Sol Cap 08 - Edicion 8 PDF

COSMOS: Complete Online Solutions Manual Organization System
Chapter 8, Solution 1.
FBD Block B:
Tension in cord is equal to W A = 25 lb from FBD’s of block A and
pulley.
ΣFy = 0: N − WB cos 30° = 0, N = WB cos 30°
(a) For smallest WB , slip impends up the incline, and
F = µ s N = 0.35WB cos30°
ΣFx = 0: F − 25 lb + WB sin 30° = 0
( 0.35cos30° + sin 30° )WB = 25 lb

WB min = 31.1 lb
(b) For largest WB , slip impends down the incline, and
F = − µ s N = − 0.35 WB cos30°
ΣFx = 0: Fs + WB sin 30° − 25 lb = 0
( sin 30° − 0.35cos30° )WB = 25 lb

W B max = 127.0 lb
Vector Mechanics for Engineers: Statics and Dynamics, 8/e, Ferdinand P. Beer, E. Russell Johnston, Jr.,
Elliot R. Eisenberg, William E. Clausen, David Mazurek, Phillip J. Cornwell
© 2007 The McGraw-Hill Companies.
FBD Block B:
Tension in cord is equal to WA = 40 lb from FBD’s of block A and

pulley.
(a) ΣFy = 0: N − ( 52 lb ) cos 25° = 0, N = 47.128 lb
Fmax = µ s N = 0.35 ( 47.128 lb ) = 16.495 lb
ΣFx = 0: Feq − 40 lb + ( 52 lb ) sin 25° = 0
So, for equilibrium, Feq = 18.024 lb
Since Feq > Fmax , the block must slip (up since F > 0)
∴ There is no equilibrium
(b) With slip, F = µk N = 0.25 ( 47.128 lb )
F = 11.78 lb 35°
FBD Block:
Tension in cord is equal to P = 40 N, from FBD of pulley.
( )
W = (10 kg ) 9.81 m/s 2 = 98.1 N
ΣF y = 0 : N − (98.1 N ) cos 20° + (40 N ) sin 20° = 0
N = 78.503 N
Fmax = µ s N = ( 0.30 )( 78.503 N ) = 23.551 N
For equilibrium: ΣFx = 0: ( 40 N ) cos 20° − ( 98.1 N ) sin 20° − F = 0

Feq = 4.0355 N < Fmax , ∴ Equilibrium exists
F = Feq F = 4.04 N 20°
Tension in cord is equal to P = 62.5 N, from FBD of pulley.
( )
W = (10 kg ) 9.81 m/s 2 = 98.1 N
ΣFy = 0: N − ( 98.1 N ) cos 20° + ( 62.5 N ) sin15° = 0
N = 76.008 N
Fmax = µ s N = ( 0.30 )( 76.008 N ) = 22.802 N
For equilibrium: ΣFx = 0: ( 62.5 N ) cos15° − ( 98.1 N ) sin 20° − F = 0

Feq = 26.818 N > Fmax so no equilibrium,
and block slides up the incline
Fslip = µ x N = ( 0.25 )( 76.008 N ) = 19.00 N
F = 19.00 N 20°
Tension in cord is equal to P from FBD of pulley.
( )
W = (10 kg ) 9.81 m/s 2 = 98.1 N
ΣFy = 0: N − ( 98.1 N ) cos 20° + P sin 25° = 0 (1)
ΣFx = 0: P cos 25° − ( 98.1 N ) sin 20° + F = 0 (2)
For impending slip down the incline, F = µ s N = 0.3 N and solving

(1) and (2), PD = 7.56 N
For impending slip up the incline, F = − µ s N = − 0.3 N and solving

(1) and (2), PU = 59.2 N
so, for equilibrium 7.56 N ≤ P ≤ 59.2 N
FBD Block:
( )
W = ( 20 kg ) 9.81 m/s 2 = 196.2 N
For θ min motion will impend up the incline, so F is downward and

F = µs N
ΣFy = 0: N − ( 220 N ) sin θ − (196.2 N ) cos 35° = 0
F = µ s N = 0.3 ( 220 sin θ + 196.2 cos 35° ) N (1)
ΣFx = 0: ( 220 N ) cosθ − F − (196.2 N ) sin 35° = 0 (2)
(1) + ( 2 ): 0.3 ( 220 sin θ + 196.2cosθ ) N
= ( 220 cosθ ) N − (196.2sin 35° ) N
or 220cosθ − 66sin θ = 160.751
Solving numerically: θ = 28.9°
FBD Block:
For Pmin motion will impend down the incline, and the reaction force R
will make the angle
φ s = tan −1 µ s = tan −1 ( 0.35 ) = 19.2900°
with the normal, as shown.
Note, for minimum P, P must be ⊥ to R, i.e. β = φs (angle between

P and x equals angle between R and normal).
(b) β = 19.29°
then P = (160 N ) cos ( β + 40° )
= (160 N ) cos 59.29° = 81.71 N
(a) Pmin = 81.7 N
FBD block (impending motion

downward)
φ s = tan −1 µ s = tan −1 ( 0.25 ) = 14.036°
(a) Note: For minimum P, P⊥R
So β = α = 90° − ( 30° + 14.036° ) = 45.964°
and P = ( 30 lb ) sin α = ( 30 lb ) sin ( 45.964° ) = 21.567 lb
P = 21.6 lb
(b) β = 46.0°
FBD Block:
For impending motion. φ s = tan −1 µ s = tan −1 ( 0.40 )
φ s = 21.801°
Note β1,2 = θ1,2 − φ s
10 lb 15 lb
From force triangle: =
sinφs sinβ1,2
 15 lb  33.854°
β1,2 = sin −1  sin ( 21.801° )  = 
10 lb  146.146°
55.655°
So θ1,2 = β1,2 + φ s = 
167.947°
So (a) equilibrium for 0 ≤ θ ≤ 55.7°
(b) equilibrium for 167.9° ≤ θ ≤ 180°
FBD A with pulley:
Tension in cord is T throughout from pulley FBD’s
ΣFy = 0: 2T − 20 lb = 0, T = 10 lb
FBD E with pulley:
For θ max , motion impends to right, and
φ s = tan −1 µ s = tan −1 ( 0.35 ) = 19.2900°
From force triangle,
20 lb 10 lb
= , 2sin φ s = sin (θ − φ s )
sin (θ − φs ) sinφ s
θ = sin −1 ( 2sin19.2900° ) + 19.2900° − 60.64°
θ max = 60.6°
FBD top block:
ΣFy = 0: N1 − 196.2 N = 0
N1 = 196.2 N
(a) With cable in place, impending motion of bottom block requires

impending slip between blocks, so F1 = µ s N1 = 0.4 (196.2 N )
F1 = 78.48 N
FBD bottom block: ΣFy = 0: N 2 − 196.2 N − 294.3 N = 0
N 2 = 490.5 N
F2 = µ s N 2 = 0.4 ( 490.5 N ) = 196.2 N
ΣFx = 0: − P + 78.48 N + 196.2 N = 0
P = 275 N
FBD block:
(b) Without cable AB, top and bottom blocks will move together
ΣFy = 0: N − 490.5 N = 0, N = 490.5 N

Impending slip: F = µ s N = 0.40 ( 490.5 N ) = 196.2 N
ΣFx = 0: − P + 196.2 N = 0
P = 196.2 N
Note that, since φ s = tan −1 µ s = tan −1 ( 0.40 ) = 21.8° > 15°, no motion
FBD top block:
will impend if P = 0, with or without cable AB.
(a) With cable, impending motion of bottom block requires impending
slip between blocks, so F1 = µ s N
ΣFy′ = 0: N1 − W1 cos15° = 0, N1 = W1 cos15° = 189.515 N
F1 = µ s N1 = ( 0.40 )W1 cos15° = 0.38637 W1

F1 = 75.806 N
FBD bottom block: ΣFx′ = 0: T − F1 − W1 sin15° = 0

T = 75.806 N + 50.780 N = 126.586 N
( )
W2 = ( 30 kg ) 9.81 m/s 2 = 294.3 N
ΣFy = 0 : N 2 − (189.515 N ) cos (15° ) − 294.3 N
+ ( 75.806 N ) sin15° = 0
N 2 = 457.74 N
F2 = µ s N 2 = ( 0.40 )( 457.74 N ) = 183.096 N
ΣFx = 0: − P + (189.515 N ) + ( 75.806 N ) cos15°
FBD block:
+ 126.586 N + 183.096 N = 0
P = 361 N
(b) Without cable, blocks remain together
ΣFy = 0: N − W1 − W2 = 0 N = 196.2 N + 294.3 N
= 490.5 N
F = µ s N = ( 0.40 )( 490.5 N ) = 196.2 N
ΣFx = 0: − P + 196.2 N = 0 P = 196.2 N
FBD A: Note that slip must impend at both surfaces simultaneously.
ΣFy = 0: N1 + T sin θ − 16 lb = 0
N1 = 16 lb − T sin θ
Impending slip: F1 = µ s N1 = ( 0.20 )(16 lb − T sin θ )
F1 = 3.2 lb − ( 0.2 ) T sin θ (1)
ΣFx = 0: F1 − T cosθ = 0 (2)

FBD B:
ΣFy = 0: N 2 − N1 − 24 lb = 0, N 2 = N1 + 24 lb
= 30 lb − T sin θ
Impending slip: F2 = µ s N 2 = ( 0.20 )( 30 lb − T sin θ )

= 6 lb − 0.2 T sin θ
ΣFx = 0: 10 lb − F1 − F2 = 0
10 lb = µ s ( N1 + N 2 ) = ( 0.2 )  N1 + ( N1 + 24 lb ) 
10 lb = 0.4 N1 + 4.8 lb, N1 = 13 lb
Then F1 = µ s N1 = ( 0.2 )(13 lb ) = 2.6 lb
Then (1): T sin θ = 3.0 lb
( 2 ): T cosθ = 2.6 lb
3 3
Dividing tan θ = , θ = tan −1 = 49.1°
2.6 2.6
θ = 49.1°
FBD’s:
Note: Slip must impend at both surfaces simultaneously.
A:
ΣFy = 0: N1 − 20 lb = 0, N1 = 20 lb
Impending slip: F1 = µ s N1 = ( 0.25 )( 20 lb ) = 5 lb
ΣFx = 0: − T + 5 lb = 0, T = 5 lb
ΣFy′ = 0: N 2 − ( 20 lb + 40 lb ) cosθ − ( 5 lb ) sin θ = 0
N 2 = ( 60 lb ) cosθ − ( 5 lb ) sin θ
B:
Impending slip: F2 = µ s N 2 = ( 0.25 )( 60cosθ − 5sin θ ) lb
ΣFx′ = 0: − F2 − 5 lb − ( 5 lb ) cosθ + ( 20 lb + 40 lb ) sin θ = 0
− 20cosθ + 58.75sin θ − 5 = 0
Solving numerically, θ = 23.4°
FBD:
For impending tip the floor reaction is at C.
( )
W = ( 40 kg ) 9.81 m/s 2 = 392.4 N
For impending slip φ = φs = tan −1 µ s = tan −1 ( 0.35 )
φ = 19.2900°
0.8 m 0.4 m
tan φ = , EG = = 1.14286 m
EG 0.35
EF = EG − 0.5 m = 0.64286 m
EF 0.64286 m
(a) α s = tan −1 = tan −1 = 58.109°
0.4 m 0.4 m
α s = 58.1°
P W
(b) =
sin19.29° sin128.820
P = ( 392.4 N )( 0.424 ) = 166.379 N
P = 166.4 N
Once slipping begins, φ will reduce to φk = tan −1 µk .
Then α max will increase.
First assume slip impends without tipping, so F = µ s N

FBD
ΣFy = 0: N + P sin 40° − W = 0, N = W − P sin 40°
F = µ s N = 0.35 (W − P sin 40° )
ΣFx = 0: F − P cos 40° = 0
0.35W = P ( cos 40° + 0.35sin 40° )
Ps = 0.35317 W (1)
Next assume tip impends without slipping, R acts at C.
ΣM A = 0: ( 0.8 m ) P sin 40° + ( 0.5 m ) P cos 40° − ( 0.4 m )W =0
Pt = 0.4458W > Ps from (1)
(
∴ Pmax = Ps = 0.35317 ( 40 kg ) 9.81 m/s 2 )
= 138.584 N
(a) Pmax = 138.6 N
(b) Slip is impending
FBD Cylinder:
For maximum M, motion impends at both A and B
FA = µ A N A; FB = µ B N B
ΣFx = 0: N A − FB = 0 N A = FB = µ B N B
FA = µ A N A = µ Aµ B N B
ΣFy = 0: N B + FA − W = 0 N B (1 + µ Aµ B ) = W
1
or NB = W
1 + µ Aµ B
µB
and FB = µ B N B = W
1 + µ Aµ B
µ Aµ B
FA = µ Aµ B N B = W
1 + µ Aµ B
1 + µA
ΣM C = 0: M − r ( FA + FB ) = 0 M = Wr µ B
1 + µ Aµ B
(a) For µA = 0 and µ B = 0.36

M = 0.360Wr
(b) For µ A = 0.30 and µ B = 0.36
M = 0.422Wr
FBD’s:
(a) FBD Drum:
 10 
ΣM D = 0:  ft  F − 50 lb ⋅ ft = 0
 12 
F = 60 lb
F 60 lb
Impending slip: N = = = 150 lb
µs 0.40
FBD arm:
ΣM A = 0: ( 6 in.) C + ( 6 in.) F − (18 in.) N =0
C = − 60 lb + 3 (150 lb ) = 390 lb
Ccw = 390 lb
(b) Reversing the 50 lb ⋅ ft couple reverses the direction of F, but the magnitudes of F and N are not changed.
Then, using the FBD arm: ΣM A = 0: ( 6 in.) C − ( 6 in.) F − (18 in.) N =0
C = 60 lb + 3 (150 lb ) = 510 lb
Cccw = 510 lb
FBD’s: For slipping, F = µ k N = 0.30 N

