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You are on page 1of 57

The rigid body (slab) has a mass m and rotates with an mvG

angular velocity V about an axis passing through the fixed V

point O. Show that the momenta of all the particles

composing the body can be represented by a single vector P

vG rP/G

having a magnitude mvG and acting through point P, called

the center of percussion, which lies at a distance

rP>G = k2G>rG>O from the mass center G. Here kG is the G

rG/O

radius of gyration of the body, computed about an axis

perpendicular to the plane of motion and passing through G.

O

SOLUTION

HO = (rG>O + rP>G) myG = rG>O (myG) + IG v, where IG = mk2G

k2G

rP>G =

yG>v

yG

However, yG = vrG>O or rG>O =

v

k2G

rP>G = Q.E.D.

rG>O

19–2.

L = mvG and an angular momentum H G = IG V computed mvG

about its mass center. Show that the angular momentum of

the body computed about the instantaneous center of zero G

IGV

velocity IC can be expressed as H IC = IIC V , where IIC

represents the body’s moment of inertia computed about

the instantaneous axis of zero velocity. As shown, the IC is

located at a distance rG>IC away from the mass center G.

rG/IC

SOLUTION IC

= rG>IC (mvrG>IC) + IG v

= (IG + mr2G>IC) v

= IIC v Q.E.D.

19–3.

to the slab and passing through its mass center G, the angular P

momentum is the same when computed about any other

point P.

G

SOLUTION

Since yG = 0, the linear momentum L = myG = 0. Hence the angular momentum

about any point P is

HP = IG v

19– 4.

The slender rod of mass M rests on a smooth floor. If it is kicked so as to receive a

horizontal impulse I at point A as shown, determine its angular velocity and the speed of its

mass center.

Given:

M 4 kg

l1 2m

l2 1.75 m

I 8Ns

T 60 deg

Solution:

m rad

Guesses v 1 Z 1

s s

§ l1 · 1

I sin T ¨ l2

2

Given ¸ M l1 Z I Mv

© 2¹ 12

§Z· rad m

¨ ¸ Find Z v Z 3.90 v 2.00 Ans.

©v¹ s s

19–5.

is 580 mm long, and cylindrical end weights at A and B that

each have a diameter of 20 mm and a mass of 1 kg. This

assembly is free to rotate about the handle and socket,

C

which are attached to the lug nut on the wheel of a car. If

B

the rod AB is given an angular velocity of 4 rad>s and it

strikes the bracket C on the handle without rebounding,

determine the angular impulse imparted to the lug nut.

300 mm

A

SOLUTION 300 mm

1 1

Iaxle =

12 2

L

19–6.

inertia IG = 900 kg # m2 about an axis passing through G 15°

and directed perpendicular to the page. If it is traveling

forward with a speed vG = 800 m>s and executes a turn by vG = 800 m/s

1.5 m

means of two jets, which provide a constant thrust of 400 N G

for 0.3 s, determine the capsule’s angular velocity just after

1.5 m

the jets are turned off.

15°

SOLUTION T = 400 N

19–7.

300 km> h, when the engines A and B produce a thrust of

TA = 40 kN and TB = 20 kN, respectively. Determine the

angular velocity of the airplane in t = 5 s. The plane has a TA ⫽ 40 kN 8 m

mass of 200 Mg, its center of mass is located at G, and its A

radius of gyration about G is kG = 15 m.

G

B

SOLUTION TB ⫽ 20 kN

8m

Principle of Angular Impulse and Momentum: The mass moment of inertia of the

airplane about its mass center is IG = mkG2 = 200 A 103 B A 152 B = 45 A 106 B kg # m2.

Applying the angular impulse and momentum equation about point G,

t2

Izv1 + © MGdt = IGv2

Lt1

19–8.

The spool has mass mS and radius of gyration kO. Block A has mass mA, and block B has mass

mB. If they are released from rest, determine the time required for block A to attain speed vA.

Neglect the mass of the ropes.

Given:

mS 30 kg mB 10 kg ro 0.3 m

m m

kO 0.25 m vA 2 g 9.81

s 2

s

mA 25 kg ri 0.18 m

Solution:

m rad

Guesses t 1s vB 1 Z 1

s s

2

0 mA g t ro mB g t ri mA vA ro mB vB ri mS kO Z

§¨ t ·¸

Find t vB Z

m rad

¨ vB ¸ vB 1.20 Z 6.67 t 0.530 s Ans.

s s

¨Z ¸

© ¹

19–9.

about the z axis of kz = 300 mm, rests on the smooth

horizontal plane. If the belt is subjected to a force of 400 mm

P = 200 N, determine the angular velocity of the wheel and

O

the speed of its center of mass O, three seconds after the

force is applied.

SOLUTION

x y

Principle of Angular Impulse and Momentum: The mass moment of inertia of the

wheel about the z axis is Iz = mkz2 = 100(0.32) = 9 kg # m2. Applying the linear and

angular impulse and momentum equations using the free-body diagram of the wheel P ⫽ 200 N

shown in Fig. a,

t2

+

; m(vx)1 + © Fx dt = m(vx)2

Lt1

0 + 200(3) = 100(vO)2

and

t2

Izv1 + © Mzdt = Izv2

Lt1

0 - [200(0.4)(3)] = - 9v2

19–10.

mass O of kO = 125 mm. If the 20-kg gear rack B is

subjected to a force of P = 200 N, determine the time 0.15 m

required for the gear to obtain an angular velocity of O

20 rad>s, starting from rest. The contact surface between the

gear rack and the horizontal plane is smooth.

