Problem Answers 717

2r␻0 3b冪2gh
6/189 t ⫽ 6/207 ␻ ⫽ , n ⫽ 62.5%
g(2 sin ␪ ⫹ 7␮k cos ␪) 2(b2 ⫹ c2)
2
6/208 ␮s ⫽ 5 tan ␪
2r␻0(sin ␪ ⫹ ␮k cos ␪)
v⫽ 6/209 ␻ ⫽ 4.15 rad/s CCW
(2 sin ␪ ⫹ 7␮k cos ␪)
6/210 (a) FO ⫽ 6.68 lb, (b) FO ⫽ 76.6 lb
2␻0(sin ␪ ⫹ ␮k cos ␪) 6/211 M ⫽ 2mrṙ␻
␻⫽ 6/212 B ⫽ 2130 lb
(2 sin ␪ ⫹ 7␮k cos ␪)
6/213 t ⫽ 1206 s
6/190 N ⫽ 4.78 rev/sec
6/214 (a) ␻ ⫽ 4.94 rad/s CW
Mt I Mt
6/191 (a) ␻s ⫽ ⫺ ,␻ ⫽ (b) ␻ ⫽ 6.25 rad/s CW
(I ⫺ Iw) w/s Iw (I ⫺ Iw)
6/192 ␻ ⫽ 0.974 rad/sec 6/215 ␤ ⫽ 19.26⬚
6/193 I ⫽ 3.45 kg 䡠 m2 L
6/216 b⫽
6/194 N ⫽ 63.8 rev/min 1 ⫹ 冪n
6/195 ␻ ⫽ 109.6 rev/min, 兩⌬E 兩 ⫽ 1.298 J
冪I
IO
6/217 ṙ ⫽ r␻0
9v2
冪
6/196 v⬘ ⫽ sin2 ␪ ⫹ 3gL cos ␪ O⫹ mr2
4 6/218 Mx ⫽ ⫺46.0 lb-in., My ⫽ 16.11 lb-in.
6/197 ␻ ⫽ 0.308 rad/s CCW Mz ⫽ ⫺18.41 lb-in.
v 䉴 6/219 x ⫽ l/3
6/198 v⬘ ⫽ (1 ⫹ 2 cos ␪), n ⫽ 0.0202
3 䉴 6/220 ␻2 ⫽ 2.50 rad/s CW
r ␻max ⫽ 2.35 rad/s CW at ␪ ⫽ 18.88⬚
6/199 v ⫽ 2 冪2gh(k2 ⫹ r2) * 6/221
k ⫹ r2 ⫺ rh * 6/222 v1 ⫽ 15.58冪1 ⫺ cos (45⬚ ⫺ ␣) ft/sec
6/200 ⍀ ⫽ 1.135 rad/s * 6/223 (vA)max ⫽ 7.57 ft/sec at ␪ ⫽ 48.2⬚
6/201 hmin ⫽
1
2 冤
b⫺
mg
P 冥
(c ⫹ ␮b) * 6/224
* 6/225
␪ ⫽ 12.17⬚
␪max ⫽ 23.0⬚, ␪˙max ⫽ 0.389 rad/s
3mg
⫽ 冤b ⫹ (c ⫺ ␮b)冥
1 mg Ox ⫽ sin ␪ (3 cos ␪ ⫺ 2)
hmax * 6/226
2 P 4
6/202 ␣ ⫽ 0.604 rad/s2 CCW mg
Oy ⫽ (3 cos ␪ ⫺ 1)2
4
6/203 N ⫽ 504 rev/min, 兩⌬E 兩 ⫽ 98.1 J
* 6/227 ␪max ⫽ 39.9⬚, ␻ ⫽ 4.50 rad/s CW
6/204 a ⫽ 2.22 m/s2 right
* 6/228 ␻max ⫽ 0.680 rad/s at ␪ ⫽ 22.4⬚, ␪max ⫽ 45.9⬚
* 6/229 ␻min ⫽ 0.910 rad/s at ␪ ⫽ 74.0⬚
冤m2 ⫹ m 冢2 ⫹ 12rl 冣冥 CW
2
6/205 HO ⫽ vr 0 2 ␻ ⫽ 1.586 rad/s at ␪ ⫽ 90⬚
* 6/230 t ⫽ 2.85 sec, vA ⫽ 75.7 ft/sec

冪3g 冕 冪cos ␪ ⫺ cos ␤

␤
l d␪
6/206 t ⫽
0

Chapter 7
7/1 Finite rotations cannot be added as proper 7/9 ␻ ⫽ pj ⫹ ␻0k, ␣ ⫽ ⫺p␻0 i
vectors 7/10 ␣ ⫽ ⫺1.2i rad/sec2, aP ⫽ 35.8j ⫺ 80k in./sec2
7/2 Infinitesimal rotations add as proper vectors 7/11 ␣ ⫽ 12␲2 j rad/sec2, v ⫽ 5␲(⫺4i ⫹ 6j
7/3 vz ⫽ ⫺6 ft/sec, R ⫽ 2.81 in. ⫺ 3k) in./sec, a ⫽ ⫺5␲2(25j ⫹ 18k) in./sec2
aP ⫽ 11,080 in. /sec2
7/4 aB ⫽ 1285 m/s2 7/12 ␣ ⫽ 50␲ 冢2冪3
␲
i ⫹ k冣 rad/sec2