(a) For cw rotation of drum, the friction force F is as shown.
From FBD arm:
ΣM A = 0: ( 6 in.)( 600 lb ) + ( 6 in.) F − (18 in.) N =0
F
600 lb + F − 3 =0
0.30
600
F = lb
9
Moment about D = (10 in.) F = 666.67 lb ⋅ in.
M cw = 55.6 lb ⋅ ft
(b) For ccw rotation of drum, the friction force F is reversed
ΣM A = 0: ( 6 in.)( 600 lb ) − ( 6 in.) F − (18 in.) N =0
F
600 lb − F − 3 =0
0.30
600
F = lb
11
 10  600 
Moment about D =  ft  lb  = 45.45 lb ⋅ ft
 12  11 
M ccw = 45.5 lb ⋅ ft
FBD: (a) ΣM C = 0: r ( F − T ) = 0, T = F
F T
Impending slip: F = µ s N or N = =
µs µs
ΣFx = 0: F + T cos ( 25° + θ ) − W sin 25° = 0
T 1 + cos ( 25° + θ )  = W sin 25° (1)
ΣFy = 0: N − W cos 25° + T sin ( 25° + θ ) = 0
 1 
T + sin ( 25° + θ )  = W cos 25° (2)
 0.35 
1 + cos ( 25° + θ )
Dividing (1) by (2): = tan 25°
1
+ sin ( 25° + θ )
0.35
Solving numerically, 25° + θ = 42.53°
θ = 17.53°
(b) From (1) T (1 + cos 42.53° ) = W sin 25°
T = 0.252W
FBD ladder:
4.5 m 12 13
Note: slope of ladder = = , so AC = ( 4.5 m ) = 4.875
1.875 m 5 12
4.875 m 3 1
L = 6.5 m, so AC = = L, AD = L
6.5 m 4 2
1
and DC = BD = L
4
For impending slip: FA = µ s N A , FC = µ s NC
 12 
Also θ = tan −1   − 15° = 52.380°
 5
ΣFx = 0: FA − W sin15° + FC cosθ − NC sin θ = 0
10 10
FA = W sin15° − µ s W cosθ + W sin θ
39 39
= ( 0.46192 − 0.15652µ s )W
ΣFy = 0: N A − W cos15° + FC sin θ + NC cosθ = 0
10 10
N A = W cos15° − µ s W sin θ − W cosθ
39 39
= ( 0.80941 − 0.20310µ s )W
But FA = µ N A : 0.46192 − 0.15652µ s = 0.80941µ s − 0.20310µ s2
µ s2 − 4.7559µ s + 2.2743
µ s = 0.539, 4.2166
µ s min = 0.539
FBD ladder:
Slip impends at both A and B, FA = µ s N A , FB = µ s N B
ΣFx = 0: FA − N B = 0, N B = FA = µ s N A
ΣFy = 0: N A − W + FB = 0, N A + FB = W
N A + µs N B = W
( )
N A 1 + µ s2 = W
( 6 m ) N B + 
5  5 
ΣM O = 0: m W −  m  N A = 0
 4  2 
6µ s N A +
5
4
( 5
)
N A 1 + µ s2 − N A = 0
2
24
µ s2 + µs − 1 = 0
5
µ s = − 2.4 ± 2.6 µ s min = 0.200
FBD rod:
L L 
(a) Geometry: BE = cosθ DE =  cosθ  tan β
2 2 
L cosθ
EF = L sin θ DF =
2 tan φ s
1  L cosθ
So L  cosθ tan β + sin θ  =
2  2 tan φs
1 1 1
or tan β + 2 tan θ = = = = 2.5 (1)
tan φ s µ s 0.4
Also, L sin θ + L sin β = L
or sin θ + sin β = 1 (2)
Solving Eqs. (1) and (2) numerically θ1 = 4.62° β1 = 66.85°

θ 2 = 48.20° β 2 = 14.75°
Therefore, θ = 4.62° and θ = 48.2°
(b) Now φ s = tan −1 µ s = tan −1 0.4 = 21.801°
T W
and =
sin φs sin ( 90 + β − φ s )
sin φs
or T =W
sin ( 90 + β − φ s )
For θ = 4.62° T = 0.526W

θ = 48.2° T = 0.374W
FBD:
Assume the weight of the slender rod is negligible compared to P.
First consider impending slip upward at B. The friction forces will be
directed as shown and FB,C = µ s N B,C
( L sinθ ) P −  
a
ΣM B = 0:  NC = 0
 sin θ 
L 2
NC = P sin θ
a
ΣFx = 0: NC sin θ + FC cosθ − N B = 0
NC ( sin θ + µ s cosθ ) = N B
L 2
so NB = P sin θ ( sin θ + µ s cosθ )
a
ΣFy = 0: − P + NC cosθ − FC sin θ − FB = 0
P = NC cosθ − µ s NC sin θ − µ s N B
L 2 L
so P = P sin θ ( cosθ − µ s sin θ ) − µ s P sin 2 θ ( sin θ + µ s cosθ ) (1)
a a
L
Using θ = 35° and µ s = 0.20, solve for = 13.63.
a
To consider impending slip downward at B, the friction forces will be
reversed. This can be accomplished by substituting µ s = − 0.20 in
L
equation (1). Then solve for = 3.46.
a
L
Thus, equilibrium is maintained for 3.46 ≤ ≤ 13.63
a
FBD ABC:
ΣM C = 0: 0.045 m + ( 0.30 m ) sin 30° ( 400 N ) sin 30°
+ 0.030 m + ( 0.30 m ) cos 30° ( 400 N ) cos 30°
 12   5 
− ( 0.03 m )  FBD  − ( 0.045 m )  FBD  = 0
 13   13 
FBD = 3097.64 N
FBD Blade:
25
ΣFx = 0: N − ( 3097.6 N ) = 0 N = 1191.4
65
F = µ s N = 0.20 (1191.4 N ) = 238.3 N
60
ΣFy = 0: P+F− ( 3097.6 N ) = 0
65
P = 2859.3 − 238.3 = 2621.0 N
Force by blade P = 2620 N
FBD CD:
Note: The plate is a 3-force member, and for minimum µ s , slip
impends at C and D, so the reactions there are at angle φ s from the
normal.
From the FBD, OCG = 20° + φ s
and ODG = 20° − φ s
Then OG = ( 0.5 in.) tan ( 20° + φs )
 1.2 in. 
and OG =  + 0.5 in.  tan ( 20° − φs )
 sin70° 
Equating, tan ( 20° + φs ) = 3.5540 tan ( 20° − φs )
Solving numerically, φ s = 10.5652°
µ s = tan φs = tan (10.5652° )
µ s = 0.1865
FBD pin A: From FBD Whole the force at A = 750 lb
4
ΣFx = 0: ( FAB′ − FAB ) = 0, FAB′ = FAB
5
3
ΣFy = 0: 750 lb − 2 FAB = 0, FAB = 625 lb
5
FBD Casting:
ΣFx = 0: N D′ − N D = 0, N D′ = N D = N
FD
Impending slip FD = FD′ = µ N D , or N D =
µs
ΣFy = 0: 2FD − 750 lb = 0, FD = 375 lb
375 lb
ND =
µs
FBD ABCD:
4
ΣM C = 0: (12 in.) N − ( 6 in.) F − ( 42.75 in.) ( 625 lb ) = 0
5
375 lb 4
(12 in.) = ( 6 in.)( 375 lb ) + ( 42.75 in.) ( 625 lb ) = 0
µs 5
µ s = 0.1900
From FBD Whole, and neglecting weight of clamp compared to 550 lb plate, P = − W Since AB is a
two-force member, B is vertical and B = W .
FBD BCD:
ΣM C = 0: (1.85 in.)W − ( 2.3 in.) D cos 40°
− ( 0.3 in.) D sin 40° = 0, D = 0.94642W
FBD EG:
ΣM E = 0: ( 0.9 in.) NG − (1.3 in.) FG − (1.3 in.) N D cos 40° = 0

Impending slip: FG = µ s NG
Solving: ( 0.9 − 1.3µ s ) NG = 0.94250W (1)
FBD Plate:
By symmetry NG = NG′ , FG = FG′ = µ s NG
W W
ΣFy = 0: 2 FG − W = 0, FG = , NG =
2 2µ s
W
Substitute in (1): ( 0.9 − 1.3µ s ) = 0.94250W
2µ s
Solving, µ s = 0.283, µsm = 0.283
FBD table + child:
( )
WC = 18 kg 9.81 m/s 2 = 176.58 N
WT = 16 kg ( 9.81 m/s ) = 156.96 N

2
(a) Impending tipping about E , N F = FF = 0, and
ΣM E = 0: ( 0.05 m )(176.58 N ) − ( 0.4 m )(156.96 N ) + ( 0.5 m ) P cosθ − ( 0.7 m ) P sin θ =0
33cosθ − 46.2sin θ = 53.955

Solving numerically θ = −36.3° and θ = −72.6°
Therefore −72.6° ≤ θ ≤ −36.3°
Impending tipping about F is not possible
(b) For impending slip: FE = µ s N E = 0.2 N E FF = µ s N F = 0.2 N F
ΣFx = 0: FE + FF − P cosθ = 0 or 0.2 ( N E + N F ) = ( 66 N ) cos θ
ΣFy = 0: N E + N F − 176.58 N − 156.96 N − P sin θ = 0
N E + N F = ( 66sin θ + 333.54 ) N
So 330 cosθ = 66sin θ + 333.54

Solving numerically, θ = −3.66° and θ = −18.96°
Therefore, −18.96° ≤ θ ≤ −3.66°
Geometry of four-bar:
Considering the geometry when α = 0,
1/ 2
LCD = ( 60 mm − 52 mm ) + ( 36 mm + 22 mm ) 
2 2
= 58.549 mm
 
In general, 52 mm − ( 36 mm ) sin α = 60 mm − ( 58.549 mm ) sin β
 36sin α + 8 
so β = sin −1  
 58.549 
(a) FBD ACE: α =0 β = 7.8533°, note that the links at E and K are prevented from pivoting
downward by the small blocks
FE
ΣFy = 0: FCD sin β − FE = 0, FCD =
sin 7.8533°
( 60 mm )  
FE
ΣM A = 0:  cos 7.8533° − ( 32 mm ) FE − ( 212 mm ) N E = 0
 sin 7.8533° 
FE
Impending slip on pad N E = , so
µs
 212 
 435.00 − 32 −  FE = 0 µ s = 0.526
 µs 
(b) α = 30°, β = 26.364°
3
ΣFx = 0: − FAB + FCD cos 26.364° − N E = 0
2
1
ΣFy = 0: − FAB + FCD sin 26.364° − FE = 0
2
Eliminating FAB , FCD ( 0.89599 − 0.76916 ) − N E + FE = 0
Impending slip FE = µ s N E , so 0.126834 FE = (1 − µ s ) N E
ΣM A = 0: ( 60 mm ) FCD cos 26.364°
− ( 212 mm ) N E − ( 32 mm ) µ s N E =0
53.759 FCD = ( 212 − 32µ s ) N E = 0
212 − 32µ s 53.759
= µ s = 0.277
1 − µs 0.12634
FBD ABD:
ΣΜ D = 0: (15 mm ) N A − (110 mm ) FA = 0
Impending slip: FA = µ SA N A
So 15 − 110µ SA = 0 µ SA = 0.136364
µ SA = 0.1364
ΣFx = 0: FA − Dx = 0, Dx = FA = µ SA N A
FBD Pipe:
r = 60 mm
ΣFy = 0: NC − N A = 0, NC = N A
FBD DF:
ΣM F = 0: ( 550 mm ) FC − (15 mm ) NC − ( 500 mm ) Dx = 0

Impending slip: FC = µ SC NC = µ SC N A
So, 550µ SC N A − 15N A − 500µ SA N A = 0
550µ SC = 15 + 500 ( 0.136364 )
µ SC = 0.1512
FBD Plate:
Assume reactions as shown, at ends of sleeves,

For impending slip FA = µ s N A , FB = µ s N B
ΣFx = 0: P sin θ − µ s N A − µ s N B = 0
N A + N B = 2.5 P sin θ
ΣFy = 0: N A − N B − P cosθ = 0, N A − N B = P cosθ
P P
Solving: N A = ( 2.5sin θ + cosθ ) , NB = ( 2.5sin θ − cosθ ) (1)
2 2
ΣM B = 0: ( 23.5 in.) P sin θ − (16 in.) N A + (1 in.) FA = 0
P
( 23.5 in.) P sin θ − 16 in. − 0.4 (1 in.)  ( 2.5sin θ + cosθ ) = 0 (2)
2
4sin θ − 7.8cosθ = 0, θ = 62.9°
For θ > 62.9°, the panel will be self locking, ∴ motion for θ ≤ 62.9°.
As θ decreases, N B will reverse direction at 2.5sin θ − cosθ = 0,
(see equ. 1) or at θ = 21.8°. So for θ ≤ 21.8°
ΣFx = 0 : P sin θ − µ s ( N A + N B ) = 0
N A + N B = 2.5 P sin θ
ΣFy = 0: N A + N B − P cosθ = 0, N A + N B = P cosθ
∴ 2.5sin θ = cosθ , θ = 21.8°

So impending motion for 21.8° ≤ θ ≤ 62.9° W
FBD Plate:
Assuming reactions as shown, at ends of sleeves,

For impending slip FA = µ s N A , FB = µ s FB
ΣFx = 0: P sin θ − µ s ( N A + N B ) = 0
N A + N B = 2.5 P sin θ (1)
ΣFy = 0: N A − N B − P cosθ = 0, N A − N B = P cosθ (2)
P P
Solving: NA = ( 2.5sin θ + cosθ ) , NB = ( 2.5sin θ − cosθ )
2 2
Note that, for θ < 21.8°, N B becomes negative, so we must change equ. 2 to
N A + N B = P cosθ , ( 2′ )
but equ. (1) does not change. Solving (1) and ( 2′ ) gives P cosθ = 2.5P sin θ ,
or θ = 21.8°, so the lower limit for impending slip is θ = 21.8°.
For θ ≥ 21.8°, the forces are as shown, and
ΣM B = 0: ( 23.5 in.) P sin θ + xP cosθ + (1 in.) FA − (16 in.) N A = 0
P
( 23.5 in.) P sin θ + x P cosθ + 0.4 (1 in.) − (16 in.)  ( 2.5sin θ + cosθ ) = 0
2
x
or 4sin θ − ( 7.8 in.) − x  cosθ = 0, tan θ = 1.950 −
4 in.
(a) For x = 4 in., tan θ = 1.950, θ = 43.5°. For θ > 43.5° self locking
∴ impending motion for 21.8° ≤ θ ≤ 43.5° W
(b) As x increases from 4 in., the upper bound for θ decreases, becoming
21.8° ( tan θ = 0.4000 ) when x = ( 4 in.)(1.950 − 0.400 ) = 6.2 in.
Thus xmax = 6.20 in. W

at which θ must equal 21.8°.
FBD Collar:
Impending motion down: a
Stretch of spring x = AB − a = −a
cosθ
 a   1 
Fs = kx = k  − a  = (1.5 kN/m )( 0.5 m )  − 1
 cos θ   cos θ 
 1 
= ( 0.75 kN )  − 1
 cos θ 
ΣFx = 0: N − Fs cosθ = 0
N = Fs cosθ = ( 0.75 kN )(1 − cosθ )

Impending motion up:
Impending slip: F = µ s N = ( 0.4 )( 0.75 kN )(1 − cosθ )
= ( 0.3 kN )(1 − cosθ )
+ down, – up
ΣFy = 0: Fs sin θ ± F − W = 0
( 0.75 kN )( tan θ − sin θ ) ± ( 0.3 kN )(1 − cosθ ) − W = 0
or W = ( 0.3 kN ) [ 2.5 ( tan θ − sin θ ) ± (1 − cosθ )]
with θ = 30°: Wup = 0.01782 kN ( OK )