A P ⫽ 200 N

B

SOLUTION

Kinematics: Since the gear rotates about the fixed axis, the final velocity of the gear

rack is required to be

Principle of Impulse and Momentum: Applying the linear impulse and momentum

equation along the x axis using the free-body diagram of the gear rack shown in Fig. a,

t2

+ B

A: m(vB)1 + © Fxdt = m(vB)2

Lt1

0 + 200(t) - F(t) = 20(3)

The mass moment of inertia of the gear about its mass center is IO =

mkO2 = 30(0.1252) = 0.46875 kg # m2. Writing the angular impulse and momentum

equation about point O using the free-body diagram of the gear shown in Fig. b,

t2

IOv1 + © MOdt = IOv2

Lt1

0 + F(t)(0.15) = 0.46875(20)

t = 0.6125 s Ans.

19–11.

wrapped around the inner hub of the reel is subjected to a 150 mm

force of P = 50 N, determine the velocity of the cart and

O

the angular velocity of the reel when t = 4 s. The radius of

gyration of the reel about its center of mass O is

kO = 250 mm. Neglect the size of the small wheels.

SOLUTION

Principle of Impulse and Momentum: The mass moment of inertia of the reel about

its mass center is IO = mkO 2 = 30(0.2502) = 1.875 kg # m2. Referring to Fig. a,

t2

m C (vO)1 D x + © Fxdt = m C (vO)2 D x

Lt1

+ B

A: 0 + 50(4) - Ox(4) = 30v

Ox = 50 - 7.5v (1)

and

t2

IOv1 + © MOdt = IOv2

Lt1

0 + 50(4)(0.15) = 1.875v

v = 16 rad>s Ans.

Referring to Fig. b,

t2

+

: m(v1)x + © Fxdt = m(v2)x

Lt1

0 + Ox(4) = 20v

Ox = 5v (2)

v = 4 m>s Ans.

Ox = 20 N

19–12.

A wire of negligible mass is wrapped around the outer surface of the disk of mass M. If the

disk is released from rest, determine its angular velocity at time t.

Given:

M 2 kg t 3s r 80 mm

Solution:

3 2

0 M grt Mr Z

2

2 § g· rad

Z ¨ ¸t Z 245 Ans.

3 © r¹ s

19–13.

by a cord. If the rod receives a horizontal blow giving it an

impulse I at its bottom B, determine the location y of the

point P about which the rod appears to rotate during the A

impact.

SOLUTION l

t2

(a +) IG v1 + © MG dt = IG v2

Lt1

I B

0 + I a b = c ml2 d v

l 1 1

I = mlv

2 12 6

t2

a:

+ b m(yAx)1 + © Fx dt = m(yAx)2

Lt1

1 l

0 + mlv = mvG yG = v

6 6

Kinematics: Point P is the IC.

yB = v y

l

v

vy 6 2

= y = l Ans.

y l 3

y -

2

19–14.

a rough surface with a velocity v0 parallel to the surface,

determine the amount of backspin, V 0, it must be given so

that it stops spinning at the same instant that its forward v0

velocity is zero. It is not necessary to know the coefficient

r

of friction at A for the calculation.

A

SOLUTION

+ B

A; m(nGx)1 + © Fx dt = m(vGx)2

L

W

n - Ft = 0 (1)

g 0

a ( +) (HG)1 + © MG dt = (HG)2

L

2 W

- a r2 b v0 + Ft(r) = 0 (2)

5 g

2 W 2 W n0

r v0 = t(r)

5 g g t

v0

v0 = 2.5 Ans.

r

19–15.

20-kg circular disk C. If it is subjected to a torque of

M = (20t3>2) N # m , where t is it in seconds, determine its

angular velocity when t = 3 s . When t = 0 the assembly M ⫽ (20t 3/2) N⭈m

0.45 m

is rotating at v1 = { -6k} rad>s .

A

B 0.15 m

SOLUTION x

1 1

the assembly about the z axis is Iz = (10) A 0.452 B + c (20) A 0.152 B + 20 A 0.62 B d =

3 2

8.10 kg # m2. Using the free-body diagram of the assembly shown in Fig. a,

t2

Izv1 + © Mzdt = Izv2

Lt1

3s

3>2

8.10( - 6) + 20t dt = 8.10v2

L0

3s

- 48.6 + 8t5>2 2 = 8.10v2

0

v2 = 9.40 rad>s Ans.

19–16.

Angular motion is transmitted from a driver wheel A to the driven wheel B by friction between the

wheels at C. If A always rotates at constant rate ZA and the coefficient of kinetic friction between

the wheels is Pk determine the time required for B to reach a constant angular velocity once the

wheels make contact with a normal force F N. What is the final angular velocity of wheel B?

Wheel B has mass mB and radius of gyration about its axis of rotation kG.

Given:

rad

ZA 16 mB 90 kg b 50 mm

s

Pk 0.2 kG 120 mm c 4 mm

FN 50 N a 40 mm

rad

Solution: Guesses t 1s ZB 1

s

2

Given P k F N( a b)t mB kG ZB

ZA§¨ ¸·

a

ZB( a b)

© 2¹

§ t ·

Find t ZB

rad

¨ ¸ ZB 3.56 t 5.12 s Ans.

© ZB ¹ s

19–17.

of gear A. Determine the angular velocity of each of the

three (equal) smaller gears in 2 s starting from rest. The

smaller gears (B) are pinned at their centers, and the masses

and centroidal radii of gyration of the gears are given in the mA 0.8 kg

figure. M 0.05 N m kA 31 mm

SOLUTION

Gear A: 40 mm

A

(c + ) (HA)1 + © MA dt = (HA)2

L

B

0 - 3(F)(2)(0.04) + 0.05(2) = [0.8(0.031)2] vA mB 0.3 kg

20 mm kB 15 mm

Gear B:

(a + ) (HB)1 + © MB dt = (HB)2

L

0 + (F)(2)(0.02) = [0.3(0.015)2] vB

F = 0.214 N

vA = 63.3 rad>s

19–18.

thrown onto a rough surface with a velocity vG

parallel to the surface, determine the amount of

backspin, Z0, it must be given so that it stops

spinning at the same instant that its forward

velocity is zero. It is not necessary to know the

coefficient of kinetic friction at A for the

calculation.

