13 rad/s CW CE =345mm ae ages CB = 385 mm | gt CE Wpp= 0.945(2.13) CD = 478 mm | Ug? Beyg = 0.385 (2/3) =|0.82/ m/s Wy gy* 2/3 raa/Cu/| | Up = CD tgy* 0.478 (2.13) = |4.020 M7/s Copyright ©1987 John Wiley & Sons, Ino. Meriar/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 5/6 RELATIVE ACCELERATION NO./ /t the piston rod of the hyagraulic cylin- ger Chas a constant upward velocity of as m/s, ca/cu/ate the acceleration of point D for the position where @ /s 45° at 2 : (AC = oye 2.36 rad/s * Gaia id (Gaye), w,2e 0.3(2.36)*= 1.667 m/s* 25* Bg t (Bo jg),* (Loja) ea 43 asl G56) 2.22, (nyy),° F s 2 Gye), 22 (1667) = =2.22 m/s* From the diagram, G,=(2.22-1667)2 =|0.786 m/s* Yim , ‘Copyright© 1997 John Wiley & Sons, ne. ‘MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. SIE RELATIVE ACCELERATION NO.2 (Determine the velocity end acceleration of A = and the angular velocity and acceleration of AB when @= tan’# If W,,- 4raa/s, constant. solve Ly vector algebra. Y= ht Vayg, Ub= Bg kXlat het XLayg FrOIn GeOM. fg,= 0.12 £40.16) M, fig 02671 O18! m Thus ud= 46x foszi + 0.16/) + Wx (-0.367£- 0./6/) Expand, equate coefficients of t- ana, /- terms = 1.309 raa/s d@get Y= -0.431L M/S, Wy a= Get (Bayz), t (Gaya), 5° Gol= Y, KY, XL oj) = FAX (4kx[0./2¢ + 0.16))) = -/.92L -2.56) m/s*® Ax (0, gx [-0.367é -0/6/}) (Bayp)? Grex (Goa Lag) * Qe (ay), XLajg = hag X (-0.367£ - 0./6/) MneX Lays * substitute, expand, eguate ¢and/ terms ae 2 Lips 6.23 A rad/s @ get |\Q=-2291 m/s’, \ ‘Copyright © 1997 John Wiley & Sons, Ine, yim 7 Meriam/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 5/7 MOTION RELATIVE TO ROTATING AXES (The slotted disk rotates about O at the con- i) stant rate 6=16TF raa/s. Slider A osci//ates in the slot according to x=50 sin 47t where x /s in millimeters and t Is in seconds. Find the acceleration of A for (@) x=0 with x positive and (b) x=s0mm. ey ¥ at X=50 SiN 4M, X= ZOOM cos ant, X= - 80oT* sin ert Q,2 OXL + WX(WXL) + 2WX Yes + Qe, , = O=0 (@) F=X=0, t=O, UL =X=4200T MM/S, Gy,=X =O Qe 2WXY, = 2(leITk) x (20077 £ ) = [6.3177 mm/s* X= i ef, ¢effat (0) r=X=5O0MM, SiN 471t = 1, t= Fae S ._ ae oe : Ue 2X20, Go,= X= -8OOTT 7876 mm/s Wx(WXP) = 1.6ITK X (L6ITk X 50L) = - 12634 mim/s* 2WXU, =O SO Q=-12634 - 78964 =~9/59¢ min/s? Or |G: - 9/6 £ M/s? cS na Copyright ©1997 John Wiley & Sons, ne. ‘MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART, 6/3 TRANSLATION (RECTILINEAR) (The uniform rod AB /s Placed on the horizonta/ truck bed and seans on the vertical back of the cab. /f the coefficient of static friction at each end 15 0.4, determine the maximum acceleration @ which the truck ‘ney have wrthoul slipping the rod. When max. acceleration 1s reached, Loth ends s//p, 50 =04N ¢ B=O.4Ng 2h =O: Ng-IG #O.4Ky=0 ——— Af80" 2A FINO, | : Ng O.4N, -AL,=/NQ FED EM, aq: mg § cos 60°- O4N, £ cos 60° -M, Lsin 60°=ma $ £ sin 60" Solve 3 e953. 17 Genes Mig, €a det A,z 0.13629, Ng 0.9469, Q: 0.2829 = 2.37 m/st Alternatively fue O could be used. Can @ moment center be found which would e/iminate MO Ny Ong yield Q directly in one eguation ?