Wdown = 0.0982 kN ( OK )
Equilibrium if 17.82 N ≤ W ≤ 98.2 N W
Geometry:
1 m − ( 0.5 m ) cos α  tan θ = ( 0.5 m ) sin α
tan θ ( 2 − cos α ) = sin α
θ = 30° → α = 60°
3
then LAB = (1 m ) cos 30° = m
2
 kN   3 1 
FBD B: Fs = k ( LAB − L0 ) = 1.5   m − m
 m  2 2 
Fs = 0.75 ( )
3 − 1 kN = 549.04 N
ΣFx = 0: F + W sin 60° − 549.04 N = 0
W
F = 549.04 N −
2
3
ΣFy = 0: N − W cos 60° = 0, N = W
2
For impending slip upward, F is as shown and F = µ s N , so
W 3
549.04 N − = 0.40 W, Wmin = 648.61 N
2 2
For impending slip downward, F is reversed, or F = − µ s N , so
W 3
549.04 N − = − 0.40 W, Wmax = 3575 N
2 2
W
m= so 66.1 kg ≤ m ≤ 364 kg W
( 9.81 m/s )2
FBD Collar:
Note: BC is a two-force member, and for M max , slip will impend to the
right.
ΣFy = 0: FBC cosθ − N = 0, N = FBC cosθ
Impending slip: F = µ s N = µ s FBC cosθ
ΣFx = 0: FBC sin θ − F − P = 0
FBD AB: FBC ( sin θ − µ s cosθ ) = P
ΣM A = 0: M − ( 2l ) FAB cosθ = 0
P
M = 2l cosθ
sin θ − µ s cosθ
2 Pl
M max = W
tan θ − µ s
For µ s = tan θ , M max = ∞ 

 self locking W
For µ s > tan θ , M max < 0 
Geometry:
L L L
+ −
θ = cos −1 2 4 2 = 60°
L
2
a
For min slip will impend to right and reactions will be at
L
φ s = tan −1 µ s = tan −1 ( 0.35 ) = 19.2900° from normal.
FBD AB: Note: AB is a three-force member
CD = a tan ( 60 + φs ) = ( L − a ) tan ( 60° − φ s )

a tan ( 79.29° ) = ( L − a ) tan ( 40.71° )
L
6.1449 = −1
a
a
= 0.13996
L
a
min = 0.1400 W
L
FBD A:
Note: Rod is a two force member. For impending slip the reactions are at
angle
φ s = tan −1 µ s = tan −1 ( 0.40 ) = 21.801°
Consider first impending slip to right
9 lb
FAB = = 3.8572 lb
FBD B: tan 66.801
ΣFy = 0: N B − ( 3.8522 lb ) sin 30° − ( 6 lb ) cos 30° = 0
N B = 7.1223 lb, FB = µ s N B = 0.40 ( 7.1223 lb )

FB = 2.8489 lb
ΣFx = 0: − 2.8489 lb + ( 3.8572 lb ) cos 30° − ( 6 lb ) sin 30° − P = 0
Pmin = − 2.508 lb
FBD A:
Next consider impending slip to left
FAB = ( 9 lb ) tan 66.801° = 21.000 lb
FBD B:
ΣFy = 0: N B − ( 21 lb ) sin 30° − ( 6 lb ) cos 30° = 0, N B = 15.6959 lb
FB = µ s N B = 0.4 (15.6959 lb ) = 6.2784 lb
ΣFx = 0: 6.2784 lb + ( 21 lb ) cos 30° − ( 6 lb ) sin 30° − P = 0
Pmax = 21.465 lb
equilibrium for − 2.51 lb ≤ P ≤ 21.5 lb W
FBD AB:
ΣM A = 0: 8 in 2 + 4 in 2 ( N ) − M A = 0
N =
(12 lb ⋅ ft )(12 in./ft ) = 16.100 lb
8.9443 in.
Impending motion: F = µ s N = 0.3 (16.100 lb ) = 4.83 lb
Note: For max MC, need F in direction shown; see FBD BC.
FBD BC + collar:
1 2 2
ΣM C = 0: M C − (17 in.) N − ( 8 in.) N − (13 in.) F =0
5 5 5
17 in. 16 in. 26 in.
or MC = (16.100 lb ) + (16.100 lb ) + ( 4.830 lb ) = 293.77 lb ⋅ in.
5 5 5
( MC )max = 24.5 lb ⋅ ft
FBD yoke:
ΣFx = 0: P − N = 0, N = P = 8 lb
For impending slip, F = µ s N = 125 ( 8 lb )
F = 2 lb
For M max , F on yoke is down as shown
FBD wheel and slider: For M min , F on yoke is up.
(a) For M max the 2 lb force is up as shown.
ΣM B = 0: M B − ( 3 in.) sin 65° ( 8 lb ) − ( 3 in.) cos 65° ( 2 lb ) = 0
M B max = 24.3 lb ⋅ in. W
(b) For M min the 2 lb force is reversed, and
ΣM B = 0: M B − ( 3in .) sin 65°  ( 8 lb ) + ( 3 in.) cos 65°  ( 2 lb ) = 0
M B min = 19.22 lb ⋅ in. W
FBD Rod:
ΣM A = 0: ( 20 in.) N1 − (12.5 in.)(12 lb ) = 0

N1 = 7.5 lb.
FBD Cylinder:
ΣFy = 0: N 2 − 7.5 lb − 36 lb = 0, N 2 = 43.5 lb
since µ1 = µ2 and N1 < N 2 , slip will impend at top of cylinder first, so

F1 = µ s N1 .
F1 = 0.35 ( 7.5 lb ) = 2.625 lb
ΣM D = 0: ( 4.25 in.) P − (12.5 in.)( 2.625 lb ) = 0, P = 7.7206 lb

Pmax = 7.72 lb W
To check slip analysis above, ΣFy = 0: N 2 − 36 lb − 7.5 lb = 0
N 2 = 43.5 lb
F2max = µ s N 2 = 0.35 ( 43.5 lb ) = 15.225 lb
ΣFx = 0: P − F1 − F2 = 0, 7.72 lb − 2.625 lb − F2 = 0
F2 = 5.095 lb < Fmax , OK
FBD pulley:
Note that φSA = tan −1 µ SA = tan −1 ( 0.5 ) = 26.565° < 30°, Cable is needed
to keep A from sliding downward.
WB
ΣFy = 0: 2T − WB = 0, T = , WB = 2T (1)
2
FBD block A:
(a) For minimum WB , there will be impending slip of block A

downward, and FA = µ SA N A as shown.
ΣFy′ = 0: N A − WA cos 30° = 0, N A = WA cos 30°
= 23.544 N cos 30° = 20.390 N
( )
WA = ( 2.4 kg ) 9.81 m/s 2 = 23.544 N FA = ( 0.50 )( 20.390 N ) = 10.195 N
FBD block C:
ΣFx′ = 0: T − WA sin 30° + FA = 0
T = ( 23.544 N ) sin 30° − 10.195 N = 1.577 N
3.154 N
From (1) WB = 2T = 3.154 N, mB = = 0.322 kg,
(
9.81 m/s 2 )
mB min = 322 g
ΣFy = 0: NC − WC = 0, NC = 58.86 N
FC max = µ SC NC = 0.30 ( 58.86 N ) = 17.658 N
Since T = 1.577 N < FC max , block B doesn’t slip and above answer for
mB min is correct.
(b) For mB max assume impending slip of block C to left, FC = Fmax
ΣFx = 0: − T + FC = 0, T = FC = FC max = 17.658 N
WB 35.316 N
From (1) WB = 2T = 35.316 N, mB = = = 3.6 kg
g 9.81 m/s 2
From FBD block A,
ΣFx = 0: T − WA sin 30° + FA = 0, FA = WA sin 30° − T
FA = ( 23.544 N ) sin 30° − 17.658 N = − 5.886, FAmax = 10.195 N
Since FA < FA max , A does not slip M B max = 3.6 kg
FBD A:
For impending motion A must start up and C down the incline. Since the
normal force between A and B is less than that between B and C, and the
friction coefficients are the same, Fmax will be reached first between A
and B, and B and C will stay together.
ΣFy = 0: N1 − ( 4 lb ) cos 30° = 0, N1 = 2 3 lb
Impending slip: F1 = µ s N1 = 2 3µ s lb
ΣFx = 0: T − ( 4 lb ) sin 30° − 2 3µ s lb = 0
( )
FBD B and C:
T = 2 1 + 3µ s lb (1)
ΣFy = 0: N 2 − 2 3 lb − ( 3 lb + 8 lb ) cos 30° = 0

15
N2 = 3 lb
2
15
Impending slip: F2 = µ s N 2 = 3µ s lb
2
 15  
ΣFx = 0: T +  2 3 + 3  µs  lb − ( 3 + 8) lbsin 30° = 0
 2  
 11 19 
T = − 3µ s  lb (2)
2 2 
FBD B: Equating (1) and (2): ( )
4 1 + 3µ s lb = 11 − 19 3µ s
23 3 µ s = 7, µ s min = 0.1757 W
To check slip reasoning above:
7
ΣFy = 0: N3 − 2 3 lb − ( 3 lb ) cos 30° = 0, N3 = 3 lb
2
7
F3max = µ s N3 = 3µ s
2
ΣFx = 0: − ( 3 lb ) sin 30° + 2 3µ s lb − F3 = 0
3
F3 = 2 3 ( 0.1757 ) lb − lb = − 0.891 lb
2
F3 < F3max , OK
FBD rod:
3 in.
ΣM A = 0: N B − ( 4.5 in.) cosθ  W = 0
cosθ
or N B = (1.5cos 2 θ )W
Impending motion: FB = µ s N B = (1.5µ s cos 2 θ )W
= ( 0.3cos 2 θ )W
ΣFx = 0: N A − N B sin θ + FB cosθ = 0
or N A = (1.5cos 2 θ )W ( sin θ − 0.2 cosθ )
Impending motion: FA = µ s N A
= ( 0.3cos 2 θ )W ( sin θ − 0.2 cosθ )
ΣFy = 0: FA + N B cosθ + FB sinθ − W = 0
or (
FA = W 1 − 1.5cos3 θ − 0.3cos 2 θ sin θ )
Equating FA’s
0.3cos 2 θ ( sin θ − 0.2cosθ ) = 1 − 1.5cos3 θ − 0.3cos 2 θ sinθ
0.6cos 2 θ sin θ + 1.44cos3 θ = 1

Solving numerically θ = 35.8° W
FBD pin A:
12 3
ΣFx = 0: FAB − FAC = 0
13 5
5 4
ΣFy = 0: FAB + FAC − P = 0
13 5
13 20
Solving: FAB = P, FAC = P
21 21
FBD B:
12 13 12
ΣFx = 0: NB − ⋅ P = 0, NB = P
13 21 21
11
For Pmin slip of B impends down, so FB = µ s N B = NB
20
11 12 5 13
ΣFy = 0: ⋅ P− ⋅ P − 18 lb = 0, Pmin = 236.25 lb
20 21 13 21
FBD C: (For P < 236.25 lb, A will slip down)
4 20 16
ΣFy = 0: NC − 80 lb − ⋅ P = 0, NC = 80 lb + P
5 21 21
For Pmax slip of C impends to right, FC = µ s NC
11  16  44
or FC =  80 lb + P  = 44 lb + P
20  21  105
3 20 12 44
ΣFx = 0: ⋅ P − FC = 0, P = 44 lb + P
5 21 21 105
Pmax = 288.75 lb
∴ equilibrium 236 ≤ P ≤ 289 W
φ s = tan −1 µ s = tan −1 ( 0.4 ) = 21.801°, slip impends at wedge/block wedge/wedge and block/incline
FBD Block:
R2 530 lb
=
sin 41.801° sin 46.398°
R2 = 487.84 lb
FBD Wedge:
P 487.84 lb
=
sin 51.602° sin 60.199°
P = 441 lb
φ s = tan −1 µ s = tan −1 ( 0.40 ) = 21.801°, and slip impends at wedge/lower block, wedge/wedge, and upper
block/incline interfaces.
FBD Upper block and wedge:
R2 530 lb
=
sin 41.801° sin 38.398°
R2 = 568.76 lb
FBD Lower wedge:

P 568.76 lb
=
sin 51.602° sin 68.199°
P = 480 lb
( )
WD = (18 kg ) 9.81 m/s 2 = 176.58 N
Fs = kx = ( 3.5 kN/m )( 0.1 m ) = 0.35 kN = 350 N
φ s = tan −1 µ s = tan −1 ( 0.25 ) = 14.0362°

FBD Lever:
ΣM C = 0: ( 0.3 m )( 350 N ) − ( 0.4 m )(176.58 N )
− ( 0.525 m ) RA cos 4.0362°
+ ( 0.05 m ) RA sin 4.0362° = 0
RA = 66.070 N
ΣFx = 0: ( 66.07 N ) sin 4.0362° + Cx = 0, Cx = − 4.65 N
ΣFy = 0: ( 66.07 N ) cos 4.0362° − 350 N − 176.58 N = 0

FBD Wedge:
P 66.070 N
=
sin18.072° sin 75.964°
P = 21.1 lb
(a) P = 21.1 lb
(b) C x = 4.65 N
C y = 461 N
( )
WD = (18 kg ) 9.81 m/s 2 = 176.58 N
Fs = kx = ( 3.5 kN/m )( 0.1 m ) = 0.35 kN = 350 N
φ s = tan −1 µ s = tan −1 ( 0.25 ) = 14.0362°
FBD Lever:
ΣM C = 0: ( 0.3 m )( 350 N ) − ( 0.4 m )(176.58 N )
− ( 0.525 m ) RA cos 24.036°
− ( 0.05 m ) RA sin 24.036° = 0
RA = 68.758 N
ΣFx = 0: C x − ( 68.758 N ) sin 24.036° = 0, Cx = 28.0 N
ΣFy = 0: C y − 350 N − 176.58 N + ( 68.758 N ) cos 24.036° = 0
C y = 464 N
FBD Wedge:
P 68.758 N
=
sin 38.072° sin 75.964°
(a) P = 43.7 N
(b) C x = 28.0 N
C y = 464 N
For steel/steel contact, φ s1 = tan −1 µ s1 = tan −1 ( 0.3) = 16.6992°
For steel/concrete interface, φ s2 = tan −1 µ s2 = tan −1 ( 0.6 ) = 30.964°
FBD Plate CD:
ΣFy = 0: N − 90 kN = 0, F = 90 kN
Impending slip: F = µ s1 N = 0.3 ( 90 kN ) = 27 kN
ΣFx = 0: F − Q = 0, Q = F = 27 kN
FBD Top wedge assuming impending slip between wedges:

ΣFy = 0: Rw cos 26.699° − 90 kN = 0, Rw = 100.74 kN
ΣFx = 0: P − 27 kN − (100.74 kN ) sin 26.699° = 0
P = 72.265 kN, (a) P = 72.3 kN
(b) Q = 27.0 kN
To check above assumption; note that bottom wedge is a two-force member so the reaction of the floor on that
wedge is Rw, at 26.699° from the vertical. This is less than φ s2 = 30.964°, so the bottom wedge doesn’t slip
on the concrete.
For steel/steel contact, φ s1 = tan −1 µ s1 = tan −1 ( 0.30 ) = 16.6992°
For steel/concrete contact, φ s2 = tan −1 µ s2 = tan −1 ( 0.60 ) = 30.964°
FBD Plate CD and top wedge:

Q = 90 kN tan 26.6992° = 45.264 kN
90 kN
Rw = = 100.741 kN
cos 26.6992°
FBD Bottom wedge: slip impends at both surfaces
P 100.714 kN
=
sin 57.663° sin 59.036°
(a) P = 99.3 kN
(b) Q = 45.3 kN
FBD Wedge:
φ s = tan −1 µ s = tan −1 ( 0.4 ) = 21.801°
By symmetry RB = RC
ΣFy = 0: 2RC sin ( 29.801° ) − P = 0, P = 0.9940 RC
FBD Block C:
RC 175 lb
= , P = 367.3 lb
sin 41.801° sin18.397 lb
(a) P = 367 lb
b) Note: That increasing friction between B and the incline will mean that block B will not slip, but the above
calculations will not change.
(b) P = 367 lb
FBD Block C: φ s = tan −1 µ s = tan −1 ( 0.4 ) = 21.8014°
ΣFx = 0: RACx − RCFx = 0
ΣFy = 0: RCFy − RACy − 175 lb = 0
RCFy RACy 175 lb

so − =
RCFx RACx RACx
cot ( 20° + φ ) − cot ( 32.2° ) > 0
φ < 12.2° < φ s = 21.8°
so block C does not slip (or impend)

FBD Block B:
(a) φ B = tan −1 µ B = tan −1 ( 0.4 ) = 21.8014°
RB 175 lb
= , RB = 161.083 lb
sin 41.8014° sin 46.3972°
(b) φ B = tan −1 µ B = tan −1 ( 0.6 ) = 30.9638°
RB 175 lb
= , RB = 224.65 lb
sin 50.9638° sin 37.2330°
FBD Wedge:
P RB
= , P = 1.09163 RB
sin 59.6028° sin 52.1986°
(a) RB = 161.083 lb, P = 175.8 lb
(b) RB = 224.65 lb, P = 245 lb
Since vertical forces are equal and µ s ground > µ s wood, assume no impending motion of board. Then there
will be impending slip at all wood/wood contacts, φ s = tan −1 µ s = tan −1 ( 0.35 ) = 19.2900°
FBD Top wedge:
8 kN
R1 = = 8.4758 kN
cos19.29°
R1 P
=
sin 52.710° cos 56.580°
P = 8.892 kN
To check assumption, consider

FBD wedges + board:
F1 = µ1 8 kN = 0.35 ( 8 kN ) = 2.8 kN
ΣFy = 0: NG − 8 kN = 0, NG = 8 kN
FG max = µG NG = ( 0.6 )( 8 kN ) = 4.8 kN
ΣFx = 0: FG − F1 = 0, FG = F1 = 2.8 kN
FG < FG max , OK
∴ P = 8.89 kN
Assume no impending motion of board on ground. Then there will be impending slip at all wood/wood
interfaces.
FBD Top wedge:
Wedge is a two-force member so R 2 = − R1
and θ = 2φs = 2 tan −1 µ s = 2 tan −1 ( 0.35 )
θ = 38.6°
To check assumption, consider

FBD wedges + board:
F1 = µ1 8 kN = 0.35 ( 8 kN ) = 2.8 kN
ΣFy = 0: NG − 8 kN = 0, NG = 8 kN
FG max = µG NG = ( 0.6 )( 8 kN ) = 4.8 kN
ΣFx = 0: FG − F1 = 0, FG = F1 = 2.8 kN
FG < FG max , OK
∴ P = 8.89 kN
FBD Cylinder:
Slip impends at B
φ SC = tan −1 ( 0.35 ) = 19.2900°
4r
ΣM A = 0: r RC cos (12° + 19.29° ) − W =0
3π
RC = 0.49665, W = 124.163 lb
FBD Wedge:
φ SF = tan −1 µ SF = tan −1 ( 0.50 ) = 26.565°
P 124.163 lb
=
sin 58.855° sin 63.435°
P = 117.5 lb
FBD tip of screwdriver:

φs = tan −1 µ s = tan −1 ( 0.12 ) = 6.8428°
by symmetry R1 = R2
ΣFy = 0: 2R1 sin ( 6.8428° + 8° ) − 3.5 N = 0
R1 = R2 = 6.8315 N
If P is removed quickly, the vertical components of R1 and R2 vanish, leaving the horizontal components
H1 = H 2 = ( 6.8315 N ) cos14.8428°
= 6.6035 N
Side forces = 6.60 N
This is only instantaneous, since 8° > φ s , so the screwdriver will be forced out.
As the plates are moved, the angle θ will decrease.
(a) φ s = tan −1 µ s = tan −1 0.2 = 11.31°. As θ decreases, the minimum angle at the contact approaches
12.5° > φs = 11.31°, so the wedge will slide up and out from the slot.
(b) φ s = tan −1 µ s = tan −1 0.3 = 16.70°. As θ decreases, the angle at one contact reaches 16.7°. (At this
time the angle at the other contact is 25° − 16.7° = 8.3° < φ s ) The wedge binds in the slot.
FBD Wedge:
φ s = tan −1 µ s = tan −1 ( 0.35 ) = 19.2900°
by symmetry R1 = R2
ΣFy = 0: 2 R1 sin 22.29° − 60 lb = 0
R2 = 79.094 lb
When P is removed, the vertical component of R1 and R2 will vanish, leaving the horizontal components
H1 = H 2 = ( 79.094 lb ) cos 22.29°
= 73.184 lb
Final forces H1 = H 2 = 73.2 lb
Since these are at 3° ( < φs ) from the normal, the wedge is self-locking and will remain in place.
FBD Cylinder:
( )
W = ( 80 kg ) 9.81 m/s 2 = 784.8 N
ΣM G = 0: FA − FB = 0, FA = FB (1)
W
ΣM D = 0: dN B − dN A + rW = 0, N A = NB + (2)
3
so N A > NB, FA max > FB max
∴ slip impends first at B. FB = µ s N B = 0.25 N B
ΣM A = 0: ( r cos 30° ) N B − ( r sin 30° )W − r (1 + sin 30° )( 0.25 N B ) = 0
N B = 1.01828W = 799.15 N
r
note d = = 3r FB = 0.25 N B = 199.786 N
tan 30
784.8 N
From (2) above, N A = 799.15 N + = 1252.25 N
3
From (1), FA = FB = 199.786 N
ΣFy = 0: NC − (1252.25 N ) cos10° + 199.786 N sin10° = 0
FBD Wedge: NC = 1198.53 N
Impending slip FC = µ s NC = 0.25 (1198.53 N ) = 299.63 N
ΣFx = 0: P − 299.63 N − (199.786 N ) cos10°
− (1252.25 N ) sin10° = 0
P = 714 N 20.0°
FBD Cylinder:
( )
W = ( 80 kg ) 9.81 m/s 2 = 784.8 N
For impending slip at B, FB = µ sB N B = 0.30 N B
ΣM A = 0: ( r cos 30° ) N B − r (1 + sin 30° )( 0.30 N B )

− r sin 30°W = 0
N B = 1.20185W = 943.21 N
FB = 0.30 N B = 0.36055W
ΣM G = 0: r ( FA − FB ) = 0, FA = FB = 0.36055W
ΣFx = 0: N A sin 30° + FA cos30° − N B = 0
− ( 0.36055W ) cos30° + 1.20185W

NA =
sin 30°
N A = 1.77920W
For minimum µ A , slip impends at A, so
FA 0.36055W
µ A min = = = 0.2026
N A 1.77920W
µ A min = 0.203
FBD plank + wedge:

ΣM A = 0: (8 ft ) N B − (1.5 ft )( 48 lb/ft )( 3 ft )
1
− ( 2 ft ) ( 48 lb/ft )( 3 ft )
2
 5  1
−  3 +  ft  ( 96 lb/ft )( 5 ft ) = 0
 3  2
N B = 185 lb
 48 + 96 
ΣFy = 0: NW + 185 lb −  lb/ft  ( 3ft )
 2 
1
+ ( 96 lb/ft )( 5 ft ) = 0
2
NW = 271 lb
Since NW > N B , and all µ s are equal, assume slip impends at B and between wedge and floor, and not at A.
Then FW = µ s NW = 0.45 ( 271 lb ) = 121.95 lb
FB = µ s N B = 0.45 (185 lb ) = 83.25 lb
ΣFx = 0: P − 121.95 lb − 83.25 lb = 0, P = 205.20 lb

Check Wedge for assumption
ΣFy = 0: 271 lb − RA cosθ = 0
ΣFx = 0: 205.2 lb − 121.95 lb − RA sin θ = 0
83.25
so tan θ = = 0.3072 < µ s + tan 9°
271
so no slip here
∴ (a) P = 205 lb
(b) impending slip at B
FBD plank + wedge:

ΣM A = 0: (8 ft ) N B − (1.5 ft )( 48 lb/ft )( 3 ft )
1
− ( 2 ft )( 48 lb/ft )( 3 ft )
2
 5 
−  3 +  ft  ( 96 lb/ft )( 5 ft ) = 0
 3 
NW = 185 lb
 48 + 96 
ΣFy = 0: N A + 185 lb −  lb/ft  ( 3ft )
 2 
1
− ( 96 lb/ft )( 5 ft ) = 0
2
N A = 271 lb
Since N A > NW , and all µ s are equal, assume impending slip at top and bottom of wedge and not at A. Then
FW = µ s NW = 0.45 (185 N )
FW = 83.25 lb
FBD Wedge:
φ s = tan −1 µ s = tan −1 ( 0.45 ) = 24.228°
ΣFy = 0: 185 lb − RB cos ( 24.228° + 9° ) = 0
RB = 221.16 lb
ΣFx = 0: ( 221.16 lb ) sin 33.228° + 83.25 lb − P = 0
P = 204.44 lb
Check assumption using plank/wedge FBD

ΣFx = 0: FA + FW − P = 0, FA = 204.44 lb − 83.25 lb = 121.19 lb
FA max = µ s N A = 0.45 ( 271 lb ) = 121.95 lb
FA < FA max , OK
∴ (a) P = 204 lb
(b) no impending slip at A
( ) (
WA = (10 kg ) 9.81 m/s 2 = 98.1 N, WB = ( 50 kg ) 9.81 m/s 2 = 490.5 N )
Slip must impend at all surfaces simultaneously, F = µ s N
FBD I: A + B
ΣFy = 0: N B − 150 N − 98.1 N − 490.5 N = 0, N B = 738.6 N
impending slip: FB = µ s N B = ( 738.6 N ) µ s
ΣFx = 0: N A − FB = 0, N A = ( 738.6 N ) µ s
FBD II: A ΣFy′ = 0: FAB + ( 738.6µ s ) N  sin 20° − (150 N + 98.1 N ) cos 20° = 0
FAB =  233.14 − ( 252.62 ) µ s  N
ΣFx′ = 0: ( 738.6µ s ) N  cos 20° − (150 N + 98.1 N ) sin 20° − N AB = 0
N AB = 84.855 + ( 694.06 ) µ s  N
FAB 233.14 − 252.62µ s

µs = =
N AB 84.855 + 694.06µ s
µ s2 = 0.48623µ s − 0.33591 = 0
µ s = − 0.24312 ± 0.62850
Positive root µ s = 0.385
( ) (
WA = (10 kg ) 9.81 m/s 2 = 98.1 N, WB = ( 50 kg ) 9.81 m/s 2 = 490.5 N )
Slip impends at all surfaces simultaneously
FBD I: A + B
ΣFx = 0: N A − FB = 0, N A = FB = µ s N B (1)
ΣFy = 0: FA − (150 N + 98.1 N + 490.5 N ) + N B = 0
µ s N A + N B = 738.6 N (2)
738.6 N 738.6 µ s
Solving (1) and (2) N B = , FB = N
1 + µ s2 1 + µ s2
FBD II: B ΣFx′ = 0: N AB + ( 490.5 N ) cos 70° − N B cos 70° − FB sin 70° = 0
738.6 N
N AB = ( cos 70° + µ s sin 70° ) − ( 490.5 N ) cos 70° (1)
1 + µ s2
ΣFy′ = 0: −FAB − ( 490.5 N ) sin 70° + N B sin 70° − FB cos 70° = 0
738.6 N
FAB = ( sin 70° − µs cos 70° ) − ( 490.5 N ) sin 70° = 0
1 + µ s2
Setting FAB = µ s N AB ,
µ s3 − 6.8847µ s2 − 2.0116µ s + 1.38970 = 0
Solving numerically, µ s = − 0.586, 0.332, 7.14
Physically meaningful solution: µ s = 0.332
FBD jack handle:
See Section 8.6
r
ΣM C = 0: aP − rQ = 0 or P = Q
a
FBD block on incline:
(a) Raising load
Q = W tan (θ + φ s )
r
P= W tan (θ + φs )
a
continued
PROBLEM 8.66 CONTINUED
(b) Lowering load if screw is self-locking ( i.e.: if φs > θ )
Q = W tan (φs − θ )
r
P= W tan (φs − θ )
a
(c) Holding load is screw is not self-locking ( i.e: if φs < θ )
Q = W tan (θ − φs )
r
P= W tan (θ − φ s )
a
FBD large gear:
ΣM C = 0: (12 in.)W − 7.2 kip ⋅ in. = 0, W = 0.600 kips
= 600 lb
Block on incline:
0.375 in.
θ = tan −1 = 2.2785°
2π (1.5 in.)
φ s = tan −1 µ s = tan −1 0.12 = 6.8428°
Q = W tan (θ + φ s )
= ( 600 lb ) tan 9.1213° = 96.333 lb
FBD worm gear:
r = 1.5 in.
ΣM B = 0: (1.5 in.)( 96.333 lb ) − M =0
M = 144.5 lb ⋅ in.
FBD large gear:
ΣM C = 0: (12 in.)W − 7.2 kip ⋅ in. = 0
W = 0.600 kips = 600 lb
Block on incline:
0.375 in.
θ = tan −1 = 2.2785°
2π (1.5 in.)
φ s = tan −1 µ s = tan −1 0.12 = 6.8428°
Q = W tan (φ s − θ )
= ( 600 lb ) tan 4.5643° = 47.898 lb
FBD worm gear:
r = 1.5 in.
ΣM B = 0: M − (1.5 in.)( 47.898 lb ) = 0
M = 71.8 lb ⋅ in.
Block/incline analysis:
0.125 in.
θ = tan −1 = 2.4238°
2.9531 in.
φ s = tan −1 ( 0.35 ) = 19.2900°
Q = 47250 tan ( 21.714° ) = 18.816 lb
d  0.94 
Couple = Q= in.  (18.516 lb ) = 8844 lb ⋅ in.
2  2 
Couple = 7.37 lb ⋅ ft
FBD joint D:
By symmetry: FAD = FCD