Solution:

§ W · v r § W · r2Z

¨ ¸ G ¨ ¸ 0 0

©g¹ ©g¹

vG

Z0 Ans.

r

19–19.

attached to one another and turn at the same rate. The 200 mm

O

pulley has a mass of 15 kg and a radius of gyration 75 mm

kO = 110 mm. If the block at A has a mass of 40 kg,

determine the speed of the block in 3 s after a constant

force F = 2 kN is applied to the rope wrapped around the

inner hub of the pulley. The block is originally at rest.

Neglect the mass of the rope. F

A

SOLUTION

(c +) (HO)1 + © MO dt = (HO)2

L

v = 120.4 rad>s

19–20.

The double pulley consists of two wheels which are attached to one another and turn at the same

rate. The pulley has mass mp and radius of gyration kO. If the block at A has mass mA, determine

the speed of the block at time t after a constant force F is applied to the rope wrapped around the

inner hub of the pulley. The block is originally at rest. Neglect the mass of the rope.

3

Units Used: kN 10 N

Given:

mp 25 kg F 5 kN

kO 150 mm ri 75 mm

mA 100 kg ro 200 mm

t 4s

m rad

Solution: Guess vA 1 Z 1

s s

2

Given F ri t mA g ro t mp kO Z mA vA ro

vA Zro

§ vA ·

Find vA Z

rad m

¨ ¸ Z 156 .81 vA 31.4 Ans.

©Z ¹ s s

19–21.

The drum has mass M, radius r, and radius of gyration kO. If the coefficients of static and

kinetic friction at A are Ps and Pk respectively, determine the drum's angular velocity at time t

after it is released from rest.

Given:

M 70 kg Ps 0.4 T 30 deg

m

r 300mm Pk 0.3 g 9.81

2

s

kO 125 mm t 2s

rad m

Guesses Ff 1N FN 1N Z 1 v 1 F max 1N

s s

2

Given 0 Ff r t M kO Z v Zr F max P s FN

M g sin T t F f t Mv F N t M g cos T t 0

§ Ff ·

¨ ¸

¨ Fmax ¸ § Ff · § 51 ·

¨ F ¸ ¨ ¸ ¨ 238 ¸ N

Find Ff Fmax F N Z v

m

¨ N ¸ ¨ Fmax ¸ ¨ ¸

v 8.36

s

¨ Z ¸ ¨ F ¸ © 595 ¹

© N ¹

¨ ¸ Z 27.9

rad

© v ¹ s

Ans.

Since F f 51 N < F max 238 N then our no-slip assumption is good. Ans.

19 –22.

the pool table, so that when the pool ball

of mass m strikes it, no frictional force

will be developed between the ball and

the table at A. Assume the bumper exerts

only a horizontal force on the ball.

Solution:

7 2

F't M' v F't h M r 'Z 'v r'Z

5

Thus

7 2 7

M r'Zh M r 'Z h r Ans.

5 5

19–23.

The 100-kg reel has a radius of gyration about its center of 0.3 m A

mass G of kG = 200 mm. If the cable B is subjected to a

G 0.1 m

force of P = 300 N, determine the time required for the

reel to obtain an angular velocity of 20 rad>s. The P ⫽ 300 N

coefficient of kinetic friction between the reel and the plane 0.2 m

is mk = 0.15. B

SOLUTION

Kinematics: Referring to Fig. a, the final velocity of the center O of the spool is

Principle of Impulse and Momentum: The mass moment of inertia of the spool

about its mass center is IG = mkG2 = 100(0.2 2) = 4 kg # m2. Applying the linear

impulse and momentum equation along the y axis,

L

0 + N(t) - 100(9.81)(t) = 0 N = 981 N

Using this result to write the angular impulse and momentum equation about the IC,

t2

a+ (HIC)1 + © MIC dt = (HIC)2

Lt1

0 + 0.15(981)(t)(0.5) - 300t(0.3) = - 100(4)(0.2) - 4(20)

t = 9.74 s Ans.

19–24.

t is in seconds. Determine the angular velocity of the gear at

150 mm

t = 4 s, starting from rest. Gear rack B is fixed to the P ⫽ (20t) N

horizontal plane, and the gear’s radius of gyration about its O

mass center O is kO = 125 mm.

B A

SOLUTION

Kinematics: Referring to Fig. a,

vO = vrO>IC = v(0.15)

the gear about its mass center is IO = mkO2 = 30(0.1252) = 0.46875 kg # m2.

Writing the angular impulse and momentum equation about point A shown in

Fig. b,

t2

(HA)1 + © MA dt = (HA)2

Lt1

4s

0 + 20t(0.15)dt = 0.46875v + 30 [v(0.15)] (0.15)

L0

4s

1.5t2 2 = 1.14375v

0

19–25.

to one another and turn at the same rate. The pulley has a

mass of 30 kg and a radius of gyration kO = 250 mm. If two 350 mm

275 mm

O

men A and B grab the suspended ropes and step off the

ledges at the same time, determine their speeds in 4 s

starting from rest. The men A and B have a mass of 60 kg

and 70 kg, respectively. Assume they do not move relative

to the rope during the motion. Neglect the mass of the rope.