(Ans. Yes) sw) Copyright ©1957 John Wily & Sons, Inc. Merian/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART, 6/3 TRANSLATION (CURVILINEAR) (UF @ couple M=/80 N-m is applied to the end of \ Jink AB with the system initially at rest, tind the force supported by the pin at C as the dilate lifts off (ts support with 8+ 60° The links hove negl/9/ble mass. 600 mm. o6m AB! EM,=O: 180 -0.68,70, 8-300 N Plate: ZF =ING: 300 -30(9,8/)COs 30°= 30G , 1504 B 2MEMG,: (0.6 Cos 30°)C - 30(9.8/)(0.45) = 30(/.504)(0.45 COS 30°- 0.3 Sir 30°) C=276N ) 43 released trom rest in the Position shown and 4al/s With a veloc/ty UV as /4s corner A strikes and engages a fsixed latth ot O. The cylinder thers rorates Obout O. Determine the angular velocity w of he Cylinder immediately atrer impact Also tind the fractional energy oss due to Impact. (Why /s rere @ Aorrzontal com- honent of force af O auring impact ?) During impact ‘ = JEM, dt =H, A 7 where EM,=mgr u 0 ce a ; Yust before Just after dinpoct time /5 Winpect dmpact negligible, 50 JEM, dt +O. Thus 40, = Ho, (0,77UTr , 0,5 Ewe So Wemur/Z For complete sk 17% dlem)r? t+ (em)r2. = amr? Sy symmetry, for halt disk, 2° gmr? -“ur (zu i i Thus Ww- Zmre* Zp |. actional energy loss 1s 2uj2 Tale) Te aT catalan: Z Zz _ mye J |F e vee Copyright ©1997 John Wey & Sons, nc. MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/E.ART. 7/5 ROTATION ABOUT A FIXED POINT (The wheel of radius r Tolls Without SUppIng On @ circle of radjus R. The angular velocity N. Of OC and the X-y axes about the Z-0x/5 varies With the time t accora- (ng to Q=bLt where 6 7s @ constant. write expressions ror the angular velocity wW and angular acceleration & Of the Whee/ in terms of the time t. %eRN=Rbt a tags ter = Bot ance far - . = 1 a, =O, 7 A= bt leg sy W= yt + Wk . fe = Rati rth = |6t(22 +4) ! a= b ' : . % x= & = b(Ri+k) + bt (Bi + 0) ot: bR/r But £= Axd= btkxiz bby Pee So «= (Zé +4) + bt B(t)) oy = Fle)? >. 7 4OEY J Copyright ©1997 John Wey & Sons, nc. MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 7/6 GENERAL MOTION (Link AB with balljoint atA connects ) collar B with crank CO. For the instant when CO (0A) Crosses the y-Ox/5, Yr 05 m/s. 4ind the corresponding angular velocity 2 of CO and the component Ww, of he angular veloc/ty of AB Which ‘8s horma/ fo AB. e a: 1 eyet eae. Yye gt Ya jg? Uy t UX Ly j 22 VOIS*-OL"-O.1°= 0.05 7 : ee Expanding ¢ equatin YlrO0.S5k + | Gy wy, Ae oF 7 % 97 |? £ i,k coetticients give “0.4 OF ~0.05 = Y= - 0.05 Wy, -0./,,\ (4, Components may be O = -O./ Wy + 0.05H)y, e//minated to give Y:025 2 “O55 ee ie O5= Ob), # OM, Thus 0° = = 0,25/0.1=|2.5 rad/s] w, 15 L 10 tag SO Wy Lryg=O (a, ht Und a4) (-O1¢ 40) j-0.05k)= 0 “Oley + Of, ~ 0.05 a4, =O ; Combine with 2 of the 3 foregoing equations and get oF 25/9 raa/$, Wy, = -10/9 rad/s \ Copyright© 1987 John Wey & Sons Inc. MeriamKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 7/7 ANGULAR MOMENTUM The slender bar of mass m and length l=Vhi+r? is attached @s an element of the cone which revo/ves 7 about the z-axis with an | angular rate p. Simultan- | eously the entire cone revolves @boul the X-QXx/s | i 2 With an angular rate WwW. * Find the angular momentum of the bar with respect to x-y-z Tor the position shown. £q.7/12, Me Igy — “Ly Ly Uz xy y= Lyx Ot By Wy ~Tyz Wz ie ~Lyy Wy, + Laz We °, Oye, Wy20, W,=2 a “s sin O)[s cos 0)pads=4mrh a x Q 3 SNS WN aa, 4,905 Substitute ¢ get ree SD)e- 0 r(hw-rp)k) a, Copyright ©1957 ohn