7/5 vA ⫽ ⫺0.8i ⫺ 1.5j ⫹ 2k m/s 7/13 (a) ␻ ⫽ 26.5 rad/s, (b) ␻ ⫽ 17.32 rad/s
vB ⫽ 2.62 m/s 7/14 ␻ ⫽ ⫺0.4i ⫹ 2.69k rad/s, ␣ ⫽ 0.8j rad/s2
7/7 N2 ⫽ 440 rev/min 7/15 ␣ ⫽ ⫺1.5i ⫹ 0.8j ⫹ 2.60k rad/s2
7/8 v ⫽ ␻[⫺l cos ␪ i ⫹ (d cos ␪ ⫺ h sin ␪)j ⫺ l sin ␪ k] 7/16 ␻ ⫽ 2.5 rad/s, ␣ ⫽ 3j rad/s2
a ⫽ ␻2[(h sin ␪ cos ␪ ⫺ d cos2 ␪)i ⫺ lj 7/17 ␻ ⫽ 0.693j ⫹ 2.40k rad/s
⫹ (h sin2 ␪ ⫺ d cos ␪ sin ␪)k] ␣ ⫽ ⫺1.386i rad/s2
 718 Problem Answers

7/48 v ⫽ ⫺rpi ⫺ (r␻1 ⫹ b␻2)k

冢 冣 Rr i
2
2␲
7/18 ␣⫽⫺ ␶ a ⫽ ⫺␻2(b␻2 ⫹ 2r␻1)i ⫺ r(␻21 ⫹ p2)j ⫹ 2rp␻2k
7/49 ␻ ⫽ ␲(⫺3i ⫹ 冪3j ⫹ 5k) rad/sec
v ⫽ ␶ 冢i ⫺ j ⫺ k冣
2␲R r
7/19 ␣ ⫽ ␲2(4冪3i ⫹ 9j ⫹ 3冪3k) rad/sec2
R

2␲
a⫽⫺ ␶ 冢 冣 R冤冢
2
R r
r ⫹R i⫹k冣 冥
䉴 7/50 冤 R
冢 Rp2
␻ ⫽ p j cos ␪ ⫹ k sin ␪ ⫹ r , ␣ ⫽ r cos ␪ i 冣冥 冢 冣
䉴 7/51 ␣ ⫽ 42.8 rad/s 2
7/20 v ⫽ 3.95 m/s, a ⫽ 72.2 m/s2 2
7/21 v ⫽ 3.48 m/s, a ⫽ 1.104 m/s2 䉴 7/52 vB ⫽ ⫺ k m/s
3
7/22 冢
(a) ␻ ⫽ ␲ ⫺
2␲
3 冣
j⫹k ,␣⫽
2␲3
3
i ␻n ⫽
49 3冢
10 40
i ⫺ 2j ⫹ 6k rad/s 冣
3
8␲ G ⫽ mb␻冪2, HO ⫽ 3mb␻2
(b) ␻ ⫽ ␲k, ␣ ⫽ j 7/53
3
7/23 v ⫽ 0.691j ⫹ 1.448k m/s
冤 冢16 bl 冣冥
2
7/54 HO ⫽ mb2␻ i ⫹ 2j ⫺ ⫹2 k
a ⫽ ⫺11.70i m/s2 2