SOLUTION

a+ (HO)1 + © 1 MOdt = (HO)2

v = 4.73 rad>s

19–26.

where t is in seconds, determine the angular velocity of the 1m 1m M (15t2) N m

assembly when t = 3 s, starting from rest. Rods AB and BC

each have a mass of 9 kg. C A

SOLUTION

Principle of Impulse and Momentum: The mass moment of inertia of the rods

(9) A 12 B = 0.75 kg # m2. Since the

1 1

about their mass center is IG = ml2 =

12 12

assembly rotates about the fixed axis, (vG)AB = v(rG)AB = v(0.5) and

(vG)BC = v(rG)BC = va 212 + (0.5)2 b = v(1.118). Referring to Fig. a,

t2

c+ (Hz)1 + © Mz dt = (Hz)2

Lt1

3s

0 + 15t2dt = 9 C v(0.5) D (0.5) + 0.75v + 9 C v(1.118) D (1.118) + 0.75v

L0

3s

5t3 2 = 15v

0

v = 9 rad>s Ans.

19–27.

The square plate has a mass m and is suspended at its

corner A by a cord. If it receives a horizontal impulse I at

corner B, determine the location y of the point P about

which the plate appears to rotate during the impact.

A

P y

a a

SOLUTION

a a

(a + ) (HG)1 + © MG dt = (HG)2

L I

B

a m 2

0 + Ia b= (a + a2) v

22 12

+ )

(: m(vGx)1 + © Fxdt = m(vGx)2

L

0 + I = mvG

6I

v =

22am

I

vG =

m

I

vG m 22a

y¿ = = =

v 6I 6

12 am

3 22 22 22

y = a - a = a Ans.

6 6 3

19–28.

acquires as it moves down the conveyor. The rollers each

have a radius of r, mass m, and are spaced d apart. Note that

friction causes each roller to rotate when the crate comes in

contact with it.

SOLUTION A 30°

v0

Thus in one second, rollers are contacted.

d

v0

If a roller is brought to full angular speed of v = in t0 seconds, then the moment

r

of inertia that is effected is

v0 1 v0

I¿ = I a b(t0) = a m r2ba bt0

d 2 d

F = mc sin u then

a + (HG)1 + © MG dt = (HG)2

L

1 v0 v0

0 + (mc sin u) r t0 = c a m r2 b a b t0 d a b

2 d r

mc

v0 = (2 g sin u d) a b Ans.

A m

19–29.

originally at rest and standing on a small platform which can

turn freely. If he is handed a wheel which is rotating at V and

u

has a moment of inertia I about its spinning axis, determine

his angular velocity if (a) he holds the wheel upright as V

shown, (b) turns the wheel out, u = 90°, and (c) turns the

wheel downward, u = 180°. Neglect the effect of holding the

wheel a distance d away from the z axis.

SOLUTION

a)

b)

I

a (Hz)1 = a (H)2; 0 + Iv = IzvM + 0 vM =

Iz

v Ans.

c)

2I

a (Hz)1 = a (H)2; 0 + Iv = IzvM - Iv vM =

Iy

v Ans.

19–30.

gyration about their central vertical axes of kA and kB,

respectively. If they are freely rotating in the same direction

at V A and V B about the same vertical axis, determine their

common angular velocity after they are brought into

contact and slipping between them stops.

SOLUTION

(©Syst. Angular Momentum)1 = (©Syst. Angular Momentum)2

Set vA

¿ = vB

¿ = v. then

mA k2A vA + mB k2B vB

v = Ans.

mA k2A + mB k2B

19–31.

Each of the two slender rods and the disk have the same mass m. Also, the length of each rod

is equal to the diameter d of the disk. If the assembly is rotating with an angular velocity Z1

when the rods are directed outward, determine the angular velocity of the assembly if by

internal means the rods are brought to an upright vertical position.

Solution:

H1 H2

ª1 § d · 2 º ª1 § d · 2 d º

2

« m ¨ ¸ 2m §¨ ¸· » Z2

1

« m ¨ ¸ 2 m d2 2m d2» Z1

¬2 © 2 ¹ 12 ¼ ¬2 © 2 ¹ © 2¹ ¼

11

Z2 Z1 Ans.

3

19–32.

inertia Iz = 0.940 kg # m2, excluding the four solar panels A,

B, C, and D. Each solar panel has a mass of 20 kg and can be

approximated as a thin plate. If the satellite is originally

y

spinning about the z axis at a constant rate vz = 0.5 rad>s B z

C

when u = 90°, determine the rate of spin if all the panels

are raised and reach the upward position, u = 0°, at the θ = 90°

same instant

A 0.2 m D

0.75 m x

SOLUTION 0.2 m

c+ H1 = H2

1 1

2c (4)(0.15)2 d (5) = 2 c (4)(0.15)2 d v

2 2

1

+ 2[4(0.75v)(0.75)] + c (2)(1.50)2 d v

12

19–33.

0.65 m

turntable of negligible mass, which turns freely about a

vertical axis. When his arms are fully extended, the turn-

table is rotating with an angular velocity of 0.5 rev>s.

Determine the angular velocity of the man when he retracts

his arms to the position shown. When his arms are fully

extended, approximate each arm as a uniform 6-kg rod 0.3 m 0.3 m

having a length of 650 mm, and his body as a 68-kg solid

cylinder of 400-mm diameter. With his arms in the retracted

position, assume the man as an 80-kg solid cylinder of 450-mm

diameter. Each dumbbell consists of two 5-kg spheres of

negligible size.