Wiley & Sons, Inc. Merian/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 7/8 __KINETIC_ENERGY. The semicircular ask of mass Mm rotates about the z-ax/s with an angular velocity Ww. At the same time the aisk rotates about the x-ax/s at the rate 6. Determine the expression for the kinetic energy T of the aisk fora given value of 6. Also find the prod- uct of inertia Lz for the ask. £9.7/18: TE ae Wx=8, W,=0, W,=W ex £9.72: Hz J Lyy ly Deg Ol, Ii -O-0 = yy Hye, x et Ly W,-Ly7 Wy, = OF O-T,,0* -I,,W Mo, = + Lx Uy py Wy, tIyz dz? O-OF LW? Lz, R Z Lye eee =z, sin oz, c05 6) am Eis ae Pei *< 6 £9. B/l0: Dz Laz? Z(0) +E, ySinerl, 2005%8 +0 2 Zz 1 ' 1 | I i i =oMRsin’e teme’ 0OS*O “emety + s/n *6) us H= LR, My = Ln 2p A= dMRU+ sina) ae cH # Ora, |= g{emre? gente sintajill T= £mR?[6?4 (14 sin’e)w*) em Copyright © 1997 John Wiley & Sons, nc. Meriam/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 7/10 PARALLEL-PLANE MOTION - (cach of the two right-angle rods has amass of 1209 and is welded to the shaft which rotates ata steady speed of 3600 rev/min. Compute the force supported by bearing A due tothe aynamic unbalance of the shaft. (Dimensions in millimeters) W,7 3600 (27/60 = 377 Faa/s, ,=0 EQ5.1/23: M2 ~Lpg zt Lz cw; EMy=-LypW,- Igy Ue Lyz= 0.06 (0.05)(0.1) + 0.06 (0./5(0./) = 0.0012 Kg m? Lyz = 0.06(0. 05)(0.3) + 0.06(0./'0.25) = 0.0024 kg-1m* SO ~0.4A,=0.0012(377), A,=-#26 4 Az (853)? + (426) O4A, = -0,0024(377); A,=-853N) = [753.V ven Copyright ©1987 John Wiley & Son, Ic. MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 7/11 _GYROSCOPIC MOTION No. / (The rotor, which has amass Of 3kg and @ > radius of gyration of 60mm, Is spinning about its ax/s with an angular velocity p=120 rad/s. /f the rotor ang shart also revolve about the vertica/ ax/s at the rate Q=4 rad/s, calculate the gyroscopic moment exerted on the shart and indicate whether the shatt deflects up or down due to gyroscopic action. £9.7/24 M=INp at A = 3(0.060)*(4)(/20) ait =[57e NIM ie sense of gyroscopic couple vector M acting en the rotor /s given a | fre by Axp. Reacting couple on [| shaft has the opposite sense, So shaft deflects up as shown =") Copyright ©1997 John Wiley & Sons, ne. MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 7/I1_GYROSCOPIC MOTION NO. 2 (ene sol/d cylinger of length L=4r and mass m /s given an angular velocity p= 40IT rad/s about Its z-axis end released in space. /f the spin axis 1s observed to have avery sight wobble, ca/cu/ate the number n of wobbles per second end /ndaicate the type of pre- cession. What va/ue of L would be reguired to eliminate all wobble 7? Sey ry ey Le 2 7 2 es mr?¢ Sime For L-4r, L=gmr? ee 7 I red “2 4097 . 2407 ros £9.7/30: aa I 050" 7a-Te 7° 73 & . 2407 _ 120, where cose F/. N= 27° 732m)" 73 9.23 CyCles/S With [>I,, UIs) & precession 15 Qirect. No wobble If I:1, 50 gmrigmre gm? [LerV3 ua _/ Copyright © 1997 John Wiey& Sons, Inc. Merian/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 8/2 FREE VIBRATION OF PARTICLES (UNDAMPED) NO. / (The 20-kg body Is displaced a@ distance of 200 mm Gown the incline from its equilibrium position and released from rest. Determine the natural frequency f, of its subsequent ose///ation and /ts maximum velocity and acceleration. Neglect the mass of the