ΣFy = 0: 2FAD sin 25° − 4 kN = 0
FAD = FCD = 4.7324 kN

FBD joint A:
By symmetry: FAE = FAD
ΣFx = 0: FAC − 2 ( 4.7324 kN ) cos 25° = 0
FAC = 8.5780 kN
Block and incline A:
2 mm
θ = tan −1 = 4.8518°
π ( 7.5 mm )
φ s = tan −1 µ s = tan −1 0.15 = 8.5308°
Q = ( 8.578 kN ) tan (13.3826° )
= 2.0408 kN
Couple at A: M A = rQ
 7.5 
= mm  ( 2.0408 kN )
 2 
= 7.653 N ⋅ m
By symmetry: Couple at C: M C = 7.653 N ⋅ m
Total couple M = 2 ( 7.653 N ⋅ m ) M = 15.31 N ⋅ m
FBD joint D:
By symmetry: FAD = FCD
ΣFy = 0: 2FAD sin 25° − 4 kN = 0
FAD = FCD = 4.7324 kN

FBD joint A:
By symmetry: FAE = FAD
ΣFx = 0: FAC − 2 ( 4.7324 kN ) cos 25° = 0
FAC = 8.5780 kN
Block and incline at A:
2 mm
θ = tan −1 = 4.8518°
π ( 7.5 mm )
φ s = tan −1 µ s = tan −1 0.15

φ s = 8.5308°
φ s − θ = 3.679°
Q = ( 8.5780 kN ) tan 3.679°
Q = 0.55156 kN
Couple at A: M A = Qr
 7.5 mm 
= ( 0.55156 kN )  
 2 
= 2.0683 N ⋅ m
By symmetry: Couple at C : M C = 2.0683 N ⋅ m
Total couple M = 2 ( 2.0683 N ⋅ m ) M = 4.14 N ⋅ m
FBD lower jaw:
By symmetry B = 540 N
ΣFy = 0: − 540 N + A − 540 N = 0, A = 1080 N
(a) since A > B when finished, adjust A first when there will be no force
Block/incline at B:
4 mm
(b) θ = tan −1 = 6.0566°
12π mm
φ s = tan −1 µ s = tan −1 ( 0.35) = 19.2900°
Q = ( 540 N ) tan 25.3466° = 255.80 N
Couple = rQ = ( 6 mm )( 255.80 N ) = 1535 N ⋅ mm
M = 1.535 N ⋅ m
FBD lower jaw:

By symmetry B = 540 N
ΣFy = 0: − 540 N + A − 540 N = 0, A = 1080 N
since A > B, A should be adjusted first when no force is required.

If instead, B is adjusted first,
Block/incline at A:
4 mm
θ = tan −1 = 6.0566°
12π mm
φ s = tan −1 µ s = tan −1 ( 0.35) = 19.2900°
Q = (1080 N ) tan 25.3466° = 511.59 N
Couple = rQ = ( 6 mm )( 511.59 N ) = 3069.5 N ⋅ mm
M = 3.07 N ⋅ m
Note that this is twice that required if A is adjusted first.
Block/incline:
0.25 in.
θ = tan −1 = 2.4302°
1.875π in.
φ s = tan −1 µ s = tan −1 ( 0.10 ) = 5.7106°
Q = (1000 lb ) tan ( 8.1408° ) = 143.048 lb
Couple = rQ = ( 0.9375 in.)(143.048 lb ) = 134.108 lb ⋅ in.
M = 134.1 lb ⋅ in.
FBD Bucket:
(
rf = r sin φ s = r sin tan −1 µ s )
(
= ( 0.18 m ) sin tan −1 0.30 ) = 0.05172 m
ΣM A = 0: (1.6 m + 0.05172 m ) T − ( 0.05172 m )W =0
T = 0.031314W
 kN 
= 0.031314 ( 50 Mg )  9.81 
 Mg 
= 15.360 kN
T = 15.36 kN !
NOTE FOR PROBLEMS 8.75–8.89
( )
Note to instructors: In this manual, the simplification sin tan −1 µ ≈ µ is NOT used in the solution of journal
bearing and axle friction problems. While this approximation may be valid for very small values of µ , there
is little if any reason to use it, and the error may be significant. For example, in Problems 8.76–8.79,
µ s = 0.50, and the error made by using the approximation is about 11.8%.
FBD Windlass:
(
rf = rb sin φs = rb sin tan −1 µ s )
( )
= (1.5 in.) sin tan −1 0.5 = 0.67082 in.
ΣM A = 0: ( 8 − 0.67082 ) in. P − ( 5 + 0.67082 ) in. 160 lb = 0
P = 123.797 lb
P = 123.8 lb
( )
FBD Windlass:
(
rf = r sin φs = r sin tan −1 µ s )
( )
= (1.5 in.) sin tan −1 0.5 = 0.67082 in.
ΣM A = 0: ( 8 + 0.67082 ) in. P − ( 5 + 0.67082 ) in. (160 lb ) = 0
P = 104.6 lb
( )
FBD Windlass:
(
( )
= (1.5 in.) sin tan −1 0.50 = 0.67082 in.
ΣM A = 0: ( 8 + 0.67082 ) in. P − ( 5 − 0.67082 ) in. (160 lb ) = 0
P = 79.9 lb
( )
FBD Windlass:
(
( )
= (1.5 in.) sin tan −1 0.50 = 0.67082 in.
ΣM A = 0: ( 8 − 0.67082 ) in. P − ( 5 − 0.67082 ) in. (160 lb ) = 0
P = 94.5 lb
( )
(a) FBD lever (Impending CW

rotation):
ΣM C = 0: ( 0.2 m + rf ) ( 75 N ) − ( 0.12 m − rf ) (130 N ) = 0
rf = 0.0029268 m = 2.9268 mm
rf
sin φs =
rs
*
 −1 rf   −1 2.9268 mm 
µ s = tan φs = tan  sin  = tan  sin 
 rs   18 mm 
= 0.34389
µ s = 0.344
(b) FBD lever (Impending CCW
rotation):
ΣM D = 0: ( 0.20 m − 0.0029268 m )( 75 N )
− ( 0.12 m + 0.0029268 m ) P = 0
P = 120.2 N
( )
Pulley FBD’s:
Left: rp = 30 mm
( )
*
rf = raxle sin φk = raxle sin tan −1 µ k
(
= ( 5 mm ) sin tan −1 0.2 )
= 0.98058 mm
Left:
Right:
ΣM C = 0: ( rp − rf ) ( 600 lb ) − 2rpTAB = 0
30 mm − 0.98058 mm
or TAB = ( 600 N ) = 290.19 N
2 ( 30 mm )
TAB = 290 N
ΣFy = 0: 290.19 N − 600 N + TCD = 0
or TCD = 309.81 N TCD = 310 N
Right:
ΣM G = 0: ( rp + rf ) TCD − ( rp − rf ) TEF =0
30 mm + 0.98058 mm
or TEF = ( 309.81 N ) = 330.75 N
30 mm − 0.98058 mm
TEF = 331 N
( )
Pulley FBDs:
Left: rp = 30 mm
( )
*
rf = raxle sin φk = raxle sin tan −1 µ k
(
= ( 5 mm ) sin tan −1 0.2 )
= 0.98058 mm
ΣM C = 0: ( rp + rf ) ( 600 N ) − 2rpTAB = 0
30 mm + 0.98058 mm
or TAB = ( 600 N ) = 309.81 N
2 ( 30 mm )
TAB = 310 N
Right: ΣFy = 0: TAB − 600 N + TCD = 0
or TCD = 600 N − 309.81 N = 290.19 N
TCD = 290 N
ΣM H = 0: ( rp − rf ) TCD − ( rp + rf ) TEF =0
30 mm − 0.98058 mm
or TEF = ( 290.19 N )
30 mm + 0.98058 mm
TEF = 272 N
( )
bearing and axle friction problems. While this approximation may be valid for very small values of µ , there is
little if any reason to use it, and the error may be significant. For example, in Problems 8.76–8.79, µ s = 0.50,
and the error made by using the approximation is about 11.8%.
FBD link AB:
Note: That AB is a two-force member. For impending motion, the pin

forces are tangent to the friction circles.
r
θ = sin −1 f
25 in.
( )
*
where rf = rp sin φs = rp sin tan −1 µ s
( )
= (1.5 in.) sin tan −1 0.2 = 0.29417 in.
0.29417 in.
Then θ = sin −1 = 1.3485°
12.5 in.
(b) θ = 1.349°
Rvert = R cosθ Rhoriz = R sin θ
Rhoriz = Rvert tan θ = ( 50 kips ) tan1.3485° = 1.177 kips
(a) Rhoriz = 1.177 kips
( )
FBD gate:
(
W1 = 66 kg 9.81 m/s 2 = 647.46 N)
(
W2 = 24 kg 9.81 m/s 2 = 235.44 N)
(
rf = rs sin φs = rs sin tan −1 µ s )
( )
= ( 0.012 m ) sin tan −1 0.2 = 0.0023534 m
ΣM C = 0: ( 0.6 m − rf )W1 + ( 0.15 m − rf ) P − (1.8 m + rf )W2 = 0

P=
(1.80235 m )( 235.44 N ) − ( 0.59765 m )( 647.46 N )
( 0.14765 m )
= 253.2 N
P = 253 N !
( )
It is convenient to replace the ( 66 kg ) g and ( 24 kg ) g weights with a single combined weight of

(1.8 m )( 24 kg ) − ( 0.6 m )( 66 kg )
( 90 kg ) ( 9.81 m/s2 ) = 882.9 N, located at a distance x = = 0.04 m to the
90 kg
right of B.
( ) ( )
*
rf = rs sin φs = rs sin tan −1 µ s = ( 0.012 m ) sin tan −1 0.2
= 0.0023534 m
FBD pulley + gate:
0.04 m 0.15
α = tan −1 = 14.931° OB = = 0.15524 m
0.15 m cos α
rf 0.0023534 m
β = sin −1 = sin −1 = 0.8686° then θ = α + β = 15.800°
OB 0.15524 m
P = W tan θ = 249.8 N
P = 250 N !
( )
FBD gate:
( )
W1 = 66 kg 9.81 m/s 2 = 647.46 N
W2 = 24 kg ( 9.81 m/s ) = 235.44 N

2
( )
*
rf = rs sin φs = rs sin tan −1 µ s
( )
= ( 0.012 m ) sin tan −1 0.2 = 0.0023534 m
ΣM C = 0: ( 0.6 m + rf )W1 + ( 0.15 m + rf ) P − (1.8 m − rf )W2 = 0

P=
(1.79765 m )( 235.44 N ) − ( 0.60235 m )( 647.46 N )
0.15235 m
= 218.19 N
P = 218 N !
( )
It is convenient to replace the ( 66 kg ) g and ( 24 kg ) g weights with a single weight of

(1.8 m )( 24 kg ) − ( 0.15 m )( 66 kg )
( 90 kg )( 9.81 N/kg ) = 882.9 N, located at a distance x = = 0.04 m to the
90 kg
right of B.
FBD pulley + gate:
( ) ( )
*
rf = rs sin φs = rs sin tan −1 µ s = ( 0.012 m ) sin tan −1 0.2
rf = 0.0023534 m
0.04 m 0.15 m
α = tan −1 = 14.931° OB = = 0.15524 m
0.15 m cos α
rf 0.0023534 m
β = sin −1 = sin −1 = 0.8686° then θ = α − β = 14.062°
OB 0.15524 m
P = W tan θ = 221.1 N
P = 221 N !
( )
FBD Each wheel:
(
rf = raxle sin φ = raxle sin tan −1 µ )
P
ΣFx = 0: − R sin θ = 0
4
W
ΣFy = 0: R cosθ − =0
4
P
∴ tan θ = or P = W tanθ
W
rf raxle
but sin θ =
rw
=
rw
(
sin tan −1 µ )
(a) For impending motion, use µ s = 0.12
0.5 in.
sin θ =
5 in.
(
sin tan −1 0.12 ) θ = 0.68267°
P = W tan θ = ( 500 lb ) tan ( 0.68267° )

P = 5.96 lb
(b) For constant speed, use µ k = 0.08
1
sin θ =
10
(
sin tan − 1 0.08 ) θ = 0.45691°
P = ( 500 lb ) tan ( 0.45691° )

P = 3.99 lb
( )
FBD Each wheel:
W
For equilibrium (constant speed) the two forces R and must be equal
2
and opposite, tangent to the friction circle, so
rf
sin θ = where θ = tan −1 ( slope )
rw
(
rB sin tan −1 µ k )
(
sin tan −1 0.03 = ) rw
rw = (12.5 mm )
(
sin tan −1 0.12 ) = 49.666 mm
sin ( tan −1
0.03)
d w = 99.3 mm
( )
FBD
M
ΣM O = 0: (8 in.) Q − M = 0, Q=
8 in.
but, from equ. 8.9,
2 2  7 in. 
M = µk WR = ( 0.60 )(10.1 lb )  
3 3  2 
= 14.14 lb
14.14
so, Q= , Q = 1.768 lb
8
2 R3 − R13 1 D23 − D13