SOLUTION

Conservation of Angular Momentum: Since no external angular impulse acts on the

system during the motion, angular momentum about the axis of rotation (z axis) is

conserved. The mass moment of inertia of the system when the arms are in the fully

extended position is

1 1

(Iz)1 = 2 c 10(0.852) d + 2 c (6)(0.652) + 6(0.5252) d + (68)(0.2 2)

12 2

= 19.54 kg # m2

And the mass moment of inertia of the system when the arms are in the restracted

position is

1

(Iz)2 = 2c 10(0.32) d + (80)(0.2252)

2

= 3.825 kg # m2

Thus,

(Hz)1 = (Hz)2

(Iz)1v1 = (Iz)2v2

19.54(0.5) = 3.825v2

19–34.

B

stretched position A, rotating with an angular velocity of

vA = 3 rad>s. Estimate his angular velocity when he 750 mm vA ⫽ 5 rad/s

assumes a tucked position B. Assume the gymnast at

positions A and B as a uniform slender rod and a uniform

circular disk, respectively. G A

1.75 m

SOLUTION

Conservation of Angular Momentum: Other than the weight, there is no external

impulse during the motion. Thus, the angular momentum of the gymnast is

conserved about his mass cener G. The mass moments of inertia of the gymnast at

1 1

the fully stretched and tucked positions are (IA)G = ml2 = (75)(1.752) =

12 12

19.14 kg # m2 and (IB)G = mr2 = (75)(0.3752) = 5.273 kg # m2. Thus,

1 1

12 2

(HA)G = (HB)G

19.14(3) = 5.273vB

vB = 10.9 rad>s Ans.

19–35.

The 2-kg rod ACB supports the two 4-kg disks at its ends. If 0.75m 0.75m

both disks are given a clockwise angular velocity C

1vA21 = 1vB21 = 5 rad>s while the rod is held stationary B A

and then released, determine the angular velocity of the rod

(VB)1 (VA)1

after both disks have stopped spinning relative to the rod 0.15 m 0.15 m

due to frictional resistance at the pins A and B. Motion is in

the horizontal plane. Neglect friction at pin C.

SOLUTION

c+ H1 = H2

1 1 1

2c (4) (0.15)2d(5) = 2c (4)(0.15)2d v + 2[4(0.75 v)(0.75)] + c (2)(1.50)2d v

2 2 12

19–36.

panels as shown. The body of the telescope has a mass M1

and radii of gyration kx and ky, whereas the solar panels

can be considered as thin plates, each having a mass M2.

Due to an internal drive, the panels are given an angular

velocity of Z0 j, measured relative to the telescope.

Determine the angular velocity of the telescope due to the

rotation of the panels. Prior to rotating the panels, the

telescope was originally traveling at vG = (vxi + vyj + vzk).

Neglect its orbital rotation.

3

Units Used: Mg 10 kg

Given:

rad m

M1 11 Mg Z0 0.6 vx 400

s s

m

M2 54 kg a 1.5 m vy 250

s

m

kx 1.64 m b 6m vz 175

s

ky 3.85 m

rad

Guess ZT 1

s

Given 0

§ 1 M b2· Z Z M k 2 Z

2¨

© 12

2 ¸ 0

¹

T 1 y

T ZT Find ZT

3 rad

ZT 1.19 u 10 Ans.

s

19–37.

The pendulum consists of a slender rod AB of mass M1 and a disk of mass M2. It is

released from rest without rotating. When it falls a distance d, the end A strikes the hook

S, which provides a permanent connection. Determine the angular velocity of the

pendulum after it has rotated 90°. Treat the pendulum’s weight during impact as a

nonimpulsive force.

Given:

M1 2kg r 0.2m

M2 5kg l 0.5m

d 0.3m

Solution:

v1 2g d

2 2

l r 2

IA M1 M2 M2 ( l r)

3 2

Guesses

rad rad

Z2 1 Z3 1

s s

Given

l

M1 v1 M2 v1( l r) IAZ2

2

1 2 1 2 l

IAZ2 IAZ3 M1 g M2 g( l r)

2 2 2

§ Z2 ·

Find Z2 Z3

rad rad

¨ ¸ Z2 3.57 Z3 6.45 Ans.

© Z3 ¹ s s

19–38.

the cylinder is at x = 0, the 50-kg circular disk D is rotating

with an angular velocity of 5 rad> s. If the cylinder is given a x

C

slight push, determine the angular velocity of the disk 0.15 m

when the cylinder strikes B at x = 600 mm. Neglect the A

mass of the brackets and the smooth rod. G

B

D

0.9 m

SOLUTION 0.3 m

the system during the motion, angular momentum is conserved about the z axis. v

The mass moments of inertia of the cylinder and the disk about their centers of

(20)[3(0.152) + 0.32] = 0.2625 kg # m2 and

1 1

mass are (IA)G = m(3r2 + h2) =

12 12

(ID)G = mr2 = (50)(0.92) = 20.25 kg # m2. Since the disk rotates about a fixed z

1 1

2 2

axis, (vG)A = v(rG)A = v(0.6). Referring to Fig. a,

(Hz)1 = (Hz)2

19–39.

released from rest in the vertical position. When it falls

and rotates 90°, pin C will strike support B, and pin at A 2L

3

will leave its support. Determine the angular velocity of

the bar immediately after the impact. Assume the pin at B

will not rebound. C

L

3 B

A

SOLUTION

L

Conservation of Energy: With reference to the datum in Fig. a, V1 = (Vg)1 = 3

L

W(yG)1 = mga b and V2 = (Vg)2 = W(yG)2 = 0. Since the rod rotates about point A,

2

1 1 1 1

T2 = I v2 = c mL2 d v22 = mL2v22. Since the rod is initially at rest, T1 = 0.