pulley. in genre position, T=T=20(9 8/) Si 30°= 98,1 N 20(9.8/) N fon ie in general position, increase in y, SOFING tension I's aE. )=A(2x) € MK pee T= Gt AT= 98) + 4KX = 98./+ 2000X N 30° 8° SR=MX: 20(¢.81)5iN 30°- (98./ +2000X) = 20X OF 98./ ~ 98./-2000X=20X, X +/00X=0 50 W,y=Vi00 = lored/s, f,* es = fO = [59 He SOL (EG. B/6)/5 X= X,COSW,t + (X,/W,) 12 Ot where X,=0.200M, XO. Thus X= 020s 10t @ X=-0.2(/0)sIN 10t, \|Xmax| = 2 VS %X =-0.2(10)*00s 10t, \Kmax| =20 M/S* vua__/ Copyright ©1997 Jotn Wiley & Sons, ne. ‘Merianvkraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. &/2 FREE VIBRATION OF PARTICLES (OAMPED) NO.2 (The 20-kg body /s aisplaced @ distance of 200 nm down the incline from /ts eguilib - rium pos/tion and released from rest. Express the aisplacement x from the eqguifibrium Position as @ function of time \ and find the ratio of two successive amp/itudes of the damped osc///ation. eo 20(7.8/) N r T= +KX = 98./ + 2000X N (See S0/ NO./ , for egUul\. Spr const. K=4k =2000 Nin) Se Abe MX Gives : : 20(9. 81) SIM 30°- (98.1 + Z000X)-100X = 20X 20X +/00X + 2000X=0, X + 5X + /00X =O solution (£9, 8/2) 18 X=C ene tin (a, t+) 4700 W,7 VK/m = 2000/20: lo rad/s, $= Ime, = Zeeoyiay 9:75 a, ©, Y/- a 101 —(0.25)" = 4.68 rad/s x2ce?* sin (geet + ¥); X=0.2m €X=0 for t:0 give 0.2=CSINY € 0=-25CSIRY + 268C 00S. Solve ¢ Get C0.207M, Y= 1.3/8 fad 50 |X =0.207€** Sin (9.681 + 1.3/8) Ky _ 2m _ 217 (0.25) 6: /AlS)-= = =/. * 50 Mnl ) $2 Vr-10.25) 1.622, |X,/X,7 5.06 ke = 500 N/m c= 100N*8/m um _/ Copyright © 1997 John Wiey & Sons, Inc. Meriam/Kraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. 8/3 FORCED VIBRATION OF PARTICLES The 20-kg body 1s subjected to @ periodic ay force P=/00 sin /2t newtons where ¢ /s in seconds. with spring stittness k and Viscous damping constant ¢ as Shown, determine the amplitude X of the steady- stete vioration and the phase angle ~ by which ) The bracket /s made from flat plate with @ mass of 40 kg per square meter of plate area. Ca/cu/ate the products of inertia of the bracket with respect to the given axes. ue Bae LY Mg 40(0./0)(0.05)= 0.2 kg Y 4 ree 1 z=, = , = 0.4 S % wen) 7 4g Meg: -40 (e.070), -0.154 kg iz OLy= 4z2 9 Lz70.2(0.05)(0.025) = 0.00025 Ag in® O47 427%, Ly20400.05N0.05) = 0.0010 kg-in? O47 E27, a - 0.154 (0,050.05) = -0.000385 kgin? Totals: Ly 0.00/0 -0,000385 =|6. 15 (10%) Kg-n? KN 272.500) kgm, |L= 0 Vv YM. oy Copyright ©1967 John Wiley & Sons, ne. ‘MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4/EART. B/2 PRINCIPAL AXES OF INERTIA (‘Zach sphere has @ mass m and a diameter which /s s(na// compared with b. compute the principal moments of inertia of the assembly of four spheres and determine the direction cosines for the @xls of maximum moment of /nertia. x= T(0*4 2b? + b*)= 4amb*, Jeg* y Lyy= 0 (0% bt bt 2b") = 5b? Tyg mb Zyp= (674 b+ BF) = 8b? Tyz=mb* £9, B/// gives |e £9. B/l2 direction (4-27) o 7 cosines for Ll, give mb?| 0 (5-1) -/ |=0 (4-5.532)2, -o 42, =0 f -t (3-2) 0 +(5-5.532)M, -2,=0 Expansion yields 2 -m, + (3-5532)2,=0 I%-/2f? + 451-5120 lwith Uemen%/, sol gives sol) |£=5.532ME (mar)| Z= 0.0293 gives} L-4347MO" | (7, = 0.844 LL Z22/21mb"(min) || 2, =-0.449 ae Copyright © 1997 John Wile & Sons In. ‘MerianvKraige ENGINEERING MECHANICS, VOL. 2 DYNAMICS, 4