Eqn. 8.8 gives M = µ s P 22 = µ s P
3 R2 − R12 3 D22 − D12
( 0.030 m )3 − ( 0.024 m )3
so
1
(
M = ( 0.15 )( 80 kg ) 9.81 m/s 2
3
) ( 0.030 m )2 − ( 0.024 m )2
M = 1.596 N ⋅ m
∆N k
Let the normal force on ∆A be ∆N , and =
∆A r
As in the text ∆F = µ∆N , ∆M = r ∆F
The total normal force
2π  R k 
P = lim Σ∆N = ∫ 0  ∫ 0 rdr  dθ
∆A → 0  r 
( R
)
P = 2π ∫ 0 kdr = 2π kR or k =
P
2π R
2π  R k 
The total couple M worn = lim Σ∆M = ∫ 0  ∫ 0 r µ rdr  dθ
∆A → 0  r 
R R2 P R2
M worn = 2πµ k ∫ 0 rdr = 2πµ k = 2πµ
2 2π R 2
1
or M worn = µ PR
2
2
Now M new = µ PR [Eq. (8.9)]
3
M worn 1 µ PR 3
Thus = 2
= = 75%
M new 2
3
µ PR 4
∆N k
Let normal force on ∆A be ∆N , and =
∆A r
As in the text ∆F = µ∆N , ∆M = r ∆F
The total normal force P is
2π  R k 
P = lim Σ∆N = ∫ 0  ∫ R 2 rdr  dθ
1 r
∆A → 0  
P
P = 2π ∫R 2 kdr = 2π k ( R2 − R1 )
R
or k =
1 2π ( R2 − R1 )
2π  R k 
The total couple is M worn = lim Σ∆M = ∫ 0  ∫R 2 r µ rdr  dθ
∆A → 0  1 r 
( rdr ) = πµ k (
(
πµ P R22 − R12 )
M worn = 2πµ k ∫
R2
R1
R22 − R12 )= 2π ( R2 − R1 )
1
M worn = µ P ( R2 + R1 )
2
∆N
Let normal force on ∆A be ∆N , and = k,
∆A
∆r
so ∆N = k ∆A ∆A = r ∆s∆φ ∆s =
sin θ
where φ is the azimuthal angle around the symmetry axis of rotation
∆Fy = ∆N sin θ = kr ∆r ∆φ
Total vertical force P = lim Σ∆Fy

∆A → 0
P = ∫0
2π
(∫
R2
R1
krdr ) dφ = 2π k ∫ R2
R1
rdr
(
P = π k R22 − R12 ) or k =
P
π ( R22 − R12 )
Friction force ∆F = µ∆N = µ k ∆A
∆r
Moment ∆M = r ∆F = r µ kr ∆φ
sin θ
2π  R µ k 
Total couple M = lim Σ∆M = ∫ 0  ∫R 2 r 2dr  dφ
∆A → 0  1 sin θ 
µ k R2 2 2 πµ
M = 2π ∫ r dr =
P
(R3
− R33 )
sin θ R1
3 sin θ π R2 − R32
2
( ) 2
2 µ P R23 − R13
M =
3 sin θ R22 − R12
If normal force per unit area (pressure) of the center is PO , then as a function
 r
of r, P = PO 1 − 
 R 
2π R  r
ΣFN = W = ∫ PdA = ∫ 0 ∫ 0 PO 1 −  rdrdθ
 R
2π  R R3 
2
R2
W = PO ∫ 0  −  dθ = 2π P
3R 
O
 2 6
3W
so PO =
π R2
For slipping, dF = µk ( PdA)
2π R  r
Moment = ∫ rdF = µk PO ∫ 0 ∫ 0 r  1 −  rdrdθ
 R
2π  R R4 
3
R3
= µ k PO ∫ 0  −  dθ = 2πµ P
4 R 
k O
 3 12
3W R3 1
so M = 2πµ k = µ k WR
π R 2 12 2
ΣM O = 0: (8 in.) Q − M =0
1  7 in. 
M
( 0.6 )(10.1 lb )  
2  2 
Q= =
(8 in.) 8 in.
Q = 1.326 lb
FBD pipe:
0.025 in. + 0.0625 in.

θ = sin −1 = 1.00257°
5 in.
P = W tan θ for each pipe, so also for total
P = ( 2000 lb ) tan (1.00257° )
P = 35.0 lb
FBD disk:
tan θ = slope = 0.02
b = r tan θ = ( 60 mm )( 0.02 )
b = 1.200 mm
FBD wheel:
r = 230 mm
b = 1 mm
b
θ = sin −1
r
 b
P = W tan θ = W tan  sin −1  for each wheel, so for total
 r
( 
)
P = (1000 kg ) 9.81 m/s 2 tan  sin −1

1 

230 
P = 42.7 N
FBD wheel:
(
rf = raxle sin φ = raxle sin tan −1 µ , ) µs or µk
rf b
rw = +
sin θ tan θ
rf + b
For small θ , sin θ tan θ , so tan θ
rw
W
ΣFy = 0: R cosθ − =0
4
P
ΣFx = 0: − R sin θ + =0
4
P
Solving: tan θ =
W
rf + b
so P = W tan θ = W
rw
 0.5 in. 
(a) For impending slip, use µ s , rf = 
 2 
(−1
)
 sin tan 0.12 = 0.029786 in.
0.02986 in. + 0.25 in.

so P = ( 500 lb ) = 55.96 lb
2.5 in.
P = 56.0 lb
 0.5 in. 
(b) For constant speed, use µ k , rf = 
 2 
(−1
)
 sin tan 0.08 = 0.019936 in.
so P = ( 500 lb )
( 0.019936 + 0.25) in. = 53.99 lb
2.5 in.
P = 54.0 lb
FBD wheel:
W
For equilibrium (constant speed), R and are equal and opposite
2
and tangent to the friction circle as shown
( )
rf = raxle sin tan −1 µk = (12.5 mm ) sin tan −1 0.12 ( )
rf = 1.48932 mm
rf b
From diagram, rw = +
sin θ tan θ
rf + b
For small θ , sin θ tan θ , so rw
tan θ
1.48932 mm + 1.75 mm
tan θ = slope rw = = 107.977 mm
0.03
d w = 216 mm
Two full turns of rope → β = 4π rad
T2 1 T2
(a) µ s β = ln or µs = ln
T1 β T1
1 20 000 N
µs = ln = 0.329066
4π 320 N
µ s = 0.329
1 T2
(b) β = ln
µs T1
1 80 000 N
= ln
0.329066 320 N
= 16.799 rad
β = 2.67 turns
FBD A:
(
WA = (10 kg ) 9.81 m/s 2 = 98.1 N)
WA
ΣFx = 0: TA − WA sin 30° = 0, TA =
2
FBD B:
WB
ΣFx′ = 0: WB sin 30° − TB = 0, TB =
2
(a) Motion of B impends up incline and mB = 8 kg

TA 1 TA 1 W
= eµs β , µs = ln = ln A
TB β TB β WB
1 mA 3  10 kg 
= ln = ln  
β mB π  8 kg 
From hint, β is not dependent
on shape of support
µ s = 0.21309
µ s = 0.213
(b) For maximum mB , motion of B impend down incline
π
TB 0.21309
= eµs β , TB = TAe 3 = 1.250TA
TA
∴ WB = 1.25WA and mB = 1.25 mA = 1.25 (10 kg )
mB max = 12.50 kg
FBD A:
WA
ΣFx = 0: TA − WA sin 30° = 0, TA =
2
FBD B:
WB
ΣFx′ = 0: WB sin 30° − TB = 0, TB =
2
For mB min , motion of B impends up incline

π
TA 0.50
And = e 3 = 1.68809
TB
m A WA T
But = = A = 1.68809
mB WB TB
so mB min = 5.9238 kg
From hint, β is not dependent
on shape of C
For mB max , motion of B impends down incline
π
mB W T µ 0.50
so = B = B = e s β = e 3 = 1.68809
mA WA TA
so mB max = 16.881 kg
For equilibrium 5.92 kg ≤ mB ≤ 16.88 kg
β = 1.5 turns = 3π rad
For impending motion of W up
P = We µs β = (1177.2 N ) e(
0.15 )3π
= 4839.7 N
For impending motion of W down
P = We− µs β = (1177.2 N ) e ( )
− 0.15 3π
= 286.3 N
For equilibrium
286 N ≤ P ≤ 4.84 kN
Horizontal pipe: Vertical pipe
π
Contact angles β H = Contact angle βV = π
2
µ sH = 0.25 µ sV = 0.2
For P to impend downward,
µ π µ π
( ) µ π
( )µ π
P =  e sH 2  Q =  e sH 2  e µsV π R =  e sH 2  e µsV π  e sH 2  (100 lb )
       
Pmax = e ( sH sV )  (100 lb ) = (100 lb ) e0.45π = 411.12 lb

π µ +µ
 
For 100 lb to impend downward, the ratios are reversed, so
100 lb = Pe0.45π , Pmin = 24.324 lb
So, for equilibrium, 24.3 lb ≤ P ≤ 411 lb
Horizontal pipe Vertical pipe
π
Contact angles β H = Contact angle βV = π
2
µ sH = 0.30 µ sV = ?
For Pmin , the 100 lb force impends downward, and
100 lb =  e

µ sH
π
2 R =  e µ




sH
π
2


(
 eµ sV π
)Q =  e µ s π π2


(
 eµ sV π
) e µ sH π2 P


100 lb = e (
π 0.30 + µ sV ) 
 
( 20 lb ) , so eπ ( 0.30 + µsV ) = 5
(a) For Pmax the force P impends downward, and the ratios are reversed, so Pmax = 5 (100 lb ) = 500 lb
(b) π ( 0.30 + µ sV ) = ln 5
1
µ sV = ln 5 − 0.30 = 0.21230 µ sV = 0.212
π
FBD motor and mount:

Impending belt slip: cw rotation
T2 = T1e µs β = T1e0.40π = 3.5136 T1
ΣM D = 0: (12 in.)(175 lb ) − ( 7 in.) T2 − (13 in.) T1 = 0

2100 lb = ( 7 in.)( 3.5136 ) + 13 in. T1
T1 = 55.858 lb, T2 = 3.5136 T1 = 196.263 lb
FBD drum at B:
ΣM B = 0: M B − ( 3 in.)(196.263 lb − 55.858 lb ) = 0
M B = 421 lb ⋅ in.
r = 3 in. (Compare to 857 lb ⋅ in. using V-belt, Problem 8.130)

Impending belt slip: ccw rotation
T1 = T2e µs β = T2e0.40π = 3.5136 T2
ΣM D = 0: (12 in.)(175 lb ) − (13 in.) T1 − ( 7 in.) T2 =0
2100 lb = (13 in.)( 3.5136 ) + 7 in. T2 = 0
T2 = 39.866 lb, T1 = 3.5136 T2 = 140.072 lb
FBD drum at B:
ΣM B = 0: ( 3 in.)(140.072 lb − 39.866 lb ) − M B =0
M B = 301 lb ⋅ in.
FBD lower portion of belt:

ΣFy = 0: 48 N − N D = 0, N D = 48 N
Slip on both platen and wood

FD = µkD N D = 0.10 ( 48 N ) = 4.8 N
FE = µkE N E = ( 48 N ) µ kE
FBD Drum A (assume free to rotate) ΣFx = 0: TA − TB − 4.8 N − µ kE ( 48 N ) = 0
TB = TA + 4.8 N + µ kE ( 48 N ) (1)
ΣM A = 0: rA (TA − TT ) = 0, TT = TA (2)
FBD Drive drum B

ΣM B = 0: M B + r (TT − TB ) = 0
2.4 N ⋅ m
TB = TT + = TT + 96 N
0.025 N
Impending slip on drum, TB = TT e µs β = TT e0.35π
so TT + 96 N = TT e0.35π , TT = 47.932 N
TB = 143.932 N
From (2) above, TA = TT , so (a) Tmin lower = 47.9 N
From (1) above, 143.932 N = 47.932 N + 4.8 N + µkE ( 48 N )
So (b) µ kE = 1.900
FBD Flywheel:
ΣM C = 0: ( 0.225 m )(TB − TA ) − 12.60 N ⋅ m = 0
TB − TA = 56 N, TB = TA + 56 N
Also, since the belt doesn’t change length, the additional stretch in
spring B equals the decrease in stretch of spring A. Thus the increase
in TB equals the decrease in TA.
Thus TB + TA = ( 70 N + ∆T ) + ( 70 N − ∆T ) = 140 N
(TA + 56 N ) + TA = 140 N, TA = 42 N
TB = 42 N + 56 N = 98 N
(a) TA = 42.0 N
TB = 98.0 N
1 TB
For slip TB = TAe µk β , or µ k = ln
β TA
1 98
µk = ln = 0.2697
π 42
(b) µ k = 0.230
FBD Flywheel:
Slip of belt: TB = TA e µk β = TA e0.20π
Also, since the belt doesn’t change length, the increase in stretch of
spring B equals the decrease in stretch of spring A. Therefore the
increase in TB equals the decrease in TA , and the sum is unchanged,
so TA + TB = 80 N + 80 N = 160 N
( )
∴ TA 1 + e0.20π = 160 N, so TA = 55.663 N
TB = 104.337 N (a) TA = 55.7 N
TB = 104.3 N
ΣM C = 0: ( 0.225 m )(TB − TA ) − M C = 0
M C = ( 0.225 m )(104.337 N − 55.663 N )
(b) M C = 10.95 N ⋅ m
FBD Lever:
ΣM E = 0: ( 60 mm )( 240 N ) − ( 40 mm ) FBD cos 30° = 0

FBD = 415.69 N
FBD Drum:
Belt slip: T2 = T1 e µk β
0.25( 5.5851)
= ( 415.69 N ) e
= 1679.44 N
ΣM C = 0: r (T2 − T1 ) − M = 0
( 0.08 m )(1679.44 N − 415.69 N ) − M =0
M = 101.1 N ⋅ m
FBD Drum:
(a) With M E = 125 lb ⋅ ft
ΣM E = 0: ( 7 in.) (TA − TC ) − (125 lb ⋅ ft ) = 0

TA − TC = 214.29 lb
Belt slip: TA = TC e µk β = TC e
( )
0.30 76π
= 3.0028 TC
so 2.0028 TC = 214.9 lb, TC = 106.995 lb
TA = 321.28 lb
FBD Lever:
ΣM B = 0: (15 in.) P + ( 2 in.) TC − ( 7.5 in.) TA = 0 (1)
P=
( 7.5 in.)( 321.28 lb ) − ( 2 in.)(106.995 lb )
17 in.
P = 129.2 lb
(b) With M E = 125 lb ⋅ ft , the drum analysis will be reversed, and will yield TA = 106.995 lb,
TC = 321.28 lb
Eqn. (1) will remain the same, so
P=
( 7.5 in.)(106.995 lb ) − ( 2 in.)( 321.28 lb )
17 in.
P = 9.41 lb
FBD Lever:
If brake is self-locking, no force P is required
ΣM B = 0: ( 2 in.) TC − ( 7.5 in.) TA = 0
TC = 3.75 TA
For impending slip on drum: TC = TA e µs β
1
∴ e µs β = 3.75, or µ s = ln 3.75
β
7π
With β = , µ s = 0.361
6
FBD Lever:
ΣM B = 0: ( 40 mm ) TC − (100 mm ) TA = 0, TC = 2.5 TA
FBD Drum:
(a) For impending slip ccw: TC = Tmax = 4.5 kN
TC
so TA = = 1.8 kN
2.5
ΣM D = 0: M D + ( 0.16 m )(1.8 kN − 4.5 kN ) = 0
M D = 0.432 kN ⋅ m
M D = 432 N ⋅ m
(b) For impending slip ccw, TC = TA e µs β
1 TC 3
or µ s = ln = ln 2.5 = 0.21875
β TA 4π
µ s = 0.219
(a) For minimum mC with blocks at rest, impending slip of A is down/left.
Note: φs = tan −1 µ s = tan −1 0.30 = 16.7° < 30°, so mC min > 0