7/24 (a) ␣ ⫽ 6j ⫺ 8k rad/s2, aA ⫽ 21.2 m/s2 7/55 HG ⫽ ⫺1.613j ⫺ 744k kg 䡠 m /s 2

(b) ␣ ⫽ 8i rad/s2, aA ⫽ 10.67 m/s2 HA ⫽ ⫺2.70j ⫺ 744k kg 䡠 m2/s

7/25 ␻ ⫽ ⫺0.785i ⫺ 2.60j ⫹ 2.5k rad/s

䉴 7/26
␣ ⫽ 11.44 rad/s2
␣ ⫽ 6.32 rad/s2
7/56
1
冢 3
HO ⫽ ␳b3␻ ⫺ i ⫺ j ⫹ k
2 2
8
3 冣
䉴 7/27 v ⫽ ⫺14.35j in./sec, a ⫽ 338i ⫹ 194.8k in./sec2 4
T ⫽ ␳b3␻2
␣ ⫽ ⫺31.0j rad/sec2 3
1
䉴 7/28 ␻⫽␷
冪
1
r2
1
⫹ 2 i, ␣ ⫽ ⫺ 2
h h h冢
␷2 r h
⫹r j冣 7/57 HG ⫽ ␳b3␻(⫺i ⫺ j ⫹ 2k)
4
p ⫽ 28.2 rad/s, vB/A ⫽ 4.10i m/s 1
7/29 7/58 H ⫽ ml2␻ sin ␪(j sin ␪ ⫺ k cos ␪)
3
7/30 ␣ ⫽ pqj
7/31
7/32
␻ ⫽ 10.77 rad/s, ␣ ⫽ ⫺40j rad/s2
␣ ⫽ ⫺40j ⫹ 6k rad/s2
7/59 H ⫽ mr␻ ⫺ 冤
2(2c ⫹ b)
3␲
j⫹ k
r
2 冥
vA ⫽ ⫺3i ⫺ 1.6j ⫹ 1.2k m/s
冢b3 ⫹ r4 ⫹ h 冣 m␻i ⫹ 21mr pj
7/33 2 2
7/60 HO ⫽ 2 2
aA ⫽ ⫺34.8j ⫺ 6.4k m/s2
7/34 ␣ ⫽ ⫺1.2␲(冪3i ⫹ k) rad/s2 7/61 HG ⫽ Ip(i ⫹ j ⫹ k) ⫹ 2(I ⫹ mb2)⍀
1 where ⍀ ⫽ ⍀xi ⫹ ⍀y j ⫹ ⍀zk
7/35 ␻n ⫽ (⫺3i ⫹ 20j ⫹ 9k) rad/sec
49 7/62 HO ⫽ ⫺0.01i ⫹ 0.0045j ⫹ 0.0576k lb-ft-sec
7/36 ␣ ⫽ ⫺⍀p sin ␤ i ⫹ ␤ ˙(p cos ␤ ⫺ ⍀)j ⫺ p␤˙ sin ␤ k 7/63 HO ⫽ 2.38j ⫹ 25.6k lb-ft-sec
7/37 vA ⫽ 6.8 ft/sec, aA ⫽ 20.8 ft/sec2 T ⫽ 805 ft-lb
7/38 vA ⫽ ⫺0.636i ⫺ 4.87j ⫹ 1.273k m/s 7/64 H ⫽ ␲(⫺0.4j ⫹ 0.6k) N 䡠 m 䡠 s, T ⫽ 59.2 J

冤 冥
7/39 vA ⫽ ⫺6j m/s 1
7/65 H ⫽ mr2␻ (⫺sin ␣ cos ␣)i ⫹ (sin2 ␣ ⫹ 2 cos2 ␣)k
7/40 (a) ␣ ⫽ ⫺(3.88i ⫹ 3.49j)10⫺3 rad/s2 4
(b) ␣ ⫽ ⫺3.49(10⫺3)j rad/s2 ␤ ⫽ 4.96⬚
7/41 ␣ ⫽ p␻2i ⫺ p␻1j ⫹ ␻1␻2k
冤冢12 ⫹ 6hr 冣⍀i ⫹ pk冥
2
␣ ⫽ ⫺3i ⫺ 4j rad/sec2 3
7/42 7/66 HO ⫽ mr2
10 2
7/43 v ⫽ ␲(0.1i ⫹ 0.8j ⫹ 0.08k) m/s

T ⫽ mr 冤冢 ⫹ 冣⍀ ⫹ p 冥
a ⫽ ⫺␲2(6.32i ⫹ 0.1k) m/s2 3 1 h 2 1 2
2 2
7/44 v ⫽ ␲(0.1i ⫹ 0.8j ⫹ 0.08k) m/s 10 4 r 2 2

a ⫽ ⫺␲2(6.32i ⫹ 0.1k) m/s2

H ⫽ 2m冤 l sin ␤ ⫹ b 冥␻k
˙ cos ␤j ⫺ b␤˙ sin ␤k 1 2 2 2
7/45 vA ⫽ ⫺⍀(R ⫹ b sin ␤)i ⫹ b␤ 7/67 O
3
aA ⫽ ⫺2b⍀␤ ˙ cos ␤i ⫹ [⍀2(R ⫹ b sin ␤)
7/68 HG ⫽ 2␲mƒ(⫺k⬘2 sin ␪i ⫹ k2 cos ␪ k) ⫹ mk2pk
⫹ b␤ ˙2 sin ␤]j ⫺ b␤˙2 cos ␤k
7/46 ␣ ⫽ ⫺40␲2i rad/s2
aA ⫽ 2␲2(⫺2.4i ⫹ 4j ⫺ 5k) m/s2
7/69
1
冤
4b2
HO ⫽ mr2 ⫺␻1i ⫹ 1 ⫹ 2 ␻2 j ⫹ 2pk
4 r 冢 冣 冥
7/47 ˙ ⫽ 81i rad/sec2
␻
aA ⫽ 0.313i ⫺ 2.43j ⫺ 0.1083k ft/sec2
T⫽
mr2
8 冤 4b2
冢
␻12 ⫹ 1 ⫹ 2 ␻22 ⫹ 2p2
r 冣 冥