2 A 2 2 3 6

Then,

T1 + V1 = T2 + V2

L 1

0 + mga b = mL2v2 2 + 0

2 6

3g

v2 =

BL

Conservation of Angular Momentum: Since the rod rotates about point A just

3g L 3gL

before the impact, (vG)2 = v2rAG = a b = . Also, the rod rotates about

BL 2 B 4

L

B immediately after the impact, (vG)3 = v3rBG = v3 a b . Angular momentum is

6

conserved about point B. Thus,

(HB)2 = (HB)3

3gL L 1 3g 1 L L

m a b + a mL2 b = a mL2 bv3 + mcv3 a b d a b

B 4 6 12 BL 12 6 6

3 3g

v3 = Ans.

2B L

19–40.

The uniform rod assembly rotates with an angular velocity P

of v0 on the smooth horizontal plane just before the hook

strikes the peg P without rebound. Determine the angular v0

velocity of the assembly immediately after the impact. Each L

2

rod has a mass of m. L L

2

SOLUTION

Center of Mass: Referring to Fig. a,

L

a b (m) + L(m)

©xcm 2 3

x = = = L

©m 2m 4

Thus, the mass moment of the assembly about its mass center G is

1 L 2 1 L 2 7

IG = c mL2 + m a b d + c mL2 + ma b d = mL2

12 4 12 4 24

conserved about P since the sum of the angular impulses about this point is zero.

3

Here, immediately after the impact, (vG)2 = v2rPG = v2 a L b . Thus,

4

(HP)1 = (HP)2

7 7 3 3

a mL2 b v0 = a mL2 b v2 + 2m c v2 a Lb d a L b

24 24 4 4

7

v2 = v Ans.

34 0

19–41.

rotating on a smooth surface. Determine its new angular

velocity just after the hook at its edge strikes the peg P and r

the disk starts to rotate about P without rebounding.

V1

SOLUTION

H1 = H2

1 1

a mr 2bv1 = c mr 2 + mr 2dv2

2 2

1

v2 = v1 Ans.

3

19–42.

3 rad>s when u = 0°. If a force F is applied to the collar so

that u = 90°, determine the angular velocity of the shaft. 0.3 m 0.3 m B

D

Also, find the work done by force F. Neglect the mass of

rods GH and EF and the collars I and J. The rods AB and

CD each have a mass of 10 kg. E 0.3 m 0.3 m G

u I u

C A

SOLUTION

0.1 m 0.1 m

Conservation of Angular Momentum: Referring to the free-body diagram of the v

assembly shown in Fig. a, the sum of the angular impulses about the z axis is zero.

Thus, the angular momentum of the system is conserved about the axis. The mass

J

moments of inertia of the rods about the z axis when u = 0° and 90° are F H

1 F

(Iz)1 = 2 c

12

Thus,

(Hz)1 = (Hz)2

3.8(3) = 0.2v2

v2 = 57 rad>s Ans.

Principle of Work and Energy: As shown on the free-body diagram of the assembly,

Fig. b, W does negative work, while F does positive work. The work of W is

UW = - Wh = - 10(9.81)(0.3) = - 29.43 J. The initial and final kinetic energy of the

1 1 1

assembly is T1 = (Iz)1v1 2 = (3.8)(32) = 17.1 J and T2 = (Iz)2v2 2 =

2 2 2

1

(0.2)(572) = 324.9 J. Thus,

2

T1 + ©U1 - 2 = T2

UF = 367 J Ans.

19–43.

collar having a negligible size and one-fourth

the mass of the rod is placed on the rod at its

midpoint. If the rod is freely rotating with

angular velocity Z about its end and the collar

is released, determine the rod’s angular

velocity just before the collar flies off the rod.

Also, what is the speed of the collar as it

leaves the rod?

Solution:

H1 H2

1 2 § m ·§ L · § L ·

m L Z ¨ ¸ ¨ ¸ Z¨ ¸

1 2 § m·

m L Z' ¨ ¸ LZ' L Z' =

19

Z Ans.

3 © 4 ¹© 2 ¹ © 2 ¹ 3 ©4¹ 28

T1 V 1 T2 V 2

2

1§1 2· 2 1 § m · § L · 1 § m· 2 1 § m· 2 1§1 2· 2

¨ m L ¸ Z ¨ ¸ ¨ Z¸ ¨ ¸ v' ¨ ¸ LZ' ¨ m L ¸ Z'

2©3 ¹ 2© 4 ¹ ©2 ¹ 2© 4 ¹ 2© 4 ¹ 2©3 ¹

2 57 2 2

v' L Z

112

2

57 2 2 ª § 19 ·º 95 v'' 0.985 ZL Ans.

v'' L Z «L¨ Z¸» v'' ZL

112 ¬ © 28 ¹¼ 98

19–44.

edge of the 5-kg disk as shown. Determine the angular O

velocity of the disk just after the bullet becomes embedded

in it. Also, calculate how far u the disk will swing until it u

v 800 m/s

stops. The disk is originally at rest.

30

0.2 m

SOLUTION

c+ (HO)1 + © MO dt = (HO)2

L

1

0.007(800) cos 30°(0.2) + 0 = (5.007)(0.2)2v + 5.007(0.2v)(0.2)

2

T1 + V1 = T2 + V2

1 1 1

(5.007)[3.23(0.2)]2 + [ (5.007)(0.2)2](3.23)2 + 0 = 0 + 0.2(1 - cosu)(5.007)(9.81)

2 2 2

u = 32.8° Ans.

19–45.

Two children A and B, each having a mass M1, sit at the edge of the merry-go-round

which is rotating with angular velocity Z. Excluding the children, the merry-go-round has a

mass M2 and a radius of gyration kz. Determine the angular velocity of the merry-go-round

if A jumps off horizontally in the n direction with a speed v, measured with respect to the

merry-go-round.What is the merry-go-round’s angular velocity if B then jumps off

horizontally in the +t direction with a speed v, measured with respect to the

merry-go-round? Neglect friction and the size of each child.