FBD A:
( )
WA = ( 6 kg ) 9.81 m/s 2 = 58.86 N
ΣFy = 0: N A − WA cos 30° = 0, N A = WA cos 30°
Impending slip: FA = µ s N A = 0.30WA cos 30°
ΣFx = 0: TA + FA − WA sin 30° = 0, TA = WA ( sin 30° − 0.30 cos 30° )

= 14.1377 N
FBD Drum:
If blocks don’t move, belt slips on drum, so
14.1377 N = TA = TC e µk β = TC e (
0.2 0.87266 )
= 1.19069 TC
so TC = 11.8735 N
FBD C:
ΣFy′ = 0: NC − WC cos 20° = 0, NC = WC cos 20°
Impending slip: FC = µ s NC = 0.30WC cos 20°
ΣFx′ = 0: 0.30WC cos 20° + WC sin 20° − 11.8735 N = 0

WC
WC = 19.0302 N, mC = = 1.93988 kg
9.81 m/s 2
mC = 1.940 kg
continued
(b) For motion of A to impend up/right

FBD A:
As in part (a) N A = WA cos 30°, FA = 0.30WA cos 30°
ΣFx = 0: TA − WA ( sin 30° + 0.30cos 30° ) = 0
TA = 44.722 N
44.722 N
Also, as in part (a) TA = TC e µk β = 1.19069 TC , so TC =
1.19069
TC = 37.560 N
FBD C:
As in part (a) FC = 0.30WC cos 20°
ΣFx′ = 0: WC ( sin 20° − 0.30cos 20° ) − 37.560 N = 0

WC
WC = 624.83 N, mC = = 63.69 kg
9.81 m/s 2
mC = 63.7 kg
(c) For uniform motion of A up and B down, and minimum mC , there will be impending slip of the rope on
the drum.
FBD A is same as in (b) but FA = µk N A = 0.20WA cos30°
and ΣFx = 0: TA − WA ( sin 30° + 0.20cos 30° ) = 0, TA = 39.625 N
Drum analysis, with impending slip, TA = TC e µs β

0.30( 0.87266 )
39.625 N = TC e = 1.29926 TC
or TC = 30.498 N
FBD C is same as in (b), but FC = µ k NC = 0.20WC cos 20°
and ΣFx′ = 0: WC ( sin 20° − 0.20 cos 20° ) − TC = 0
30.498 N 197.934 N
WC = = 197.933 N, mC =
0.154082 9.81 m/s 2
mC = 20.2 kg
Geometry and force rotation:

50 mm
Let EBC = α = cos −1 = 60° = s DBE , FAE , GAE
100 mm
4π
Then contact angles are β B = 360° − 120° = 240° = rad for cord on
3
π
upper cylinder, and β A = 30° = rad for each cord
6
contact on lower cylinder.
Let the force in section FC = TF
Let the force in section DG = TG

With A fixed and the cord moving,
TG = We µk β A = We
( )
0.25 π6
= 1.13985W
For maximum W, slip impends on drum B, so
TB = TF e µs β B or TF = TG e− µs β B
TF = 1.13985We
( )
−0.30 43π
= 0.32441W
For slip at F
W1 = TF e µk β A = 0.32441We
( )
0.25 π6
= 0.36978W
so W = 2.7043W1 and m = 2.7043 in.
= 2.7043 ( 75 kg )
m = 203 kg
Geometry and force notation:

r π
Note: θ = sin −1 = 30° = rad, so contact angles are:
2r 6
π π 2π
βC = β D = + = , βE = π
2 6 3
(a) For all pulleys locked, slip impends at all contacts
If WA impends downward, T1 = (16 lb ) e µs β E , T2 = T1e µs β D , WA = T2e µ s βC
0.20( 73π )
so WA = (16 lb ) e s ( C D E ) = (16 lb ) e
µ β +β +β
= 69.315 lb
If WA impends upward all ratios are inverted, so WA = (16 lb ) e

( )
−0.20 73π
= 3.6933 lb
For equilibrium, 3.69 lb ≤ WA ≤ 69.3 lb W
(b) If pulley D is free to rotate, T1 = T2 while the other ratios remain as in (a)
0.20( 53π )
For WA impending down WA = (16 lb ) e s ( C E ) = (16 lb ) e
µ β +β
WA = 45.594 lb
For WA impending upward, WA = (16 lb ) e

( )
−0.2 53π
= 5.6147 lb
For equilibrium 5.61 lb ≤ WA ≤ 45.6 lb W
r π
θ = sin −1 = 30° = , so contact angles are:
2r 6
π π 2π
βC = β D = + = , βE = π
2 6 3
(a) D and E fixed, so slip on these surfaces. For maximum N A , slip impends on pulley C
WA = T2e µs βC , and T1 = T2e µk β D , (16 lb ) = T1e µk β E
so WA = (16 lb ) e
− µk ( β E + β D ) µ s βC
e = (16 lb ) e
( )e0.20( 23π )
−0.15 53π
= 11.09 lb
(b) C and D fixed, so slip there. For maximum WA , slip impends on E
so T1 = (16 lb ) e µs β E , T1 = T2e µk β D , T2 = WAe µk βC
so WA = (16 lb ) e µs β E e
− µk ( βC + β D )
= (16 lb ) e0.20π e
( )
−0.15 43π
= 16 lb
WA = 16.00 lb

5 in. π
θ = sin −1 = 30° = rad, so contact angles are:
10 in. 6
π 5π π π 2π π
βC = π − = , βD = + = , βE =
6 6 2 6 3 2
(a) All pulleys locked with impending slip at all.
If WA impends upward, T1 = WAe µs βC ,
T2 = T1e µs β D , (16 lb ) = T2e µs β E , so
WA = (16 lb ) e
− µ s ( βC + β D + β E )
= (16 lb ) e
( )
−0.20 56 + 46 + 63 π
WA = 4.5538 lb
If WA impends downward all ratios are inverted

+0.20( 2π )
so WA = (16 lb ) e = 56.217 lb
For equilibrium, 4.55 lb ≤ WA ≤ 56.2 lb
(b) Pulley D is free to rotate so T1 = T2 , other ratios are the same
If WA impends upward, WA = (16 lb ) e

− µ s ( βC + β E )
= (16 lb ) e
( )
−0.20 43π
WA = 6.9229 lb
If WA impends downward, ratios are inverted, WA = (16 lb ) e

( )
+0.20 43π
WA = 36.979 lb
For equilibrium 6.92 lb ≤ WA ≤ 37.0 lb

5 in. π
θ = sin −1 = 30° = rad, so contact angles are:
10 in. 6
π 5π π π 2π π
βC = π − = , βD = + = , βE =
6 6 2 6 3 2
(a) D and E fixed, so slip at these surfaces,
For maximum WA , slip impends on C.
WA = T1e µs βC , T2 = T1e µk β D , 16 lb = T2e µk β E

− µ k ( β D + β E ) µ s βC
so WA = (16 lb ) e e
= (16 lb ) e
( ) e0.20( 56π )
−0.15 76π
= 15.5866 lb
WA max = 15.59 lb
(b) C and D fixed, so slip at these surfaces—impending slip on E
T1 = WAe µk βC , T2 = T1e µk β D , T2 = (16 lb ) e µs β E
so WA = (16 lb ) e
− µk ( βC + β D ) µ s β E
e = (16 lb ) e
( ) e0.20( π2 )
−0.15 32π
WA = 10.8037 lb, WA max = 10.80 lb
FBD drum B:
ΣM B = 0: ( 0.02 m )(TA − T ) − 0.30 N ⋅ m = 0
0.30 N ⋅ m
TA − T = = 15 N
0.02 m
Impending slip: TA = Te µs β = Te0.40π
(
Solving; T e0.40π − 1 = 15 N)
T = 5.9676 N
If C is free to rotate P = T
Pmin = 5.97 N
FBD drum B:
ΣM B = 0: ( 0.02 m )(TA − T ) − 0.3 N ⋅ m = 0
TA − T = 15 N
Impending slip: TA = Te µs β B = Te0.40π
(
Solving, T e0.40π − 1 = 15 N)
T = 5.9676 N
If C is frozen, tape must slip there, so
P = Te µk βC = ( 5.9676 N ) e
( )
0.30 π2
= 9.5599 N
Pmin = 9.56 N
FBD pin B:
(a) By symmetry: T1 = T2
 2 
ΣFy = 0: B − 2  T =0 B= 2T1 = (1)
 2 1 
or 2T2
 
For impending rotation :

Drum:
T3 > T1 = T2 > T4 , so T3 = Tmax = 5.6 kN
Then T1 = T3e− µs β L = ( 5.6 kN ) e

(
−0.25 π4 + π6 )
or T1 = 4.03706 kN = T2
and T4 = T2e− µs β R = ( 4.03706 kN ) e

−0.25 34π ( )
or T4 = 2.23998 kN
ΣM F = 0: M 0 + r (T4 − T3 + T2 − T1 ) = 0
or M 0 = ( 0.16 m )( 5.6 kN − 2.23998 kN ) = 0.5376 kN ⋅ m

Lever:
M 0 = 538 N ⋅ m
(b) Using Equation (1)

B= 2T1 = 2 ( 4.03706 kN )
= 5.70927 kN
ΣM D = 0: ( 0.05 m )( 5.70927 kN ) − ( 0.25 m ) P = 0

P = 1.142 kN
FBD pin B:
(a) By symmetry: T1 = T2
 2 
ΣFy = 0: B − 2  T1  = 0 or B= 2T1 (1)
 2 
For impending rotation :

FBD Drum:
T4 > T2 = T1 > T3 , so T4 = Tmax = 5.6 kN
Then T2 = T4e− µ s β R = ( 5.6 kN ) e

( )
−0.25 34π
or T2 = 3.10719 kN = T1
and T3 = T1e− µs β L = ( 3.10719 kN ) e

(
−0.25 π4 + π6 )
or T3 = 2.23999 kN
ΣM F = 0: M 0 + r (T2 − T1 + T3 − T4 ) = 0
FBD Lever: M 0 = (160 mm )( 5.6 kN − 2.23999 kN ) = 537.6 N ⋅ m
M 0 = 538 N ⋅ m
(b) Using Equation (1)
B= 2T1 = 2 ( 3.10719 kN )
B = 4.3942 kN
ΣM D = 0: ( 0.05 m )( 4.3942 kN ) − ( 0.25 m ) P = 0

P = 879 N
FBD wrench:
Note: EC =
( 0.2 m ) , EA = EC − 0.03 m
sin 65°
θ = 65°
so β = 295° = 5.1487 rad
 0.20 m   0.20 m 
ΣM E = 0:  − 0.03 m  F −  cos 65° − 0.03 m  T = 0
 sin 65°   sin 65° 
T = 3.01408F
ΣFx = 0: N sin 65° + F cos 65° − T = 0
F  sin 65° 
Impending slip: N = , so F =  + cos 65°  = T
µs  µs 
sin 65°
or + cos 65° = 3.01408
µs
µ s = 0.3497
Must still check slip of belt on pipe
FBD small portion of belt at A:
ΣFn = 0: N1 − N 2 = 0
Impending slip, both sides: F1 = µ s N1, F2 = µ s N 2
so F1 = F2 = F
ΣFt = 0: 2 F − TA = 0, TA = 2F
Impending slip of belt on pipe: T = TAe µs β

1 T 1 3.01408
or µ s = ln = ln = 0.0797
β 2F 5.1487 2
Above controls, so for self-locking, need µ s = 0.350
FBD wrench
Note: EC =
( 0.20 m ) , EA = EC − 0.03 m
sin 75°
θ = 75°
so β = 285° = 4.9742 rad
 0.20 m   0.20 m 
ΣM E = 0:  − 0.03 m  F −  cos 75° − 0.03 m  T = 0
 sin 75°   sin 75° 
T = 7.5056 F
ΣFx = 0: N sin 75° + F cos 75° − T = 0
F  sin 75° 
Impending slip: N = , so F =  + cos 75°  = T = 7.5056 F
µs  µs 
sin 75°
+ cos 75° = 7.5056
µs
µ s = 0.1333
Must still check impending slip of belt on pipe
FBD small portion of belt at A
ΣFn = 0: N1 − N 2 = 0
Impending slip F1 = µ s N1, F2 = µ s N 2

so F1 = F2 = F
ΣFt = 0: 2 F − TA = 0, TA = 2 F
Impending slip of belt on pipe T = TAe µ s β

1 T 1 7.5056
or µ s = ln = ln = 0.2659
β 2F 4.9742 2
This controls, so for self locking, µ s min = 0.267
∆θ
ΣFn = 0: ∆N − T + (T + ∆T )  sin =0
2
∆θ
or ∆N = ( 2T + ∆T ) sin
2
∆θ
ΣFt = 0: (T + ∆T ) − T  cos − ∆F = 0
2
∆θ
or ∆F = ∆T cos
2
Impending slipping: ∆F = µ s ∆N
∆θ ∆θ sin ∆θ
So ∆T cos = µ s 2T sin + µ s ∆T
2 2 2
dT
In limit as ∆θ → 0: dT = µ sTdθ , or = µ s dθ
T
T2 dT β
So ∫ T1 T = ∫ 0 µ s dθ ;
T2
and ln = µs β
T1
or T2 = T1e µs β
Note: Nothing above depends on the shape of the surface, except it is

assumed to be a smooth curve.
Small belt section:
Side view: End view:
∆N α ∆θ
ΣFy = 0: 2 sin − T + (T + ∆T )  sin =0
2 2 2
∆θ
ΣFx = 0: (T + ∆T ) − T  cos − ∆F = 0
2
∆θ 2T + ∆T ∆θ
Impending slipping: ∆F = µ s ∆N ⇒ ∆T cos = µs sin
2 α 2
sin
2
µ sTdθ dT µs
In limit as ∆θ → 0: dT = or = dθ
α T α
sin sin
2 2
T2 dT βµ
∫ T1 T = α ∫ 0 dθ
s
So
sin
2
T2 µβ
or ln = s
T1 α
sin
2
µ s β /sin α2
or T2 = T1e

Impending belt slip, cw rotation
µs β
sin α2
T2 = T1e
( 0.40π )
T2 = T1e sin18° = 58.356T1
ΣM D = 0: (12 in.)(175 lb ) − (13 in.) T1 − ( 7 in.) T2 =0
2100 lb = 13 in. + ( 7 in.)( 58.356 )  T1
T1 = 4.9823 lb, T2 = 58.356T1 = 290.75 lb

