6/149 The two uniform slender bars are hinged at O and supported on the horizontal surface by their end rollers of negligible mass. If the bars are released from rest in the position shown, determine their initial angular acceleration « as they collapse in the vertical plane. (Suggestion Make use of the instan- taneous center of zero velocity in writing the ex- pression for dT.) 157 | dUzdT C= instantaneous center of zero velocity for AO dU= 2mg a(S sind) =mgbcosAde AT = 2d ($2, w*)= 20, wda = 2 mbiadd So mgbcos8dd=2 mb*bd0 where x =22 3g9¢0s 96/42 me 8 F (I-cose) U'= AT#AV5 = 0 I= E+ ra (e-7) “=> mit *) + m(r-¥)> = Iptm (cart )= ame*s me*(1- E) = z~ 32-38 = me? Ca - $F at = HEeut—o = tmrt (S- &) wt Bigs aS FS Ces °) So 0= amr (= is ay )ur- tng SH (I-cast) — / 3 C= 6056) 7 “ Caw = 16){ui ae ee (0,2 4 rad/s pose poem we angular velocity of “isk oe) Par # 24 25/0.2 mr $25 (0.2) ey =f hgrm? ~~ (a) Co=W, @) ( \ A tws f+ 25[oa]") 4 of}-+—a } . tree Me \ ()wro = Aye mba = 25 (0.4(4)(0.4) (c) ) sis hyenas . bh Har (c) oF (0, ©, 4-8-4 rad/s oe 4, = Teo embed =LE $C4) + 16SAMPLE PROBLEM 6/10 ‘The 4 slender bar weighs 40 Ib with mass center at B and is released from ‘rest in the positon for which @ is essentially zero. Point Bis confined to move in ‘the smooth vertical guide, while end A moves in the smooth horizontal guide and ‘compresses the spring asthe bar falls. Determine (a) the angular velocity of the ‘Solution. With the friction and mass ofthe small rulers at A and B neglected, the system may be Lreated being conservative art (a). For theft interval of motion from 0 = 0 (tate 1) to 0 = 30° (state), the pring isnot engnged, mo that there i no V, term in the eneray equation. ‘we adopt the alternative of treating the work ofthe weight i the V, term, then there ae no other fores which do work, and Uj = 0. Since we have a constrained plane motion, there is» kinematic relation be- towcen the velocity vp ofthe center of mans and the angular velocity w of the bar. is rlation is easly obtained by using the instantancous center C of aro veloc ty and noting that ep = CB. Thus, the kinetic enengy of the bar inthe 30” posi With o datum established at the intial postion of the mass center B, our initial and final gravitational potential energies are {y= 0 Vg~40(2 08 30° 2) = ~10.72 ft-lb We now substitute into the energy equation and obtain Helpful Hints IT, +V,+Ujg= T+ Val 0+0+0~ 1.4490" — 10.72 @ We recognize that the forces acting ‘on the bar at A and B are normal t: Sasa ‘Ans. the respective directions of motior Part (b). We deline state 3 as that for which 0 = 907. "the intial and final ics dls much, SESS © Ue comert toll, we have 1 a : Of) v0 vga Foes - wth a5 Rb ven (ond) (ann), =6Rb y fetid eee ee ie asterism ae ee a 7" 2\a322° \zang, See ee fr IV, Wig Ty Vel 0101 0-C.8280g7 | 45 80 K ee €60tiee = on Reena fap erry fe JS ae a dees negmive work We wonl then write Bil ere coe which dunia wil Une previo ol. Daseram)