Given:

M1 30 kg kz 0.6 m

M2 180 kg a 0.75 m

rad m

Z 2 v 2

s s

Solution:

rad

( a) Guess Z2 1

s

Find Z2

rad

Z2 Z2 2.41 Ans.

s

rad

( b) Guess Z3 1

s

Given M2 kz2 M1 a2Z2 M2 kz Z3 M1 v Z3 a a

2

Find Z3

rad

Z3 Z3 1.86 Ans.

s

19–46 . The target is a thin 5-kg circular disk that can z

rotate freely about the z axis. A 25-g bullet, traveling at

600 ms, strikes the target at A and becomes embedded in

it. Determine the angular velocity of the target after the 200 mm

impact. Initially, it is at rest. 300 mm 600 m/ s

A 100 mm

impulse of the system about the z axis is zero. Thus, the angular impulse of the

system is conserved about the z axis. The mass moment of inertia of the target about

1 1

the z axis is *[ NS2 (5) 0.32 0.1125 kg m2. Since the target rotates

4 4

about the z axis when the bullet is embedded in the target, the bullet’s velocity is

(vC)2 v(0.2). Then,

()[)1 ()[)2

19–4 7. The disk has a mass of 15 kg. If it is released from 150 mm

rest when u 30°, determine the maximum angle u of

rebound after it collides with the wall. The coefficient of

C

restitution between the disk and the wall is F 0.6. When

u 0°, the disk hangs such that it just touches the wall. 150 mm u

Neglect friction at the pin C.

51 71 52 72

1 3

0 (15)(9.81)(0.15)(1 cos 30°) 5 (15)(0.15)2 6 v2 0

2 2

v 3.418 rads

4 0 ( 0.15v)

3

F 0.6

3.418(0.15) 0

v 2.0508 rads

52 72 53 73

1 3

5 (15)(0.15)2 6 (2.0508)2 0 0 15(9.81)(0.15)(1 cos u)

2 2

u 17.9° Ans.

19–48. A 2-kg mass of putty D strikes the uniform 10-kg

plank ABC with a velocity of 10 ms. If the putty remains D

300 mm

attached to the plank, determine the maximum angle u of u B C

A

swing before the plank momentarily stops. Neglect the size

of the putty.

800 mm 400 mm

impulses about point B is zero. Thus, angular impulse of the system is conserved

about this point. Since rod AC rotates about point B, (v("$)2 v2S("$ v2(0.2)

and (v%)2 v2S(% v2(0.3). The mass moment of inertia of rod AC about its mass

1 1

center is *("$ NM2 (10) 1.22 1.2 kg m2. Then,

12 12

()#)1 ()#)2

Conservation of Energy: With reference to the datum in Fig. a,

and

The initial kinetic energy of the system is

1 1 1

52 * v 2 N"$ (v("$)2 2 N%(v(%)2 2

2 ("$ 2 2 2

1 1 1

(1.2) 3.3712 (10) 3.371(0.2) 2 (2) 3.371(0.3) 2 10.11 J

2 2 2

Since the system is required to be at rest in the final position, 53 0. Then,

52 72 53 73

10.11 0 0 13.734 sin u

u 47.4° Ans.

19–49.

uniform slender rod AB. If the hammer is released from rest

A

when u = 90° and strikes the 30-kg block D when u = 0°, 500 mm

determine the velocity of block D and the angular velocity of

u

the hammer immediately after the impact. The coefficient of

100 mm

restitution between the hammer and the block is e = 0.6.

B

SOLUTION

150 mm

C 50 mm

Conservation of Energy: With reference to the datum in Fig. a, V1 = (Vg)1 =

WAB(yGAB)1 + WC(yGC)1 = 0 and V2 = (Vg)2 = - WAB(yGAB)2 - WC(yGC)2 = D

rotates about the fixed axis, (vGAB)2 = v2rGAB = v2(0.25) and

(vGC)2 = v2rGC = v2(0.55). The mass moment of inertia of rod AB and cylinder C

(6)(0.52) = 0.125 kg # m2 and

1 1

about their mass centers is IGAB = ml2 =

12 12

(10) C 3(0.052) + 0.152 D = 0.025 kg # m2. Thus,

1 1

IC = m(3r2 + h2) =

12 12

1 1 1 1

T2 = I v 2 + mAB(vGAB)2 2 + IGC v22 + mC(vGC)2 2

2 GAB 2 2 2 2

1 1 1 1

= (0.125)v22 + (6) C v2(0.25) D 2 + (0.025)v22 + (10) C v2(0.55) D 2

2 2 2 2

= 1.775 v22

Then,

T1 + V1 = T2 + V2

0 + 0 = 1.775v22 + ( - 68.67)

v2 = 6.220 rad>s

conserved point A. Then,

(HA)1 = (HA)2

19–49. continued

impact point P just before and just after impact along the line of impact are

C (vP)x D 2 = (vGC)2 = v2rGC = 6.220(0.55) = 3.421 m>s : and C (vP)x D 3 = (vGC)3 =

v3rGC = v3 (0.55) ; . Thus,

(vD)3 - C (vP)x D 3

+

: e =

C (vP)x D 2 - (vD)2

(vD)3 - C - v3(0.55) D

0.6 =

3.421 - 0

(vD)3 + 0.55v3 = 2.053 (2)

19– 50.

rotating on the smooth surface with a

constant angular velocity Z0 . Determine

the new angular velocity of the plate just

after its corner strikes the peg P and the

plate starts to rotate about P without

rebounding.

Solution:

§ W · §¨ a ·¸ Z § W · §¨ 2a ·¸ Z

2 2

1

¨ ¸ 0 ¨ ¸ Z Z0 Ans.