FBD drum at B:
ΣM B = 0: M B + ( 3 in.)( 4.9823 lb − 290.75 lb ) = 0
M B = 857 lb ⋅ in.
(Compare to 421 lb ⋅ in. using flat belt, Problem 8.107)
Geometry:
2 in.
θ = sin −1 = 7.1808° = 0.12533 rad
16 in.
β A = π − 2θ = 2.8909 rad
Since β B > β A , impending slip on A will control the
maximum couple transmitted
FBD A:
ΣM A = 0: 60 lb ⋅ in. + ( 2 in.)(T1 − T2 ) = 0
T2 − T1 = 30 lb
µs β
sin α2
Impending slip: T2 = T1e
 ( 0.35)( 2.8909 ) 
so T1  e sin18° − 1 = 30 lb
 
 
T1 = 1.17995 lb
T2 = 31.180 lb
FBD B:
ΣFx = 0: P − ( 31.180 lb + 1.17995 lb ) cos 7.1808° = 0
P = 32.1 lb
FBD block:
ΣFn = 0: N − (1000 N ) cos 30° − ( 200 N ) sin 30° = 0
N = 966.03 N
Assume equilibrium:
ΣFt = 0: F + ( 200 N ) cos 30° − (1000 N ) sin 30° = 0
F = 326.8 N = Feq.
But Fmax = µ s N = ( 0.3) 966 N = 290 N
Feq. > Fmax impossible ⇒ Block moves
and F = µk N
= ( 0.2 )( 966.03 N )
Block slides down F = 193.2 N
FBD block (impending

motion to the right)
φ s = tan −1 µ s = tan −1 ( 0.25 ) = 14.036°
P W
=
sin φs sin (θ − φ s )
W
sin (θ − φs ) = sin φs W = mg
P
(a) m = 30 kg: θ − φ s = sin −1 

(
 ( 30 kg ) 9.81 m/s 2 )

sin14.036° 
 120 N 
= 36.499°
∴ θ = 36.499° + 14.036° or θ = 50.5°
(b) m = 40 kg: θ − φs = sin −1  (

 ( 40 kg ) 9.81 m/s 2 ) sin14.036°
 120 N 
= 52.474°
∴ θ = 52.474° + 14.036° or θ = 66.5°
FBDs
Top block: (a) Note: With the cable, motion must impend at both contact surfaces.
ΣFy = 0: N1 − 40 lb = 0 N1 = 40 lb
Impending slip: F1 = µ s N1 = 0.4 ( 40 lb ) = 16 lb
ΣFx = 0: T − F1 = 0 T − 16 lb = 0 T = 16 lb
ΣFy = 0: N 2 − 40 lb − 60 lb = 0 N 2 = 100 lb
Bottom block:
Impending slip: F2 = µ s N 2 = 0.4 (100 lb ) = 40 lb
ΣFx = 0: − P + 16 lb + 16 lb + 40 lb = 0
P = 72.0 lb
FBD blocks:
(b) Without the cable, both blocks will stay together and motion will
impend only at the floor.
ΣFy = 0: N − 40 lb − 60 lb = 0 N = 100 lb
Impending slip: F = µ s N = 0.4 (100 lb ) = 40 lb
ΣFx = 0: 40 lb − P = 0
P = 40.0 lb
FBD ladder:
Motion impends at both A and B, so
FA = µ s N A and FB = µ s N B
a a 7.5 ft
ΣM A = 0: lN B − W =0 or NB = W = W
2 2l 39 ft
2.5
or NB = W
13
2.5W
Then FB = µ s N B = µ s
13
5 12
ΣFx = 0: FA + FB − NB = 0
13 13
12.5 30
µs N A + µ sW − W =0
(13) 2
(13)2
NA −
W ( 30 − 12.5µs )
a = 7.5 ft
(13) 2
µs
l = 19.5 ft
12 5
a 5 ΣFy = 0: NA − W + FB + NB = 0
= 13 13
l 13
 30 − 12.5µ s  W
b 12  + 30µ s + 12.5  =W
µs  (13)
2
= 
l 13
or µ s2 − 5.6333µ s + 1 = 0
µ s = 2.8167 ± 2.6332
or µ s = 0.1835 and µ s = 5.45
The larger value is very unlikely unless the surface is treated with
some “non-skid” material.
In any event, the smallest value for equilibrium is µ s = 0.1835
FBD window:
( )
T = ( 2 kg ) 9.81 m/s 2 = 19.62 N =
W
2
ΣFx = 0: N A − ND = 0 N A = ND
Impending motion: FA = µ s N A FD = µ s N D
ΣM D = 0: ( 0.36 m )W − ( 0.54 m ) N A − ( 0.72 m ) FA =0
3
W = N A + 2µ s N A
2
2W
NA =
(
W = ( 4 kg ) 9.81 m/s 2
) = 39.24 N 3 + 4µ s
ΣFy = 0: FA − W + T + FD = 0
FA + FD = W − T
W
=
2
Now FA + FD = µ s ( N A + N D ) = 2µ s N A
W 2W
Then = 2µ s
2 3 + 4µ s
or µ s = 0.750 W
FBD Collar:
a
Stretch of spring x = AB − a = −a
cosθ
 a   1 
Fs = k  − a  = (1.5 kN/m )( 0.5 m )  − 1
 cos θ   cos θ 
 1 
= ( 0.75 kN )  − 1 = ( 750 N )( sec θ − 1)
 cos θ 
ΣFy = 0: Fs cosθ − W + N = 0
or W = N + ( 750 N ) (1 − cosθ )
Impending slip:
F = µ s N (F must be +, but N may be positive or negative)
ΣFx = 0: Fs sin θ − F = 0
or F = Fs sin θ = ( 750 N )( tan θ − sin θ )
(a) θ = 20°: F = ( 750 N )( tan 20° − sin 20° ) = 16.4626 N
F 16.4626 N
Impending motion: N = = = 41.156 N
µs 0.4
(Note: for N < 41.156 N, motion will occur, equilibrium for

N > 41.156)
But W = N + ( 750 N )(1 − cos 20° ) = N + 45.231 N

So equilibrium for W ≤ 4.07 N and W ≥ 86.4 N W
(b) θ = 30°: F = ( 750 N )( tan 30° − sin 30° ) = 58.013 N
F 58.013
Impending motion: N = = = 145.032 N
µs 0.4
W = N + ( 750 N )(1 − cos 30° ) = N ± 145.03 N
= −44.55 N ( impossible ) , 245.51 N

Equilibrium for W ≥ 246 N W
FBD pin C:
FAB = P sin10° = 0.173648P
FBC = P cos10° = 0.98481P
ΣFy = 0: N A − W − FAB sin 30° = 0
or N A = W + 0.173648P sin 30° = W + 0.086824P

FBD block A:
ΣFx = 0: FA − FAB cos 30° = 0
or FA = 0.173648P cos30° = 0.150384P
For impending motion at A: FA = µ s N A
FA 0.150384
Then NA = : W + 0.086824 P = P
µs 0.3
or P = 2.413W
ΣFy = 0: N B − W − FBC cos 30° = 0
N B = W + 0.98481P cos30° = W + 0.85287 P

FBD block B:
ΣFx = 0: FBC sin 30° − FB = 0
FB = 0.98481P sin 30° = 0.4924 P
For impending motion at B: FB = µ s N B
FB 0.4924P
Then NB = : W + 0.85287 P =
µs 0.3
or P = 1.268W
Thus, maximum P for equilibrium Pmax = 1.268W W
φs = tan −1 µ s = tan −1 0.25 = 14.036°
FBD block A:
R2 750 lb
=
sin104.036° sin16.928°
R2 = 2499.0 lb
FBD wedge B:
P 2499.0
=
sin 73.072° sin 75.964°
P = 2464 lb
P = 2.46 kips
Block on incline:
0.1 in.
θ = tan −1 = 3.0368°
2π ( 0.3 in.)
φs = tan −1 µ s = tan −1 0.12 = 6.8428°
Q = ( 500 lb ) tan 9.8796° = 87.08 lb
Couple on each side

M = rQ = ( 0.3 in.)( 87.08 lb ) = 26.12 lb ⋅ in.
Couple to turn = 2M = 52.2 lb ⋅ in.
FBD pulley:
ΣFy = 0: R − 103.005 N − 49.05 N − 98.1 N = 0
R = 250.155 N
ΣM O = 0: ( 0.12 m )(103.005 N − 98.1 N ) − rf ( 250.155 N ) = 0

rf = 0.0023529 m = 2.3529 mm
rf
φ s = sin −1
rs
 rf   −1 2.3529 mm 
µ s = tan φs = tan  sin −1  = tan  sin 
 rs   30 mm 
µ s = 0.0787 W
FBD wheel:
ΣM E = 0: − M E + ( 7.5 in.)(T2 − T1 ) = 0
or M E = ( 7.5 in.)(T2 − T1 )
FBD lever:
ΣM C = 0: ( 4 in.)(T1 + T2 ) − (16 in.)( 25 lb ) = 0
or T1 + T2 = 100 lb
Impending slipping: T2 = T1e µs β
or T2 = T1e
( )
0.25 32π
= 3.2482T1
So T1 (1 + 3.2482 ) = 100 lb
T1 = 23.539 lb
and M E = ( 7.5 in.)( 3.2482 − 1)( 23.539 lb ) = 396.9 lb ⋅ in.
M E = 397 lb ⋅ in. W
Changing the direction of rotation will change the direction of M E and

will switch the magnitudes of T1 and T2 .
The magnitude of the couple applied will not change. W
FBD block:
ΣFn = 0: NC − ( 200 lb ) cos 30° = 0; N = 100 3 lb
ΣFt = 0: TC − ( 200 lb ) sin 30° ∓ FC = 0
TC = 100 lb ± FC (1)
FBD Drum: where the upper signs apply when FC acts
(a) For impending motion of block , FC , and
(
FC = µ s NC = 0.35 100 3 lb = 35 3 lb )
So, from Equation (1): (
TC = 100 − 35 3 lb )
But belt slips on drum, so TC = WAe µk β
−0.25( )
( )
2π
WA =  100 − 35 3 lb  e 3
 
WA = 23.3 lb W
(b) For impending motion of block , FC and FC = µ s NC = 35 3 lb
From Equation (1): (

TC = 100 + 35 3 lb )
−0.25( )
( )
2π
Belt still slips, so WA = TC e− µk β =  100 + 35 3 lb  e 3
 
WA = 95.1 lb W
continued
(c) For steady motion of block , FC , and FC = µk NC = 25 3 lb
Then, from Equation (1): ( )

T = 100 + 25 3 lb.
Also, belt is not slipping on drum, so

−0.35( )
( )
2π
WA = TC e− µ s β =  100 + 25 3 lb  e 3
 
WA = 68.8 lb W

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Sol Cap 08 - Edicion 8 PDF

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COSMOS: Complete Online Solutions Manual Organization System

(a) For smallest WB , slip impends up the incline, and

ΣFx = 0: F − 25 lb + WB sin 30° = 0

( 0.35cos30° + sin 30° )WB = 25 lb

(b) For largest WB , slip impends down the incline, and

ΣFx = 0: Fs + WB sin 30° − 25 lb = 0

( sin 30° − 0.35cos30° )WB = 25 lb

Tension in cord is equal to WA = 40 lb from FBD’s of block A and

Fmax = µ s N = 0.35 ( 47.128 lb ) = 16.495 lb

ΣFx = 0: Feq − 40 lb + ( 52 lb ) sin 25° = 0

So, for equilibrium, Feq = 18.024 lb

(b) With slip, F = µk N = 0.25 ( 47.128 lb )

ΣF y = 0 : N − (98.1 N ) cos 20° + (40 N ) sin 20° = 0

Fmax = µ s N = ( 0.30 )( 78.503 N ) = 23.551 N

For equilibrium: ΣFx = 0: ( 40 N ) cos 20° − ( 98.1 N ) sin 20° − F = 0

F = Feq F = 4.04 N 20°

Tension in cord is equal to P = 62.5 N, from FBD of pulley.

ΣFy = 0: N − ( 98.1 N ) cos 20° + ( 62.5 N ) sin15° = 0

Fmax = µ s N = ( 0.30 )( 76.008 N ) = 22.802 N

For equilibrium: ΣFx = 0: ( 62.5 N ) cos15° − ( 98.1 N ) sin 20° − F = 0

Fslip = µ x N = ( 0.25 )( 76.008 N ) = 19.00 N

Tension in cord is equal to P from FBD of pulley.

ΣFy = 0: N − ( 98.1 N ) cos 20° + P sin 25° = 0 (1)

ΣFx = 0: P cos 25° − ( 98.1 N ) sin 20° + F = 0 (2)

For impending slip down the incline, F = µ s N = 0.3 N and solving

For impending slip up the incline, F = − µ s N = − 0.3 N and solving

so, for equilibrium 7.56 N ≤ P ≤ 59.2 N

For θ min motion will impend up the incline, so F is downward and

ΣFy = 0: N − ( 220 N ) sin θ − (196.2 N ) cos 35° = 0

F = µ s N = 0.3 ( 220 sin θ + 196.2 cos 35° ) N (1)

ΣFx = 0: ( 220 N ) cosθ − F − (196.2 N ) sin 35° = 0 (2)

(1) + ( 2 ): 0.3 ( 220 sin θ + 196.2cosθ ) N

= ( 220 cosθ ) N − (196.2sin 35° ) N

or 220cosθ − 66sin θ = 160.751

Solving numerically: θ = 28.9°

φ s = tan −1 µ s = tan −1 ( 0.35 ) = 19.2900°

with the normal, as shown.

Note, for minimum P, P must be ⊥ to R, i.e. β = φs (angle between

then P = (160 N ) cos ( β + 40° )

= (160 N ) cos 59.29° = 81.71 N

(a) Pmin = 81.7 N

FBD block (impending motion

φ s = tan −1 µ s = tan −1 ( 0.25 ) = 14.036°

(a) Note: For minimum P, P⊥R

So β = α = 90° − ( 30° + 14.036° ) = 45.964°

and P = ( 30 lb ) sin α = ( 30 lb ) sin ( 45.964° ) = 21.567 lb

For impending motion. φ s = tan −1 µ s = tan −1 ( 0.40 )

Note β1,2 = θ1,2 − φ s

So (a) equilibrium for 0 ≤ θ ≤ 55.7°

(b) equilibrium for 167.9° ≤ θ ≤ 180°

Chapter 8, Solution 10.

FBD A with pulley:

Tension in cord is T throughout from pulley FBD’s

FBD E with pulley:

For θ max , motion impends to right, and

φ s = tan −1 µ s = tan −1 ( 0.35 ) = 19.2900°

From force triangle,

θ = sin −1 ( 2sin19.2900° ) + 19.2900° − 60.64°

Chapter 8, Solution 11.

FBD top block:

(a) With cable in place, impending motion of bottom block requires

ΣFy = 0: N − 490.5 N = 0, N = 490.5 N

Chapter 8, Solution 12.