© g ¹© 6 ¹ © g ¹© 3 ¹ 4

19–51.

the edge of the rough step. If it rebounds horizontally off

the step with a velocity v2, determine the angle u at which

contact occurs. Assume no slipping when the ball strikes the

step. The coefficient of restitution is e.

u v1

r

v2

SOLUTION

Conservation of Angular Momentum: Since the weight of the solid ball is a

nonimpulsive force, then angular momentum is conserved about point A. The mass

2

moment of inertia of the solid ball about its mass center is IG = mr2. Here,

y2 cos u 5

v2 = . Applying Eq. 19–17, we have

r

(HA)1 = (HA)2

2 y2 cos u

(my1)(r sin u) = a mr2 b a b + (my2)(r cos u)

5 r

y2 5

= tan u (1)

y1 7

0 - (yb)2

e =

(yb)1 - 0

- (y2 sin u)

e =

-y1 cos u

y2 e cos u

= (2)

y1 sin u

5 e cos u

tan u =

7 sin u

7

tan2 u = e

5

7

u = tan - 1 ¢ e≤ Ans.

A5

19–52.

125 mm about its center of mass G. Determine the

minimum value of the angular velocity v1 of the wheel, so G

that it strikes the step at A without rebounding and then

rolls over it without slipping.

A 25 mm

SOLUTION

Conservation of Angular Momentum: Referring to Fig. a, the sum of the angular

impulses about point A is zero. Thus, angular momentum of the wheel is conserved

about this point. Since the wheel rolls without slipping, (vG)1 = v1r = v1(0.15) and

(vG)2 = v2r = v2(0.15). The mass moment of inertia of the wheel about its mass

center is IG = mkG2 = 50(0.1252) = 0.78125 kg # m2. Thus,

(HA)1 = (HA)2

v1 = 1.109v2 (1)

W(yG)2 = 0 and V3 = (Vg)3 = W(yG)3 = 50(9.81)(0.025) = 12.2625 J. Since the

wheel is required to be at rest in the final position, T3 = 0. The initial kinetic energy

1 1 1 1

of the wheel is T2 = m(vG)22 + IGv2 2 = (50)[v2(0.15)]2 + (0.78125)(v2 2) =

2 2 2 2

0.953125v22. Then

T2 + V2 = T3 + V3

0.953125v2 2 + 0 = 0 + 12.2625

v2 = 3.587 rad>s

19–53.

125 mm about its center of mass G. If it rolls without

slipping with an angular velocity of v1 = 5 rad>s before it

G

strikes the step at A, determine its angular velocity after it

rolls over the step. The wheel does not loose contact with

the step when it strikes it.

A 25 mm

SOLUTION

Conservation of Angular Momentum: Referring to Fig. a, the sum of the angular

impulses about point A is zero. Thus, angular momentum of the wheel is conserved

about this point. Since the wheel rolls without slipping, (vG)1 = v1r = (5)(0.15) =

0.75 m>s and v2 = v2r = v2(0.15). The mass moment of inertia of the wheel about its

mass center is IG = mkG2 = 50(0.1252) = 0.78125 kg # m2. Thus,

(HA)1 = (HA)2

W(yG)2 = 0 and V3 = (Vg)3 = W(yG)3 = 50(9.81)(0.025) = 12.2625 J. The initial

1 1 1

kinetic energy of the wheel is T = mvG2 + IGv2 = (50)[v(0.15)]2 +

2 2 2

1

(0.78125)v2 = 0.953125v2. Thus, T2 = 0.953125v22 = 0.953125(4.5082) = 19.37 J

2

and T3 = 0.953125v32.

T2 + V2 = T3 + V3

19–54.

without rebounding, determine the largest angular velocity

the disk can have and not lose contact with the step.

1r

SOLUTION 8

1

(HA)1 = m r2 (v1) + m(v1 r)(r - h)

2

1

(HA)2 = m r2 (v2) + m(v2 r)(r)

2

(HA)1 = (HA)2

1 3

c m r2 + m r (r - h) d v1 = m r2 v2

2 2

3 3

a r - h b v1 = r v2

2 2

r - h

F = mg a b - m(v22 r)

r

3

r - h 2

r - h 2 2 2

F = mg a b - m ra b P Q v21

r 3 r

1

Set h = r; also note that for maximum v1 F will approach zero. Thus

8

1 3 r

r - r 2 r - 2

8 2 2 8

mg - mr v21

r 3 r

g

v1 = 1.02 Ans.

r

19–55.

at the instant of contact it has an angular velocity V 1 and V1 (vG)y1

velocity components 1vG2x1 and 1vG2y1 as shown. If the

(vG)x1

ground is rough so no slipping occurs, determine the

components of the velocity of its mass center just after G

r

impact. The coefficient of restitution is e.

SOLUTION

Coefficient of Restitution (y direction):

0 - (yG)y 2

A+TB e = (yG)y2 = - e(yG)y1 = e(yG)y1 c Ans.

(yG)y1 - 0

(c + ) (HA)1 = (HA)2

2 2

- mr 2v1 + m(vG)x 1r = mr 2v2 + m(vG)x 2 r

5 5

2

5a (vG)x 1 - v rb

5 1

v2 =

7r

Therefore

5 2

(yG)x 2 = a (yG)x 1 - v1 rb Ans.

7 5

19–56.

while rotating on a smooth surface. Determine its

new angular velocity just after the hook at its edge

strikes the peg P and the disk starts to rotate about P

without rebounding.

Solution:

H1 H2

⎛1 2⎞ ⎛1 2 2⎞

⎜ 2 2mr ⎟ ω1 = ⎜ 2 2mr + 2mr ⎟ ω2

⎝ ⎠ ⎝ ⎠

1

Z2 Z1 Ans.

3

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